LiDAR

Abstract

The present invention provides a laser radar, comprising: an optomechanical module comprising a base and an optoelectronic assembly, the base being provided with mounting portions for securing the optoelectronic components of the optoelectronic assembly; a scanning module secured to the base, the scanning components of the scanning module being located above the optoelectronic assembly and communicating with the optoelectronic components to achieve beam propagation; and a circuit module secured to the base, located on a side facing away from the scanning module's beam scanning direction, and electrically connected to the optoelectronic components. The laser radar provided by the present invention improves space utilization, has a more compact structure, and achieves miniaturization.

Description

Technical Field

[0001] The present invention relates to the field of environmental perception technology, and in particular to a laser radar. Background Art

[0002] LiDAR is an important sensor for sensing information around a vehicle and is a guarantee of the safety and intelligence of cars with autonomous driving functions.

[0003] Since the lidar needs to be installed on the car and the information it detects will directly affect the safety of the vehicle's driving process, the lidar needs to meet the requirements of small size, high reliability, high imaging frame rate, high resolution, and long ranging.

[0004] In the existing technology, in order to ensure the performance of the laser radar, more optical devices are set up or more laser radars are directly set up, which makes the laser radar larger in size. Therefore, it is necessary to reasonably design the structure of the laser radar to make it more compact and miniaturized while meeting the requirements of optical path transmission.

[0005] Therefore, improving the spatial utilization of lidar and the compactness of its structure has become a technical problem that needs to be solved urgently. Summary of the Invention

[0006] The present invention provides a laser radar to improve the space utilization rate of the laser radar and the compactness of the laser radar structure, and to achieve miniaturization of the laser radar.

[0007] To solve the above problems, the present invention provides a laser radar, comprising:

[0008] The optomechanical module comprises a base and an optoelectronic assembly, wherein the base is provided with a mounting portion for fixing each optoelectronic device of the optoelectronic assembly;

[0009] A scanning module is fixed to the base, wherein a scanning device of the scanning module is located above the optoelectronic component and realizes light beam propagation with the optoelectronic device;

[0010] The circuit module is fixed to the base, located on a side away from the light beam scanning of the scanning module, and is electrically connected to the optoelectronic device.

[0011] Optionally, the base includes:

[0012] base platform;

[0013] A mounting platform is fixed above the base platform and is provided with each of the mounting parts, wherein the number of the mounting platforms is less than the number of the mounting parts;

[0014] A scanning bracket is fixed above the mounting platform;

[0015] The scanning module includes a fixed foot and a scanning frame fixed to the fixed foot, the fixed foot is fixed to the base platform, and the scanning frame is fixed to the scanning bracket;

[0016] The circuit module is fixed to the base platform.

[0017] Optionally, the mounting platform includes:

[0018] a first mounting platform, fixed to the base platform, provided with a transmitter mounting portion, a polarization beam splitter mounting portion, and a receiving device mounting portion, for respectively fixing the light emitting device, the polarization beam splitter, and the light receiving device of the optoelectronic assembly, so that the light beam emitted by the light emitting device is irradiated by the polarization beam splitter and reflected, and the light receiving device receives the light beam transmitted by the polarization beam splitter;

[0019] a second mounting platform, fixed to the base platform, provided with a device mounting portion, for fixing the lens and wave plate of the optoelectronic component, adapted for the lens to receive the light beam reflected by the polarization beam splitter and irradiate it to the wave plate for polarization adjustment after focusing, or to receive the light beam polarized by the wave plate and irradiate it to the polarization beam splitter after focusing;

[0020] The reflector mounting platform is fixed to the base platform and is located on both sides of the second mounting platform respectively with the first mounting platform. A first reflector mounting portion is provided to fix the first reflector of the optoelectronic component, suitable for the first reflector to receive the light beam emitted by the wave plate and reflect it to the scanning device of the scanning module or reflect the light beam irradiated by the scanning device to the wave plate.

[0021] Optionally, the polarization beam splitter device includes a polarization beam splitter prism, and the polarization beam splitter device mounting portion includes:

[0022] A supporting base, fixed to the base platform, comprising a supporting surface for the polarization beam splitter;

[0023] The first limiting side wall is fixed to the supporting base and comprises a first limiting surface perpendicular to the supporting surface of the polarization beam splitting device.

[0024] Optionally, the supporting base and the emitting device mounting portion are respectively located on both sides of the first limiting side wall, and the first limiting side wall is provided with an incident light-transmitting hole, which is suitable for the light beam emitted by the light emitting device to irradiate the polarization splitter through the incident light-transmitting hole.

[0025] Optionally, the incident light-transmitting hole includes:

[0026] The first incident light hole,

[0027] A second incident light hole, the cross-section of the second incident light hole covers the cross-section of the first incident light hole, and the cross-sectional area of ​​the second incident light hole is larger than the cross-sectional area of ​​the first incident light hole, and the light beam emitted by the light emitting device passes through the first incident light hole and the second incident light hole in sequence.

[0028] Optionally, the incident light-transmitting hole comprises an oblong hole, and the angle between the long side of the oblong hole and the supporting surface of the polarization splitter device is the same as the angle between the mounting surface of the emitting device mounting portion and the supporting surface of the polarization splitter device.

[0029] Optionally, the polarization beam splitter mounting portion further includes a second limiting side wall fixed to the support base and including a second limiting surface perpendicular to both the polarization beam splitter supporting surface and the first limiting surface.

[0030] Optionally, the supporting bases of the receiving device mounting part and the polarization splitter mounting part are respectively located on both sides of the second limiting side wall, and the second limiting side wall is provided with an exit light-transmitting hole, which is suitable for the light beam transmitted by the polarization splitter to be irradiated to the light receiving device through the exit light-transmitting hole.

[0031] Optionally, the second limiting side wall is further provided with a filter mounting portion for fixing the filter of the optoelectronic component, which is suitable for the filter to receive the light beam transmitted by the polarization splitting element and irradiate it to the light receiving device after filtering.

[0032] Optionally, the first limiting side wall is further provided with a linear polarizer mounting portion for fixing the linear polarizer of the optoelectronic component, and is suitable for the linear polarizer to receive the light beam emitted by the light emitting device and irradiate it to the polarization beam splitter.

[0033] Optionally, the polarization beam splitter device includes a polarization beam splitter plate, and the polarization beam splitter device mounting portion includes:

[0034] A supporting base, fixed to the base platform, comprising a supporting surface for the polarization beam splitter;

[0035] The mounting side wall is fixed to the supporting base, and includes a mounting surface perpendicular to the supporting surface of the polarization splitter device. The angle between the mounting surface and the incident direction of the light beam is 45°, which is suitable for mounting the polarization splitter. The mounting side wall is provided with an extinction hole and an exit light-transmitting hole. The extension direction of the extinction hole is perpendicular to the extension direction of the exit light-transmitting hole. The hole wall of the extinction hole is provided with an extinction material or an extinction device is provided in the extinction hole.

