CN117930187A - Laser radar and receiving and transmitting device thereof - Google Patents

Abstract

The invention relates to the technical field of laser radars, and particularly discloses a receiving and transmitting device of a laser radar. The light emitting module comprises an emitting optical fiber array assembly, a collimating assembly and a main light emitting assembly, wherein the emitting optical fiber array assembly is used for transmitting detection light to the collimating assembly, and the collimating assembly is used for collimating the detection light; the light receiving module comprises a light receiving fiber array assembly and a diaphragm, the diaphragm is arranged in the shell and divides the interior of the shell into a first cavity and a second cavity, the main wave transmitting assembly and the light receiving fiber array assembly are both arranged in the first cavity, the light emitting module is arranged in the second cavity, and the diaphragm is provided with a through hole for passing echo light. The receiving and transmitting device of the laser radar reduces stray light entering the receiving optical fiber array assembly and noise. The invention also discloses a laser radar with the transceiver, and the laser radar has the technical effects.

Description

Laser radar and receiving and transmitting device thereof

Technical Field

The invention relates to the technical field of laser radars, in particular to a laser radar and a receiving and transmitting device thereof.

Background

The lidar is a radar system that detects a characteristic quantity such as a position, a speed, etc. of a target by emitting a laser beam. The working principle is that a detection signal (laser ray) is emitted to a target, then a received signal (echo ray) reflected from the target is compared with the emission signal, and proper processing is performed to obtain relevant information of the target, such as parameters of the distance, the azimuth, the altitude, the speed, the gesture, even the shape and the like of the target.

The laser radar transceiver is used as a laser radar core component and directly affects the internal structural layout and the point cloud quality index of the laser radar. The conventional laser radar mostly adopts a high-sensitivity detector, and is easily influenced by stray light, so that noise is generated to influence the quality of the laser radar point cloud.

In summary, how to effectively improve the problem that the laser radar transceiver affects the quality of the point cloud due to the entry of stray light is a problem that needs to be solved by those skilled in the art at present.

Disclosure of Invention

In view of the above, an object of the present invention is to provide a lidar and a transmitting/receiving device thereof, which can improve the problem that the point cloud quality is affected by the entrance of stray light in the lidar transmitting/receiving device due to the structural design of the lidar and the transmitting/receiving device thereof.

In order to achieve the above purpose, the present invention provides the following technical solutions:

A transmitting-receiving device of a laser radar, comprising:

A housing;

the light emitting module is arranged on the shell and comprises an emitting optical fiber array assembly, a collimation assembly and a main light emitting assembly, wherein the emitting optical fiber array assembly is used for transmitting detection light emitted by the light source device to the collimation assembly, the collimation assembly is used for collimating the detection light, and the main light emitting assembly is used for emitting main light;

The light receiving module is arranged on the shell and comprises a light receiving fiber array assembly and a diaphragm, the light receiving fiber array assembly is used for receiving the main light and the echo light, the diaphragm is arranged in the shell and divides the interior of the shell into a first cavity and a second cavity, the main light emitting assembly and the light receiving fiber array assembly are all arranged on the first cavity, the light emitting fiber array assembly and the collimation assembly are arranged on the second cavity, and the diaphragm is provided with a through hole for the echo light to pass through.

Optionally, in the transceiver of a lidar, the light receiving module includes a scattering component disposed in the first cavity, where the scattering component is configured to scatter the main light to the receiving optical fiber array assembly.

Optionally, in the above laser radar transceiver, the light receiving module includes a reflection mirror, the reflection mirror is used for changing a direction of the echo light, and the receiving fiber array component is used for receiving the echo light reflected by the reflection mirror.

Optionally, in the above laser radar transceiver, the housing includes a main body portion and a neck portion protruding from a top end side of the main body portion, the second cavity is formed in the main body portion, the first cavity is formed in the neck portion, the transmitting optical fiber array assembly and the collimating assembly are disposed at a bottom end of the main body portion, and the reflecting lens is disposed on a side opposite to the top end of the main body portion and the neck portion.

