Laser radar receiving module, laser radar and electronic equipment

Abstract

The application provides a laser radar receiving module, a laser radar and an electronic device, and belongs to the technical field of laser radars. The laser radar receiving module comprises a receiving lens, a light guide unit, a reflecting unit and a detector. The light inlet surface of the light guide unit coincides with the focal plane of the receiving lens. The reflecting unit is located on the light inlet side of the light guide unit, and is used for reflecting the light beam emitted by the receiving lens to the inside of the light guide unit. The detector is located on the light outlet side of the light guide unit, and is used for receiving the light beam emitted by the light guide unit. In this way, the near-field blind area can be reduced, and the near-distance detection precision can be improved.

Description

Technical Field

[0001] This application relates to the field of lidar technology, and in particular to a lidar receiving module, lidar, and electronic equipment. Background Technology

[0002] A lidar system comprises a receiving module, a transmitting module, and a signal processing module. The transmitting module emits pulsed laser light into the surrounding space as a detection signal. The receiving module collects the echo signal reflected by the target object. The signal processing module compares the detection signal with the echo signal to obtain information such as the target object's distance, orientation, and velocity relative to the lidar. In related technologies, the lidar's transmitting and receiving optical paths are rotated 360° by a motor to achieve omnidirectional horizontal scanning. However, lidar in these technologies has a large near-field blind zone, resulting in low accuracy at close range. Utility Model Content

[0003] This application provides a lidar receiving module, lidar, and electronic device, which can reduce the near-field blind zone and improve the accuracy of near-range detection.

[0004] In a first aspect, embodiments of this application provide a lidar receiving module, which includes a receiving lens, a light guide unit, a reflecting unit, and a detector. The light-incident surface of the light guide unit coincides with the focal plane of the receiving lens. The reflecting unit is located on the light-incident side of the light guide unit and is used to reflect the light beam emitted from the receiving lens into the interior of the light guide unit. The detector is located on the light-outcident side of the light guide unit and is used to receive the light beam emitted from the light guide unit.

[0005] In this embodiment, the size of the receiving field of view is determined by the effective receiving size of the light guide unit. By controlling the effective receiving size of the light guide unit, the receiving field of view of the LiDAR receiving module can be designed as a large receiving field of view, which can reduce the near-field blind zone and improve the near-range detection accuracy. Furthermore, the distribution range of the receiving field of view depends on the tilt angle of the reflecting unit. By controlling the tilt angle of the reflecting unit, the distribution range of the receiving field of view can be controlled to meet the needs of various scenarios, such as a forward-facing field of view. In addition, the number of receiving lenses and detectors is only one, which reduces the difficulty of miniaturization and integration of the LiDAR, lowers the hardware cost of the LiDAR, and also reduces the difficulty of backend algorithm processing.

[0006] In some possible implementations, the light beam incident on the interior of the light guide unit undergoes multiple reflections at the reflective interface of the light guide unit.

[0007] In this way, the light guide unit has a certain light field homogenization effect, which makes the energy distribution of the light beam emitted from the light guide unit to each field of view of the detector more uniform, and all of them can be received by the photosensitive surface of the detector. The installation of each component in the lidar receiving module can rely on the structural tolerance to ensure accuracy. The assembly and adjustment tolerance of each component is large, supporting passive installation, avoiding the coupling process, and improving production efficiency and product yield.

[0008] In some possible implementations, the light guide unit includes a core and a cladding, with the cladding fitted over the core and the cladding having a refractive index lower than that of the core.

[0009] In this way, the light guiding unit is designed with a high core-to-cladding ratio fiber structure, which ensures high reliability and enables efficient, low-loss transmission of spatial light. Furthermore, existing passive fiber fabrication processes can be reused, allowing for low-cost, batch production using fiber drawing towers, which is more conducive to mass production.

[0010] In some possible implementations, the difference between the refractive index of the core and the refractive index of the cladding is greater than or equal to 0.001 and less than or equal to 0.1.

[0011] This allows the light beam inside the light guide unit to undergo total internal reflection at the interface between the fiber core and the cladding, reducing energy loss.

[0012] In some possible implementations, the light guide unit is used to propagate the light beam from the reflective unit to the detector in a total internal reflection manner.

[0013] This reduces energy loss and improves receiving efficiency and ranging accuracy.

[0014] In some possible implementations, the light guide unit is a light guide post made of the same material.

[0015] In this way, the structure of the light guide unit is simple, which can reduce the cost of the light guide unit.

[0016] In some possible implementations, the light-emitting surface of the light guide is convex.

[0017] In this way, when the diameter of the photosensitive surface of the detector is small, the emitted beam of the light guide column can be focused, allowing more energy to be received by the photosensitive surface of the detector, thereby improving the receiving efficiency and ranging accuracy.

[0018] In some possible implementations, the light guide unit is a cylinder.

[0019] This reduces the manufacturing difficulty of the light guide unit. Furthermore, placing the light guide unit inside the housing hole of the rotating shaft reduces the difficulty of placing the light guide unit inside the housing hole.

[0020] In some possible implementations, the lidar receiving module also includes a carrier having a through hole, and the light guiding unit is an annular reflective film attached to the inner wall of the through hole.

[0021] This reduces the amount of material needed for the light guide unit and lowers manufacturing costs.

[0022] In some possible implementations, the lidar receiving module also includes a driving component, which includes a rotating shaft that serves as a load-bearing component.

[0023] This improves the utilization rate of the rotating shaft, reduces the number of parts, and lowers costs.

[0024] In some possible implementations, the reflecting unit is a mirror.

[0025] This reduces the cost of the reflector unit, thereby reducing the cost of the lidar receiver module.

[0026] In some possible implementations, the reflecting unit and the receiving lens are integrated into one structure.

[0027] This reduces the number of parts in the lidar receiver module, lowering assembly and adjustment difficulty and cost.

[0028] In some possible implementations, the lidar receiving module also includes a convex lens. The convex lens is located between the light guide unit and the detector, or it may be positioned on the detector. The convex lens is used to converge the light beam emitted from the light guide unit onto the detector.

[0029] This allows the light beam emitted from the light guide unit to be focused, enabling more energy to be received by the photosensitive surface of the detector, thus improving reception efficiency and ranging accuracy. Additionally, it reduces the manufacturing cost of the lidar receiver module.

