CN219302656U

CN219302656U - Laser receiving module, laser transmitting module and laser radar

Info

Publication number: CN219302656U
Application number: CN202222893940.0U
Authority: CN
Inventors: 候称心; 胡攀攀; 杨昆
Original assignee: Wuhan Wanji Photoelectric Technology Co Ltd
Current assignee: Wuhan Wanji Photoelectric Technology Co Ltd
Priority date: 2022-10-31
Filing date: 2022-10-31
Publication date: 2023-07-04
Anticipated expiration: 2032-10-31

Abstract

The utility model belongs to the field of laser radars, and particularly relates to a laser receiving module, a laser transmitting module and a laser radar. The shielding shell comprises a cover body, a shell body and a partition plate arranged between the cover body and the shell body, wherein a light hole is formed in the cover body, a first installation space is formed between the cover body and the partition plate, and a second installation space is formed between the shell body and the partition plate. The light detector is provided with a photoelectric sensing element, the light detector is arranged in the first installation space, and the photoelectric sensing element corresponds to the light hole. The signal processor is arranged in the second installation space. Electromagnetic interference of the laser emission module to the photoelectric sensing element in the light detector can be reduced by utilizing the shielding shell, the light detector is separated from the signal processor by the partition board, and electromagnetic interference of the signal processor to the photoelectric sensing element in the light detector is reduced, so that the performance of the photoelectric sensing element can be ensured, and the detection effect of the laser radar is improved.

Description

Laser receiving module, laser transmitting module and laser radar

Technical Field

The utility model relates to the technical field of laser radars, in particular to a laser receiving module, a laser transmitting module and a laser radar.

Background

The laser radar plays important roles of road edge detection, obstacle identification, real-time positioning and drawing in automatic driving. The detection device of the laser radar comprises a laser emission module and a laser receiving module, wherein the laser emission module generates and emits light pulses, and the light pulses are transmitted on an object and reflected back to be finally received by the laser receiving module. The laser receiving module accurately measures the propagation time of the light pulse from the emission to the reflection back. In view of the fact that the speed of light is known, the travel time can be converted into a measure of distance. The laser radar can accurately measure the position (distance and angle), motion state (speed, vibration and gesture) and shape of a target, and detect, identify, distinguish and track the target. The laser radar has the advantages of high measurement speed, high precision, long distance measurement and the like, and is widely applied to intelligent driving.

When the detection device of the laser radar works, the laser transmitting module and the signal processor in the laser receiving module can cause electromagnetic interference to photoelectric sensing elements (such as avalanche photodiodes (Avalanche Photo Diode, APD) or silicon photomultipliers (Silicon photo multiplier, siPM)) in the laser receiving module, so that the performance of the photoelectric sensing elements is influenced, and the detection effect of the laser radar is influenced.

Disclosure of Invention

The embodiment of the utility model provides a laser receiving module, a laser transmitting module and a laser radar, which are used for solving the technical problem that a signal processor in the laser transmitting module and the laser receiving module can cause electromagnetic interference to a photoelectric sensing element and influence the performance of the photoelectric sensing element when the laser radar works.

To this end, according to an aspect of the present utility model, there is provided a laser receiving module comprising:

the shielding shell comprises a cover body, a shell body and a partition plate arranged between the cover body and the shell body, wherein a light hole is formed in the cover body, a first installation space is formed between the cover body and the partition plate, and a second installation space is formed between the shell body and the partition plate;

the light detector is provided with a photoelectric sensing element, and is arranged in the first installation space and corresponds to the light transmission hole; and

and the signal processor is arranged in the second installation space.

Optionally, the cover, the shell and the partition plate are all made of metal materials; and/or

The outer surface of the cover body, the outer surface of the shell and the outer surface of the partition plate are subjected to black oxidation treatment.

Optionally, the shell is provided with a containing cavity with an opening, and the partition board is arranged at the opening and is surrounded with the containing cavity to form the second installation space; the cover body is arranged on one side of the shell body, which is provided with the opening, a distance is arranged between the cover body and the partition plate, and the distance forms the first installation space.

Optionally, the laser receiving module further comprises a first fastener and a second fastener, and the first fastener sequentially penetrates through the partition board and the signal processor and is locked on the shell; the second fastening piece sequentially passes through the cover body and the light detector and is locked on the shell.

