Laser radar

Abstract

The embodiment of the invention discloses a laser radar. The laser radar comprises two laser emitting modules and a laser receiving module, the two laser emitting modules are located on the two opposite sides of the laser receiving module respectively, and the combination of the emitting view fields of the two laser emitting modules is matched with the receiving view field of the laser receiving module. An included angle is formed between the first optical axis of each laser emission module and the second optical axis of the laser receiving module. The two laser emission modules and the laser receiving module are arranged, and the combination of the emission fields of view of the two laser emission modules is matched with the receiving field of view of the laser receiving module, so that compared with the prior art in which the emission field of view of one laser emission module is matched with the receiving field of view of one laser receiving module, the combination of the emission fields of view of the two laser emission modules is matched with the receiving field of view of the 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 two laser emission modules are arranged, so that the view field receiving rate of the laser receiving module can be improved, and the detection view field angle of the laser radar can be expanded.

Description

[0001] This application is a divisional application. The original application has the application number 202111158165.8 and the filing date is September 30, 2021. The entire contents of the original application are incorporated herein by reference. Technical Field

[0002] This application relates to the field of laser detection technology, and more particularly to a lidar. Background Technology

[0003] LiDAR (Light Detection and Ranging) is a radar system that uses laser beams to detect the position, velocity, and other characteristics of a target. Its working principle involves emitting a detection signal (laser beam) towards the target, then comparing the received signal reflected back from the target (target echo) with the emitted signal. After appropriate processing, information about the target can be obtained, such as its distance, azimuth, altitude, velocity, attitude, and even shape. However, due to unreasonable structural design, LiDAR suffers from a limited field of view. Summary of the Invention

[0004] This application provides a lidar that addresses the problem of limited detection field of view in lidar in related technologies.

[0005] This application provides a lidar, including: Two laser emitting modules; A laser receiving module and two laser emitting modules are located on opposite sides of the laser receiving module, and the combination of the emission fields of the two laser emitting modules matches the receiving field of view of the laser receiving module. The first optical axis of each laser emitting module has an angle with the second optical axis of the laser receiving module.

[0006] The lidar disclosed in this application, by employing two laser emitting modules and one laser receiving module, with the combined emission field of view of the two laser emitting modules matching the receiving field of view of the laser receiving module, offers greater flexibility compared to related technologies that use a single laser emitting module with a single receiving module. This arrangement allows for miniaturization of the lidar design. Furthermore, using two laser emitting modules improves the field-of-view reception of the laser receiving module and expands the lidar's detection field of view. Additionally, by setting the first optical axis of each laser emitting module at an angle to the second optical axis of the laser receiving module, the combination of emission field of view from the two laser emitting modules becomes more diverse, facilitating lidar assembly. Attached Figure Description

[0007] To more clearly illustrate the technical solutions in the embodiments of this application 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 this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0008] Figure 1 This is a perspective view of the laser emitting module and the laser receiving module in the first type of lidar provided in this application embodiment; Figure 2 This is a perspective view of the laser emitting module and the laser receiving module in the second type of lidar provided in the embodiments of this application; Figure 3 yes Figure 1 The diagram shows a cross-sectional view of the laser emitting module and the laser receiving module in a lidar system. Figure 4 yes Figure 2 The diagram shows a cross-sectional view of the laser emitting module and the laser receiving module in a lidar system. Figure 5 yes Figure 4 A cross-sectional view of an alternative scheme for the laser emitting module and the laser receiving module in a lidar system is shown. Figure 6 This is a perspective view of the third type of lidar provided in the embodiments of this application; Figure 7 yes Figure 6 The diagram shows a cross-sectional view of the lidar along the AA direction; Figure 8 yes Figure 6 An exploded view of the lidar is shown; Figure 9 This is a perspective view of the fourth type of lidar provided in the embodiments of this application; Figure 10 yes Figure 9 The diagram shows a cross-sectional view of the lidar along the AA direction; Figure 11 This is a perspective view of the fifth type of lidar provided in the embodiments of this application; Figure 12 yes Figure 11 The diagram shows a cross-sectional view of the lidar along the AA direction; Figure 13 yes Figure 11 The diagram shows a cross-sectional view of the lidar along the BB direction; Figure 14 This is a perspective view of the sixth type of lidar provided in the embodiments of this application; Figure 15 yes Figure 14 The diagram shows a cross-sectional view of the lidar along the AA direction; Figure 16 yes Figure 14 The diagram shows a cross-sectional view of the lidar along the BB direction; Figure 17 This is a perspective view of the laser emitting module and laser receiving module in the seventh type of lidar provided in the application embodiment; Figure 18 yes Figure 17 The diagram shown is an exploded view of the laser emitting module and the laser receiving module in a lidar system. Figure 19 This is a perspective view of the eighth type of lidar provided in the embodiments of this application; Figure 20 yes Figure 19 The diagram shows a cross-sectional view of the lidar along the AA direction; Figure 21 yes Figure 20 A cross-sectional view of an alternative solution for the lidar along the AA direction; Figure 22 yes Figure 20 A cross-sectional view of an alternative solution for the lidar along the AA direction. Detailed Implementation

[0009] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0010] In the following description, when referring to the accompanying drawings, the same numbers in different drawings denote the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0011] Please see Figure 1 and Figure 2 This application provides a lidar 100. The lidar 100 can be a solid-state lidar 100, used for navigation, obstacle avoidance, obstacle recognition, ranging, speed measurement, autonomous driving, and other functions in products such as automobiles, robots, logistics vehicles, and inspection vehicles.

[0012] Specifically, the lidar 100 may include two laser emitting modules 110 and one laser receiving module 120. The combined emission field of view of the two laser emitting modules 110 can be matched with the receiving field of view of the laser receiving module 120. Compared with related technologies that use a single laser emitting module 110 to match the receiving field of view of a single laser receiving module 120, this approach allows for more flexible arrangement of the two laser emitting modules 110, thereby enabling a miniaturized design of the lidar 100. Furthermore, setting two laser emitting modules 110 can improve the field of view reception rate of the laser receiving module 120 and expand the detection field of view of the lidar 100.

[0013] It should be noted that the two laser emitting modules 110 can be identical or different. When the two laser emitting modules 110 are identical, assembly and positioning are more convenient than when they are different, since the parameters of the two laser emitting modules 110 are the same. When the two laser emitting modules 110 are different, the combination of the two laser emitting modules 110 can be more diversified, which can meet more application scenarios.

