CN113030907A

CN113030907A - Laser radar

Info

Publication number: CN113030907A
Application number: CN201911248277.5A
Authority: CN
Inventors: 申士林; 向少卿
Original assignee: Hesai Technology Co Ltd
Current assignee: Hesai Technology Co Ltd
Priority date: 2019-12-09
Filing date: 2019-12-09
Publication date: 2021-06-25

Abstract

The application discloses a laser radar, which comprises a light splitting component, a scanning component and a receiving component; the light splitting component is used for splitting the pulse laser beam for detection into a plurality of incident beams and transmitting the incident beams to the scanning component; the scanning assembly is used for reflecting the multiple incident beams to a space outside the laser radar and receiving multiple echo beams after the multiple incident beams are reflected by a target to be detected in the space; the receiving assembly is used for receiving and processing the multiple echo light beams; the light splitting assembly is arranged on a first support, the scanning assembly is fixed on a second support, the receiving assembly is fixed on a third support, and the first support, the second support and the third support are integrally formed. The problem of low receiving efficiency of the laser radar system caused by the increase of the internal temperature of the laser radar is solved.

Description

Laser radar

Technical Field

The application relates to the field of laser detection, in particular to a laser radar.

Background

In the automatic driving technology, an environment sensing system is a basic and crucial ring and is a guarantee for the safety and intelligence of an automatic driving automobile, and in an environment sensing sensor, a laser radar has incomparable advantages in the aspects of reliability, detection range, distance measurement precision and the like.

The vehicle-mounted laser radar is used as an important sensor for sensing surrounding information, and the vehicle-mounted laser radar is in an uninterrupted working state in the driving process. Vehicle-mounted lidar generates a large amount of heat during operation. If the heat is not dissipated in a timely manner, the internal heat can cause the internal optical components to deform.

Due to the deformation of the optical component, the detection laser light path is changed, and therefore the receiving efficiency of the vehicle-mounted laser radar system is influenced.

Disclosure of Invention

The application provides a laser radar, through using integrated into one piece be used for setting up the first support of beam split subassembly, be used for setting up the second support of scanning subassembly, be used for setting up the third support of receiving the subassembly, improved the problem that the receiving efficiency is low because laser radar system that the inside temperature of laser radar risees and arouses.

The embodiment of the application provides a laser radar which comprises a light splitting component, a scanning component and a receiving component; the light splitting component is used for splitting the pulse laser beam for detection into a plurality of incident beams and transmitting the incident beams to the scanning component; the scanning assembly is used for reflecting the multiple incident beams to a space outside the laser radar and receiving multiple echo beams after the multiple incident beams are reflected by a target to be detected in the space; the receiving assembly is used for receiving and processing the multiple echo light beams; the light splitting assembly is arranged on a first support, the scanning assembly is fixed on a second support, the receiving assembly is fixed on a third support, and the first support, the second support and the third support are integrally formed.

Optionally, the laser radar further includes a laser light source collimation assembly, where the laser light source collimation assembly is configured to collimate a pulse laser beam emitted by a laser into a parallel pulse laser beam; the laser light source collimation assembly is arranged on a fourth support, wherein the fourth support is integrally formed with the first support, the second support and the third support.

Optionally, the light splitting assembly includes a deflection element, at least one light splitting element, and a first reflection element, which are arranged in sequence on the first support side by side, where the deflection element is configured to deflect the pulse laser beam incident thereon and to irradiate the deflected pulse laser beam to a first light splitting element of the at least one light splitting element, and a distance between the first reflection element and the deflection element is greater than a distance between any light splitting element and the deflection element; the light splitting element is used for transmitting one part of the pulse laser beam incident into the light splitting element and reflecting the other part of the pulse laser beam to the scanning component; the first reflecting element is used for reflecting the pulse laser beam transmitted to the first reflecting element through the light splitting element to the scanning assembly.

Optionally, the receiving assembly comprises a second reflecting element, a converging element and a detecting element which are arranged in sequence; the second reflecting element is used for reflecting the echo light beam reflected by the scanning component; the converging element is used for converging the echo light beam reflected by the second reflecting element; the detecting element is used for receiving and processing the echo light beam converged by the converging element.

