Receiver, transceiver and lidar

Abstract

This invention relates to a receiving device, a transceiver device, and a lidar. The receiving device includes: a beam splitter module for receiving echo signals and splitting them into a first echo signal and a second echo signal, wherein the echo energy of the first echo signal is greater than that of the second echo signal; a detection module including at least two receiving units, a first receiving unit for receiving the first echo signal and a second receiving unit for receiving the second echo signal; and a processing module for obtaining distance information based on the first and second echo signals received by the detection module. The receiving device provided in this application utilizes a beam splitter module to split the echo signal into a first echo signal and a second echo signal, and utilizes the first and second receiving units to receive the first and second echo signals corresponding to different echo energies, respectively. This application ensures detection at both long and short distances, reduces the blind zone at short distances, and increases the dynamic range of ranging.

Description

Technical Field

[0001] This invention relates to the field of lidar detection, and in particular to receiving devices, transceivers, and lidar. Background Technology

[0002] A lidar is a radar system that uses laser beams to detect the position, velocity, and other characteristics of a target. Its working principle is to first emit a detection laser beam towards the target, then receive the signal reflected back from the target, compare the received signal with the emitted signal, and after appropriate processing, obtain relevant information about the target, such as the target's distance, azimuth, altitude, velocity, attitude, and even shape.

[0003] Existing radar optical systems generate stray light reflected or scattered within structural components or optical devices. This stray light, directed at the receiving device, causes it to saturate and become unable to respond to echo signals within a range of a few meters to tens of meters. This results in blind spots at close range, making effective ranging impossible and leading to a small dynamic range for ranging. Summary of the Invention

[0004] Therefore, it is necessary to provide a receiving device, a transceiver device, and a lidar to address the problem of the small dynamic range of ranging.

[0005] A receiving device, the receiving device comprising:

[0006] A beam splitter module is used to receive echo signals and split the echo signals into a first echo signal and a second echo signal, wherein the echo energy of the first echo signal is greater than the echo energy of the second echo signal.

[0007] The detection module includes at least two receiving units, a first receiving unit for receiving the first echo signal, and a second receiving unit for receiving the second echo signal;

[0008] The processing module is used to obtain distance information based on the first echo signal and the second echo signal received by the detection module.

[0009] In one embodiment, the beam separation module includes:

[0010] The first receiving lens group is used to receive the echo signal and focus the echo signal;

[0011] A beam splitter is used to split the echo signal, after it has been focused by the first receiving lens group, into a first echo signal and a second echo signal.

[0012] In one embodiment, the beam splitting module includes a second receiving lens group and a third receiving lens group, wherein the second receiving lens group is used to focus the first echo signal, the third receiving lens group is used to focus the second echo signal, and the effective receiving area of ​​the second receiving lens group is larger than the effective receiving area of ​​the third receiving lens group.

[0013] In one embodiment, the second receiving lens group has a through hole that matches the size of the third receiving lens group, and the third receiving lens group is embedded in the through hole.

[0014] In one embodiment, the second receiving lens group and the third receiving lens group are arranged side by side.

[0015] In one embodiment, the focal length of the second receiving lens group and the focal length of the third receiving lens group are equal.

[0016] In one embodiment, the optical axes of the second receiving lens group and the third receiving lens group are parallel to each other.

[0017] In one embodiment, a beam adjustment module is further included, the beam adjustment module comprising at least two optical adjustment lens groups, the first optical adjustment lens group being used to adjust the first echo signal and align it with the first receiving unit, and the second optical adjustment lens group being used to adjust the second echo signal and align it with the second receiving unit.

[0018] In one embodiment, the transceiver module includes the receiving device as described above; and further includes:

[0019] The transmitting device is used to emit the laser beam.

[0020] The beam splitter is used to allow the emitted laser to pass through and then be emitted outward, and is also used to receive the echo signal and deflect the echo signal before directing it toward the receiving device.

[0021] A lidar, the lidar comprising at least one of the aforementioned transceiver modules; further comprising:

[0022] The scanning device is used to receive the emitted laser emitted by the transceiver module, deflect it, and then emit it outward for scanning. It is also used to receive the echo signal, deflect it, and then direct it toward the transceiver module.