[0030] In some possible implementations, the lidar receiver module also includes a driving component. The receiving lens, reflecting unit, and light guiding unit are respectively mounted on the driving component, which drives the receiving lens and reflecting unit to rotate synchronously around the same rotation axis.

[0031] This allows for a 360° full scan in the horizontal direction.

[0032] In some possible implementations, the driving component includes a fixed component and a rotating component. The rotating component carries the receiving lens and the reflecting unit and is used to rotate relative to the fixed component to drive the receiving lens and the reflecting unit to rotate synchronously about the same axis of rotation.

[0033] In this way, integrating the reflector and the receiving lens onto the rotating component reduces the number of parts in the drive unit, which helps to miniaturize the lidar receiving module.

[0034] In some possible implementations, the rotating component also carries a light guide unit, which drives the light guide unit, receiving lens, and reflecting unit to rotate synchronously around the same rotation axis.

[0035] In this way, integrating the light guide unit onto the rotating component reduces the number of parts in the drive component, which helps to miniaturize the lidar receiver module.

[0036] In some possible implementations, at least a portion of the receiving lens, the reflecting unit, and the light guiding unit are all located inside the rotating component.

[0037] In this way, the receiving optical system, consisting of the receiving lens, the reflecting unit, and the light guiding unit, is integrated onto the driving component, realizing the integrated and miniaturized design of the lidar.

[0038] In some possible implementations, the rotating component includes a rotating shaft with a receiving hole extending through the rotating shaft along its axial direction, and the light guide unit is located inside the receiving hole.

[0039] This improves the integration of the light guide unit and the driving components, which helps to reduce the size of the lidar receiver module.

[0040] Secondly, embodiments of this application provide a lidar, which includes a lidar transmitting module and a lidar receiving module as described in any of the first aspects.

[0041] Thirdly, embodiments of this application provide an electronic device that includes a lidar as described in the second aspect.

[0042] In some possible implementations, the electronic device includes a display, with the lidar mounted on the outer bezel of the display.

[0043] In some possible implementations, the scanning range of the lidar covers the display area of ​​the monitor.

[0044] Fourthly, embodiments of this application provide an electronic system comprising a lidar as described in the second aspect above and an electronic device for communicating with the lidar. The electronic device can realize corresponding functional scenarios through communication and interaction with the lidar. For example, when the electronic device is a smart screen, the smart screen can acquire real-time collected data through communication with the lidar to enable handwriting or touch interaction between the user and the screen. Attached Figure Description

[0045] Figure 1 This is a schematic diagram of the system architecture of lidar in related technologies;

[0046] Figure 2This application provides a schematic diagram of a touch screen using a LiDAR in an embodiment of the present application;

[0047] Figure 3 for Figure 2 The diagram shows the receiving field of view in a lidar touch control scenario.

[0048] Figure 4 An exploded view of a lidar receiving module provided in an embodiment of this application;

[0049] Figure 5 for Figure 4 The diagram shows a cross-sectional view of the lidar receiver module.

[0050] Figure 6 for Figure 4 The diagram shows the architecture of the lidar receiver module.

[0051] Figure 7 for Figure 5 The diagram shows the size and distribution range of the receiving field of view of the lidar receiving module.

[0052] Figure 8 A schematic diagram of the architecture of a lidar receiving module provided in an embodiment of this application;

[0053] Figure 9 A schematic diagram of another reflected light path of the prism provided in an embodiment of this application;

[0054] Figure 10 for Figure 4 A three-dimensional structural diagram of the light guide unit in the image;

[0055] Figure 11 A three-dimensional structural schematic diagram of a light guide unit provided in an embodiment of this application;

[0056] Figure 12 A three-dimensional structural schematic diagram of a light guide unit provided in an embodiment of this application;

[0057] Figure 13 A three-dimensional structural schematic diagram of a light guide unit provided in an embodiment of this application;

[0058] Figure 14 A schematic diagram of the architecture of a lidar receiving module provided in an embodiment of this application;

[0059] Figure 15 A schematic diagram of a light guide unit provided in an embodiment of this application;

[0060] Figure 16 This is a schematic diagram of the structure of a lidar receiving module provided in an embodiment of this application;

[0061] Figure 17 This is a schematic diagram of the structure of a lidar receiving module provided in an embodiment of this application;

[0062] Figure 18 This is a schematic diagram of the structure of a lidar receiving module provided in an embodiment of this application.

[0063] Explanation of reference numerals in the attached figures:

[0064] 100. LiDAR;

[0065] 110. LiDAR receiver module;

[0066] 200. Monitor;

[0067] 300. Target object;

[0068] 10. Receiving lens;

[0069] 20. Reflection unit;

[0070] 30. Light guide unit; 30a. Light-inlet surface; 30b. Light-outlet surface; 31. Fiber core; 32. Cladding;

[0071] 40. Detector;

[0072] 50. Drive component; 51. Housing; 511. Opening; 52. Reflector unit bracket; 53. Motor; 531. Rotating shaft; 532. Storage hole;

[0073] 60. Fixed bracket;

[0074] 70. Circuit board;

[0075] 80. Convex lens;

[0076] 91. Shielding cover; 92. Filter; 93. Connecting bracket. Detailed Implementation

[0077] The terminology used in the implementation section of this application is for the purpose of explaining specific embodiments of this application only, and is not intended to limit this application.

[0078] The following provides a detailed description of the terminology that may be involved in the embodiments of this application.

[0079] LiDAR (Light Detection and Ranging): A ranging system. Its working principle is as follows: a light source (usually a laser) emits a beam of light (laser) towards the target, and a detector receives the light reflected from the target. A timer (system clock) calculates the time difference between light reflection and reception, and the target distance can be calculated based on this time difference and the speed of light.

[0080] Avalanche photodetector: A high-performance photodetector that utilizes the semiconductor avalanche multiplication effect to amplify optical signals. Its core working principle is to apply a reverse bias voltage close to the breakdown voltage so that photogenerated carriers can gain sufficient kinetic energy in a strong electric field. Through collision ionization, secondary electron-hole pairs are generated, forming a carrier avalanche multiplication effect, achieving a photocurrent gain of 10-1000 times.

[0081] Total internal reflection: an optical phenomenon in which light traveling from a denser medium (higher refractive index) to a less dense medium (lower refractive index) is reflected back to the original medium when the angle of incidence exceeds the critical angle.

[0082] Focal plane: The plane in space where parallel light rays at different angles converge after refraction by a lens. For a convex lens, the focal plane is the plane containing the real image.

