CN220231965U

CN220231965U - Laser receiving and transmitting module and laser radar

Info

Publication number: CN220231965U
Application number: CN202321419589.XU
Authority: CN
Inventors: 王品; 余金榜; 涂再买; 何英; 吕星宏
Original assignee: Dongguan Wobai Taiyou Electronic Technology Co ltd
Current assignee: Dongguan Wobai Taiyou Electronic Technology Co ltd
Priority date: 2023-06-06
Filing date: 2023-06-06
Publication date: 2023-12-22
Anticipated expiration: 2033-06-06

Abstract

The application relates to a laser receiving and transmitting module and a laser radar. The laser receiving and transmitting module comprises: the bracket is provided with a first mounting hole and a second mounting hole at intervals and penetrating through the bracket; the laser ranging component comprises a TOF laser receiving lens, a triangular laser receiving lens and a first laser transmitting module, wherein the TOF laser receiving lens is arranged on the support and corresponds to the first mounting hole, the triangular laser receiving lens is arranged on the second mounting hole, the first laser transmitting module is embedded in the TOF laser receiving lens, and laser emitted by the first laser transmitting module is focused through the TOF laser receiving lens after being reflected by a target obstacle. The laser receiving and transmitting module not only realizes the TOF laser ranging function through the cooperation of the TOF laser receiving lens and the first laser transmitting module, but also expands the correlation structure with the triangular ranging, so that the laser receiving and transmitting module can be suitable for TOF ranging and triangular ranging, thereby having good expansibility and stronger applicability.

Description

Laser receiving and transmitting module and laser radar

Technical Field

The application relates to the technical field of laser ranging, in particular to a laser transceiver module and a laser radar.

Background

In the laser ranging field, the laser transceiver module is a core structure. For the conventional TOF laser receiving and transmitting module, ranging is performed based on the TOF principle, no correlation structure for triangular ranging is reserved, the expansibility is low, and the applicability is limited.

Disclosure of Invention

Based on the above, it is necessary to provide a laser transceiver module with good expansibility and strong applicability, and further provide a laser radar with the laser transceiver module.

A laser transceiver module, comprising:

the bracket is provided with a first mounting hole and a second mounting hole at intervals and penetrating through the bracket; a kind of electronic device with high-pressure air-conditioning system

The laser ranging assembly comprises a TOF laser receiving lens, a triangular laser receiving lens and a first laser transmitting module, wherein the TOF laser receiving lens is installed on the support and corresponds to the first installation hole, the triangular laser receiving lens is installed on the second installation hole, the first laser transmitting module is embedded in the TOF laser receiving lens, and laser emitted by the first laser transmitting module is condensed through the TOF laser receiving lens after being reflected by a target obstacle.

Among the above-mentioned laser transceiver module, through setting up the second mounting hole on the support to install triangle laser receiving lens in the second mounting hole, thereby carry out the laser of range finding based on the triangle ranging principle and can see through triangle laser receiving lens and be received, and then laser transceiver module not only realizes TOF laser ranging function through the cooperation of TOF laser receiving lens and first laser emission module, but also expands the associated structure that has triangle ranging, makes laser transceiver module applicable to TOF range finding and triangle range finding, thereby expansibility is good, the suitability is stronger.

In one embodiment, the laser emitted by the first laser emitting module is condensed by the triangular laser receiving lens after being reflected by the target obstacle.

In one embodiment, the optical path of the triangular laser and the optical path of the TOF laser are located in the same predetermined plane.

In one embodiment, the TOF laser receiving lens has a first direction parallel to the predetermined plane and a second direction perpendicular to the predetermined plane, and the TOF laser receiving lens is flat with a size in the first direction larger than a size in the second direction.

In one embodiment, the triangular laser receiving lens is internally provided with a light filter.