Optionally, in the above transceiver device for a laser radar, the light receiving module includes:

a filter member provided in the housing;

And the receiving lens is arranged on the shell, the optical axis of the receiving lens is parallel to the optical axis of the collimation component, and the receiving lens is positioned behind the filtering component under the propagation path of the echo light.

Optionally, in the above transceiver device for a lidar, the filter component is disposed obliquely with respect to an optical axis of the receiving lens.

Optionally, in the transceiver device of a lidar, the light filtering component is a narrowband filter.

Optionally, in the above laser radar transceiver, the light emitting module includes a light emitting base, the light emitting fiber array assembly and the collimation assembly are all disposed on the light emitting base, a first mounting hole is formed in the light filtering component, a second mounting hole is formed in the receiving lens, a third mounting hole is formed in the side wall of the housing, and the light emitting base is disposed through the first mounting hole, the second mounting hole and the third mounting hole.

Optionally, in the above transceiver device for a laser radar, the light emitting module includes a light shielding cover, and the light shielding cover is disposed on the housing and covers the emitting fiber array assembly and the collimating assembly.

The invention provides a receiving and transmitting device of a laser radar, which comprises a shell, a light emitting module and a light receiving module. The light source device comprises a shell, a light emitting module, a collimation module and a main light emitting module, wherein the light emitting module is arranged on the shell and comprises a light emitting fiber array module, the collimation module and the main light emitting module, the light emitting fiber array module is used for transmitting detection light emitted by the light source device to the collimation module, the collimation module is used for collimating the detection light, and the main light emitting module is used for emitting main light; the light receiving module is arranged on the shell and comprises a light receiving fiber array assembly and a diaphragm, the light receiving fiber array assembly is used for receiving main light and echo light, the diaphragm is arranged in the shell and divides the interior of the shell into a first cavity and a second cavity, the main light emitting assembly and the light receiving fiber array assembly are all arranged in the first cavity, the light emitting fiber array assembly and the collimation assembly are arranged in the second cavity, and the diaphragm is provided with a through hole for the echo light to pass through.

By using the receiving and transmitting device of the laser radar, the interior of the shell is divided into the first cavity and the second cavity by arranging the diaphragm, and the diaphragm is provided with the through hole for passing echo light. The main light is reduced to be emitted into the second cavity through the diaphragm, stray light is reduced to enter the receiving optical fiber array assembly, noise is reduced, and the quality of the laser radar point cloud is improved. Meanwhile, the transmitting optical fiber array component is used as a transmitting end, and the receiving optical fiber array component is used as a receiving end, so that the design layout and the production adjustment of the laser radar are facilitated, and the production cost is reduced.

In some preferred embodiments, the light receiving module includes a reflecting mirror, and by setting the reflecting mirror, the direction of the echo light can be changed, so that the turning of the light path can be realized, the structure of the transceiver is more compact, and the layout in the whole laser radar is facilitated.

In some preferred embodiments, the light receiving module includes a filter member and a receiving lens, and the filter member is disposed obliquely with respect to an optical axis of the receiving lens. The light reflected by the light filtering component can deviate from the sensor which is symmetrically arranged on the receiving optical fiber array relative to the optical axis, so that crosstalk is avoided, and the detection result is prevented from being influenced.

In order to achieve the above purpose, the present invention also provides a laser radar, which includes any one of the above transceiver devices. Because the transceiver has the technical effects, the laser radar with the transceiver has the corresponding technical effects.

Drawings

In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic front view of a transceiver device of a lidar according to an embodiment of the present invention;

FIG. 2 is a schematic bottom view of FIG. 1;

FIG. 3 is a schematic view in section A-A of FIG. 2;

fig. 4 is a schematic diagram of the explosive structure of fig. 1.