[0036] Optionally, the second mounting platform is provided with a mounting hole, and the device mounting portion is located in the mounting hole.

[0037] Optionally, it also includes:

[0038] A spacer is provided between the lens and the wave plate.

[0039] Optionally, the second mounting platform is also provided with a second reflector mounting portion, which fixedly mounts the second reflector of the optoelectronic component, suitable for the second reflector to receive the light beam reflected by the polarization spectrometer and reflect it to the lens, or to receive the light beam focused by the lens and reflect it to the polarization spectrometer.

[0040] Optionally, the second mounting platform includes:

[0041] A first side wall is fixed to the base platform and is provided with the second reflector mounting portion;

[0042] The second side wall is fixed to the base platform, has a predetermined angle with the first side wall and is fixedly connected thereto, and is provided with the mounting hole.

[0043] Optionally, a light-transmitting groove is provided on the top of the second side wall, suitable for light beam propagation between the scanning device and the first reflector.

[0044] Optionally, the fixed foot of the scanning module is located between the first mounting platform and the second mounting platform, and the fixed foot is provided with a light-through hole.

[0045] Optionally, the circuit module includes:

[0046] A circuit board bracket is fixed to the base platform;

[0047] A circuit board is fixed to the circuit board bracket and is electrically connected to the light emitting device, the light receiving device and the scanning module.

[0048] Optionally, the circuit board bracket includes a long bracket fixed to the base platform and a short bracket fixedly mounted to the long bracket;

[0049] The circuit board comprises:

[0050] a first circuit board fixed to the short bracket, located on a first side of the short bracket, disposed above the first mounting platform, and electrically connected to the light emitting device and the scanning module;

[0051] The second circuit board is electrically connected to the first circuit board, fixed to the long bracket, located on the side of the first mounting platform, and electrically connected to the light receiving device.

[0052] Optionally, the circuit board further includes:

[0053] The third circuit board is fixed to the short bracket, electrically connected to the first circuit board or the second circuit board, located on the second side of the short bracket, and arranged above the first mounting platform.

[0054] Optionally, the circuit board further includes:

[0055] The fourth circuit board is electrically connected to the first circuit board, the second circuit board or the third circuit board, is fixed to the sides of the long bracket and the short bracket, and is located above the first mounting platform.

[0056] Optionally, the optomechanical module has a symmetrical structure, the number of the optoelectronic components is two groups, the two groups of optoelectronic components are symmetrically arranged about the scanning module, the first mounting platform, the second mounting platform and the reflector mounting platform all have a symmetrical structure, and respectively fix the respective optoelectronic devices of the two groups of optoelectronic components.

[0057] Optionally, the first mounting platform, the second mounting platform and the base platform are integrally formed.

[0058] Compared with the prior art, the technical solution of the present invention has the following advantages:

[0059] The laser radar provided by the present invention includes an optoelectronic module, a scanning module and a circuit module, wherein the base of the optomechanical module is provided with mounting portions for the optoelectronic components of the optoelectronic assembly, the scanning module is fixed to the base, and its scanning component is located above the optomechanical assembly, and the circuit module is fixed to the base and located on the side away from the beam scanning of the scanning module. It can be seen that the laser radar provided by the present invention has a modular arrangement of the various components, and the modules are more integrated, making the laser radar easy to assemble and debug. When a fault occurs, it can be repaired by replacing the module, reducing the difficulty of repair; and in terms of spatial layout, the scanning module and the circuit module are both fixed to the base of the optomechanical module, the scanning component of the scanning module is arranged above the optomechanical module, and the circuit module is arranged on the side away from the beam channel of the scanning module, so that the spatial layout of the modules is more reasonable, making the modules more compact and reducing the volume of the laser radar; at the same time, by providing the mounting portions of the optoelectronic components, the arrangement of the optoelectronic components is facilitated, and the positioning of the optoelectronic components can be better achieved, further improving the compactness of the laser radar and reducing the volume of the laser radar.

[0060] In an optional solution, the base of the laser radar provided by the present invention includes a base platform, a mounting platform and a scanning bracket. The mounting platform is fixed above the base platform, and each of the mounting parts is provided. The number of the mounting platforms is less than the number of the mounting parts. The scanning bracket is fixed above the mounting platform. The scanning module includes a fixed foot and a scanning frame fixed to the fixed foot. The fixed foot is fixed to the base platform, and the scanning frame is fixed to the scanning bracket. The mainboard module is fixed to the base platform. Based on the current design, the number of mounting platforms is less than the number of mounting parts, and multiple mounting parts can be provided on one mounting platform, making the arrangement of the mounting parts more compact. The scanning module is fixed to the base platform by the fixed foot, and is fixed to the scanning bracket by the scanning frame. The scanning bracket is fixed above the mounting platform, which can make full use of the space above the mounting platform and ensure the fixing stability of the scanning module, thereby making the space utilization of the laser radar provided by the present invention more reasonable and the structure more compact. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without any creative work.

[0062] Figure 1 1 is a schematic structural diagram of a laser radar provided by an embodiment of the present invention;

[0063] Figure 2 yes Figure 1 An exploded view of the lidar is shown;

[0064] Figure 3 1 is a schematic structural diagram of an optical-mechanical module of a laser radar provided in an embodiment of the present invention;

[0065] Figure 4 This is a partial structural diagram of a base of a laser radar provided by an embodiment of the present invention;

[0066] Figure 5 This is another schematic diagram of a partial structure of a base of a laser radar provided by an embodiment of the present invention;

[0067] Figure 6 1 is a schematic structural diagram of an optical-mechanical module of a laser radar provided in an embodiment of the present invention;

[0068] Figure 7 It is a partial structural schematic diagram of a base of a laser radar provided in another embodiment of the present invention. DETAILED DESCRIPTION

[0069] As can be seen from the background technology, the space utilization and compactness of laser radar are relatively low.

[0070] To improve the space utilization and compactness of a laser radar, an embodiment of the present invention provides a laser radar, including:

[0071] The optomechanical module comprises a base and an optoelectronic assembly, wherein the base is provided with a mounting portion for fixing and mounting each optoelectronic device of the optoelectronic assembly;

[0072] A scanning module is fixed to the base, wherein a scanning device of the scanning module is located above the photoelectric component and realizes light beam scanning with the photoelectric device;

[0073] The circuit module is fixed to the base, located on a side away from the light beam scanning of the scanning module, and is electrically connected to the optoelectronic device.