[0014] In one exemplary embodiment, two laser emitting modules 110 can be located on opposite sides of a laser receiving module 120. This way, the emission fields of the two laser emitting modules 110 are roughly distributed on both sides of the laser receiving module 120, facilitating reception by the laser receiving module 120. Furthermore, the roughly distributed emission fields of the two laser emitting modules 110 also facilitate the adjustment of at least one laser emitting module 110 so that the emission fields of the two laser emitting modules 110 overlap in the middle, ensuring that the emission fields of view fill the entire receiving field of view of the laser receiving module 120 and avoiding detection blind spots.

[0015] Please see Figures 3 to 5 Each laser emitting module 110 may include a laser emitting lens 111 and a laser emitting sensor 112. The laser emitting sensor 112 can be used to emit light, and the laser emitting lens 111 can be located on the light-emitting side of the laser emitting sensor 112 to perform optical processing such as focusing on the light emitted by the laser emitting sensor 112, so as to enhance the light intensity within the emission field of view and improve the detection accuracy of the lidar 100.

[0016] The laser emitting lens 111 may have a first optical axis m; see some exemplary embodiments. Figure 3 and Figure 4The laser emission sensors 112 of the two laser emission modules 110 can be located on the side of their respective first optical axis m closer to the laser receiving module 120. In this way, most of the light emitted by the laser emission sensor 112 will be located on the same side of the laser receiving module 120 as the laser emission module 110 after being emitted through the laser emission lens 111. 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 emission 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. In this way, the emission field of view of the left laser emitting module 110 will be mainly distributed on the left side of the laser receiving module 120. Similarly, the laser emission 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. In this way, the emission field of view of the right laser emitting module 110 will be mainly distributed on the right side of the laser receiving module 120. Thus, the combined emission field of view of the left and right laser emitting modules 110 can roughly match the receiving field of view of the laser receiving module 120, so as not to have a large area of ​​overlap between the emission field of view of the left and right laser emitting modules 110, resulting in energy waste.

[0017] It should be noted that even if the laser emission sensors 112 of the two laser emission modules 110 are located on the side of their respective first optical axis m close to the laser receiving module 120, it is still necessary to ensure that the emission fields of the two laser emission modules 110 have an overlapping area to avoid blind spots in the middle area.

[0018] During the assembly of the lidar 100, the two laser emitting sensors 112 can be prepositioned so that their respective emission fields are located on the side of the corresponding first optical axis m away from the laser receiving module 120. Then, by fine-tuning at least one laser emitting sensor 112, the two emission fields can have an overlapping area in the middle.

[0019] In another exemplary scheme, please refer to Figure 5 The centers of the laser emission sensors 112 of the two laser emission modules 110 can also be located at their respective first optical axes m. Thus, the emission fields of the two laser emission modules 110 will be substantially symmetrically distributed on both sides of their respective first optical axes m. This facilitates the assembly and positioning of the two laser emission modules 110 with the laser receiving module 120.

[0020] The first optical axis m of the two laser emitting modules 110 and the second optical axis n of the laser receiving module 120 can be located in the same plane. This facilitates the calculation of the relative distance between the two laser emitting modules 110 and the laser receiving module 120 during assembly, reducing assembly difficulty; and it also helps to ensure that more light within the emission field of view can be received by the laser receiving module 120, improving the light utilization rate within the emission field of view.

[0021] Furthermore, in some exemplary solutions, please combine Figure 3 The first optical axis m of both laser emitting modules 110 can be parallel to the second optical axis n of the laser receiving module 120. This makes the lidar 100 structurally more regular and aesthetically pleasing, and reduces assembly difficulty. Furthermore, the first optical axis m of the two laser emitting modules 110 can be symmetrically arranged about the second optical axis n of the laser receiving module 120. Thus, when using two identical laser emitting modules 110, the emission fields of the two laser emitting modules 110 can be symmetrically distributed on both sides of the laser receiving module 120, further reducing the difficulty of calculating relative distances during assembly and facilitating assembly.

[0022] In some other exemplary solutions, please refer to Figure 4 and Figure 5 The first optical axis m of both laser emitting modules 110 can form an angle with the second optical axis n of the laser receiving module 120. This allows for more diverse combination configurations between the laser emitting module 110 and the laser receiving module 120, and facilitates assembly. Preferably, the angle between the first optical axis m of any laser emitting module 110 and the second optical axis n of the laser receiving module 120 can be greater than 0° and less than 90°.

[0023] It should be noted that the angles between the first optical axis m of the two laser emitting modules 110 and the second optical axis n of the laser receiving module 120 can be equal or unequal. For example, the angle between the first optical axis m of one laser emitting module 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 emitting module 110 and the second optical axis n of the laser receiving module 120 is θ2. θ1 and θ2 can be equal or unequal. Preferably, θ1 and θ2 are equal. That is, the first optical axis m of the two laser emitting modules 110 is symmetrically arranged about the second optical axis n of the laser receiving module 120. In this way, when using two identical laser emitting modules 110, the emission fields of the two laser emitting modules 110 can be symmetrically distributed on both sides of the laser receiving module 120, which can further reduce the difficulty of calculating the relative distance during assembly and facilitate assembly.

[0024] In some other exemplary embodiments, within the two laser emitting modules 110, one of the two first optical axes m can form an angle with the second optical axis n of the laser receiving module 120, while the other first optical axis m can be parallel to the second optical axis n. The arrangement of the laser emitting module 110 and the laser receiving module 120 in this application embodiment is diverse and can be flexibly selected according to actual usage requirements, thus having broad application prospects.

[0025] In this embodiment, the emission field of view of the laser emitting module 110 can be approximately pyramidal, and the receiving field of view of the laser receiving module 120 can also be approximately pyramidal. The pyramidal field of view can be roughly divided into a lateral field of view and a longitudinal field of view. The combination of the emission fields of the two laser emitting modules 110 and the receiving field of view of the laser receiving module 120 can be matched as follows: the combination of the lateral emission fields of the two laser emitting modules 110 matches the lateral receiving field of view of the laser receiving module 120, and the combination of the longitudinal emission fields of the two laser emitting modules 110 matches the longitudinal receiving field of view of the laser receiving module 120.

