Optical transceiver of laser radar and laser radar

Abstract

The utility model provides an optical transceiver of a laser radar and the laser radar. Wherein the optical transceiver comprises a transmitter, a transmitting lens, a receiver and a receiving lens. The emitter is configured to emit a light beam. The emission lens is configured to collimate the light beam and emit the light beam towards the outside of the laser radar. The receiving lens is configured to receive echoes generated after the light beams are reflected by the object and gather the echoes to the receiver, and the receiver is configured to convert the echoes into electric signals. Wherein the transmitting lens comprises one or more transmitting lenses, the receiving lens comprises one or more receiving lenses, and at least one transmitting lens and at least one receiving lens are integrated. Some embodiments of the utility model are beneficial to improving the precision of the relative position relationship between the transmitting lens and the receiving lens, can reduce the assembly error of the laser radar, and are beneficial to reducing the difficulty of transmitting and receiving alignment adjustment of the laser radar.

Description

Technical Field

[0001] The present disclosure relates to the field of laser radar, and in particular to an optical transceiver of a laser radar and a laser radar. Background Art

[0002] LiDAR is a device that uses laser beams to detect surrounding objects. It typically includes a transmitter, a transmitting lens, a receiver, and a receiving lens. The light beam emitted by the transmitter passes through the transmitting lens and then exits. After the light beam is reflected by the object, it produces an echo. The echo passes through the receiving lens and is received by the receiver. The transmitter and receiver form a detection channel. Each detection channel has a corresponding transmitter and receiver. That is, the light beam emitted by the transmitter is reflected by a distant object (for example, an object 200 meters away) and the echo is received by the corresponding receiver. However, various errors in the assembly process of LiDAR may cause the echo to deviate from the receiver's reception range after passing through the receiving lens, resulting in a weak signal or even no signal.

[0003] To address assembly errors, LiDAR requires alignment adjustments between the transmitter and receiver to ensure that the echo can be received by the receiver after passing through the receiving lens. In practical applications, the adjustment and correction process of LiDAR is relatively complex, costly, and has poor reliability.

[0004] The contents of the background technology section are merely the technologies known to the inventors and do not necessarily represent the existing technologies in this field. Utility Model Content

[0005] In view of one or more deficiencies in the prior art, the present disclosure provides an optical transceiver for a laser radar, comprising:

[0006] an emitter configured to emit a light beam;

[0007] A transmitting lens, wherein the transmitting lens is configured to collimate the light beam and transmit the light beam toward the outside of the laser radar;

[0008] Receiver;

[0009] a receiving lens configured to receive an echo generated after the light beam is reflected by an object and converge the echo onto the receiver, wherein the receiver is configured to convert the echo into an electrical signal;

[0010] The transmitting lens includes one or more transmitting lenses, and the receiving lens includes one or more receiving lenses, wherein at least one transmitting lens and at least one receiving lens are formed into one piece.

[0011] Optionally, the transmitter and the receiver are arranged on the same circuit board.

[0012] Optionally, the at least one transmitting lens and the at least one receiving lens are formed into one piece by integral injection molding; or

[0013] The at least one transmitting lens and the at least one receiving lens are formed into one piece by a connection structure which is separately injected; or

[0014] The at least one transmitting lens and the at least one receiving lens are formed into one piece by gluing or welding.

[0015] Optionally, the angle between the optical axis of at least one transmitting lens in the transmitting lens and the optical axis of at least one receiving lens in the receiving lens is less than an angle threshold.

[0016] Optionally, the transmitter includes at least one laser and the receiver includes at least one detector.

[0017] Optionally, the at least one laser and the at least one detector constitute at least one detection channel, and one detection channel includes a first laser and a first receiver, wherein the difference between the distance between the first laser and the first detector and the distance between the optical axis of the transmitting lens and the optical axis of the receiving lens is less than a first threshold.

[0018] Optionally, the difference between the focal length of the transmitting lens and the focal length of the receiving lens is less than a second threshold.

[0019] Optionally, the transmitting lens includes multiple transmitting lenses, and the receiving lens includes multiple receiving lenses.

[0020] Optionally, the circuit board or at least one of the transmitting lens and the receiving lens can be rotatably adjusted in a plane perpendicular to the optical axes of the transmitting lens and the receiving lens.

[0021] Optionally, the optical transceiver further includes a scanning device, which is configured to reflect the collimated light beam to the outside of the laser radar and reflect the echo toward the receiving lens.

[0022] Optionally, the optical transceiver further includes a reflecting device, which is arranged in the optical path between the transmitting lens, the receiving lens and the scanning device to change the direction of the light beam and the echo.

[0023] Optionally, the reflecting device includes a first reflector and a second reflector, wherein the first reflector is arranged in the optical path between the transmitting lens and the scanning device to change the direction of the light beam; the second reflector is arranged in the optical path between the receiving lens and the scanning device to change the direction of the echo.

[0024] Optionally, the optical transceiver further includes a light isolation element, and the light isolation element is configured to isolate the light beam and the echo.

[0025] Optionally, the present disclosure further includes a laser radar, comprising:

[0026] An optical transceiver as described above; and

[0027] The processing device is configured to determine information of the object based on the electrical signal.

[0028] Optionally, the present disclosure further includes a method for manufacturing an optical transceiver, the manufacturing method comprising:

[0029] S101: Providing a transmitting lens and a receiving lens, wherein the transmitting lens includes one or more transmitting lenses, and the receiving lens includes one or more receiving lenses, wherein at least one transmitting lens and at least one receiving lens are formed as one body;

[0030] S102: Mounting the transmitter and receiver on a circuit board; and

[0031] S103: Fix the circuit board relative to the transmitting lens and the receiving lens.

[0032] Optionally, step S102 includes: installing the transmitter and the receiver on the same circuit board.

[0033] Optionally, the at least one transmitting lens and the at least one receiving lens are formed into one piece by integral injection molding; or

[0034] The at least one transmitting lens and the at least one receiving lens are formed into one piece by a connection structure which is separately injected; or

[0035] The at least one transmitting lens and the at least one receiving lens are formed into one piece by gluing or welding.

[0036] Optionally, step S101 includes: an angle between an optical axis of at least one transmitting lens in the transmitting lens and an optical axis of at least one receiving lens in the receiving lens is less than an angle threshold.

[0037] Optionally, the transmitter includes at least one laser, and the receiver includes at least one detector, and step S102 includes: fixing the laser and the detector patch on the circuit board.