In one embodiment, the bracket has a first end face and a second end face disposed opposite to each other, and the second mounting hole and the first mounting hole each extend from the first end face toward the second end face; the TOF laser receiving lens is fixedly connected to the first end face, and a through hole consistent with the extending direction of the first mounting hole is penetratingly formed in the center of the optical axis of the TOF laser receiving lens;

the support is provided with a third mounting hole in a penetrating mode, the third mounting hole and the second mounting hole are located on two sides of the first mounting hole, the second laser emission module is mounted in the third mounting hole, and the first laser emission module is mounted in the through hole.

In one embodiment, the laser emitted by the second laser emitting module is condensed by the triangular laser receiving lens after being reflected by the target obstacle.

In one embodiment, the first laser emission module and the second laser emission module each include a laser barrel, a collimating lens and a laser emitter, a light-passing channel is formed in the laser barrel, the collimating lens is arranged in the light-passing channel and is in an integral structure with the laser barrel, and the laser emitter is located on one side of the collimating lens and emits laser to penetrate through the collimating lens.

In one embodiment, the center line of the third mounting hole forms an included angle with the center line of the first mounting hole and/or the second mounting hole,

or the collimating lens of the first laser emitting module is obliquely arranged on the laser barrel,

or the triangular laser receiving lens is obliquely arranged in the second mounting hole.

In one embodiment, the laser transceiver module includes a first signal processing circuit board and a second signal processing circuit board, where the first signal processing circuit board and the second signal processing circuit board are both installed on the second end surface; the laser ranging component comprises a triangular laser receiver arranged on the first signal processing circuit board and a TOF laser receiver arranged on the second signal processing circuit board, the triangular laser receiver corresponds to the second mounting hole, and the TOF laser receiver corresponds to the first mounting hole.

In one embodiment, the first signal processing circuit board and the second signal processing circuit board are arranged at intervals, or the first signal processing circuit board and the second signal processing circuit board are in an integral structure.

In one embodiment, the laser transceiver module further includes a laser driving circuit board, the laser transmitter of the first laser transmitting module is electrically connected with the laser driving circuit board, and the laser driving circuit board is clung to the back surface of the rear end of the TOF laser receiving lens and aligned to the through hole.

A laser radar comprises the laser receiving and transmitting module.

Drawings

In order to more clearly illustrate the embodiments of the present application 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 below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic structural diagram of a laser transceiver module according to an embodiment of the disclosure;

FIG. 2 is a cross-sectional view of the laser transceiver module shown in FIG. 1;

reference numerals illustrate:

10. a laser receiving and transmitting module; 100. a bracket; 110. a first mounting hole; 120. a second mounting hole; 130. a third mounting hole; 140. a first end face; 141. a groove; 150. a second end face; 200. a laser ranging assembly; 210. TOF laser receiving lens; 211. a through hole; 220. triangular laser receiving lens; 23. a laser emitting module; 230. a second laser emission module; 231. a first laser barrel; 232. a first collimating lens; 233. a first laser transmitter; 234. a first light-transmitting channel; 240. a first laser emission module; 241. a second laser barrel; 242. a second collimating lens; 243. a second laser transmitter; 244. a second light-passing channel; 250. a triangular laser receiver; 260. TOF laser receiver; 400. a signal processing circuit board; 410. a first signal processing circuit board; 420. a second signal processing circuit board; 500. and a laser driving circuit board.

Detailed Description

In order to make the above objects, features and advantages of the present application more comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. This application is, however, susceptible of embodiment in many other forms than those described herein and similar modifications can be made by those skilled in the art without departing from the spirit of the application, and therefore the application is not to be limited to the specific embodiments disclosed below.

In the description of the present application, it should be understood that the terms "center," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," etc. indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be configured and operated in a particular orientation, and therefore should not be construed as limiting the present application.

Furthermore, the terms "first," "second," 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" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "plurality" is at least two, such as two, three, etc., unless explicitly defined otherwise.

In this application, unless specifically stated and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art as the case may be.

In this application, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.

It will 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. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like are used herein for illustrative purposes only and are not meant to be the only embodiment.