[0026] Specifically, please refer to Figures 3 to 5 When the lateral emission field of view of one laser emitting module 110 is α1 and the lateral emission field of view is β1; the lateral emission field of view of the other laser emitting module 110 is α2 and the lateral emission field of view is β2; the lateral receiving field of view of the laser receiving module 120 is α3 and the lateral receiving field of view is β3; and the first optical axis m of the two laser emitting modules 110 and the second optical axis n of the laser receiving module 120 are located in the same lateral plane, the combination of the lateral emission fields of the two laser emitting modules 110 and the lateral receiving field of view of the laser receiving module 120 can be matched as follows: α3 = α1 + α2; the combination of the lateral emission fields of the two laser emitting modules 110 and the lateral receiving field of view of the laser receiving module 120 can be matched as follows: β3 = β2 = β1. For example, Figure 3 In this case, α1 can be equal to α2 and both are 59°, in which case α3 can be 118°; β1, β2, and β3 can all be 30°. For example, Figure 5 In this case, α1 can be equal to α2 and both are 11°, and α3 can be 22°; β1, β2 and β3 can all be 7°.

[0027] It should be noted that, for Figure 5When the first optical axis m of both laser emitting modules 110 and the second optical axis n of laser receiving module 120 are at an angle, and the first optical axis m of both laser emitting modules 110 and the second optical axis n of laser receiving module 120 are located in the same plane, the angle between the first optical axis m of one laser emitting module 110 and the second optical axis n of laser receiving module 120 is θ1, and the emission field of view of one laser emitting module 110 in the first plane can be 2θ1. The angle between the first optical axis m of the other laser emitting module 110 and the second optical axis n of laser receiving module 120 is θ2, and the emission field of view of the other laser emitting module 110 in the first plane can be 2θ2. In this case, the receiving field of view of laser receiving module 120 in the first plane is 2θ1 + 2θ2. Thus, compared to the scheme of one laser emitting module corresponding to one laser receiving module in related technologies, the receiving field of view of one laser receiving module 120 is the sum of the emitting field of view of two laser emitting modules 110, which can greatly improve the field of view reception rate of the laser receiving sensor 122 of the laser receiving module 120 and increase the detection field of view of the lidar 100.

[0028] Preferably, θ1 can be equal to θ2, in which case the receiving field of view of the laser receiving module 120 will be 4. θ1. That is, when there is an angle θ1 between the first optical axis m of the two laser emitting modules 110 and the second optical axis n of the laser receiving module 120, the lateral receiving field of view α3 of the laser receiving module 120 will be twice the lateral emission field of view of any one of the laser emitting modules 110, thereby improving the field of view reception rate of the laser receiving module 120 and expanding the detection field of view of the lidar 100.

[0029] Preferably, θ1=θ2=5.5°, the emission field of view of both laser emitting modules 110 can be 11°, and the receiving field of view of the laser receiving module 120 can be 22°. In this case, the lidar 100 can achieve both a wide field of view and high detection accuracy.

[0030] In one exemplary embodiment, the laser emission sensors 112 of the two laser emission modules 110 can emit light simultaneously. This reduces the detection time of the lidar 100 and increases its detection speed. In another exemplary embodiment, the laser emission sensors 112 of the two laser emission modules 110 can emit light at different times. This makes the light emitted by the two laser emission modules 110 less prone to interference, thereby improving the detection accuracy of the lidar 100.

[0031] Both laser emission sensors 112 of the two laser emission modules 110 may include multiple light sources arranged in a matrix. For example, one of the laser emission sensors 112 may include R T light sources, and another laser emission sensor 112 may include P There are Q light sources. In use, in one of the laser emitting sensors 112, the light sources in the same column can be lit simultaneously to emit light, and the T light sources in the same column can be lit sequentially according to a preset time sequence. For example, the first column of light sources can be lit in the 1st second, the second column in the 2nd second, the third column in the 3rd second, and so on, until the Tth column in the Tth second. Similarly, in the other laser emitting sensor 112, the light sources in the same column can also be lit simultaneously, and the Q light sources in the same column can be lit sequentially according to a preset time sequence. For example, the first column of light sources can be lit in the 1st second, the second column in the 2nd second, the third column in the 3rd second, and so on, until the Qth column in the Qth second.

[0032] The two laser emission sensors 112 can emit light simultaneously in the following ways: in the first second, the first column of light sources of one laser emission sensor 112 is lit up and the first column of light sources of the other laser emission sensor 112 is lit up; in the second second, the second column of light sources of one laser emission sensor 112 is lit up and the second column of light sources of the other laser emission sensor 112 is lit up, and so on, until all the light sources of the two laser emission sensors 112 are lit up.

[0033] The two laser emission sensors 112 can emit light sequentially according to a preset timing sequence, rather than simultaneously. Specifically, the two laser emission sensors 112 can emit light sequentially according to a preset timing sequence, where multiple light sources of the two laser emission sensors 112 emit light alternately according to the preset timing sequence. The preset timing sequence can be flexibly adjusted according to actual conditions. For example, the first column of light sources of one laser emission sensor 112 can be lit in the 1st second, the first column of light sources of the other laser emission sensor 112 in the 2nd second, the second column of light sources of one laser emission sensor 112 in the 3rd second, the second column of light sources of the other laser emission sensor 112 in the 4th second, and so on, until all light sources of the two laser emission sensors 112 are lit.

[0034] In one exemplary embodiment, the arrangement direction of the first column to the Tth column of light sources on one laser emission sensor 112 can be the same as or different from the arrangement direction of the first column to the Qth column of light sources on the other laser emission sensor 112. For example, if two laser emission modules 110 are located on the left and right sides of the laser emission sensor 112, and the arrangement direction of the first column to the Tth column of light sources on the laser emission sensor 112 of the laser emission module 110 on the left is from left to right, then the arrangement direction of the first column to the Qth column of light sources on the laser emission sensor 112 of the laser emission module 110 on the right can be from left to right or from right to left. During use, this can be flexibly adjusted according to actual usage requirements, and this embodiment does not impose any limitations on this.

[0035] Please see Figure 6 The lidar 100 may also include a housing 130. See also... Figure 7 The housing 130 may be provided with a receiving cavity 131, in which at least a portion of the two laser emitting modules 110 and at least a portion of the laser receiving module 120 may be located. This allows the housing 130 to provide a certain degree of protection for the laser emitting module 110 and the laser receiving module 120, thereby extending the service life of the lidar 100.

