Transceiver module for a lidar, lidar, and movable platform

Abstract

The application discloses a laser radar transceiver module, a laser radar and a movable platform, wherein the laser radar transceiver module comprises a transmitting assembly and a receiving assembly; a light elimination mechanism for eliminating stray light of an unintended path; and a fixing seat with a built-in beam splitter, the fixing seat having four light path channels which are oriented in different directions, a laser beam emitted by the transmitting assembly enters the fixing seat via a first light path channel, is reflected by the beam splitter and is emitted from the fixing seat via a second light path channel, a returned laser beam enters the fixing seat via the second light path channel, is transmitted by the beam splitter and is emitted from the fixing seat via a third light path channel, and is received by the receiving assembly, stray light of the unintended path is emitted from the fixing seat via a fourth light path channel and enters the light elimination mechanism, and the stray light is eliminated by the light elimination mechanism, so that the point cloud quality of the receiving assembly is improved, and more accurate related information of objects in a target detection area is obtained.

Description

Technical Field

[0001] This utility model relates to the field of lidar manufacturing, and more particularly to a transceiver module with an extinction mechanism, a lidar using the transceiver module, and a mobile platform using the lidar. Background Technology

[0002] As a core component of autonomous driving, LiDAR provides crucial environmental perception data for the system. The working principle of LiDAR is as follows: the transmitting component emits a laser beam (transmitted signal) towards the target detection area, and the receiving component receives the laser beam reflected back from the target detection area (received signal). By appropriately processing and comparing the transmitted and received signals, relevant information about objects within the target detection area can be obtained, such as distance, shape, and speed.

[0003] A lidar system mainly consists of a transceiver module, an optical deflection and scanning assembly (rotating mirror), and an external housing. The optical system architecture of the transceiver module can be divided into coaxial (where the optical paths of the transmitting and receiving components partially overlap) and off-axis (where the optical paths of the transmitting and receiving components do not overlap). After the laser beam emitted by the transmitting component is scattered and / or reflected by the beam splitter and the optical deflection and scanning assembly (rotating mirror), in addition to forming the laser beam (transmitted signal) emitted towards the target detection area, stray light along unintended paths is also generated. This stray light affects the point cloud quality of the receiving component, thus affecting the obtained information about objects within the target detection area. In particular, when there are close-range and / or highly reflective objects within the target detection area, stray light may completely mask the true signal, causing a near-range blind zone for the lidar.

[0004] To mitigate the impact of unwanted stray light, existing lidar systems typically employ one or more combinations of the following methods to eliminate stray light: adding baffles to cut off the propagation path of stray light, adding an anti-reflective coating within the channels of the transmitting and / or receiving components, and coating the lens surfaces of the transmitting and / or receiving components with an anti-reflective coating. However, practical experience shows that these methods cannot completely eliminate broadband or multi-angle stray light and increase the manufacturing cost of lidar systems. Utility Model Content

[0005] In view of the deficiencies existing in the background art, the first aspect of this utility model provides a transceiver module for a lidar, comprising: A transmitting component for emitting a laser beam and a receiving component for receiving a returned laser beam; An extinction mechanism for eliminating stray light from unintended paths; and The mounting base has a built-in beam splitter and four optical path channels facing different directions. The laser beam emitted by the emitting component enters the mounting base through the first optical path channel, is reflected by the beam splitter, and exits through the second optical path channel. The returning laser beam enters the mounting base through the second optical path channel, is transmitted through the beam splitter, and exits through the third optical path channel, and is then received by the receiving component. Stray light from unintended paths is directed to the extinction mechanism through the fourth optical path channel.

[0006] In some embodiments of this invention, the extinction mechanism includes a wave-shaped light trap with peaks and valleys.

[0007] In some embodiments of this utility model, the extinction mechanism includes a box with an opening, and light traps are formed on the inner wall of the box, with the peaks and valleys of the light traps arranged toward the opening.

[0008] In some embodiments of this utility model, the extinction mechanism includes a plurality of protrusions and / or steps disposed on the light trap.

[0009] In some embodiments of this invention, the surface of the light trap is covered with a black matte layer.

[0010] In some embodiments of the present invention, the emitting assembly includes a light source housing having an emitting channel; a laser source disposed in the light source housing; at least two collimating lenses disposed at intervals within the emitting channel; and a plurality of protruding ridges and / or steps formed on the inner wall of the emitting channel, wherein the plurality of protruding ridges and / or steps are located at least between one pair of collimating lenses.

