Laser transceiver structure and lidar

Abstract

Embodiments of the present application provide a laser transceiver structure and a laser radar. The laser transceiver structure comprises a load, a first laser emission module, a second laser emission module and a laser receiving module. The first laser emission module and the second laser emission module each comprise a plurality of lasers arranged along a first direction, and are used for emitting laser beams to a detected object. The first laser emission module and the second laser emission module are correspondingly arranged on the load, so that the fields of view of the first laser emission module and the second laser emission module in the first direction are spliced with each other along the first direction. The laser receiving module is arranged on the load corresponding to the first laser emission module and the second laser emission module, and is used for receiving echo signals generated by reflection of the detected object. In the technical solution of the present application, the laser transceiver structure is ingeniously designed, simple in structure, low in cost, and capable of realizing wide-angle detection.

Description

Technical Field

[0001] This invention relates to the field of radar technology, and in particular to a laser transceiver structure and a laser radar. Background Technology

[0002] The working principle of LiDAR is to emit a laser beam towards the object being detected, then detect the reflected echo signal from the obstacle and compare it with the emitted laser signal in time. After appropriate processing, information about the target object, such as distance and orientation, can be obtained. Smaller LiDAR units are easier to deploy, and some applications require a large field of view. Summary of the Invention

[0003] This invention provides a laser transceiver structure and a lidar, aiming to design a lidar that can achieve wide-angle detection and has a simple structure.

[0004] This invention provides a laser transceiver structure, including a load, a first laser emitting module, a second laser emitting module, and a laser receiving module;

[0005] Both the first laser emitting module and the second laser emitting module include multiple lasers arranged along a first direction, and both the first laser emitting module and the second laser emitting module are used to emit laser beams toward the object being detected;

[0006] The first laser emitting module and the second laser emitting module are correspondingly disposed on the load so that the fields of view of the first laser emitting module and the second laser emitting module in the first direction are stitched together along the first direction;

[0007] The laser receiving module is disposed on the load corresponding to the first laser emitting module and the second laser emitting module. The laser receiving module is used to receive the echo signal generated by the laser beams of the first laser emitting module and the second laser emitting module reflected by the object being detected.

[0008] In one specific embodiment, the lasers in the first laser emitting module are arranged at intervals along the first direction; the lasers in the second laser emitting module are arranged at intervals along the first direction; and the lasers in the second laser emitting module and the lasers in the first laser emitting module are staggered sequentially along the first direction.

[0009] In one specific embodiment, the distance between two adjacent lasers in the first laser emitting module in the first direction is 0.2mm-0.5mm.

[0010] In one specific embodiment, the distance between two adjacent lasers in the second laser emitting module in the first direction is 0.2mm-0.5mm.

[0011] In one specific embodiment, the first laser emitting module includes a first emitting circuit board, and the laser in the first laser emitting module is disposed on the surface of the first emitting circuit board facing the load;

[0012] The second laser emitting module includes a second emitting circuit board, and the laser in the second laser emitting module is disposed on the surface of the second emitting circuit board facing the load;

[0013] The laser transceiver structure also includes a control circuit board, which is electrically connected to the first transmitting circuit board and the second transmitting circuit board. One end of the control circuit board is inserted into the end of the load near the first transmitting circuit board, and one end of the first transmitting circuit board and the second transmitting circuit board are both inserted into the same surface of the control circuit board.

[0014] In one specific embodiment, the first transmitting circuit board and the second transmitting circuit board are integrally formed.

[0015] In one specific embodiment, the laser receiving module includes a receiving circuit board, which is electrically connected to the control circuit board, and one end of the receiving circuit board is inserted into the surface of the control circuit board away from the first transmitting circuit board.

[0016] In one specific embodiment, the laser is a vertical cavity surface-emitting laser.

[0017] In one specific embodiment, the laser receiving module includes a plurality of detectors arranged along the first direction, and the detectors in the laser receiving module are configured in a one-to-one correspondence with the laser.

