CN219122404U

CN219122404U - Receiving and transmitting device of laser radar

Info

Publication number: CN219122404U
Application number: CN202222962359.XU
Authority: CN
Inventors: 肖宇钊; 郑东; 雷晶晶; 方国明
Original assignee: Chengdu Yingfeirui Technology Co ltd
Current assignee: Chengdu Yingfeirui Technology Co ltd
Priority date: 2022-11-07
Filing date: 2022-11-07
Publication date: 2023-06-02
Anticipated expiration: 2032-11-07

Abstract

The application discloses transceiver of laser radar, including shell, detection light collimation subassembly, dominant light scattering subassembly, light collection subassembly and light detection subassembly. The detection light collimation component collimates and emits detection light to the scanning device of the laser radar. The main light scattering component scatters the main light. The light collecting assembly collects the echo light reflected by the scanning device and transmits the collected echo light to the light detecting assembly. The light detection component receives the echo light transmitted by the light detection component and the main light scattered by the main light scattering component, and converts the light signal into an electric signal. The detection light collimation assembly, the main light scattering assembly, the light collection assembly and the light detection assembly are fixedly mounted to the housing to form a single transceiver module. The transceiver has compact structure, is beneficial to reducing the volume of the transceiver, improving the assembly and adjustment efficiency and reducing the production cost.

Description

Receiving and transmitting device of laser radar

Technical Field

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

Background

Lidar is a system that emits laser light to detect characteristic information such as distance, position, and/or speed of a target. The working principle is that the detection light is emitted to the target, and then the received echo light reflected from the target is subjected to photoelectric conversion and then is compared with the detection light, so that the related information of the target, such as one or more of the parameters of the distance, the azimuth, the height, the speed, the gesture, the even shape and the like of the target, is obtained, and the target is detected, tracked and/or identified.

The laser radar transceiver is used as a laser radar core component, and has the main functions of transmitting detection light, receiving echo light and transmitting the received echo light to the detector for photoelectric conversion, and the internal structural layout and the ranging performance index of the laser radar are directly affected. The transceiver relates to various components and parts, and the accuracy and efficiency of the assembly and adjustment directly influence the ranging performance and the production efficiency of the laser radar. Therefore, how to improve the adjustment accuracy and efficiency of the transceiver device is an important requirement in the industry.

Disclosure of Invention

In view of the above, the present application provides a laser radar transmitter/receiver device capable of improving the adjustment accuracy and adjustment efficiency.

The receiving and transmitting device of the laser radar comprises a shell, a detection light collimation assembly, a main light scattering assembly, a light collection assembly and a light detection assembly. The detection light collimation component is used for collimating and transmitting detection light to the laser radar scanning device. The main light scattering component is used for scattering main light. The light collecting assembly is used for collecting the echo light reflected by the scanning device and transmitting the collected echo light to the light detecting assembly. The light detection component is used for receiving the echo light transmitted by the light detection component and the main light scattered by the main light scattering component and converting the light signal into an electric signal. Wherein the detection light collimation assembly, the main light scattering assembly, the light collection assembly and the light detection assembly are fixedly mounted to the housing to form a single transceiver module.

The single transceiver integrates the functions of collimation emission of detection light, receiving and detecting of echo light, scattering, receiving and detecting of main light and the like. Before being assembled into a lidar housing, the components have been assembled together to form a single transceiver module with design accuracy. In the laser radar complete machine, the position and the gesture of the transceiver module can be adjusted according to the complete machine requirement, and the assembly precision of each component of the transceiver can be ensured, so that the layout of the transceiver in a laser radar product can be more flexible, and the transceiver can be matched with more optimized optical path design. After the modularized design, the structure is compact, the volume of the receiving and transmitting device is reduced, the assembling and adjusting efficiency is improved, and the production cost is reduced.

In some embodiments, the housing includes a first housing end and a second housing end that are spaced apart from each other and form an internal passage between the first housing end and the second housing end for light transmission. The detection light collimation assembly is used for emitting detection light from the first shell end towards a direction far away from the second shell end, and the light detection assembly is fixedly mounted to the second shell end.

In some embodiments, the light collection assembly includes a filter and a receiving optic. The optical filter can be arranged at the first shell end and is provided with a light through hole, and the light through hole allows the detection light emitted by the detection light collimation component to pass through. A receiving lens is mounted in the internal passage downstream of the filter on the propagation path of the echo light. Therefore, the optical filter is arranged at the forefront end of the echo optical fiber receiving light path, so that light rays outside the wavelength range of the emitted laser are filtered more efficiently, the ambient light and stray light are reduced, and the receiving performance of the echo light rays is improved. In addition, the light passing hole of the optical filter allows the detection light emitted by the detection light collimating component to pass through. Therefore, the optical filter can filter out light rays outside the wavelength range of the emitted laser and does not block the emission of the detection light rays.

In some embodiments, the probe light collimation assembly includes an emission base, an emission collimation lens, a fiber optic locator, a fiber optic, and a light shield. The transmitting base is fixedly arranged in the inner channel. The emission collimating lens is fixedly arranged on the emission base, and the optical fiber positioning piece is fixedly arranged on the emission base and forms an interval with the emission collimating lens. The end of the outgoing light of the optical fiber is fixed to the optical fiber positioning member and positioned relative to the emission collimating mirror. A light shield shields the space between the emission collimating mirror and the fiber positioning member. The light shield shields the interval between the emission collimating lens and the optical fiber positioning piece, prevents dust from polluting the optical fiber light-emitting end face, simultaneously prevents the outgoing light of the optical fiber end face from being directly scattered to the light detection assembly, and effectively improves the receiving performance of echo light.

In some embodiments, the light collection assembly includes a receiving optic at or near the first housing end, the receiving optic having a securing slot or aperture therethrough on either axial side of the receiving optic, the emitting base being secured in the securing slot or aperture of the receiving optic. The transmitting base is fixed on the receiving lens, so that the transmitting optical axis of the transmitting collimating lens is as close to the optical axis of the receiving lens as possible, and the receiving precision is effectively improved.

In some embodiments, the primary light scattering assembly includes a fiber support, a fiber optic ferrule, a primary optical fiber, and a scattering element. A fiber optic bracket is secured to the housing and extends at least partially into the interior passage. The optical fiber lock pin is fixedly arranged on the optical fiber support. The main optical fiber is fixed in the optical fiber ferrule and is used for emitting main light to the inner channel of the shell. The scattering element is fixedly arranged on the optical fiber support and is used for receiving the main light and scattering the received main light to the light detection assembly.

In some embodiments, the light collection assembly includes a receiving optic mounted within the interior channel, the receiving optic including a first receiving optic proximate the first housing end and a second receiving optic proximate the second housing end, the scattering element being located between the first receiving optic and the second receiving optic for scattering the received primary light to the second receiving optic and transmitting to the light detection assembly via the second receiving optic.

In some embodiments, the fiber support comprises a scattering element mounting part and a ferrule mounting part which are arranged at intervals, the scattering element is fixedly mounted on the scattering element mounting part, and the fiber ferrule is spliced in the ferrule mounting part. The optical fiber bracket penetrates through the mounting groove, and the mounting groove is opposite to the ferrule mounting part.