[0023] The aforementioned receiving device, transceiver, and lidar, wherein the receiving device includes: a beam splitting module for receiving echo signals and dividing them into a first echo signal and a second echo signal, wherein the echo energy of the first echo signal is greater than that of the second echo signal; a detection module including at least two receiving units, a first receiving unit for receiving the first echo signal and a second receiving unit for receiving the second echo signal; and a processing module for obtaining distance information based on the first and second echo signals received by the detection module. The receiving device provided in this application utilizes a beam splitting module to divide the echo signal into a first echo signal and a second echo signal with unequal energy, and utilizes a first receiving unit and a second receiving unit to receive the first and second echo signals respectively. Because the second echo signal has less energy and contains less stray light and interference light, the second receiving unit responds better to nearby echo signals; simultaneously, the first echo signal has more energy and can detect objects at a distance. This application achieves both long-distance and short-distance detection, reducing the near-range detection blind zone and increasing the ranging dynamic range of the receiving device. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the structure of a receiving device according to an embodiment of this application;

[0025] Figure 2 This is a schematic diagram of the structure of a beam separation module according to an embodiment of this application;

[0026] Figure 3 This is a side view of a beam splitting module according to another embodiment of this application;

[0027] Figure 4 for Figure 3 The front view of the beam splitting module shown;

[0028] Figure 5 This is a schematic diagram of the beam splitting module according to another embodiment of this application;

[0029] Figure 6 This is a schematic diagram of the transceiver module according to an embodiment of this application. Detailed Implementation

[0030] To facilitate understanding of the present invention and to make the above-mentioned objects, features, and advantages of the present invention more apparent, a detailed description of specific embodiments of the present invention is provided below in conjunction with the accompanying drawings. Numerous specific details are set forth in the following description to provide a thorough understanding of the present invention, and preferred embodiments are shown in the accompanying drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the disclosure of the present invention. The present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the present invention; therefore, the present invention is not limited to the specific embodiments disclosed below.

[0031] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0032] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0033] Figure 1 This is a schematic diagram of the structure of a receiving device according to an embodiment of this application, as shown below. Figure 1 As shown, the receiving device 10 includes a beam splitting module 110, a detection module 120, and a processing module 130. The beam splitting module 110 receives the echo signal and splits it into a first echo signal and a second echo signal, wherein the echo energy of the first echo signal is greater than the echo energy of the second echo signal. The detection module 120 includes at least two receiving units: a first receiving unit 121 and a second receiving unit 122, wherein the first receiving unit 121 receives the first echo signal and the second receiving unit 122 receives the second echo signal. The processing module 130 obtains distance information based on the first and second echo signals received by the detection module 120.

[0034] Specifically, the receiving device 10 includes a beam splitting module 110, a detection module 120, and a processing device 130. The beam splitting module 110 receives the echo signal and splits it into a first echo signal and a second echo signal. The echo energy of the first echo signal is greater than that of the second echo signal. The echo signal is the laser signal reflected back by the target object within the target's field of view after the emitted signal is detected. The detection module 120 includes at least two receiving units: a first receiving unit 121 and a second receiving unit 122. The first receiving unit 121 receives the first echo signal, and the second receiving unit 122 receives the second echo signal. The first echo signal has higher echo energy, allowing the first receiving unit 121 to detect it at a longer distance; the second echo signal has lower echo energy, allowing the second receiving unit 122 to detect it at a shorter distance. The detection distance of the first receiving unit 121 and the second receiving unit 122 is related to the echo energy of the first and second echo signals, i.e., it is related to the beam splitting ratio of the beam splitting module 110. For example, the beam splitter module 110 can split the echo signal at a 95:5 ratio, meaning the echo energy of the first echo signal is 95% of the total echo energy, and the echo energy of the second echo signal is 5% of the total echo energy. The first receiving unit 121 can receive the first echo signal at a ranging distance of 5-100 meters, and the second receiving unit 122 can receive the second echo signal at a ranging distance of 0.5-5 meters. The beam splitter module 110 can also split the echo signal at various ratios such as 90:10 and 80:20 according to ranging requirements. The processing module 130 obtains information about the object by detecting the first and second echo signals.