[0036] For easy installation and positioning of the two laser emitting modules 110 and the laser receiving module 120 within the housing 130, please refer to [reference needed]. Figure 7 and Figure 8 The lidar 100 may further include a bracket 140 located within the housing 131. Specifically, the bracket 140 may be mounted on the inner wall of the housing 130. The bracket 140 may be provided with a first mounting hole 141 and second mounting holes 142 located on both sides of the first mounting hole 141. The laser receiving module 120 may be mounted in the first mounting hole 141, and each laser emitting module 110 may be mounted in one of the second mounting holes 142.

[0037] In one exemplary embodiment, the laser emitting lens 111 of the laser emitting 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. This allows the laser emitting lens 111 and the laser receiving lens 121 to be mounted on the bracket 140 and then integrally installed with the bracket 140 within the housing 130, which is more convenient than directly assembling the laser emitting lens 111 and the laser receiving lens 121 to the inner wall of the housing 130. To facilitate the assembly of the laser emitting lens 111 and the laser receiving lens 121 with the bracket 140, a fixing plate can be installed on the laser emitting lens 111 and / or the laser receiving lens 121, allowing the laser emitting lens 111 and the laser receiving lens 121 to be connected to the bracket 140 via the fixing plate.

[0038] The bracket 140 can be a single integrated structure, or it can include three sub-brackets separately arranged corresponding to the two laser emitting modules 110 and the laser receiving module 120. When the bracket 140 is a single integrated structure, it facilitates the assembly of the bracket 140 within the housing 130. When the bracket 140 includes three sub-brackets, the assembly of the two laser emitting modules 110 with the sub-brackets and the assembly of the laser receiving module 120 with the sub-brackets are independent of each other, making assembly convenient.

[0039] When both laser emitting modules 110 and laser receiving modules 120 are entirely located within the receiving cavity 131, the housing 130 may include a first plate 132. The first plate 132 may have a first plate surface 1321 facing the receiving cavity 131 and a second plate surface 1322 opposite to the first plate surface 1321. The first plate 132 may be provided with a first light-transmitting hole 1323 penetrating the first plate 132 and the second plate surface 1322, and second light-transmitting holes 1324 located on both sides of the first light-transmitting hole 1323. The laser receiving module 120 may be positioned corresponding to the first light-transmitting hole 1323 so that received light can pass through the first light-transmitting hole 1323 to reach the laser receiving module 120. Each laser emitting module 110 may be positioned corresponding to one second light-transmitting hole 1324 so that emitted light can pass through the second light-transmitting hole 1324 to reach the object being photographed.

[0040] To prevent dust and other impurities from entering the receiving cavity 131 through the first light-transmitting hole 1323 and the second light-transmitting hole 1324, thus affecting the detection accuracy of the lidar 100, please refer to... Figure 6 A light-transmitting protective plate 150 can be provided at the first light-transmitting hole 1323 and the two second light-transmitting holes 1324. In one exemplary embodiment, the light-transmitting protective plates 150 at the first light-transmitting hole 1323 and the two second light-transmitting holes 1324 can be provided separately. That is, one light-transmitting protective plate 150 is provided at each light-transmitting hole; this reduces the amount of light-transmitting protective plates 150 used, lowers production costs, and reduces optical crosstalk between the laser emitting module 110 and the laser receiving module 120. In another exemplary embodiment, please refer to... Figure 9 and Figure 10 The light-transmitting protective plate 150 at the first light-transmitting hole 1323 and the two second light-transmitting holes 1324 can be a single plate. That is, one light-transmitting protective plate 150 corresponds to three light-transmitting holes; in this way, the integrity and simplicity of the structure are ensured, assembly steps are saved, and assembly efficiency is improved.

[0041] To ensure the surface flatness of the lidar 100, a mounting groove 1325 for mounting the light-transmitting protective plate 150 can be provided on the second plate surface 1322. This prevents the light-transmitting protective plate 150 from protruding from the housing 130, thus improving the aesthetics of the lidar 100.

[0042] Specifically, when the first light-transmitting hole 1323 and the two second light-transmitting holes 1324 are set with a light-transmitting protective plate 150, a mounting groove 1325 can be provided on the second plate surface 1322, and the mounting groove 1325 can be connected to both the first light-transmitting hole 1323 and the two second light-transmitting holes 1324.

[0043] Please refer to it again. Figure 7 and Figure 8 When the first light-transmitting hole 1323 and the two second light-transmitting holes 1324 are respectively set to correspond to a light-transmitting protective plate 150, the light-transmitting protective plate 150 can be understood as including a first sub-light-transmitting protective plate 151 and two second sub-light-transmitting protective plates 152. The second plate surface 1322 can be provided with a first mounting groove 1326 and second mounting grooves 1327 located on both sides of the first mounting groove 1326. The first mounting groove 1326 can communicate with the first light-transmitting hole 1323, and each second mounting groove 1327 can communicate with a second light-transmitting hole 1324 respectively. At this time, the first sub-light-transmitting protective plate 151 can be located in the first mounting groove 1326, and each second sub-light-transmitting protective plate 152 can be located in a second mounting groove 1327 respectively.

[0044] In some exemplary embodiments, the light-transmitting protective plate 150 may also have a light filtering function. That is, the light-transmitting protective plate 150 may be selected as a filter to filter out light in non-operating wavelength bands.

[0045] It should be noted that the two laser emitting modules 110 and the laser receiving module 120 can be integrally housed within the receiving cavity 131, or they can be partially housed within the receiving cavity 131 and partially located outside the housing 130. For details, please refer to [link to relevant documentation]. Figure 11 and Figure 12 The housing 130 may include a first plate 132, on which a third mounting hole 1328 and fourth mounting holes 1329 located on both sides of the third mounting hole 1328 may be provided. The receiving end 124 of the laser receiving module 120 can pass through the third mounting hole 1328 and be located outside the housing 130; the emitting end 114 of each laser emitting module 110 can pass through one of the fourth mounting holes 1329 and be located outside the housing 130. This facilitates the integration of the lidar 100 into other devices, reduces manufacturing costs, and minimizes optical attenuation.

[0046] In some exemplary embodiments, the housing 130 may include a first housing 133 and a second housing 134 disposed opposite to the first housing 133. The first housing 133 may be connected to the second housing 134 to form a receiving cavity 131. Specifically, the first housing 133 and the second housing 134 may be detachably connected to facilitate the installation of devices such as the laser emitting module 110 and the laser receiving module 120 within the receiving cavity 131. For example, the detachable connection between the first housing 133 and the second housing 134 may be achieved by means of screws or the like.

