Lidar

Abstract

The embodiment of the application discloses a laser radar. The laser radar comprises two laser emission modules and a laser receiving module. The two laser emission modules are respectively located on opposite sides of the laser receiving module, and the combination of the emission fields of the two laser emission modules matches the receiving field of the laser receiving module. By arranging two laser emission modules and a laser receiving module, and matching the combination of the emission fields of the two laser emission modules with the receiving field of the laser receiving module, compared with the related art in which the emission field of one laser emission module matches the receiving field of one laser receiving module, the arrangement of the two laser emission modules is more flexible, and the miniaturization design of the laser radar can be realized; and arranging the two laser emission modules can also improve the field receiving rate of the laser receiving module and expand the detection field angle of the laser radar.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of laser detection, in particular to a laser radar. BACKGROUND

[0002] The laser radar is a radar system for detecting the position, speed and other characteristic quantities of a target by emitting a laser beam. Its working principle is to emit a detection signal (laser beam) to the target, and then compare the signal (target echo) received from the target reflection with the emitted signal, and after appropriate processing, the relevant information of the target can be obtained; such as, the distance, direction, height, speed, attitude, even shape and other information of the target. However, in the related art, due to the unreasonable structure design of the laser radar, there is a problem of limited detection field of view. SUMMARY

[0003] The present application provides a laser radar to solve the problem of limited detection field of view of the laser radar in the related art.

[0004] The present application provides a laser radar, comprising:

[0005] two laser emission modules;

[0006] one laser receiving module, the two laser emission modules are respectively located on the opposite sides of the laser receiving module, and the combination of the emission fields of view of the two laser emission modules matches the receiving field of view of the laser receiving module.

[0007] The laser radar of the present application, by setting two laser emission modules and one laser receiving module, and the combination of the emission fields of view of the two laser emission modules matches the receiving field of view of the laser receiving module, compared with the related art that the emission field of view of one laser emission module matches the receiving field of view of one laser receiving module, the arrangement of the two laser emission modules is more flexible, and the miniaturization design of the laser radar can be realized; and the setting of the two laser emission modules can also improve the field of view receiving rate of the laser receiving module and expand the detection field angle of the laser radar. BRIEF DESCRIPTION OF DRAWINGS

[0008] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.

[0009] Figure 1 is a perspective view of the laser emission module and the laser receiving module in the first laser radar provided by the embodiments of the present application;

[0010] Figure 2 is a perspective view of a laser emission module and a laser receiving module in a laser radar provided by an embodiment of the present application;

[0011] Figure 3 is Figure 1 is a cross-sectional view of a laser emission module and a laser receiving module in a laser radar;

[0012] Figure 4 is Figure 2 is a cross-sectional view of a laser emission module and a laser receiving module in a laser radar;

[0013] Figure 5 is Figure 4 is a cross-sectional view of an alternative of a laser emission module and a laser receiving module in a laser radar;

[0014] Figure 6 is a perspective view of a third laser radar provided by an embodiment of the present application;

[0015] Figure 7 is Figure 6 is a cross-sectional view of the laser radar along the A-A direction;

[0016] Figure 8 is Figure 6 is an exploded view of the laser radar;

[0017] Figure 9 is a perspective view of a fourth laser radar provided by an embodiment of the present application;

[0018] Figure 10 is Figure 9 is a cross-sectional view of the laser radar along the A-A direction;

[0019] Figure 11 is a perspective view of a fifth laser radar provided by an embodiment of the present application;

[0020] Figure 12 is Figure 11 is a cross-sectional view of the laser radar along the A-A direction;

[0021] Figure 13 is Figure 11 is a cross-sectional view of the laser radar along the B-B direction;

[0022] Figure 14 is a perspective view of a sixth laser radar provided by an embodiment of the present application;

[0023] Figure 15 is Figure 14 is a cross-sectional view of the laser radar along the A-A direction;

[0024] Figure 16 is Figure 14 a cross-sectional view of the laser radar along the direction of B-B is shown;

[0025] Figure 17 is a perspective view of a laser emission module and a laser receiving module in a seventh laser radar provided by the application embodiment;

[0026] Figure 18 is Figure 17 an exploded view of the laser emission module and the laser receiving module in the laser radar is shown;

[0027] Figure 19 is a perspective view of an eighth laser radar provided by the application embodiment;

[0028] Figure 20 is Figure 19 a cross-sectional view of the laser radar along the direction of A-A is shown;

[0029] Figure 21 is Figure 19 a cross-sectional view of an alternative scheme of the laser radar along the direction of A-A is shown;

[0030] Figure 22 is Figure 19 a cross-sectional view of another alternative scheme of the laser radar along the direction of A-A is shown. DETAILED DESCRIPTION

[0031] To make the objects, technical solutions and advantages of the present application clearer, the following will further describe the application embodiments with reference to the accompanying drawings.

[0032] The following description relates to the accompanying drawings, and the same numerals in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of apparatuses and methods consistent with some aspects of the present application as detailed in the appended claims.

[0033] Please refer to Figure 1 and Figure 2 The application embodiment provides a laser radar 100. The laser radar 100 can be a solid-state laser radar 100, which is used for the functions of navigation and obstacle avoidance, obstacle identification, distance measurement, speed measurement, automatic driving, etc. in products such as cars, robots, logistics vehicles, inspection vehicles, etc.

[0034] Specifically, the laser radar 100 can include two laser emission modules 110 and one laser receiving module 120. The combination of the emission fields of view of the two laser emission modules 110 can match the receiving field of view of the laser receiving module 120. Compared with the related art in which the emission field of view of one laser emission module 110 matches the receiving field of view of one laser receiving module 120, this scheme can make the arrangement of the two laser emission modules 110 more flexible, thereby realizing the miniaturized design of the laser radar 100; and the arrangement of the two laser emission modules 110 can also improve the field of view receiving rate of the laser receiving module 120 and expand the detection field angle of the laser radar 100.

[0035] It should be noted that the two laser emission modules 110 can be the same or different. When the two laser emission modules 110 are the same, compared with the two laser emission modules 110 being different, since the parameters of the two laser emission modules 110 are the same, the assembly positioning and other operations are more convenient. When the two laser emission modules 110 are different, the combination form of the two laser emission modules 110 can be more diversified, which can meet more use scenarios.