[0035] It should be noted that the beam splitter module can also split the echo signal into at least two beams. For example, the beam splitter module can split the echo signal into a first echo signal, a second echo signal, and a third echo signal. The echo energy of the first echo signal is greater than that of the second echo signal, and the echo energy of the first echo signal is also greater than that of the third echo signal. As described in the previous embodiment, the first echo signal has the highest energy, and the first receiving unit obtains information about objects at a distance after receiving the first echo signal. The second and third echo signals have lower echo energy and are used to obtain information about objects at close range. Furthermore, since the echo energy of the second echo signal is greater than that of the third echo signal, the ranging distance of the third echo signal is less than the detection distance of the second echo signal. For example, the beam splitting module 110 splits the beam into a first echo signal, a second echo signal, and a third echo signal in a ratio of 90:8:2. The first receiving unit receives the first echo signal at a ranging distance of 5-100 meters, the second receiving unit receives the second echo signal at a ranging distance of 0.5-5 meters, and the third receiving unit receives the third echo signal at a ranging distance of 0.2-0.5 meters.

[0036] The aforementioned receiving device 10 includes: a beam splitting module 110, a detection module 120, and a processing device 130. The beam splitting module 110 is used to receive echo signals and divide the echo signals into a first echo signal and a second echo signal, wherein the echo energy of the first echo signal is greater than the echo energy of the second echo signal. The detection module 120 includes at least two receiving units: a first receiving unit 121 is used to receive the first echo signal, and a second receiving unit 122 is used to receive the second echo signal. The processing module 130 is used to obtain distance information based on the first echo signal and the second echo signal received by the detection module. The receiving device 10 provided in this application utilizes the beam splitting module 110 to divide the echo signal into a first echo signal and a second echo signal with unequal energy, wherein the echo energy of the first echo signal is greater than the echo energy of the second echo signal, and utilizes the first receiving unit 121 and the second receiving unit 122 to receive the first echo signal and the second echo signal, respectively. Because the second echo signal has less energy and contains less stray and interfering light, the second receiving unit 122 responds better to nearby echo signals. Meanwhile, the first echo signal has more energy and can detect objects at a distance. This application ensures detection at a distance while simultaneously achieving detection at close range, reducing the near-range detection blind zone and increasing the ranging dynamic range of the receiving device 10.

[0037] There are several methods for the beam splitting module 110 to separate the received echo signal into a first echo signal and a second echo signal. For example... Figure 2 The diagram shown is a structural schematic of a beam splitting module 110 according to an embodiment of this application. In this embodiment, the beam splitting module 110 includes: a first receiving lens group 111 for receiving echo signals and focusing the echo signals; and a beam splitter 112 for splitting the echo signals focused by the first receiving lens group 111 into a first echo signal and a second echo signal.

[0038] Specifically, the first receiving lens group 111 can be positioned in the optical path of the echo signal reflected from an object within the field of view. The first receiving lens group 111 receives and focuses the echo signal. Since the echo signal is the outgoing signal reflected back by an object within the field of view, and the object typically performs diffuse reflection of the outgoing signal, the diameter of the echo signal spot is relatively large. By focusing the echo signal through the first receiving lens group 111, as many echo signals as possible can enter the beam splitter 112. The greater the number of echo signals received by the receiving device, the higher the maximum detection distance. The beam splitter 112 divides the echo signal focused by the first receiving lens group 111 into a first echo signal and a second echo signal. For example... Figure 2As shown, the echo signal enters from the first optical port of the beam splitter 112, the first echo signal exits from the second optical port of the beam splitter 112, and the second echo signal exits from the third optical port of the beam splitter 112. For example, the beam splitter 112 can be a non-polarizing beam splitter prism. As described in the previous embodiments, the beam splitting ratio of the beam splitter 112 can be arbitrarily customized, such as 95:5, 90:10, 80:20, etc., and is not limited to the examples above. The splitting ratio of the beam splitter 112 can be selected according to actual conditions, ensuring that the echo energy of the first echo signal after beam splitting is greater than the echo energy of the second echo signal. In this embodiment, a beam splitter 112 is used to split the focused echo signal into a first echo signal and a second echo signal. A first receiving lens group 111 is set in front of the beam splitter 112 to focus the echo signal. The first receiving lens group 111 has a large receiving aperture and can receive as many echo signals as possible. The echo signals received by the first receiving lens group 111 can all be focused and sent into the beam splitter 112, improving the reception efficiency of the echo signal. By setting the beam splitter 112 to split the echo signal into a first echo signal and a second echo signal with a preset ratio, the beam splitting ratio can be adjusted by changing different beam splitters 112. The beam splitting optical system is simple, which facilitates the optical adjustment alignment between the first receiving lens group 111 and the beam splitter 112, and also simplifies the optical adjustment alignment between the first echo laser and the second echo laser and their respective receiving units.