The figures are marked as follows:

a housing 100, a light emitting module 200, and a light receiving module 300;

a first cavity 101, a second cavity 102, a body portion 110, a neck portion 120, a third mounting hole 103,

An emission fiber array assembly 210, a collimation assembly 220, a main emission assembly 230, an emission base 240, a light shield 250, a base body 241, a flange 242;

the optical fiber receiving module 310, the diaphragm 320, the through hole 321, the protrusion 322, the scattering member 330, the reflection lens 340, the filter member 350, the receiving lens 360, the first mounting hole 351, the second mounting hole 361, the receiving fiber array 311, and the receiving base 312.

Detailed Description

The embodiment of the invention discloses a laser radar and a receiving and transmitting device thereof, which are used for reducing stray light, thereby reducing noise and improving the quality of laser radar point cloud.

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

The laser radar provided by the application comprises a light source device, a transceiver device, a scanning device and a processing device. The light source device is used for generating detection laser required by the laser radar, namely detection light, the light emitting module of the transceiver device is used for transmitting the detection light to the collimation assembly through the optical fiber array, and the detection light is emitted to the scanning device after being collimated by the collimation assembly. The scanning device guides the detection light to the target object, and the echo light reflected from the target object is guided to the light receiving module of the transceiver device through the scanning device. In addition, the main light emitting component of the light emitting module emits main light, the main light and the echo light are coupled into the receiving optical fiber array component, the main light and the echo light are transmitted to the photoelectric detection component of the processing device through the receiving optical fiber array component, and at least one of the parameters such as the distance, the speed and the three-dimensional information of the target object is obtained through the processing of the signal by the processing device. According to the application, the structure design of the receiving and transmitting device of the laser radar is mainly adopted, so that the receiving and transmitting device is more compact, the noise is reduced, and the quality of the laser radar point cloud is improved. In the following embodiments, the structure of the transceiver is mainly described, and other structures of the lidar refer to the prior art, which is not described herein.

Referring to fig. 1-3, in some embodiments, the transceiver of the lidar provided by the present invention includes a housing 100, a light emitting module 200, and a light receiving module 300. The housing 100 is an external protection structure of the transceiver, and provides a supporting function for mounting the light emitting module 200 and the light receiving module 300, and a cavity enclosed by the housing 100 forms a light channel. The light emitting module 200 is disposed on the housing 100, and the light emitting module 200 includes an emitting fiber array assembly 210, a collimating assembly 220, and a main emitting assembly 230. The transmitting optical fiber array assembly 210 is used for transmitting the detection light emitted by the light source device to the collimation assembly 220; the collimation assembly 220 is used for collimating the received detection light transmitted by the transmitting optical fiber array assembly 210; the main light emitting assembly 230 is used for emitting main light. The light receiving module 300 is disposed on the housing 100, and the light receiving module 300 includes a light receiving fiber array assembly 310 and a diaphragm 320, where the light receiving fiber array assembly 310 is configured to receive the main light and the echo light and transmit the main light and the echo light. The diaphragm 320 is disposed in the housing 100 and divides the interior of the housing 100 into a first cavity 101 and a second cavity 102, the main transmitting assembly 230 and the receiving optical fiber array assembly 310 are disposed in the first cavity 101, the transmitting optical fiber array assembly 210 and the collimating assembly 220 are disposed in the second cavity 102, and the diaphragm 320 is provided with a through hole 321 for passing echo light. The shape and position of the through holes 321 are set correspondingly according to the paths of the receiving fiber array assembly 310 and the echo light, which are not limited herein. Through setting up diaphragm 320, can enough allow echo direction to pass through and get into receive optical fiber array subassembly 310, reduce the stray light that second cavity 102 lateral wall was reflected simultaneously and get into receive optical fiber array subassembly 310, improve echo signal quality, on the other hand avoid the dominant light that dominant emission subassembly 230 sent directly to get into second cavity 102, reduce the dominant light that reflects at second cavity 102 lateral wall to get into second cavity 102, improve dominant signal quality.

