LiDAR, its transceiver module, and assembly method of LiDAR

Abstract

The present invention provides a lidar, its transceiver module, and an assembly method of the lidar. The transceiver module includes a bracket; a transmitting device for emitting a detection beam, which is installed at a first end of the bracket; a receiving device for receiving an echo beam, which is installed at a second end of the bracket opposite to the first end, and a transmission path of the detection beam is partially the same as a transmission path of the echo beam; the transmission path of the detection beam or the echo beam connects the first end and the second end of the bracket. The lidar, its transceiver module, and the assembly method of the lidar provided by the present invention can reduce the alignment difficulty of the lidar and improve the alignment efficiency of the lidar.

Description

Technical Field

[0001] The present invention relates to the field of environmental perception, and particularly to a lidar, its transceiver module, and an assembly method of the lidar. Background Art

[0002] A lidar is an important sensor for perceiving information around a vehicle and is a guarantee for the safety and intelligence of a vehicle with an autonomous driving function.

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

[0004] In the prior art, in order to ensure the performance of the lidar, the lidar needs to be adjusted. Since the lidar includes a transceiver component and optical devices for realizing laser detection requirements, there are many devices, making the adjustment difficulty of the lidar relatively high and affecting the adjustment efficiency.

[0005] Therefore, how to reduce the adjustment difficulty of the lidar and improve the adjustment efficiency of the lidar has become a technical problem that needs to be solved urgently. Summary of the Invention

[0006] The present invention provides a lidar, its transceiver module, and an assembly method of the lidar to reduce the adjustment difficulty of the lidar and improve the adjustment efficiency of the lidar.

[0007] To solve the above problems, the present invention provides a transceiver module for a lidar, including:

[0008] A bracket;

[0009] A transmitting device for emitting a detection beam, installed at a first end of the bracket;

[0010] A receiving device for receiving an echo beam, installed at a second end of the bracket opposite to the first end, and a transmission path of the detection beam and a transmission path of the echo beam are partially the same;

[0011] The transmission path of the detection beam or the echo beam connects the first end and the second end of the bracket.

[0012] Optionally, the bracket is provided with a through hole for the echo beam to pass through to guide the echo beam to be received by the receiving device or for the detection beam to pass through to guide the detection beam to exit from the bracket.

[0013] Optionally, the receiving device is attached to a first opening of the through hole.

[0014] Optionally, the transmitting device includes at least two transmitting units, the receiving device includes at least two receiving units, and each of the transmitting units corresponds to each of the receiving units one by one.

[0015] Optionally, the through hole includes at least two sub-through holes, each of the sub-through holes corresponds to each of the receiving units, and the echo beam obtained from the detection beam emitted by each of the transmitting units passes through the corresponding sub-through hole and is received by the corresponding receiving unit.

[0016] Optionally, it further includes:

[0017] A polarization beam splitter device, installed on the bracket, corresponding to both the transmitting device and the receiving device, for reflecting the detection beam emitted by the transmitting device and transmitting the echo beam to the receiving device, and the distance between the polarization beam splitter device and the transmitting device is less than the distance between the polarization beam splitter device and the receiving device;

[0018] A wave plate, installed on the bracket and located on both sides of the polarization beam splitter device with the receiving device respectively, so as to perform polarization adjustment on the detection beam reflected by the polarization beam splitter device and perform polarization adjustment on the echo beam irradiated to the polarization beam splitter device.

[0019] Optionally, each of the transmitting units and each of the receiving units share the polarization beam splitter device and the wave plate.

[0020] Optionally, it further includes:

[0021] A receiving lens, installed in the through hole and located between the polarization beam splitter device and the receiving device, for collimating the echo beam transmitted by the polarization beam splitter device.

[0022] Optionally, the number of the receiving lenses is the same as the number of the receiving units, and each of the receiving lenses corresponds to each of the receiving units one by one.

[0023] Optionally, it further includes:

[0024] A filter, installed on the bracket, located between the polarization beam splitter device and the receiving device and attached to the second opening of the through hole, the second opening being the other opening of the through hole opposite to the first opening, for filtering the echo beam transmitted by the polarization beam splitter device.

[0025] Optionally, each of the receiving units shares the filter.

[0026] Optionally, it further includes:

[0027] The transmitting lens is installed on the bracket and is located between the polarization beam splitter and the transmitting device, collimates the detection beam emitted by the transmitting device, and the distance between the transmitting lens and the transmitting device is less than the distance between the receiving lens and the receiving device.

[0028] Optionally, the number of the transmitting lenses is the same as the number of the transmitting units, and each of the transmitting lenses corresponds to each of the transmitting units one by one.

[0029] Optionally, it further includes:

[0030] The transmitting circuit board is installed on the first side surface of the bracket and is electrically connected to the transmitting device;

[0031] The receiving circuit board is installed on the second side surface of the bracket and is electrically connected to the receiving device, and the second side surface is disposed opposite to the first side surface.

[0032] To solve the above problems, the present invention further provides a lidar, including:

[0033] The opto-mechanical module includes an optical device and an opto-mechanical bracket, and the optical device is installed on the opto-mechanical bracket;

[0034] The transceiver module as described in any one of the specific embodiments is installed on the opto-mechanical bracket, emits a detection beam, irradiates the optical device, and receives the echo beam transmitted by the optical device.

[0035] Optionally, the opto-mechanical bracket has an integral structure.

[0036] Optionally, the transceiver module is installed at the rear end of the opto-mechanical bracket, and the rear end is the end opposite to the light-emitting end of the detection beam.

[0037] Optionally, the optical device includes:

[0038] The mirror is installed on the opto-mechanical bracket, reflects the detection beam emitted by the transceiver module, and reflects the echo beam to the transceiver module;

[0039] The lens is installed on the opto-mechanical bracket, and collimates the detection beam emitted by the transceiver module and the echo beam irradiated to the receiving device.

[0040] Optionally, the opto-mechanical bracket is provided with:

[0041] The beam through hole is used for beam transmission, and the mirror and the lens are both installed in the beam through hole.

[0042] Optionally, the light beam through - hole includes sub - light beam through - holes, the number of the sub - light beam through - holes is the same as the number of the transmitting units of the transmitting device of the transceiver module, and the sub - light beam through - holes are arranged side by side. A reflector and a lens are arranged in each of the sub - light beam through - holes.