Optionally, the first support, the second support and the third support are formed on a support, and a plurality of sets of optical channels are further formed in the support, and the optical channels are used for passing only the incident light beam and the echo light beam; each group of optical channels comprises a first sub-optical channel and a second sub-optical channel; wherein the first sub-optical channel is used for passing the incident light beam and the echo light beam; the second sub-optical channel is used for passing the echo light beam and transmitting the echo light beam to the detection element.

Optionally, the second reflecting element is disposed in an optical path formed by the incident light beam incident from the light splitting assembly to the scanning assembly; the first sub-optical channel is communicated with the second sub-optical channel; wherein the incident beam is transmitted by the beam splitting assembly to the scanning assembly through the first sub-optical channel, and the echo beam is transmitted by the scanning assembly to the second reflecting element through the first sub-optical channel; the echo light beam passing through the second reflection element is transmitted to the detection element through the second sub-optical channel.

Optionally, a first light-shielding assembly for shielding each first sub-light channel and a second light-shielding assembly for shielding each second sub-light channel are further formed on the support.

Optionally, the laser radar further includes a printed circuit board for generating a control signal, and a heat dissipation assembly for dissipating heat of the printed circuit board, wherein the heat dissipation assembly is connected to a support on which the first support, the second support, and the third support are disposed.

The laser radar that this application embodiment provided, through the first support that is used for setting up the beam split subassembly that uses integrated into one piece, the second support that is used for setting up the scanning subassembly, the third support that is used for setting up receiving element for even when laser radar inside heat dissipation leads to the inside temperature of laser radar to rise when not in time, the trend of the deformation of above-mentioned each support is the same, and to incident beam, echo light beam's light path directive property, the influence of receiving and dispatching registration is less. Thereby improving the problem of low receiving efficiency of the laser radar system caused by the rise of the internal temperature of the laser radar.

Drawings

Other features, objects and advantages of the present application will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings in which:

fig. 1 is a schematic structural diagram of components of a laser radar provided in an embodiment of the present application;

fig. 2 is a schematic structural view of a bracket of a laser radar according to an embodiment of the present application, viewed from the front side;

fig. 3 is a schematic structural view of a bracket of a laser radar according to an embodiment of the present application, viewed from the side and the rear;

fig. 4 is a schematic structural diagram of a laser radar provided in an embodiment of the present application;

fig. 5 is a partially enlarged view of the second light blocking member shown in fig. 3.

Detailed Description

The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant invention and not restrictive of the invention. It should be noted that, for convenience of description, only the portions related to the related invention are shown in the drawings.

Reference herein to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic may be included in at least one implementation of the present application. In the description of the present application, it is to be understood that the terms "upper", "lower", "top", "bottom", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing the present application and simplifying the description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. Moreover, the terms "first," "second," and the like are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or otherwise described herein.

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.

Referring to fig. 1, fig. 2 and fig. 3, fig. 1 is a schematic structural diagram illustrating components of a lidar according to an embodiment of the present disclosure; fig. 2 is a schematic structural view of a bracket of the laser radar provided in the embodiment of the present application, viewed from the front side; fig. 3 shows a schematic structural view of a bracket of the laser radar provided in the embodiment of the present application, viewed from the side and the rear.

The lidar of the embodiments of the present application may be a solid state lidar. The components of the lidar may generally include a beam splitting assembly 11, a scanning assembly 12, and a receiving assembly 13. The beam splitting section 11 is for splitting the pulse laser beam for detection into a plurality of incident beams. And transmits the incident beam to the scanning assembly 12. The number of incident light beams here may be 2 or more. The pulse laser beam for detection is split into a plurality of incident lights using the beam splitting assembly 11, so that the number of pulse laser beams can be increased. The volume of the laser radar can be reduced, and the heat generated during the operation of the laser radar can be reduced.

The scanning assembly 12 is configured to reflect a plurality of incident beams incident thereon to a space outside the laser radar, and is configured to receive a plurality of echo beams after the incident beams are reflected by an object to be measured in the space outside the laser radar. The receiving assembly 13 may be configured to receive and process the multiple echo beams.