[0036] In an exemplary scheme, the two laser emission modules 110 can be located on opposite sides of the laser receiving module 120. In this way, the emission fields of view of the two laser emission modules 110 will be approximately distributed on both sides of the laser receiving module 120, which is convenient for the laser receiving module 120 to receive. Moreover, the emission fields of view of the two laser emission modules 110 are approximately distributed on both sides of the laser receiving module 120, which is also convenient for adjusting at least one laser emission module 110 to make the emission fields of view of the two laser emission modules 110 have an overlapping region in the middle, so that the emission fields of view fill the entire receiving field of view of the laser receiving module 120, avoiding the occurrence of a detection blind spot.

[0037] Please refer to Figures 3 to 5 Each laser emission module 110 can include a laser emission lens 111 and a laser emission sensor 112. The laser emission sensor 112 can be used for emitting light, and the laser emission lens 111 can be located on the light-emitting side of the laser emission sensor 112 to be able to perform optical processing such as convergence on the light emitted by the laser emission sensor 112, so as to enhance the light intensity in the emission field of view and improve the detection accuracy of the laser radar 100.

[0038] The laser emission lens 111 can have a first optical axis m. In some exemplary schemes, please refer to Figure 3 and Figure 4, the laser emitting sensors 112 of the two laser emitting modules 110 can be located on the side of the respective first optical axis m close to the laser receiving module 120. In this way, most of the light emitted by the laser emitting sensors 112 will be emitted via the laser emitting lens 111 on the same side of the laser receiving module 120 as the laser emitting module 110. For example, when the two laser emitting modules 110 are located on the left and right sides of the laser receiving module 120 respectively, the laser emitting sensor 112 of the left laser emitting module 110 can be arranged close to the right side of the first optical axis m of the left laser emitting module 110, so that the emission field of view of the left laser emitting module 110 is mainly distributed on the left side of the laser receiving module 120. Similarly, the laser emitting sensor 112 of the right laser emitting module 110 can be arranged close to the left side of the first optical axis m of the right laser emitting module 110, so that the emission field of view of the right laser emitting module 110 is mainly distributed on the right side of the laser receiving module 120. In this way, the emission field of view of the left laser emitting module 110 and the emission field of view of the right laser emitting module 110 can be combined to approximately match the receiving field of view of the laser receiving module 120, so that there is no large area of overlap between the emission field of view of the left laser emitting module 110 and the emission field of view of the right laser emitting module 110, and energy waste is avoided.

[0039] It should be noted that even if the laser emitting sensors 112 of the two laser emitting modules 110 are located on the side of the respective first optical axis m close to the laser receiving module 120, it is still necessary to ensure that the emission field of view of the two laser emitting modules 110 has an overlapping region to avoid a field of view blind area in the middle region.

[0040] During assembly of the laser radar 100, the two laser emitting sensors 112 can be first positioned so that the respective emission field of view is located on the side of the corresponding first optical axis m away from the laser receiving module 120, and then at least one of the laser emitting sensors 112 is fine-tuned to make the middle of the two emission field of view have an overlapping region.

[0041] In another exemplary scheme, referring to Figure 5 The centers of the laser emitting sensors 112 of the two laser emitting modules 110 can also be located at the respective first optical axis m. In this way, the emission field of view of the two laser emitting modules 110 will be distributed on both sides of the respective first optical axis m in a substantially symmetrical manner. This facilitates the assembly and positioning of the two laser emitting modules 110 and the laser receiving module 120.

[0042] The first optical axis m of the two laser emission modules 110 and the second optical axis n of the laser receiving module 120 can be located in the same plane. In this way, the relative distance of the two laser emission modules 110 and the laser receiving module 120 during assembly is facilitated, reducing the difficulty of assembly; and it is beneficial to make more light in the emission field of view be received by the laser receiving module 120, improving the utilization rate of light in the emission field of view.

[0043] Further, in some exemplary schemes, please refer to Figure 3 The first optical axis m of the two laser emission modules 110 can be parallel to the second optical axis n of the laser receiving module 120. In this way, the structure of the laser radar 100 is regular and more beautiful, and the assembly difficulty is lower. Further, the first optical axis m of the two laser emission modules 110 can be symmetrically arranged about the second optical axis n of the laser receiving module 120. In this way, for selecting two same laser emission modules 110, the emission field of view of the two laser emission modules 110 can be symmetrically distributed on both sides of the laser receiving module 120, which can further reduce the calculation difficulty of the relative distance during assembly, and facilitate assembly.

[0044] In other exemplary schemes, please refer to Figure 4 and Figure 5 The first optical axis m of the two laser emission modules 110 can be parallel to the second optical axis n of the laser receiving module 120. In this way, the structure of the laser radar 100 is regular and more beautiful, and the assembly difficulty is lower. Further, the first optical axis m of the two laser emission modules 110 can be symmetrically arranged about the second optical axis n of the laser receiving module 120. In this way, for selecting two same laser emission modules 110, the emission field of view of the two laser emission modules 110 can be symmetrically distributed on both sides of the laser receiving module 120, which can further reduce the calculation difficulty of the relative distance during assembly, and facilitate assembly.

[0045] It should be noted that the angle between the first optical axis m of the two laser emission modules 110 and the second optical axis n of the laser receiving module 120 can be equal or not equal. For example, the angle between the first optical axis m of one of the laser emission modules 110 and the second optical axis n of the laser receiving module 120 is θ1, and the angle between the first optical axis m of the other laser emission module 110 and the second optical axis n of the laser receiving module 120 is θ2, θ1 and θ2 can be equal or not equal. Preferably, θ1 and θ2 are equal. That is, the first optical axis m of the two laser emission modules 110 is symmetrically arranged about the second optical axis n of the laser receiving module 120. In this way, for selecting two same laser emission modules 110, the emission field of view of the two laser emission modules 110 can be symmetrically distributed on both sides of the laser receiving module 120, which can further reduce the calculation difficulty of the relative distance during assembly, and facilitate assembly.

[0046] In some exemplary schemes, one of the two first optical axes m in the two laser emission modules 110 can form an angle with the second optical axis n of the laser receiving module 120, and the other first optical axis m can be parallel to the second optical axis n. The arrangement of the laser emission module 110 and the laser receiving module 120 in the embodiments of the present application is diversified, and can be flexibly selected according to actual use requirements, and has a wide application prospect.

[0047] In the embodiments of the present application, the emission field of view of the laser emission module 110 can be substantially a quadrangular pyramid, and the receiving field of view of the laser receiving module 120 can be substantially a quadrangular pyramid. The field of view of the quadrangular pyramid can be substantially divided into a horizontal field of view and a vertical field of view. The combination of the emission field of view of the two laser emission modules 110 and the receiving field of view of the laser receiving module 120 can be that the combination of the horizontal emission field of view of the two laser emission modules 110 matches the horizontal receiving field of view of the laser receiving module 120, and the combination of the vertical emission field of view of the two laser emission modules 110 matches the vertical receiving field of view of the laser receiving module 120.