In some embodiments, the direction of propagation of the echo light within the internal passageway is defined as an axial direction, and the housing includes a mounting port and a baffle for closing the mounting port, wherein the mounting port is located between the first housing end and the mounting slot and extends through a wall portion of the housing; when not closed by the baffle plate, the mounting port is communicated with the mounting groove in the axial direction, and the width of the mounting port is larger than the width of the mounting groove in the width perpendicular to the axial direction. Through setting up mounting port and mounting groove intercommunication, when installation dominant light scattering subassembly, can let dominant light scattering subassembly get into the internal passage of shell from great mounting port, then lateral shifting fixes to narrower mounting groove position, has also avoided optical element to insert to the inside problem that leads to the component scratch even damage of shell from narrow mounting groove. When the main light scattering component is disassembled, the main light scattering component can return in an original way, and the problem that the optical element is scratched and damaged due to the fact that the main light scattering component directly exits from the narrow mounting groove is avoided. Meanwhile, the disassembly and assembly efficiency can be improved.

In some embodiments, the optical fiber support is provided with an optical fiber accommodating groove and a side edge, the optical fiber accommodating groove and the side edge bend towards the detection light ray collimation component, the optical fiber of the detection light ray collimation component is accommodated in the optical fiber accommodating groove and guided to the detection light ray collimation component by the optical fiber accommodating groove, and the scattering element mounting part and the ferrule mounting part are arranged at intervals on the side edge. The optical fiber support not only carries the main light scattering component, but also has the function of accommodating the optical fiber of the detection light collimating component, and plays a role in protecting the optical fiber of the detection light collimating component.

In some embodiments, the housing has a housing portion at a portion near the second housing end, and the light detecting assembly is fixedly connected to a connection sleeve, which is sleeved on the housing portion and fixedly connected to the housing portion.

In some embodiments, the connecting sleeve is provided with a connecting hole, the housing part is correspondingly provided with a housing threaded hole, and a first fastener passes through the connecting hole and is in threaded connection with the housing threaded hole to fix the connecting sleeve to the housing part, wherein the aperture of the connecting hole is at least in one direction larger than the aperture of the housing threaded hole, so that the relative position relationship between the connecting sleeve and the housing part is adjustable before the first fastener fixes the connecting sleeve to the housing part.

In some embodiments, the outer mating surface of the housing part is a cylindrical surface, the inner mating surface of the connecting sleeve mated with the outer mating surface of the housing part is a cylindrical surface, the connecting hole is a kidney-shaped hole, the propagation direction of the echo light in the internal channel is defined as an axial direction, and the length direction of the kidney-shaped hole is parallel to the axial direction. Through setting up waist shape hole and setting up the fitting surface and be the face of cylinder, can translate and rotate relatively between messenger's adapter sleeve and the shell portion, loosen first fastener and can adorn in axial and direction of rotation and transfer, the simple easy operation of dress mode of transferring, it is efficient.

In some embodiments, the light detection assembly comprises a detector circuit board and a detector mounted on the detector circuit board, wherein the detector circuit board is fixedly connected with a mounting bracket, and the mounting bracket is fixedly connected with the connecting sleeve; the detector circuit board is provided with a circuit board through hole, the fixing support is correspondingly provided with a support threaded hole, a second fastener penetrates through the circuit board through hole of the detector circuit board and is in threaded connection with the corresponding support threaded hole so as to fix the detector circuit board to the mounting support, and the aperture of the circuit board through hole of the detector circuit board is larger than that of the corresponding support threaded hole, so that the relative position relationship between the detector circuit board and the mounting support is adjustable before the second fastener fastens the detector circuit board to the mounting support.

In some embodiments, the outer mating surface of the housing portion is a cylindrical surface; the light detection assembly is fixedly connected with a connecting sleeve, the connecting sleeve is sleeved on the shell part, and an inner matching surface of the connecting sleeve matched with an outer matching surface of the shell part is a cylindrical surface; the main optical fiber scattering component comprises an optical fiber support and an optical fiber inserting core, wherein the optical fiber support is fixed to the shell, an inserting core installation part is arranged on the optical fiber support, a main optical fiber is fixed in the optical fiber inserting core, the optical fiber inserting core is inserted into the inserting core installation part, and the installation groove is opposite to the inserting core installation part; wherein, at least a portion of the mounting groove is located on the housing portion, one end of the connecting sleeve facing the first housing end is provided with a notch, and the notch is aligned with the mounting groove to provide a passage for the ferrule mounting seat and/or the optical fiber ferrule to pass through the wall portion of the housing portion. The sleeve is provided with the notch, which is equivalent to avoiding the ferrule mounting seat and/or the optical fiber ferrule, so that the effective length of the sleeve matching surface in the axial direction can be ensured, the connection stability of the light detection assembly is improved, and the assembly and adjustment precision is further improved.

In some embodiments, the light collection assembly includes a diaphragm secured to the mounting bracket, the diaphragm being directly opposite the detector; the end face of the second shell end is provided with a window communicated with the internal channel so as to allow echo light rays and main light rays of the internal channel to reach the detector through the diaphragm. The diaphragm is arranged to further remove stray light, so that the light receiving performance is further improved.

Drawings

Fig. 1 is a schematic block diagram of a transceiver according to an embodiment of the present application.

Fig. 2 is an exploded perspective view of a transmitting/receiving device of a lidar according to an embodiment of the present application.

Fig. 3 is a cross-sectional view of the transceiver of fig. 2, with its angle being offset 90 degrees about the axial direction relative to the angle of fig. 2.

Fig. 4 is an enlarged perspective view of a probe ray collimation assembly of the transceiver of fig. 2.

Fig. 5 is an enlarged perspective view of a fiber optic bracket of the transceiver of fig. 2.

Fig. 6 is an enlarged view of the portion VI in fig. 2.

Fig. 7 is a side view of the transceiver of fig. 2 in an assembled state at another angle.

List of element labels

Transceiver device 300

The housing 302, window 301, first housing end 303, second housing end 304, interior channel 305, opening 306, first housing portion 307, second housing portion 308, third housing portion 309, mounting port 310, baffle 311, mounting hole 312, first step 313A, second step 313B, mounting slot 314, boss 316, dowel 317, threaded hole 318, housing threaded hole 319

First receiving lens 361, second receiving lens 362, pressing ring 363, optical filter 364, light-passing hole 365, diaphragm 366, fixing groove 367

Probe light collimating assembly 320, emission base 321, emission collimating mirror 322, fiber positioning member 323, optical fiber 324, light shield 325, mounting barrel 326, and space 327

The main light scattering assembly 340, main optical fiber 341, scattering element 342, optical fiber holder 343, optical fiber ferrule 344, scattering element mounting portion 345, ferrule mounting portion 346, mounting plane 347, optical fiber receiving slot 349, holder base 350, holder upper cover 351, base substrate 352, base mounting portion 353, upper cover substrate 354, upper cover mounting portion 355, groove 356, side edge 357, through-hole 358

Light detection assembly 380, connection sleeve 381, connection hole 382, first fastener 383, second fastener 388, third fastener 395, detector circuit board 384, detector 385, mounting bracket 386, circuit board through hole 387, spacing post 389, mounting boss 390, axial through hole 391, bracket through hole 393, sleeve threaded hole 394, mounting flange 396, first notch 397, second notch 398

Detailed Description

The present application will be further described with reference to the drawings and detailed description, which should be understood that, on the premise of no conflict, the following embodiments or technical features may be arbitrarily combined to form new embodiments.