[0083] Focal point: The point where light rays parallel to the principal axis converge after passing through a lens (convex lens) or the intersection of the backward extensions of its diverging rays (concave lens).

[0084] Figure 1 This is a schematic diagram of the system architecture of lidar in related technologies.

[0085] Currently, such as Figure 1 As shown, a typical lidar system consists of a transmitting module, a receiving module, and a signal processing module. The transmitting module includes a laser and a transmitting optical unit, while the receiving module includes a detector and a receiving optical unit. The working principle of a lidar is as follows: the transmitting module emits pulsed laser light into the surrounding space as a detection signal; the receiving module collects the echo signal reflected by the target object; and the signal processing module compares the detection signal with the echo signal to obtain information such as the target object's distance, orientation, and velocity relative to the lidar.

[0086] In related technologies, lidar is typically a mechanically rotating type. Mechanically rotating lidar uses a motor to drive the transmitting and receiving optical paths to rotate 360°, achieving omnidirectional horizontal scanning. Mechanically rotating lidar can have a coaxial or non-coaxial architecture. When it's coaxial, the transmitting and receiving optical paths are on the same optical axis, and the laser and detector are separated by a beam splitter. At close range, stray light interference leads to a low signal-to-noise ratio and a blind zone. When it's non-coaxial, the transmitting and receiving optical paths are physically separated, resulting in a high signal-to-noise ratio, but a blind zone exists at close range due to geometric limitations. Therefore, in related technologies, lidar has a large near-field blind zone, leading to lower near-range detection accuracy.

[0087] Furthermore, in related technologies, the detectors of lidar are typically fast-response avalanche photodetectors. The photosensitive surface diameter of these avalanche photodetectors is generally less than 500 μm, resulting in a receiving module with a vertical receiving field of view of only 0.x°. This also leads to a large near-field blind zone in lidar, resulting in low near-range detection accuracy. In addition, avalanche photodetectors are highly sensitive to the assembly and adjustment tolerances of their components, making lidar assembly difficult and yielding low success rates.

[0088] In addition, in related technologies, the distribution range of the receiving field of view of lidar in the vertical direction is (-0.5x°, 0.5x°), which cannot meet the needs of special application scenarios.

[0089] To reduce the near-field blind zone, in one embodiment, the receiving module includes a detector group and a receiving lens group. The detector group includes multiple detectors arranged in an array on the focal plane of the receiving lens group. The receiving lens group includes multiple lenses arranged sequentially along the optical axis of the receiving lens group, which can efficiently receive the echo signal from the lidar, thereby increasing the receiving field of view, reducing the near-field blind zone, and improving near-range detection accuracy. Furthermore, arranging multiple detectors on the focal plane of the receiving lens group can also increase the receiving field of view of the receiving module, reduce the near-field blind zone, and improve near-range detection accuracy.

[0090] However, the receiving lens group, composed of multiple lenses, results in higher manufacturing costs, increased size of the receiving optical system, and increased difficulty in optical assembly, hindering the miniaturization and integration design of lidar. Furthermore, placing multiple detectors on the focal plane of the receiving lens group increases hardware costs; the array needs to process a large number of signals in real time, increasing the complexity of algorithm processing; and the calibration and standardization of multiple detectors also increases production costs.

[0091] In view of this, embodiments of this application provide a lidar receiving module 110, a lidar 100, and an electronic device. The lidar receiving module 110 can achieve a large receiving field of view without using a lens group composed of multiple lenses or a detector array composed of multiple detectors, thereby achieving high short-range detection accuracy. Furthermore, the distribution range of the receiving field of view of the lidar receiving module 110 does not need to be symmetrical, which can meet the needs of special scenarios. In addition, using a single receiving lens 10 and a single detector 40 can reduce the cost and assembly difficulty of the lidar receiving module 110, and can meet the miniaturization design requirements of the lidar 100.

[0092] In this embodiment, the lidar 100 includes a lidar transmitting module and a lidar receiving module 110. The lidar transmitting module emits a detection beam to the surrounding area. Upon illuminating a target object 300, the detection beam is reflected. The lidar receiving module 110 receives the reflected beam from the target object 300, processes the received beam, and obtains information such as the distance, orientation, and speed of the target object 300 relative to the lidar 100.

[0093] The lidar 100 provided in this application embodiment can be applied to fields such as robots, smart home devices, smart manufacturing equipment, drones or smart transportation equipment (such as automated guided vehicles (AGVs) or unmanned vehicles), and security.

[0094] This application also provides an electronic device, which includes a LiDAR 100. The electronic device may include, but is not limited to, smart screen TVs, security equipment, drones, intelligent manufacturing equipment, etc.

[0095] It should be noted that, in addition to its application in electronic devices, the lidar 100 can also be installed on vehicles in some embodiments. These vehicles can include automobiles, ships, recreational vehicles, amusement park vehicles, construction equipment, trams, golf carts, airplanes, and trains, etc.

[0096] Figure 2 This application provides a schematic diagram of touch control using a LiDAR 100 on a display 200.

[0097] In some possible implementations, such as Figure 2 As shown, the electronic device includes a display 200 and a lidar 100, with the lidar 100 mounted on the outer frame of the display 200.

[0098] For example, such as Figure 2 As shown, the lidar 100 is mounted on the top side of the display 200. Of course, the lidar 100 can also be mounted on other sides of the display 200, for example, the lidar 100 can also be mounted on the bottom, left or right side of the display 200.

[0099] like Figure 2As shown, the LiDAR 100 is mounted on the outer frame of the display 200. The target object 300 can be a touch tool or a finger. At this time, the LiDAR 100 emits a detection beam into the surrounding space. After the detection beam shines on the target object 300, the distance and angle of the target object 300 relative to the LiDAR 100 can be obtained after signal processing based on the reflected beam returning to the LiDAR 100, thereby realizing touch and handwriting functions to improve the user experience.

[0100] For example, the detection beam can perform a 360° rotation scan in the horizontal direction, while the LiDAR 100 can receive the reflected beam from the target object 300. Thus, the scanning range of the LiDAR 100 covers the display area of ​​the display 200, improving the user experience. Optionally, in some designs, the detection beam can also perform a 180° rotation scan, or other angle ranges depending on the specific application scenario and interaction experience; or even dynamically adjust the scanning angle range during execution based on changes in the interaction scenario or user intent.

[0101] Figure 3 shows a schematic diagram of the receiving field of view of the LiDAR 100 touch scene.