[0039] like Figure 3 , Figure 4 or Figure 5 The diagram shown is a structural schematic of a beam splitting module 110 according to an embodiment of this application. In this embodiment, the beam splitting module 110 includes a second receiving lens group 113 and a third receiving lens group 114. The second receiving lens group 113 is used to focus a first echo signal, and the third receiving lens group 114 is used to focus a second echo signal. The effective receiving area of ​​the second receiving lens group 113 is greater than the effective receiving area of ​​the third receiving lens group 114.

[0040] Specifically, the beam splitting module includes a second receiving lens group 113 and a third receiving lens group 114. Both the second and third receiving lens groups 113 and 114 are used for focusing and are positioned in the optical path of the echo signal. The second receiving lens group 113 focuses the first echo signal, and the third receiving lens group 114 focuses the second echo signal. The effective receiving area of ​​the second receiving lens group 113 is larger than that of the third receiving lens group 114. In this embodiment, the second receiving lens group 113 receives a portion of the first echo signal, and the third receiving lens group 114 receives a portion of the second echo signal. Since the effective receiving area of ​​the second receiving lens group 113 is larger than that of the third receiving lens group 114, the second receiving lens group 113 receives a larger portion of the echo signal, and the echo energy of the first echo signal is greater than that of the second echo signal. The echo signal is received directly through at least two receiving lens groups with different effective receiving areas. The echo signal directed to the second receiving lens group is the first echo signal, and the echo signal directed to the third receiving lens group is the second echo signal. The first and second echo signals are focused and directed to their respective receiving units. The second receiving lens group 113 and the third receiving lens group 114 are used to achieve beam splitting and focusing simultaneously, reducing beam energy loss. The optical system is simple and easy to adjust.

[0041] Figure 3 This is a schematic diagram of the specific structure of the beam splitting module 110 according to an embodiment of the present application. In one embodiment, the second receiving lens group 113 has a through hole that matches the size of the third receiving lens group 114, and the third receiving lens group 114 is embedded in the through hole; the optical axes of the second receiving lens group 113 and the third receiving lens group 114 are parallel to each other.

[0042] Specifically, the second receiving lens group 113 has a through hole that matches the size of the third receiving lens group 114. The third receiving lens group 114 is embedded and fixed in the through hole, which can be located at any position on the second receiving lens group 113; for example... Figure 3As shown, the third receiving lens group 114 is disposed at the edge of the second receiving lens group 113. In this embodiment, the optical axes of the second receiving lens group 113 and the third receiving lens group 114 are parallel to each other, which facilitates the processing and fixing of the second receiving lens group 113 and the third receiving lens group 114, and also ensures that both the first echo signal and the second echo signal are focused on one side of the second receiving lens group 113. In this embodiment, the third receiving lens group 114 is embedded and fixed on the second receiving lens group 113, and the gap between the second receiving lens group 113 and the third receiving lens group 114 is small. This ensures beam separation while reducing the portion of the echo signal lost due to the gap between the second receiving lens group 113 and the third receiving lens group 114, thereby improving the reception efficiency of the echo signal and increasing the overall ranging distance of the receiving device. In addition, the second receiving lens group 113 and the third receiving lens group 114 are fixed as one unit, so that the second receiving lens group 113 can be located in the optical path of the echo laser, and the second receiving lens group 114 must also be located in the optical path of the echo laser, which facilitates assembly and optical adjustment; the first echo signal and the second echo signal after focusing are both converged on the same side of the second receiving lens group 113. The receiving device is provided with a first receiving unit 121 and a second receiving unit 122 on the focusing side for receiving the first echo signal and the second echo signal respectively, which simplifies the system and structural design of the receiving device and makes the structure compact.