[0011] In some embodiments of this utility model, the receiving component includes a lens housing having a receiving channel; at least two lenses spaced apart within the receiving channel; a detector disposed within or outside the lens housing, wherein the returned laser beam is acquired by the detector after passing through the lenses in sequence; and a plurality of protrusions and / or steps formed on the inner wall of the receiving channel, wherein the plurality of protrusions and / or steps are located at least between the two lenses closest to the aperture stop.

[0012] In some embodiments of this utility model, the protruding ridge and / or the stepped surface is covered with a black matte layer.

[0013] A second aspect of this utility model provides a lidar, including any of the transceiver modules described above; a rotating mirror, wherein a laser beam emitted from the second optical path channel is deflected by the rotating mirror and directed toward a target detection area, and a laser beam returning from the target detection area is deflected by the rotating mirror and enters the fixed base through the second optical path channel.

[0014] A third aspect of this invention provides a mobile platform including the lidar as described above.

[0015] Those skilled in the art should understand that stray light from unexpected paths will be reflected multiple times within the transceiver module. Some of this stray light may be mistakenly acquired by the receiving component, resulting in the receiving component receiving not only the laser beam reflected from the target object. This affects the point cloud quality of the receiving component, thereby impacting the obtained information about objects within the target detection area (e.g., distance, shape, velocity). It can also affect the blind zone of the lidar or generate signal crosstalk. In this embodiment, broadband or multi-angle stray light is directed to a fourth optical path channel arranged at an angle to the third optical path channel before entering the extinction mechanism. The extinction mechanism then eliminates the stray light (without affecting the laser beam on the normal path), improving the point cloud quality of the receiving component and obtaining more accurate information about objects within the target detection area. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of a lidar provided in an embodiment of the present invention; Figure 2a A schematic diagram (first angle) showing stray light generated by the deflection of a laser beam emitted by the transmitting component by a rotating mirror. Figure 2b A schematic diagram (second angle) showing stray light generated by the deflection of a laser beam emitted by the transmitting component by a rotating mirror. Figure 3 for Figure 1 A perspective view of the transceiver components shown; Figure 4 for Figure 1 A top view of the transceiver components shown; Figure 5a for Figure 1 A schematic diagram of the structure of the first type of light trap within the extinction mechanism shown; Figure 5b for Figure 1 A schematic diagram of the structure of the second type of light trap within the extinction mechanism shown; Figure 5c for Figure 1 A schematic diagram of the structure of the third type of light trap within the extinction mechanism shown; Figure 6 A schematic diagram showing the connection relationship between the transmitting component, the mounting base, and the beam splitter; Figure 7 for Figure 3 A cross-sectional view of the launching component shown; Figure 8 for Figure 3 The cross-sectional view of the receiving component shown.

[0017] Explanation of reference numerals in the attached figures: 100 transceiver modules; LiDAR 200; Emitter assembly 10; Light source housing 11; Collimating lens 12; Protruding ridge and / or step 13; Receiver assembly 20; lens housing 21; lens 22; detector 23; ridge and / or step 24; aperture 25; Extinction mechanism 30; light trap 31; peak 31a; valley 31b; box 32; ridge 33; step 34; Fixed base 40; First optical path channel 41; Second optical path channel 42; Third optical path channel 43; Fourth optical path channel 44; Beam splitter 50; central portion 50a; peripheral portion 50b; Movement support 60; Rotate the mirror 70 degrees; Stray light A. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0019] like Figure 1-6 As shown, an embodiment of the present invention provides a transceiver module 100 for a lidar 200, including a transmitting component 10 for emitting a laser beam and a receiving component 20 for receiving a returned laser beam, an extinction mechanism 30 for eliminating stray light A from an unexpected path, and a mounting base 40 with a built-in beam splitter 50. The mounting base 40 has four optical path channels facing different directions. The laser beam emitted by the transmitting component 10 enters the mounting base 40 through the first optical path channel 41, is reflected by the beam splitter 50, and is emitted through the second optical path channel 42. The returned laser beam enters the mounting base 40 through the second optical path channel 42, is transmitted through the beam splitter 50, is emitted through the third optical path channel 43, and is received by the receiving component 20. The stray light from an unexpected path is emitted towards the extinction mechanism 30 through the fourth optical path channel 44.