[0074] In this way, the laser radar provided by the present invention has various components modularly arranged, and each module is more integrated, so that the laser radar is easy to assemble and debug, and can be repaired by replacing the module when a fault occurs, thereby reducing the difficulty of maintenance; and in terms of spatial layout, the scanning module and the circuit module are both fixed to the base of the optical module, the scanning device of the scanning module is arranged above the optical module, and the circuit module is arranged on the side of the light beam channel away from the scanning module, so that the spatial layout of each module is more reasonable, making the modules more compact and reducing the volume of the laser radar; at the same time, by arranging the installation parts of each optoelectronic device, the arrangement of each optoelectronic device is facilitated, and the positioning of each optoelectronic device can be better made, further improving the compactness of the laser radar and reducing the volume of the laser radar.

[0075] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0076] It should be noted that the orientations or positional relationships indicated in this specification are based on the orientations or positional relationships shown in the accompanying drawings and are only for the convenience and simplification of description, and do not indicate or imply that the device referred to must have a specific orientation or be constructed in a specific orientation. Therefore, it should not be understood as a limitation on the present invention.

[0077] Please refer to Figure 1-Figure 3 , Figure 1 This is a schematic diagram of the structure of a laser radar; Figure 2 yes Figure 1An exploded view of the lidar is shown; Figure 3 It is a structural schematic diagram of an optical-mechanical module of a laser radar provided in an embodiment of the present invention.

[0078] like Figure 1 and Figure 2 As shown in the figure, the laser radar provided by the embodiment of the present invention includes an optical-mechanical module 1, a scanning module 2 and a circuit module 3, wherein the optical-mechanical module 1 includes a base (not marked with a number in the figure) and an optoelectronic component (not marked with a number in the figure), and the base is provided with a mounting portion for fixing various optoelectronic devices of the optoelectronic component; the scanning module 2 is fixed to the base, and the scanning device 24 of the scanning module 2 is located above the optoelectronic component and realizes light beam propagation with the optoelectronic device; the circuit module 3 is fixed to the base, located on the side of the light beam scanning away from the scanning module 2, and is electrically connected to the optoelectronic device.

[0079] It should be noted that the mounting portion of the optoelectronic device described herein means that each optoelectronic device has a corresponding mounting portion that matches the shape and structure of the optoelectronic device, and each optoelectronic device can be easily mounted on the base.

[0080] It is easy to understand that the circuit module 3 is located on the side away from the light beam scanning of the scanning module 2, which means that the setting position of the circuit module 3 will not affect the light beam scanning of the scanning module 2. It can be located on the side, back or top of the light beam propagation direction of the scanning module 2, as long as it does not affect the propagation of the light beam irradiated by the scanning module 2 into the three-dimensional space.

[0081] In this way, when assembling the laser radar, since the base of the optical-mechanical module 1 is provided with a mounting part, the various optoelectronic devices of the optoelectronic assembly can be installed on the corresponding mounting parts first, or the optical-mechanical module 1 with various optoelectronic devices already installed can be directly obtained, and then the scanning module 2 can be installed on the base of the optical-mechanical module 1, and the light beam propagation between the optoelectronic device and the scanning device 24 can be ensured, that is, the light beam propagated through the optoelectronic device can irradiate the scanning device 24, and the scanning light beam received by the scanning device 24 can also irradiate the optoelectronic device, and the circuit module 3 is fixed to the base, so that the circuit module 3 is electrically connected to the optoelectronic device, ensuring that the circuit module 3 receives the electrical signal converted by photoelectricity and processes the signal.

[0082] Of course, the installation order of the scanning module 2 and the circuit module 3 can be adjusted as needed, and the circuit module 3 can be installed first, and then the scanning module 2 can be installed.

[0083] When using laser radar for detection, the optoelectronic component of the optical-mechanical module 1 emits a transmission light beam and irradiates it to the scanning device 24 of the scanning module 2. The scanning device 24 changes the direction of the light beam and irradiates it to the three-dimensional space to scan the three-dimensional space. The transmission light beam is reflected by the objects in the three-dimensional space and then irradiates the scanning device 24 to obtain a receiving light beam. The scanning device 24 then transmits the receiving light beam to the optoelectronic component, and then transmits it to the circuit module 3 after photoelectric conversion, and the circuit module 3 processes it.

[0084] It can be seen that the laser radar provided by the present invention has modularized settings for various components, and each module is more integrated. For example, the optomechanical module 1 on which various optoelectronic devices have been installed can be assembled as an integral component, so that the laser radar is easy to assemble and debug, and can be repaired by replacing the module when a fault occurs, thereby reducing the difficulty of maintenance; and in terms of spatial layout, the scanning module and the circuit module are both fixed to the base of the optomechanical module, the scanning device of the scanning module is arranged above the optomechanical module, and the circuit module is arranged on the side of the light beam channel away from the scanning module, so that the spatial layout of each module is more reasonable, making the modules more compact and reducing the volume of the laser radar; at the same time, by arranging the installation parts of each optoelectronic device, the arrangement of each optoelectronic device is facilitated, and the positioning of each optoelectronic device can be better made, further improving the compactness of the laser radar and reducing the volume of the laser radar.

[0085] like Figure 2 and Figure 3 As shown, in a specific embodiment, in order to facilitate the installation of various optoelectronic devices, the scanning module 2 and the circuit module 3, the base of the optical-mechanical module 1 of the laser radar provided in an embodiment of the present invention may include a base platform 11, a mounting platform 12 and a scanning bracket 13, wherein:

[0086] The mounting platform 12 is fixed above the base platform 11 and is provided with various mounting parts. The number of the mounting platforms 12 is less than the number of the mounting parts.

[0087] The scanning support 13 is fixed above the mounting platform 12;

[0088] The scanning module 2 includes a fixed foot 23 and a scanning frame 22 fixed to the fixed foot 23, the fixed foot 23 is fixed to the base platform 11, and the scanning frame 23 is fixed to the scanning bracket 13;

[0089] The circuit module 3 is fixed to the base platform 11 .

[0090] The mounting portion includes a transmitting device mounting portion 1211 , a polarization splitting device mounting portion 1212 , a receiving device mounting portion 1213 , a device mounting portion 1221 , a first reflector mounting portion, and the like.

[0091] When assembling the laser radar, first install each optoelectronic device on the mounting part provided on the mounting platform 12, fix the scanning bracket 13 above the mounting platform 12, and then place the assembled scanning module 2 according to the predetermined position, so that the scanning frame 22 of the scanning module 2 is supported on the scanning bracket, and the fixed foot 23 is supported on the base platform 11, and then the fixed foot 23 is fixedly connected to the base platform 11, and the scanning frame 22 is fixedly connected to the scanning bracket 13, and then the assembled circuit module 3 is fixedly connected to the base platform 11.