[0018] In one specific embodiment, the first laser emitting module and the second laser emitting module are located on the same side of the laser receiving module in the first direction, and the optical axes of the first laser emitting module and the second laser emitting module are respectively located on both sides of the optical axis of the laser receiving module in a direction perpendicular to the first direction.

[0019] The present invention also provides a lidar, including the laser transceiver structure described above.

[0020] In one specific embodiment, multiple laser transceiver structures are provided, and the fields of view of the multiple laser transceiver structures in the first direction are spliced ​​together along the first direction.

[0021] In the technical solution of the present invention, the laser transceiver structure has an ingenious design, simple structure, low cost, and can achieve wide-angle detection. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a schematic diagram of a laser transceiver structure provided in an embodiment of the present invention;

[0024] Figure 2 for Figure 1 A schematic diagram of the structure of the first transmitting circuit board in the middle;

[0025] Figure 3 for Figure 1 A schematic diagram of the structure of the receiving circuit board in the middle;

[0026] Figure 4 for Figure 1 A schematic diagram of the structure of the lens tube;

[0027] Figure 5 for Figure 1 A schematic diagram of the load structure in the diagram;

[0028] Figure 6 This is a partial structural schematic diagram of a lidar provided in an embodiment of the present invention;

[0029] The reference numerals in the attached diagrams are as follows: Laser transceiver structure 100, load 1, mounting hole 11, slot 12, first laser emitting module 2a, second laser emitting module 2b, laser 21, first laser 21a, second laser 21b, first transmitting circuit board 22a, second transmitting circuit board 22b, laser receiving module 3, receiving circuit board 31, detector 32, control circuit board 4, lens tube 5, transmitting lens tube 5a, receiving lens tube 5b, and lidar 1000. Detailed Implementation

[0030] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0031] It should be noted that if the embodiments of the present invention involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0032] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the meaning of "and / or" throughout the text includes three parallel solutions; for example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0033] This invention provides a laser transceiver structure. Figures 1 to 5 This is an embodiment of the laser transceiver structure provided by the present invention.

[0034] Please see Figures 1 to 3 In this embodiment, the laser transceiver structure 100 includes a load 1, a first laser emitting module 2a, a second laser emitting module 2b, and a laser receiving module 3. Both the first laser emitting module 2a and the second laser emitting module 2b include multiple lasers 21 arranged along a first direction. Both the first laser emitting module 2a and the second laser emitting module 2b are used to emit laser beams towards the object being detected. The first laser emitting module 2a and the second laser emitting module 2b are correspondingly disposed on the load 1 so that the fields of view of the first laser emitting module 2a and the second laser emitting module 2b in the first direction are stitched together along the first direction. The laser receiving module 3 is disposed on the load 1 corresponding to the first laser emitting module 2a and the second laser emitting module 2b. The laser receiving module 3 is used to receive the echo signal generated by the laser beams reflected from the first laser emitting module 2a and the second laser emitting module 2b by the object being detected.

[0035] Specifically, the first direction can be either vertical or horizontal. When the first direction is vertical, the vertical field of view of the first laser emitting module 2a can be stitched together with the vertical field of view of the second laser emitting module 2b. When the first direction is horizontal, the horizontal field of view of the first laser emitting module 2a can be stitched together with the horizontal field of view of the second laser emitting module 2b.

[0036] The following description will take the first direction as vertical as an example. The multiple lasers 21 in the first laser emitting module 2a are arranged vertically, and the orientation of the multiple lasers 21 in the first laser emitting module 2a is usually the same. The lasers 21 in the first laser emitting module 2a are defined as first lasers 21a. The emitting end of the first laser 21a is the front end of the first laser 21a. Each first laser 21a is used to emit one or more laser beams to the object being detected. After the laser beam emitted by the first laser 21a is reflected by the object being detected, an echo signal is generated and can be received by the laser receiving module 3. Similarly, the multiple lasers 21 in the second laser emitting module 2b are also arranged vertically, and the orientation of the multiple lasers 21 in the second laser emitting module 2b is usually the same. The lasers 21 in the second laser emitting module 2b are defined as the second lasers 21b. The orientation of the second lasers 21b is usually the same as that of the first lasers 21a. Each second laser 21b is also used to emit one or more laser beams to the object being detected. The laser beam emitted by the second lasers 21b is reflected by the object being detected and generates an echo signal, which can also be received by the laser receiving module 3.