[0043] Optionally, the optical device further includes:

[0044] A prism, mounted on the optical machine bracket and located between the transceiver module and the reflector. The number of the prisms is the same as the number of the sub - light beam through - holes, and the prism rotates the detection light beam emitted by the transceiver module and the echo light beam reflected by the reflector.

[0045] Optionally, it further includes:

[0046] A scanning module, mounted on the inclined - plane support part of the optical machine bracket, located above the light beam through - hole and in the middle of the optical machine bracket, reflects the detection light beam passing through the optical device to scan a target, and reflects the echo light beam reflected by the target to the optical device.

[0047] Optionally, it further includes:

[0048] A first circuit board, mounted on the first side of the optical machine bracket, electrically connected to the transceiver module and the scanning module of the lidar, and located on the side of the scanning module.

[0049] Optionally, it further includes:

[0050] A second circuit board, mounted on the second side of the optical machine bracket, electrically connected to the first circuit board and the scanning module, and located on the side of the scanning module.

[0051] Optionally, the transmitting circuit board of the transceiver module is electrically connected to the first circuit board and the transmitting device, and the receiving circuit board of the transceiver module is electrically connected to the first circuit board and the receiving device.

[0052] To solve the above problems, the present invention also provides an assembly method of a lidar, including:

[0053] Align and adjust the transceiver module as described in any one of the specific embodiments;

[0054] Mount the optical device on the optical machine bracket to obtain an optical machine module;

[0055] Obtain the scanning module, the first circuit board and the second circuit board;

[0056] Install the scanning module above the optical engine bracket of the optical engine module, install the transceiver module behind the optical engine bracket, and install the first circuit board and the second circuit board on the side of the optical engine bracket.

[0057] Compared with the prior art, the technical solution of the present invention has the following advantages:

[0058] The transceiver module provided by the present invention is used for a lidar, and includes a bracket, a transmitting device and a receiving device respectively installed at the first end and the second end of the bracket. The transmitting device emits a detection beam, and the receiving device receives an echo beam. The transmission path of the detection beam and the transmission path of the echo beam are partially the same, and the transmission path of the detection beam or the echo beam connects the first end and the second end of the bracket. In this way, when the lidar assembled and adjusted by using the transceiver module provided by the embodiments of the present invention is used for environmental detection, the detection beam emitted by the transmitting device sequentially passes through the part of the transmission path different from the transmission path of the echo beam and the part of the transmission path the same as the transmission path of the echo beam of the transceiver device, irradiates out of the transceiver module, and finally irradiates into the environment for environmental detection. The object in the environment reflects the detection beam to generate an echo beam, and after transmission, it passes through the part of the transmission path the same as the transmission path of the detection beam and the part of the transmission path different from the transmission path of the detection beam and is received by the receiving device. It can be seen that the transceiver module provided by the embodiments of the present invention is a separate module, which can be assembled and adjusted separately and can be visually assembled and adjusted, thereby reducing the assembly and adjustment difficulty of the transceiver module. In addition, the transceiver module provided by the embodiments of the present invention does not include an external housing part, thereby improving the heat dissipation effect of the transceiver module. When using the transceiver module provided by the embodiments of the present invention for the assembly and adjustment of the lidar, since the transceiver module is already a module after assembly and adjustment, only need to assemble and adjust it with other modules of the lidar, thereby reducing the assembly and adjustment difficulty of the lidar; in addition, since the transmitting device and the receiving device are respectively arranged on both sides of the bracket, the position interference between the transmitting device and the receiving device is small, and the setting is more convenient; and the transmission path of the detection beam is partially the same as the transmission path of the echo beam, which can reduce the required components while ensuring the detection effect. Description of the Drawings

[0059] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained according to the provided drawings without creative efforts.

[0060] Figure 1It is a schematic structural diagram of a lidar provided by an embodiment of the present invention;

[0061] Figure 2 It is a schematic structural diagram of a transceiver module provided by an embodiment of the present invention;

[0062] Figure 3 It is a schematic cross-sectional view of a transceiver module provided by an embodiment of the present invention;

[0063] Figure 4 It is another schematic structural diagram of a lidar provided by an embodiment of the present invention;

[0064] Figure 5 It is a schematic structural diagram of an optomechanical bracket of a lidar provided by an embodiment of the present invention;

[0065] Figure 6 It is a schematic diagram of the transmission path of the detection beam of a lidar provided by an embodiment of the present invention;

[0066] Figure 7 It is a schematic diagram of the transmission path of the echo beam of a lidar provided by an embodiment of the present invention:

[0067] Figure 8 It is a schematic cross-sectional view of a lidar provided by an embodiment of the present invention;

[0068] Figure 9 It is another schematic cross-sectional view of a lidar provided by an embodiment of the present invention;

[0069] Figure 10 It is a schematic flow chart of an assembly method of a lidar provided by an embodiment of the present invention. Detailed implementation manners

[0070] As can be seen from the background art, the alignment and adjustment of lidars are difficult, which affects the alignment and adjustment efficiency.

[0071] To reduce the alignment and adjustment difficulty of lidars and improve the alignment and adjustment efficiency of lidars, an embodiment of the present invention provides a transceiver module for a lidar, including:

[0072] A bracket;

[0073] A transmitting device for transmitting a detection beam, which is installed at the first end of the bracket;

[0074] A receiving device for receiving an echo beam, which is installed at the second end of the bracket opposite to the first end, and the transmission path of the detection beam is partially the same as the transmission path of the echo beam;

[0075] The transmission path of the detection beam or the echo beam communicates the first end and the second end of the bracket.

[0076] It can be seen that the transceiver module provided by the embodiment of the present invention is a separate module, which can be adjusted and assembled separately and visually, thereby reducing the difficulty of adjusting and assembling the transceiver module. In addition, the transceiver module provided by the embodiment of the present invention does not include an external housing part, thereby improving the heat dissipation effect of the transceiver module. When using the transceiver module provided by the embodiment of the present invention for the adjustment and assembly of a lidar, since the transceiver module is already a module after adjustment and assembly, it only needs to be adjusted and assembled with other modules of the lidar, thereby reducing the difficulty of adjusting and assembling the lidar. In addition, since the transmitting device and the receiving device are respectively arranged on both sides of the bracket, the positional interference between the transmitting device and the receiving device is small, and the setting is more convenient. And part of the transmission path of the detection beam is the same as the transmission path of the echo beam, which can reduce the required devices while ensuring the detection effect.