[0092] It is easy to understand that the base platform 11 serves as a supporting platform for the laser radar, which can facilitate the installation of other modules and optoelectronic components of the laser radar. The mounting platform 12 can more conveniently set up various mounting parts to meet the setting requirements of the mounting parts, and the number of mounting platforms 12 is less than the number of mounting parts, making the installation of optoelectronic devices more compact. The scanning bracket 13 can ensure the stability of the scanning module 2.

[0093] In this way, based on the current design, the number of mounting platforms is less than the number of mounting parts, and multiple mounting parts can be set on one mounting platform, making the arrangement of the mounting parts more compact. The scanning module is fixed to the base platform through fixed feet, and is fixed to the scanning bracket through a scanning frame, and the scanning bracket is fixed above the mounting platform. The space above the mounting platform can be fully utilized and the fixing stability of the scanning module can be guaranteed, thereby making the space utilization of the laser radar provided in the embodiment of the present invention more reasonable and the structure more compact.

[0094] Please combine Figure 3 ,refer to Figure 4-Figure 6 , Figure 4 1 is a partial structural diagram of a base of a laser radar provided by an embodiment of the present invention. Figure 5 This is another schematic diagram of a partial structure of a base of a laser radar provided by an embodiment of the present invention; Figure 6 It is a structural schematic diagram of an optical-mechanical module of a laser radar provided in an embodiment of the present invention.

[0095] In a specific embodiment, the mounting platform 12 provided in the embodiment of the present invention includes:

[0096] The first mounting platform 121 is fixed to the base platform 11 and is provided with a transmitter mounting portion 1211, a polarization beam splitter mounting portion 1212, and a receiver mounting portion 1213, which are respectively fixed with the light emitting device 4, the polarization beam splitter 5, and the light receiving device (not shown in the figure) of the optoelectronic component. The light beam emitted by the light emitting device 4 is irradiated by the polarization beam splitter 5 and reflected, and the light receiving device receives the light beam transmitted by the polarization beam splitter 5;

[0097] The second mounting platform 122 is fixed to the base platform 11 and is provided with a device mounting portion 1221 for fixing the lens 9 and the wave plate 7 of the optoelectronic component. The lens 9 is adapted to receive the light beam reflected by the polarization beam splitter 5 and irradiate the light beam to the wave plate 7 for polarization adjustment after focusing, or receive the light beam polarized by the wave plate 7 and irradiate the light beam to the polarization beam splitter 5 after focusing.

[0098] The reflector mounting platform 123 is fixed to the base platform 11, and is located on both sides of the second mounting platform 122 respectively with the first mounting platform 121. A first reflector mounting portion (not shown by a number in the figure) is provided, which fixes the first reflector 6 of the optoelectronic component, and is suitable for the first reflector 6 to receive the light beam emitted by the wave plate and reflect it to the scanning device 24 of the scanning module 2, or to reflect the light beam irradiated by the scanning device 24 to the wave plate.

[0099] Specifically, the polarization beam splitter 5 can be a polarizing beam splitter prism (PBS) or a polarization beam splitter. The light emitting device 5 can be a semiconductor laser, including a vertical cavity surface emitting laser (VCSEL) or an edge emitting laser (EEL), to reduce costs while ensuring resolution. Another light emitting device 5 can include multiple semiconductor lasers, such as 2, 4 or more, to further improve detection coverage and resolution. The wave plate 7 can be a 1 / 4 wave plate, so that the light beam reflected by the polarization beam splitter 5 changes its polarization direction after passing through the wave plate 7, and is transmitted to the light receiving device after being irradiated by the polarization beam splitter 5.

[0100] It can be understood that the first mounting platform 121, the second mounting platform 122 and the reflector mounting platform 123 can be fixed to the base platform 11 in the following ways: 1) at least one of the first mounting platform 121, the second mounting platform 122 and the reflector mounting platform 123 is fixed to the base platform 11 through a connecting component, or, 2) at least one of the first mounting platform 121, the second mounting platform 122 and the reflector mounting platform 123 is integrally formed with the base platform 11.

[0101] In a specific embodiment, the first mounting platform 121 and the second mounting platform 122 of the laser radar provided in an embodiment of the present invention are integrally formed with the base platform 11, and the reflector mounting platform 123 is fixed to the base platform 11 through a connecting component, thereby improving the processing accuracy of the mounting platform while reducing the processing difficulty.

[0102] When the laser radar is working, the light beam emitted by the light emitting device 4 is irradiated to the polarization spectrometer 5. After polarization splitting, the reflected light beam is irradiated to the lens 9 for focusing processing, and then irradiated to the wave plate 7. After the wave plate 7 adjusts the polarization direction of the light beam, it is irradiated to the first reflector 6. The first reflector 6 reflects the light beam to the scanning device 24. The scanning device 24 rotates under the drive of the driving device of the scanning module 2, so that the light beam scans the three-dimensional space and generates a reflected light beam. The reflected light beam is irradiated to the scanning device 24, and then reflected to the first emitting mirror 6. After being reflected by the first reflector 6, it is irradiated to the wave plate 7. After the polarization direction is adjusted again, it is irradiated to the lens 9. After focusing processing, it is irradiated to the polarization spectrometer 5. Since the light beam reflected by the polarization spectrometer 5 passes through the wave plate twice, the obtained light beam can pass through the polarization spectrometer 5 again and irradiate the light receiving device for photoelectric conversion, and then be transmitted to the circuit module 3.

[0103] In a specific embodiment, please continue to refer to Figure 1 and Figure 2 The fixed foot 23 of the scanning module 2 can be arranged between the first mounting platform 121 and the second mounting platform 122. The fixed foot 23 is provided with a light-through hole 231. In this way, the fixed foot 23 has the light-through hole 231, which can ensure the light path propagation between the optoelectronic devices installed on the first mounting platform 121 and the optoelectronic devices installed on the second mounting platform 122. At the same time, the installation position of the scanning module 2 can make full use of the space between the first mounting platform 121 and the second mounting platform 122, thereby improving the compactness of the various components of the laser radar.

[0104] Specifically, the scanning device 24 may be a galvanometer, and the scanning module further includes a driving device for driving the galvanometer to rotate so that the light beam scans the three-dimensional space and receives the light beam reflected in the three-dimensional space.

[0105] In this way, the first mounting platform 121, the second mounting platform 122 and the reflector mounting platform 123 enable each optoelectronic device to be arranged more reasonably on the basis of meeting the needs of light beam propagation, ensuring that the requirements of device compactness are met, and at the same time, the difficulty of mounting platform processing can be reduced. In addition, the transmitting device mounting part 1211, the polarization beam splitter mounting part 1212 and the receiving device mounting part 1213 are arranged on the first mounting platform 121, so that the distance between the polarization beam splitter 5 and the light transmitting device 4 and the light receiving device is closer. The polarization beam splitter 5 can also be arranged between the light transmitting device 4 and the light receiving device to reflect the light beam emitted by the light transmitting device 4 and transmit the reflected light beam to be received by the light receiving device to form a coaxial optical path, thereby improving the reliability of the receiving and transmitting alignment of the light receiving device and the light transmitting device 4 in the coaxial optical path. In another specific embodiment, the circuit module 3 of the laser radar provided in the embodiment of the present invention may include:

[0106] The circuit board bracket 31 is fixed to the base platform 11;

[0107] The circuit board 32 is fixed to the circuit board bracket 31 and is electrically connected to the light emitting device 4 , the light receiving device and the scanning module 2 .