It should be noted that all directional indicators (such as up, down, left, right, front, back, inner, outer, top, bottom … …) in the embodiments of the present application are merely used to explain the relative positional relationship between the components, etc. in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indicators are correspondingly changed.

It will also be understood that when an element is referred to as being "fixed" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.

In general, embodiments of the present application provide a transceiver device for a lidar. The receiving and transmitting device comprises a shell, a detection light collimation assembly, a main light scattering assembly, a light collection assembly and a light detection assembly. The detection light collimation component is used for collimating and transmitting detection light to the scanning device of the laser radar. The main light scattering component is used for scattering main light. The light collecting assembly is used for collecting the echo light reflected by the scanning device and transmitting the collected echo light to the light detecting assembly. The light detection component is used for receiving the echo light transmitted by the light collection component and the main light scattered by the main light scattering component and converting the light signal into an electric signal. Wherein the detection light collimation assembly, the main light scattering assembly, the light collection assembly and the light detection assembly are fixedly mounted to the housing to form a single transceiver module. Thus, each component of the receiving and transmitting device of the laser radar is fixed on the shell, and forms a single receiving and transmitting device with the shell. The single transceiver integrates the collimated emission of the detection light, the receiving and detection of the echo light, and the scattering, receiving and detection of the main light. Once each component is assembled together according to the design precision to form a single transceiver module, in the laser radar complete machine, the transceiver module can randomly adjust the position and the gesture according to the complete machine requirement, and the assembly precision change among each component of the transceiver is not worried, so that the layout of the transceiver in a laser radar product can be more flexible, and the more optimized optical path design can be matched. After the modularized design, the structure is compact, the volume of the receiving and transmitting device is reduced, the assembling and adjusting efficiency is improved, and the production cost is reduced.

The components of the transceiver will be described in detail below by way of example.

Fig. 1 is a schematic block diagram of the transceiver. As shown in fig. 1, the transceiver mainly includes a detecting light collimation component, a main light scattering component, a light collecting component and a light detecting component. The detection light collimation component receives detection light from the laser source device, and the main light scattering component receives main light from the laser source device. The detection optical fiber collimation component receives detection light provided by the laser source device, and collimates and emits the detection light to the scanning device. 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 collecting assembly of the transceiver device through the scanning device. The light collecting assembly transmits the echo light to the light detecting assembly. The main light scattering component receives the main light provided by the laser source device and scatters the received main light to the light detection component. The light detection component receives the echo light transmitted by the light collection component and the main light scattered by the main light scattering component, converts the light signal into an electric signal, and transmits the obtained electric signal to the signal processing system for processing to obtain information such as distance, speed and/or three-dimension of the target object, so that the target object is detected, tracked and/or identified.

Fig. 2 and 3 show a specific structure of an embodiment of the transceiver 300, where fig. 2 is an exploded perspective view of the transceiver 300, and fig. 3 is a cross-sectional view of the transceiver 300 of fig. 2 after assembly.

As shown in fig. 2 and 3, the transceiver 300 mainly includes a housing 302, a detecting light collimating assembly 320, a main light scattering assembly 340, a light collecting assembly, and a light detecting assembly 380, wherein the detecting light collimating assembly 320, the main light scattering assembly 340, the light collecting assembly, and the light detecting assembly 380 are fixedly mounted to the housing 302 to form a single transceiver module.

In the illustrated embodiment, the housing 302 includes a first housing end 303 and a second housing end 304 that are remote from each other. The interior of the housing 302 defines an interior passage 305 for light transmission between the first housing end 303 and the second housing end 304 thereof. The detection light collimation assembly 320 is disposed in the interior channel 305 for emitting detection light from the first housing end 303 in a direction away from the second housing end 304, and the light detection assembly 380 is fixedly mounted to the second housing end 304. The light collection assembly is disposed between the first housing end 303 and the detector 385 of the light detection assembly 380 for collecting and transmitting the return light to the detector 385 of the light detection assembly 380.

In the illustrated embodiment, the direction from the first housing end 303 to the second housing end 304 is defined as axial (i.e., the propagation direction of the echo light within the interior channel 305), and the housing 302 includes, in order in the axial direction, a first housing portion 307 adjacent to the first housing end 303, a second housing portion 308 connected to the first housing portion 307, and a third housing portion 309 connected to the second housing portion 308 and adjacent to the second housing end 304. The outer contour of the first housing portion 307 has a rectangular cross section perpendicular to the axial direction and has a uniform cross sectional area in the axial direction. The second housing part 308 is connected between the first housing part 307 and the third housing part 309, and its outer contour is also rectangular in cross section perpendicular to the axial direction, but its cross sectional area gradually decreases in the direction from the first housing part 307 to the third housing part 309. The outer contour of the third housing part 309 is circular in cross section perpendicular to the axial direction and has a uniform cross sectional area in the axial direction. That is, the first housing portion 307 is generally a hollow prism, the second housing portion 308 is generally a hollow prism table, and the third housing portion 309 is generally a hollow cylinder, the outer surface of which is a cylindrical surface. While the housing 302 is illustrated herein as three housing sections having different outer contours, it should be understood that these specific structures are merely illustrative of the present application and should not be limiting of the present application, and thus the housing 302 may have different outer contours in other embodiments.

As shown in fig. 2, the side of the housing 302 is further provided with a mounting opening 310 and a baffle 311 for closing the mounting opening 310. The mounting opening 310 extends through a wall portion of the housing 302. The mounting port 310 provides a manipulation and viewing window for assembly of components within the interior channel 305 when not enclosed by the baffle 311. In the illustrated embodiment, the mounting port 310 extends through a wall portion of the second housing portion 308. In other embodiments, the mounting port 310 may be provided in other suitable locations on the housing 302, as long as the operation and viewing windows for component assembly are provided.

The exterior of the housing 302 is also provided with a mounting portion for mounting into a lidar device. In the example shown in fig. 2 and 3, the mounting portion is a tab extending from an outer surface of the housing 302, the tab being provided with a mounting hole 312, such that a fastener may be used to pass through the mounting hole 312 to secure the transceiver 300 within a lidar, such as a base of a lidar. In other embodiments, the mounting portion may take other forms, so long as the transceiver 300 can be fixedly mounted inside the lidar.

The first housing end 303 has an opening 306 to facilitate assembly of components within the interior channel 305 of the housing 302. The second housing end 304 is provided with a window 301 in communication with the interior passageway 305, the window 301 allowing echo light within the interior passageway 305 to pass through to a detector 385 (described in further detail below) of a light detection assembly 380.