[0038] Optionally, the at least one laser and the at least one detector constitute at least one detection channel, and one detection channel includes a first laser and a first detector, wherein step S102 includes: making the difference between the distance between the first laser and the first detector and the distance between the optical axis of the transmitting lens and the optical axis of the receiving lens less than a first threshold.

[0039] Optionally, the difference between the focal length of the transmitting lens and the focal length of the receiving lens is less than a second threshold, the transmitting lens includes multiple transmitting lenses, and the receiving lens includes multiple receiving lenses.

[0040] Optionally, the manufacturing method further includes: rotating and adjusting the circuit board or at least one of the transmitting lens and the receiving lens in a plane perpendicular to the optical axes of the transmitting lens and the receiving lens.

[0041] Optionally, the manufacturing method further comprises: fixing the transmitting lens and the receiving lens in a lens barrel;

[0042] The step S103 includes: fixing the lens barrel on the circuit board.

[0043] Some embodiments of the present disclosure provide an optical transceiver for a laser radar (LIDAR), in which at least one transmitting lens in a transmitting lens and at least one receiving lens in a receiving lens are integrally formed. This improves the precision of the relative positional relationship between the transmitting and receiving lenses and reduces assembly errors in the LIDAR. Furthermore, when adjusting the LIDAR's transceiver alignment, the relative position between the integrated transmitting and receiving lenses remains fixed, reducing the difficulty of performing alignment adjustments.

[0044] The present disclosure also includes an embodiment of a laser radar, which uses the aforementioned optical transceiver to reduce the assembly cost of the laser radar and improve the reliability of the laser radar.

[0045] This disclosure also includes an embodiment of a method for manufacturing an optical transceiver, in which at least one transmitting lens and at least one receiving lens are integrally formed, improving the relative positioning accuracy between the transmitting and receiving lenses. Furthermore, the transmitter and receiver are mounted on a circuit board, which can reduce assembly errors, lower assembly difficulty and cost, and improve the reliability and performance of the laser radar. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] The accompanying drawings are used to provide a further understanding of the present disclosure and constitute a part of the specification. Together with the embodiments of the present disclosure, they are used to explain the present disclosure and do not constitute a limitation of the present disclosure. In the accompanying drawings:

[0047] Figure 1A schematic diagram of the structure of an example of an optical transceiver of a laser radar in some embodiments of the present disclosure is shown;

[0048] Figure 2A-2C Schematic diagrams showing an integrated transmitting lens and receiving lens in different embodiments of the present disclosure;

[0049] Figure 3 shows a side view of an example optical transceiver in some embodiments of the present disclosure;

[0050] Figure 4 A schematic diagram showing a plurality of lasers and a plurality of detectors arranged on a circuit board in some embodiments of the present disclosure is shown;

[0051] Figure 5A and Figure 5B A schematic diagram showing the alignment of the optical axes of the laser and the transmitting lens, and the optical axes of the receiver and the receiving lens in a detection channel in some embodiments of the present disclosure is shown;

[0052] Figure 6A and Figure 6B A schematic diagram showing the deviation of the optical axes of the laser and the transmitting lens, and the optical axes of the receiver and the receiving lens in a detection channel in some embodiments of the present disclosure;

[0053] Figure 7 A schematic diagram illustrating an example of an optical transceiver including a plurality of transmitting lenses and a plurality of receiving lenses in some embodiments of the present disclosure is shown;

[0054] Figure 8 A schematic diagram illustrating rotation adjustment of a circuit board relative to a transmitting lens and a receiving lens in some embodiments of the present disclosure is shown;

[0055] Figures 9A-9C A schematic diagram illustrating an example of an optical transceiver including a scanning device and a reflecting device in some embodiments of the present disclosure is shown;

[0056] Figure 10A and Figure 10B Schematic diagrams showing examples of optical transceivers including light isolation elements in various embodiments of the present disclosure;

[0057] Figure 11 A structural block diagram of a laser radar example in some embodiments of the present disclosure is shown;

[0058] Figure 12 A schematic flow chart showing an example of a method for manufacturing an optical transceiver in some embodiments of the present disclosure; and

[0059] Figure 13 A schematic flow chart illustrating an example of a manufacturing method including a step of adjusting a circuit board in some embodiments of the present disclosure is shown. DETAILED DESCRIPTION

[0060] Hereinafter, only certain exemplary embodiments are briefly described. As will be appreciated by those skilled in the art, the described embodiments may be modified in various ways without departing from the spirit or scope of the present disclosure. Therefore, the drawings and description are to be considered as illustrative in nature and not restrictive.

[0061] In the description of the present disclosure, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing the present disclosure and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be understood as limiting the present disclosure. In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of the technical features indicated. Therefore, features defined as "first" and "second" may explicitly or implicitly include one or more of the said features. In the description of the present disclosure, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0062] In the description of this disclosure, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "connected," and "connected" should be understood broadly. For example, they can refer to fixed, removable, or integral connections; mechanical, electrical, or intercommunication connections; direct or indirect connections through an intermediary; and internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of these terms in this disclosure based on specific circumstances.

[0063] In this disclosure, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features not being in direct contact but being in contact via another feature between them. Furthermore, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or diagonally above the second feature, or may simply mean that the first feature is at a higher level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or diagonally below the second feature, or may simply mean that the first feature is at a lower level than the second feature.

[0064] The disclosure below provides many different embodiments or examples for realizing different structures of the present disclosure. In order to simplify the disclosure of the present disclosure, the components and settings of specific examples are described below. Of course, they are merely examples and are not intended to limit the present disclosure. In addition, the present disclosure may repeat reference numbers and / or reference letters in different examples. Such repetition is for the purpose of simplicity and clarity and does not in itself indicate the relationship between the various embodiments and / or settings discussed. In addition, the present disclosure provides examples of various specific processes and materials, but a person of ordinary skill in the art will recognize the application of other processes and / or the use of other materials. Wherein the expression "A and / or B" represents any one of A and B or both.

[0065] The following describes embodiments of the present disclosure in conjunction with the accompanying drawings. It should be understood that the embodiments described herein are only used to illustrate and explain the present disclosure, and are not used to limit the present disclosure.

[0066] The present disclosure provides an optical transceiver for a laser radar, wherein the optical transceiver includes a transmitter, a transmitting lens, a receiver, and a receiving lens. The transmitter is configured to transmit a light beam, and the transmitting lens is configured to collimate the light beam emitted by the transmitter and transmit it toward the exterior of the laser radar. The receiving lens is configured to receive the echo generated by the light beam emitted by the transmitter after being reflected by an object outside the laser radar, and to converge the echo to the receiver, which converts the echo into an electrical signal.