[0077] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0078] It should be noted that the directions or positional relationships indicated in this specification are based on the directions or positional relationships shown in the drawings, and are only for the convenience of description and simplification of description, rather than indicating or implying that the device referred to must have a specific direction and be constructed in a specific direction. Therefore, it should not be construed as a limitation to the present invention.

[0079] Please refer to Figure 1 , Figure 1 which is a schematic structural diagram of a lidar provided by the embodiment of the present invention; Figure 2 which is a schematic structural diagram of the transceiver module provided by the embodiment of the present invention; Figure 3 which is a schematic cross-sectional view of the transceiver module provided by the embodiment of the present invention.

[0080] As Figure 1 shown, the lidar provided by the embodiment of the present invention includes an optomechanical module 2, a transceiver module 1, and a scanning module 3. The transceiver module 1 emits a detection beam, which irradiates the optomechanical module 2 and then irradiates the scanning module 3 through the optomechanical module 2. The detection beam scans the environment under the action of the scanning module 3, and the detection beam is reflected by the target to generate an echo beam. The echo beam irradiates the transceiver module 1 through the scanning module 3 and the optomechanical module 2 and is received by the transceiver module 1 to achieve target detection.

[0081] As Figure 2 and Figure 3As shown, the transceiver module 1 provided by an embodiment of the present invention includes:

[0082] A bracket 11;

[0083] A transmitting device 12, configured to transmit a detection beam (arrow a in the figure), and is installed at the first end of the bracket 11;

[0084] A receiving device 13, configured to receive an echo beam (arrow b in the figure), and is installed at the second end of the bracket 11 opposite to the first end, and a transmission path of the detection beam is partially the same as a transmission path of the echo beam;

[0085] The transmission path of the detection beam or the echo beam connects the first end and the second end of the bracket 11.

[0086] It is easy to understand that, as shown in Figure 3 , when the bracket 11 is placed in the position of Figure 3 , the first end of the bracket 11 can be the bottom end of the bracket 11, and the second end of the bracket 11 can be the top end of the bracket 11. The fact that the transmission path of the detection beam a described herein is partially the same as the transmission path of the echo beam b means that in the transceiver module, it includes both the transmission path of the detection beam a and the transmission path of the echo beam b, where a part of the transmission path of the detection beam a is the same as a part of the transmission path of the echo beam b, and the other part is different. Of course, as shown in Figure 3 , the transmission paths farther from the transmitting device 12 and the receiving device 13 are the same, and the transmission path closer to the transmitting device 12 is different from the transmission path closer to the receiving device 13. In a specific embodiment, the different transmission path parts can be perpendicular to each other..

[0087] Thus, when using the lidar calibrated by the transceiver module 1 provided by the embodiment of the present invention to perform environmental detection, the detection beam a emitted by the transmitting device 12 sequentially passes through the transmission path different from the transmission path of the echo beam b in the transceiver device, that is, the part of the transmission path closer to the transmitting device 12, and the transmission path the same as the transmission path of the echo beam b, that is, the part of the transmission path farther from the transmitting device 12, and finally exits from the transceiver module 1, passes through the opto-mechanical module 2 as shown in Figure 1 , and finally irradiates the environment to detect the environment. The object in the environment reflects the detection beam a to generate an echo beam b, and after being transmitted by the opto-mechanical module 2, passes through the transmission path the same as the transmission path of the detection beam a, that is, the part of the transmission path farther from the receiving device 13, and the transmission path different from the transmission path of the detection beam a, that is, the part of the transmission path closer to the receiving device 13, and is received by the receiving device 13.

[0088] It can be seen that the transceiver module provided by the embodiment of the present invention is a separate module, which can be separately assembled and adjusted, and can be visually assembled and adjusted, thereby reducing the assembly and adjustment difficulty of the transceiver module. In addition, the transceiver module provided by the embodiment of the present invention does not include an external housing part, thereby improving the heat dissipation effect of the transceiver module. When the transceiver module provided by the embodiment of the present invention is used for the assembly and adjustment of a lidar, since the transceiver module is already a module after assembly and adjustment, only need to assemble and adjust it with other modules of the lidar, thereby reducing the assembly and adjustment difficulty of the lidar; in addition, since the transmitting device and the receiving device are respectively arranged on both sides of the bracket, the position interference between the transmitting device and the receiving device is small, and the setting is more convenient; and the transmission path of the detection beam is partially the same as the transmission path of the echo beam, which can reduce the required devices while ensuring the detection effect.

[0089] In a specific embodiment, in order to eliminate stray light and improve the detection effect, the bracket 11 of the transceiver module 1 provided by the embodiment of the present invention may be provided with a through hole 19, and the through hole 19 is used for the echo beam to pass through to guide the echo beam to be received by the receiving device 13 or for the detection beam to pass through to guide the detection beam to exit from the bracket 11.

[0090] When the receiving device 13 is arranged at the second end of the bracket 11, the echo beam enters from the first end of the bracket 11 and passes through the through hole 19 to be received by the receiving device 13. When the transmitting device 12 is arranged at the second end of the bracket 11, the detection beam passes through the through hole 19 and exits from the first end of the bracket 11.

[0091] It is easy to understand that the through hole 19 penetrates the bracket 11, that is, it communicates the first end and the second end of the bracket 11, and the through hole 19 may be a hole with a constant cross-sectional area, or a hole with a changing cross-sectional area, such as a stepped hole or a tapered hole, and the shape of the cross-section of the through hole 19 can be determined according to needs, such as: circular, square, oblong, etc. Of course, in order to reduce the loss in the transmission process of the echo beam and improve the accuracy of the echo beam received by the receiving device 13, the receiving device 13 can be attached to the first opening of the through hole 19. Thus, when the echo beam passes through the through hole 19, it is directly received by the receiving device 13.

[0092] In one embodiment, as Figure 2 shown, in order to improve the detection coverage and resolution, the transmitting device 12 may include at least 2 transmitting units 121, the receiving device 13 includes at least 2 receiving units (not shown in the figure), and each of the transmitting units 121 corresponds to each of the receiving units one by one.

[0093] The transmitting unit 121 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.

[0094] The receiving unit can be a single-photon detector to enhance the detection sensitivity of the lidar, or can also be a silicon photomultiplier (SiPM) with characteristics such as high gain, high sensitivity, low bias voltage, insensitivity to magnetic fields, and compact structure.