Optionally, the first fastener includes a first screw, a first mounting boss is disposed in the accommodating cavity, a first mounting hole corresponding to the first mounting boss is disposed on the signal processor, a second mounting hole corresponding to the first mounting hole is disposed on the partition board, and the first screw sequentially penetrates through the second mounting hole and the first mounting hole and is locked on the first mounting boss;

the second fastener comprises a second screw, a second mounting boss is arranged on one side of the shell, which is provided with the opening, the light detector is further provided with a detection circuit board used for mounting the photoelectric sensing element, a third mounting hole corresponding to the second mounting boss is arranged on the detection circuit board, a fourth mounting hole corresponding to the third mounting hole is arranged on the cover body, and the second screw sequentially penetrates through the fourth mounting hole and the third mounting hole and is locked on the second mounting boss.

Optionally, the laser receiving module further includes an optical filter, where the optical filter is disposed on the cover and covers the light hole.

Optionally, a sink groove adapted to the optical filter is arranged on one side of the cover body away from the photodetector, and the optical filter is embedded and fixed in the sink groove.

According to another aspect of the present utility model, there is provided a laser emitting module including:

a shielding box; and

the laser emission unit is arranged in the shielding box, a light outlet hole is formed in the shielding box, and laser emitted by the laser emission unit is emitted outwards through the light outlet hole.

Optionally, the laser emission unit includes a beam emitter and a controller electrically connected to the beam emitter, the beam emitter has an emission light source for emitting laser light, and the emission light source is disposed corresponding to the light emitting hole.

According to a further aspect of the present utility model there is provided a lidar comprising a laser receiving module as described above and/or a laser emitting module as described above.

The laser receiving module, the laser transmitting module and the laser radar provided by the utility model have the beneficial effects that: compared with the prior art, the laser receiving module has the advantages that the light detector and the signal processor are arranged in the shielding shell, electromagnetic interference of the laser transmitting module to the photoelectric sensing element in the light detector can be reduced by utilizing the shielding shell, meanwhile, the light detector and the signal processor are separated by the partition board, and the electromagnetic interference of the signal processor to the photoelectric sensing element in the light detector is reduced, so that the performance of the photoelectric sensing element can be ensured, and the detection effect of the laser radar is improved.

Drawings

In order to more clearly illustrate the embodiments of the utility model 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 utility model, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Wherein:

FIG. 1 is a schematic cross-sectional view of a laser receiving module according to an embodiment of the present utility model;

FIG. 2 is a schematic diagram of an exploded structure of a laser receiving module according to an embodiment of the present utility model;

FIG. 3 is a flow chart illustrating the assembly of the laser receiving module according to an embodiment of the utility model;

FIG. 4 is a schematic diagram of a laser detection device according to an embodiment of the present utility model;

FIG. 5 is a schematic cross-sectional view of a laser emitting module according to an embodiment of the present utility model;

FIG. 6 is a schematic diagram of an exploded structure of a laser emitting module according to an embodiment of the present utility model;

fig. 7 is a schematic view showing a partial structure of a lidar according to an embodiment of the present utility model.

Description of main reference numerals:

1. a laser detection device;

10. a laser receiving module;

20. a laser emission module; 21. a shielding box; 22. a front cover; 23. a rear case; 24. a beam emitter; 25. a controller; 26. a light outlet hole; 27. a transmitting circuit board; 28. an emission light source;

30. a mounting plate; 40. an emission lens assembly; 50. a receiving lens assembly;

100. a shield case; 101. a first installation space; 102. a second installation space; 103. a light hole; 104. sinking grooves; 110. a cover body; 111. a fourth mounting hole; 120. a housing; 1201. a receiving chamber; 121. a first mounting boss; 122. a second mounting boss; 130. a partition plate; 131. a second mounting hole;

200. a photodetector; 210. a detection circuit board; 211. a third mounting hole; 220. a photoelectric sensing element;

300. a signal processor; 301. a first mounting hole;

400. an optical filter.

Detailed Description

In order that the utility model may be readily understood, a more complete description of the utility model will be rendered by reference to the appended drawings. Preferred embodiments of the present utility model are shown in the drawings. This utility model may, however, be embodied in many other different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

It will be understood that when an element is referred to as being "mounted" or "disposed" on another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.