[0067] The transmitting lens includes one or more transmitting lenses, and the receiving lens includes one or more receiving lenses, wherein at least one transmitting lens in the transmitting lens and at least one receiving lens in the receiving lens are formed into one piece.

[0068] In an embodiment of the present disclosure, at least one transmitting lens and at least one receiving lens are formed into one body. During assembly, the relative position accuracy of the integrated transmitting lens and receiving lens is higher, and there is no need to adjust the relative position, which can reduce the assembly error of the laser radar. In addition, when the laser radar is adjusted for transmission and reception alignment, the integrated transmitting lens and receiving lens remain relatively fixed, which is beneficial to reducing the difficulty and cost of the transmission and reception alignment adjustment of the laser radar.

[0069] Figure 1 The schematic diagram of the structure of the optical transceiver 1 of the laser radar according to some embodiments of the present disclosure is shown below. Figure 1 The optical transceiver 1 will be described.

[0070] like Figure 1 As shown, the optical transceiver 1 includes a transmitter 10 , a transmitting lens 20 , a receiver 30 and a receiving lens 40 .

[0071] The emitter 10 is configured to emit a light beam. In some embodiments of the present disclosure, the emitter 10 may be a laser or an array of multiple lasers. The laser may be a VCSEL (Vertical Cavity Surface Emitting Laser), an EEL (Edge-Emitting Laser), or a fiber laser.

[0072] The transmitting lens 20 is arranged in the optical path downstream of the transmitter 10, and can collimate the light beam emitted by the transmitter 10 and transmit it toward the outside of the laser radar. The transmitting lens 20 includes one or more transmitting lenses 21, Figure 1 In the figure, it is taken as an example that the emitting lens 20 includes one emitting lens 21. In different embodiments of the present disclosure, the emitting lens 20 may also include multiple emitting lenses 21.

[0073] After the light beam is emitted from the exterior of the lidar, it reflects off the surface of an object, generating an echo. The receiving lens 40 receives the echo produced by the light beam's reflection from the object. After receiving the echo, the receiving lens 40 converges the echo so that it converges onto the receiver 30. The receiver 30 converts the received echo into an electrical signal, from which the lidar's processing device (or computing device) calculates object information, such as distance, reflectivity, and / or speed.

[0074] The receiver 30 may be a detector or an array of multiple detectors. The detector may be a photoelectric sensor that receives light signals and converts them into electrical signals. The detector may be, for example, one or more of a PMT (photomultiplier tube), a PD (photo-diode), an APD (avalanche photo-diode), a SPAD (single-photon avalanche diode), and a SiPM (silicon photomultiplier tube).

[0075] The receiving lens 40 includes one or more receiving lenses. The number and optical parameters of the transmitting lenses in the transmitting lens 20 and the receiving lenses in the receiving lens 40 can be designed based on the optical performance parameters of the laser radar. The number, surface shape, material, refractive index, focal length, etc. of the transmitting and receiving lenses can be the same or different.

[0076] In some embodiments, at least one transmitting lens and at least one receiving lens are formed into one piece, for example Figure 1As shown in , when the transmitting lens 20 includes a transmitting lens 21 and the receiving lens 40 includes a receiving lens 41, the transmitting lens 21 and the receiving lens 41 are formed into one piece. In different embodiments of the present disclosure, the at least one transmitting lens 21 and the at least one receiving lens 41 can be formed into one piece in different ways, which will be described in detail in subsequent embodiments.

[0077] In some embodiments, during the processing and production of the integrated transmitting lens 21 and receiving lens 41, the relative positional relationship between the transmitting lens 21 and the receiving lens 41 can be controlled with high precision, resulting in high processing accuracy. For example, the deviation between the optical axis of the transmitting lens 21 and the optical axis of the receiving lens 41 from a preset distance is less than a preset distance threshold, where the preset distance threshold can be 200 μm, 100 μm, 80 μm, 50 μm, 30 μm, 15 μm, etc. Furthermore, during the processing and production of the integrated transmitting lens 21 and the receiving lens 41, the angle between the optical axes thereof can be controlled with high precision, so that the angular deviation between the optical axis of the transmitting lens 21 and the optical axis of the receiving lens 41 can be less than a preset angle threshold, where the preset angle threshold can be 2°, 1°, 0.5°, 0.1°, 0.05°, etc. After molding, the relative positional relationship between the transmitting lens 21 and the receiving lens 41 remains fixed, and errors such as relative offset and relative rotation will not occur during the assembly of the laser radar, thereby reducing laser radar assembly errors. In some embodiments, when adjusting the transmit and receive alignment of the LiDAR, the transmitting lens 21 and receiving lens 41 can be uniformly adjusted, reducing the number of adjustment steps, difficulty, and cost. Furthermore, the integrated transmitting lens 21 and receiving lens 41 offer greater stability, which helps improve the reliability of the LiDAR. In the embodiments disclosed herein, the integrated transmitting and receiving lens help maintain a constant distance between the optical axes of the transmitting and receiving lenses, maintaining their parallelism.

[0078] The transmitter 10 and receiver 30 are disposed on a circuit board, which provides corresponding power supply and signal transmission functions for the transmitter 10 and receiver 30, such as providing driving voltage and transmission signals for the transmitter, and providing driving voltage and a signal transmission path for the receiver. The transmitter 10 and receiver 30 can be disposed on two separate circuit boards, respectively. The circuit board on which the transmitter 10 is disposed and the circuit board on which the receiver 30 is disposed can be located in the same plane or in different planes, which facilitates increasing the degree of freedom in the design of the internal structure of the laser radar. Furthermore, the relative positional relationship between the circuit board on which the transmitter 10 is disposed and the circuit board on which the receiver 30 is disposed can be adjusted, thereby increasing the adjustment range of the laser radar when performing transceiver alignment adjustments.