[0047] In some exemplary solutions, at least one of the emitting end 114 of the two laser emitting modules 110 and the receiving end 124 of the laser receiving module 120 may be surrounded by a light-shielding member 160. In this way, crosstalk between the laser emitting module 110 and the laser receiving module 120 can be avoided, thereby improving the detection accuracy of the lidar 100.

[0048] Understandably, the light-shielding component 160 can be any device with light-shielding properties, such as a light-shielding coating or a light-shielding sheet, and the embodiments of this application do not limit it in this regard.

[0049] Each laser emitting module 110 may include a laser emitting lens 111, a laser emitting sensor 112, and an emitting board 113 electrically connected to the laser emitting sensor 112. The emitting board 113 can be used to carry the laser emitting sensor 112 and provide power supply signals, control signals, etc. to the laser emitting sensor 112.

[0050] The laser receiving module 120 may 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 plate 123 electrically connected to the laser receiving sensor 122. The laser receiving lens 121 can converge the received light and transmit the converged light to the laser receiving sensor 122, enabling more light to reach the laser receiving sensor 122 and improving the detection accuracy of the lidar 100. The receiving plate 123 can be used to support the laser receiving sensor 122 and provide power and control signals to the laser receiving sensor 122.

[0051] In some exemplary embodiments, both emitting boards 113 and receiving boards 123 can be independent circuit boards to facilitate the assembly of the laser emitting module 110 and the laser receiving module 120. In other exemplary embodiments, please refer to... Figures 14 to 16 The two transmitter boards 113 and receiver boards 123 can also share the same circuit board to reduce production costs and reduce the size of the lidar 100.

[0052] When the emitting plate 113 and the receiving plate 123 are independent, during assembly, the laser receiving lens 121 and the receiving plate 123 can be first adjusted into a standard module, and then assembled into the housing 130 together with the two laser emitting lenses 111. Afterwards, the light modulation process is completed by adjusting the positions of the two emitting plates 113. However, when the emitting plate 113 and the receiving plate 123 share the same circuit board, during assembly, the two laser emitting sensors 112 and the laser receiving sensor 122 can be first mounted on the circuit board, and then the light modulation process is completed by adjusting the two laser emitting lenses 111 and the laser receiving lenses 121.

[0053] Please see Figure 12 and Figure 13 The lidar 100 may further include a main control board 170, to which two transmitting boards 113 and a receiving board 123 can be electrically connected. The main control board 170 can be connected to an interface board 180, and can achieve power supply and / or communication through an electrical connection with an external connector 200 via the interface board 180. The main control board 170 and the interface board 180 can be connected using connectors such as flexible flat cables. The main control board 170 and the interface board 180 can be located above the laser transmitting module 110 and the laser receiving module 120.

[0054] At least one of the main control board 170, the transmitter board 113, and the receiver board 123, and the housing 130 may be provided with a heat-conducting component 190. This allows the heat generated by the main control board 170, the transmitter board 113, and the receiver board 123 to be conducted to the housing 130 and dissipated via the heat-conducting component 190, thereby achieving heat dissipation of high-power devices and improving the heat dissipation performance of the lidar 100. The heat-conducting component 190 may include thermally conductive silicone pads, heat sink fins, etc.

[0055] Please see Figure 17 and Figure 18 In the two laser emitting modules 110, at least one laser emitting module 110 may further include a first adjusting member 115, which can be connected to the laser emitting lens 111 and the emitting plate 113. The first adjusting member 115 can adjust the relative position of the laser emitting lens 111 and the laser emitting sensor 112 on the emitting plate 113 to achieve registration of the emission optical axis, thereby improving the detection accuracy of the lidar 100.

[0056] In one exemplary embodiment, the first adjusting member 115 may include a first adjusting plate 1151, a second adjusting plate 1152, and a first locking part 1153. The first adjusting plate 1151 may be connected to a laser emitting lens 111, and a first limiting hole g1 may be provided on the first adjusting plate 1151. A second limiting hole g2 may be provided on the second adjusting plate 1152. The first limiting hole g1 and / or the second limiting hole g2 may extend along a first direction. The first locking part 1153 may pass through the first limiting hole g1 and the second limiting hole g2 and be detachably connected to the first adjusting plate 1151 and the second adjusting plate 1152. Thus, when assembling the laser emitting module 110, the laser emitting lens 111 and the emitting plate 113 can be pre-positioned by the first adjusting member 115. Then, the first locking part 1153 can be finely adjusted in the first limiting hole g1 and / or the second limiting hole g2 along the first direction, thereby achieving fine adjustment of the laser emitting lens 111 and the laser emitting sensor 112 on the emitting plate 113, thereby improving the registration accuracy of the emitting optical axis. The adjustment method is simple and easy to operate.

[0057] In one exemplary embodiment, the first locking part 1153 may include a screw and a nut. The shank of the screw may pass through the first limiting hole g1 and the second limiting hole g2, and the nut may be located on the side of the shank away from the end of the screw and threadedly connected to the shank. Thus, when the screw and nut are tightened, the end of the screw and the nut may abut against the two opposite surfaces of the first adjusting plate 1151 and the second adjusting plate 1152, thereby fixing the first adjusting plate 1151 and the second adjusting plate 1152. When it is necessary to adjust the relative position of the laser emitting lens 111 and the emitting plate 113 along the first direction, the connection between the screw and the nut can be loosened first, and the second adjusting plate 1152 can be moved along the first direction. After it is moved into position, the screw and nut can be tightened to fix the first adjusting plate 1151 and the second adjusting plate 1152. The engagement and locking of the first adjusting plate 1151 and the second adjusting plate 1152 are achieved through the cooperation of the screw and nut, making adjustment convenient and the connection reliable.

[0058] It should be noted that the first locking part 1153 may also include a pin, the outer surface of which may be interference-fitted with the inner wall surface of the first limiting hole g1 and the inner wall surface of the second limiting hole g2, thereby fixing the first adjusting plate 1151 and the second adjusting plate 1152. Of course, the first locking part 1153 may also include a pin or similar device fixedly installed in the first limiting hole g1 or the second limiting hole g2, and this embodiment does not limit this.