[0048] Specifically, referring to Figures 3 to 5 When the horizontal emission field of view angle of one of the laser emission modules 110 is α1, the vertical emission field of view angle is β1; the horizontal emission field of view angle of the other laser emission module 110 is α2, the vertical emission field of view angle is β2; the horizontal receiving field of view angle of the laser receiving module 120 is α3, the vertical receiving field of view angle is β3; and the first optical axis m of the two laser emission modules 110 and the second optical axis n of the laser receiving module 120 are located in the same horizontal plane, the combination of the horizontal emission field of view of the two laser emission modules 110 and the horizontal receiving field of view of the laser receiving module 120 can be that α3=α1+α2; the combination of the vertical emission field of view of the two laser emission modules 110 and the vertical receiving field of view of the laser receiving module 120 can be that β3=β2=β1. For example, Figure 3 In the embodiment, α1 and α2 can be equal to 59°, and α3 can be 118°; β1, β2 and β3 can be 30°. For example, Figure 5 In the embodiment, α1 and α2 can be equal to 11°, and α3 can be 22°; β1, β2 and β3 can be 7°.

[0049] It should be noted that, for the above-mentioned Figure 5The first optical axis m of the two laser emission modules 110 is at an angle with the second optical axis n of the laser receiving module 120, and when the first optical axis m of the two laser emission modules 110 is in the same plane as the second optical axis n of the laser receiving module 120, the angle between the first optical axis m of one of the laser emission modules 110 and the second optical axis n of the laser receiving module 120 is θ1, and the emission field angle of the one laser emission module 110 in the first plane can be 2θ1. The angle between the first optical axis m of the other laser emission module 110 and the second optical axis n of the laser receiving module 120 is θ2, and the emission field angle of the other laser emission module 110 in the first plane can be 2θ2. At this time, the receiving field angle of the laser receiving module 120 in the first plane is 2θ1+2θ2. In this way, compared with the scheme in the related art in which one laser emission module corresponds to one laser receiving module, the receiving field angle of one laser receiving module 120 is the sum of the emission field angles of the two laser emission modules 110, which can greatly improve the field receiving rate of the laser receiving sensor 122 of the laser receiving module 120 and increase the detection field angle of the laser radar 100.

[0050] Preferably, θ1 can be equal to θ2, at this time, the receiving field angle of the laser receiving module 120 will be 4*θ1. That is, when the first optical axis m of the two laser emission modules 110 is at an angle θ1 with the second optical axis n of the laser receiving module 120, the transverse receiving field angle α3 of the laser receiving module 120 will be twice the transverse emission field angle of any one of the laser emission modules 110, thereby improving the field receiving rate of the laser receiving module 120 and expanding the detection field angle of the laser radar 100.

[0051] Preferably, θ1=θ2=5.5°, the emission field angle of the two laser emission modules 110 can be 11°, and the receiving field angle of the laser receiving module 120 can be 22°. In this case, the laser radar 100 can have both a wide field angle and high detection accuracy.

[0052] In an exemplary scheme, the laser emission sensors 112 of the two laser emission modules 110 can emit light at the same time. In this way, the detection time of the laser radar 100 can be reduced and the detection speed can be improved. In another exemplary scheme, the laser emission sensors 112 of the two laser emission modules 110 can not emit light at the same time. In this way, the light emitted by the two laser emission modules 110 is less likely to interfere, and the detection accuracy of the laser radar 100 can be improved.

[0053] The laser emitting sensors 112 of the two laser emitting modules 110 can each include a plurality of light sources arranged in a matrix. For example, one of the laser emitting sensors 112 can include R*T light sources, and the other laser emitting sensor 112 can include P*Q light sources. In use, in one of the laser emitting sensors 112, the light sources in the same column can be lit at the same time to emit light, and the T light sources in the same column can be lit in turn according to a preset timing. For example, the first column of light sources can be lit at the first second, the second column of light sources can be lit at the second second, the third column of light sources can be lit at the third second, and so on until the Tth column of light sources is lit at the Tth second. Similarly, in the other laser emitting sensor 112, the light sources in the same column can also be lit at the same time, and the Q light sources in the same column can be lit in turn according to a preset timing. For example, the first column of light sources can be lit at the first second, the second column of light sources can be lit at the second second, the third column of light sources can be lit at the third second, and so on until the Qth column of light sources is lit at the Qth second.

[0054] The two laser emitting sensors 112 can emit light at the same time, for example, the first column of light sources of one of the laser emitting sensors 112 can be lit at the first second, and the first column of light sources of the other laser emitting sensor 112 can be lit at the first second; the second column of light sources of one of the laser emitting sensors 112 can be lit at the second second, and the second column of light sources of the other laser emitting sensor 112 can be lit at the second second; and so on until all the light sources of the two laser emitting sensors 112 are lit.

[0055] The two laser emitting sensors 112 can emit light at different times, for example, the two laser emitting sensors 112 can emit light in turn according to a preset timing. For example, the first column of light sources of one of the laser emitting sensors 112 can be lit at the first second, the first column of light sources of the other laser emitting sensor 112 can be lit at the second second, the second column of light sources of one of the laser emitting sensors 112 can be lit at the third second, the second column of light sources of the other laser emitting sensor 112 can be lit at the fourth second, and so on until all the light sources of the two laser emitting sensors 112 are lit.

[0056] In an exemplary scheme, the arrangement direction of the first column of light sources to the Tth column of light sources of one laser emitting sensor 112 can be the same as or different from the arrangement direction of the first column of light sources to the Qth column of light sources of another laser emitting sensor 112. For example, when the two laser emitting modules 110 are respectively located on the left and right sides of the laser emitting sensor 112, and the arrangement direction of the first column of light sources to the Tth column of light sources on the laser emitting sensor 112 of the laser emitting module 110 located on the left side is from left to right, the arrangement direction of the first column of light sources to the Qth column of light sources on the laser emitting sensor 112 of the laser emitting module 110 located on the right side can be from left to right or from right to left. In use, it can be adjusted flexibly according to actual use requirements, and the embodiments of the present application do not make any limitation in this regard.