It is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are merely for convenience in describing and simplifying the description based on the orientation or positional relationship shown in the drawings, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus are not to be construed as limiting the utility model.

Furthermore, the terms "first," "second," "third," "fourth" and the like are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first", "a second", "a third" and a fourth "may explicitly or implicitly include one or more such feature. In the description of the present utility model, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this utility model belongs. The terminology used herein in the description of the utility model is for the purpose of describing particular embodiments only and is not intended to be limiting of the utility model. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.

As described in the background art, when the detection device of the laser radar works, the signal processor in the laser transmitting module and the laser receiving module can cause electromagnetic interference to the photoelectric sensing element, so that the performance of the photoelectric sensing element is affected, and the detection effect of the laser radar is affected.

In order to solve the above-mentioned problems, according to an aspect of the present utility model, an embodiment of the present utility model provides a laser receiving module 10, as shown in fig. 1-2, including a shielding case 100, a photodetector 200, and a signal processor 300.

The shielding shell 100 comprises a cover 110, a shell 120 and a partition 130 arranged between the cover 110 and the shell 120, wherein a light hole 103 is arranged on the cover 110, a first installation space 101 is formed between the cover 110 and the partition 130, and a second installation space 102 is formed between the shell 120 and the partition 130. The photodetector 200 has a photo-sensor element 220, the photodetector 200 is disposed in the first mounting space 101, and the photo-sensor element 220 corresponds to the light hole 103. The signal processor 300 is disposed in the second installation space 102.

In the embodiment of the utility model, the laser receiving module 10 is arranged in the shielding shell 100 by the optical detector 200 and the signal processor 300, so that electromagnetic interference of the laser transmitting module to the photoelectric sensing element 220 in the optical detector 200 can be reduced by utilizing the shielding shell 100, meanwhile, the optical detector 200 and the signal processor 300 are separated by the partition 130, and electromagnetic interference of the signal processor 300 to the photoelectric sensing element 220 in the optical detector 200 is reduced, thereby ensuring the performance of the photoelectric sensing element 220 and improving the detection effect of the laser radar.

The photodetector 200 includes a detection circuit board 210 and i×j photo-sensing elements 220, where the i×j photo-sensing elements 220 are disposed on the detection circuit board 210 in a staggered manner along a vertical direction, as shown in fig. 3, for example, 4×16 photo-sensing elements 220 are arranged in a column in a vertical direction every 16 photo-sensing elements 220. At least one of i and j is a natural number greater than 1. The photoelectric sensing element 220 is configured to receive the laser light reflected by the multiple positions of the detection target, and then the detection circuit board 210 of the photodetector 200 converts the optical signals into electrical signals and transmits the electrical signals to the signal processor 300, and the signal processor 300 can calculate the distance information of the multiple positions of the detection target according to the time of laser light emission and the time of the received reflected laser light, so as to obtain the three-dimensional point cloud of the detection target. The photo-sensing element 220 may be one or more combinations of PIN photodiodes (PIN photodiodes), avalanche photodiodes (Avalanche Photo Diode, APD), single photon avalanche diodes (Single Photon Avalanche Diode, SPAD), multi-pixel photon counters (Multi-Pixel Photon Counter, MPPC), silicon photomultipliers (Silicon photo multiplier, siPM), and the like.

It can be appreciated that the shielding case 100 can also protect the photodetector 200 and the signal processor 300 from damage to the photodetector 200 and the signal processor 300 due to collision, abrasion, etc.

In addition, since the signal processor 300 needs to process more electrical signals during operation, the power consumption is also larger, so that more heat is generated, and the light detector 200 is separated from the signal processor 300 by the partition 130, the heat radiation of the signal processor 300 to the light detector 200 can be reduced, so that the light detector 200 can operate in a better state under a proper temperature environment.

In one embodiment, as shown in fig. 1-3, the cover 110, the housing 120, and the partition 130 are all made of metal.

The electromagnetic shielding effect of the metal is good, and the cover 110, the housing 120 and the partition 130 made of the metal are hard in texture, so that reliable protection can be provided for the photodetector 200 and the signal processor 300.

Specifically, the metal material is preferably an aluminum alloy. Compared with copper and other nonferrous metals, aluminum has good cost performance and price advantage; the weight of the heat radiator is lighter under the same specific volume, and the structural heat radiation performance is better; can be formed by a hot extrusion process; the corrosion resistance is strong, and the surface treatment is easy.