In the laser radar in the prior art, a first support used for fixing a light splitting assembly, a second support used for fixing a scanning assembly and a third support used for fixing a receiving assembly are separated from each other, and the three supports are assembled together in a screwing or riveting mode when the laser radar is assembled. When the internal temperature of the assembled laser radar rises, the supports deform. The deformation amount and the deformation trend of each bracket are different. When the deformation of the second support corresponding to the scanning component is different from the deformation of the first support corresponding to the light splitting component, the included angle between the light path of the incident light beam incident on the scanning component and the horizontal direction is changed, so that the included angle between the scanning light beam emitted to the space by the laser radar and the horizontal direction is changed. In addition, if the deformation amount and deformation trend of the light splitting assembly, the scanning assembly and the receiving assembly are different, the echo light beam cannot be accurately received by the receiving assembly, and therefore the receiving efficiency of the laser radar is affected.

In order to improve the above problem, in the present application, the first bracket 110 for fixing the light splitting assembly, the second bracket 120 for fixing the scanning assembly, and the third bracket 130 for fixing the receiving assembly may be integrally formed. That is, the first bracket 110, the second bracket 120, and the third bracket 130 are formed on the same support body by a process such as stamping, forging, or the like.

The light splitting assembly 11 may include a deflecting element 111, at least one light splitting element, and a first reflecting element 114, which are disposed in parallel on the first support 110.

The distance between the first reflective element 114 and the deflecting element 111 is greater than the distance between any of the light splitting elements and the deflecting element 111. The beam splitting element is configured to transmit a portion of the pulsed laser beam incident thereon and reflect another portion of the pulsed laser beam to the scanning assembly 12.

The angle between the reflective surface of the first reflective element 114 and the plane of the scanning assembly is an acute angle. The first reflective element 114 is used to reflect the pulsed laser beam transmitted thereto via the beam splitting element to the scanning assembly 12.

In this embodiment, the at least one light splitting element may be sequentially arranged between the deflecting element 111 and the first reflecting element 114.

A pulsed laser beam provided by a laser light source is first incident on the deflecting element 111. The deflecting element 111 is configured to deflect the pulse laser beam incident thereon, so that the deflected pulse laser beam is incident on a first one of the at least one light splitting element. Each of the light-splitting elements may transmit a portion of the pulsed laser beam incident therein and reflect a portion of the pulsed laser beam incident therein. A part of the pulse laser beam transmitted by a spectroscopic element may be incident on the spectroscopic element adjacent to the spectroscopic element and distant from the deflection element 111. A portion of the pulsed laser beam reflected by the beam splitting element may be incident on the scanning assembly 12. The number of the light splitting elements may be 2 or more. The number of the light splitting elements can be set according to a specific application scenario, and is not limited herein.

As shown in fig. 1, the light splitting element may include a first light splitting element 112 and a second light splitting element 113 disposed between the deflection element 111 and the first reflection element 114. The first light splitting element 112 is adjacent to the deflecting element 111. The pulsed laser beam after being deflected by the deflecting element 111 is incident on the first light splitting element 112. The first light splitting element 112 may transmit a portion of the pulsed laser beam into the second light splitting element 112. The first beam splitting element 112 may also reflect a portion of the pulsed laser beam onto the scanning assembly 12. The second beam splitting element 123 may transmit a portion of the pulsed laser beam incident thereon to the first reflective element 114 and reflect a portion of the pulsed laser beam incident thereon onto the scanning assembly 12. The first reflecting element 114 may reflect a portion of the pulse laser beam transmitted through the second light splitting element 113 to the above-described scanning assembly 12.

The scanning assembly may include a stationary portion 122 and a rotating portion 121. One surface of the rotating portion 121 may be a mirror surface that reflects an incident light beam incident thereto and reflects an echo light beam incident thereto. The rotating portion 121 is commonly referred to as a scanning galvanometer. The scanning galvanometer 121 may be reciprocally deflectable about its horizontal and vertical axes.