[0037] If the first laser emitting module 2a includes n first lasers 21a, and each first laser 21a can achieve detection with a vertical field of view of α, then the first laser emitting module 2a can achieve detection with a vertical field of view of nα. If the second laser emitting module 2b includes N second lasers 21b, and each second laser 21b can achieve detection with a vertical field of view of β, then the second laser emitting module 2b can achieve detection with a vertical field of view of Nβ. Since the vertical fields of view of the first laser emitting module 2a and the second laser emitting module 2b are spliced ​​together, the laser transceiver structure 100 can achieve detection with vertical fields of view from A to A+nα+Nβ, where A is the lower limit of the vertical field of view corresponding to the uppermost or lowermost laser 21 in the first laser emitting module 2a and the second laser emitting module 2b, for example, A can be 0°.

[0038] For example, please see Figure 2The first laser emitting module 2a includes eight first lasers 21a, each with a vertical field of view of 2.8125°, i.e., n=8, α=2.8125°. The eight first lasers 21a are n1, n2, n3, n4, n5, n6, n7, and n8, respectively. The first laser emitting module 2a also includes eight second lasers 21b, each with a vertical field of view of 2.8125°, i.e., N=8, β=2.8125°. The eight first lasers 21a are N1, N2, N3, N4, N5, N6, N7, and N8, respectively. The first laser emitting module 2a and the second laser emitting module 2b together include 16 lasers 21. Among the 16 lasers 21, n1 is located at the top, and the vertical field of view corresponding to n1 is 0 to 2.8125°. Then, after the vertical fields of view of the 8 first lasers 21a and the vertical fields of view of the 8 second lasers 21b are spliced ​​together, a detection with a vertical field of view of 0 to 45° can be achieved.

[0039] It is understandable that, based on the first laser emitting module 2a and the second laser emitting module 2b, by increasing the number of laser emitting modules (for example, by adding a third laser emitting module) or increasing the number of lasers 21 in each laser emitting module, the vertical field of view of the laser transceiver structure 100 can be further increased, thereby achieving vertical fields of view at angles such as 90° and 135°.

[0040] The number of laser beams that each laser 21 can emit can be selected according to the actual situation. For example, each first laser 21a can emit 8 laser beams, and each second laser 21b can also emit 8 laser beams. The laser transceiver structure 100 includes 8 first lasers 21a and 8 second lasers 21b, so the laser transceiver structure 100 can emit 128 laser beams.

[0041] In the technical solution of the present invention, the laser transceiver structure 100 has an ingenious structural design, simple structure, low cost, and can achieve wide-angle detection.

[0042] There are several ways to arrange the vertical field of view of the first laser emitting module 2a and the vertical field of view of the second laser emitting module 2b to be interlocked vertically. Optionally, the lasers 21 in the second laser emitting module 2b can be located on one side of the first laser emitting module 2a in the first direction. For example, eight second lasers 21b can be located below the first lasers 21a, numbered n1, n2, n3, n4, n5, n6, n7, n8, N1, N2, N3, N4, N5, N6, N7, and N8 from top to bottom. The number of first laser emitting modules 2a and the number of second laser emitting modules 2b can be the same or different.

[0043] Optionally, please refer to Figure 2 In this embodiment, the lasers 21 in the first laser emitting module 2a are arranged at intervals along the first direction; the lasers 21 in the second laser emitting module 2b are arranged at intervals along the first direction; the lasers 21 in the second laser emitting module 2b and the lasers 21 in the first laser emitting module 2a are staggered in the first direction.