By applying the receiving and transmitting device of the laser radar, the detection light generated by the light source device during detection is transmitted to the collimation assembly 220 through the transmitting optical fiber array assembly 210, and is transmitted to the scanning device after being collimated by the collimation assembly 220. The scanning device guides the detection light to the target object, and the echo light reflected from the target object is guided to the light receiving module 300 through the scanning device. In addition, the main light emitting component 230 emits main light, and the main light and the echo light are coupled into the receiving fiber array component 310 and output through the receiving fiber array component 310. In summary, the transceiver device can realize reliable transceiver function, and meanwhile, the diaphragm 320 is provided to divide the interior of the housing 100 into the first cavity 101 and the second cavity 102, and the diaphragm 320 is provided with a through hole 321 for passing the echo light. By arranging the diaphragm 320, the main light is reduced from being emitted into the second cavity 102, and stray light is reduced from being emitted into the receiving optical fiber array assembly 310, so that noise is reduced, and the quality of the laser radar point cloud is improved. In addition, the transmitting optical fiber array assembly 210 is used as a transmitting end, and the receiving optical fiber array assembly 310 is used as a receiving end, so that the design layout and the production and adjustment of the laser radar are facilitated, and the production cost is reduced. Furthermore, the light emitting module 200 and the light receiving module 300 are respectively fixed on the housing 100 to form modularized components, which is convenient for production and assembly.

In some embodiments, the transmit fiber array assembly 210 and/or the receive fiber array assembly 310 each include a fiber array that includes one or more optical fibers to enable transmission of one or more probe and echo light rays.

In some embodiments, referring to fig. 3 and 4, a receiving fiber array assembly 310 includes a receiving base 312 and a receiving fiber array 311 disposed on the receiving base 312. The receiving fiber array 311 may be fixed to the receiving base 312 by dispensing, and the receiving base 312 may be fixed to the housing 100 by dispensing. The dispensing and fixing operation is convenient and the fixing is reliable. According to the requirement, the dispensing fixation in the application can be replaced by other conventional fixation modes such as interference fit, screw connection and the like.

In some embodiments, the main light emitting assembly 230 includes a main reflector for emitting main light, and the main light emitting assembly is mounted to the housing 100 through hole axis fitting and fixed by dispensing.

In some embodiments, referring to fig. 3 and 4, the light receiving module 300 includes a scattering component 330 disposed in the first cavity 101, and the scattering component 330 is configured to scatter the main light to the receiving fiber array assembly 310. By arranging the scattering component 330, the main light emitted by the main light emitting component 230 can be uniformly scattered to the receiving optical fiber array component 310, so that each channel of the receiving optical fiber array component 310 obtains relatively uniform main light intensity, and the main signal quality is improved. The scattering component 330 may be disposed on the diaphragm 320 and located on a wall surface of the first cavity 101, for example, fixed to the diaphragm 320 by dispensing. The scattering member 330 may be a scattering sheet.

In some embodiments, referring to fig. 3 and 4, the light receiving module 300 includes a reflector 340, the reflector 340 is used to change the direction of the echo light, and the receiving fiber array assembly 310 is used to receive the echo light reflected by the reflector 340. By arranging the reflecting mirror 340, the direction of the echo light can be changed, thereby realizing the turning of the light path, enabling the structure of the transceiver to be more compact and facilitating the layout in the whole laser radar. The number and positions of the reflection mirrors 340 may be set according to the incident direction of the echo light and the orientation of the receiving fiber array assembly 310, which is not limited herein. The reflecting mirror 340 may be fixed to the housing 100 by dispensing.