[0059] Furthermore, the first adjusting member 115 may also include a third adjusting plate 1154 and a second locking part 1155. The second adjusting plate 1152 may also be provided with a third limiting hole g3, and the third adjusting plate 1154 may be provided with a fourth limiting hole g4. The third limiting hole g3 and / or the fourth limiting hole g4 may extend along the second direction. The second locking part 1155 may pass through the third limiting hole g3 and the fourth limiting hole g4 and be detachably connected to the second adjusting plate 1152 and the third adjusting plate 1154. The second direction may intersect with the first direction. The third adjusting plate 1154 is connected to the emitting plate 113 so that the laser emitting lens 111 and the emitting plate 113 can be finely adjusted in two directions. Specifically, when assembling the laser emitting module 110, the laser emitting lens 111 and the emitting plate 113 can be pre-positioned by the first adjusting member 115. Then, the first locking part 1153 can be moved in the first limiting hole g1 and / or the second limiting hole g2 along the first direction to achieve fine adjustment of the laser emitting lens 111 and the emitting plate 113 in the first direction. The second locking part 1155 can be moved in the third limiting hole g3 and / or the fourth limiting hole g4 along the second direction to achieve fine adjustment of the laser emitting lens 111 and the emitting plate 113 in the second direction. This allows for registration of the emitting optical axis from two directions, improving the registration accuracy of the emitting optical axis.

[0060] Similarly, the second locking part 1155 may include screws and nuts, or pins, or pins fixedly installed in the third limiting hole g3 or the fourth limiting hole g4, etc. The embodiments of this application will not be described in detail here.

[0061] Furthermore, the first adjusting member 115 may also include a third locking part 1156, through which the third adjusting plate 1154 and the emitting plate 113 can be connected. Specifically, the third adjusting plate 1154 may also be provided with a fifth limiting hole g5, and the emitting plate 113 may be provided with a sixth limiting hole g6. The fifth limiting hole g5 and / or the sixth limiting hole g6 may extend along a third direction, and the third locking part 1156 may pass through the fifth limiting hole g5 and the sixth limiting hole g6 and be detachably connected to the third adjusting plate 1154 and the emitting plate 113. The first direction, the second direction, and the third direction may be perpendicular to each other, so as to enable fine adjustment of the laser emitting lens 111 and the emitting plate 113 in three mutually perpendicular directions. Specifically, when assembling the laser emitting module 110, the laser emitting lens 111 and the emitting plate 113 can be pre-positioned by the first adjusting member 115. Then, the first locking part 1153 can be moved in the first direction within the first limiting hole g1 and / or the second limiting hole g2 to achieve fine adjustment of the laser emitting lens 111 and the emitting plate 113 in the first direction. The second locking part 1155 can be moved in the second direction within the third limiting hole g3 and / or the fourth limiting hole g4 to achieve fine adjustment of the laser emitting lens 111 and the emitting plate 113 in the second direction. The third locking part 1156 can be moved in the third direction within the fifth limiting hole g5 and / or the sixth limiting hole g6 to achieve fine adjustment of the laser emitting lens 111 and the emitting plate 113 in the third direction. The emitting optical axis can be registered from three mutually perpendicular directions, and the emitting optical axis can be adjusted to the optimal registration state.

[0062] Similarly, the third locking part 1156 may include screws and nuts, or pins, or pins fixedly installed in the fifth limiting hole g5 or the sixth limiting hole g6, etc. The embodiments of this application will not be described in detail here.

[0063] Similarly, the laser receiving module 120 also includes a second adjusting member 125, which can connect the laser receiving lens 121 and the receiving plate 123. The second adjusting member 125 can adjust the relative position of the laser receiving lens 121 and the laser receiving sensor 122 on the receiving plate 123 to achieve registration of the receiving optical axis, thereby improving the detection accuracy of the lidar 100.

[0064] In one exemplary embodiment, the second adjusting member 125 may include a fourth adjusting plate 1251, a fifth adjusting plate 1252, and a fourth locking part 1253. The fourth adjusting plate 1251 may be connected to the laser receiving lens 121, and a first positioning hole h1 may be provided on the fourth adjusting plate 1251. A second positioning hole h2 may be provided on the fifth adjusting plate 1252. The first positioning hole h1 and / or the second positioning hole h2 may extend along a first direction. The fourth locking part 1253 may pass through the first positioning hole h1 and the second positioning hole h2 and be detachably connected to the fourth adjusting plate 1251 and the fifth adjusting plate 1252. Thus, 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. Then, the fourth locking part 1253 can be finely adjusted in the first positioning hole h1 and / or the second positioning hole h2 along the first direction, thereby achieving fine adjustment of the laser receiving lens 121 and the laser receiving sensor 122 on the receiving plate 123, thereby improving the registration accuracy of the receiving optical axis. The adjustment method is simple and easy to operate.

[0065] In one exemplary embodiment, the fourth locking part 1253 may include a screw and a nut. The shank of the screw may pass through the first positioning hole h1 and the second positioning hole h2, and the nut may be located on the side of the shank away from the end of the screw and threadedly connected to the shank. Thus, when the screw and nut are tightened, the end of the screw and the nut may abut against the two opposite surfaces of the fourth adjusting plate 1251 and the fifth adjusting plate 1252, thereby fixing the fourth adjusting plate 1251 and the fifth adjusting plate 1252. When it is necessary to adjust the relative position of the laser receiving lens 121 and the receiving plate 123 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 it is moved into position, the screw and nut can be tightened to fix the fourth adjusting plate 1251 and the fifth adjusting plate 1252. The engagement and locking of the fourth adjusting plate 1251 and the fifth adjusting plate 1252 are achieved through the cooperation of the screw and nut, making adjustment convenient and the connection reliable.

[0066] It should be noted that the fourth locking part 1253 may also include a pin, the outer surface of which may be interference-fitted with the inner wall surface of the first positioning hole h1 and the inner wall surface of the second positioning hole h2, thereby fixing the fourth adjusting plate 1251 and the fifth adjusting plate 1252. Of course, the fourth locking part 1253 may also include a pin or the like that fixedly installed in the first positioning hole h1 or the second positioning hole h2, and this application embodiment does not limit this.