[0095] During environmental detection, the receiving unit receives the echo beam obtained after the detection beam emitted by its corresponding transmitting unit 121 is reflected by environmental objects. In the subsequent signal processing process, by stitching the echo beams received by each receiving unit, the detection coverage rate is improved.

[0096] It is easy to understand that in order to ensure that each transmitting unit 121 and each receiving unit can be in one-to-one correspondence, the positions of the transmitting device 12 and the receiving device 13 installed on the bracket 11 are adjustable, so that each transmitting unit 121 can be in one-to-one correspondence with each receiving unit respectively.

[0097] Of course, the adjustment of the installation positions of the transmitting device 12 and the receiving device 13 on the bracket 11 can be achieved by the tightening degree of different connecting parts, or can also be achieved by adjusting the connection positions, which will not be elaborated here.

[0098] Since the number of the transmitting unit 121 and the receiving unit is at least two, in order to improve the effect of eliminating stray light, please refer to Figure 2 and Figure 3 , the through hole 19 can include at least 2 sub-through holes 191, and each of the sub-through holes 191 corresponds to each receiving unit. The echo beam obtained according to the detection beam emitted by each transmitting unit 121 passes through the corresponding sub-through hole 191 and is received by the corresponding receiving unit.

[0099] In this way, during the propagation process, it can be avoided that the receiving unit receives the echo beam obtained based on the detection beam emitted by the transmitting unit 121 that does not correspond to it, which affects the detection accuracy.

[0100] Of course, in order to make part of the transmission path of the detection beam the same as the transmission path of the echo beam, in a specific embodiment, please continue to refer to Figure 3 , the transceiver module 1 provided by the embodiment of the present invention further includes:

[0101] The polarization beam splitting device 16 is installed on the bracket 11 and corresponds to both the transmitting device 12 and the receiving device 13. It is used to reflect the detection beam emitted by the transmitting device 12 and transmit the echo beam to the receiving device 13. Moreover, the distance between the polarization beam splitting device 16 and the transmitting device 12 is less than the distance between the polarization beam splitting device 16 and the receiving device 13;

[0102] The wave plate 18 is installed on the bracket 11 and is located on both sides of the polarization beam splitting device 16 with the receiving device 13, so as to perform polarization adjustment on the detection beam reflected by the polarization beam splitting device 16 and perform polarization adjustment on the echo beam incident on the polarization beam splitting device 16.

[0103] Specifically, the polarization beam splitting device 16 can be a polarizing beam splitter (PBS), or can also be a polarization beam splitting plate. The wave plate 18 can be a quarter-wave plate to meet the adjustment requirements for the polarization direction of the beam.

[0104] In this way, the distance between the polarization beam splitting device 16 and the transmitting device 12 is less than the distance between the polarization beam splitting device 16 and the receiving device 13, which can make the transmission path of the detection beam shorter, the energy of the detection beam relatively concentrated, and it is more conducive to environmental detection.

[0105] It can be seen that when using the transceiver module 1 provided by the embodiment of the present invention to assemble and adjust a lidar for environmental detection, the detection beam emitted by the transmitting device 12 sequentially passes through the transmission path of the detection beam of the transceiver device 1 that is different from the transmission path of the echo beam, irradiates on the polarization beam splitting device 16, is reflected by the polarization beam splitting device 16, irradiates on the wave plate 18, and then the polarization direction changes, irradiates out of the transceiver module 1, and after passing through the transmission of the optical mechanical module 2, the detection beam is scanned by the scanning module 3 for the environment, and the echo beam generated by the detection beam being reflected by the target, after passing through the scanning module 3 and the optical mechanical module 2, irradiates on the wave plate 18 and the polarization direction changes again, irradiates on the polarization beam splitting device 16 and then transmits, and the transmission path of the echo beam that is different from the transmission path of the detection beam is received by the receiving device 13. It can be seen that the settings of the polarization beam splitting device 16 and the wave plate 18 can easily achieve partial identity of the transmission paths, thereby reducing the required optical components and reducing the size of the lidar.

[0106] On the other hand, in order to reduce the influence caused by the differences between the polarization beam splitter device 16 and the wave plate 18, as well as their different installations, on the transmission processes of different detection beams and echo beams, in a specific embodiment, each of the transmitting units 121 and each of the receiving units share the polarization beam splitter device 16 and the wave plate 18. Thus, compared with using multiple polarization beam splitter devices and wave plates corresponding to each of the transmitting units 121 and receiving units respectively, the present invention uses a single polarization beam splitter device 16 and a wave plate 18 shared by each of the transmitting units 121 and receiving units, which is easier to install and can reduce the transmission path deviation caused by installation errors.

[0107] Please continue to refer to Figure 3 , in order to increase the energy of the echo beam received by the receiving device, in a specific embodiment, the transceiver module 1 provided by the present invention further includes: a receiving lens 14, installed in the through hole 19 and located between the polarization beam splitter device 16 and the receiving device 13, for collimating the echo beam transmitted by the polarization beam splitter device 16.

[0108] As Figure 3 shown, in order to facilitate the installation of the receiving lens 14, the through hole 19 can be set as a stepped hole, and the lens 14 is arranged at the step of the stepped hole.

[0109] Of course, when multiple sub-through holes 191 (shown in Figure 2 ) are provided, in order to facilitate the installation of the receiving lens 14 and ensure the collimation effect on the beam, the number of the receiving lenses 14 can be the same as the number of the receiving units, and each of the receiving lenses 14 corresponds to each of the receiving units one by one.

[0110] In another specific embodiment, please continue to refer to Figure 3 , in order to suppress ambient light, the transceiver module 1 provided by the embodiment of the present invention may further include: a filter 15, installed on the bracket 11, located between the polarization beam splitter device 16 and the receiving device 13 and attached to the second opening of the through hole 19, where the second opening is the other opening of the through hole 19 opposite to the first opening, for filtering the echo beam transmitted by the polarization beam splitter device 16.

[0111] The setting of the filter 15 can filter out ambient light, and attaching the filter 15 to the opening of the through hole 19 (i.e., the second opening) can minimize the influence of ambient light and improve the accuracy of environmental detection.

[0112] Of course, in order to facilitate installation, and since the filter 15 is attached to the second opening of the through hole 19, in a specific embodiment, each of the receiving units can share the filter 15.