[0057] Referring to Figure 6 , the laser radar 100 can further include a housing 130. Referring to Figure 7 , the housing 130 can be provided with a receiving cavity 131, and at least part of the two laser emitting modules 110 and at least part of the laser receiving module 120 can be located in the receiving cavity 131. The housing 130 can play a certain protective role on the laser emitting module 110 and the laser receiving module 120, thereby improving the service life of the laser radar 100.

[0058] In order to facilitate the installation and positioning of the two laser emitting modules 110 and the laser receiving module 120 in the housing 130, referring to FIGS. 7 and Figure 8 , the laser radar 100 can further include a bracket 140 located in the receiving cavity 131. Specifically, the bracket 140 can be installed on the inner wall of the housing 130, and the bracket 140 can be provided with a first mounting hole 141 and a second mounting hole 142 located on both sides of the first mounting hole 141, the laser receiving module 120 can be installed in the first mounting hole 141, and each laser emitting module 110 can be installed in a second mounting hole 142.

[0059] In an exemplary scheme, the laser emission lens 111 of the laser emission module 110 can be mounted on the bracket 140, and the laser receiving lens 121 of the laser receiving module 120 can be mounted on the bracket 140. In this way, the laser emission lens 111 and the laser receiving lens 121 can be mounted on the bracket 140, and then the bracket 140 is integrally mounted in the shell 130. Compared with directly assembling the laser emission lens 111 and the laser receiving lens 121 with the inner wall of the shell 130, the assembly is more convenient. In order to facilitate the assembly of the laser emission lens 111 and the laser receiving lens 121 with the bracket 140, a fixing plate can be mounted on the laser emission lens 111 and / or the laser receiving lens 121, so that the laser emission lens 111 and the laser receiving lens 121 can be connected with the bracket 140 through the fixing plate.

[0060] The bracket 140 can be a one-piece structure, or can include three sub-brackets separately arranged corresponding to the two laser emission modules 110 and the laser receiving module 120. When the bracket 140 is a one-piece structure, it is convenient to assemble the bracket 140 in the shell 130. When the bracket 140 includes three sub-brackets, the assembly of the two laser emission modules 110 with the sub-brackets and the assembly of the laser receiving module 120 with the sub-brackets are independent of each other, which is convenient to assemble.

[0061] When the two laser emission modules 110 and the laser receiving module 120 are located in the accommodating cavity 131 as a whole, the shell 130 can include a first plate body 132, which can have a first plate surface 1321 facing the accommodating cavity 131 and a second plate surface 1322 opposite to the first plate surface 1321. The first plate body 132 can be provided with a first light transmission hole 1323 penetrating through the first plate body 132 and the second plate surface 1322, and a second light transmission hole 1324 located on each side of the first light transmission hole 1323. The laser receiving module 120 can be arranged corresponding to the first light transmission hole 1323, so that the received light can pass through the first light transmission hole 1323 to reach the laser receiving module 120. Each laser emission module 110 can be arranged corresponding to a second light transmission hole 1324, so that the emitted light can pass through the second light transmission hole 1324 to reach the object.

[0062] In order to avoid dust and other impurities entering the accommodating cavity 131 through the first light transmission hole 1323 and the second light transmission hole 1324, affecting the detection accuracy of the laser radar 100. Please refer to Figure 6The light-transmitting protection plates 150 can be arranged at the first light-transmitting hole 1323 and the two second light-transmitting holes 1324. In an exemplary scheme, the light-transmitting protection plates 150 at the first light-transmitting hole 1323 and the two second light-transmitting holes 1324 can be arranged separately. That is, one light-transmitting protection plate 150 is arranged at each light-transmitting hole. In this way, the amount of light-transmitting protection plates 150 can be reduced, the production cost can be reduced, and the optical crosstalk between the laser emitting module 110 and the laser receiving module 120 can be reduced. In another exemplary scheme, please refer to Figure 9 and Figure 10 The light-transmitting protection plates 150 at the first light-transmitting hole 1323 and the two second light-transmitting holes 1324 can be one plate. That is, one light-transmitting protection plate 150 corresponds to three light-transmitting holes. In this way, the integrity and simplicity of the structure are ensured, the assembly steps can be saved, and the assembly efficiency can be improved.

[0063] To ensure the surface flatness of the laser radar 100, the second plate surface 1322 can be provided with a mounting groove 1325 for mounting the light-transmitting protection plate 150. In this way, the light-transmitting protection plate 150 can be prevented from protruding outward from the shell 130, and the appearance of the laser radar 100 can be improved.

[0064] Specifically, when one light-transmitting protection plate 150 corresponds to the first light-transmitting hole 1323 and the two second light-transmitting holes 1324, one mounting groove 1325 can be arranged on the second plate surface 1322, and the mounting groove 1325 can be in communication with the first light-transmitting hole 1323 and the two second light-transmitting holes 1324.

[0065] Please refer to Figure 7 and Figure 8 When one light-transmitting protection plate 150 corresponds to the first light-transmitting hole 1323 and the two second light-transmitting holes 1324, the light-transmitting protection plate 150 can be understood as including a first light-transmitting protection plate 151 and two second light-transmitting protection plates 152. The second plate surface 1322 can be provided with a first mounting groove 1326 and a second mounting groove 1327 located on both sides of the first mounting groove 1326. The first mounting groove 1326 can be in communication with the first light-transmitting hole 1323, and each second mounting groove 1327 can be in communication with one second light-transmitting hole 1324. At this time, the first light-transmitting protection plate 151 can be located in the first mounting groove 1326, and each second light-transmitting protection plate 152 can be located in one second mounting groove 1327.

[0066] In some exemplary schemes, the light-transmitting protection plate 150 can also have a light filtering effect. That is, the light-transmitting protection plate 150 can be selected to have a filter to filter out non-working waveband light.

[0067] It should be noted that the two laser emission modules 110 and the laser receiving module 120 can be integrally arranged in the accommodating cavity 131, or can be partially arranged in the accommodating cavity 131 and partially arranged outside the shell 130. Specifically, referring to Figure 11 and Figure 12 The shell 130 can include a first plate body 132, and the first plate body 132 can be provided with a third mounting hole 1328 and a fourth mounting hole 1329 located on both sides of the third mounting hole 1328. The receiving end 124 of the laser receiving module 120 can pass through the third mounting hole 1328 and be located outside the shell 130. The emission end 114 of each laser emission module 110 can pass through a fourth mounting hole 1329 and be located outside the shell 130. In this way, the laser radar 100 can be conveniently integrated on other devices, the manufacturing cost can be reduced, and optical attenuation can be reduced.