[0108] The arrangement of the circuit board bracket 31 can facilitate the installation of the circuit board 32 and facilitate the connection between the circuit module 3 and the fixed base.

[0109] In order to improve the processing capability and processing speed of the circuit module, in a specific embodiment, at least two circuit boards may be provided. To facilitate the installation of each circuit board, the circuit board bracket 31 of the laser radar provided in the embodiment of the present invention may include a long bracket 311 fixed to the base platform and a short bracket 312 fixedly mounted to the long bracket 311; the circuit board 32 may include:

[0110] The first circuit board 322 is fixed to the short bracket 312, is located on a first side of the short bracket 312, and is disposed above the first mounting platform 121, and the light emitting device 4 is electrically connected to the scanning module 2;

[0111] The second circuit board 321 is electrically connected to the first circuit board 322, fixed to the long bracket 311, and located on the side of the first mounting platform 121. The second circuit board 321 is electrically connected to the optical receiving device. The electrical connection with the first circuit board 322 can ensure the transmission of electrical signals between the two. Specifically, the electrical connection can be achieved through a flexible cable.

[0112] It can be seen that the first circuit board 322 is fixed to the short bracket 312 and is arranged above the first mounting platform 121, so that the setting position of the circuit module 3 can fully utilize the space above the first mounting platform 121, and together with the scanning module 2, the shape of the laser radar is more regular. At the same time, the first circuit board 322 can also be conveniently electrically connected to the scanning module 2 and the light emitting device 4, and the second circuit board 321 is fixed to the long bracket 311 and is arranged on the side of the first mounting platform 121. On the one hand, it ensures the connection of the circuit board bracket 31, which is convenient for electrical connection with the light receiving device, and at the same time fully utilizes the space of the laser radar, further improving the compactness of the equipment.

[0113] Of course, in other specific implementations, the light emitting device 4 and the scanning module 2 may also be electrically connected to the second circuit board 321 , and the light receiving device may also be electrically connected to the first circuit board 322 .

[0114] To further improve the processing capability and speed of the circuit module, in one embodiment, the circuit board may further include a third circuit board (not shown), secured to the short bracket 312 and electrically connected to the first circuit board 322 or the second circuit board 321. The third circuit board is located on the second side of the short bracket 312 and positioned above the first mounting platform 121. The provision of the third circuit board further improves the processing capability of the circuit module and, on this basis, fully utilizes the space above the first mounting platform 121.

[0115] It is easy to understand that the third circuit board and the first circuit board 322 or the second circuit board 321 can also be electrically connected through a flexible cable. Since the second circuit board 321 is electrically connected to the first circuit board 322, and the third circuit board is electrically connected to the first circuit board 322 or the second circuit board 321, all three circuit boards are also electrically connected.

[0116] Furthermore, the circuit board 32 may also include a fourth circuit board 323, electrically connected to the first circuit board 322, the second circuit board 321, or the third circuit board, secured to the sides of the long bracket 311 and the short bracket 312, and located above the first mounting platform. This further increases the number of circuit boards, improving the processing efficiency and capability of the LiDAR, while also enhancing the compactness of the optoelectronic device configuration.

[0117] In another specific embodiment, in order to facilitate the installation of the polarization splitter 5 and reduce the difficulty and time of installation and adjustment of the polarization splitter 5, Figure 4 As shown, the polarization beam splitter device of the laser radar provided in the embodiment of the present invention includes a polarization beam splitter prism, and the polarization beam splitter device mounting portion 1212 may include:

[0118] The support base 12122 is fixed to the base platform 11 and includes a support surface for the polarization beam splitter (i.e., the upper surface of the support base 12122 shown in the figure);

[0119] The first limiting sidewall 12121 is fixed to the supporting base 12122 and includes a first limiting surface perpendicular to the supporting surface of the polarization beam splitter (ie, the surface intersecting with the supporting surface of the polarization beam splitter as shown in the figure).

[0120] In this way, when the laser radar is working, the light beam emitted by the light emitting device 4 is irradiated to the polarization beam splitter prism, part of the light beam is reflected to the lens and scans and reflects the three-dimensional environment, and is finally received by the light receiving device through the output transmission hole; part of the light beam is transmitted and irradiated to the surface of the polarization beam splitter prism in the extension direction of the light beam irradiated by the light emitting device 4, and the surface is coated with extinction material, thereby achieving extinction, avoiding the light beam that does not play a detection role from having an adverse effect on the detection of the laser radar.

[0121] like Figure 4As shown, the arrangement of the support base 12122 and the first limiting side wall 12121 can enable the polarization splitter prism to be placed on the polarization splitter mounting portion when the polarization splitter prism is installed, and the two adjacent planes are respectively fitted with the polarization splitter device support surface and the first limiting surface, thereby meeting the installation requirements and eliminating the need for further adjustment of the angle position, thereby reducing the difficulty of adjustment and improving the efficiency of adjustment.

[0122] In order to reduce the impact of stray light on the detection accuracy of LiDAR, Figure 4 As shown, in a specific embodiment, the support base 12122 and the transmitting device mounting portion 1211 of the laser radar provided in an embodiment of the present invention are respectively located on both sides of the first limiting side wall 12121, and the first limiting side wall 12121 is provided with an incident light-transmitting hole 1216, which is suitable for the light beam emitted by the light-emitting device 4 to be irradiated to the polarization splitter 5 through the incident light-transmitting hole 1216.

[0123] In this way, when the laser radar is working, the light beam emitted by the light emitting device 4 will continue to diverge during the propagation process. When passing through the incident transmission hole 1216, part of the divergent light beam cannot be irradiated to the incident transmission hole 1216 and is blocked by the side wall of the incident transmission hole 1216, thereby eliminating this part of stray light and preventing it from irradiating the polarization splitter 5, thereby reducing the influence of stray light on the detection accuracy during the light beam propagation and detection process.

[0124] Furthermore, in order to eliminate stray light while avoiding the elimination of excessive light beams and ensuring the emission of light beams, in a specific embodiment, the incident light transmission hole 1216 of the laser radar provided in an embodiment of the present invention may include:

[0125] The first incident light hole,

[0126] A second incident light hole, the cross-section of the second incident light hole covers the cross-section of the first incident light hole, and the cross-sectional area of ​​the second incident light hole is larger than the cross-sectional area of ​​the first incident light hole, and the light beam emitted by the light emitting device passes through the first incident light hole and the second incident light hole in sequence.