[0079] In other embodiments of the present disclosure, Figure 1As shown, the transmitter 10 and receiver 30 can be arranged on the same circuit board 50. In this way, the integration of the laser radar can be improved and the number of circuit boards and connectors between circuit boards in the laser radar can be reduced. At the same time, the transmitter 10 and receiver 30 are arranged on the same circuit board 50, and the transmitter 10 and receiver 30 are uniformly assembled and adjusted, which can reduce the assembly process of the laser radar and reduce the assembly difficulty. In addition, by arranging the transmitter 10 and receiver 30 on the same circuit board 50, the requirements for the relative position accuracy of the transmitter and receiver are converted into requirements for the mechanical processing accuracy of the circuit board or the assembly accuracy of the transmitter / receiver on the circuit board. Therefore, it is beneficial to improve and reduce the distance deviation and angular deviation between the transmitter 10 and receiver 30, so that the relative position relationship between the transmitter 10 and receiver 30 remains fixed, which is beneficial to reduce the assembly error of the laser radar and improve the reliability of the laser radar.

[0080] According to different embodiments of the present disclosure, the at least one transmitting lens 21 and the at least one receiving lens 41 can be formed into one piece in different ways. Figure 2A-2C The embodiment of the present invention shows the implementation of the transmitting lens 21 and the receiving lens 41 as one body. Figure 2A-2C Provide explanation.

[0081] like Figure 2A As shown, in some embodiments of the present disclosure, the at least one transmitting lens 21 and the at least one receiving lens 41 can be formed into one piece by integral injection molding. Figure 2A The shaded part in the figure is the connecting structure 22 between the transmitting lens 21 and the receiving lens 41. For example, the transmitting lens 21, the receiving lens 41 and the connecting structure 22 can be formed in a one-time injection molding process. Correspondingly, in the mold cavity, parts corresponding to the transmitting lens 21, the receiving lens 41 and the connecting structure 22 are respectively included, and the molten material is injected at one time to complete the preparation of the integrated structure. The processing technology in this embodiment is simple, and the transmitting lens 21, the receiving lens 41 and the intermediate connecting structure 22 are made of the same material, and have similar deformation coefficients under mechanical aging, thermal deformation and the like, which is beneficial to improving the environmental adaptability of the laser radar. In other embodiments, the connecting structure 22 between the transmitting lens 21 and the receiving lens 41 can also be Figure 2A Other shapes than those shown in the figure, for example, the side edges of the connecting structure 22 are arc-shaped, convex outward or concave inward.

[0082] In other embodiments of the present disclosure, Figure 2B As shown, the at least one transmitting lens 21 and the at least one receiving lens 41 are formed into one piece by a connection structure 22 which is separately injected. Figure 2BThe shaded area in the middle represents a connection structure 22 that is separately injection molded. For example, the transmitting lens 21 and the receiving lens 41 can be prepared separately, and the transmitting lens 21 and the receiving lens 41 can be placed in a mold cavity so that they are in a preset positional relationship and are connected to each other through the mold cavity corresponding to the connection structure 22; then the molten material is injected into the mold cavity to connect the transmitting lens 21 and the receiving lens 41 into one. In this embodiment, the transmitting lens 21 and the receiving lens 41 can be produced and processed separately with high processing accuracy, and can be made of different materials, so that the transmitting lens 21 and the receiving lens 41 can have different refractive indices, which is beneficial to improve the design freedom of the transmitting lens 20 and the receiving lens 40. In other embodiments, the connection structure 22 that is separately injection molded can also be Figure 2B Other shapes than those shown in FIG, for example, include one or more connecting structures 22.

[0083] In other embodiments of the present disclosure, the at least one transmitting lens 21 and the at least one receiving lens 41 are formed into one piece by gluing or welding. Figure 2C As shown, in order to increase the strength of the connection, the transmitting lens 21 and the receiving lens 41 can be configured to have a frame. Figure 2C The shaded area shown in the figure represents a frame. The frame area can be set to a flat or non-flat shape, and to a light-transmitting or light-opaque structure, for example, for fixing the transmitting lens 21 and the receiving lens 41 therein. The frame of the transmitting lens 21 and the frame of the receiving lens 41 can be formed into one piece by gluing or welding, for example, by gluing or optical adhesive to fix the connection, or by making the frame from a thermoplastic material and welding it. In other embodiments, the transmitting lens 21 and the receiving lens 41 may not be provided with a frame, and the edges of the transmitting lens 21 and the receiving lens 41 may be directly glued or welded to fix them.

[0084] The above embodiments are only some examples of the present disclosure. The at least one transmitting lens 21 and the at least one receiving lens 41 can also be formed into one piece by other means, such as using a prefabricated structural part to fix the transmitting lens 21 and the receiving lens 41, or setting the edges of the transmitting lens 21 and the receiving lens 41 into mutually matching shapes, which can be fixed by plugging or hot-melt fixing after plugging. As long as the relative positions of the two are fixed, these are all within the scope of protection of the present disclosure.

[0085] According to some embodiments of the present disclosure, the angle between the optical axis of at least one transmitting lens 21 in the transmitting lens 20 and the optical axis of at least one receiving lens 41 in the receiving lens 40 is less than a preset angle threshold, where the preset angle threshold may be 2°, 1°, 0.5°, 0.1°, 0.05°, etc. The transmitting lens 21 and receiving lens 41 whose optical axes are substantially parallel are not limited to the transmitting lens 21 and receiving lens 41 formed as one body as described in the aforementioned embodiments, but may also be other transmitting lenses 21 in the transmitting lens 20 and other receiving lenses 41 in the receiving lens 40.

[0086] Figure 3 A side view of an example of an optical transceiver 1 in some embodiments of the present disclosure is shown, wherein the dotted line represents the optical axes of the transmitting lens 21 and the receiving lens 41, which are formed into an integral body. The optical axis of the transmitting lens 21 and the optical axis of the receiving lens 41 are approximately parallel. For example, the angular deviation between the optical axis of the transmitting lens 21 and the optical axis of the receiving lens 41 is no greater than a preset angular deviation threshold, where the preset angular threshold can be 2°, 1°, 0.5°, 0.1°, 0.05°, etc. In some embodiments of the present disclosure, the circuit board 50 is arranged perpendicular to the optical axes of the transmitting lens 21 and the receiving lens 41, which can reduce the difficulty of assembling the laser radar, improve the utilization rate of the transmitter 10 and the receiver 30, and make the light beam (main beam direction) emitted by the transmitter 10 perpendicular to the transmitting lens 21. The same applies to the echo.

