Transceiving module and laser radar

Abstract

The embodiment of the utility model provides a transceiver module and a laser radar, and relates to the technical field of laser radars. The laser radar comprises a receiving and transmitting module, and the receiving and transmitting module comprises a transmitting module, a receiving module and a shell body. The transmitting module comprises a transmitting mirror group, and a laser plate and a laser which are connected with each other. The receiving module comprises a receiving lens group, and a receiver board and a receiver which are connected with each other. The shell body comprises a first shell and a second shell which are integrally arranged and communicated with each other, the transmitting lens group is arranged in the first shell, the receiving lens group is arranged in the second shell, the first shell and the second shell are arranged at intervals in the first direction, and the first direction is perpendicular to the length direction of the shell body; the thickness of the laser plate is parallel to the first direction and perpendicular to the length direction of the shell body. The integrated shell body can reduce redundant redundant structures due to the split structure, so that the size can be reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of lidar, and more specifically, to a transceiver module and a lidar. Background Art

[0002] At present, with the rise of intelligent driving, scanning radars have also been widely used. The current scanning methods of radars include mechanical scanning with a single-point or linear array radar plus a motor.

[0003] After research by the inventor, it is found that in some existing transceiver modules, the receiving module and the transmitting module are installed separately, and the size is relatively large. Summary of the Utility Model

[0004] The purpose of the utility model is to provide a transceiver module and a lidar, which can reduce the size of the transceiver module.

[0005] The embodiments of the utility model are implemented as follows:

[0006] In a first aspect, the utility model provides a transceiver module, comprising:

[0007] A transmitting module, which includes a transmitting mirror group and a laser board and a laser connected to each other;

[0008] A receiving module, which includes a receiving mirror group and a receiver board and a receiver connected to each other;

[0009] A housing body, which includes a first housing and a second housing that are integrally arranged and communicate with each other. The transmitting mirror group is arranged in the first housing, the laser board is connected to the first housing, the receiving mirror group is arranged in the second housing, the receiver board is connected to the second housing, the first housing and the second housing are arranged at intervals along a first direction, the first direction is perpendicular to the length direction of the housing body, and the first housing is provided with a transceiver port for light to enter or exit;

[0010] Wherein, the thickness direction of the laser board is parallel to the first direction and perpendicular to the length direction of the housing body, and the thickness direction of the receiver board is perpendicular to the first direction and parallel to the length direction.

[0011] Through the above settings, the integrated housing body can reduce the redundant structure due to the split structure, and thus can reduce the volume. The thickness of the laser board is parallel to the first direction, which can also reduce the size space occupied by the transceiver module in the first direction.

[0012] In an optional embodiment, the laser board has a first mounting surface and a second mounting surface opposite to each other along its own thickness direction. The laser is arranged on the first mounting surface, the housing has a receiving surface, and the second mounting surface and the receiving surface are stacked.

[0013] With the above settings, the second mounting surface is completely disposed on the receiving surface, enabling the heat of the laser to be promptly transferred to the housing body, thereby improving the heat dissipation effect.

[0014] In an alternative embodiment, the transceiver module further includes a first shielding cover. The first shielding cover is disposed over the receiving surface, and the laser is located within the first shielding cover. The first shielding cover is connected to the outer wall of the first housing and is in communication with the housing. The laser emitted by the laser can pass through the first shielding cover and then pass through the emission mirror group within the first housing and then be emitted.

[0015] With the above settings, by providing the shielding cover, the influence of the external environment on the laser can be reduced.

[0016] In an alternative embodiment, the emission mirror group includes a first collimating lens group and an emission reflecting mirror. The first collimating lens group is used to collimate the laser emitted by the laser.

[0017] With the above settings, the collimation of the laser emitted by the laser can be ensured by the first collimating lens group.

[0018] In an alternative embodiment, the transceiver module further includes a second shielding cover connected thereto. The second shielding cover is in communication with the second housing. The receiving module is located on the side of the second shielding cover away from the second housing. The optical signal entering from the transceiver port can pass through the receiving mirror group in sequence and pass through the second housing and the second shielding cover to reach the receiver.