The pulse laser beam emitted by the laser source can be divided into a plurality of incident beams by the light splitting component. The angle of incidence of different beams of light to the scanning galvanometer is adjusted by setting the reflection angle of each element of the light splitting assembly to the pulse laser beam incident therein, and the angle of incidence of each beam of incident light to the space is adjusted by deflecting the scanning galvanometer. Multiple incident beams can be incident into the target space at different field angles, and scanning of multiple scanning fields can be achieved.

The receiving assembly 13 may be divided into a plurality of sets of receiving assemblies, each of which may include the second reflecting element 131, the converging element 132, and the detecting element 133, which are sequentially disposed. The second reflecting element 131 is used for reflecting the echo light beam reflected by the scanning assembly 12. The converging element 132 is used for converging the echo light beam reflected by the second reflecting element 131. The detecting element 133 is used for receiving and processing the echo beams converged by the converging element 132. A set of receiving elements may correspond one-to-one to one beam splitting element or one-to-one to the first reflecting element 114. Each set of receiving assemblies may receive an echo beam corresponding to the receiving assembly. The echo light beams corresponding to the set of receiving assemblies may be generated by the incident light beams reflected by the light splitting elements corresponding to the set of receiving assemblies into the scanning galvanometer, or generated by the incident light beams reflected by the first reflecting element 114 corresponding to the set of receiving assemblies into the scanning galvanometer 121.

When the laser radar is in an operating state, the beam splitting module 11 and the scanning module 12 correspondingly form a plurality of emission light paths. The scanning assembly 12 forms a plurality of receiving light paths with the plurality of receiving assemblies, respectively. The number of transmit optical paths here may be equal to the number of receive optical paths. The number of emission light paths may be equal to the number of incident light beams.

In the present embodiment, a plurality of sets of optical channels are further formed in the supporting body forming the first support 110, the second support 120, and the third support 130. The number of groups of optical channels here may be equal to the number of emission light paths. Each set of optical channels corresponds to an incident beam and to a return beam.

In some application scenarios, the number of groups of optical channels may be 3.

The position and size of each set of optical channels ensures that only the incident and return beams corresponding to the set of optical channels can pass through to prevent interference from ambient light.

Each group of optical channels may include a first sub-optical channel and a second sub-optical channel. The first sub-optical channel is used for passing the incident light beam and the echo light beam. The second sub-optical channel is used for passing the echo light beam and transmitting the echo light beam to the detection element. That is, the emitting optical path may be an optical path through which an incident light beam is transmitted from the light splitting assembly to the scanning assembly through the first sub optical channel. The receiving optical path comprises a first part of the echo light beam transmitted to the second reflecting element by the scanning component through the first sub-optical channel, and a second part of the echo light beam transmitted to the converging element and the detecting element by the second reflecting element through the second sub-optical channel.

In practice, the second reflecting element 131 may be disposed in the optical path formed by the incident light beam from the light splitting assembly 11 to the scanning assembly 12. Thus, the first sub-optical channel and the second sub-optical channel can communicate.

The second reflective element 131 has a through hole through which an incident light beam can pass. In this way, the first sub-optical channel may be formed in the space between the light splitting assembly 11, the through hole of the second reflecting element 131, and the scanning galvanometer 121 in the scanning assembly 12.

The second sub-channel is formed in the space formed by the scanning galvanometer 121, the second reflecting element 131, the converging element 132 and the detecting element 133. One surface of the second reflecting element, which receives the echo light beam reflected by the scanning galvanometer, is a reflecting surface. The reflective surface of the second reflective element 131 faces the scanning galvanometer 121. The converging element 132 may be a convex lens, or a group of convex lenses consisting of a plurality of convex lenses. The detection element 133 here may be an avalanche photodiode, or a silicon photomultiplier.

Each incident light beam can be transmitted to the scanning galvanometer 121 of the scanning assembly 12 through the corresponding first sub-optical channel of the incident light beam by the corresponding beam splitting element of the incident light beam, or the first reflecting element 114. The scanning galvanometer 121 reflects the incident beam into space. The object to be measured in the space reflects the incident beam to generate an echo beam. The echo beam is transmitted from the object to be measured to the scanning galvanometer 121 of the scanning assembly 12. The scanning galvanometer 121 may reflect the echo beam to a second reflecting element 131 corresponding to the echo beam through a second sub-channel corresponding to the echo beam. The second reflecting element 131 reflects the echo beam. The echo beam reflected by the second reflection element is transmitted to the converging element 132 corresponding to the echo beam through the second sub-channel corresponding to the echo beam. The converging element 132 may converge the echo beam reflected by the second reflecting element 131. The echo beam converged by the converging element 132 may be transmitted to the detecting element 133 corresponding to the echo beam through the second sub-channel corresponding to the echo beam. The detection element 133 receives the echo beam and processes the echo beam.