[0068] In some example schemes, the shell 130 can include a first shell 133 and a second shell 134 arranged opposite to the first shell 133. The first shell 133 can be connected with the second shell 134 and form the accommodating cavity 131. Specifically, the first shell 133 and the second shell 134 can be detachably connected to facilitate the installation of the laser emission module 110, the laser receiving module 120 and the like in the accommodating cavity 131. For example, the first shell 133 and the second shell 134 can be detachably connected by screws or the like.

[0069] In some example schemes, the periphery of at least one of the emission end 114 of the two laser emission modules 110 and the receiving end 124 of the laser receiving module 120 can be sleeved with a light shielding piece 160. In this way, the light crosstalk between the laser emission module 110 and the laser receiving module 120 can be avoided, and the detection accuracy of the laser radar 100 can be improved.

[0070] It can be understood that the light shielding piece 160 can be any device with light shielding performance such as a light shielding coating or a light shielding sheet, and the present application does not make any limitation in this regard.

[0071] Each laser emission module 110 can include, in addition to the laser emission lens 111 and the laser emission sensor 112, an emission board 113 electrically connected with the laser emission sensor 112. The emission board 113 can be used to carry the laser emission sensor 112 and provide power supply signals, control signals and the like for the laser emission sensor 112.

[0072] The laser receiving module 120 can include a laser receiving lens 121, a laser receiving sensor 122 located on the imaging side of the laser receiving lens 121, and a receiving board 123 electrically connected to the laser receiving sensor 122. The laser receiving lens 121 can converge the received light rays and transmit the converged light rays to the laser receiving sensor 122, so that more light rays can reach the laser receiving sensor 122, thereby improving the detection accuracy of the laser radar 100. The receiving board 123 can be used to carry the laser receiving sensor 122 and provide power supply signals, control signals, etc. for the laser receiving sensor 122.

[0073] In some exemplary schemes, the two transmitting boards 113 and the receiving board 123 can be independent circuit boards, so as to facilitate the assembly of the laser emitting module 110 and the laser receiving module 120. In other exemplary schemes, please refer to Figure 14 In FIG. 16, the two transmitting boards 113 and the receiving board 123 can also share the same circuit board, so as to reduce the production cost and the volume of the laser radar 100.

[0074] When the transmitting board 113 and the receiving board 123 are independent of each other, in the assembly process, the laser receiving lens 121 and the receiving board 123 can be first adjusted into a standard module, and then assembled into the shell 130 together with the two laser emitting lenses 111, and then the light adjustment process is completed by adjusting the positions of the two transmitting boards 113. When the transmitting board 113 and the receiving board 123 share the same circuit board, in the assembly process, the two laser emitting sensors 112 and the laser receiving sensor 122 can be first installed on the circuit board, and then the light adjustment process is completed by adjusting the two laser emitting lenses 111 and the laser receiving lens 121.

[0075] Please refer to Figure 12 and Figure 13 The laser radar 100 can further include a main control board 170, and the two transmitting boards 113 and the receiving board 123 can be electrically connected to the main control board 170. The main control board 170 can be connected to the interface board 180, and the power supply and / or communication can be realized by electrically connecting the external connector 200 through the interface board 180. The main control board 170 and the interface board 180 can be connected by using a flexible flat cable or other connectors. The main control board 170 and the interface board 180 can be located above the laser emitting module 110 and the laser receiving module 120.

[0076] At least one of the main control board 170, the emission board 113, and the receiving board 123 and the shell 130 can be provided with a heat conduction member 190. Heat generated by the main control board 170, the emission board 113, and the receiving board 123 can be conducted to the shell 130 via the heat conduction member 190 to dissipate, thereby achieving heat dissipation of the high-power device and improving the heat dissipation performance of the laser radar 100. The heat conduction member 190 can include a heat conduction silica gel sheet, a heat dissipation fin, or the like.

[0077] Referring to Figure 17 and Figure 18 In the two laser emission modules 110, at least one laser emission module 110 can further include a first adjusting member 115, and the first adjusting member 115 can be connected to the laser emission lens 111 and the emission board 113. The first adjusting member 115 can adjust the relative position of the laser emission lens 111 and the laser emission sensor 112 on the emission board 113, achieve registration of the emission optical axis, and thereby improve the detection accuracy of the laser radar 100.

[0078] In an exemplary scheme, the first adjusting member 115 can include a first adjusting plate 1151, a second adjusting plate 1152, and a first locking portion 1153. The first adjusting plate 1151 can be connected to the laser emission lens 111, and the first adjusting plate 1151 can be provided with a first limiting hole g1. The second adjusting plate 1152 can be provided with a second limiting hole g2, and the first limiting hole g1 and / or the second limiting hole g2 can extend in a first direction. The first locking portion 1153 can be disposed in the first limiting hole g1 and the second limiting hole g2 and detachably connected to the first adjusting plate 1151 and the second adjusting plate 1152. In this way, when assembling the laser emission module 110, the first adjusting member 115 can be used to first achieve the pre-positioning of the laser emission lens 111 and the emission board 113. Then, the first locking portion 1153 can be fine-tuned in the first limiting hole g1 and / or the second limiting hole g2 in the first direction, thereby achieving fine-tuning of the laser emission lens 111 and the laser emission sensor 112 on the emission board 113, and thereby improving the registration accuracy of the emission optical axis. The adjusting method is simple and easy to operate.

[0079] In an exemplary scheme, the first locking portion 1153 can include a screw and a nut, the shank of the screw can be arranged in the first limiting hole g1 and the second limiting hole g2, and the nut can be arranged on the side of the shank away from the end of the screw and be threadedly connected with the shank. In this way, when the screw and the nut are tightened, the end of the screw and the nut can abut against the two opposite plate surfaces of the first adjusting plate 1151 and the second adjusting plate 1152, so as to fix the first adjusting plate 1151 and the second adjusting plate 1152. When it is required to adjust the relative position of the laser emitting lens 111 and the emitting plate 113 in the first direction, the connection between the screw and the nut can be loosened first, and then the second adjusting plate 1152 is moved in the first direction, and after being moved in place, the screw and the nut can be tightened to fix the first adjusting plate 1151 and the second adjusting plate 1152. The abutment locking and unlocking of the first adjusting plate 1151 and the second adjusting plate 1152 are realized by the cooperation of the screw and the nut, which is convenient for adjustment and reliable in connection.