[0019] With the above settings, by providing the second shielding cover, it can be ensured that the influence of external stray light on the receiver is reduced.

[0020] In an alternative embodiment, the transceiver module further includes a third shielding cover disposed on the side of the receiver board away from the second shielding cover.

[0021] With the above settings, the influence of the external environment on the receiver board can be reduced by the second shielding cover.

[0022] In an alternative embodiment, the receiving mirror group includes a receiving lens and a receiving reflecting mirror. The second housing is provided with a first receiving cavity and a second receiving cavity that are in communication with each other. The receiving reflecting mirror is installed in the first receiving cavity, and the receiving lens is installed in the second receiving cavity. The inner peripheral wall of the second receiving cavity is an arc-shaped peripheral wall. Along the extending direction of the second receiving cavity, the arc centers of the inner peripheral wall of the second receiving cavity are collinear. The receiving module is located on the side of the second receiving cavity away from the first receiving cavity.

[0023] With the above settings, since the arc centers of the inner peripheral wall of the second receiving cavity are collinear, the coaxiality of the receiving lens installed in the second receiving cavity can be ensured.

[0024] In an alternative embodiment, the number of receiving lenses is multiple, and the receiving lenses are used to collimate and / or filter light.

[0025] Through the above settings, the light passing through multiple receiving lenses can be collimated and filtered.

[0026] In an alternative embodiment, the number of receiving lenses is multiple, and the multiple receiving lenses include multiple second collimating lenses and / or filters.

[0027] Through the above settings, the light passing through multiple receiving lenses can be collimated and filtered.

[0028] In an alternative embodiment, the multiple second collimating lenses include a plano-convex lens, a concavo-convex lens, and a bi-concave lens that are successively away from the receiving mirror.

[0029] Through the above settings, it is ensured that the light passing through the receiving mirror can be better collimated and then projected onto the receiver.

[0030] In an alternative embodiment, the second receiving cavity is successively provided with multiple mounting sections along its own axis direction. For any two adjacent mounting sections, the radial dimension of the mounting section closer to the receiving mirror is larger, and the radial dimensions of any two adjacent mounting sections have a sudden change. The multiple receiving lenses are respectively mounted on the multiple mounting sections.

[0031] Through the above settings, it is prevented that a larger receiving lens enters a smaller mounting section, so that it can be ensured that the receiving lens can be mounted in place.

[0032] In a second aspect, the present utility model provides a lidar, including the transceiver module according to any one of the foregoing embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the following will briefly introduce the drawings required to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present utility model, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can be obtained based on these drawings without creative efforts.

[0034] Figure 1 It is a schematic structural diagram of the lidar provided by the embodiment of the present utility model;

[0035] Figure 2 It is a schematic diagram of the light propagation inside the lidar provided by the embodiment of the present utility model;

[0036] Figure 3 It is a schematic cross-sectional view of the transceiver module provided by the embodiment of the present utility model.

[0037] Icon: 1 - Transceiver module; 110 - Laser board; 111 - First mounting surface; 112 - Second mounting surface; 120 - Laser; 130 - First shielding cover; 140 - First collimating lens group; 150 - Transmitting mirror; 210 - Receiver board; 220 - Receiver; 230 - Second shielding cover; 240 - Third shielding cover; 250 - Filter; 260 - Second collimating lens; 270 - Receiving mirror; 300 - Housing body; 310 - First housing; 311 - Bearing surface; 312 - Transceiving port; 320 - Second housing; 321 - First receiving cavity; 322 - Second receiving cavity; 3221 - Mounting section; 1000 - Lidar; 1001 - Window mirror; 2000 - Prism; 3000 - Galvanometer. Detailed implementation manners

[0038] To make the objectives, technical solutions, and advantages of the embodiments of the present utility model clearer, the technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model. Apparently, the described embodiments are some, but not all, of the embodiments of the present utility model. The components of the embodiments of the present utility model usually described and illustrated in the accompanying drawings here can be arranged and designed in various different configurations.