[0127] It is easy to understand that the cross-section of the second incident light hole covers the cross-section of the first incident light hole and the cross-sectional area of ​​the second incident light hole is greater than the cross-sectional area of ​​the first incident light hole, which means that the first incident light hole and the second incident light hole constitute a stepped hole, and when looking from the second incident light hole along the extension direction of the hole, the complete cross-section of the first incident light hole can be seen.

[0128] Specifically, the cross-sectional shapes of the first incident light hole and the second incident light hole can be the same or different, and their centers can coincide or not coincide. The cross-sectional shapes of the first incident light hole and the second incident light hole can be determined as needed, such as: circular, square, oblong, etc.

[0129] In one embodiment, the incident light hole 1216 may include an oblong hole. In order to make the light beam emitted by the light emitting device 5 pass through the incident light hole 1216 with the highest probability, the angle between the long side of the oblong hole and the supporting surface of the polarization splitter device can be set to be the same as the angle between the mounting surface of the emitting device mounting part 1211 and the supporting surface of the polarization splitter device.

[0130] The oblong hole is Figure 4 The shape shown in the figure can improve the effect of eliminating stray light.

[0131] It should be noted that the long side of the oblong hole refers to the side with a straight line segment in the cross section of the oblong hole, and the angle between the long side of the oblong hole and the supporting surface of the polarization splitter device refers to the angle between the straight line segment and the supporting surface of the polarization splitter device in a plane perpendicular to the supporting surface of the polarization splitter device.

[0132] like Figure 3 and Figure 4 As shown, the angle between the mounting surface of the emitting device mounting portion 1211 and the supporting surface of the polarization beam splitter can be less than 90°, then the angle between the long side of the oblong hole and the supporting surface of the polarization beam splitter is also less than 90°, and the two are equal. Of course, please refer to Figure 6 , Figure 6 This is a partial structural diagram of a base of a laser radar provided by another embodiment of the present invention. As shown in the figure, in another embodiment, the angle between the mounting surface of the transmitting device mounting portion 1211 and the supporting surface of the polarization splitter device can also be equal to 90°. Then, the angle between the long side of the oblong hole and the supporting surface of the polarization splitter device is also equal to 90°.

[0133] The angle between the mounting surface of the emitting device mounting portion 1211 and the supporting surface of the polarization beam splitter device may be less than 90°, that is, the light emitting device 5 is tilted, which can increase the detection coverage.

[0134] The angle between the long side of the oblong hole and the supporting surface of the polarization splitter device is the same as the angle between the mounting surface of the transmitting device mounting part 1211 and the supporting surface of the polarization splitter device. This can ensure that the light beam emitted by the light emitting device 4 installed on the transmitting device mounting part 1211 can meet the requirements of eliminating stray light, and at the same time can effectively allow the light beam to pass through the incident light hole 1216, thereby ensuring the point cloud resolution of the laser radar.

[0135] Furthermore, in order to further facilitate the assembly of the polarization splitter prism and improve the limiting effect, the polarization splitter device mounting portion 1212 of the laser radar provided in an embodiment of the present invention may also include a second limiting side wall 12123, which is fixed to the support base 12122 and includes a second limiting surface that is perpendicular to both the polarization splitter device support surface and the first limiting surface.

[0136] In order to make full use of the space and improve the compactness of the laser radar, the supporting base 12122 of the receiving device mounting part 1213 and the polarization splitter device mounting part 1212 are respectively located on both sides of the second limiting side wall 12123, and the second limiting side wall 12123 is provided with an exit light hole 1215, which is suitable for the light beam transmitted by the polarization splitter device 5 to be irradiated to the light receiving device through the exit light hole 1215.

[0137] In this way, the second limiting side wall 12123 can, on the one hand, reduce the difficulty of assembling the polarization splitter prism and improve the assembly reliability; on the other hand, it can provide installation space for the installation of the light receiving device and improve the compactness of the laser radar. At the same time, in order to ensure that the light beam is irradiated from the polarization splitter device 5 to the light receiving device through the output light hole 1215, it can also eliminate stray light.

[0138] Of course, the configuration of the light-emitting aperture 1215 corresponds to the configuration of the receiving surface of the light-receiving device, thereby ensuring the reception of the light beam.

[0139] In another specific embodiment, in order to improve the effect of the light beam received by the light receiving device, the second limiting side wall 12123 can also be provided with a filter mounting portion 1214 to fix the filter of the optoelectronic component, which is suitable for the filter to receive the light beam transmitted by the polarization splitting element 5 and irradiate it to the light receiving device after filtering.

[0140] The setting of the filter can filter the light beam transmitted by the polarization splitter element 5, thereby reducing the influence of unnecessary light beams on the detection effect. The filter mounting portion 1214 is directly set on the second limiting side wall 12123, which not only facilitates the setting of the filter, but also makes full use of the thickness space of the second limiting side wall, further improving the compactness of the laser radar and reducing the size of the laser radar.

[0141] Of course, the light beam irradiated to the filter can also first pass through the output light hole 1215 to eliminate stray light, that is, the filter mounting portion 1214 can be opened behind the output light hole 1215 in the light beam transmission direction, so that the light beam received by the light receiving device is filtered by the filter while the stray light is eliminated.

[0142] In order to improve the quality of the light beam used for detection, in another specific embodiment, the optoelectronic component of the laser radar provided in an embodiment of the present invention may also include a linear polarizer. For this purpose, the first limiting side wall 12121 is also provided with a linear polarizer mounting portion (not shown in the figure), which fixes the linear polarizer of the optoelectronic component and is suitable for the linear polarizer to receive the light beam emitted by the light emitting device 5 and irradiate it to the polarization splitter.

[0143] The setting of the linear polarizer can polarize the light beam emitted by the light emitting device 5, and obtain a light beam perpendicular to the polarization angle of the polarizer, thereby improving the quality of the light beam used for scanning and the detection effect. Setting the linear polarizer mounting portion on the first limiting side wall 12121 can increase optoelectronic devices without increasing the occupied space, thereby improving the structural compactness of the laser radar and reducing the volume of the laser radar.

[0144] like Figure 7 As shown, in order to ensure the secure installation of the lens 9 and the wave plate 7 while meeting the requirements of the beam transmission path and reducing the occupied space, the second mounting platform 122 is provided with a mounting hole, and the device mounting portion 1221 is located in the mounting hole.

[0145] In another specific embodiment, a spacer ring 8 can be further provided between the lens 9 and the wave plate 7. The provision of the spacer ring 8 can ensure the installation stability of the lens 9 and the wave plate 7, while providing thermal compensation, reducing the risk of breakage under high and low temperature conditions, and improving the stability of the lidar.