In some embodiments, referring to fig. 3 and 4, the housing 100 includes a main body 110 and a neck 120 protruding from a top end of the main body 110, a second cavity 102 is formed in the main body 110, a first cavity 101 is formed in the neck 120, the transmitting fiber array assembly 210 and the collimating assembly 220 are disposed at a bottom end of the main body 110, and the reflecting mirror 340 is disposed at a side of the top end of the main body 110 opposite to the neck 120. It can be appreciated that the diaphragm 320 is disposed at the connection portion between the main body 110 and the neck 120, and can be specifically fixed to the housing 100 by dispensing, and the main body 110 and the neck 120 can be integrally formed or can be separately connected by conventional fixing methods. The housing 100 adopts the above structure arrangement, the direction of the optical axis of the collimating component 220 is different from the direction of the receiving fiber array component 310, and the direction of the echo light is turned through the reflecting mirror 340, so that the installation requirements of all components are met, and meanwhile, the space is fully utilized, thereby being beneficial to reducing the volume of the laser radar. In addition, the first cavity 101 formed by the neck 120 is smaller, so that the main light can only scatter in a smaller range of the first cavity 101, and the main signal quality is further improved. Specifically, the optical axis direction of the collimating component 220 may be perpendicular to the direction of the light receiving component 310. In other embodiments, the shape of the housing 100 may be cylindrical or other shapes as desired.

In some embodiments, the housing 100 is windowed with respect to the position of the mirror 340, and the mirror 340 is mounted within the window. The arrangement can not only realize reflection of echo light, but also save the space of the wall thickness of the shell 100, and is further beneficial to reducing the volume of the laser radar.

In some embodiments, referring to fig. 3 and 4, the light receiving module 300 includes a filter 350 and a receiving lens 360. The filter member 350 and the receiving lens 360 are both disposed on the housing 100, the optical axis of the receiving lens 360 is parallel to the optical axis of the collimating component 220, and the receiving lens 360 is located behind the filter member 350 in the propagation path of the echo light. The filter 350 is used to inhibit ambient light and stray light from entering the receiving fiber array assembly 310, and the receiving lens 360 is used to collect the echo light. The echo light is first filtered by the filter 350, then is incident on the receiving lens 360, and finally enters the receiving fiber array assembly 310 through the collecting function of the receiving lens 360. In the case of the reflection mirror 340, under the propagation path of the echo light, the receiving mirror 360 is located behind the filter member 350 and in front of the reflection mirror 340, that is, the filter member 350, the receiving mirror 360, the reflection mirror 340 and the diaphragm 320 are sequentially disposed, the echo light is first incident on the receiving mirror 360 after the filtering action of the filter member 350, is incident on the reflection mirror 340 after the collecting action of the receiving mirror 360, and finally enters the receiving fiber array assembly 310 after the reflection of the reflection mirror 340 passes through the through hole 321 of the diaphragm 320. The filter member 350 and the receiving lens 360 may be fixed to the housing 100 by dispensing.

In some embodiments, the filter component 350 is disposed obliquely with respect to the optical axis of the receiving lens 360. Because the optical transmittance of the optical filter 350 and the receiving optical fiber array assembly 310 cannot reach 100%, when the echo light is converged on the receiving optical fiber array 311 through the receiving lens 360, a small portion of the echo light is reflected on the surface of the receiving optical fiber array 311, and the reflected light propagates toward the optical filter 350. When the light passes to the filter 350, a small portion of the light is reflected and then propagates toward the receiving fiber array 311 to the receiving fiber array 311. A plurality of sensors symmetrical to the optical axis are typically disposed on the receiving fiber array 311, and the crosstalk between the sensors may affect the quality of the point cloud due to the multiple reflections of the light. Therefore, by obliquely setting the optical axis of the receiving lens 360 of the filter member 350, the light reflected by the filter member 350 can deviate from the sensor, and thus crosstalk is prevented from being caused, and the detection result is prevented from being affected.