[0102] In some possible implementations, the distribution range of the receiving field of view of the lidar 100 in the vertical direction is (0, θ), where θ is the size of the receiving field of view of the lidar 100 in the vertical direction.

[0103] In this way, the receiving field of view of the LiDAR 100 in the vertical direction is the front field of view, which meets the user's needs for touch and handwriting operations on the front of the display 200 and improves the user experience.

[0104] Of course, the distribution range of the receiving field of view of the lidar 100 in the vertical direction can be non-positive in addition to being positively distributed. For example, the distribution range of the receiving field of view of the lidar 100 in the vertical direction can also be (-0.5θ, 0.5θ), and the receiving field of view of the lidar 100 in the vertical direction can also be symmetrically distributed.

[0105] The lidar receiving module 110 provided in this application embodiment will be described in detail below with reference to specific embodiments.

[0106] Figure 4 An exploded view of the first type of lidar receiving module 110 provided in the embodiments of this application. Figure 5 for Figure 4 The diagram shows a cross-sectional view of the lidar receiver module 110. Figure 6 for Figure 4 The diagram shows the architecture of the lidar receiver module 110.

[0107] like Figure 4 , Figure 5 As shown, the lidar receiving module 110 includes a receiving lens 10, a light guide unit 30, a reflecting unit 20, a detector 40, and a driving component 50. The centers of the light guide unit 30, the reflecting unit 20, and the detector 40 are aligned on the same straight line. The light-entry surface 30a of the light guide unit 30 coincides with the focal plane of the receiving lens 10, thereby focusing the light beam emitted from the receiving lens 10 onto the light-entry surface 30a of the light guide unit 30. The reflecting unit 20 is located on the light-entry side of the light guide unit 30 and is used to reflect the light beam emitted from the receiving lens 10 into the interior of the light guide unit 30. The detector 40 is located on the light-exit side of the light guide unit 30 and is used to receive the light beam emitted from the light guide unit 30. The driving component 50 carries the receiving lens 10, the reflecting unit 20, and the light guide unit 30.

[0108] In addition to components such as the receiving lens 10, light guiding unit 30, reflecting unit 20, detector 40, and driving component 50, the lidar 100 may also include other components, such as... Figure 4 , Figure 5 As shown, the lidar receiving module 110 may further include a fixed bracket 60, a circuit board 70, a shielding cover 91, and a filter 92. The fixed bracket 60 supports the circuit board 70 and the driving component 50. The detector 40 is electrically connected to and fixedly connected to the circuit board 70. The shielding cover 91 is fixedly connected to the circuit board 70. The detector 40 and the filter 92 are located inside the shielding cover 91. The filter 92 is located between the light-transmitting hole of the shielding cover 91 and the detector 40. The light beam emitted from the light guiding unit 30 enters the filter 92 through the light-transmitting hole, and the detector 40 receives the light beam emitted from the filter 92.

[0109] In addition to being disposed inside the shielding cover 91, in some embodiments the filter 92 may also be disposed outside the shielding cover 91.

[0110] It should be noted that, considering the influence of assembly tolerances between the components of the lidar receiving module 110, a certain error is allowed between the light-guiding unit 30's light-incident surface 30a and the focal plane of the receiving lens 10. The light-guiding unit 30's light-incident surface 30a and the focal plane of the receiving lens 10 do not have to be absolutely coincident. For example, the light-guiding unit 30's light-incident surface 30a and the focal plane of the receiving lens 10 can be set at intervals, or the light-guiding unit 30's light-incident surface 30a and the focal plane of the receiving lens 10 can intersect and be set at an angle.

[0111] It should also be noted that, considering the influence of assembly tolerances between the components of the lidar 100, a certain error is allowed between any two of the centers of the reflective unit 20, the light guide unit 30, and the detector 40.

[0112] like Figure 6 As shown, the number of receiving lens 10 and detector 40 can both be set to one, which can reduce the difficulty of miniaturization and integration of lidar 100, reduce the hardware cost of lidar 100, and also reduce the difficulty of back-end algorithm processing.

[0113] like Figure 6 As shown, during the use of the lidar receiver module 110, the receiver lens 10 collects the reflected beam (such as...) reflected from the target object 300 to the lidar 100. Figure 6 (Solid arrow in the middle) The reflected beam, after passing through the reflection unit 20, converges to the light-receiving surface 30a of the light-guiding unit 30 and enters the interior of the light-guiding unit 30. The light-guiding unit 30 can propagate the beam from the reflection unit 20 to the photosensitive surface of the detector 40. Since the light-receiving surface 30a of the light-guiding unit 30 coincides with the focal plane of the receiving lens 10, reflected beams from different fields of view are focused on different areas of the light-receiving surface 30a of the light-guiding unit 30.

[0114] Figure 7 for Figure 5 The diagram shows the size and distribution range of the receiving field of view of the lidar receiving module 110.

[0115] from Figure 7 The size θ of the receiving field of view can be obtained as:

[0116]

[0117] Where f is the equivalent focal length of the receiving lens 10, and D is the effective receiving size of the light guide unit 30.

[0118] Since the light-guiding surface 30a of the light-guiding unit 30 is located at the focal plane of the receiving lens 10, we can obtain: f≈h1+h2. Here, h1 is the distance from the center of the receiving lens 10 to the center of the reflecting unit 20. Therefore, f is a constant.

[0119] Therefore, the size of the receiving field of view θ depends on the size of the effective receiving size D of the light guide unit 30. By controlling the size of the effective receiving size D of the light guide unit 30, the receiving field of view of the lidar receiving module 110 can be designed as a large receiving field of view, which can reduce the near-field blind zone and improve the near-range detection accuracy.

[0120] In practical applications, the effective receiving size D of the light guide unit 30 can be obtained based on the required receiving field of view for the application scenario of the lidar 100 and the calculation formula for the receiving field of view mentioned above, ensuring that the size of the receiving field of view meets the requirements. Specifically, the calculation formula for the effective receiving size D of the light guide unit 30, based on the aforementioned calculation formula for the receiving field of view, is as follows:

[0121]

[0122] In this embodiment of the application, the distribution range of the receiving field of view is: in:

[0123]

[0124] Wherein, α is the tilt angle of the reflecting unit 20. Specifically, the tilt angle of the reflecting unit 20 refers to the tilt angle of the reflecting surface of the reflecting unit 20.