[0080] It should be noted that the first locking portion 1153 can also include a pin, the outer surface of the pin can be in interference fit with the inner wall surface of the first limiting hole g1 and the inner wall surface of the second limiting hole g2, so as to fix the first adjusting plate 1151 and the second adjusting plate 1152. Of course, the first locking portion 1153 can also include a plug pin or the like fixedly installed in the first limiting hole g1 or the second limiting hole g2, and the present application does not limit this.

[0081] Further, the first adjusting member 115 can further include a third adjusting plate 1154 and a second locking portion 1155, the second adjusting plate 1152 can further be provided with a third limiting hole g3, the third adjusting plate 1154 can be provided with a fourth limiting hole g4, the third limiting hole g3 and / or the fourth limiting hole g4 can extend in a second direction, and the second locking portion 1155 can be arranged in the third limiting hole g3 and the fourth limiting hole g4 and detachably connected with the second adjusting plate 1152 and the third adjusting plate 1154. The second direction can intersect the first direction, and the third adjusting plate 1154 is connected with the emitting plate 113, so as to realize the fine adjustment of the laser emitting lens 111 and the emitting plate 113 in two directions. Specifically, when assembling the laser emitting module 110, the predetermined positioning of the laser emitting lens 111 and the emitting plate 113 can be realized by the first adjusting member 115 first, then the fine adjustment of the laser emitting lens 111 and the emitting plate 113 in the first direction can be realized by moving the first locking portion 1153 in the first limiting hole g1 and / or the second limiting hole g2 in the first direction, and the fine adjustment of the laser emitting lens 111 and the emitting plate 113 in the second direction can be realized by moving the second locking portion 1155 in the third limiting hole g3 and / or the fourth limiting hole g4 in the second direction, so as to realize the alignment of the emitting optical axis from two directions and improve the alignment degree of the emitting optical axis.

[0082] Similarly, the second locking part 1155 can include a screw and a nut, can also include a pin, and can further include a bolt fixedly installed in the third limiting hole g3 or the fourth limiting hole g4, and the like, and the embodiments of the present application will not be described here.

[0083] Further, the first adjusting part 115 can further include a third locking part 1156, and the third adjusting plate 1154 and the emission plate 113 can be connected through the third locking part 1156. Specifically, the third adjusting plate 1154 can further be provided with a fifth limiting hole g5, and the emission plate 113 can be provided with a sixth limiting hole g6, the fifth limiting hole g5 and / or the sixth limiting hole g6 can extend in a third direction, and the third locking part 1156 can be arranged in the fifth limiting hole g5 and / or the sixth limiting hole g6 and detachably connected with the third adjusting plate 1154 and the emission plate 113. The first direction, the second direction and the third direction can be perpendicular to each other, so as to realize fine adjustment of the laser emission lens 111 and the emission plate 113 in three directions perpendicular to each other. Specifically, when assembling the laser emission module 110, the first adjusting part 115 can be used to realize pre-positioning of the laser emission lens 111 and the emission plate 113, then moving the first locking part 1153 in the first limiting hole g1 and / or the second limiting hole g2 in the first direction can realize fine adjustment of the laser emission lens 111 and the emission plate 113 in the first direction, moving the second locking part 1155 in the third limiting hole g3 and / or the fourth limiting hole g4 in the second direction can realize fine adjustment of the laser emission lens 111 and the emission plate 113 in the second direction, and moving the third locking part 1156 in the fifth limiting hole g5 and / or the sixth limiting hole g6 in the third direction can realize fine adjustment of the laser emission lens 111 and the emission plate 113 in the third direction, so as to realize alignment of the emission optical axis from three directions perpendicular to each other and realize adjustment of the emission optical axis to the best alignment state.

[0084] Similarly, the third locking part 1156 can include a screw and a nut, can also include a pin, and can further include a bolt fixedly installed in the fifth limiting hole g5 or the sixth limiting hole g6, and the like, and the embodiments of the present application will not be described here.

[0085] Similarly, the laser receiving module 120 further includes a second adjusting part 125, and the second adjusting part 125 can connect the laser receiving lens 121 and the receiving plate 123. The second adjusting part 125 can adjust the relative position of the laser receiving lens 121 and the laser receiving sensor 122 on the receiving plate 123, realize alignment of the receiving optical axis, and further improve the detection accuracy of the laser radar 100.

[0086] In an exemplary scheme, the second adjusting member 125 can include a fourth adjusting plate 1251, a fifth adjusting plate 1252, and a fourth locking portion 1253. The fourth adjusting plate 1251 can be connected to the laser receiving lens 121, and the fourth adjusting plate 1251 can be provided with a first positioning hole h1. The fifth adjusting plate 1252 can be provided with a second positioning hole h2, and the first positioning hole h1 and / or the second positioning hole h2 can extend along a first direction. The fourth locking portion 1253 can be disposed in the first positioning hole h1 and / or the second positioning hole h2 and detachably connected to the fourth adjusting plate 1251 and the fifth adjusting plate 1252. In this way, when assembling the laser receiving module 120, the laser receiving lens 121 and the receiving plate 123 can be pre-positioned by the second adjusting member 125 first, and then the fourth locking portion 1253 can be fine-adjusted in the first positioning hole h1 and / or the second positioning hole h2 along the first direction, so that the laser receiving lens 121 and the laser receiving sensor 122 on the receiving plate 123 can be fine-adjusted, and the registration degree of the receiving optical axis can be improved. The adjusting method is simple and easy to operate.

[0087] In an exemplary scheme, the fourth locking portion 1253 can include a screw and a nut. The shank of the screw can be disposed in the first positioning hole h1 and / or the second positioning hole h2, and the nut can be disposed on the side of the shank away from the end of the screw and threadedly connected to the shank. In this way, when the screw and the nut are tightened, the end of the screw and the nut can abut against the two opposite plate surfaces of the fourth adjusting plate 1251 and the fifth adjusting plate 1252, so that the fourth adjusting plate 1251 and the fifth adjusting plate 1252 can be fixed. When the relative positions of the laser receiving lens 121 and the receiving plate 123 need to be adjusted along the first direction, the connection between the screw and the nut can be loosened first, and the fifth adjusting plate 1252 can be moved along the first direction. After being moved into position, the screw and the nut can be tightened to fix the fourth adjusting plate 1251 and the fifth adjusting plate 1252. The screw and the nut are used to realize the abutting and locking of the fourth adjusting plate 1251 and the fifth adjusting plate 1252 and to release the locking, so that the adjustment is convenient and the connection is reliable.