[0039] Therefore, the following detailed description of the embodiments of the present utility model provided in the accompanying drawings is not intended to limit the scope of the claimed present utility model, but merely represents selected embodiments of the present utility model. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without creative efforts fall within the scope of protection of the present utility model.

[0040] It should be noted that: Similar reference numerals and letters denote similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0041] In the description of the present utility model, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. is based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the utility model product is usually placed during use. It is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present utility model. In addition, the terms "first", "second", "third", etc. are only used for descriptive distinction and cannot be understood as indicating or implying relative importance.

[0042] In addition, terms such as "horizontal" and "vertical" do not mean that the components are required to be absolutely horizontal or hanging, but can be slightly inclined. For example, "horizontal" only means that its direction is more horizontal relative to "vertical", and does not mean that the structure must be completely horizontal, but can be slightly inclined.

[0043] In the description of the present utility model, it should also be noted that, unless otherwise clearly specified and limited, the terms "arranged", "installed", "connected", and "coupled" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific situations.

[0044] The following will introduce in detail the specific structure of a transceiver module provided by an embodiment of the present utility model and the corresponding technical effects brought thereby with reference to the patent drawings.

[0045] Please refer to Figures 1 - 3 , the transceiver module 1 includes a transmitting module, a receiving module, and a housing body 300. The transmitting module includes a transmitting lens group and a laser board 110 and a laser 120 connected thereto. The receiving module includes a receiving lens group and a receiver board 210 and a receiver 220 connected thereto. The housing body 300 includes a first housing 310 and a second housing 320 that are integrally arranged and communicate with each other. The transmitting lens group is arranged in the first housing 310, the laser board 110 is connected to the first housing 310, the receiving lens group is arranged in the second housing 320, the receiver board 210 is connected to the second housing 320, the first housing 310 and the second housing 320 are arranged at intervals along a first direction, the first direction is perpendicular to the length direction of the housing body 300, and the first housing 310 is provided with a transceiver port 312 for light to enter or exit.

[0046] It can be understood that since the first housing 310 and the second housing 320 in this embodiment are integrally arranged, that is to say, the first housing 310 and the second housing 320 are not separate split structures, but together form an integral housing body 300. The integral housing body 300 can reduce the redundant structure due to the split structure, and thus can reduce the volume.

[0047] In this embodiment, the thickness of the laser board 110 is parallel to the first direction and perpendicular to the length direction of the housing body 300, and the thickness of the receiver board 210 is perpendicular to the first direction and parallel to the length direction. It should be noted that the first direction in this embodiment can be understood as the height direction of the housing body 300.

[0048] It can be understood that the thickness direction of the laser board 110 being parallel to the first direction means that the laser board 110 is horizontally installed on the housing body 300. Relative to the vertical setting of the laser board 110, it can reduce the size space occupied by the transceiver module 1 in the first direction.

[0049] It should be noted that the perpendicularity in this embodiment should not be limited to the strictly defined perpendicularity. As long as it is approximately perpendicular, similarly, the parallelism in this embodiment should not be limited to the strictly defined parallelism. As long as it is approximately parallel.

[0050] Specifically, the laser board 110 has a mounting surface and an abutting surface opposite to each other along its thickness direction. The laser 120 is disposed on the first mounting surface 111. The housing has a receiving surface 311, and the second mounting surface 112 is stacked with the receiving surface 311. That is to say, the second mounting surface 112 is completely disposed on the receiving surface 311, and can timely transfer the heat of the laser 120 to the housing body 300, thereby improving the heat dissipation effect.

[0051] Optionally, in some embodiments, the transceiver module 1 further includes a first shielding cover 130. The first shielding cover 130 covers the receiving surface 311. The laser 120 and the laser board 110 are both located inside the first shielding cover 130. The first shielding cover 130 is connected to the outer wall of the first housing 310 and is communicated through the housing. The laser emitted by the laser 120 can pass through the first shielding cover 130 and sequentially pass through the emission mirror group in the first housing 310 and then be emitted from the transceiver port 312. It should be noted that through the setting of the shielding cover, the influence of the external environment on the laser 120 can be reduced.