[0067] Furthermore, the second adjusting member 125 may also include a sixth adjusting plate 1254 and a fifth locking part 1255. The fifth adjusting plate 1252 may also be provided with a third positioning hole h3, and the sixth adjusting plate 1254 may be provided with a fourth positioning hole h4. The third positioning hole h3 and / or the fourth positioning hole h4 may extend along the second direction. The fifth locking part 1255 may pass through the third positioning hole h3 and the fourth positioning hole h4 and be detachably connected to the fifth adjusting plate 1252 and the sixth adjusting plate 1254. The second direction may intersect with the first direction. The sixth adjusting plate 1254 is connected to the receiving plate 123 to enable fine adjustment of the laser receiving lens 121 and the receiving plate 123 in two directions. Specifically, 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. Then, the fourth locking part 1253 can be moved in the first positioning hole h1 and / or the second positioning hole h2 along the first direction to achieve fine adjustment of the laser receiving lens 121 and the receiving plate 123 in the first direction. The fifth locking part 1255 can be moved in the third positioning hole h3 and / or the fourth positioning hole h4 along the second direction to achieve fine adjustment of the laser receiving lens 121 and the receiving plate 123 in the second direction. This allows for registration of the receiving optical axis from two directions, improving the registration accuracy of the receiving optical axis.

[0068] Similarly, the fifth locking part 1255 may include screws and nuts, or pins, or pins fixedly installed in the third positioning hole h3 or the fourth positioning hole h4, etc. The embodiments of this application will not be described in detail here.

[0069] Furthermore, the second adjusting member 125 may also include a sixth locking part 1256, through which the sixth adjusting plate 1254 and the receiving plate 123 can be connected. Specifically, the sixth adjusting plate 1254 may also be provided with a fifth positioning hole h5, and the receiving plate 123 may be provided with a sixth positioning hole h6. The fifth positioning hole h5 and / or the sixth positioning hole h6 may extend along a third direction, and the sixth locking part 1256 may pass through the fifth positioning hole h5 and the sixth positioning hole h6 and be detachably connected to the sixth adjusting plate 1254 and the receiving plate 123. The first direction, the second direction, and the third direction may be mutually perpendicular, so as to enable fine adjustment of the laser receiving lens 121 and the receiving plate 123 in three mutually perpendicular directions. Specifically, 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. Then, the fourth locking part 1253 can be moved in the first positioning hole h1 and / or the second positioning hole h2 along the first direction to achieve fine adjustment of the laser receiving lens 121 and the receiving plate 123 in the first direction. The fifth locking part 1255 can be moved in the third positioning hole h3 and / or the fourth positioning hole h4 along the second direction to achieve fine adjustment of the laser receiving lens 121 and the receiving plate 123 in the second direction. The sixth locking part 1256 can be moved in the fifth positioning hole h5 and / or the sixth positioning hole h6 along the third direction to achieve fine adjustment of the laser receiving lens 121 and the receiving plate 123 in the third direction. The receiving optical axis can be registered from three mutually perpendicular directions, and the receiving optical axis can be adjusted to the optimal registration state.

[0070] Similarly, the sixth locking part 1256 may include screws and nuts, or pins, or pins fixedly installed in the fifth positioning hole h5 or the sixth positioning hole h6, etc. The embodiments of this application will not be described in detail here.

[0071] It is understood that by setting the first adjusting member 115 and the second adjusting member 125, and through the cooperation of the adjusting plate, the limiting hole and the locking member in the adjusting member, the adjustment efficiency and accuracy can be guaranteed while ensuring the smallest possible adjustment amount.

[0072] Please see Figure 19 and Figure 20 , Figure 19 and Figure 20 These are perspective and cross-sectional views of the ninth type of lidar 100 according to embodiments of this application. Figure 20 The lidar 100 shown is Figure 7 The differences shown in the lidar 100 include: Figure 7 The two laser emitting modules 110 and the laser receiving module 120 shown are located within the same receiving cavity 131, while Figure 20The two laser emitting modules 110 and the laser receiving module 120 shown are located in different receiving cavities. Specifically, the housing 130 may include a first plate 135, a second plate 136, a peripheral side plate 137, and two first partitions 138. The second plate 136 may be spaced apart from the first plate 135, and the peripheral side plate 137 may be located around the first plate 135 and connect the first plate 135 and the second plate 136. A receiving cavity 131 is formed between the peripheral side plate 137, the first plate 135, and the second plate 136. The peripheral side plate 137 may include multiple side plates. If two oppositely arranged side plates are defined as the first side plate 1371 and the second side plate 1372, the two first partitions 138 may be spaced apart in the receiving cavity 131 and both connected between the first side plate 1371 and the second side plate 1372. A first receiving cavity 1311 can be formed between the two first partitions 138, and a second receiving cavity 1312 can be formed between each first partition 138 and the peripheral side plate 137. At least a portion of the laser receiving module 120 can be located in the first receiving cavity 1311, and at least a portion of each laser emitting module 110 can be located in one of the second receiving cavities 1312. In this way, no optical crosstalk will occur between the laser emitting module 110 and the laser receiving module 120, which is beneficial to improving the detection accuracy of the lidar 100.

[0073] Furthermore, the housing 130 may also include a second partition 139, which is located within the receiving cavity 131 and connected between the first side plate 1371 and the second side plate 1372. The two first partitions 138 may be located on the side closer to the first plate 135, and the second partition 139 may be located on the side closer to the second plate 136. A third receiving cavity 1313 can be formed between the second partition 139 and the peripheral side plate 137. The main control board 170, interface board 180, etc., of the lidar 100 can be located within the third receiving cavity 1313, so that the installation of the laser emitting module 110, laser receiving module 120, main control board 170, interface board 180, etc., is independent, and wiring is more convenient. The second partition 139 may be provided with mounting holes for wiring.

[0074] and Figure 7 The scheme shown is the same; see [link / reference]. Figure 20The laser receiving module 120 and two laser receiving modules 120 can be entirely located within the receiving cavity 131. In this case, the first plate 135 can have a first plate surface 1351 facing the receiving cavity 131 and a second plate surface 1352 opposite to the first plate surface 1351. The first plate 135 can be provided with a first light-transmitting hole 1353 penetrating the first plate surface 1351 and the second plate surface 1352, and second light-transmitting holes 1354 located on both sides of the first light-transmitting hole 1353. The laser receiving module 120 can be positioned corresponding to the first light-transmitting hole 1353 so that the received light can pass through the first light-transmitting hole 1353 to reach the laser receiving module 120. Each laser emitting module 110 can be positioned corresponding to one second light-transmitting hole 1354 so that the emitted light can pass through the second light-transmitting hole 1324 to reach the object being photographed.