[0088] It should be noted that the fourth locking portion 1253 can also include a pin. The outer surface of the pin can be in interference fit with the inner wall surface of the first positioning hole h1 and the inner wall surface of the second positioning hole h2, so that the fourth adjusting plate 1251 and the fifth adjusting plate 1252 can be fixed. Of course, the fourth locking portion 1253 can also include a plug pin or the like fixedly installed in the first positioning hole h1 or the second positioning hole h2, and the embodiments of the present application do not limit this.

[0089] Further, the second adjusting member 125 can further include a sixth adjusting plate 1254 and a fifth locking portion 1255. The fifth adjusting plate 1252 can be further provided with a third positioning hole h3, and the sixth adjusting plate 1254 can be provided with a fourth positioning hole h4. The third positioning hole h3 and / or the fourth positioning hole h4 can extend in a second direction, and the fifth locking portion 1255 can be arranged in the third positioning hole h3 and / or the fourth positioning hole h4 and detachably connected with the fifth adjusting plate 1252 and the sixth adjusting plate 1254. The second direction can intersect the first direction. The sixth adjusting plate 1254 is connected with the receiving plate 123, so that the laser receiving lens 121 and the receiving plate 123 can be finely adjusted in two directions. Specifically, when assembling the laser receiving module 120, the laser receiving lens 121 and the receiving plate 123 can be first pre-positioned by the second adjusting member 125. Then, the fourth locking portion 1253 is moved in the first direction in the first positioning hole h1 and / or the second positioning hole h2, so that the laser receiving lens 121 and the receiving plate 123 can be finely adjusted in the first direction. The fifth locking portion 1255 is moved in the second direction in the third positioning hole h3 and / or the fourth positioning hole h4, so that the laser receiving lens 121 and the receiving plate 123 can be finely adjusted in the second direction. The receiving optical axis can be aligned from two directions, and the alignment accuracy of the receiving optical axis is improved.

[0090] Similarly, the fifth locking portion 1255 can include a screw and a nut, can also include a pin, and can further include a plug fixedly arranged in the third positioning hole h3 or the fourth positioning hole h4. Details are not described herein again.

[0091] Further, the second adjusting member 125 can further include a sixth locking portion 1256, and the sixth adjusting plate 1254 and the receiving plate 123 can be connected through the sixth locking portion 1256. Specifically, the sixth adjusting plate 1254 can further be provided with a fifth positioning hole h5, and the receiving plate 123 can be provided with a sixth positioning hole h6, the fifth positioning hole h5 and / or the sixth positioning hole h6 can extend along a third direction, and the sixth locking portion 1256 can be arranged in the fifth positioning hole h5 and / or the sixth positioning hole h6 and detachably connected with the sixth adjusting plate 1254 and the receiving plate 123. The first direction, the second direction and the third direction can be perpendicular to each other, so that the laser receiving lens 121 and the receiving plate 123 can be finely adjusted in three directions perpendicular to each other. Specifically, when assembling the laser receiving module 120, the laser receiving lens 121 and the receiving plate 123 can be first pre-positioned through the second adjusting member 125, then the fourth locking portion 1253 can be moved in the first direction in the first positioning hole h1 and / or the second positioning hole h2 to finely adjust the laser receiving lens 121 and the receiving plate 123 in the first direction, the fifth locking portion 1255 can be moved in the second direction in the third positioning hole h3 and / or the fourth positioning hole h4 to finely adjust the laser receiving lens 121 and the receiving plate 123 in the second direction, and the sixth locking portion 1256 can be moved in the third direction in the fifth positioning hole h5 and / or the sixth positioning hole h6 to finely adjust the laser receiving lens 121 and the receiving plate 123 in the third direction, so that the receiving optical axis can be aligned from three directions perpendicular to each other, and the receiving optical axis can be adjusted to the best alignment state.

[0092] Similarly, the sixth locking portion 1256 can include a screw and a nut, can include a pin, and can include a plug fixedly arranged in the fifth positioning hole h5 or the sixth positioning hole h6, and the like, which will not be described herein again.

[0093] It can be understood that, by arranging the first adjusting member 115 and the second adjusting member 125, and by matching the adjusting plate, the limiting hole and the locking member in the adjusting member, the adjusting efficiency and the accuracy can be ensured while the adjusting amount is as small as possible.

[0094] Please refer to Figure 19 and Figure 20 , Figure 19 and Figure 20 are a perspective view and a sectional view of a ninth laser radar 100 according to an embodiment of the present application, Figure 20 and Figure 7 The differences between the laser radar 100 shown in FIG. 17 and the laser radar 100 shown in FIG. 18 include: Figure 7 The two laser emitting modules 110 and the laser receiving module 120 shown in FIG. 17 are located in the same accommodating cavity 131, while Figure 20The two laser emission modules 110 and the laser receiving module 120 are located in different accommodating cavities. Specifically, the shell 130 can include a first plate body 135, a second plate body 136, a peripheral plate 137, and two first partition plates 138. The second plate body 136 can be spaced apart from the first plate body 135, the peripheral plate 137 can be located at the periphery of the first plate body 135 and connect the first plate body 135 and the second plate body 136, and the peripheral plate 137, the first plate body 135 and the second plate body 136 form an accommodating cavity 131. The peripheral plate 137 can include a plurality of side plates, if the two side plates oppositely arranged are defined as a first side plate 1371 and a second side plate 1372, the two first partition plates 138 can be distributed in the accommodating cavity 131 and connected between the first side plate 1371 and the second side plate 1372. The two first partition plates 138 can form a first accommodating cavity 1311, and each first partition plate 138 and the peripheral plate 137 can form a second accommodating cavity 1312. At least part of the laser receiving module 120 can be located in the first accommodating cavity 1311, and at least part of each laser emission module 110 can be located in one second accommodating cavity 1312. In this way, the laser emission module 110 and the laser receiving module 120 do not produce optical crosstalk, which is beneficial to improve the detection accuracy of the laser radar 100.

[0095] Further, the shell 130 can further include a second partition plate 139, the second partition plate 139 can be located in the accommodating cavity 131 and connected between the first side plate 1371 and the second side plate 1372, and the two first partition plates 138 can be located on one side close to the first plate body 135, and the second partition plate 139 can be located on one side close to the second plate body 136. The second partition plate 139 and the peripheral plate 137 can form a third accommodating cavity 1313, and the main control board 170, the interface board 180 and the like of the laser radar 100 can be located in the third accommodating cavity 1313, so that the installation of the laser emission module 110, the laser receiving module 120, the main control board 170, the interface board 180 and the like is independent of each other, and wiring is more convenient. The second partition plate 139 can be provided with a mounting hole for passing through a circuit.