The light collection assembly includes one or more receiving lenses disposed within the interior channel 305 of the housing 302 that transmit the return light to the detector 385 of the light detection assembly 380. In the example of fig. 2 and 3, two receiving lenses are included, namely a first receiving lens 361 and a second receiving lens 362, wherein the diameter of the first receiving lens 361 is greater than the diameter of the second receiving lens 362, the first receiving lens 361 is disposed proximate to or at the first housing end 303, the second receiving lens 362 is disposed proximate to or at the second housing end 304, and the central axes of the first receiving lens 361 and the second receiving lens 362 coincide. In other embodiments, only one receiving lens or more than two receiving lenses may be provided. When only one receiving lens is provided, the receiving lens may be positioned near or at the first housing end 303. When more than two receiving lenses are provided, two receiving lenses may be provided near or at the first housing end 303 and the second housing end 304, respectively, with the remaining receiving lenses being provided between the two receiving lenses.

The receiving optic may be mounted to the interior channel 305 of the housing 302 in any suitable manner. By way of example only, in the illustrated embodiment, the inner surface of the housing 302 is provided with a first step 313A at the interface of the first housing portion 307 and the second housing portion 308, and the first receiving lens 361 is retained by the first step 313A and is fixed by dispensing. The first receiving lens 361 has a rectangular outer contour, and is adapted to the shape of the inner wall surface of the first housing part 307. The first receiving lens 361 is further provided with a slot for fixing the probe light collimating assembly 320, which will be described in detail later. The inner surface of the housing 302 is provided with a second step 313B near the second housing end 304, the second receiving lens 362 is limited by the second step 313B, and the second receiving lens 362 is pressed against the second step 313B by a pressing ring 363 to fix.

To remove light outside the lasing wavelength range, reduce the effect of ambient and stray light on the reception of echo light, in some embodiments, a filter 364 may also be provided in the internal channel 305. In the example of fig. 2 and 3, the filter 364 is fixedly mounted in the opening 306 of the first housing end 303. That is, the filter 364 is disposed at the forefront end of the inner channel 305, and the receiving lens is located downstream of the filter 364 in the propagation path of the echo light, i.e., the echo light passes through the filter 364 before reaching the receiving lens. One of the advantages of this arrangement is that the filtering effect is better because the light beam propagates through the internal channel 305 at a larger ray angle, while at the very front, the ray angle is minimal. A light-passing hole 365 is provided in the optical filter 364, and the light-passing hole 365 allows the detection light emitted from the detection light collimating component 320 to pass therethrough. In this way, the filter 364 can filter out light outside the wavelength range of the emitted laser light without blocking the emission of the detected light.

To further reduce stray light, in some embodiments, a stop 366 may also be provided between the receiving mirror and the detector 385. Thus, in some embodiments, the light collection assembly may include a filter 364, one or

more receiving lenses

361, 362, and a diaphragm 366 disposed in sequence between the scanning device and the detector 385. Diaphragm 366 will be described in greater detail below in conjunction with light detection assembly 380.

The probe light collimation assembly 320 collimates and emits laser light (i.e., probe light) provided by the laser source device to the scanning device of the lidar. Referring also to fig. 4, an enlarged exploded perspective view of an exemplary probe light collimating assembly 320 is shown, the probe light collimating assembly 320 comprising an emission base 321, an emission collimator 322, a fiber optic locator 323, an optical fiber 324, and a light shield 325. The emission collimating mirror 322 and the optical fiber positioning piece 323 are fixedly arranged on the emission base 321, the end part of the emergent light of the optical fiber 324 is fixed to the optical fiber positioning piece 323, and the optical fiber 324 emits the laser provided by the laser source device to the scanning device of the laser radar after the laser is emitted to the emission collimating mirror 322 for collimation.

In the particular configuration shown, the emission base 321 has opposite ends, one end being provided with a mounting cylinder 326, the emission collimator lens 322 being fixed within the mounting cylinder 326; the optical fiber positioning member 323 is fixed to the other end of the emission base 321, and forms a space 327 with the emission collimator 322. The specific installation process can be that the emission collimating lens 322 is placed in the installation cylinder 326 at the first end of the emission base 321, the light positioning piece is placed at the other end of the emission base 321, and after the laser emission angle meets the requirement by adjusting the relative position, the dispensing is fixed. The shield 325 shields the gap 327 from dust contaminating the light exiting end face of the optical fiber 324 and also prevents the light exiting end face of the optical fiber 324 from being directly scattered to the light detection assembly 380.

The fiber positioning member 323 can be any suitable element that positions the optical fiber 324 relative to the emission collimator 322, and in the illustrated embodiment, the fiber positioning member 323 is implemented as a fiber V-groove. The fiber V-groove is a common fiber positioning member 323, and therefore its fiber positioning principle and specific structure are not described here. The fiber optic positioning member 323 retains one or more optical fibers 324, preferably multiple optical fibers 324, therein, which may be advantageous for improving laser radar resolution. In the case of using the multiple optical fibers 324, the multiple optical fibers 324 are vertically arranged in the optical fiber positioning member 323 at a certain interval, the light emitting end surface of the optical fiber 324 is arranged on the focal plane of the emission collimating mirror 322, and after the multiple light rays emitted by the multiple optical fibers 324 pass through the emission collimating mirror 322, multiple emission light rays forming a certain included angle with the optical axis of the emission collimating mirror 322 are formed and emitted to the scanning module. The embodiment shown in fig. 2 and 3 employs four optical fibers 324, and in other embodiments more or fewer optical fibers 324 may be employed.

The emission base 321 is fixedly disposed within the interior channel 305 of the housing 302 so that the probe light collimation assembly 320 stably emits probe light outwardly from the first housing end 303. The emission base 321 is disposed proximate the first housing end 303. In the illustrated embodiment, the emission base 321 is secured to the first receiving optic 361, thereby securing the probe light collimation assembly 320 to the first receiving optic 361. In one particular securing arrangement, the first receiving lens 361 is provided with a securing slot 367 extending through both axial sides thereof, and the transmitting mount 321 is secured within the securing slot 367. The launch base 321 and the securing slot 367 may be a clearance fit; in this manner, the relative position between the transmitting base 321 and the first receiving lens 361 can be adjusted. After the angle between the optical axis of the emission collimator 322 and the optical axis of the first receiving lens 361 is adjusted to satisfy a predetermined relationship, the emission base 321 and the fixing groove 367 are fixed by dispensing. The fixing groove 367 extends from an edge of the first receiving lens 361 toward an optical center of the first receiving lens 361 (i.e., extends radially inward), and the emission base 321 is fixed to a bottom of the fixing groove 367 near the optical center. In other specific fixing modes, the first receiving lens 361 may also have a fixing hole near the optical center thereof, and the emitting base 321 is fixed in the fixing hole, which also serves to fix the detecting light collimating component 320 to the first receiving lens 361.

In the embodiment shown, a first receiving mirror 361 and a second receiving mirror 362 are provided, and the transmitting mount 321 is secured to the first receiving mirror 361 proximate the first housing end 303. In embodiments where only one receiving optic or more than two receiving optic is provided, the emission mount 321 may be secured to that receiving optic at or near the first housing end 303 to reduce the propagation distance of the emitted light rays within the interior channel 305. In the above embodiments, the transmitting base 321 is fixed to the receiving lens, and it should be understood that this is only one specific implementation of positioning the transmitting base 321. In other embodiments, the emission base 321 may also be positioned in the interior channel 305 by other elements. For example, additional positioning elements may be provided in the interior channel 305 to position the launch base 321.