In some embodiments, the filter component 350 is a narrowband filter that is configured to inhibit the entry of non-related wavelengths into the receiving fiber array assembly 310, and the narrowband filter is simple in construction and easy to install. In other embodiments, the filter member 350 may have other structures such as a filter lens that can perform a filtering function.

In some embodiments, the housing 100 has an opening at one end, and the filter member 350 covers the opening. I.e. the filter component 350 is arranged at the forefront end of the transceiver, which is convenient for installation and can improve the filter effect. In the case where the housing 100 specifically includes the main body 110 and the neck 120, the filter member 350 is provided at an end surface of the main body 110 remote from the neck 120.

In some embodiments, referring to fig. 3 and 4, the light emitting module 200 includes an emitting base 240, the emitting fiber array assembly 210 and the collimating assembly 220 are both disposed on the emitting base 240, the filtering component 350 is provided with a first mounting hole 351, the receiving lens 360 is provided with a second mounting hole 361, the sidewall of the housing 100 is provided with a third mounting hole 103, and the emitting base 240 is disposed through the first mounting hole 351, the second mounting hole 361 and the third mounting hole 103. By providing the launch base 240, the launch fiber array assembly 210 and the collimating assembly 220 are integrally configured for ease of production and assembly. In addition, the first mounting hole 351 is formed in the filter member 350, and the second mounting hole 361 is formed in the receiving lens 360, so that filtering and collecting effects on echo light can be achieved, and meanwhile, blocking of emission of detection light can be avoided. And the whole structure is simple and compact, and the volume of the laser radar is reduced. Specifically, the transmitting fiber array assembly 210 and the collimating assembly 220 are fixed with the transmitting base 240 by dispensing. The emission base 240 is spot-glued to the housing 100. In other embodiments, a first mounting hole and a second mounting hole may be respectively disposed on the housing, the filter component 350 is disposed in the first mounting hole, and the emission base 240 is disposed in the second mounting hole, so that stable assembly can be realized.

In some embodiments, referring to fig. 4, the emission base 240 includes a base main body 241 and a flange 242 disposed at one end of the base main body 241, the emission optical fiber array assembly 210 and the collimating assembly 220 are disposed on the base main body 241, the base main body 241 can extend into the housing 100 from the third mounting hole 103, and the flange 242 is blocked on the outer wall of the housing 100, so as to be convenient for being fixedly connected with the housing 100 while effectively limiting. The first mounting hole 351 may be specifically provided at a middle portion of the filter member 350, and the second mounting hole 361 may be specifically communicated to an edge of the receiving lens 360 to facilitate processing.

In some embodiments, referring to fig. 4, the through hole 321 of the diaphragm 320 is a shaped hole, for example, the diaphragm 320 has a protrusion 322 formed by extending from one side edge of the through hole 321 to the inside of the through hole 321, and the protrusion 322 corresponds to the first mounting hole 351 and the second mounting hole 361 in the receiving light path, so as to reduce the influence on the receiving area of the cross section of the light. In the case where the scattering member 330 is provided, the scattering member 330 may be provided to the projection 322.

In some embodiments, referring to fig. 3 and 4, the emitted light module 200 includes a light shield 250, where the light shield 250 is disposed on the housing 100 and covers the emitting fiber array assembly 210 and the collimating assembly 220. It can be appreciated that the light shield 250 is covered on the transmitting optical fiber array assembly 210 and the collimating assembly 220, so that the transmitting optical fiber array assembly 210 and the collimating assembly 220 are isolated from the echo light in the second cavity 102, stray light formed in the cavity between the housing 100 and the light shield 250 due to the detection light is avoided, the influence of the stray light is further reduced, and the quality of the laser radar point cloud is improved. The light-emitting module 200 includes an emitting base 240, and the emitting fiber array assembly 210 and the collimating assembly 220 are both disposed on the emitting base 240, the filtering component 350 is provided with a first mounting hole 351, the receiving lens 360 is provided with a second mounting hole 361, the light-shielding cover 250 is disposed through the first mounting hole 351 and the second mounting hole 361, and the edge of the light-shielding cover 250 is connected with the housing 100 in a sealing manner.