[0146] Specifically, the material of the spacer 8 can be steel or aluminum alloy. The expansion coefficient of the spacer 8 is close to that of glass, thereby improving thermal stability.

[0147] like Figure 5 As shown, in another specific embodiment, in order to change the direction of light beam transmission, improve the compactness of the arrangement of each optoelectronic device, and further reduce the volume of the laser radar, the second mounting platform 122 is also provided with a second reflector mounting portion 1223, which fixes the second reflector of the optoelectronic component, and is suitable for the second reflector to receive the light beam reflected by the polarization spectrometer 5 and reflect it to the lens 9, or to receive the light beam focused by the lens 9 and reflect it to the polarization spectrometer 5.

[0148] Specifically, the second mounting platform 122 may include:

[0149] The first side wall 1224 is fixed to the base platform 11 and is provided with a second reflector mounting portion 1223;

[0150] The second side wall 1225 is fixed to the base platform 11 , has a predetermined angle with the first side wall 1224 and is fixedly connected thereto. A mounting hole is provided on the second side wall 1225 , and the device mounting portion 1221 is located in the mounting hole.

[0151] The angle between the first side wall 1224 and the second side wall 1225 can ensure that the light beam reflected by the second reflector is irradiated to the lens 9, or the light beam emitted from the lens 9 is irradiated to the second reflector.

[0152] The structural arrangement of the first side wall 1224 and the second side wall 1225 can ensure the realization of light beam propagation, and the structure is simple, which can reduce the difficulty of processing the second mounting platform 122.

[0153] In order to make full use of space and ensure the compactness of the laser radar structure, the scanning device 24 (shown in FIG. Figure 2 ) is arranged above the mounting platform 12. During the operation of the laser radar, the first reflector 6 (shown in Figure 3 The light beam needs to be transmitted between the scanning device 24 and the second side wall 1225. In order to ensure the smoothness of the light beam transmission, a light-transmitting groove 1222 (shown in FIG. Figure 4 ), suitable for light beam propagation between the scanning device 24 and the first reflector 6.

[0154] Of course, in another specific embodiment, the polarization beam splitter device includes a polarization beam splitter, such as Figure 6 As shown, the polarization splitter device mounting portion includes:

[0155] A support base 12122 is fixed to the base platform 11 and includes a support surface for the polarization beam splitter;

[0156] The mounting side wall 12124 is fixed to the supporting base 12122, and includes a mounting surface perpendicular to the supporting surface of the polarization splitter device. The angle between the mounting surface and the incident direction of the light beam is 45°, which is suitable for installing the polarization splitter. The mounting side wall is provided with an extinction hole 1217 and an exit light-transmitting hole (not shown in the figure). The extension direction of the extinction hole 1217 is perpendicular to the extension direction of the exit light-transmitting hole. The hole wall of the extinction hole 1217 is provided with an extinction material or an extinction device is provided in the extinction hole 1217.

[0157] It should be noted that the installation position of the optical receiving device is Figure 5 The mounting positions of the light receiving devices shown are the same.

[0158] When the laser radar is working, the light beam emitted by the light emitting device 4 is irradiated to the polarization splitter, part of the light beam is reflected to the lens and scans and reflects the three-dimensional environment, and is finally received by the light receiving device through the output transmission hole; part of the light beam is transmitted and irradiated to the extinction hole 1217, and an extinction device is provided in the extinction hole 1217 or an extinction material is provided on the hole wall of the extinction hole 1217, thereby achieving extinction, avoiding the light beam that does not play a detection role from having an adverse effect on the detection of the laser radar.

[0159] It can be seen that the structure of the polarization beam splitter device mounting portion of the laser radar provided by the embodiment of the present invention can meet the installation requirements of the polarization beam splitter on the one hand, and can also achieve extinction at the same time.

[0160] Specifically, the extinction hole 1217 can be a stepped hole, which facilitates the transmission of a portion of the light beam and is easy to set an extinction material or extinction device on the hole wall.

[0161] In another specific embodiment, in order to improve the field of view of the laser radar, the optical-mechanical module 1 of the laser radar provided in an embodiment of the present invention can have a symmetrical structure, and the number of optoelectronic components is two groups, and the two groups of optoelectronic components are symmetrically arranged about the scanning module 2. The first mounting platform 121, the second mounting platform 122 and the reflector mounting platform 123 all have a symmetrical structure, which respectively fix the various optoelectronic devices of the two groups of optoelectronic components.

[0162] It should be noted that the symmetrical arrangement of the scanning module 2 described herein refers to the symmetrical arrangement of the scanning module about the middle plane in the light beam emission direction of the laser radar, that is, Figure 1-Figure 3 The structure shown.

[0163] In this way, the field of view of two sets of optoelectronic components can be obtained. By stitching the fields of view, a larger field of view can be obtained, thereby improving the detection range of the lidar.

[0164] Although the embodiments of the present invention are disclosed above, the present invention is not limited thereto. Any person skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the scope of protection of the present invention should be based on the scope defined by the claims.

Claims

1. A laser radar, characterized in that: include: An opto-mechanical module comprises a base and an opto-electronic assembly, wherein the base is provided with a mounting portion for fixing and mounting each opto-electronic device of the opto-electronic assembly, the opto-electronic assembly comprises a light emitting device, and the light emitting device comprises a semiconductor laser; a scanning module fixed to the base, wherein a scanning device of the scanning module is located above the optoelectronic component, and a light beam transmitted through the optoelectronic device is irradiated to the scanning device, and the scanning device irradiates the received scanning light beam to the optoelectronic device; The circuit module is fixed to the base, located on a side away from the light beam scanning of the scanning module, and is electrically connected to the optoelectronic device.

2. The laser radar according to claim 1, wherein The base comprises: base platform; A mounting platform is fixed above the base platform and is provided with each of the mounting parts, wherein the number of the mounting platforms is less than the number of the mounting parts; A scanning bracket is fixed above the mounting platform; The scanning module includes a fixed foot and a scanning frame fixed to the fixed foot, the fixed foot is fixed to the base platform, and the scanning frame is fixed to the scanning bracket; The circuit module is fixed to the base platform.