[0113] In order to improve the quality of the detection beam, in a specific embodiment, the transceiver module 1 provided by the present invention further includes: an emission lens 17, which is installed on the bracket 11 and is located between the polarization beam splitter 16 and the emission device 12, collimates the detection beam emitted by the emission device 12, and the distance between the emission lens 17 and the emission device 12 is less than the distance between the receiving lens 14 and the receiving device 13.

[0114] The smaller distance between the emission lens 17 and the emission device 12 can improve the light output efficiency, and the larger distance between the receiving lens 14 and the receiving device 13 can increase the size of the receiving lens and improve the energy of the echo beam received by the receiving device.

[0115] For the convenience of alignment and adjustment, the number of the emission lenses 17 may be the same as the number of the emission units 121, and each of the emission lenses 17 corresponds to each of the emission units 121 one by one.

[0116] In this way, when using the transceiver module 1 provided by the embodiment of the present invention to adjust and obtain a lidar for environmental detection, the detection beam a emitted by the emission device 12 passes through the emission lens 17, irradiates the polarization beam splitter 16, is reflected by the polarization beam splitter 16, irradiates the wave plate 18, the polarization direction is changed, irradiates out of the transceiver module 1, and after being transmitted by the optical mechanical module 2, irradiates the environment through the scanning module 3 to detect the environment. The echo beam b generated by reflection passes through the scanning module 3 and the optical mechanical module 2 and then irradiates the wave plate 18 to change the polarization direction again, irradiates the polarization beam splitter 16 and then transmits, and then irradiates the filter 15 arranged at the second opening of the through hole 19 and the receiving lens 14 arranged in the through hole 19, and is received by the receiving device 13.

[0117] It is easy to understand that the transmission path from the emission device 12 to the polarization beam splitter 16 is the transmission path where the detection beam a and the echo beam b have different transmission paths, and the transmission path after passing through the polarization beam splitter 16 is the transmission path where the detection beam a and the echo beam b have the same transmission path.

[0118] Of course, the emission unit 12 emits the detection beam, and the receiving unit 13 receives the echo beam, both of which need to be powered by a circuit board. In a specific embodiment, the transceiver module 1 provided by the embodiment of the present invention may further include:

[0119] A transmitting circuit board (not shown in the figure) is installed on the first side of the bracket 11 and is electrically connected to the transmitting device 12; a receiving circuit board (not shown in the figure) is installed on the second side of the bracket 11 and is electrically connected to the receiving device 13, and the second side is arranged opposite to the first side. Arranging the transmitting circuit board and the receiving circuit board on two sides of the bracket 11 respectively can facilitate the heat dissipation of each circuit board. At the same time, arranging the transmitting circuit board and the receiving circuit board in the transceiver module 1 provides convenience for adjusting the transceiver module separately.

[0120] To solve the foregoing problems, an embodiment of the present invention further provides a lidar. Please continue to refer to Figure 1 , including:

[0121] An optical-mechanical module 2, including an optical device 22 and an optical-mechanical bracket 21, and the optical device 22 is installed on the optical-mechanical bracket 21;

[0122] The transceiver module 1 as described in any one of the foregoing embodiments is installed on the optical-mechanical bracket 21, emits a detection beam, irradiates it to the optical device 22, and receives the echo beam transmitted by the optical device 22.

[0123] Of course, the lidar further includes a scanning module 3 to reflect the detection beam passing through the optical device 22 to scan the target and reflect the echo beam reflected by the target to the optical device 22.

[0124] It is easy to understand that the optical device 22 is used to transmit the detection beam emitted by the transceiver module 1 and the received echo beam, and being installed on the optical-mechanical bracket 21 can easily realize the alignment of the position and attitude.

[0125] During the environmental detection process, the detection beam emitted by the transceiver module 1 of the lidar irradiates the optical device 22 of the optical-mechanical module, is transmitted through the optical device 22, and after being reflected by the scanning module 3, irradiates the environment for environmental detection. The target in the environment reflects the detection beam to generate an echo beam, irradiates the scanning module 3, is reflected to the optical-mechanical module 2, and is transmitted to the transceiver module 1 through the optical device 22 of the optical-mechanical module 2, and finally is received by the receiving device 13.

[0126] It can be seen that the transceiver module provided by the embodiments of the present invention is a separate module, which can be separately assembled and adjusted, and can be visually assembled and adjusted, thereby reducing the assembly and adjustment difficulty of the transceiver module. In addition, the transceiver module provided by the embodiments of the present invention does not include an external housing part, thereby improving the heat dissipation effect of the transceiver module. When using the transceiver module provided by the embodiments of the present invention for the assembly and adjustment of the lidar, since the transceiver module is already a module after assembly and adjustment, it only needs to be assembled and adjusted with other modules of the lidar, thereby reducing the assembly and adjustment difficulty of the lidar. In addition, since the transmitting device and the receiving device are respectively arranged on both sides of the bracket, the position interference between the transmitting device and the receiving device is small, and the setting is more convenient. And part of the transmission path of the detection beam is the same as the transmission path of the echo beam, which can reduce the required devices while ensuring the detection effect.

[0127] Certainly, in a specific embodiment, the optical-mechanical bracket 21 of the lidar described herein has an integral structure, which can facilitate the setting of optical devices, reduce the requirements for mechanical structure processing, and reduce the possibility of misalignment of each optical device 22 caused by the action of external loads. And because the mechanical structure is integral, heat can be directly transmitted through the optical-mechanical bracket 21, avoiding the influence of heat dissipation due to the air barrier between multiple components and improving the heat dissipation effect.

[0128] It is easy to understand that the optical-mechanical bracket 21 having an integral structure means that the optical-mechanical bracket 21 is a whole structure, and can be specifically manufactured by processing techniques such as casting and turning.

[0129] Certainly, in order to facilitate the setting of each component and realize the detection of the environment, in a specific embodiment, the transceiver module 1 can be installed at the rear end of the optical-mechanical bracket 21, where the rear end is the end opposite to the light-emitting end of the detection beam. In this way, the space at each position of the optical-mechanical bracket 21 can be fully utilized, and it will not prevent the detection beam from irradiating the environment to be detected, and ensure the smooth reception of the echo beam.