Of course, in other embodiments, the cover 110, the housing 120, and the partition 130 may be made of a wire mesh disposed on the surface and/or inside the plastic cover 110, housing 120, and partition 130.

In one specific embodiment, as shown in fig. 1-3, the outer surface of the cover 110, the outer surface of the housing 120, and the outer surface of the separator 130 are all black oxidized.

By arranging the above, the surfaces of the cover body 110, the shell 120 and the partition 130 are oxidized and blackened to form an oxide film, on one hand, the oxide film formed by the blackened is non-conductive, so that the risk of short circuit caused by contact between the electronic components in the photodetector 200 and the signal processor 300 and the shielding shell 100 can be reduced, and the components are contacted; on the other hand, the oxide film formed by the blackening treatment has low reflectance, and the influence on the optical system can be reduced.

In one embodiment, as shown in fig. 1-2, the housing 120 has a accommodating cavity 1201 with an opening, and the partition 130 is disposed at the opening and surrounds the accommodating cavity 1201 to form a second installation space 102; the cover 110 is disposed on the side of the housing 120 having the opening, and a space is provided between the cover 110 and the partition 130, and the space forms the first installation space 101.

In a specific embodiment, the laser receiving module 10 further includes a first fastener (not shown) and a second fastener (not shown), wherein the first fastener passes through the partition 130 and the signal processor 300 in sequence and is locked to the housing 120; the second fastener passes through the cover 110 and the photodetector 200 in sequence and is locked to the housing 120.

By the above arrangement, as shown in fig. 3, in the assembly process of the laser receiving module 10, the first fastening member is used to fix the partition 130 and the signal processor 300 on the housing 120, and the second fastening member is used to fix the cover 110 and the photodetector 200 on the housing 120.

Of course, in other embodiments, other fixing methods may be used, which are not limited herein.

In a more specific embodiment, as shown in fig. 2 to 3, the first fastener includes a first screw, a first mounting boss 121 is disposed in the accommodating cavity 1201, a first mounting hole 301 corresponding to the first mounting boss 121 is disposed on the signal processor 300, a second mounting hole 131 corresponding to the first mounting hole 301 is disposed on the partition 130, and the first screw sequentially penetrates the second mounting hole 131 and the first mounting hole 301 and is locked to the first mounting boss 121.

Through the arrangement, the first screws sequentially penetrate through the second mounting holes 131 on the partition 130 and the first mounting holes 301 on the signal processor 300 to be locked and attached to the first mounting boss 121 in the accommodating cavity 1201, so that the partition 130 and the signal processor 300 are fixed, and the fixing device is simple in structure, convenient and reliable.

The first mounting boss 121 is provided with a threaded hole corresponding to the first screw, and the number of the first mounting boss 121, the first mounting hole 301, the second mounting hole 131 and the first screw is the same and may be multiple, so as to fix the partition 130 and the signal processor 300 more stably and reliably.

In a more specific embodiment, as shown in fig. 2 to 3, the second fastener includes a second screw, the side of the housing 120 having the opening is provided with a second mounting boss 122, the photodetector 200 further has a detection circuit board 210 for mounting the photoelectric sensing element 220, a third mounting hole 211 corresponding to the second mounting boss 122 is provided on the detection circuit board 210, a fourth mounting hole 111 corresponding to the third mounting hole 211 is provided on the cover 110, and the second screw sequentially penetrates the fourth mounting hole 111 and the third mounting hole 211 and is locked on the second mounting boss 122.

Through the arrangement, the second screws sequentially penetrate through the fourth mounting holes 111 on the cover body 110 and the third mounting holes 211 on the detection circuit board 210 to be locked on the second mounting boss 122 on the shell 120, so that the cover body 110 and the light detector 200 are fixed, and the structure is simple, and the fixation is convenient and reliable.

The second mounting boss 122 is provided with threaded holes corresponding to the second screws, and the number of the second mounting boss 122, the third mounting hole 211, the fourth mounting hole 111 and the second screws is the same and may be multiple, so as to fix the cover 110 and the photodetector 200 more stably and reliably.

In some specific embodiments, as shown in fig. 2-3, the fourth mounting hole 111 and the second mounting hole 131 are counter sunk holes.