In this embodiment, the deflecting prism 111 may further return the echo light beams corresponding to each group of optical channels to the respective optical channels through the deflecting prism.

As shown in fig. 2 and 3, in order to prevent crosstalk between light beams transmitted through the groups of optical channels, a first light-shielding assembly 16 for shielding each first sub-optical channel and a second light-shielding assembly 17 for shielding each second sub-optical channel may be formed on the support.

Fig. 5 shows a partially enlarged view of the second light-blocking assembly shown in fig. 3.

As shown in fig. 5, the second light-shielding assembly 17 may separate the plurality of second sub-channels 171 to prevent crosstalk between the echo light beams of different beams.

In assembling the laser radar, the elements of the spectroscopic assembly may be disposed on the first holder 110, the scanning assembly 12 may be disposed on the second holder 120, and the elements of the receiving assembly 13 may be disposed on the third holder 130. When assembling the laser radar, the relative positions of each element in the light splitting assembly, the scanning assembly 12 and the receiving assembly 13 can be adjusted, so that a detection pulse laser beam emitted into the space from the laser radar forms a preset included angle with the horizontal direction; and the echo beam reflected from the target to be measured in the space can be accurately received by the receiving component 13. The assembled lidar may be referred to fig. 4.

The first bracket, the second bracket and the third bracket are formed in an integrated forming mode, are made of the same material and are formed in the same supporting body. When the laser radar formed by using the three supports works, even if the internal heat is not smoothly dissipated, the internal temperature of the laser radar is increased. However, since the first bracket 110, the second bracket 120, and the third bracket 130 are made of the same material, have the same manufacturing process, and are integrally formed, the deformation amount and the deformation tendency of the first bracket 110, the second bracket 120, and the third bracket 130 are the same. Even if the first support 110, the second support 120, and the third support 130 are deformed, the angle between the horizontal direction and the detection pulse laser beam reflected by the scanning assembly 12 into the space will not change. In addition, since the deformation amount and the deformation trend are the same, even if the first support 110, the second support 120 and the third support 130 are deformed, the echo light beam reflected from the target to be measured in the space can be accurately received by the receiving assembly. So that the receiving efficiency of the laser radar is not affected.

In addition, the lidar includes a laser source collimation assembly (not shown). The laser light source is used for generating a pulse laser beam. The pulsed laser beam generated by the laser light source may not be a parallel beam. The laser light source collimation assembly is used for collimating the pulse laser beam emitted by the laser into a parallel pulse laser beam. In this embodiment, the laser light source collimation assembly is disposed on the fourth support 141. The fourth bracket 141 is integrally formed with the first bracket 110, the second bracket 120, and the third bracket 130.

The fourth support 141 provided with the laser source collimation assembly is integrally formed with the first support 110, the second support 120 and the third support 130, on one hand, the workload of adjusting the laser source collimation assembly can be reduced when the laser radar is assembled, on the other hand, the deformation amount and the deformation trend of the fourth support 141 integrally formed with the first support 110, the second support 120 and the third support 130 are the same as those of the first support 110, the second support 120 and the third support 130 when the fourth support is deformed by heating, and therefore the collimated pulse laser beams can all enter the light splitting assembly. The efficiency of the laser light source is not reduced.

In order to make the lidar work properly, a printed circuit board (not shown in the figure) for generating a control signal is also provided in the lidar. The printed circuit board can generate a control signal for controlling the laser light source to generate a pulse laser signal, a control signal for driving the galvanometer to rotate, and a control signal for controlling the detection element to process the echo signal. The printed circuit board also generates heat during operation. In order to dissipate heat from the printed circuit board, a heat dissipation assembly for dissipating heat from the printed circuit board may be provided. The heat dissipation assembly can be attached to the printed circuit board.