Referring to fig. 1 and 2, the present application provides a laser transceiver module 10, which includes a bracket 100 and a laser ranging module 200. The bracket 100 is provided with a first mounting hole 110 and a second mounting hole 120 at intervals and penetrating through the bracket. The laser ranging assembly 200 includes a TOF laser receiving lens 210, a triangular laser receiving lens 220 and a first laser emitting module 240, wherein the TOF laser receiving lens 210 is mounted on the bracket 100 and corresponds to the first mounting hole 110, the triangular laser receiving lens 220 is mounted on the second mounting hole 120, the first laser emitting module 240 is embedded in the TOF laser receiving lens 210, and laser emitted by the first laser emitting module 240 is condensed by the TOF laser receiving lens 210 after being reflected by a target obstacle.

It can be appreciated that, in the above-mentioned laser transceiver module 10, through setting up the second mounting hole 120 on the support 100, and install the triangle laser receiving lens 220 in the second mounting hole 120, thereby the laser that carries out the range finding based on the triangle ranging principle can be received through triangle laser receiving lens 220, and then laser transceiver module 10 not only realizes TOF laser ranging function through the cooperation of TOF laser receiving lens 210 and first laser emission module 240, but also expands the associated structure that has the triangle to range up, make laser transceiver module 10 applicable to TOF range finding and triangle range finding, thereby expansibility is good, the suitability is stronger.

The TOF laser finger described in the present application processes a laser signal emitted from an obstacle after the laser is projected by using a TOF (time of flight) measurement method. The triangular laser finger adopts a similar triangular line measuring method to process laser signals emitted by obstacles after laser is projected.

It will be appreciated that the triangular laser light is reflected and conducted along the second mounting hole 120 after passing through the triangular laser light receiving lens 220. The TOF laser light emitted by the first laser light emitting module 240 is reflected and conducted along the first mounting hole 110 after passing through the TOF laser light receiving lens 210.

It can be appreciated that by mounting the first laser emitting module 240 to the TOF laser receiving lens 210, the mounting positions on the holder 100 for both can be reduced, thereby helping to fully utilize the space in the case of a smaller holder 100.

As shown in fig. 1 and 2, in the embodiment of the present application, the bracket 100 has a first end surface 140 and a second end surface 150 that are disposed opposite to each other, and the second mounting hole 120 and the first mounting hole 110 each extend from the first end surface 140 to the second end surface 150. The TOF laser receiving lens 210 is fixedly connected to the first end surface 140, and a through hole 211 corresponding to the extending direction of the first mounting hole 110 is penetratingly formed at the center of the optical axis of the TOF laser receiving lens 210. Further, the bracket 100 is provided with a third mounting hole 130 penetrating therethrough, and the third mounting hole 130 and the second mounting hole 120 are located at two sides of the first mounting hole 110. The second laser emitting module 230 is mounted to the third mounting hole 130, and the first laser emitting module 240 is mounted to the through hole 211.

It can be appreciated that the laser light emitted from the second laser light emitting module 230 is reflected and conducted along the second mounting hole 120 after passing through the triangular laser light receiving lens 220. The laser light emitted by the first laser emitting module 240 is reflected and conducted along the first mounting hole 110 after passing through the TOF laser receiving lens 210.

It can be understood that the outgoing direction of the laser light emitted by the first laser emitting module 240 is parallel to the incoming direction of the laser light transmitted through the TOF laser receiving lens 210, so as to form a laser transmitting and receiving coaxial structure. Further, the first end surface 140 is provided with a groove 141, and the tof laser receiving lens 210 is accommodated in the groove 141 and locked to the bracket 100 by a screw.

It can be understood that an included angle exists between the extending directions of the third mounting hole 130 and the second mounting hole 120, so that the laser emitted from the second laser emitting module 230 in the third mounting hole 130 can smoothly pass through the triangular laser receiving lens 220 in the second mounting hole 120 after being reflected.

It will be appreciated that the first end face 140 and the second end face 150 may be used for mounting a laser emitting or receiving associated device, and the connection of the associated device and the passing requirement of the laser may be satisfied by making the third mounting hole 130, the second mounting hole 120 and the first mounting hole 110 penetrate through the first end face 140 and the second end face 150.