[0043] Figure 5 This is a schematic diagram of the specific structure of the beam separation module 110 according to an embodiment of the present application. In one embodiment, the second receiving lens group 113 and the third receiving lens group 114 are arranged side by side; the optical axes of the second receiving lens group 113 and the third receiving lens group 114 are parallel to each other.

[0044] Specifically, the second receiving lens group 113 and the third receiving lens group 114 are arranged side by side; preferably, such as Figure 5As shown, the edges of the second receiving lens group 113 and the third receiving lens group 114 can be abutted together. In this embodiment, the optical axes of the second receiving lens group 113 and the third receiving lens group 114 are parallel to each other, which facilitates the processing and fixing of the second receiving lens group 113 and the third receiving lens group 114, and also ensures that both the first echo signal and the second echo signal are focused on one side of the second receiving lens group 113. In this embodiment, the close proximity of the second receiving lens group 113 and the third receiving lens group 114 ensures that as much of the second receiving lens group 113 and the third receiving lens group 114 falls on the optical path of the echo signal as possible, improving the echo signal received by the second receiving lens group 113 and the third receiving lens group 114, and thus improving the echo signal reception efficiency. The side-by-side arrangement of the second receiving lens group 113 and the third receiving lens group 114 has a simple structure, is easy to install, and facilitates the adjustment and replacement of individual receiving lens groups. The first and second echo signals, after being focused, converge on the same side of the second receiving lens group 113 and the third receiving lens group 114. The receiving device is provided with a first receiving unit 121 and a second receiving unit 122 on the focusing side for receiving the first echo signal and the second echo signal respectively, which simplifies the system and structural design of the receiving device and makes the structure compact.

[0045] In one embodiment, the focal lengths of the second receiving lens group and the third receiving lens group are equal.

[0046] Specifically, since the receiving unit is located on the focal plane of the receiving lens group, and the focal lengths of the second and third receiving lens groups are equal, as described in the previous embodiment, the second and third receiving lens groups are both located on the same plane. Therefore, the focal planes of the second and third receiving lens groups are also on the same plane, and the first and second receiving units can be located on the same plane, simplifying the system and structural design of the receiving device.

[0047] In one embodiment, the receiving device further includes a beam adjustment module, which comprises at least two beam adjustment lens groups. A first beam adjustment lens group is used to adjust and align the first echo signal with the first receiving unit, and a second beam adjustment lens group is used to adjust and align the second echo signal with the second receiving unit. For example, the first beam adjustment lens group can further focus the first echo signal, reducing the diameter of the received echo signal spot so that both can be received by the first receiving unit. For example, the first beam adjustment lens group can adjust the shape of the first echo signal spot, matching the shape of the first echo signal spot to the shape of the receiving surface of the first receiving unit, thereby improving the reception efficiency of the first echo signal. For example, the first beam adjustment lens group can change the direction of the first echo signal, causing it to be incident almost perpendicular to the receiving surface of the first receiving unit, further improving reception efficiency. The function of the second beam adjustment lens group is similar to that of the first beam adjustment lens group, and will not be described further here. In this embodiment, by adding a first adjusting lens group and a second optical adjusting lens group to adjust the direction and spot shape of the first echo signal and the second echo signal, the first receiving unit and the second receiving unit can receive more echo signals, thereby increasing the receiving efficiency of the first echo signal and the second echo signal.

[0048] This application provides a transceiver module, such as... Figure 6 As shown, the transceiver module 1 includes the aforementioned receiving device 10, and further includes: a transmitting device 20 for emitting outgoing laser light; and a beam splitter 30 for passing the outgoing laser light through and then emitting it outward, and for receiving echo signals and deflecting the echo signals before directing them toward the receiving device 10.