[0075] It should be noted that, Figure 20 In the process, the laser receiving module 120 and the two laser receiving modules 120 are all located in the receiving cavity 131. Specifically, the laser receiving module 120 is located in the first receiving cavity 1311, and each laser receiving module 120 is located in a second receiving cavity 1312.

[0076] Similarly, Figure 20 In the second plate surface 1352, a light-transmitting protective plate 150 can be provided to cover the first light-transmitting hole 1353 and the two second light-transmitting holes 1354. A mounting groove 1355 can be provided on the second plate surface 1352, which can communicate with both the first light-transmitting hole 1353 and the two second light-transmitting holes 1354. The light-transmitting protective plate 150 is located within the mounting groove 1355. This ensures that the light-transmitting protective plate 150 does not protrude beyond the housing 130, improving the aesthetics of the lidar 100.

[0077] In one exemplary embodiment, the second panel 1352 may be provided with a first mounting groove and second mounting grooves located on both sides of the first mounting groove. The first mounting groove may communicate with a first light-transmitting hole 1353, and each second mounting groove may communicate with a second light-transmitting hole 1354. The light-transmitting protective plate 150 includes a first sub-light-transmitting protective plate 150 and two second sub-light-transmitting protective plates 150. The first sub-light-transmitting protective plate 150 may be located in the first mounting groove, and each second sub-light-transmitting protective plate 150 may be located in a second mounting groove. In another exemplary embodiment, combined with... Figure 21 The mounting slot 1355 can be a single unit and is connected to the first light-transmitting hole 1353 and the two second light-transmitting holes 1354.

[0078] Combination Figure 22The two laser emitting modules 110 and the laser receiving module 120 can also be partially disposed within the receiving cavity 131 and partially disposed outside the housing 130. In this case, the first plate 135 is provided with a first mounting hole 1356 and second mounting holes 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 housing 130, and the emitting end of each laser receiving module 120 passes through a second mounting hole 1357 and is located outside the housing 130.

[0079] The above-disclosed embodiments are merely preferred embodiments of this application and should not be construed as limiting the scope of this application. Therefore, any equivalent variations made in accordance with the claims of this application shall still fall within the scope of this application.

Claims

1. A lidar, characterized in that, include: Two laser emitting modules; A laser receiving module and two laser emitting modules are respectively located on opposite sides of the laser receiving module, and the combined emission field of view of the two laser emitting modules matches the receiving field of view of the laser receiving module. The first optical axis of each laser emitting module forms an angle with the second optical axis of the laser receiving module. The laser emission sensors of the two laser emission modules are located on the side of their respective first optical axis closer to the receiving module; the laser emission sensors include multiple light sources arranged in a matrix.

2. The lidar as described in claim 1, characterized in that, The angle between the first optical axis of the two laser emitting modules and the second optical axis of the laser receiving module is equal.

3. The lidar as described in claim 2, characterized in that, The first optical axis of the two laser emitting modules and the second optical axis of the laser receiving module are both located in the same plane.

4. The lidar as described in claim 1, characterized in that, The first optical axis of both laser emitting modules and the second optical axis of the laser receiving module are both located in a first plane. The two laser emitting modules include a first laser emitting module and a second laser emitting module. The angle between the first optical axis of the first laser emitting module and the second optical axis of the laser receiving module is θ1. The emission field of view of the first laser emitting module in the first plane is 2. θ1, the angle between the first optical axis of the second laser emitting module and the second optical axis of the laser receiving module is θ2, and the emission field of view of the second laser emitting module in the first plane is 2. θ2, the receiving field of view of the laser receiving module in the first plane is 2. θ1+2 θ2.

5. The lidar as described in claim 4, characterized in that, θ1 and θ2 are equal.

6. The lidar as described in claim 5, characterized in that, θ1 is 5.5°.

7. The lidar as described in claim 1, characterized in that, It also includes a housing, the housing comprising: First plate; The second plate is spaced apart from the first plate. A peripheral side plate is located around the first plate and connects the first plate and the second plate, forming a receiving cavity between the peripheral side plate, the first plate and the second plate; the peripheral side plate includes a first side plate and a second side plate disposed opposite to each other. Two first partitions are spaced apart in the receiving cavity and are both connected between the first side plate and the second side plate. The two first partitions are also connected to the first plate body. The two first partitions and the first plate body form a first receiving cavity. Each first partition forms a second receiving cavity between itself, the peripheral side plate, and the first plate body. At least a portion of the laser receiving module is located in the first receiving cavity, and at least a portion of each laser emitting module is located in a second receiving cavity.

8. The lidar as described in claim 7, characterized in that, The laser receiving module is located in the first receiving cavity, and each laser receiving module is located in a second receiving cavity. The first plate has a first plate surface facing the receiving cavity and a second plate surface opposite to the first plate surface. The first plate is provided with a first light-transmitting hole penetrating the first plate surface and the second plate surface, and second light-transmitting holes located on both sides of the first light-transmitting hole. The laser receiving module is arranged corresponding to the first light-transmitting hole, and each laser emitting module is arranged corresponding to one second light-transmitting hole. A light-transmitting protective plate covering the first light-transmitting hole and the two second light-transmitting holes is provided on the second plate surface.

9. The lidar as described in claim 8, characterized in that, The second plate surface is provided with a mounting groove, which communicates with both the first light-transmitting hole and the two second light-transmitting holes, and the light-transmitting protective 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 both sides of the first mounting groove. The first mounting groove is connected to the first light-transmitting hole, and each second mounting groove is connected to a second light-transmitting hole. The light-transmitting protection plate includes a first sub-light-transmitting protection plate and two second sub-light-transmitting protection plates. The first sub-light-transmitting protection plate is located in the first mounting groove, and each second sub-light-transmitting protection plate is located in a second mounting groove.

10. The lidar as described in claim 7, characterized in that, The first plate has a first plate surface facing the receiving cavity and a second plate surface opposite to the first plate surface. The first plate is provided with a first mounting hole penetrating the first plate surface and the second plate surface, and second mounting holes located on both sides of the first mounting hole. The receiving end of the laser receiving module passes through the first mounting hole and is located outside the housing. The emitting end of each laser receiving module passes through one of the second mounting holes and is located outside the housing.

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