In this way, in the laser transceiver module 10, the TOF laser receiving lens 210, the triangular laser receiving lens 220, the first laser transmitting module 240 and the second laser transmitting module 230 are all installed on the bracket 100, and provide channels for the transmission of the triangular laser and the TOF laser, the first laser transmitting module 240 transmitting the TOF laser and the TOF laser receiving lens 210 cooperate to realize the TOF laser ranging, and the second laser transmitting module 230 transmitting the triangular laser and the triangular laser receiving lens 220 cooperate to realize the triangular laser ranging, so that the bracket 100 and the laser ranging module 200 cooperate together to form a whole to realize integration, and the laser transceiver module 10 has both the triangular laser ranging function and the TOF laser ranging function, and further has better precision in short-distance measurement and long-distance measurement.

Specifically in this application, the first laser emission module 240, the second laser emission module 230 all include a laser section of thick bamboo, collimating lens and laser emitter, are formed with the logical passageway in the laser section of thick bamboo, and the collimating lens is located logical passageway, and with a laser section of thick bamboo structure as an organic whole, and laser emitter is located one side of collimating lens and the laser emitted can see through collimating lens.

For the sake of clarity, specifically, for the second laser emission module 230, it includes a first laser barrel 231, a first collimating lens 232 and a first laser emitter 233, where the first laser barrel 231 is mounted in the third mounting hole 130, and a first light-transmitting channel 234 is formed in the first laser barrel 231, and the first collimating lens 232 is disposed in the first light-transmitting channel 234 and is integrally structured with the first laser barrel 231, and the first laser emitter 233 is located on one side of the first collimating lens 232 and emits laser light through the first collimating lens 232. By arranging the first collimating lens 232 and the first laser barrel 231 as an integral structure, post-assembly can be avoided to help to improve production efficiency. It can be appreciated that the first laser barrel 231 and the first collimating lens 232 may be both transparent, and the bracket 100 is opaque, so that the bracket 100 can prevent external stray light from entering the periphery of the first laser barrel 231 and prevent internal laser leakage. It can be appreciated that the extending direction of the third mounting hole 130 is consistent with the extending direction of the first light-transmitting channel 234, so that the laser emitted by the first laser emitter 233 can exit through the first collimating lens 232 along the extending direction of the third mounting hole 130.

Specifically, for the first laser emitting module 240, it includes a second laser barrel 241, a second collimating lens 242 and a second laser emitter 243, where the second laser barrel 241 is mounted on the through hole 211, and a second light-passing channel 244 is formed in the second laser barrel 241, the second collimating lens 242 is disposed in the second light-passing channel 244, and the second laser emitter 243 is located at one side of the second collimating lens 242 and the emitted laser can pass through the second collimating lens 242. It can be understood that the TOF laser receiving lens 210 can transmit laser light, so that the second laser barrel 241 has an opaque structure, so as to isolate the outgoing laser light passing through the second light-transmitting channel 244 from the incoming laser light passing through the TOF laser receiving lens 210, and avoid mutual interference between the incoming laser light and the outgoing laser light. The second collimating lens 242 may be mounted in the second laser barrel 241 at a later stage, or the second collimating lens 242 may be formed in the second laser barrel 241 by injection molding, so that the two are integrated. It will be appreciated that the holder 100 is of an opaque construction so that incident laser light transmitted through the TOF laser receiving lens 210 can be conducted along the first mounting hole 110 without leakage. It can be understood that the extending direction of the first mounting hole 110 is consistent with the extending direction of the second light-passing channel 244, so that the laser light emitted by the second laser emitter 243 can pass through the second collimating lens 242 along the extending direction of the second light-passing channel 244 and then exit, and after being reflected, enter the TOF laser receiving lens 210 along a direction parallel to the exiting direction and be conducted along the first mounting hole 110.