The main light scattering component 340 scatters the main light provided by the laser source device to the light detecting component 380, so that the detector 385 receives both the echo light and the main light. Specifically, the laser source device provides a main light beam through an optical fiber, and the main light beam is scattered to the detector 385 of the light detection assembly 380 by a scattering manner. The main light may be scattered directly to the detector 385 of the light detection assembly 380, i.e., without passing through other optical elements; it may also be converged by other optical elements, such as optical lenses, and transmitted to the detector 385.

In the example of fig. 2 and 3, the main light is collected by the light collection assembly and transmitted to the detector 385. As shown in fig. 2 and 3, the main light scattering component 340 includes a main optical fiber 341 and a scattering element 342. The main fiber 341 is configured to emit a main light toward the interior channel 305 of the housing 302. The diffuser element 342 is fixed within the interior passage 305 relative to the housing 302 for receiving the primary light and diffusing the received primary light to the light detection assembly 380. Specifically, the scattering element 342 is located between the first receiving lens 361 and the second receiving lens 362, and is configured to scatter the received main light to the second receiving lens 362 and transmit the main light to the light detecting component 380 through the second receiving lens 362.

More specifically, the main light scattering assembly 340 includes a fiber optic bracket 343, a fiber optic ferrule 344, and the scattering element 342. The fiber support 343 is secured to the housing 302 and extends into the interior channel 305 of the housing 302. The main optical fiber 341 is fixed in the optical fiber ferrule 344, and the optical fiber ferrule 344 is fixedly mounted on the optical fiber holder 343, thereby fixing the main optical fiber 341. The scattering element 342 is fixedly disposed on the fiber optic bracket 343. The fiber stub 344 is positioned such that the primary light rays emit the primary light rays toward the scattering surface of the scattering element 342.

Referring also to fig. 5, a scattering element mounting portion 345 and a ferrule mounting portion 346 are provided on the fiber support 343. The diffusion element 342 is fixedly mounted on the diffusion element mounting portion 345. In the particular arrangement shown, the scattering element mounting portion 345 is a projection extending from the main structure of the fiber optic bracket 343, the projection having a mounting plane 347, and the scattering element 342 is a frosted glass block adhered to the mounting plane 347 by an adhesive. In other embodiments, the scattering element 342 may be other structural members with frosted surfaces, so long as the surface can scatter the main light.

The fiber ferrule 344 is inserted into the ferrule mounting portion 346. In the specific structure shown, the ferrule mounting portion 346 is a protrusion extending from the main body of the fiber support 343, and the protrusion is provided with a through hole, into which the fiber ferrule 344 is inserted, so that the main fiber 341 in the fiber ferrule 344 faces the scattering surface of the scattering element 342. In other embodiments, the ferrule mounting portion 346 may be other structures for securing the fiber ferrule 344 in other manners.

In the above embodiments, the elements that perform the main light scattering function, such as the fiber ferrule 344 and the scattering element 342, are supported on the fiber support 343. In other embodiments, the scattering element 342 may not be supported on the fiber optic bracket 343.

In addition, in some embodiments, the light bracket may further be provided with an optical fiber receiving slot 349 for receiving the optical fiber 324 of the detection light collimating assembly 320, and providing protection for the optical fiber 324 of the detection light collimating assembly 320. The optical fibers 324 of the probe light collimation assembly 320 pass through the fiber receiving slot 349 into the interior channel 305 of the housing 302 to reach the fiber positioning member 323 for positioning. Such an embodiment is exemplified below. It should be understood that such fiber receiving slots 349 may not be provided on the fiber support 343, but may be formed from other elements independent of the fiber support 343.

As shown in fig. 2, 3 and 5, the optical fiber receiving groove 349 is bent and extended toward the detection light collimating assembly 320, more specifically, toward the optical fiber positioning member 323 of the detection light collimating assembly 320, and the optical fiber 324 is received in the optical fiber receiving groove 349 and guided to the optical fiber positioning member 323 by the optical fiber receiving groove 349. In the specific structure shown, the fiber holder 343 includes a holder base 350 and a holder upper cover 351, the holder upper cover 351 is snapped onto the holder base 350, and the fiber receiving slot 349 is formed between the holder base 350 and the holder upper cover 351. More specifically, the stand base 350 includes a base substrate 352 and a base mounting portion 353 formed at one end of the base substrate 352; the bracket upper cover 351 includes an upper cover base plate 354 and an upper cover mounting portion 355 formed at one end of the upper cover base plate 354. The base substrate 352 defines a curved extending channel 356, the side of the channel 356 facing the upper cover substrate 354 being the open side, and the two ends of the channel 356 forming openings at the two ends of the base substrate 352. After the bracket upper cover 351 is fastened to the bracket base 350, the upper cover substrate 354 covers the groove 356 of the base substrate 352, i.e., the closed groove 356 faces the open side of the upper cover substrate 354, so that the optical fiber receiving groove 349 is formed at the position of the groove 356, and the optical fiber receiving groove 349 has openings at both ends of the optical fiber bracket 343.

The fiber holder 343 has a side edge 357 extending in a curved manner toward the fiber positioning member 323, and the scattering element mounting portion 345 and the ferrule mounting portion 346 are spaced apart along the side edge 357. In the particular configuration shown, a skirt 357 is formed in the base substrate 352, and a groove 356 extends curvedly along the skirt 357.

The base mount 353 is fixedly mounted to the outside of the housing 302 to secure the bracket base 350 to the housing 302; the upper cover mounting portion 355 is fixedly mounted to the outside of the housing 302 to fix the bracket upper cover 351 to the housing 302. In one embodiment, the housing 302 is provided with a mounting slot 314 through a wall of the housing 302, and a fiber optic bracket 343 extends from outside the housing 302 through the mounting slot 314 into the interior channel 305 of the housing 302. The ferrule mount 346 is directly opposite the mounting slot 314. The mounting groove 314 provides a passage for the ferrule mounting portion 346 and/or the fiber ferrule 344 through the wall of the housing 302, and the ferrule mounting portion 346 may be located entirely within the interior passage 305 of the housing 302 or may be located partially outside the housing 302 through the mounting groove 314, as long as the fiber ferrule 344 is inserted into the ferrule mounting portion 346. The base mounting portion 353 and the upper cover mounting portion 355 are fixedly mounted to the housing 302 at opposite sides of the mounting groove 314, respectively. In this manner, one end of the fiber optic bracket 343 is fixedly mounted to the outside of the housing 302. In the specific structure shown, the base mounting portion 353 is a base mounting piece extending from one end of the base substrate 352 in a direction away from the upper cover substrate 354, and the upper cover mounting portion 355 is an upper cover mounting piece extending from one end of the upper cover substrate 354 in a direction away from the base substrate 352.