The countersunk holes on the partition 130 can accommodate the heads of the first screws, so that the protruding interference of the first screws is avoided, the leveling of one side of the partition 130 facing the photodetector 200 is ensured, and the subsequent installation and fixation of the photodetector 200 and the cover 110 are facilitated; similarly, the countersunk hole on the cover body 110 can accommodate the head of the second screw, so as to avoid the protruding interference of the second screw, ensure that one side of the cover body 110, which faces away from the photodetector 200, is flat, and facilitate the installation and fixation between the laser receiving module 10 and the receiving lens assembly 50 in the subsequent laser detection device 1, as shown in fig. 4.

In some embodiments, as shown in fig. 3, the laser receiving module 10 further includes a locking screw, a locking boss is disposed in the accommodating cavity 1201, and through holes corresponding to the locking boss are disposed on the signal processor 300, the partition 130, the detection circuit board 210 and the cover 110, and the locking screw sequentially penetrates through the cover 110, the detection circuit board 210, the partition 130 and the signal processor 300 and is locked to the locking boss.

The cover 110, the detection circuit board 210, the partition 130 and the signal processor 300 are connected by using the locking screw, so that the integrity of the whole laser receiving module 10 is improved, and in addition, the reliability of fixing the cover 110, the detection circuit board 210, the partition 130 and the signal processor 300 on the housing 120 is further improved by matching the first screw and the second screw.

In one embodiment, as shown in fig. 1-3, the laser receiving module 10 further includes a filter 400, where the filter 400 is disposed on the cover 110 and covers the light hole 103.

The optical filter 400 is used for filtering light rays not belonging to the laser wave band emitted by the laser emitting module, so as to prevent the photoelectric sensing element 220 from being interfered by light rays of other wave bands, and make the detected optical signal of the optical detector 200 more accurate.

In one embodiment, as shown in fig. 1-3, a side of the cover 110 facing away from the photodetector 200 is provided with a sink 104 adapted to the optical filter 400, and the optical filter 400 is embedded and fixed in the sink 104.

By the arrangement, the light filter 400 is placed by the sinking groove 104 on the cover body 110, so that the whole laser receiving module 10 is more compact and small in structure.

As shown in fig. 3, in the assembly process of the laser receiving module 10, the signal processor 300 is firstly placed in the accommodating cavity 1201 of the housing 120, then the partition 130 is placed at the opening of the accommodating cavity 1201, then the partition 130 and the signal processor 300 are fixed by penetrating the second mounting hole 131 and the first mounting hole 301 in sequence through the first screw and locking the partition 130 and the first mounting boss 121, then the photodetector 200 and the cover plate are sequentially placed at one side of the housing 120 with the opening, finally the fourth mounting hole 111 and the third mounting hole 211 are sequentially penetrated through the second screw and locking the cover plate on the second mounting boss 122, so as to fix the cover 110 and the photodetector 200, finally, the optical filter 400 is dispensed in the sink 104 of the cover 110, and the optical filter 400 is installed in the sink 104, thereby completing the assembly of the whole laser receiving module 10.

According to another aspect of the present utility model, as shown in fig. 5-6, the laser emission module 20 includes a shielding case 21 and a laser emission unit disposed in the shielding case 21, where a light exit hole 26 is disposed on the shielding case 21, and laser emitted by the laser emission unit exits through the light exit hole 26.

Through installing laser emission unit in shielding box 21, utilize shielding box 21 on the one hand can play the guard action to the laser emission unit, on the other hand can reduce the electromagnetic interference of laser emission unit to photoelectric sensing element in the laser receiving module, improve the detection effect of laser radar.

Specifically, in the present embodiment, the shield case 21 is formed by the front cover 22 and the rear case 23 being fastened to each other.

In one embodiment, as shown in fig. 5 and 6, the laser emitting unit includes a beam emitter 24 and a controller 25 electrically connected to the beam emitter 24, the beam emitter 24 having an emitting light source 28 for emitting laser light, the emitting light source 28 being disposed corresponding to the light emitting hole 26.

Compared with an integrated structure, the laser emission unit is composed of the beam emitters 24 and the controller 25, so that the beam emitters 24 of the corresponding number of emission light sources 28 can be replaced according to the line number of the multi-line laser radar, and later updating and optimization are facilitated.