In one embodiment, the laser signal reflected back after the laser emitted by the first laser emitting module 240 encounters the target obstacle is condensed by the triangular laser receiving lens 220. Thus, the laser emitted by the first laser emitting module 240 may pass through the TOF laser receiving lens 210 and the triangle laser receiving lens 220. The laser signal received by the TOF laser receiving lens 210 is finally received by a TOF laser receiver (e.g., an APD, SPAD, etc.) and the TOF ranging method is used to process the laser point cloud signal. The laser signal received by the triangular laser receiving lens 220 is finally received by a triangular laser receiver (for example, a CCD, CMOS, etc. photoelectric sensor), and the triangular ranging method is used to process the laser point cloud signal. The distance of the obstacle is judged by processing laser signals through the triangular laser receiver and the TOF laser receiver, the distance data processed by the TOF laser receiver is adopted by the long-distance obstacle, and the distance data processed by the triangular laser receiver is adopted by the short-distance obstacle, so that the measurement accuracy of the long-distance obstacle and the short-distance obstacle is guaranteed while laser ranging is considered.

In this application, in order to satisfy that the laser transceiver module 10 has both the triangular laser ranging function and the TOF laser ranging function, the center line of the third mounting hole 130 forms an included angle with the center line of the first mounting hole 110 and/or the second mounting hole 120, so that the second laser transmitting module 230 can satisfy a certain included angle with respect to the receiving optical path of the triangular laser receiving lens 220, so as to facilitate measurement by a similar triangular measurement method.

In consideration of one situation, the laser emitted by the first laser emitting module 240 is received by the TOF laser receiving lens 210 and the triangle laser receiving lens 220, so that the second collimating lens 242 of the first laser emitting module 240 can be obliquely installed on the second laser barrel 241 or the triangle laser receiving lens 220 can be obliquely installed on the second installation hole 120, and the requirement that the similar triangle method meets the included angle of the optical path can be met.

It should be noted that, in the embodiment where the laser emitted by the first laser emitting module 240 is received by the TOF laser receiving lens 210 and the triangle laser receiving lens 220, the laser transceiver module 10 has both functions of triangle ranging and TOF ranging, and the first laser emitting module 240 is mounted on the TOF laser receiving lens 210, so that the space of the bracket 100 is not occupied, and the volume of the bracket 100 can be reduced. Further, the first laser emitting module 240 may have two operation modes, in which the triangle laser is emitted in the first operation mode and the TOF laser is emitted in the second operation mode, and the second laser emitting module 230 may be omitted.

As shown in fig. 1 and 2, in particular, in the embodiment of the present application, the optical path of the triangular laser and the optical path of the TOF laser are located on the same predetermined plane. It can be understood that the second laser emitting module 240, the triangular laser receiving lens 220, the TOF laser receiving lens 210 and the first laser emitting module 240 are all located on the same plane, that is, the third mounting hole 130, the second mounting hole 120 and the first mounting hole 110 are arranged in a coplanar manner, so that the whole laser transceiver module 10 can be in a flattened structure, and the size of the bracket 100 can be reduced, so that the occupied space of the whole laser transceiver module 10 is smaller, and the application scene is wider.

In particular, in the present application, the TOF laser receiving lens 210 has a first direction (X direction as shown in fig. 1) parallel to a predetermined plane and a second direction (Y direction as shown in fig. 1) perpendicular to the predetermined plane, and the TOF laser receiving lens 210 is flat with a size in the first direction larger than that in the second direction. In this way, under the condition that the laser transceiver module 10 presents a flattened structure, the TOF laser receiving lens 210 can fully utilize the space in the first direction, and under the condition that the laser transmission efficiency is satisfied, the space occupying the second direction is reduced as much as possible, which in turn is also helpful for implementing the flattened structure of the laser transceiver module 10.

Specifically, in the present application, the triangular laser receiving lens 220 is internally provided with a light filter (not shown), and by setting the light filter, unwanted stray light can be removed while receiving laser light, so as to improve the quality of the received laser light, and further improve the detection accuracy.

In this application, the triangular laser receiving lens 220 is screwed to the inner wall surface of the second mounting hole 120, and further connected to the bracket 100.