[0087] In some embodiments of the present disclosure, the transmitting lens 20 may also include multiple transmitting lenses 21 with overlapping optical axes, and the receiving lens 40 may also include multiple receiving lenses 41 with overlapping optical axes, and the optical axis of the transmitting lens 20 and the optical axis of the receiving lens 40 are roughly parallel. For example, the angular deviation between the optical axis of the transmitting lens 20 and the optical axis of the receiving lens 40 is less than a preset angle threshold. The preset angle threshold can be 2°, 1°, 0.5°, 0.1°, 0.05°, etc., which can enable the transmitter 10 and the receiver 30 to be set on the same plane or the same circuit board 50, which is beneficial to reducing the difficulty of assembling the laser radar and the difficulty of adjusting the transmission and reception alignment of the laser radar.

[0088] In the present disclosure, the transmitter 10 includes at least one laser 11, and the receiver 30 includes at least one detector 31. Figure 4As shown, in some embodiments of the present disclosure, the transmitter 10 includes a plurality of lasers 11 arranged in an array, and the receiver 30 includes a plurality of detectors 31 arranged in an array, wherein the array composed of the plurality of lasers 11 can be a one-dimensional array or a two-dimensional array, and the array composed of the plurality of detectors 31 can be a one-dimensional array or a two-dimensional array. Depending on the structure of the laser radar, the light beam emitted by each laser 11 in the transmitter 10 can cover the field of view of the laser radar in one direction (for example, corresponding to an angle in a vertical plane or a solid angle in space), and the light beams emitted by the plurality of lasers 11 cover part or all of the field of view range of the laser radar (for example, the vertical field of view range, the horizontal field of view range).

[0089] According to some embodiments of the present disclosure, the at least one laser 11 and the at least one detector 31 constitute at least one detection channel. The optical transceiver 1 may include one or more detection channels. A detection channel includes a first laser and a first detector (those skilled in the art will readily understand that the first laser may include one or more lasers 11, and the first detector may also include one or more detectors 31). The echo generated by the light beam emitted by the first laser after being reflected by an object can be recognized by the first detector in the same detection channel and converted into an electrical signal. For example Figure 4 In the figure, a laser 11 and a detector 31 connected by a dotted line constitute a detection channel.

[0090] According to some embodiments of the present disclosure, the difference between the distance between the laser 11 and the detector 31 in a detection channel and the distance between the optical axis of the transmitting lens 21 and the optical axis of the receiving lens 40 is less than a first threshold value, and the value of the first threshold value can be pre-set according to the design accuracy or the allowable error range of the laser radar (for example, the two distances can be made the same within an engineeringly acceptable error range).

[0091] By controlling the distance between the laser 11 and the detector 31, the difficulty of assembling the laser radar can be reduced. For example, by using a high-precision patch process to place the laser 11 and the detector 31 on the same circuit board 50, the distance between the laser 11 and the detector 31 is roughly equal to the distance between the optical axes of the transmitting lens 20 and the receiving lens 40. Even if there is an assembly error between the transmitting lens 21, the receiving lens 41 and the circuit board 50, this assembly error will act equally on both the transmitting and receiving ends, and the transmitting and receiving ends will remain in an aligned state, thus achieving "self-alignment."

[0092] In some embodiments, the transmitter 10 includes an array of multiple lasers 11, wherein the center of the array of lasers 11 (e.g., the laser 11 located in the middle of the multiple lasers 11 arranged in a one-dimensional array) is aligned with the optical axis of the transmitting lens 20. The receiver 30 includes an array of multiple detectors 31, wherein the center of the array of detectors 31 (e.g., the detector 31 located in the middle of the multiple detectors 31 arranged in a one-dimensional array) is aligned with the optical axis of the receiving lens 40.

[0093] Take the laser 11 at the center of the transmitter 10 and the detector 31 at the center of the receiver 30 as an example. Figure 5A and Figure 5B As shown, the position of the laser 11 is aligned with the optical axis of the transmitting lens 20, and the position of the detector 31 is aligned with the optical axis of the receiving lens 41. When assembled correctly, the light beam emitted by the laser 11 is collimated by the transmitting lens 20 and then emitted to the outside of the lidar. After the light beam is reflected by the object, the echo generated can be irradiated by the receiving lens 40 and illuminate the detector 31.

[0094] like Figure 6A and Figure 6B As shown, when an error occurs in the assembly process of the laser radar, the position of the laser 11 deviates from the position of the optical axis of the transmitting lens 20. In this embodiment, the difference between the distance between the laser 11 and the detector 31 and the distance between the optical axis of the transmitting lens 21 and the optical axis of the receiving lens 40 is less than a first threshold value. For example, the distance between the laser 11 and the detector 31 is equal to the distance between the optical axis of the transmitting lens 21 and the optical axis of the receiving lens 40. Therefore, when the laser 11 deviates in one direction relative to the optical axis of the transmitting lens 20, the detector 31 deviates in the same direction relative to the optical axis of the receiving lens 40. The light beam emitted by the laser 11 is collimated by the transmitting lens 20 and then emitted to the outside of the laser radar. The echo generated by the light beam being reflected by the object can still be irradiated onto the detector 31 after passing through the receiving lens 40.

[0095] In an embodiment of the present disclosure, the distance between the laser 11 and the detector 31 of the same detection channel is set to be less than a first threshold value from the distance difference between the optical axis of the transmitting lens 20 and the optical axis of the receiving lens 40. This allows the transmitter 10 and the receiver 30 to move synchronously when the laser radar is assembled. Even if there is a certain assembly error between the transmitter 10 and the receiver 30 and the transmitting lens 20 and the receiving lens 40, the offset of the transmitter 10 relative to the optical axis of the transmitting lens 20 and the offset of the receiver 30 relative to the receiving lens 40 are roughly equal, which enables automatic alignment, reduces the assembly error of the laser radar, and reduces the difficulty of adjusting the transmitting and receiving alignment of the laser radar.

[0096] According to some embodiments of the present disclosure, the difference between the focal length of the transmitting lens 20 and the focal length of the receiving lens 40 is less than a second threshold value, and the second threshold value can be pre-set based on the design accuracy of the laser radar. For example, the focal length of the transmitting lens 20 and the focal length of the receiving lens 40 can be equal.

[0097] In this embodiment, the difference between the focal length of the transmitting lens 20 and the focal length of the receiving lens 40 is less than the second threshold value. When there is an assembly error, for example Figure 6A and Figure 6B As shown in the figure, the position of the transmitter 10 and the position of the receiver 30 deviate from the optical axis of the transmitting lens 20 and the optical axis of the receiving lens 40, and the angle at which the light beam is emitted from the transmitting lens 20 and the angle at which the echo is emitted from the receiving lens 40 change, and the angle changes are roughly equal, which is conducive to achieving automatic alignment, reducing the assembly error of the laser radar, and reducing the difficulty of adjusting the laser radar's transmission and reception alignment.