[0044] Specifically, the first laser emitting module 2a and the second laser emitting module 2b are arranged along a direction perpendicular to the first direction. The light spots emitted by the n first lasers 21a and the N second lasers 21b are adjusted to close positions in the vertical direction and staggered in the horizontal direction.

[0045] Optionally, the first laser emitting module 2a is located to the left of the second laser emitting module 2b, and n first lasers 21a are located to the left of N second lasers 21b. For example, n1, n2, n3, n4, n5, n6, n7, and n8 are located to the left of N1, N2, N3, N4, N5, N6, N7, and N8, and are ordered from top to bottom as n1, N1, n2, N2, n3, N3, n4, N4, n5, N5, n6, N6, n7, N7, n8, and N8. The field of view corresponding to n1 is 0 to 2.8125°, the field of view corresponding to N1 is 2.8125° to 5.625°, the field of view corresponding to n2 is 5.625° to 8.4375°, the field of view corresponding to N2 is 8.4375° to 11.25°, and the field of view corresponding to n3 is 11.25° to 14°. The field of view for n3 is 14.0625° to 16.875°, for n4 it is 16.875° to 19.6875°, for N4 it is 19.6875° to 22.5°, for n5 it is 22.5° to 25.3125°, for N5 it is 25.3125° to 28.125°, and for n6 it is... The field of view for N6 is 30.9375° to 33.77°, for N7 it is 33.77° to 36.5625°, for N7 it is 36.5625° to 39.375°, for N8 it is 39.375° to 42.1875°, and for N8 it is 42.1875° to 45°. The number of first laser emitting modules 2a and the number of second laser emitting modules 2b can be the same or different; for example, n=N or n=N+1.

[0046] Optionally, in this embodiment, the distance between two adjacent lasers 21 in the first laser emitting module 2a in the first direction is 0.2mm-0.5mm, for example, the vertical distance between two adjacent first lasers 21a is 0.3mm.

[0047] Optionally, in this embodiment, the distance between two adjacent lasers 21 in the second laser emitting module 2b in the first direction is 0.2mm-0.5mm. For example, the vertical distance between two adjacent first lasers 21a is 0.3mm.

[0048] By optimizing the spacing between two adjacent lasers 21, problems such as overlapping emitted light spots, unreasonable light spot spacing, laser receiving module 3 not receiving signals, or different light spots corresponding to receiving channels not matching the theory will not occur. It will also be beneficial for heat dissipation of laser 21.

[0049] Optionally, in this embodiment, the laser 21 is a vertical-cavity surface-emitting laser (Vcsel), that is, both the first laser 21a and the second laser 21b are Vcsels.

[0050] Please see Figure 3 In this embodiment, the laser receiving module 3 includes a plurality of detectors 32 arranged along a first direction. The laser receiving module 3 receives the echo signal generated by the laser beams of n first lasers 21a and N second lasers 21b reflected by the object being detected through the plurality of detectors 32. The laser receiving module 3 includes m detectors 32. The number of detectors 32 can be less than the number of lasers 21, i.e., m < n + N, so that at least one of the m detectors 32 corresponds to the plurality of lasers 21. The number of detectors 32 can be equal to the number of lasers 21, i.e., m = n + N. The detectors 32 and lasers 21 in the laser receiving module 3 are arranged in a one-to-one correspondence.

[0051] For example, the laser receiving module 3 includes 16 detectors 32, which correspond one-to-one with eight first lasers 21a and eight second lasers 21b. The 16 detectors 32 are numbered m1, m2, m3, m4, m5, m6, m7, m8, m9, ... 10 m 11 m 12 m 13 m 14 m 15 m 16 Where m1 corresponds to n1, m2 corresponds to N1, m3 corresponds to n2, m4 corresponds to N2, m5 corresponds to n3, m6 corresponds to N3, m7 corresponds to n4, m8 corresponds to N5, m9 corresponds to n1, and m... 10 Corresponding to N5, m 11 Corresponding to n6, m 12 Corresponding to N6, m 13 Corresponding to n7, m14 Corresponding to N7, m 15 Corresponding to n8, m 16 Corresponds to N8.