[0125] Since f and h2 are constants, the magnitude of x depends on the magnitude of α. Therefore, the distribution range of the receiving field of view depends on the tilt angle of the reflecting unit 20. By controlling the magnitude of the tilt angle of the reflecting unit 20, the distribution range of the receiving field of view can be controlled to meet the needs of various scenarios.

[0126] For example, when When the receiving field of view is distributed within the range of (0, θ), a forward field of view distribution is achieved, meeting the requirements of radar touch control scenarios.

[0127] In practical applications, the tilt angle of the reflecting unit 20 can be obtained based on the required distribution range of the receiving field of view for the application scenario of the lidar 100, combined with the aforementioned distribution relationship of the receiving field of view, to ensure that the distribution range of the receiving field of view meets the requirements. The formula for calculating the tilt angle α of the reflecting unit 20 is as follows:

[0128]

[0129] In some possible implementations, the light beam incident on the light guide unit 30 undergoes multiple reflections at the reflective interface of the light guide unit 30, causing the light beam focused on the light-incident surface 30a of the light guide unit 30 to diffuse and exit from the light-outceasing surface 30b of the light guide unit 30. In this way, the light guide unit 30 has a certain light field homogenization effect, making the energy distribution of the light beam emitted from the light guide unit 30 to each field of view of the detector 40 more uniform, and easier for it to be received by the photosensitive surface of the detector 40. The installation accuracy of each component in the lidar receiving module 110 can be guaranteed by the structural tolerances, the assembly and adjustment tolerance of each component is large, passive installation is supported, the coupling process is avoided, and production efficiency and product yield can be improved.

[0130] In this embodiment of the application, the receiving lens 10 can be a biconvex lens (such as...). Figure 6 or Figure 7 As shown), plano-convex lens (such as...) Figure 5 Lenses that converge light rays include meniscus lenses, aspherical lenses, Fresnel lenses, and other similar lenses.

[0131] In some possible implementations, the driving component 50 is used to drive the receiving lens 10, the reflecting unit 20, and the light guiding unit 30 around the same rotation axis (e.g., Figure 6 (As shown in P) It rotates synchronously to achieve 360° horizontal scanning.

[0132] It should be noted that, when achieving 360° horizontal scanning, in addition to driving the receiving lens 10, the reflecting unit 20, and the light guiding unit 30 to rotate synchronously, in some embodiments, the driving component 50 can also drive the receiving lens 10 and the reflecting unit 20 to rotate synchronously around the same rotation axis, while the light guiding unit 30 remains stationary. This synchronous rotation can include situations where the rotational speeds of the synchronous rotating devices are the same or different.

[0133] Exemplarily, the drive component 50 includes a fixed member and a rotating member. The rotating member carries the receiving lens 10 and the reflecting unit 20. The rotating member is used to rotate relative to the fixed member to drive the receiving lens 10 and the reflecting unit 20 around the same axis of rotation (e.g., Figure 6 The reflector 20 and the receiver lens 10 rotate synchronously. In this way, integrating the reflector unit 20 and the receiver lens 10 onto the rotating component reduces the number of parts in the drive assembly, contributing to the miniaturization of the lidar receiver module 110. The rotating component and the fixed component can each be composed of one or more parts (such as devices or structural components).

[0134] In some embodiments, when the driving component 50 drives the receiving lens 10, the reflecting unit 20, and the light guiding unit 30 to rotate synchronously around the same rotation axis, the rotating component also carries the light guiding unit 30. The rotating component is used to drive the light guiding unit 30, the receiving lens 10, and the reflecting unit 20 to rotate around the same rotation axis (e.g., Figure 6 The light guide unit 30 rotates synchronously with the rotating component. In this way, integrating the light guide unit 30 onto the rotating component reduces the number of parts in the drive component 50, which helps to miniaturize the lidar receiver module 110.

[0135] In some embodiments, at least a portion of the receiving lens 10, the reflecting unit 20, and the light guiding unit 30 are all located inside the rotating component. In this way, the receiving optical system consisting of the receiving lens 10, the reflecting unit 20, and the light guiding unit 30 is integrated onto the driving component 50, realizing the integrated and miniaturized design of the lidar 100.

[0136] In this embodiment, a fixed component refers to a part that remains stationary within the drive component 50 during its operation. A rotating component refers to a part that rotates within the drive component 50 during its operation.

[0137] For example, such as Figure 4 , Figure 5As shown, the driving component 50 may include a motor 53, a housing 51, and a reflective unit bracket 52. The housing 51 is fixedly connected to the reflective unit bracket 52. The housing 51 carries the receiving lens 10, the reflective unit bracket 52 carries the reflective unit 20, and the motor 53 carries the light guiding unit 30. The motor 53 includes a rotor and a stator, and the rotor's rotation shaft 531 is fixedly connected to the housing 51.

[0138] During the operation of the drive component 50, the rotation of the rotor's rotating shaft 531 simultaneously drives the light guide unit 30 and the housing 51 to rotate synchronously. Simultaneously, the rotation of the housing 51 drives the receiving lens 10 and the reflecting unit 20 to rotate, thus achieving synchronous rotation of the light guide unit 30, the receiving lens 10, and the reflecting unit 20 around the same rotation axis. Therefore, the rotating component includes the rotating shaft 531, the reflecting unit support 52, and the housing 51, while the fixed component includes the stationary parts within the motor 53, such as the stator of the motor 53.

[0139] In some embodiments, such as Figure 5 As shown, the rotating shaft 531 has a receiving hole 532 that extends through the rotating shaft 531 along its axial direction. The light guiding unit 30 is located inside the receiving hole 532, which can improve the integration of the light guiding unit 30 and the driving component 50 and help reduce the size of the lidar receiving module 110.

[0140] In some embodiments, such as Figure 5 As shown, when the light guide unit 30 is located inside the receiving hole 532 of the rotating shaft 531, the center of the light guide unit 30, the center of the reflection unit 20 and the center of the detector 40 are all located on the axis of the rotating shaft 531. In this way, the driving component 50 drives the receiving lens 10, the reflection unit 20 and the light guide unit 30 to rotate synchronously around the axis of the rotating shaft 531.

[0141] In some embodiments, such as Figure 5 As shown, the housing 51 has an opening 511 that connects the interior and exterior of the housing 51. The receiving lens 10 collects the light beam reflected from the target object 300 to the lidar 100 through the opening 511. At least a portion of the receiving lens 10 is located inside the housing 51. A portion of the reflecting unit bracket 52 is located inside the housing 51, and the reflecting unit 20 is located inside the housing 51.