[0130] Certainly, in order to realize the detection of the environment, the embodiments of the present invention also include a scanning module. Please refer to Figure 1 , and refer to Figure 4 and Figure 5 , Figure 4 which is another structural schematic diagram of the lidar provided by the embodiments of the present invention; Figure 5 which is the structural schematic diagram of the optical-mechanical bracket of the lidar provided by the embodiments of the present invention.

[0131] Such as Figure 4 and 5As shown in the figure, the scanning module 3 is installed on the inclined surface support portion 211 of the optical engine bracket 21, above the light beam through hole for installing the optical device 22 and in the middle of the optical engine bracket 21, reflecting the detection light beam passing through the optical device 22 to scan the target, and reflecting the echo light beam reflected by the target to the optical device 22.

[0132] During the operation of the lidar, the scanning device of the scanning module 3 rotates under the drive of the driving device of the scanning module 3, so that the detection light beam scans the environment. The target in the environment reflects the detection light beam to generate an echo light beam, which then irradiates the scanning device of the scanning module 3 and is then transmitted through the optical device 22.

[0133] The inclined surface support portion 211 of the optical engine bracket 21 can ensure a good support effect. Installing the scanning module 3 on the inclined surface support portion 211 of the optical engine bracket 21 can ensure stability. Moreover, the inclined surface support portion 211 is above the light beam through hole of the optical device 22, which is convenient for the detection light beam to irradiate the environment to improve the detection effect.

[0134] Of course, in order to ensure the emission of the detection light beam of the lidar, the reception of the echo light beam, and the scanning of the scanning module 3, in a specific embodiment, the lidar provided by the embodiment of the present invention may further include:

[0135] The first circuit board 41 is installed on the first side surface of the optical engine bracket 21, is electrically connected to the transceiver module 1 and the scanning module 3 of the lidar, and is located on the side of the scanning module 3.

[0136] The first circuit board 41 is electrically connected to the transceiver module 1 and the scanning module 3 of the lidar respectively, and can supply power to the transceiver module 1 and the scanning module 3, ensuring that the emission device 12 emits the detection light beam, the receiving device 13 receives the echo light beam, and at the same time, the driving device of the scanning module 3 can generate a driving force to drive the scanning device to rotate.

[0137] The first circuit board 41 is electrically connected to the transceiver module 1 and the scanning module 3 respectively, which can be either a direct connection or an indirect connection through other devices.

[0138] Of course, installing the first circuit board 41 on the first side surface of the optical engine bracket 21 not only facilitates the setting of the first circuit board 41, but also the distance between the first circuit board 41 and the housing of the lidar is very small, and the heat can be directly transmitted to the housing of the lidar, thus facilitating the dissipation of heat.

[0139] Specifically, as Figure 5 shown, the first circuit board 41 can be fixed to the first side surface of the optical engine bracket 21 through the circuit board support portion 212 of the optical engine bracket 21.

[0140] In another specific embodiment, to better supply power to and control each component, it further includes:

[0141] A second circuit board 42, installed on the second side of the optical engine bracket 21, electrically connected to the first circuit board 41 and the scanning module 3, and located on the side of the scanning module 3.

[0142] The second circuit board 42 is electrically connected to the first circuit board 41, receives the control of the first circuit board 41, supplies power to the scanning module 3, and controls the rotation of the scanning module 3.

[0143] The setting of the second circuit board 42 can further improve the processing capacity and processing speed, and can further improve the heat dissipation capacity.

[0144] On the other hand, to facilitate the control of the transmitting device 12 and the receiving device 13, the transmitting circuit board (not shown in the figure) of the transceiver module 1 is electrically connected to the first circuit board 41 and the transmitting device 12 respectively, and the receiving circuit board (not shown in the figure) of the transceiver module 1 is electrically connected to the first circuit board and the receiving device respectively.

[0145] Specifically, to ensure the propagation of the light beam, realize the adjustment of the light beam transmission path, improve the compactness of the lidar, and improve the light beam quality, the optical device 22 of the optical engine module 2 may include:

[0146] A reflecting mirror, installed on the optical engine bracket 21, reflecting the detection light beam emitted by the transceiver module 1 and reflecting the echo light beam to the transceiver module 1;

[0147] A lens, installed on the optical engine bracket 21, collimating the detection light beam emitted by the transceiver module 1 and the echo light beam irradiated to the receiving device.

[0148] It is easy to understand that multiple reflecting mirrors and lenses can be provided respectively according to needs, and the number of reflecting mirrors and the number of lenses can be the same or different, as long as the performance requirements can be met.

[0149] For easy understanding, the following will be further described in conjunction with Figure 6 and Figure 7 Please refer to Figure 6 and Figure 7 , Figure 6 is a schematic diagram of the transmission path of the detection light beam of the lidar provided by the embodiment of the present invention, Figure 7 is a schematic diagram of the transmission path of the echo light beam of the lidar provided by the embodiment of the present invention.

[0150] As shown in Figure 6 and Figure 7As shown, the mirror may include a first mirror 222, which can reflect the detection beam emitted by the transceiver module 1 and reflect the echo beam back to the transceiver module 1.

[0151] Specifically, the beam emitted by the transmitting device 12 of the transceiver module 1 is irradiated onto the polarization beam splitter device 16 through the transmitting lens 17. After polarization splitting, it is irradiated onto the wave plate 18 for polarization state adjustment, and then irradiated onto the first mirror 222 for reflection, changing the transmission path for subsequent transmission and detection. Of course, the echo beam is reflected by the first mirror 222, irradiated onto the wave plate 18 and the polarization beam splitter device 16, and after transmission, irradiated onto the filter 15 and the receiving lens 14 and received by the receiving device 13.

[0152] It can be seen that through the first mirror 222, the detection beam transmitted in the vertical direction can be changed to a detection beam transmitted in the horizontal direction, or the echo beam transmitted in the horizontal direction can be adjusted to an echo beam transmitted in the vertical direction.

[0153] To ensure the quality of the beam, the detection beam reflected by the first mirror 222 can also be collimated, or the echo beam can be collimated and then irradiated onto the first mirror 222. That is, the lens includes: a first lens 223, installed behind the first mirror 222 in the transmission path of the detection beam, collimating the detection beam reflected by the first mirror 222, and collimating the echo beam irradiated onto the first mirror 222.

[0154] Of course, when the transmission path of the beam needs to be changed again after one change, the mirror can also include: a second mirror 224, which reflects the detection beam reflected by the first mirror 222 and reflects the echo beam to the first mirror 222.