[0096] With Figure 7 The same as the scheme shown, see Figure 20The laser receiving module 120 and the two laser receiving modules 120 can be located in the accommodating cavity 131 as a whole. At this time, the first plate body 135 can have a first plate surface 1351 facing the accommodating cavity 131 and a second plate surface 1352 opposite to the first plate surface 1351. The first plate body 135 can be provided with a first light transmission hole 1353 penetrating the first plate surface 1351 and the second plate surface 1352, and a second light transmission hole 1354 located on each side of the first light transmission hole 1353. The laser receiving module 120 can be arranged corresponding to the first light transmission hole 1353, so that the received light can pass through the first light transmission hole 1353 to reach the laser receiving module 120. Each laser emitting module 110 can be arranged corresponding to a second light transmission hole 1354, so that the emitted light can pass through the second light transmission hole 1324 to reach the object.

[0097] It should be noted that, Figure 20 In the embodiment, the laser receiving module 120 and the two laser receiving modules 120 are located in the accommodating cavity 131 as a whole. Specifically, the laser receiving module 120 is located in the first accommodating cavity 1311 as a whole, and each laser receiving module 120 is located in a second accommodating cavity 1312 as a whole.

[0098] Similarly, Figure 20 In the embodiment, the second plate surface 1352 can be provided with a light-transmitting protective plate 150 covering the first light transmission hole 1353 and the two second light transmission holes 1354. The second plate surface 1352 can be provided with a mounting groove 1355, which can be in communication with the first light transmission hole 1353 and the two second light transmission holes 1354, and the light-transmitting protective plate 150 is located in the mounting groove 1355. Thus, the light-transmitting protective plate 150 does not protrude outward from the shell 130, improving the aesthetics of the laser radar 100.

[0099] In an exemplary scheme, the second plate surface 1352 can be provided with a first mounting groove and a second mounting groove located on each side of the first mounting groove. The first mounting groove can be in communication with the first light transmission hole 1353, and each second mounting groove can be in communication with a second light transmission hole 1354. The light-transmitting protective plate 150 includes a first light-transmitting protective plate 150 and two second light-transmitting protective plates 150. The first light-transmitting protective plate 150 can be located in the first mounting groove, and each second light-transmitting protective plate 150 can be located in a second mounting groove. Figure 21 In another exemplary scheme, in combination with

[0100] In combination with Figure 22, two laser emission modules 110 and laser receiving modules 120 can also be partially disposed in the accommodating cavity 131 and partially disposed outside the shell 130. At this time, the first plate body 135 is provided with a first mounting hole 1356 and a second mounting hole 1357 located on both sides of the first mounting hole 1356, the receiving end of the laser receiving module 120 passes through the first mounting hole 1356 and is located outside the shell 130, and the emission end of each laser receiving module 120 passes through a second mounting hole 1357 and is located outside the shell 130.

[0101] The above disclosure is only the preferred embodiment of the present application, and of course cannot limit the scope of the right of the present application, so the equivalent changes made according to the claims of the present application still fall within the scope covered by the present application.

Claims

1. A lidar, comprising: The laser radar comprises: two laser emission modules; each of the laser emission modules comprises a laser emission lens and a laser emission sensor, the laser emission lens has a first optical axis; the laser emission sensor is located on the light entrance side of the laser emission lens and is used for emitting a laser beam to the laser emission lens; the laser emission sensors of the two laser emission modules emit light rays simultaneously, and the laser emission sensor comprises a plurality of light sources arranged in a matrix; one laser receiving module, the two laser emission modules are located on opposite sides of the laser receiving module respectively, the combination of the emission fields of the two laser emission modules matches the receiving field of the laser receiving module, and the first optical axes of the two laser emission modules are parallel to the second optical axis of the laser receiving module; wherein the laser emission sensor is located on the side of the first optical axis close to the laser receiving module, and the emission fields of the two laser emission modules have an overlapping area.

2. The lidar of claim 1, wherein, Further comprising: a shell, a containing cavity is formed in the shell; a support located in the containing cavity, the support is provided with a first mounting hole and second mounting holes located on the two sides of the first mounting hole respectively, the laser receiving module is mounted in the first mounting hole, and each laser emission module is mounted in a second mounting hole.

3. The lidar of claim 2, wherein, The two laser emission modules and the laser receiving module are located in the containing cavity, and the shell comprises: a first plate body having a first plate surface facing the containing cavity and a second plate surface opposite to the first plate surface, the first plate body is provided with a first light transmission hole penetrating the first plate surface and the second plate surface, and second light transmission holes located on the two sides of the first light transmission hole respectively, the laser receiving module is arranged corresponding to the first light transmission hole, and each laser emission module is arranged corresponding to a second light transmission hole, and a light transmission protection plate covering the first light transmission hole and the two second light transmission holes is arranged at the second plate surface.

4. The laser radar of claim 3, wherein: the second plate surface is provided with a mounting groove, the mounting groove communicates with the first light transmission hole and the two second light transmission holes, and the light transmission protection plate is located in the mounting groove; or the second plate surface is provided with a first mounting groove and second mounting grooves located on the two sides of the first mounting groove respectively, the first mounting groove communicates with the first light transmission hole, each second mounting groove communicates with a second light transmission hole respectively, and the light transmission protection plate comprises a first light transmission protection plate and two second light transmission protection plates, the first light transmission protection plate is located in the first mounting groove, and each second light transmission protection plate is located in a second mounting groove respectively.

5. The lidar of claim 2, wherein, the shell comprises: The first plate body has a first plate surface facing the accommodating cavity and a second plate surface opposite to the first plate surface, and the first plate body is provided with a third mounting hole penetrating the first plate surface and the second plate surface, and fourth mounting holes respectively located on both sides of the third mounting hole, the receiving end of the laser receiving module passes through the third mounting hole and is located outside the shell, and the emitting end of each laser emitting module passes through one of the fourth mounting holes and is located outside the shell.

6. The lidar of any one of claims 1-5, wherein, The periphery of at least one of the emitting ends of the two laser emitting modules, the receiving end of the laser receiving module is sleeved with a light shielding piece.

7. The lidar of claim 1, wherein, Each of the laser emitting modules comprises an emitting plate electrically connected with the laser emitting sensor, the laser receiving module comprises a laser receiving lens, a laser receiving sensor located on the imaging side of the laser receiving lens, and a receiving plate electrically connected with the laser receiving sensor, and the two emitting plates and the receiving plate share the same circuit board.

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