[0142] In some embodiments, such as Figure 5 As shown, the receiving lens 10 is located inside the housing 51 to prevent damage to the receiving lens 10. Of course, in addition to being located inside the housing 51, in some embodiments, a portion of the receiving lens 10 may also extend outside the housing 51 through the opening 511.

[0143] In some possible implementations, such as Figure 5As shown in Figure 6, the reflecting unit 20 is a reflector, which can reduce the cost of the reflecting unit 20, thereby reducing the cost of the lidar receiving module 110.

[0144] Understandably, the reflective surface of the mirror is coated with a reflective film, so that the mirror reflects the light beam from the receiving lens 10 into the light guide unit 30.

[0145] Figure 8 This is a schematic diagram of another lidar receiving module 110 provided in an embodiment of this application. Figure 9 This is a schematic diagram of another reflected light path of the prism provided in an embodiment of this application.

[0146] Of course, besides being a reflector, the reflecting unit 20 can also be used in some embodiments, such as... Figure 8 As shown, the reflecting unit 20 can be a prism, in which case the reflecting surface of the prism is coated with a reflecting surface.

[0147] It should be noted that when the reflecting unit 20 is a prism, the reflected beam of the beam reflected by the reflecting unit 20, in addition to the following... Figure 8 In addition to the reflected light path shown, in some embodiments, the light path of the prism reflecting the beam can also be as follows: Figure 9 As shown, the light beam first enters the interior of the prism, and then exits from the exiting surface of the prism after being reflected by the reflecting surface of the prism. The reflecting surface of the prism can be coated with a reflective film, or the prism can be made of high-refractive-index, high-transmittance glass, utilizing the principle of total internal reflection to achieve the reflection function.

[0148] In some possible implementations, the light guide unit 30 is used to propagate the light beam from the reflector unit 20 to the detector 40 in a total internal reflection manner.

[0149] In this way, the light beam entering the light guide unit 30 from the light-inlet surface 30a of the reflective unit 20 undergoes multiple total internal reflections at the reflective interface of the light guide unit 30 and then exits from the light-outlet surface 30b of the light guide unit 30 to the detector 40, which can reduce energy loss and improve receiving efficiency and ranging accuracy.

[0150] In some possible implementations, the maximum outer diameter of the light guide unit 30 is greater than or equal to 2B, where B is the diameter of the photosensitive surface of the detector 40. For example, the detector 40 is an avalanche photodetector, and the diameter B of the photosensitive surface of the detector 40 is 500 μm, thus the maximum outer diameter of the light guide unit 30 is greater than or equal to 1 mm.

[0151] This allows more energy to be received by the photosensitive surface of detector 40, improving ranging accuracy. Additionally, it reduces manufacturing complexity.

[0152] In some possible implementations, the maximum outer diameter of the light guide unit 30 is less than or equal to 4B, where B is the effective size of the photosensitive surface of the detector 40. For example, if the detector 40 is an avalanche photodetector, the diameter B of the photosensitive surface of the detector 40 is 500 μm, and therefore the maximum outer diameter of the light guide unit 30 is less than or equal to 2 mm.

[0153] This avoids making the outer diameter of the light guide unit 30 too large, ensuring that the light guide unit 30 can be placed inside the rotating shaft 531.

[0154] In some possible implementations, the length of the light guide unit 30 can be 10mm to 20mm, which avoids the light guide unit 30 being too short and reduces the difficulty of processing. In addition, it also helps to miniaturize the lidar receiver module 110.

[0155] Figure 10 for Figure 4 A three-dimensional structural diagram of the light guide unit 30 in the diagram. Figure 11 and Figure 12 These are three-dimensional structural schematic diagrams of another light guide unit 30 provided in the embodiments of this application.

[0156] In some possible implementations, such as Figure 10 As shown, the light guide unit 30 is cylindrical, which reduces the manufacturing difficulty of the light guide unit 30. In addition, when the light guide unit 30 is disposed inside the receiving hole 532 of the rotating shaft 531, the difficulty of disposing of the light guide unit 30 inside the receiving hole 532 can be reduced.

[0157] Of course, the geometry of the light guide unit 30 can also be other shapes; for example, the light guide unit 30 can also be a prism (such as...). Figure 11 (as shown) or cone (such as) Figure 12 As shown), the prism can be a square prism (such as...). Figure 11 (as shown), pentagonal prisms or hexagonal prisms, etc.

[0158] In some possible implementations, such as Figure 10 As shown, the light guide unit 30 is a light guide post made of the same material. The structure of the light guide unit 30 is simple, which can reduce the cost of the light guide unit 30.

[0159] In some possible implementations, the light guide column can be made of glass or plastic. Since the refractive index of glass and plastic is much greater than that of air, after the light beam enters the interior of the light guide column, it will undergo multiple total internal reflections at the boundary between the light guide column and the air, causing the focused incident light beam to diffuse and exit from the light-emitting surface 30b of the light guide column.

[0160] Figure 13 This is a three-dimensional structural diagram of the light guide unit 30 provided in an embodiment of this application.

[0161] In addition to the aforementioned structures, the difference between this example and the previously mentioned light guide unit 30 lies in their structure; here, the light guide unit 30 is not a single-layer structure. Specifically, as... Figure 13 As shown, the light guiding unit 30 includes a fiber core 31 and a cladding 32. The cladding 32 is fitted onto the fiber core 31, and the refractive index of the cladding 32 is less than that of the fiber core 31. In this way, the refractive index between the fiber core 31 and the cladding 32 exhibits a step-type refractive index profile, which can support total internal reflection of incident light along the interface between the fiber core 31 and the cladding 32, and low-loss transmission within the fiber core 31.

[0162] Therefore, it can be seen that the light guide unit 30 is made of two materials with different refractive indices. The light guide unit 30 can be designed as a large core-to-closing ratio optical fiber structure, which has high reliability and can realize efficient and low-loss transmission of spatial light. It avoids the problems of total internal reflection failure and increased transmission insertion loss caused by easy scratches on the outer surface of single-layer light guide posts such as glass and plastic during assembly and adjustment. In addition, existing passive optical fiber manufacturing processes can be reused to mass-produce them at low cost using optical fiber drawing towers. Compared with glass cold processing, molding and injection molding processes, it is more conducive to mass production.