[0020] Exemplary, particularly referring to Figure 1As shown, the transmitting component 10, receiving component 20, extinction mechanism 30 and mounting base 40 can be fixedly installed on the same core support 60 (or inside the core housing). The core support 60 (or inside the core housing) is equipped with preset installation positions for each component, so that the relative positional relationship between the components after installation is fixed. In particular, the installation angle of the beam splitter 50 and the other components is highly consistent, thereby ensuring the consistency of the angle between the beam splitter 50 and each optical path channel.

[0021] For example, the transmitting component 10, the receiving component 20, the extinction mechanism 30 and the mounting base 40 can be mounted on the mechanism support 60 (or the mechanism housing) by means of screw connection, bolt connection, bonding, plug-in connection or other methods.

[0022] Exemplary, particularly referring to Figure 6 As shown, the beam splitter 50 is a semi-transparent and semi-reflective mirror. Its central part 50a is used to reflect the laser beam, and its peripheral part 50b is used to transmit the laser beam. By depositing a specific optical thin film (usually a multilayer dielectric film or a metal film) on the surface of the beam splitter 50, partial reflection and partial transmission of the laser beam are achieved.

[0023] For example, the beam splitter 50 can be installed in the mounting base 40 by means of screw connection, bolt connection, bonding, plug-in, interference fit, etc.

[0024] In this embodiment, special reference is made to Figure 6 As shown, the mounting base 40 is fixedly connected to the light source housing 11 of the transmitting component 10, and the transmitting component 10 is fixedly installed on the core support 60 (or inside the core housing). That is, the mounting base 40 (together with the beam splitter 50) is indirectly fixedly installed on the core support 60 (or inside the core housing).

[0025] In other embodiments, the mounting base 40 can be fixedly connected to the lens housing 21 of the receiving assembly 20, and the receiving assembly 20 is fixedly mounted on the mechanism support 60 (or inside the mechanism housing), that is, the mounting base 40 (together with the beam splitter 50) is indirectly fixedly mounted on the mechanism support 60 (or inside the mechanism housing). Alternatively, a hole can be opened at the center of the first lens 22 of the receiving assembly 20, and a fixing post can be glued or threaded into the hole. The beam splitter 50 is disposed on the third optical path channel 43 of the mounting base 40, and the central portion 50a of the beam splitter 50 can be glued to the fixing post, thus achieving a fixed connection between the mounting base 40 and the lens 22 of the receiving assembly 20.

[0026] For example, such as Figure 2a and 2bAs shown, the source of stray light A from the unintended path is a laser beam emitted by the transmitting component 10 that is not correctly deflected by the rotating mirror 70 of the lidar 200 towards the target detection area (which can also be considered as the scanning area of ​​the lidar 200). Another source of stray light A is a laser beam returning from the target detection area that is not correctly deflected by the rotating mirror 70 of the lidar 200 towards the beam splitter 50. Using the centerline of the extinction mechanism 30 as a reference, it can roughly "capture" stray light A within a range of ±5° without affecting the laser beam on the normal path.

[0027] Those skilled in the art should understand that stray light A from an unexpected path will be reflected multiple times within the transceiver module 100. Some stray light A will be mistakenly acquired by the receiving component 20, resulting in the receiving component 20 receiving not only the laser beam reflected from the target object, thus affecting the point cloud quality of the receiving component 20. This, in turn, affects the relevant information of the object within the target detection area (e.g., distance, shape, velocity), and may also affect the blind zone of the lidar 200 or generate signal crosstalk. By having the broadband or multi-angle stray light A enter the extinction mechanism 30 through the fourth optical path channel 44, which is arranged at an angle to the third optical path channel 43, and then having the extinction mechanism 30 eliminate the stray light A (without affecting the laser beam on the normal path), the point cloud quality of the receiving component 20 can be improved, and more accurate relevant information of the object within the target detection area can be obtained.

[0028] Special reference Figures 5a-5c As shown, further, the extinction mechanism 30 includes a light trap 31 (also called a light trap or light trap device) with a wave-like shape having peaks 31a and valleys 31b.

[0029] For example, the peak 31a at the outermost edge of the light trap 31 can be more prominent than the peak 31a in the middle, which can increase the number of times the stray light A is reflected and consume more energy of the stray light A.