Note that the beam emitter 24 includes an emitting circuit board 27 and m×n emitting light sources 28, and the m×n emitting light sources 28 are arranged on the emitting circuit board 27 in a staggered manner in the vertical direction, as shown in fig. 6, for example, 4×16 emitting light sources 28, and each 16 emitting light sources 28 are arranged in a column in the vertical direction. At least one of m and n is a natural number greater than 1. In use, probe light beams emitted by the plurality of emission light sources 28 are emitted to the space to be measured through the emission lens assembly 40. The emission light source 28 may be various light emitting devices, and in some applications, the emission light source 28 may be an inorganic semiconductor light emitting device, such as a semiconductor light emitting diode (Light Emitting Diode, LED), a vertical cavity surface emitting laser (Vertical Cavity Surface Emitting Laser, VCSEL), an edge emitting laser (Edge Emitting Lasers, EEL), or the like.

As shown in fig. 2 and 6, the detection circuit board 210 has thereon i×j photo-sensing elements 220 corresponding to the m×n emission light sources 28, where i=m, j=n. It will be appreciated that in other embodiments, the photo-sensing elements 220 and the illumination sources may not be in a one-to-one relationship, for example, a one-to-many relationship, or a many-to-one relationship.

According to another aspect of the present utility model, there is further provided a laser detection device, as shown in fig. 4, where the laser detection device 1 includes the laser receiving module 10 and/or the laser emitting module 20 in any of the above embodiments.

Since the laser detection device 1 employs the laser receiving module 10 described above, the detection effect of the laser detection device 1 can be improved.

It should be noted that, the laser detection device 1 further includes a mounting plate 30, a receiving lens assembly 50 and a transmitting lens assembly 40, the laser transmitting module 20 and the laser receiving module 10 are fixed on the same side of the mounting plate 30, the receiving lens assembly 50 is fixed on the cover 110 of the laser receiving module 10, and the transmitting lens assembly 40 is fixed on one side of the laser transmitting module 20 from which laser is emitted.

According to still another aspect of the present utility model, there is also provided a lidar including the laser receiving module 10 of any of the above embodiments or the laser detection device 1 of any of the above embodiments, as shown in fig. 7.

The laser radar adopts the laser receiving module 10 or the laser detection device 1, so that the detection effect of the laser radar can be improved.

The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The foregoing examples illustrate only a few embodiments of the utility model, which are described in greater detail and are not to be construed as limiting the scope of the utility model. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the utility model, which are all within the scope of the utility model. Accordingly, the scope of the utility model should be assessed as that of the appended claims.

Claims

1. A laser receiving module, comprising:

and the signal processor is arranged in the second installation space.

2. The laser receiving module according to claim 1, wherein the cover, the housing and the partition are all made of metal; and/or

3. The laser receiving module according to claim 1, wherein the housing has a receiving cavity with an opening, and the partition board is disposed at the opening and surrounds the receiving cavity to form the second installation space; the cover body is arranged on one side of the shell body, which is provided with the opening, a distance is arranged between the cover body and the partition plate, and the distance forms the first installation space.

4. The laser receiving module of claim 3, further comprising a first fastener and a second fastener, the first fastener passing through the spacer and the signal processor in sequence and being locked to the housing; the second fastening piece sequentially passes through the cover body and the light detector and is locked on the shell.

5. The laser receiving module according to claim 4, wherein the first fastener comprises a first screw, a first mounting boss is arranged in the accommodating cavity, a first mounting hole corresponding to the first mounting boss is arranged on the signal processor, a second mounting hole corresponding to the first mounting hole is arranged on the partition board, and the first screw sequentially penetrates through the second mounting hole and the first mounting hole and is locked on the first mounting boss;

6. The laser receiving module according to any one of claims 1 to 5, further comprising a filter disposed on the cover and covering the light-transmitting hole.

7. The laser receiving module according to claim 6, wherein a sink groove adapted to the optical filter is arranged on one side of the cover body away from the optical detector, and the optical filter is embedded and fixed in the sink groove.

8. A laser emitting module, comprising:

a shielding box; and

9. The laser light emitting module of claim 8, wherein the laser light emitting unit comprises a beam emitter and a controller electrically connected to the beam emitter, the beam emitter having an emission light source for emitting laser light, the emission light source being disposed corresponding to the light exit hole.

10. A lidar comprising a laser receiving module according to any of claims 1 to 7 and/or a laser emitting module according to claim 8 or 9.