[0052] Specifically, a first light-transmitting hole is provided in the first housing 310. A first through hole is opened on a side wall of the first shielding cover 130 close to the first housing 310. Thus, the light emitted by the laser 120 can sequentially pass through the first through hole, the first light-transmitting hole, the first mirror group in the first housing 310 and then be emitted from the transceiver port 312.

[0053] Specifically, the emission lens group includes a first collimating lens group 140 and an emission mirror 150. The first collimating lens group 140 is used to collimate the laser emitted by the laser 120. The collimation of the laser emitted by the laser 120 can be ensured by the first collimating lens group 140. Specifically, in this embodiment, the first collimating lens group 140 includes two first collimating lenses arranged at intervals along the extending direction of the first housing 310. The emission mirror 150 is located on the side of the first collimating lens group 140 away from the laser 120. Therefore, the laser emitted by the laser 120 will pass through the two first collimating lenses and then be reflected by the emission mirror 150, thereby changing the propagation direction of the light, and further enabling the light emitted by the laser 120 to be emitted from the transceiver port 312. The installation of the lens and the mirror is a conventional setting in the technical field of the lidar 1000, and will not be elaborated in detail here.

[0054] Optionally, the transceiver module 1 further includes a connected second shielding cover 230. The second shielding cover 230 communicates with the second housing 320. The receiving module is located on the side of the second shielding cover 230 away from the second housing 320. The optical signal entering from the transceiver port 312 can sequentially pass through the receiving lens group and pass through the second housing 320 and the second shielding cover 230 to reach the receiving module. That is to say, the optical signal entering from the transceiver port 312 can sequentially pass through the receiving lens group and pass through the second housing 320 and the second shielding cover 230 to reach the receiver 220.

[0055] Specifically, in this embodiment, the second shielding cover 230 covers the receiver board 210. A second through hole is provided on the end wall of the second shielding cover 230, that is, the end wall of the second shielding cover 230 opposite to the receiver board 210. The second housing 320 is provided with a second light-transmitting hole. The optical signal entering from the transceiver port 312 can sequentially pass through the receiving lens group, the second light-transmitting hole and the second through hole to reach the receiver 220.

[0056] It can be understood that by setting the second shielding cover 230, it is possible to ensure that the influence of external stray light on the receiver 220 is reduced.

[0057] Optionally, the transceiver module 1 further includes a third shielding cover 240. The third shielding cover 240 is arranged on the side of the receiver board 210 away from the second shielding cover 230. The second shielding cover 230 can reduce the influence of the external environment on the receiver board 210.

[0058] Specifically, the receiving lens group includes a receiving lens and a receiving mirror 270. The second housing 320 is provided with a first receiving cavity 321 and a second receiving cavity 322 that are connected and communicate with each other. The receiving mirror 270 is installed in the first receiving cavity 321, and the receiving lens is installed in the second receiving cavity 322. The peripheral wall of the second receiving cavity 322 is an arc peripheral wall. Along the extending direction of the second receiving cavity 322, the arc centers of the inner peripheral wall of the second receiving cavity 322 are collinear. The receiving module is located on the side of the second receiving cavity 322 away from the first receiving cavity 321.

[0059] It can be understood that since the arc centers of the inner peripheral wall of the second receiving cavity 322 are collinear, the coaxiality of the receiving lens installed in the second receiving cavity 322 can be ensured.

[0060] Optionally, the number of receiving lenses is multiple, and the receiving lenses are used for collimating and / or filtering light.

[0061] The number of receiving lenses is multiple. The multiple receiving lenses include multiple second collimating lenses 260 and / or filters 250. In this embodiment, the multiple receiving lenses include multiple second collimating lenses 260 and filters 250. The multiple second collimating lenses 260 and the filters 250 are arranged at intervals along the extending direction of the second receiving cavity 322, and the filter 250 is located on the side of the multiple second collimating lenses 260 away from the receiving mirror 270.

[0062] That is to say, the optical signal entering from the transceiver port 312 can sequentially pass through the receiving mirror 270 to change the light propagation direction, so that the light sequentially passes through the multiple second collimating lenses 260, the filter 250, the second light-transmitting hole, and the second through-hole and is projected onto the receiver 220.