[0030] Furthermore, the extinction mechanism 30 includes a box 32 with an opening, and light traps 31 are formed on the inner wall of the box 32, with the peaks 31a and valleys 31b of the light traps 31 arranged toward the opening.

[0031] For example, the light-absorbing mechanism 30 may not include the housing 32, but instead the light trap 31 (or light-absorbing film, etc.) may be directly disposed on one or more of the outer walls of the light source housing 11, the lens housing 21, the mounting base 40, and the mechanism support 60 (or the outer wall of the mechanism housing), so that stray light A from an unexpected path is directly directed to the light trap 31 via the fourth optical path channel 44.

[0032] Those skilled in the art should understand that the wave-shaped light trap 31 has multiple peaks 31a and valleys 31b. These multiple peaks 31a and valleys 31b can reflect stray light A multiple times, consuming the energy of stray light A and reducing its energy to the point that it cannot "escape" from the light trap 31, thereby ensuring the point cloud quality of the receiving component 20 and obtaining more accurate information about objects within the target detection area.

[0033] Furthermore, the light-extinguishing mechanism 30 includes a plurality of protrusions 33 and / or steps 34 disposed on the light trap 31.

[0034] Furthermore, the surface of the light trap 31 is covered with a black matte layer.

[0035] For example, the cross-sectional shape of the ridge 33 is triangular, and multiple ridges 33 are continuously arranged on multiple peaks 31a and valleys 31b, forming a sawtooth-like structure. Steps 34 can also be continuously arranged on multiple peaks 31a and valleys 31b. Furthermore, peaks 31a and valleys 31b may contain only ridges 33 or steps 34, or they may have both ridges 33 and steps 34. For example, ridges 33 are provided near valleys 31b, and steps 34 are provided near peaks 31a.

[0036] Those skilled in the art should understand that further adding protruding ridges 33 and / or steps 34 to the multiple peaks 31a and valleys 31b of the light trap 31 can make the structure of the light trap 31 more complex, causing more reflections of stray light A entering it, and making it more difficult for the stray light A to "escape" from the light trap 31 due to being blocked by the protruding ridges 33 and / or steps 34. The black matting layer covering the surface of the light trap 31 can further absorb the energy of the stray light A, reducing its energy to an insufficient level to "escape" from the light trap 31.

[0037] Combination Figure 6 and 7 As shown, the emitting assembly 10 further includes a light source housing 11 with an emitting channel, a laser source (not shown) disposed in the light source housing 11, at least two collimating lenses 12 disposed at intervals within the emitting channel, and a plurality of protrusions and / or steps 13 formed on the inner wall of the emitting channel, wherein the plurality of protrusions and / or steps 13 are located at least between one pair of collimating lenses 12.

[0038] For example, there are two collimating lenses 12, and multiple protruding ridges are provided on the inner wall of the emission channel, with the multiple protruding ridges located between the two collimating lenses 12. The cross-sectional shape of the protruding ridges is triangular, and the multiple protruding ridges are continuously arranged on the inner wall of the emission channel to form a sawtooth-like structure. The inner wall of the emission channel may also be provided with only steps, or with both protruding ridges and steps.

[0039] In other embodiments, there may be two or more collimating lenses 12 (e.g., three or four). Multiple ridges may be provided on the inner wall of the emission channel between each collimating lens 12. Alternatively, multiple ridges may be provided only on the inner wall of the emission channel between the farthest collimating lenses 12.

[0040] For example, as described above, the mounting base 40 can be fixedly connected to the light source housing 11 of the emitting assembly 10, and the emitting channel is connected to the first optical path channel 41. A cutout can be formed on the side wall of the light source housing 11 to provide a path for stray light to enter the fourth optical path channel 44, or a high lens can be provided on the side wall of the light source housing 11 so that stray light can pass through the high lens and be directed to the extinction structure 30.

[0041] Those skilled in the art should understand that when the laser beam emitted by the emitting component 10 illuminates the inner wall of the emitting channel and / or the edge of the collimating lens 12, stray light (i.e., other stray light different from stray light A) will also form on an unexpected path. This stray light can be reflected multiple times by multiple convex edges and / or steps 13, consuming its energy and reducing it to a level that cannot "escape" from the emitting channel, thus preventing it from being received by the receiving component 20. This ensures the point cloud quality of the receiving component 20 and obtains more accurate information about objects within the target detection area. Furthermore, once the aforementioned stray light A enters the emitting channel in the reverse direction via the first optical path channel 41, it will also be reflected multiple times by multiple convex edges and / or steps 13, reducing its energy to a level that cannot "escape" from the emitting channel.