Based on the transceiver provided in the above embodiment, the present invention further provides a lidar, which includes any one of the transceiver in the above embodiment. Since the laser radar adopts the transceiver in the above embodiment, the beneficial effects of the laser radar are as follows.

In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (10)

1. A transmitting-receiving device of a laser radar, comprising:

A housing (100);

the emission light module (200) is arranged on the shell (100) and comprises an emission optical fiber array assembly (210), a collimation assembly (220) and a main light emission assembly (230), wherein the emission optical fiber array assembly (210) is used for transmitting detection light emitted by a light source device to the collimation assembly (220), the collimation assembly (220) is used for collimating the detection light, and the main light emission assembly (230) is used for emitting main light;

Receive light module (300), locate shell (100), including receiving fiber array subassembly (310) and diaphragm (320), receive fiber array subassembly (310) are used for receiving dominant light and echo light, diaphragm (320) are located in shell (100) and will the inside first cavity (101) and second cavity (102) of dividing into of shell (100), dominant light emission subassembly (230) with receive fiber array subassembly (310) all locate first cavity (101), emission fiber array subassembly (210) with collimation subassembly (220) are located second cavity (102), diaphragm (320) are equipped with be used for echo light passes through hole (321).

2. The laser radar transceiver device of claim 1, wherein the light receiving module (300) includes a scattering component (330) disposed in the first cavity (101), and the scattering component (330) is configured to scatter the main light to the receiving fiber array assembly (310).

3. The lidar transceiver device according to claim 1, wherein the light receiving module (300) comprises a reflecting mirror (340), the reflecting mirror (340) is configured to change the direction of the echo light, and the receiving fiber array assembly (310) is configured to receive the echo light reflected by the reflecting mirror (340).

4. A laser radar transceiver according to claim 3, wherein the housing (100) includes a main body portion (110) and a neck portion (120) protruding from a top end side of the main body portion (110), the second cavity (102) is formed in the main body portion (110), the first cavity (101) is formed in the neck portion (120), the transmitting optical fiber array assembly (210) and the collimating assembly (220) are disposed at a bottom end of the main body portion (110), and the reflecting mirror (340) is disposed on a side of a top end of the main body portion (110) opposite to the neck portion (120).

5. The lidar transceiver device according to any of claims 1 to 4, wherein the light receiving module (300) comprises:

A filter member (350) provided on the housing (100);

and a receiving lens (360) arranged on the shell (100), wherein the optical axis of the receiving lens (360) is parallel to the optical axis of the collimating component (220), and the receiving lens (360) is positioned behind the filtering component (350) under the propagation path of the echo light.

6. The transmitting/receiving device of a lidar according to claim 5, wherein the filter member (350) is arranged obliquely with respect to the optical axis of the receiving lens (360).

7. The lidar transceiver device according to claim 5, wherein the filtering means (350) is a narrowband filter.

8. The laser radar transceiver device of claim 5, wherein the light emitting module (200) includes an emitting base (240), the emitting optical fiber array assembly (210) and the collimating assembly (220) are both disposed on the emitting base (240), a first mounting hole (351) is formed in the light filtering component (350), a second mounting hole (361) is formed in the receiving lens (360), a third mounting hole (103) is formed in a side wall of the housing (100), and the emitting base (240) is disposed through the first mounting hole (351), the second mounting hole (361) and the third mounting hole (103).

9. The lidar transceiver device according to any of claims 1 to 4, wherein the light emitting module (200) comprises a light shield (250), the light shield (250) being arranged on the housing (100) and covering the transmitting fiber array assembly (210) and the collimating assembly (220).

10. A lidar comprising a transceiver device according to any of claims 1 to 9.