[0063] Specifically, the multiple second collimating lenses include a plano-convex lens, a concavo-convex lens, and a double-concave lens that are sequentially away from the receiving mirror 270. That is to say, the number of the multiple second collimating lenses 260 is three. The three second collimating lenses 260 are a plano-convex lens, a concavo-convex lens, and a double-concave lens respectively. Among them, the plano-convex lens is closest to the receiving mirror 270. With this setting, it is ensured that the light passing through the receiving mirror 270 can be better collimated and then projected onto the receiver 220.

[0064] The second receiving cavity 322 is sequentially provided with a plurality of mounting segments 3221 along its own axis direction. For any two adjacent mounting segments 3221, the mounting segment 3221 closer to the receiving mirror 270 in the two adjacent mounting segments 3221 has a larger radial dimension, and the radial dimensions of any two adjacent mounting segments 3221 change abruptly. A plurality of receiving lenses are respectively mounted on the plurality of mounting segments 3221. That is to say, there is a positioning wall between the mounting segment 3221 with a large radial dimension and the mounting segment 3221 with a small radial dimension. The positioning wall is the inner wall at one end close to the smaller mounting segment 3221 to prevent the larger receiving lens from entering the smaller mounting segment 3221, so as to ensure that the receiving lens can be mounted in place.

[0065] An embodiment of the present invention further provides a lidar 1000, including the above-mentioned transceiver module 1. Specifically, the lidar 1000 further includes a radar housing, a prism 2000, a galvanometer 3000 and a window mirror 1001. The window mirror 1001 is installed at the outlet of the radar housing. The prism 2000, the galvanometer 3000 and the transceiver module 1 are all installed in the radar housing. The laser emitted by the transmitter can sequentially pass through the first through hole, the first light-transmitting hole, the first lens group in the first housing 310 and then emit from the transceiver port 312, and then pass through the galvanometer 3000, the prism 2000 and the window mirror 1001 to emit from the radar housing. The light incident from the window mirror 1001 can sequentially pass through the prism 2000, the galvanometer 3000, the transceiver port 312, and then sequentially pass through a plurality of second collimating lenses 260, a filter 250, a second light-transmitting hole and a second through hole to reach the receiver 220. Since the lidar 1000 includes the above-mentioned transceiver module 1, the lidar 1000 also has the technical effects of the transceiver module 1. Therefore, the beneficial effects of the lidar 1000 will not be elaborated here.

[0066] In summary, the embodiment of the present utility model provides a transceiver module 1 and a lidar 1000. The lidar 1000 includes a transceiver module 1, and the transceiver module 1 includes a transmitting module, a receiving module, and a housing body 300. The transmitting module includes a transmitting lens group and a laser board 110 and a laser 120 connected thereto. The receiving module includes a receiving lens group and a receiver board 210 and a receiver 220 connected thereto. The housing body 300 includes a first housing 310 and a second housing 320 that are integrally provided and communicate with each other. The transmitting lens group is disposed in the first housing 310, the laser board 110 is connected to the first housing 310, the receiving lens group is disposed in the second housing 320, the receiver board 210 is connected to the second housing 320, the first housing 310 and the second housing 320 are arranged at intervals along a first direction, the first direction is perpendicular to the length direction of the housing body 300, the thickness of the laser board 110 is parallel to the first direction and perpendicular to the length direction of the housing body 300, and the first housing 310 is provided with a transceiver port 312 for light to enter or exit. The integrated housing body 300 can reduce the redundant structure due to the split structure, and thus can reduce the volume. The thickness of the laser board 110 is parallel to the first direction, which can also reduce the size space occupied by the transceiver module 1 in the first direction.

[0067] The foregoing is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. For those skilled in the art, the present utility model may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model shall be included within the protection scope of the present utility model.