[0042] Combination Figure 4 and 8 As shown, the receiving assembly 20 further includes a lens housing 21 with a receiving channel, at least two lenses 22 disposed at intervals within the receiving channel, a detector 23 disposed inside or outside the lens housing 21 (e.g., on the mechanism support 60), the returned laser beam being acquired by the detector 23 after passing through the lenses 22 in sequence, and a plurality of protrusions and / or steps 24 formed on the inner wall of the receiving channel, the plurality of protrusions and / or steps 24 being located at least between the two lenses 22 closest to the aperture stop 25.

[0043] For example, an aperture stop is a physical object in an optical system that limits the beam of light. It can be the edge of a lens, a frame, or a specially designed perforated screen. Its function can be twofold: to limit the beam of light or to limit the size of the field of view (imaging range).

[0044] In this embodiment, the lens 22 has four lenses. Figure 8 Only two lenses 22 are shown; aperture 25 is located at... Figure 8 Further to the right of the right lens 22 shown, multiple steps are provided on the inner wall of the receiving channel, and these multiple steps are located at... Figure 8 The two lenses 22 closest to the aperture stop 25 are shown. The inner wall of the receiving channel may also be provided with only a triangular cross-sectional ridge, or with both a ridge and a step.

[0045] In other embodiments, there may be more lenses 22 (e.g., six or eight). Multiple steps may be provided only on the inner wall of the receiving channel between the two lenses 22 closest to the aperture stop 25, or they may be provided on the inner wall of the receiving channel between each pair of lenses 22.

[0046] Those skilled in the art should understand that the returned laser beam enters the mounting base 40 via the second optical path channel 42, is transmitted through the beam splitter 50, exits through the third optical path channel 43, and is then received by the receiving component 20. The returned laser beam irradiating the inner wall of the receiving channel and / or the edge of the lens 22 can also form stray light (i.e., other stray light different from stray light A formed within the receiving channel) that deviates from the intended path. This stray light can be reflected multiple times by multiple convex edges and / or steps 24, consuming its energy and reducing it to a level where it cannot "escape" from the receiving channel, thus preventing it from being acquired by the detector 23. This ensures the point cloud quality of the receiving component 20 and obtains more accurate information about objects within the target detection area.

[0047] Furthermore, the surfaces of the protrusions and / or steps 13, 24 are covered with a black matte layer that can further absorb the energy of stray light.

[0048] like Figure 1 , Figure 2a and Figure 2b As shown, another embodiment of this utility model provides a lidar 200, including: any of the transceiver modules 100 as described above and a rotating mirror 70. The laser beam emitted from the second optical path channel 42 is deflected by the rotating mirror 70 and then directed towards the target detection area. The laser beam returning from the target detection area is deflected by the rotating mirror 70 and then enters the fixed base 40 through the second optical path channel 42.

[0049] Those skilled in the art should understand that, since the lidar 200 employs the aforementioned transceiver module 100, it possesses all the technical effects brought about by the transceiver module 100. For example, stray light A from an unexpected path may reflect multiple times within the transceiver module 100, and some stray light A may be mistakenly acquired by the receiving component 20. This results in the receiving component 20 receiving not only the laser beam reflected from the target object, affecting the point cloud quality of the receiving component 20, thereby affecting the relevant information of the object within the target detection area (e.g., distance, shape, velocity), and also affecting the blind zone of the lidar 200 or generating signal crosstalk. By allowing the broadband or multi-angle stray light A to enter the extinction mechanism 30 through the fourth optical path channel 44, which is arranged at an angle to the third optical path channel 43, and then having the extinction mechanism 30 eliminate the stray light A (without affecting the laser beam on the normal path), the point cloud quality of the receiving component 20 can be improved, and more accurate relevant information of the object within the target detection area can be obtained.

[0050] Furthermore, the aforementioned lidar 200 can also be used in a mobile platform. The mobile platform can be a car, boat, unmanned aerial vehicle (UAV), remote-controlled car, or robot. The car can be an unmanned vehicle or a manned vehicle, and the UAV can be a drone or other unmanned aerial vehicle. Of course, the mobile platform is not limited to the mobile platforms listed above and can also be other mobile platforms.