Referring to fig. 6, the housing 302 is provided with two bosses 316 at opposite sides of the mounting groove 314, respectively, and the base mounting portion 353 and the upper cover mounting portion 355 are fixedly mounted to the two bosses 316, respectively. A connecting structure, such as a pin hole mating structure or a screw hole mating structure, is provided between the base mounting piece and the upper cover mounting piece and the boss 316. Referring also to fig. 6, in this particular construction, each boss 316 is provided with a locating pin 317 and a threaded hole 318, the base mounting tab and the cover mounting tab are each provided with two through holes 358, one of which receives the locating pin 317, and a fastener 359, such as a screw, passes through the other through hole 358 and is threadedly connected to the corresponding threaded hole 318 in the boss 316.

At least a portion of the mounting slot 314 extends axially to the third housing portion 309. In the particular arrangement shown, the mounting slots 314 are all provided on the third housing portion 309. Specifically, the mounting groove 314 extends axially on the third housing portion 309 from a portion where the second housing portion 308 and the third housing portion 309 meet. Two bosses 316 are provided on the third housing portion 309 and are immediately adjacent to the second housing portion 308. A mounting opening 310 in the second housing portion 308 is located between the first housing end 303 and a mounting slot 314. In the specific configuration shown, the mounting port 310 communicates with the mounting groove 314 in the axial direction when not closed by the baffle 311, and the width of the mounting port 310 is larger than the width of the mounting groove 314 in the width perpendicular to the axial direction. In this embodiment, the mounting opening 310 is communicated with the mounting groove 314, when the main light scattering component 340 is mounted, the main light scattering component 340 can enter the internal channel 305 of the housing 302 from the larger mounting opening 310, and then transversely moves to the position of the narrower mounting groove 314 for fixing, so that the problem that the optical element is scratched or even damaged due to the fact that the optical element is inserted into the housing 302 from the narrow mounting groove 314 is avoided. When the main light scattering component 340 is disassembled, the main light scattering component can return in an original way, so that the problem that the optical element is scratched and damaged due to the fact that the main light scattering component is directly withdrawn from the narrow mounting groove 314 is avoided. Meanwhile, the disassembly and assembly efficiency can be improved.

Referring to fig. 2 and 3, the light detecting assembly 380 receives the echo light and the main light, and converts the light signal into an electrical signal. The light detecting assembly 380 is fixedly connected to the housing 302 by a connecting sleeve 381. In the embodiment shown, the connecting sleeve 381 is fixedly sleeved over the third housing portion 309. In one embodiment, the wall of the connecting sleeve 381 is provided with a connecting hole 382, and the wall of the third housing part 309 is correspondingly provided with a housing threaded hole 319, and the first fastener 383, such as a screw, is screwed into the housing threaded hole 319 through the connecting hole 382 to fix the connecting sleeve 381 to the third housing part 309. The aperture of the connection hole 382 is larger than the aperture of the housing screw hole 319 at least in one direction so that the relative positional relationship between the connection sleeve 381 and the third housing part 309 is adjustable before the first fastener 383 fastens the connection sleeve 381 to the third housing part 309. In the illustrated embodiment, the aperture of the connection hole 382 is larger than the aperture of the housing screw hole 319 in both the axial direction and the circumferential direction of the third housing portion 309, so that the positional relationship of the connection sleeve 381 and the third housing portion 309 in both the axial direction and the circumferential direction can be relatively adjusted. Thus, the light detection assembly 380 may be adjusted relative to the light collection assembly. Specifically, the connection hole 382 is a kidney-shaped hole having a length parallel to the axial direction, a width and a length larger than the diameter of the screw hole 319, and the outer mating surface of the third housing part 309 is a cylindrical surface, and the inner mating surface of the connection sleeve 381 is also a cylindrical surface, so that the connection sleeve 381 and the third housing part 309 can relatively rotate or translate along the mating surfaces thereof before being fastened by the first fastening member 383. For ease of illustration, the above and following description incorporates "pore size" to describe the size of some pores, and if the pore is non-circular, the pore size of a non-circular pore should be understood to be the size of the pores passing through the geometric center of the pore; being non-circular, its pore size may be different at different angles or directions. For example, in the case of a kidney-shaped aperture, it defines a length direction and a width direction, the length of which may be understood as the aperture in the length direction and the width may be understood as the aperture in the width direction.

The light detection assembly 380 includes a detector circuit board 384 and a detector 385 mounted on the detector circuit board 384, the detector circuit board 384 being fixedly connected to a mounting bracket 386, and the mounting bracket 386 being fixedly connected to the connecting sleeve 381. Thus, when the connecting sleeve 381 is adjusted in position relative to the third housing portion 309, the detector 385 is simultaneously moved relative to the light collection assembly. The detector 385 may employ any suitable type of detector 385, such as an APD (avalanche photodiode) detector 385 that amplifies the photo-electric signal using the avalanche multiplication effect of APD carriers to increase the sensitivity of detection. The detector 385, the detector circuit board 384, and the connections therebetween and the detailed operation principle are referred to in the prior art and are not described herein.

In the illustrated securing arrangement, the detector circuit board 384 is provided with a circuit board through hole 387 and the mounting bracket 386 is correspondingly provided with a bracket threaded hole, with a second fastener 388, such as a screw, being threaded through the circuit board through hole 387 to secure the detector circuit board 384 to the mounting bracket 386. In the specific structure shown, the probe circuit board 384 is provided with four circuit board through holes 387 at four corners thereof, four spacer columns 389 are provided at corresponding positions of the mounting bracket 386, the bracket threaded holes are provided in the spacer columns 389, and the second fasteners 388 penetrate through the circuit board through holes 387 to be screwed with the corresponding bracket threaded holes, so that the probe circuit board 384 can be fastened to the mounting bracket 386. In other embodiments, more or fewer fasteners may be used to secure the probe circuit board 384 and the mounting brackets 386, and circuit board through holes and bracket threaded holes may be provided elsewhere. In addition, in other embodiments, other suitable means for securing the detector circuit board 384 and the mounting bracket 386 may be employed.

The mounting bracket 386 is also plate-like with a spacer column 389 secured between the mounting bracket 386 and the detector circuit board 384 to space the mounting bracket 386 from the detector circuit board 384. In the illustrated embodiment, the diaphragm 366 is mounted on a mounting bracket 386 opposite the detector 385. The function of the diaphragm 366 is to reduce stray light entering the detector 385, and to effectively reduce the influence of stray light on the receiving performance. The diaphragm 366 is provided with a plurality of holes for passing the main light and the multiple echo light. The distance between the diaphragm 366 and the detector 385 in the axial direction may be between 0.3mm and 1.0 mm. To achieve such a small distance spacing, the mounting bracket 386 is provided with a mounting boss 390 at a position facing the detector 385, and the diaphragm 366 is fixed to a side of the mounting boss 390 facing the detector 385 by dispensing. The mounting boss 390 is provided with an axial through bore 391 facing the window 313 of the second housing end 304 and facing the diaphragm 366. In this way, the main light and the echo light of the inner channel 305 of the housing 302 can sequentially pass through the window 313 of the second housing end 304, the axial through hole 391 of the mounting boss 390, the aperture of the diaphragm 366 and further reach the detector 385. In the particular configuration shown, the mounting boss 390 is provided with a recess on the side facing the detector 385 shaped to match the profile of the diaphragm 366, the diaphragm 366 being accommodated in the recess to allow effective positioning of the diaphragm 366 in the circumferential direction.