Further, the heat dissipation assembly is connected with a support body on which the first support, the second support and the third support are arranged. Therefore, the heat dissipation of the printed circuit board by the heat dissipation assembly can be accelerated.

The above description is only a preferred embodiment of the application and is illustrative of the principles of the technology employed. It will be appreciated by a person skilled in the art that the scope of the invention as referred to in the present application is not limited to the embodiments with a specific combination of the above-mentioned features, but also covers other embodiments with any combination of the above-mentioned features or their equivalents without departing from the inventive concept. For example, the above features may be replaced with (but not limited to) features having similar functions disclosed in the present application.

Claims

1. The laser radar is characterized by comprising a light splitting component, a scanning component and a receiving component;

the light splitting component is used for splitting the pulse laser beam for detection into a plurality of incident beams and transmitting the incident beams to the scanning component;

the scanning assembly is used for reflecting the multiple incident beams to a space outside the laser radar and receiving multiple echo beams after the multiple incident beams are reflected by a target to be detected in the space; the receiving assembly is used for receiving and processing the multiple echo light beams;

the light splitting assembly is arranged on the first support, the scanning assembly is fixed on the second support, and the receiving assembly is fixed on the third support, wherein

The first bracket, the second bracket and the third bracket are integrally formed.

2. The lidar of claim 1, further comprising a laser source collimation assembly configured to collimate the pulsed laser beam from the laser into a parallel pulsed laser beam;

the laser light source collimation assembly is arranged on a fourth support, wherein the fourth support is integrally formed with the first support, the second support and the third support.

3. Lidar according to claim 1 or 2, wherein the beam splitting assembly comprises a deflecting element, at least one beam splitting element and a first reflecting element arranged side by side in sequence on the first support, wherein

The deflection element is used for deflecting the pulse laser beam incident into the deflection element and irradiating the deflected pulse laser beam to a first light splitting element in the at least one light splitting element, and the distance between the first reflecting element and the deflection element is larger than the distance between any light splitting element and the deflection element;

the light splitting element is used for transmitting one part of the pulse laser beam incident into the light splitting element and reflecting the other part of the pulse laser beam to the scanning component;

the first reflecting element is used for reflecting the pulse laser beam transmitted to the first reflecting element through the light splitting element to the scanning assembly.

4. The lidar of claim 3, wherein the receiving assembly comprises a second reflecting element, a converging element, and a detecting element disposed in sequence;

the second reflecting element is used for reflecting the echo light beam reflected by the scanning component;

the converging element is used for converging the echo light beam reflected by the second reflecting element;

the detecting element is used for receiving and processing the echo light beam converged by the converging element.

5. The lidar of claim 4, wherein the first bracket, the second bracket, and the third bracket are formed on a support, and

a plurality of groups of optical channels are formed in the support body, and the optical channels are used for only passing the incident light beams and the echo light beams;

each group of optical channels comprises a first sub-optical channel and a second sub-optical channel; wherein the content of the first and second substances,

the first sub-optical channel is used for passing the incident light beam and the echo light beam; the second sub-optical channel is used for passing the echo light beam and transmitting the echo light beam to the detection element.

6. The lidar of claim 5, wherein the second reflective element is disposed in an optical path formed by the incident beam incident from the beam splitting assembly to the scanning assembly; the first sub-optical channel is communicated with the second sub-optical channel; wherein

The incident light beam is transmitted to the scanning assembly through the first sub-optical channel by the light splitting assembly, and the echo light beam is transmitted to the second reflecting element through the first sub-optical channel by the scanning assembly; the echo light beam passing through the second reflection element is transmitted to the detection element through the second sub-optical channel.

7. The lidar of claim 5, wherein the support body further has a first light-shielding assembly formed thereon for shielding each of the first sub-optical channels, and a second light-shielding assembly formed thereon for shielding each of the second sub-optical channels.

8. The lidar of claim 1, further comprising a printed circuit board for generating a control signal, and a heat sink assembly for dissipating heat from the printed circuit board, wherein

The heat dissipation assembly is connected with the support body on which the first support, the second support and the third support are arranged.