[0098] Figure 7 A schematic diagram of an example of an optical transceiver 1 including multiple transmitting lenses and multiple receiving lenses in some embodiments of the present disclosure is shown, wherein the transmitting lens 20 includes multiple transmitting lenses 21 (such as transmitting lenses 21a and 21b shown in the figure), and the receiving lens 40 includes multiple receiving lenses 41 (such as receiving lenses 41a and 41b shown in the figure), wherein at least one transmitting lens 21a and at least one receiving lens 41a are formed as one piece. In different embodiments, one or more transmitting lenses 21 in the transmitting lens 20 can be configured to be formed as one piece with one or more receiving lenses 41 in the receiving lens 40; or one or more receiving lenses 41 in the receiving lens 40 can be configured to be formed as one piece with one or more transmitting lenses 21 in the transmitting lens 20.

[0099] According to some embodiments of the present disclosure, the circuit board 50 is configured to be rotatably adjusted relative to the transmitting lens 20 and the receiving lens 40. For example, the circuit board 50 can be rotatably adjusted in a plane perpendicular to the optical axes of the transmitting lens 20 and the receiving lens 40. In some embodiments, the position of the circuit board 50 can remain fixed, and at least one of the transmitting lens 20 and the receiving lens 40 can be controlled to be rotatably adjusted relative to the circuit board 50 in a plane perpendicular to the optical axis. In other embodiments, the circuit board 50, the transmitting lens 20, and the receiving lens 40 can also be controlled to rotate to adjust the angle of the circuit board 50 relative to the transmitting lens 20 and the receiving lens 40.

[0100] According to the above embodiments, within a certain range, the transmitter 10 and the receiver 30 can be automatically aligned when they are offset relative to the optical axis of the transmitting lens 20 and the optical axis of the receiving lens 40, thereby reducing the assembly error of the laser radar. When assembling the laser radar, other assembly errors may still occur, such as Figure 8 As shown in , there is an angular deviation between the circuit board 50 and the transmitting lens 20 and the receiving lens 40, which may affect the performance of the laser radar. In this embodiment, the circuit board 50 is configured to be rotatable and adjustable in a plane perpendicular to the optical axes of the transmitting lens 20 and the receiving lens 40. After the laser radar is assembled, the laser radar can be aligned with the transmitter and receiver by controlling the rotation of the circuit board 50 (for example, in a plane perpendicular to the optical axes of the transmitting lens 20 and the receiving lens 30, the circuit board 50 rotates around the midpoint between the optical axes of the transmitting lens 20 and the receiving lens 40). In other embodiments, the position of the circuit board 50 can also be kept fixed, and at least one of the transmitting lens 20 and the receiving lens 40 can be controlled to rotate relative to the circuit board 50, or the circuit board 50 and the transmitting lens 20 and the receiving lens 40 can all be controlled to rotate.

[0101] Figures 9A-9C A schematic diagram of an example of an optical transceiver 1 including a scanning device 60 and a reflecting device 70 in some embodiments of the present disclosure is shown. The optical transceiver 1 also includes a scanning device 60, wherein the scanning device 60 may include a combination of one or more of a rotating mirror, a swinging mirror, and a MEMS micro-vibration mirror. The scanning device 60 is configured to reflect the collimated light beam emitted by the transmitting lens 20 to the outside of the laser radar and to reflect the echo toward the receiving lens 40. The scanning device 60 rotates or swings to reflect the light beam emitted by the transmitting lens 20 in different directions and reflect the echo to the receiving lens 40, thereby expanding the field of view of the laser radar and facilitating a reduction in the number of transmitters 10 and receivers 30 in the laser radar.

[0102] The optical transceiver 1 in this embodiment is suitable for coaxial laser radar, that is, the optical path through which the light beam emitted by the transmitter 10 propagates and the optical path of the echo generated after the light beam is reflected by an object, the two optical paths at least partially overlap.

[0103] like Figure 9B and Figure 9C As shown, according to some embodiments of the present disclosure, the optical transceiver 1 further includes a reflecting device 70 , which is disposed in the optical path between the transmitting lens 20 , the receiving lens 40 and the scanning device 60 .

[0104] like Figure 9B As shown, the reflecting device 70 includes, for example, a reflector, and the light beam emitted by the transmitting lens 20 is irradiated on the reflector and reflected to the reflective surface of the scanning device 60. The echo is reflected by the reflective surface of the scanning device 60 to the reflector, and after being reflected by the reflector, it is incident on the receiving lens 40.

[0105] In other embodiments of the present disclosure, Figure 9CAs shown, the reflecting device 70 includes a first reflector 70a and a second reflector 70b, respectively, for the outgoing light beam and the returning echo. The first reflector 70a is disposed in the optical path between the transmitting lens 20 and the scanning device 60 to change the direction of the light beam. The second reflector 70b is disposed in the optical path between the scanning device 60 and the receiving lens 40 to change the direction of the echo. The second reflector 70b can be configured to partially transmit the incident light, thereby preventing the second reflector 70b from blocking the light beam.

[0106] Figure 10A and Figure 10B A schematic diagram of an example of an optical transceiver including a light isolation member in some embodiments of the present disclosure is shown, wherein the optical transceiver 1 further includes a light isolation member 80 , which is configured to isolate a light beam from an echo.

[0107] The light beam emitted by transmitter 10 may be reflected by transmitting lens 20 or other surfaces within the LiDAR. After reflection, the light beam may be received by receiver 30, generating an interference signal. Light barrier 80 can isolate the light beam, preventing the light reflected from within the LiDAR from reaching receiver 30, thereby reducing interference and improving LiDAR performance. Light absorbing materials or structures may also be provided on the surface of light barrier 80 to absorb the reflected light from the light beam impinging on it.

[0108] The transmitting lens 20 and the receiving lens 40 can be installed in the lens barrel 90. In different embodiments of the present disclosure, the light isolation sheet 80 can be a separate structure, for example, fixedly set on the circuit board 50, and has a certain height, which can isolate the light reflected from the surface of the transmitting lens 20, such as Figure 10A In other embodiments of the present disclosure, the light barrier 80 may be a part of the lens barrel 90, and the transmitting lens 20 and the receiving lens 40 are arranged outside the lens barrel 90, as shown in FIG. Figure 10B shown.