[0052] Optionally, please refer to Figure 1 and Figure 2 In this embodiment, the first laser emitting module 2a includes a first emitting circuit board 22a, and the laser 21 in the first laser emitting module 2a is disposed on the first emitting circuit board 22a; the second laser emitting module 2b includes a second emitting circuit board 22b, and the laser 21 in the second laser emitting module 2b is disposed on the second emitting circuit board 22b.

[0053] Specifically, n first lasers 21a are disposed on the same surface of the first emitting circuit board 22a, and all n first lasers 21a are electrically connected to the first emitting circuit board 22a; N second lasers 21b are disposed on the same surface of the second emitting circuit board 22b, and all N second lasers 21b are electrically connected to the second emitting circuit board 22b. For example, please refer to... Figure 2 In this embodiment, n first lasers 21a are integrated on a circuit board and then disposed on a first emitting circuit board 22a. Similarly, N second lasers 21b are also integrated on a circuit board and then disposed on a second emitting circuit board 22b.

[0054] Optionally, please refer to Figure 1 and Figure 2 In this embodiment, the first transmitting circuit board 22a and the second transmitting circuit board 22b are located on the same side of the load 1. The laser 21 in the first laser transmitting module 2a is disposed on the surface of the first transmitting circuit board 22a facing the load 1; the laser 21 in the second laser transmitting module 2b is disposed on the surface of the second transmitting circuit board 22b facing the load 1. Both the first transmitting circuit board 22a and the second transmitting circuit board 22b are forward-facing and located on the rear side of the load 1. n first lasers 21a are disposed on the front surface of the first transmitting circuit board 22a, and N second lasers 21b are disposed on the front surface of the second transmitting circuit board 22b.

[0055] Optionally, please refer to Figure 2 In this embodiment, the first transmitting circuit board 22a and the second transmitting circuit board 22b are integrally formed, and the right end of the first transmitting circuit board 22a is connected to the left end of the second transmitting circuit board 22b.

[0056] Optionally, please refer to Figure 1 and Figure 2In this embodiment, the laser transceiver structure 100 also includes a control circuit board 4. The control circuit board 4 is electrically connected to the first transmitting circuit board 22a and the second transmitting circuit board 22b. One end of the control circuit board 4 is inserted into the end of the load 1 near the first transmitting circuit board 22a. One end of the first transmitting circuit board 22a and the second transmitting circuit board 22b are both inserted into the same surface of the control circuit board 4.

[0057] Specifically, the control circuit board 4 is used to control the emission of laser beams from the first laser emitting module 2a and the second laser emitting module 2b. The control circuit board 4 is positioned upwards and behind the load 1. Optionally, please refer to... Figure 1 and Figure 5 In this embodiment, a slot 12 is provided on the rear end face of the load 1, the front end of the control circuit board 4 is inserted into the slot 12, and the upper ends of the first transmitting circuit board 22a and the second transmitting circuit board 22b are both inserted into the lower surface of the control circuit board 4.

[0058] For further information, please refer to [link / reference]. Figure 1 and Figure 3 In this embodiment, the laser receiving module 3 includes a receiving circuit board 31, which is electrically connected to the control circuit board 4. One end of the receiving circuit board 31 is inserted into the surface of the control circuit board 4 away from the first transmitting circuit board 22a.

[0059] Specifically, the receiving circuit board 31 is positioned facing forward and located behind the load 1, and m detectors 32 are disposed on the front surface of the receiving circuit board 31, all of which are electrically connected to the receiving circuit board 31. Optionally, please refer to... Figure 1 In this embodiment, the lower end of the receiving circuit board 31 is inserted into the upper surface of the control circuit board 4.