[0049] Specifically, the transceiver module 1 includes a transmitting device 20, a beam splitter 30, and a receiving device 10. The transmitting device 20 emits an outgoing laser, which is then directed outwards by the beam splitter 30 to the target's field of view. The echo signal reflected by objects within the target's field of view is received by the beam splitter 30. The beam splitter 30 receives the echo signal and deflects it before directing it to the receiving device 10. The receiving device 10 then uses a beam splitter module 110 to receive the echo signal and divide it into a first echo signal and a second echo signal. The echo energy of the first echo signal is greater than that of the second echo signal. The first echo signal is received by a first receiving unit included in the detection module, and the second echo signal is received by a second receiving unit. The processing module 130 then obtains distance information based on the first and second echo signals received by the detection module. The transceiver module 1 disclosed in this embodiment includes a receiving device 10, which uses a beam splitter module to divide the echo signal into a first echo signal and a second echo signal, and uses a first receiving unit and a second receiving unit to receive the first and second echo signals, respectively. Because the second echo signal has less energy and contains less stray and interfering light, the second receiving unit responds better to nearby echo signals. Meanwhile, the first echo signal has more energy and can detect objects at greater distances. This application achieves both long-distance and short-distance detection, reducing the near-range detection blind zone and increasing the ranging dynamic range of the receiving device.

[0050] This application provides a lidar, which includes at least one transceiver module; and further includes a scanning device for receiving the emitted laser emitted by the transceiver module, deflecting it, and then emitting it outward for scanning, and for receiving the echo signal, deflecting it, and then directing it toward the transceiver module.

[0051] The lidar disclosed in this embodiment includes at least one transceiver module. The receiving device in the transceiver module uses a beam splitter to divide the echo signal into a first echo signal and a second echo signal. A first receiving unit and a second receiving unit respectively receive the first echo signal and the second echo signal corresponding to different echo energies, i.e., different detection distances. The lidar provided in this application includes at least one transceiver module. Each transceiver module includes a beam splitter that divides the echo signal into a first echo signal and a second echo signal with unequal energies. A first receiving unit and a second receiving unit respectively receive the first echo signal and the second echo signal. Because the second echo signal has less energy, it contains less stray light and interference light, resulting in better response of the second receiving unit to nearby echo signals. Simultaneously, the first echo signal has more energy, enabling detection of objects at a distance. This application achieves both long-range and short-range detection while ensuring detection at a distance, reducing the blind zone at close range and increasing the ranging dynamic range of the receiving device.

[0052] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0053] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. A receiving device, characterized in that, The receiving device includes: A beam splitter module is used to receive echo signals and split the echo signals into a first echo signal and a second echo signal, wherein the echo energy of the first echo signal is greater than the echo energy of the second echo signal. The detection module includes at least two receiving units, a first receiving unit for receiving the first echo signal, and a second receiving unit for receiving the second echo signal; The processing module is configured to obtain information about a distant object based on the first echo signal received by the first receiving unit and to obtain information about a near object based on the second echo signal received by the second receiving unit; and The beam adjustment module includes at least two beam adjustment lens groups. The first beam adjustment lens group is used to adjust the first echo signal and align it with the first receiving unit, and the second beam adjustment lens group is used to adjust the second echo signal and align it with the second receiving unit. The beam splitting module includes a beam splitter and a first receiving lens group. The echo signal is incident from a first optical port of the beam splitter, the first echo signal is emitted from a second optical port of the beam splitter, and the second echo signal is emitted from a third optical port of the beam splitter. The beam splitting ratio of the light emitted from the second optical port is greater than that of the light emitted from the third optical port. The first receiving lens group is disposed on the optical path of the echo signal reflected by an object within the field of view, and is used to receive the echo signal and focus the echo signal.

2. The receiving device according to claim 1, characterized in that, The beam splitting ratio can be adjusted by replacing different beam splitters.

3. The receiving device according to claim 1, characterized in that, The beam splitter is a non-polarizing beam splitter prism.

4. A transceiver module, characterized in that, The transceiver module includes the receiving device as described in claims 1-3; and further includes: The transmitting device is used to emit the laser beam. The beam splitter is used to allow the emitted laser to pass through and then be emitted outward, and is also used to receive the echo signal and deflect the echo signal before directing it toward the receiving device.

5. A lidar, characterized in that, The lidar includes at least one transceiver module as described in claim 4; and further includes: The scanning device is used to receive the emitted laser emitted by the transceiver module, deflect it, and then emit it outward for scanning. It is also used to receive the echo signal, deflect it, and then direct it toward the transceiver module.

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