[0109] The present disclosure also includes a laser radar 3, such as Figure 11 As shown, the laser radar 3 includes the optical transceiver 1 and the processing device 2 as described in the previous embodiment. The processing device 2 can be configured to be signal-connected to the receiver 30 and can determine object information based on the electrical signal output by the receiver 30. For example, the distance between the object reflecting the light beam and the laser radar can be determined based on the flight time of the light beam, or the reflectivity of the object reflecting the light beam can be determined based on the light intensity of the echo.

[0110] Figure 12 A flow chart of an example of a method 100 for manufacturing an optical transceiver according to some embodiments of the present disclosure is shown. In some embodiments of the present disclosure, the optical transceiver may be the optical transceiver 1 in the aforementioned embodiment. Figure 12A method 100 for manufacturing the optical transceiver 1 will be described.

[0111] like Figure 12 In step S101, a transmitting lens and a receiving lens are provided. In this embodiment, the transmitting lens includes one or more transmitting lenses, and the receiving lens includes one or more receiving lenses, and at least one transmitting lens and at least one receiving lens are formed into one body.

[0112] The transmitting lens and the receiving lens can be pre-designed according to the use requirements of the laser radar. For example, one or more transmitting lenses and one or more receiving lenses are provided, and the transmitting lenses are combined into a transmitting lens and the receiving lenses are combined into a receiving lens according to a pre-designed sequence.

[0113] The manner in which at least one transmitting lens and at least one receiving lens are formed into one piece can refer to the different manners in which the transmitting lens 21 and the receiving lens 41 are formed into one piece in the aforementioned embodiment.

[0114] In this step, according to different embodiments of the present disclosure, at least one transmitting lens and at least one receiving lens can be formed into one piece by one-piece injection molding, and a mold that conforms to the surface shape of the transmitting lens, the surface shape of the receiving lens and the connection structure between the transmitting lens and the receiving lens is provided, and an integrated transmitting lens and receiving lens are formed by injection molding.

[0115] Alternatively, at least one independent transmitting lens and at least one independent receiving lens are provided, and a separately injection-molded connecting structure is provided, and the transmitting lens, receiving lens and connecting structure are combined into a whole.

[0116] According to other embodiments of the present disclosure, at least one transmitting lens and at least one receiving lens may be provided, and the transmitting lens and the receiving lens may be formed into a whole by gluing or welding.

[0117] In some embodiments of the present disclosure, a transmitting lens includes multiple transmitting lenses, which may be pre-integrated into one piece, for example, by gluing or fixing them by other structures. The transmitting lens may also include one or more independent transmitting lenses. A receiving lens includes multiple receiving lenses, which may be pre-integrated into one piece, for example, by gluing or fixing them by other structures. The receiving lens may also include one or more independent receiving lenses.

[0118] In step S102, a transmitter and a receiver are mounted on a circuit board. The transmitter may include one or more lasers, and the receiver may include one or more detectors. In this step, the one or more lasers and the one or more detectors may be soldered sequentially to predetermined locations on the circuit board. According to other embodiments, a pre-packaged laser array and detector array may be provided, and the laser array and detector array patches may be mounted at predetermined locations on the circuit board. Pre-packaging the laser array and detector array may help improve the accuracy of the transmitter and receiver.

[0119] According to some embodiments of the present disclosure, in this step, the transmitter and the receiver are installed on the same circuit board, which is beneficial to reducing the number of circuit boards in the laser radar, and can reduce the distance deviation and angle deviation between the transmitter and the receiver, reduce the assembly difficulty of the laser radar, reduce assembly errors, and simplify the process of laser radar transceiver alignment adjustment.

[0120] In step S103, the circuit board is fixed relative to the transmitting lens and the receiving lens. In this step, the transmitting lens and the receiving lens can be fixed to the circuit board by gluing, welding, or snapping. The position of the transmitting lens is determined based on the position of the transmitter, for example, by aligning the optical axes of the transmitter and the transmitting lens. The position of the receiving lens is determined based on the position of the receiver, for example, by aligning the optical axes of the receiver and the receiving lens.

[0121] According to some embodiments of the present disclosure, step S101 also includes that the optical axes of at least one transmitting lens in the transmitting lens and at least one receiving lens in the receiving lens are roughly parallel, for example, the angular deviation between the optical axis of the transmitting lens and the optical axis of the receiving lens is less than a preset angle threshold, and the preset angle threshold can be 2°, 1°, 0.5°, 0.1°, 0.05°, etc., which is conducive to reducing the difficulty of assembling the laser radar and the difficulty of aligning and adjusting the transmission and reception of the laser radar, and can improve the utilization rate of the transmitter and receiver.

[0122] In some embodiments of the present disclosure, the transmitter includes multiple lasers, and the receiver includes multiple detectors. At least one laser and at least one detector may constitute at least one detection channel, where a detection channel includes a first laser and a first detector. Within a detection channel, the echo generated by the light beam emitted by the first laser, after being reflected by an object, can be recognized and received by the first detector in the same detection channel.

[0123] In step S102, the difference between the distance between the first laser and the first detector in a detection channel and the distance between the optical axis of the transmitting lens and the optical axis of the receiving lens is less than a first threshold, and the value of the first threshold can be pre-set according to the design accuracy of the laser radar.

[0124] For example, the distance between the laser and detector is roughly equal to the distance between the optical axes of the transmitting and receiving lenses, which can reduce LiDAR assembly errors. Furthermore, during LiDAR assembly, even if the laser deviates from the optical axis of the transmitting lens, the relative position of the detector and laser remains fixed, with the detector deviating in the same direction relative to the optical axis of the receiving lens. This enables automatic alignment, reduces LiDAR assembly errors, and simplifies the difficulty of adjusting the LiDAR's transceiver alignment.

[0125] According to some embodiments of the present disclosure, the difference between the focal length of the transmitting lens and the focal length of the receiving lens is less than a second threshold, and the second threshold may be, for example, the second threshold in the aforementioned embodiment.

[0126] In this embodiment, when errors occur in the assembly of the laser radar, the position of the transmitter and the position of the receiver deviate from the optical axis of the transmitting lens and the optical axis of the receiving lens, the focal length of the transmitting lens and the focal length of the receiving lens are relatively close, and the change in the output angle of the light beam after being deflected by the transmitting lens is roughly equal to the change in the output angle of the echo after being deflected by the receiving lens. Automatic alignment can be achieved, reducing the assembly error of the laser radar and reducing the difficulty of adjusting the transmission and reception alignment of the laser radar.