Claims

1. A transceiver module, characterized in that, Comprising: A transmitting module, the transmitting module including a transmitting lens group and a laser board (110) and a laser (120) connected thereto; A receiving module, the receiving module including a receiving lens group and a receiver board (210) and a receiver (220) connected thereto; A housing body (300), the housing body (300) including a first housing (310) and a second housing (320) integrally provided and communicating with each other, the transmitting lens group being disposed in the first housing (310), the laser board (110) being connected to the first housing (310), the receiving lens group being disposed in the second housing (320), the receiver board (210) being connected to the second housing (320), the first housing (310) and the second housing (320) being arranged at intervals in a first direction, the first direction being perpendicular to the length direction of the housing body (300), and the first housing (310) being provided with a transceiver port (312) for light to enter or exit; Wherein, the thickness direction of the laser board (110) is parallel to the first direction and perpendicular to the length direction of the housing body (300), and the thickness direction of the receiver board (210) is perpendicular to the first direction and parallel to the length direction.

2. The transceiver module according to claim 1, wherein: The laser board (110) has a first mounting surface (111) and a second mounting surface (112) opposite to each other in its own thickness direction, the laser (120) being disposed on the first mounting surface (111), the housing having a receiving surface (311), and the second mounting surface (112) and the receiving surface (311) being stacked.

3. The transceiver module according to claim 2, wherein: The transceiver module (1) further includes a first shielding cover (130), the first shielding cover (130) being covered on the receiving surface (311), the laser (120) being located inside the first shielding cover (130), the first shielding cover (130) being connected to the outer wall of the first housing (310) and communicating with the housing, and the laser emitted by the laser (120) being able to pass through the first shielding cover (130) and then exit after passing through the transmitting lens group in the first housing (310) in sequence.

4. The transceiver module according to claim 1, wherein: The transmitting lens group includes a first collimating lens group (140) and a transmitting mirror (150), and the first collimating lens group (140) is used to collimate the laser emitted by the laser (120).

5. The transceiver module according to claim 1, wherein: The transceiver module (1) further includes a second shielding cover (230) connected thereto. The second shielding cover (230) communicates with the second housing (320). The receiving module is located on a side of the second shielding cover (230) away from the second housing (320). The optical signal entering from the transceiver port (312) can sequentially pass through the receiving lens group, pass through the second housing (320) and the second shielding cover (230), and then reach the receiver (220).

6. The transceiver module according to claim 5, wherein: The transceiver module (1) further includes a third shielding cover (240). The third shielding cover (240) is disposed on a side of the receiver board (210) away from the second shielding cover (230).

7. The transceiver module according to claim 1, wherein: The receiving lens group includes a receiving lens and a receiving mirror (270). The second housing (320) is provided with a first receiving cavity (321) and a second receiving cavity (322) that communicate with each other. The receiving mirror (270) is installed in the first receiving cavity (321), and the receiving lens is installed in the second receiving cavity (322). The inner peripheral wall of the second receiving cavity (322) is an arc-shaped peripheral wall. Along the extending direction of the second receiving cavity (322), the arc centers of the inner peripheral wall of the second receiving cavity (322) are collinear. The receiving module is located on a side of the second receiving cavity (322) away from the first receiving cavity (321).

8. The transceiver module according to claim 7, wherein: The number of the receiving lenses is multiple, and the receiving lenses are used for collimating and / or filtering light.

9. The transceiver module according to claim 8, wherein: The number of the receiving lenses is multiple. The multiple receiving lenses include multiple second collimating lenses (260) and / or filters (250).

10. The transceiver module according to claim 9, wherein: The multiple second collimating lenses include a plano-convex lens, a concave-convex lens, and a double-concave lens that are sequentially away from the receiving mirror (270).

11. The transceiver module according to claim 8, wherein: The second receiving cavity (322) is sequentially provided with multiple mounting segments (3221) along its own axis direction. For any two adjacent mounting segments (3221), the mounting segment (3221) closer to the receiving mirror (270) has a larger radial dimension. The radial dimensions of any two adjacent mounting segments (3221) have a sudden change. The multiple receiving lenses are respectively mounted on the multiple mounting segments (3221).

12. A lidar, characterized in that, Including the transceiver module according to any one of claims 1-11.

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