The mounting bracket 386 is provided with a bracket through hole 393 and the connecting sleeve 381 is correspondingly provided with a sleeve threaded hole 394 through which a third fastener 395, such as a screw, is threaded with the sleeve threaded hole 394 to secure the mounting bracket 386 to the connecting sleeve 381. Wherein the aperture of the bracket through-hole 393 is larger than the aperture of the corresponding sleeve threaded hole 394, such that the relative positional relationship between the mounting bracket 386 and the connecting sleeve 381 is adjustable before the third fastener 395 fastens the mounting bracket 386 to the connecting sleeve 381. Specifically, the mounting bracket 386 and the connecting sleeve 381 may be rotated or translated relative to each other. In the illustrated embodiment, the difference in the aperture of the bracket through holes 393 and the corresponding sleeve threaded holes 394 is greater than the amount of relative positional adjustment between the mounting bracket 386 and the connecting sleeve 381, which ensures that the adjustment from any offset position to the proper position is possible, thereby improving component mounting and adjustment efficiency. In the specific structure shown, the mounting bracket 386 has four bracket through holes 393 at four corners thereof, the connecting sleeve 381 has a mounting flange 396 at an end facing the mounting bracket 386, four screw holes are provided at the four corners of the mounting flange 396 corresponding to the positions of the bracket through holes 393 of the mounting bracket 386, and the third fastening member 395 is threaded through the bracket through holes 393 and the sleeve screw holes 394 to fix the mounting bracket 386 to the connecting sleeve 381. In other embodiments, other arrangements of the through holes and threaded holes may be used, or other suitable connections may be used.

The mounting bracket 386 and the connecting sleeve 381, and the connecting sleeve 381 and the casing 302 can all relatively move, so that each path of echo light can be focused on the photosensitive surface of the corresponding detector 385 through adjustment. The adjustment method described in the above embodiments is simple and easy to operate, so that the adjustment efficiency of the transceiver 300 can be improved.

The end of the coupling sleeve 381 remote from the detector 385 is provided with a notch which is directly opposite the mounting slot 314 of the housing 302. In the embodiment shown in fig. 2 and 7, the notch includes a first notch portion 397 and a second notch portion 398, the first notch portion 397 being located at an outermost end, the first notch portion 397 and the second notch portion 398 communicating in an axial direction. In the circumferential direction of the connection sleeve 381, the circumferential width of the first notch portion 397 is larger than the circumferential width of the second notch portion 398. Two bosses 316 for mounting the optical fiber holder 343 are received in the first notch 397, and the second notch is opposite to the mounting groove 314. During assembly, the second notch 398 is in facing relation to the mounting slot 314, exposing the ferrule mounting section 346 to enable insertion of the fiber ferrule 344 into the ferrule mounting section 346 from outside the housing 302. Having two notch portions, one wide and one narrow is merely one embodiment, and in other embodiments, the notch may have only a single width, or the notch may not receive the boss 316.

In summary, embodiments of the present application provide a transceiver device for a lidar. The detection light collimation component, the main light scattering component, the light collection component and the light detection component of the receiving and transmitting device of the laser radar are all fixed on the shell, and form a single receiving and transmitting device with the shell. The single transceiver integrates the collimated emission of the detection light, the receiving and detection of the echo light, and the scattering, receiving and detection of the main light. Before being assembled into a lidar housing, the components have been assembled together to form a single transceiver module with design accuracy. In the laser radar complete machine, the position and the gesture of the transceiver module can be adjusted according to the complete machine requirement, and the assembly precision of each component of the transceiver can be ensured, so that the layout of the transceiver in a laser radar product can be more flexible, and the transceiver can be matched with more optimized optical path design. After the modularized design, the structure is compact, the volume of the receiving and transmitting device is reduced, the assembling and adjusting efficiency is improved, and the production cost is reduced.

The above embodiments are merely exemplary embodiments of the present application and are not intended to limit the scope of the present application, and any insubstantial changes and substitutions made by those skilled in the art on the basis of the present application are intended to fall within the scope of the present application.

Claims

1. A transceiver (300) of a laser radar, wherein the transceiver (300) comprises a housing (302), a detection light collimation assembly (320), a main light scattering assembly (340), a light collection assembly and a light detection assembly (380);

the detection light ray collimation component (320) is used for collimating and transmitting detection light rays to the scanning device of the laser radar;

the main light scattering component (340) is used for scattering main light;

the light collection assembly is used for collecting the echo light reflected by the scanning device and transmitting the collected echo light to the light detection assembly (380);

the light detection component (380) is used for receiving the echo light transmitted by the light detection component (380) and the main light scattered by the main light scattering component (340) and converting the light signal into an electric signal;

wherein the detection light collimation assembly (320), the main light scattering assembly (340), the light collection assembly, and the light detection assembly (380) are fixedly mounted to the housing (302) to form a single transceiver module.

2. The lidar transceiver device (300) according to claim 1, wherein the housing (302) comprises a first housing end (303) and a second housing end (304) which are remote from each other, and an internal channel (305) is formed between the first housing end (303) and the second housing end (304) for transmitting light, wherein the detection light collimating element (320) is adapted to emit detection light from the first housing end (303) in a direction away from the second housing end (304), and wherein the light detecting element (380) is fixedly mounted to the second housing end (304).

3. The lidar transceiver device (300) of claim 2, wherein the light collection assembly comprises:

a light filter (364) disposed at the first housing end (303), the light filter (364) being provided with a light-passing hole (365), the light-passing hole (365) allowing the detection light emitted by the detection light collimation component (320) to pass through; and

a receiving lens mounted in the internal passage (305), the receiving lens being located downstream of the filter (364) in the propagation path of the echo light.

4. The lidar transceiver device (300) according to claim 2, wherein the probe light collimation assembly (320) comprises:

-a launch base (321), the launch base (321) being fixedly mounted to the internal channel (305);

an emission collimating mirror (322), wherein the emission collimating mirror (322) is fixedly arranged on the emission base (321);

the optical fiber positioning piece (323), the optical fiber positioning piece (323) is fixedly arranged on the emission base (321) and forms a space (327) with the emission collimating mirror (322);

-an optical fiber (324), the end of the optical fiber (324) from which light exits being fixed to the fiber positioning member (323) and positioned with respect to the emission collimating mirror (322); and

A light shield (325), the light shield (325) conceals a space (327) between the emission collimator (322) and the fiber optic locator (323).

5. The lidar transceiver device (300) according to claim 4, wherein the light collection assembly comprises a receiving lens at or near the first housing end (303), the receiving lens being provided with fixing slots (367) or fixing holes penetrating through both axial sides of the receiving lens, and the transmitting base (321) being fixed in the fixing slots (367) or fixing holes of the receiving lens.

6. The lidar transceiver device (300) according to claim 5, wherein the light collection assembly comprises a light filter (364) arranged at the first housing end (303), the light filter (364) having a light transmission hole (365) facing the emission collimator (322).