[0060] Optionally, please refer to Figure 1 and Figure 4 In this embodiment, the first laser emitting module 2a, the second laser emitting module 2b, and the laser receiving module 3 all include a lens barrel 5. A mounting hole 11 is provided through the load 1 from front to back, and the lens barrel 5 is embedded in the mounting hole 11. The lens barrel 5 includes a emitting lens barrel 5a and a receiving lens barrel 5b. The first emitting circuit board 22a and the second emitting circuit board 22b are respectively disposed at the rear ends of the two emitting lens barrels 5a. A emitting lens (not shown in the figure) is typically disposed inside the front end of the emitting lens barrel 5a. The center of the light source on the emitting circuit board coincides with the center of the emitting lens barrel 5a. The receiving circuit board 31 is disposed at the rear end of the receiving lens barrel 5b. A receiving lens (not shown in the figure) is typically disposed inside the front end of the receiving lens barrel 5b. The center of the detector 32 on the receiving circuit board 31 coincides with the center of the receiving lens barrel 5b.

[0061] Optionally, in this embodiment, the lens barrel 5 and the transmitting and receiving parts are subjected to oxidation and blackening treatment, and light-shielding structures are provided between the first laser transmitting module 2a and the laser receiving module 3, as well as between the second laser transmitting module 2b and the laser receiving module 3.

[0062] The lens barrel 5 and the load 1 can be fixed together by means of adhesive bonding or other methods. Optionally, please refer to [link to relevant documentation]. Figure 4 In this embodiment, the rear end of the lens barrel 5 is provided with an annular protrusion (not shown in the figure). The annular protrusion abuts against the rear edge of the mounting hole 11, and the annular protrusion is fixed to the rear edge of the mounting hole 11 by adhesive dispensing. By setting the annular protrusion, the lens barrel 5 can be installed and positioned in the front-to-back upward direction.

[0063] Optionally, please refer to Figure 4 and Figure 5 In this embodiment, the shape of the lens barrel 5 is adapted to the mounting hole 11. The lens barrel 5 is a cylinder, and the upper and / or lower ends of the lens barrel 5 are provided with a chamfer (not shown in the figure). By providing the chamfer, the lens barrel 5 can be installed and positioned in the circumferential direction.

[0064] Optionally, please refer to Figure 1 In this embodiment, the first laser emitting module 2a and the second laser emitting module 2b are located on the same side of the laser receiving module 3 in the first direction, and the optical axis of the first laser emitting module 2a and the optical axis of the second laser emitting module 2b are respectively located on both sides of the optical axis of the laser receiving module 3 in a direction perpendicular to the first direction.

[0065] Specifically, the optical axes of the first laser emitting module 2a, the second laser emitting module 2b, and the laser receiving module 3 are arranged in parallel or nearly parallel configurations. The first laser emitting module 2a, the second laser emitting module 2b, and the laser receiving module 3 are arranged in a triangular pattern. The first laser emitting module 2a and the second laser emitting module 2b are located below the laser receiving module 3. The emission centers of the first laser emitting module 2a and the second laser emitting module 2b are usually at the same height, and the distance between them should not be too large.

[0066] Optionally, please refer to Figure 1 In this embodiment, the vertical distance between the optical axis of the first laser emitting module 2a and the optical axis of the laser receiving module 3 is equal to the vertical distance between the optical axis of the second laser emitting module 2b and the optical axis of the laser receiving module 3, and the horizontal distance between the optical axis of the first laser emitting module 2a and the optical axis of the laser receiving module 3 is equal to the horizontal distance between the optical axis of the second laser emitting module 2b and the optical axis of the laser receiving module 3.

[0067] This invention provides a lidar; please refer to [link / reference]. Figure 6The lidar 1000 includes the laser transceiver structure 100 as described above.