[0163] In some embodiments, the material of the fiber core 31 can be any one of pure quartz, germanium-doped or fluorine-doped quartz, and can be manufactured using existing equipment, thereby reducing the manufacturing cost of the light guide unit 30.

[0164] In some embodiments, the cladding 32 can be made of either fluorine-doped quartz or a low-refractive-index material (including acrylic resin, etc.), and can be manufactured using existing equipment, thereby reducing the manufacturing cost of the light guide unit 30.

[0165] In some embodiments, the difference between the refractive index of the fiber core 31 and the refractive index of the cladding 32 can be greater than or equal to 0.001 and less than or equal to 0.1, which can cause the light beam inside the light guide unit 30 to undergo total internal reflection at the interface between the fiber core 31 and the cladding 32, thereby reducing energy loss.

[0166] In some embodiments, the radius of the fiber core 31 is ≥0.5mm, which allows more energy to be incident on the photosensitive surface of the detector 40, thereby improving the ranging accuracy.

[0167] In some embodiments, the ratio of the radius of the fiber core 31 to the thickness of the cladding 32 is ≥0.5, which can make the diameter of the light guide unit 30 smaller and reduce the difficulty of installing the light guide unit 30 inside the receiving hole 532 of the rotating shaft 531.

[0168] In some embodiments, such as Figure 13 As shown, the light guide unit 30 is a cylinder, which reduces the difficulty of installing the light guide unit 30 inside the storage hole 532 of the rotating shaft 531, and also reduces the manufacturing difficulty of the light guide unit 30.

[0169] Of course, the geometry of the light guide unit 30 can also be other shapes, such as prisms, cones, etc.

[0170] In some embodiments, such as Figure 13 As shown, the fiber core 31 is a cylinder. Of course, the geometry of the fiber core 31 can also be other shapes, for example, the fiber core 31 can also be a cylinder.

[0171] Figure 14 This is a schematic diagram of the architecture of the lidar receiving module 110 provided in an embodiment of this application.

[0172] In addition to the aforementioned structures, the differences between this example and the previous solution include the different structure of the light guide unit 30; the light guide unit 30 is not a solid structure. Specifically, as... Figure 14 As shown, the lidar receiving module 110 also includes a carrier component with a through hole penetrating through it. The light guiding unit 30 is an annular reflective film attached to the inner wall of the through hole. This reduces the material required for the light guiding unit 30, lowering manufacturing costs.

[0173] In some possible implementations, the support component is the rotating shaft 531 of the drive component 50. In this case, the receiving hole 532 of the rotating shaft 531 serves as a through hole for the support component. This improves the utilization rate of the rotating shaft 531, reduces the number of parts, and lowers costs.

[0174] It should be noted that, in addition to using the rotating shaft 531 as a carrier, in some scenarios, the carrier and the rotating shaft 531 can also be two separate parts. In this case, the through hole and the storage hole 532 are two independent hole structures.

[0175] Figure 15 This is a schematic diagram of the light guide unit 30 provided in an embodiment of this application.

[0176] In this example, apart from the aforementioned structures, the difference between this example and the previous solution includes that the light-emitting surface 30b of the light guide post is not planar, such as... Figure 15 As shown, the light-emitting surface 30b of the light guide column is a convex surface with optical power. In this way, when the diameter of the photosensitive surface of the detector 40 is small, the emitted light beam from the light guide column can be focused, allowing more energy to be received by the photosensitive surface of the detector 40, thereby improving the receiving efficiency and ranging accuracy.

[0177] Figure 16 and Figure 17 These are schematic diagrams of the structure of the lidar receiving module provided in the embodiments of this application.

[0178] like Figure 16As shown, in addition to the aforementioned structures, the lidar receiver module 110 also includes a convex lens 80, which is used to focus the light beam emitted from the light guiding unit 30 onto the detector 40. This allows the light beam emitted from the light guiding unit 30 to be focused, enabling more energy to be received by the photosensitive surface of the detector 40, thus improving reception efficiency and ranging accuracy. Furthermore, it can reduce the manufacturing cost of the lidar receiver module 110.

[0179] In some embodiments, such as Figure 16 As shown, the convex lens 80 is located between the light-emitting side of the light guide unit 30 and the detector 40.

[0180] In some embodiments, the convex lens 80 is disposed on the detector 40, in which case the convex lens 80 can be directly integrated onto the detector 40.

[0181] In some embodiments, the effective size of the convex lens 80 can be greater than or equal to the effective size of the light-emitting surface 30b of the light guide unit 30, thereby improving the receiving efficiency of the convex lens 80.

[0182] In some embodiments, such as Figure 16 As shown, the convex lens 80 can be fixedly connected to the filter 92. The convex lens 80 is located inside the shield 91 and is positioned opposite to the light-transmitting hole of the shield 91.

[0183] Of course, when the convex lens 80 is fixedly connected to the filter 92, part of the convex lens 80 can also extend into the light-transmitting hole of the shield 91, or part of the convex lens 80 can extend out of the shield 91 through the light-transmitting hole of the shield 91.

[0184] In some embodiments, the convex lens 80 can be bonded to the filter 92 with a light-transmitting adhesive, reducing the difficulty of connecting the filter 92 and the convex lens 80.

[0185] Of course, besides being fixedly connected to the filter 92, in some embodiments, such as... Figure 17 As shown, the lidar receiving module 110 also includes a connecting bracket 93, which is fixedly connected to the circuit board 70 and located inside the shield 91. The convex lens 80 is fixedly connected to the connecting bracket 93 and located on the light-inlet side of the filter 92.

[0186] In some embodiments, the connecting bracket 93 is made of a light-transmitting material to ensure that the light beam emitted from the convex lens 80 is incident on the filter 92. Alternatively, in other embodiments, the connecting bracket 93 has an opening through which the light beam emitted from the convex lens 80 is incident on the filter 92.

[0187] In some embodiments, such as Figure 17As shown, the convex lens 80 extends to the outside of the shield 91 through the light-transmitting hole of the shield 91, which can reduce the size of the lidar receiving module 110 in the thickness direction of the circuit board 70.

[0188] In some embodiments, the convex lens 80 may be connected to the connecting bracket 93 by means of light-transmitting adhesive.

[0189] It should be noted that, in addition to being connected to the filter 92 or the connecting bracket 93, in some embodiments, the convex lens 80 can also be fixedly connected to the shielding cover 91. For example, the convex lens 80 can be connected to the shielding cover 91 by a light-transmitting adhesive.