3. The laser radar according to claim 2, wherein: The mounting platform includes: a first mounting platform, fixed to the base platform, provided with a transmitter mounting portion, a polarization beam splitter mounting portion, and a receiving device mounting portion, for respectively fixing the light emitting device, the polarization beam splitter, and the light receiving device of the optoelectronic assembly, so that the light beam emitted by the light emitting device is irradiated by the polarization beam splitter and reflected, and the light receiving device receives the light beam transmitted by the polarization beam splitter; a second mounting platform, fixed to the base platform, provided with a device mounting portion, for fixing the lens and wave plate of the optoelectronic component, adapted for the lens to receive the light beam reflected by the polarization beam splitter and irradiate it to the wave plate for polarization adjustment after focusing, or to receive the light beam polarized by the wave plate and irradiate it to the polarization beam splitter after focusing; The reflector mounting platform is fixed to the base platform and is located on both sides of the second mounting platform respectively with the first mounting platform. A first reflector mounting portion is provided to fix the first reflector of the optoelectronic component, suitable for the first reflector to receive the light beam emitted by the wave plate and reflect it to the scanning device of the scanning module or reflect the light beam irradiated by the scanning device to the wave plate.

4. The laser radar according to claim 3, wherein The polarization beam splitter device includes a polarization beam splitter prism, and the polarization beam splitter device mounting portion includes: A supporting base, fixed to the base platform, comprising a supporting surface for the polarization beam splitter; The first limiting side wall is fixed to the supporting base and comprises a first limiting surface perpendicular to the supporting surface of the polarization beam splitting device.

5. The laser radar according to claim 4, wherein: The supporting base and the emitting device mounting portion are respectively located on both sides of the first limiting side wall. The first limiting side wall is provided with an incident light-transmitting hole, which is suitable for the light beam emitted by the light emitting device to irradiate the polarization splitter through the incident light-transmitting hole.

6. The laser radar according to claim 5, wherein The incident light-transmitting hole comprises: The first incident light hole, A second incident light hole, the cross-section of the second incident light hole covers the cross-section of the first incident light hole, and the cross-sectional area of ​​the second incident light hole is larger than the cross-sectional area of ​​the first incident light hole, and the light beam emitted by the light emitting device passes through the first incident light hole and the second incident light hole in sequence.

7. The laser radar according to claim 5, wherein The incident light-transmitting hole comprises an oblong hole, and the angle between the long side of the oblong hole and the supporting surface of the polarization splitter is the same as the angle between the mounting surface of the emitting device mounting portion and the supporting surface of the polarization splitter.

8. The laser radar according to claim 7, wherein: The polarization beam splitter mounting portion further includes a second limiting side wall fixed to the support base and including a second limiting surface perpendicular to both the polarization beam splitter supporting surface and the first limiting surface.

9. The laser radar according to claim 8, wherein The supporting bases of the receiving device mounting portion and the polarization splitter mounting portion are respectively located on both sides of the second limiting side wall. The second limiting side wall is provided with an exit light-transmitting hole, which is suitable for the light beam transmitted by the polarization splitter to be irradiated to the light receiving device through the exit light-transmitting hole.

10. The laser radar according to claim 8, wherein The second limiting side wall is further provided with a filter mounting portion for fixing the filter of the optoelectronic component, which is suitable for the filter to receive the light beam transmitted by the polarization beam splitter and irradiate it to the light receiving device after filtering.

11. The laser radar according to claim 4, wherein The first limiting side wall is further provided with a linear polarizer mounting portion for fixing the linear polarizer of the optoelectronic component, and is suitable for the linear polarizer to receive the light beam emitted by the light emitting device and irradiate the light beam to the polarization beam splitter.

12. The laser radar according to claim 3, wherein: The polarization beam splitter device includes a polarization beam splitter, and the polarization beam splitter device mounting portion includes: A supporting base, fixed to the base platform, comprising a supporting surface for the polarization beam splitter; The mounting side wall is fixed to the supporting base, and includes a mounting surface perpendicular to the supporting surface of the polarization splitter device. The angle between the mounting surface and the incident direction of the light beam is 45°, which is suitable for mounting the polarization splitter. The mounting side wall is provided with an extinction hole and an exit light-transmitting hole. The extension direction of the extinction hole is perpendicular to the extension direction of the exit light-transmitting hole. The hole wall of the extinction hole is provided with an extinction material or an extinction device is provided in the extinction hole.

13. The laser radar according to claim 3, wherein: The second mounting platform is provided with a mounting hole, and the device mounting portion is located in the mounting hole.

14. The laser radar according to claim 3, wherein: Also includes: A spacer is provided between the lens and the wave plate.

15. The laser radar according to claim 13, wherein: The second mounting platform is also provided with a second reflector mounting portion, which fixedly mounts the second reflector of the optoelectronic component, suitable for the second reflector to receive the light beam reflected by the polarization splitter and reflect it to the lens, or to receive the light beam focused by the lens and reflect it to the polarization splitter.

16. The laser radar according to claim 15, wherein: The second mounting platform includes: A first side wall is fixed to the base platform and is provided with the second reflector mounting portion; The second side wall is fixed to the base platform, has a predetermined angle with the first side wall and is fixedly connected thereto, and is provided with the mounting hole.

17. The laser radar according to claim 16, wherein: A light-transmitting groove is provided on the top of the second side wall, which is suitable for light beam propagation between the scanning device and the first reflector.

18. The laser radar according to any one of claims 3 to 17, wherein: The fixed foot of the scanning module is located between the first mounting platform and the second mounting platform, and the fixed foot is provided with a light-through hole.

19. The laser radar according to any one of claims 3 to 17, wherein: The circuit module includes: A circuit board bracket is fixed to the base platform; A circuit board is fixed to the circuit board bracket and is electrically connected to the light emitting device, the light receiving device and the scanning module.

20. The laser radar according to claim 19, wherein: The circuit board bracket includes a long bracket fixed to the base platform and a short bracket fixedly installed with the long bracket; The circuit board comprises: a first circuit board fixed to the short bracket, located on a first side of the short bracket, disposed above the first mounting platform, and electrically connected to the light emitting device and the scanning module; The second circuit board is electrically connected to the first circuit board, fixed to the long bracket, located on the side of the first mounting platform, and electrically connected to the light receiving device.

21. The laser radar according to claim 20, wherein: The circuit board also includes: The third circuit board is fixed to the short bracket, electrically connected to the first circuit board or the second circuit board, located on the second side of the short bracket, and arranged above the first mounting platform.

22. The laser radar according to claim 21, wherein The circuit board also includes: The fourth circuit board is electrically connected to the first circuit board, the second circuit board or the third circuit board, is fixed to the sides of the long bracket and the short bracket, and is located above the first mounting platform.

23. The laser radar according to any one of claims 3 to 17, wherein: The optical-mechanical module has a symmetrical structure, the number of the optoelectronic components is two groups, the two groups of optoelectronic components are symmetrically arranged about the scanning module, the first mounting platform, the second mounting platform and the reflector mounting platform all have a symmetrical structure, and respectively fix the respective optoelectronic devices of the two groups of optoelectronic components.

24. The laser radar according to any one of claims 3 to 17, wherein: The first mounting platform, the second mounting platform and the base platform are integrally formed.

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