[0155] In this case, the first lens 223 can be arranged between the first mirror 222 and the second mirror 224, collimating the detection beam reflected by the first mirror 222 and collimating the echo beam reflected by the second mirror 224.

[0156] Specifically, the detection beam reflected by the second mirror 224 can also be collimated once, and the echo beam is collimated and then irradiated onto the second mirror 224. Therefore, a second lens 225 can also be set, installed behind the second mirror 224 in the transmission path of the detection beam, collimating the detection beam reflected by the second mirror 224 and collimating the echo beam irradiated onto the second mirror 224.

[0157] Of course, after the beam transmission path is changed twice, if the beam transmission path needs to be changed again, the mirror may further include: a third mirror 226, which reflects the detection beam reflected by the second mirror 224 and reflects the echo beam back to the second emission mirror 224.

[0158] The second lens 225 may be installed between the second mirror 224 and the third mirror 226 to collimate the detection beam reflected by the second mirror 224 and collimate the echo beam reflected by the third mirror 226.

[0159] Furthermore, in order to facilitate the detection beam to irradiate the scanning module 3, the optical device 22 may further include a fourth mirror 227, which is installed on the optical machine bracket 21 and suspended above the optical machine bracket 21, reflects the detection beam reflected by the third mirror 226 to the scanning module 3, and reflects the echo beam reflected by the scanning module 3 to the third mirror 226.

[0160] In order to make the structure of the lidar more compact, in a specific embodiment, a fifth mirror 228 may be provided to change the beam transmission path again. The fifth mirror 228 is installed on the optical machine bracket 21, located below the fourth mirror 227 and opposite to the fourth mirror 227, reflects the detection beam reflected by the fourth mirror 227 to the scanning module 3, and reflects the echo beam reflected by the scanning module 3 to the fourth mirror 227.

[0161] Of course, for the convenience of installing each optical device 22 on the optical machine bracket 21, please refer to Figure 8 and Figure 9 , Figure 8 FIG. Figure 9 is a schematic cross-sectional view of a lidar provided by an embodiment of the present invention,

[0162] As Figure 8 shown in

[0163] Of course, the light beam through-hole 229 may include sub-light beam through-holes 2291. The number of the sub-light beam through-holes 2291 is the same as the number of the transmitting units 1 of the transmitting device 12 of the transceiver module 1, and the sub-light beam through-holes 2291 are arranged side by side. The reflecting mirror and the lens are arranged in each sub-light beam through-hole 2291. In this way, the detection light beam emitted by each transmitting unit 121 and the corresponding echo light beam can be transmitted through the corresponding sub-light beam through-hole 2291, which can further improve the effect of eliminating stray light.

[0164] Of course, in another specific embodiment, the optical device 22 of the lidar provided by the embodiment of the present invention may further include: a prism 221 (shown in Figure 6 and Figure 7 ), which is installed on the optomechanical bracket 21 and is located between the transceiver module 1 and the reflecting mirror. The number of the prisms 221 is the same as the number of the sub-light beam through-holes 2291, and the prism 221 rotates the detection light beam emitted by the transceiver module 1 and the echo light beam reflected by the reflecting mirror, so that the light spots formed by the detection light beams emitted by different transmitting units 121 are parallel to each other, improving the detection coverage rate.

[0165] Specifically, the prism 221 may be a Dove prism.

[0166] To solve the foregoing technical problems, the embodiment of the present invention further provides an assembly method for a lidar. Please refer to Figure 10 and Figure 10 which is a schematic flow chart of the assembly method for the lidar provided by the embodiment of the present invention.

[0167] As shown in the figure, the assembly method for the lidar provided by the embodiment of the present invention includes:

[0168] Step S1: Assemble and adjust the transceiver module as described in any of the foregoing specific embodiments.

[0169] To assemble the lidar, first obtain each module. For this purpose, the transceiver module 1 is assembled and adjusted.

[0170] Step S2: Install the optical device 22 on the optomechanical bracket 21 to obtain the optomechanical module 2.

[0171] In addition to assembling and adjusting the transceiver module 1, it is also necessary to obtain the optomechanical module 2. For this purpose, each optical device 22 is installed on the optomechanical bracket 21.

[0172] Step S3: Obtain the scanning module 3, the first circuit board 41, and the second circuit board 42.

[0173] It is easily understood that there is no limitation on the execution order of step S1, step S2, and step S3, as long as the transceiver module 1 that has been adjusted and assembled, the optical machine module 2 that has been assembled, the scanning module 3, the first circuit board 41, and the second circuit board 42 can be obtained.

[0174] Of course, in another specific embodiment, it is also possible to directly obtain the transceiver module 1 that has been adjusted and assembled, the optical machine module 2 that has been assembled, the scanning module 3, the first circuit board 41, and the second circuit board 42.

[0175] Step S4: Install the scanning module 3 above the optical machine bracket 21 of the optical machine module 2, install the transceiver module 1 behind the optical machine bracket 21, and install the first circuit board 41 and the second circuit board 42 on the side of the optical machine bracket 21.

[0176] Install each module at the corresponding position of the optical machine bracket 21 to obtain the assembled lidar.

[0177] In this way, for the lidar assembly method provided by the embodiments of the present invention, since the optical machine module and the transceiver module are separate modules, they can be adjusted separately, and the transceiver module can be visually adjusted, thereby reducing the adjustment difficulty of the transceiver module part. Then, the optical machine module and the transceiver module are assembled to reduce the adjustment difficulty of the lidar. Moreover, the transceiver module of the assembled lidar does not include the external housing part, which can improve the heat dissipation effect of the transceiver module. And since the transmitting device and the receiving device are respectively arranged on both sides of the bracket, the position interference between the transmitting device and the receiving device is small, and the setting is more convenient. In addition, the transmission path of the detection beam and the transmission path of the echo beam are partially the same, and the optical devices of the optical machine module 2 are all shared during the transmission of the detection beam and the echo beam, which can further reduce the required devices while ensuring the detection effect.

[0178] Although the embodiments of the present invention are disclosed as 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 protection scope of the present invention should be subject to the scope defined by the claims.