7. The lidar transceiver device (300) of claim 2, wherein the main light scattering component (340) comprises:

-a fiber support (343), said fiber support (343) being fixed to said housing (302) and extending at least partially into said interior channel (305);

a fiber ferrule (344), the fiber ferrule (344) being fixedly mounted on the fiber support (343);

A main optical fiber (341), the main optical fiber (341) being fixed in the optical fiber ferrule (344) for emitting main light to an internal channel (305) of the housing (302); and

and the scattering element (342) is fixedly arranged on the optical fiber support (343) and is used for receiving the main light and scattering the received main light to the light detection assembly (380).

8. The lidar transceiver device (300) according to claim 7, wherein the light collection assembly comprises a receiving lens mounted within the internal channel (305), the receiving lens comprising a first receiving lens (361) close to the first housing end (303) and a second receiving lens (362) close to the second housing end (304), the scattering element (342) being located between the first receiving lens (361) and the second receiving lens (362) for scattering the received main light to the second receiving lens (362) and transmitting to the light detection assembly (380) via the second receiving lens (362).

9. The lidar transceiver device (300) according to claim 7, wherein the fiber holder (343) comprises a scattering element mounting portion (345) and a ferrule mounting portion (346) arranged at intervals, the scattering element (342) is fixedly mounted on the scattering element mounting portion (345), and the fiber ferrule (344) is inserted into the ferrule mounting portion (346); the housing (302) is provided with a mounting groove (314) penetrating through the wall part of the housing (302), the optical fiber bracket (343) penetrates through the mounting groove (314), and the mounting groove (314) is opposite to the ferrule mounting part (346).

10. The lidar transceiver device (300) according to claim 9, wherein the direction of propagation of the echo light within the internal channel (305) is defined as axial, the housing (302) comprising a mounting opening (310) and a baffle (311) for closing the mounting opening (310), wherein the mounting opening (310) is located between the first housing end (303) and the mounting groove (314) and extends through a wall of the housing (302); when not closed by the baffle plate (311), the mounting port (310) communicates with the mounting groove (314) in the axial direction, and the width of the mounting port (310) is larger than the width of the mounting groove (314) in the width perpendicular to the axial direction.

11. The lidar transceiver device (300) according to claim 7, wherein the fiber holder (343) comprises a scattering element mounting portion (345) and a ferrule mounting portion (346) arranged at intervals, the scattering element (342) is fixedly mounted on the scattering element mounting portion (345), and the fiber ferrule (344) is inserted into the ferrule mounting portion (346); the optical fiber bracket (343) is provided with an optical fiber accommodating groove (349) and a side edge (357), the optical fiber accommodating groove (349) and the side edge (357) are bent and extended towards the detection light ray collimation assembly (320), the optical fiber of the detection light ray collimation assembly (320) is accommodated in the optical fiber accommodating groove (349) and guided to the detection light ray collimation assembly (320) by the optical fiber accommodating groove (349), and the scattering element mounting part (345) and the ferrule mounting part (346) are arranged along the side edge (357) at intervals.

12. The lidar transceiver device (300) according to claim 2, wherein the housing (302) has a housing part in a portion close to the second housing end (304), and the light detection assembly (380) is fixedly connected to a connection sleeve (381), and the connection sleeve (381) is sleeved on the housing part and fixedly connected to the housing part.

13. The lidar transceiver device (300) according to claim 12, wherein the connection sleeve (381) is provided with a connection hole (382), the housing part is provided with a corresponding housing screw hole (319), a first fastener (383) is threaded through the connection hole (382) and the housing screw hole (319) to fix the connection sleeve (381) to the housing part, wherein the aperture of the connection hole (382) is larger than the aperture of the housing screw hole (319) at least in one direction, such that the relative positional relationship between the connection sleeve (381) and the housing part is adjustable before the first fastener (383) fixes the connection sleeve (381) to the housing part.

14. The transmitting/receiving device (300) according to claim 13, wherein the outer mating surface of the housing portion is a cylindrical surface, the inner mating surface of the connecting sleeve (381) mated with the outer mating surface of the housing portion is a cylindrical surface, the connecting hole (382) is a kidney-shaped hole, a direction of propagation of echo light in the internal channel (305) is defined as an axial direction, and a length direction of the kidney-shaped hole is parallel to the axial direction.

15. The lidar transceiver device (300) of claim 12, wherein the light detection assembly (380) comprises a detector circuit board (384) and a detector (385) mounted on the detector circuit board (384), the detector circuit board (384) being fixedly connected to a mounting bracket (386), the mounting bracket (386) being fixedly connected to the connection sleeve (381); the detector circuit board (384) is provided with a circuit board through hole (387), the mounting bracket (386) is correspondingly provided with a bracket threaded hole, a second fastener (388) passes through the circuit board through hole (387) of the detector circuit board (384) and is in threaded connection with the corresponding bracket threaded hole so as to fix the detector circuit board (384) to the mounting bracket (386), wherein the aperture of the circuit board through hole (387) of the detector circuit board (384) is larger than the aperture of the corresponding bracket threaded hole, so that the relative position relationship between the detector circuit board (384) and the mounting bracket (386) is adjustable before the second fastener (388) fastens the detector circuit board (384) to the mounting bracket (386).

16. The lidar transceiver device (300) of claim 12, wherein the outer mating surface of the housing portion is a cylindrical surface;

The light detection assembly (380) is fixedly connected with a connecting sleeve (381), the connecting sleeve (381) is sleeved on the shell part, and an inner matching surface of the connecting sleeve (381) matched with an outer matching surface of the shell part is a cylindrical surface;

the main light scattering component (340) comprises an optical fiber bracket (343) and an optical fiber inserting core (344), the optical fiber bracket (343) is fixed to the housing (302), an inserting core mounting part (346) is arranged on the optical fiber bracket (343), a main optical fiber (341) is fixed in the optical fiber inserting core (344), the optical fiber inserting core (344) is inserted into the inserting core mounting part (346), and the mounting groove (314) is opposite to the inserting core mounting part (346);

wherein at least a portion of the mounting groove (314) is located on the housing portion, and an end of the connection sleeve (381) facing the first housing end (303) is provided with a notch, which is aligned with the mounting groove (314) to provide a passage for the fiber stub (344) and/or the main fiber (341) through a wall of the housing portion.

17. The lidar transceiver device (300) of claim 12, wherein the light detection assembly (380) comprises a detector circuit board (384) and a detector (385) mounted on the detector circuit board (384), the detector circuit board (384) being fixedly connected to a mounting bracket (386), the mounting bracket (386) being fixedly connected to the connection sleeve (381);

The light collection assembly includes a filter (364), a receiving optic and a stop (366); the optical filter (364) is disposed at the first housing end (303); the receiving lens is mounted in the internal channel (305), the receiving lens being located downstream of the optical filter (364) in the propagation path of the echo light; the diaphragm (366) is fixed on the mounting bracket (386), and the diaphragm (366) is opposite to the detector (385);

an end face of the second housing end (304) is provided with a window (301) communicating with the internal passage (305) to allow the echo and main light rays of the internal passage (305) to reach the detector (385) via the diaphragm (366).