[0051] Those skilled in the art should understand that, since the mobile platform employs the aforementioned lidar 200, it possesses all the technical effects brought about by the lidar 200. For example, stray light A from an unexpected path may reflect multiple times within the transceiver module 100. Some stray light A may be mistakenly acquired by the receiving component 20, resulting in the receiving component 20 receiving not only the laser beam reflected from the target object, thus affecting the point cloud quality of the receiving component 20. This, in turn, affects the relevant information of the object within the target detection area (e.g., distance, shape, velocity), and may also affect the blind zone of the lidar 200 or generate signal crosstalk. By allowing the broadband or multi-angle stray light A to enter the extinction mechanism 30 through the fourth optical path channel 44, which is arranged at an angle to the third optical path channel 43, and then having the extinction mechanism 30 eliminate the stray light A (without affecting the laser beam on the normal path), the point cloud quality of the receiving component 20 can be improved, and more accurate relevant information of the object within the target detection area can be obtained.

[0052] In the description of this specification, the references to terms such as "certain embodiments," "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in a suitable manner in any one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0053] In this utility model, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance; the term "multiple" refers to two or more unless otherwise explicitly defined. The terms "install," "connect," "join," and "fix" should be interpreted broadly. For example, "connect" can be a fixed connection, a detachable connection, or an integral connection; "join" can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0054] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of this utility model and are not restrictive. Although this utility model has been described in detail with reference to the embodiments, those skilled in the art should understand that modifications or equivalent substitutions to the technical solution of this utility model do not depart from the spirit and scope of the technical solution of this utility model, and all such modifications or substitutions should be covered within the scope of the claims of this utility model.

Claims

1. A transceiver module for a lidar system, characterized in that, include: A transmitting component for emitting a laser beam and a receiving component for receiving a returned laser beam; An extinction mechanism for eliminating stray light from unintended paths; as well as The mounting base has a built-in beam splitter and four optical path channels facing different directions. The laser beam emitted by the emitting component enters the mounting base through the first optical path channel, is reflected by the beam splitter, and exits through the second optical path channel. The returning laser beam enters the mounting base through the second optical path channel, is transmitted through the beam splitter, and exits through the third optical path channel, and is then received by the receiving component. Stray light from unintended paths is directed to the extinction mechanism through the fourth optical path channel.

2. The transceiver module of the lidar according to claim 1, characterized in that, The extinction mechanism includes: A wave-shaped light trap with peaks and valleys.

3. The LiDAR transceiver module according to claim 2, characterized in that, The extinction mechanism includes: The box has an open opening, and the light traps are formed on the inner wall of the box, with the peaks and valleys of the light traps arranged toward the opening.

4. The transceiver module of the lidar according to claim 2 or 3, characterized in that, The extinction mechanism includes: Multiple protrusions and / or steps are provided on the light trap.

5. The transceiver module of the lidar according to claim 2, characterized in that: The surface of the light trap is covered with a black matte layer.

6. The transceiver module of the lidar according to claim 1, characterized in that, The transmitting component includes: A housing for a light source with an emission channel; The laser source is disposed in the housing of the light source; At least two collimating lenses are spaced apart within the emission channel; and Multiple protrusions and / or steps are formed on the inner wall of the emission channel, and the multiple protrusions and / or steps are located at least between a pair of aligned lenses.

7. The laser radar transceiver module according to claim 1, characterized in that, The receiving component includes: Lens housing with receiving channel; At least two lenses are spaced apart within the receiving channel; A detector disposed inside or outside the lens housing receives the returning laser beam after it passes through the lens in sequence; and Multiple protrusions and / or steps are formed on the inner wall of the receiving channel, and the multiple protrusions and / or steps are located between at least the two lenses closest to the aperture stop.

8. The transceiver module of the lidar according to claim 6 or 7, characterized in that: The protruding ridges and / or the stepped surfaces are covered with a black matte layer.

9. A lidar, characterized in that, include: The transceiver module as described in any one of claims 1-8; The rotating mirror deflects the laser beam emitted from the second optical path channel and directs it toward the target detection area. The laser beam returning from the target detection area is deflected by the rotating mirror and enters the fixed base through the second optical path channel.

10. A mobile platform, characterized in that, include: The lidar as described in claim 9.

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