Claims

1. A transceiver module for lidar, characterized in that, the transceiver module includes: a bracket; a transmitting device for transmitting a detection beam, the transmitting device includes at least 2 transmitting units, and is installed at the first end of the bracket; a receiving device for receiving an echo beam, the receiving device includes at least 2 receiving units, and is installed at the second end of the bracket, and each of the receiving units corresponds to each of the transmitting units one by one; each of the receiving units receives the echo beam generated by the detection beam transmitted by its corresponding transmitting unit, and a part of the transmission path of the detection beam is the same as the transmission path of the echo beam; the transmission path of the detection beam or the echo beam communicates the first end and the second end of the bracket; the bracket is provided with a through hole, and the through hole is used for the echo beam to pass through to guide the echo beam to be received by the receiving device or for the detection beam to pass through to guide the detection beam to exit from the bracket; the receiving device is attached to the first opening of the through hole; the through hole includes at least 2 sub-through holes, and each of the sub-through holes corresponds to each of the receiving units, and the echo beam obtained from the detection beam transmitted by each of the transmitting units passes through the corresponding sub-through hole and is received by the corresponding receiving unit; the at least 2 sub-through holes are arranged in parallel.

2. The transceiver module according to claim 1, characterized in that, it further includes: a polarization beam splitter device, installed on the bracket, corresponding to both the transmitting device and the receiving device, for reflecting the detection beam transmitted by the transmitting device, and transmitting the echo beam to the receiving device, and the distance between the polarization beam splitter device and the transmitting device is less than the distance between the polarization beam splitter device and the receiving device; a wave plate, installed on the bracket, and located on both sides of the polarization beam splitter device with the receiving device respectively, so as to perform polarization adjustment on the detection beam reflected by the polarization beam splitter device, and perform polarization adjustment on the echo beam irradiated to the polarization beam splitter device.

3. The transceiver module according to claim 2, characterized in that, each of the transmitting units and each of the receiving units share the polarization beam splitter device and the wave plate.

4. The transceiver module according to claim 2, characterized in that, it further includes: a receiving lens, installed in the through hole, and located between the polarization beam splitter device and the receiving device, for collimating the echo beam transmitted by the polarization beam splitter device.

5. The transceiver module according to claim 4, characterized in that, the number of the receiving lenses is the same as the number of the receiving units, and each of the receiving lenses corresponds to each of the receiving units one by one.

6. The transceiver module according to claim 2, characterized in that, it further includes: a filter, installed on the bracket, located between the polarization beam splitter device and the receiving device and attached to the second opening of the through hole, the second opening is the other opening of the through hole opposite to the first opening, for filtering the echo beam transmitted by the polarization beam splitter device.

7. The transceiver module according to claim 6, wherein, the filter is shared by each of the receiving units.

8. The transceiver module according to claim 4, wherein, it further includes: a transmitting lens, mounted on the bracket and located between the polarization beam splitter and the transmitting device, for collimating the detection beam emitted by the transmitting device, and the distance between the transmitting lens and the transmitting device is less than the distance between the receiving lens and the receiving device.

9. The transceiver module according to claim 8, wherein, the number of the transmitting lenses is the same as the number of the transmitting units, and each of the transmitting lenses corresponds to each of the transmitting units one by one.

10. The transceiver module according to any one of claims 1-9, wherein, it further includes: a transmitting circuit board, mounted on the first side surface of the bracket and electrically connected to the transmitting device; a receiving circuit board, mounted on the second side surface of the bracket and electrically connected to the receiving device, and the second side surface is oppositely arranged to the first side surface.

11. A lidar, wherein, it includes: an opto-mechanical module, including optical devices and an opto-mechanical bracket, and the optical devices are mounted on the opto-mechanical bracket; the transceiver module according to any one of claims 1-10, mounted on the opto-mechanical bracket, emits a detection beam, irradiates it to the optical devices, and receives the echo beam transmitted by the optical devices.

12. The lidar according to claim 11, wherein, the opto-mechanical bracket has an integral structure.

13. The lidar according to claim 12, wherein, the transceiver module is mounted at the rear end of the opto-mechanical bracket, and the rear end is the end opposite to the light-emitting end of the detection beam.

14. The lidar according to claim 13, wherein, the optical devices include: a mirror, mounted on the opto-mechanical bracket, reflecting the detection beam emitted by the transceiver module and reflecting the echo beam to the transceiver module; a lens, mounted on the opto-mechanical bracket, for collimating the detection beam emitted by the transceiver module and the echo beam irradiated to the receiving device.

15. The lidar according to claim 14, wherein, the opto-mechanical bracket is provided with: a beam through hole for beam transmission, and the mirror and the lens are both mounted in the beam through hole.

16. The lidar according to claim 15, wherein, the beam through hole includes sub-beam through holes, the number of the sub-beam through holes is the same as the number of the transmitting units of the transmitting device of the transceiver module, and the sub-beam through holes are arranged side by side, and the mirror and the lens are both arranged in each of the sub-beam through holes.

17. The lidar according to claim 16, wherein, the optical devices further include: a prism, mounted on the opto-mechanical bracket and located between the transceiver module and the mirror, the number of the prisms is the same as the number of the sub-beam through holes, and for rotating the detection beam emitted by the transceiver module and the echo beam reflected by the mirror.

18. The lidar according to claim 15, It is characterized in that It further includes: A scanning module, installed on the inclined support part of the optical engine bracket, above the beam through hole and in the middle of the optical engine bracket, reflecting the detection beam passing through the optical device to scan the target, and reflecting the echo beam reflected by the target to the optical device.

19. The lidar according to any one of claims 11-18, It is characterized in that It further includes: A first circuit board, installed on the first side of the optical engine bracket, electrically connected to the transceiver module and the scanning module of the lidar, and located on the side of the scanning module.

20. The lidar according to claim 19, It is characterized in that It further includes: A second circuit board, installed on the second side of the optical engine bracket, electrically connected to the first circuit board and the scanning module, and located on the side of the scanning module.

21. The lidar according to claim 20, It is characterized in that The transmitting circuit board of the transceiver module is electrically connected to the first circuit board and the transmitting device, and the receiving circuit board of the transceiver module is electrically connected to the first circuit board and the receiving device.

22. An assembly method of a lidar, It is characterized in that It includes: Align and adjust the transceiver module according to any one of claims 1-10; Install the optical device on the optical engine bracket to obtain an optical engine module; Obtain a scanning module, a first circuit board and a second circuit board; Install the scanning module above the optical engine bracket of the optical engine module, install the transceiver module behind the optical engine bracket, and install the first circuit board and the second circuit board on the side of the optical engine bracket.

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