[0190] For example, such as Figure 16 As shown, the light-emitting surface 30b of the light guide unit 30 is a plane. However, in some scenarios, the light-emitting surface 30b of the light guide unit 30 can also be a convex surface with optical power.

[0191] Figure 18 This is a schematic diagram of the structure of the lidar receiving module provided in an embodiment of this application.

[0192] Apart from the aforementioned related structures, compared to the aforementioned lidar receiving module 110, the reflecting unit 20 and the receiving lens 10 are not two independently spaced parts, such as... Figure 17 As shown, the reflective unit 20 and the receiving lens 10 are integrated into one structure, which can reduce the number of parts in the lidar receiving module 110 and reduce the difficulty and cost of assembly and adjustment.

[0193] It should be noted that when the reflecting unit 20 and the receiving lens 10 are integrated into one unit, the center of the reflecting unit 20 refers to the center of the reflecting surface of the integrated structure formed by the reflecting unit 20 and the receiving lens 10.

[0194] In some embodiments, such as Figure 18 As shown, the reflecting unit 20 and the receiving lens 10 are an integrated prism. The reflecting surface of the integrated prism can be coated with a reflective film, or the integrated prism can be supported by glass with high refractive index and high transmittance, and the reflection function can be achieved by total internal reflection.

[0195] It should be noted that the technical features of the several lidar receiver modules 110 mentioned above can be freely combined, and the structure of the lidar receiver module 110 obtained by free combination can include, but is not limited to, the several structures of lidar receiver modules 110 mentioned above.

[0196] In the description of the embodiments of this application, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, an indirect connection through an intermediate medium, or the internal connection of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this application according to the specific circumstances. The terms "first," "second," "third," "fourth," etc. (if present) are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0197] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the embodiments of this application, and are not intended to limit them. Although the embodiments of this application have been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A lidar receiver module (110), characterized in that, include: Receiving lens (10); A light guide unit (30) has a light-inlet surface (30a) that coincides with the focal plane of the receiving lens (10). A reflection unit (20) is located on the light-inlet side of the light guide unit (30) and is used to reflect the light beam emitted from the receiving lens (10) into the interior of the light guide unit (30). The detector (40) is located on the light-emitting side of the light guide unit (30) and is used to receive the light beam emitted by the light guide unit (30).

2. The lidar receiving module (110) according to claim 1, characterized in that, The light beam incident into the light guide unit (30) undergoes multiple reflections at the reflective interface of the light guide unit (30).

3. The lidar receiving module (110) according to claim 1 or 2, characterized in that, The light guide unit (30) includes a fiber core (31) and a cladding (32), wherein the cladding (32) is fitted onto the fiber core (31), and the refractive index of the cladding (32) is less than the refractive index of the fiber core (31).

4. The lidar receiving module (110) according to claim 3, characterized in that, The difference between the refractive index of the core (31) and the refractive index of the cladding (32) is greater than or equal to 0.001 and less than or equal to 0.

1.

5. The lidar receiving module (110) according to claim 1 or 2, characterized in that, The light guide unit (30) is used to propagate the light beam from the reflector unit (20) to the detector (40) in a total internal reflection manner.

6. The lidar receiving module (110) according to claim 1 or 2, characterized in that, The light guide unit (30) is a light guide column made of the same material.

7. The lidar receiving module (110) according to claim 6, characterized in that, The light-emitting surface (30b) of the light guide post is convex.

8. The lidar receiving module (110) according to claim 1 or 2, characterized in that, The light guide unit (30) is a cylinder.

9. The lidar receiving module (110) according to claim 1 or 2, characterized in that, The lidar receiving module (110) also includes a carrier, which has a through hole penetrating the carrier. The light guiding unit (30) is an annular reflective film, which is attached to the inner wall of the through hole.

10. The lidar receiving module (110) according to claim 9, characterized in that, The lidar receiving module (110) further includes a driving component (50), which includes a rotating shaft (531) and is the carrier component.

11. The lidar receiving module (110) according to claim 1 or 2, characterized in that, The reflecting unit (20) is a reflector.

12. The lidar receiving module (110) according to claim 1 or 2, characterized in that, The reflecting unit (20) and the receiving lens (10) are an integral structure.

13. The lidar receiving module (110) according to claim 1 or 2, characterized in that, The lidar receiving module (110) also includes a convex lens (80); The convex lens (80) is located between the light guide unit (30) and the detector (40), or the convex lens (80) is disposed on the detector (40); The convex lens (80) is used to converge the light beam emitted from the light guide unit (30) to the detector (40).

14. The lidar receiving module (110) according to claim 1 or 2, characterized in that, The lidar receiving module (110) also includes a driving component (50); The receiving lens (10), the reflecting unit (20), and the light guiding unit (30) are respectively mounted on the driving component (50), and the driving component (50) is used to drive the receiving lens (10) and the reflecting unit (20) to rotate synchronously around the same rotation axis.

15. The lidar receiving module (110) according to claim 14, characterized in that, The driving component (50) includes a fixed component and a rotating component. The rotating component carries the receiving lens (10) and the reflecting unit (20). The rotating component is used to rotate relative to the fixed component to drive the receiving lens (10) and the reflecting unit (20) to rotate synchronously around the same rotation axis.

16. The lidar receiving module (110) according to claim 15, characterized in that, The rotating component also carries the light guide unit (30), and the rotating component is used to drive the light guide unit (30), the receiving lens (10) and the reflecting unit (20) to rotate synchronously around the same rotation axis.

17. The lidar receiving module (110) according to claim 16, characterized in that, At least a portion of the receiving lens (10), the reflecting unit (20), and the light guiding unit (30) are located inside the rotating member.

18. The lidar receiving module (110) according to claim 15, characterized in that, The rotating component includes a rotating shaft (531) having a receiving hole (532) extending through the rotating shaft (531) along its axial direction, and the light guiding unit (30) being located inside the receiving hole (532).

19. A lidar (100), characterized in that, It includes a lidar transmitting module and a lidar receiving module (110) as described in any one of claims 1-18.

20. An electronic device, characterized in that, Including the lidar (100) as described in claim 19.

21. The electronic device according to claim 20, characterized in that, The electronic device includes a display (200), and the lidar (100) is mounted on the outer frame of the display (200).

22. The electronic device according to claim 21, characterized in that, The scanning range of the lidar (100) covers the display area of ​​the display (200).

23. The electronic device according to claim 20, characterized in that, The electronic device is a smart screen.

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