[0068] Optionally, the lidar 1000 further includes a rotation drive (not shown in the figures), which is dynamically coupled to the laser transceiver structure 100 and drives the laser transceiver structure 100 to rotate along an axis in a first direction. For example, the rotation drive is dynamically coupled to a load 1 in the laser transceiver structure 100, and the rotation drive can drive the laser transceiver structure 100 to rotate along a vertical axis, thereby achieving 360° scanning.

[0069] Optionally, please refer to Figure 6 Multiple laser transceiver structures 100 are provided, and the fields of view of multiple laser transceiver structures 100 in the first direction are stitched together along the first direction. For example, a single laser transceiver structure 100 has a vertical field of view of 45°. By stitching together the vertical fields of view of multiple laser transceiver structures 100, vertical fields of view of angles such as 90° and 135° can be achieved.

[0070] The above description is only a preferred embodiment of the present invention and does not limit the patent scope of the present invention. All equivalent structural transformations made under the concept of the present invention using the contents of the present invention specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A laser transceiver structure, characterized in that, It includes a load, a first laser emitting module, a second laser emitting module, and a laser receiving module; Both the first laser emitting module and the second laser emitting module include multiple lasers arranged at intervals along a first direction, and the lasers in the second laser emitting module are sequentially staggered from the lasers in the first laser emitting module in the first direction. Both the first laser emitting module and the second laser emitting module are used to emit laser beams toward the object being detected. Furthermore, the first laser emitting module and the second laser emitting module are located on the same side of the laser receiving module in the first direction, and the optical axes of the first laser emitting module and the second laser emitting module are respectively located on both sides of the optical axis of the laser receiving module in a direction perpendicular to the first direction. The first laser emitting module and the second laser emitting module are correspondingly disposed on the load so that the fields of view of the first laser emitting module and the second laser emitting module in the first direction are stitched together along the first direction; The laser receiving module is disposed on the load corresponding to the first laser emitting module and the second laser emitting module. The laser receiving module is used to receive the echo signal generated by the laser beams of the first laser emitting module and the second laser emitting module reflected by the object being detected.

2. The laser transceiver structure according to claim 1, characterized in that, The spacing between two adjacent lasers in the first laser emitting module in the first direction is 0.2mm-0.5mm; and / or, The distance between two adjacent lasers in the second laser emitting module in the first direction is 0.2mm-0.5mm.

3. The laser transceiver structure according to any one of claims 1-2, characterized in that, The first laser emitting module includes a first emitting circuit board, and the laser in the first laser emitting module is disposed on the surface of the first emitting circuit board facing the load; The second laser emitting module includes a second emitting circuit board, and the laser in the second laser emitting module is disposed on the surface of the second emitting circuit board facing the load; The laser transceiver structure also includes a control circuit board, which is electrically connected to the first transmitting circuit board and the second transmitting circuit board. One end of the control circuit board is inserted into the end of the load near the first transmitting circuit board, and one end of the first transmitting circuit board and the second transmitting circuit board are both inserted into the same surface of the control circuit board.

4. The laser transceiver structure according to claim 3, characterized in that, The first transmitting circuit board and the second transmitting circuit board are integrally formed; and / or, The laser receiving module includes a receiving circuit board, which is electrically connected to the control circuit board. One end of the receiving circuit board is inserted into the surface of the control circuit board away from the first transmitting circuit board.

5. The laser transceiver structure according to any one of claims 1-2, characterized in that, The laser is a vertical cavity surface-emitting laser.

6. The laser transceiver structure according to any one of claims 1-2, characterized in that, The laser receiving module includes multiple detectors arranged along the first direction, and the detectors in the laser receiving module are configured in a one-to-one correspondence with the laser.

7. A lidar, characterized in that, Includes the laser transceiver structure as described in any one of claims 1-6.

8. The lidar according to claim 7, characterized in that, The laser transceiver structure is provided in multiple ways, and the field of view of the multiple laser transceiver structures in the first direction is spliced ​​together along the first direction.

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