[0127] Figure 13 A flow chart of an example of a method 200 for manufacturing an optical transceiver according to some embodiments of the present disclosure is shown, wherein steps S201, S202 and S204 are substantially the same as steps S101, S102 and S103 in the method 100 for manufacturing an optical transceiver in the aforementioned embodiment, and are not repeated herein.

[0128] In step S203, in a plane perpendicular to the optical axes of the transmitting lens and the receiving lens, the circuit board or at least one of the transmitting lens and the receiving lens is rotated and adjusted to adjust the angle between the circuit board and the transmitting lens and the receiving lens. During the assembly of the laser radar, the assembly error between the transmitter and the receiver, and the transmitting lens and the receiving lens may be an offset distance in a plane perpendicular to the optical axes of the transmitting lens and the receiving lens, or an offset angle in a plane perpendicular to the optical axes of the transmitting lens and the receiving lens. In some embodiments of the present disclosure, automatic alignment can be achieved by controlling the distance between the laser and the detector, and the focal length of the transmitting lens and the receiving lens, so that the offset distance can be eliminated within a certain range.

[0129] In some embodiments, the circuit board can be controlled to rotate and adjust within a plane perpendicular to the optical axes of the transmitting lens and the receiving lens so that the position of the transmitter matches the optical axis of the transmitting lens, and the optical axis of the receiver matches the optical axis of the receiving lens. For example, the position of the transmitter is aligned with the optical axis of the transmitting lens, and the optical axis of the receiver is aligned with the optical axis of the receiving lens. In other embodiments, the position of the circuit board can be kept fixed, and at least one of the transmitting lens and the receiving lens can be controlled to rotate relative to the circuit board, or the circuit board, the transmitting lens, and the receiving lens can be controlled to rotate to adjust the angle between the circuit board and the transmitting lens and the receiving lens.

[0130] After the angles between the circuit board and the transmitting lens and the receiving lens are adjusted by rotation to reduce or eliminate the assembly error of the laser mine, in step S204, the circuit board is fixed relative to the transmitting lens and the receiving lens.

[0131] According to one embodiment of the present disclosure, the manufacturing method 100 or 200 further includes: securing the transmitting lens and the receiving lens within a lens barrel. In this embodiment, the transmitting lens and the receiving lens can be secured within the lens barrel. For example, the transmitting lens and the receiving lens can be installed within the lens barrel in a predetermined order and orientation. In some embodiments, a light barrier can be provided within the lens barrel or between the lens barrel and the circuit board to isolate the light beam and the echo, thereby reducing interference signals.

[0132] According to an embodiment of the present disclosure, step S103 or S204 further includes: fixing the lens barrel on the circuit board, for example, by gluing or welding.

[0133] Finally, it should be noted that the above descriptions are merely examples of the present disclosure and are not intended to limit the present disclosure. Although the present disclosure has been described in detail with reference to the aforementioned examples, those skilled in the art will be able to modify the technical solutions described in the aforementioned examples or substitute equivalents for some of the technical features. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present disclosure shall be included within the scope of protection of the present disclosure.

Claims

1. An optical transceiver for a laser radar, characterized in that: include: an emitter configured to emit a light beam; A transmitting lens, wherein the transmitting lens is configured to collimate the light beam and transmit the light beam toward the outside of the laser radar; Receiver; a receiving lens configured to receive an echo generated after the light beam is reflected by an object and converge the echo onto the receiver, wherein the receiver is configured to convert the echo into an electrical signal; The transmitting lens includes one or more transmitting lenses, and the receiving lens includes one or more receiving lenses, wherein at least one transmitting lens and at least one receiving lens are formed into one piece.

2. The optical transceiver according to claim 1, wherein: The transmitter and the receiver are arranged on the same circuit board.

3. The optical transceiver according to claim 1, wherein: The at least one transmitting lens and the at least one receiving lens are formed into one piece by integral injection molding; or The at least one transmitting lens and the at least one receiving lens are formed into one piece by a connection structure which is separately injected; or The at least one transmitting lens and the at least one receiving lens are formed into one piece by gluing or welding.

4. The optical transceiver according to claim 1, wherein: The angle between the optical axis of at least one transmitting lens in the transmitting lens and the optical axis of at least one receiving lens in the receiving lens is less than an angle threshold.

5. The optical transceiver according to claim 1, wherein: The transmitter includes at least one laser and the receiver includes at least one detector.

6. The optical transceiver according to claim 5, wherein: The at least one laser and the at least one detector constitute at least one detection channel, and one detection channel includes a first laser and a first detector, wherein the difference between the distance between the first laser and the first detector and the distance between the optical axis of the transmitting lens and the optical axis of the receiving lens is less than a first threshold.

7. The optical transceiver according to any one of claims 1 to 6, characterized in that: The difference between the focal length of the transmitting lens and the focal length of the receiving lens is less than a second threshold.

8. The optical transceiver according to any one of claims 1 to 6, wherein the transmitting lens comprises a plurality of transmitting lenses, and the receiving lens comprises a plurality of receiving lenses.

9. The optical transceiver according to claim 2, wherein: In a plane perpendicular to the optical axes of the transmitting lens and the receiving lens, the circuit board or at least one of the transmitting lens and the receiving lens can be rotatably adjusted.

10. The optical transceiver according to any one of claims 1 to 6, characterized in that: The optical transceiver also includes a scanning device, which is configured to reflect the collimated light beam to the outside of the laser radar and reflect the echo toward the receiving lens.

11. The optical transceiver according to claim 10, wherein: The optical transceiver further includes a reflecting device, which is arranged in the optical path between the transmitting lens, the receiving lens and the scanning device to change the direction of the light beam and the echo.

12. The optical transceiver according to claim 11, wherein: The reflecting device includes a first reflector and a second reflector, wherein the first reflector is arranged in the optical path between the transmitting lens and the scanning device to change the direction of the light beam; the second reflector is arranged in the optical path between the receiving lens and the scanning device to change the direction of the echo.

13. The optical transceiver according to any one of claims 1 to 6, characterized in that: The optical transceiver further includes a light isolation member configured to isolate the light beam from the echo.

14. A laser radar, characterized in that: include: The optical transceiver according to any one of claims 1 to 13; and The processing device is configured to determine information of the object based on the electrical signal.

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