Referring to fig. 1 and fig. 2, in the embodiment of the application, the laser transceiver module 10 includes a first signal processing circuit board 410 and a second signal processing circuit board 420, and the first signal processing circuit board 410 and the second signal processing circuit board 420 are both mounted on the second end surface 150. The laser ranging assembly 200 includes a triangular laser receiver 250 mounted to the first signal processing circuit board 410 and a TOF laser receiver 260 mounted to the second signal processing circuit board 420, the triangular laser receiver 250 corresponding to the second mounting hole 120 and the TOF laser receiver 260 corresponding to the first mounting hole 110. It will be appreciated that by the arrangement of the first signal processing circuit board 410 and the second signal processing circuit board 420, not only are mounting positions and supports provided for the triangular laser receiver 250 and the TOF laser receiver 260, respectively, but also the received triangular laser light and the received TOF laser light can be signal-processed by connecting with the triangular laser receiver 250 and the TOF laser receiver 260, respectively.

In particular, in the present application, the triangular laser receiver 250 is communicatively coupled to a first signal processing circuit board 410, and the TOF laser receiver 260 is communicatively coupled to a second signal processing circuit board 420. It will be appreciated that the first signal processing circuit board 410 has an internal circuit that is in signal communication with the triangular laser receiver 250, so that the laser signal received by the triangular laser receiver 250 can be transferred to the first signal processing circuit board 410 for data processing. The second signal processing circuit board 420 has an internal circuit that is in signal conduction with the TOF laser receiver 260, so that the laser signal received by the TOF laser receiver 260 can be transmitted to the second signal processing circuit board 420 for data processing.

In particular, in the embodiment of the present application, the triangular laser receiver 250 is electrically connected to the first signal processing circuit board 410, so as to be electrically conductive to achieve power supply and signal transmission, and the TOF laser receiver 260 is electrically connected to the second signal processing circuit board 420, so as to be electrically conductive to achieve power supply and signal transmission. In other embodiments, signal conduction between the triangular laser receiver 250 and the first signal processing circuit board 410, and between the TOF laser receiver 260 and the second signal processing circuit board 420 may also be performed by wireless transmission. In particular, in the present application, the triangular laser receiver 250 and the TOF laser receiver 260 are photo-sensitive chips.

In particular, in the present application, the first signal processing circuit board 410 and the second signal processing circuit board 420 are integrally configured to jointly form the signal processing circuit board 400, so that the two boards can be mounted on the second end surface 150 synchronously without separate mounting. In other embodiments, the first signal processing circuit board 410 may be spaced apart from the second signal processing circuit board 420. Specifically, the signal processing circuit board 400 is electrically connected to the first laser transmitter 233 in the second laser transmitting module 230 and the second laser transmitter 243 in the first laser transmitting module 240, so as to supply power and signal to the first laser transmitter 233 and the second laser transmitter 243.

In this application, the laser transceiver module 10 further includes a laser driving circuit board 500, the first laser emitter 243 of the first laser emitting module 240 is electrically connected with the laser driving circuit board 500, and the laser driving circuit board 500 is closely attached to the back of the rear end of the TOF laser receiving lens 210 and aligned with the through hole 211.

The application also protects a laser radar, which comprises the laser transceiver module 10. It can be understood that the laser transceiver module 10 is a core structure in the laser radar, and other structures except the laser transceiver module 10 in the laser radar are not described herein.

The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described 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 above examples only represent a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the claims. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application is to be determined by the claims appended hereto.

Claims

1. A laser transceiver module, comprising:

2. The laser transceiver module of claim 1, wherein the laser emitted by the first laser emitting module is focused by the triangular laser receiving lens after being reflected by a target obstacle.

3. The laser transceiver module of claim 1, wherein the optical path of the triangular laser and the optical path of the TOF laser are located in a same predetermined plane.

4. The laser transceiver module of claim 3, wherein the TOF laser receiving lens has a first direction parallel to the predetermined plane and a second direction perpendicular to the predetermined plane, and a dimension of the TOF laser receiving lens in the first direction is greater than a dimension of the TOF laser receiving lens in the second direction to be flat.

5. The laser transceiver module of claim 1, wherein the triangular laser receiving lens is internally provided with a light filter.

6. The laser transceiver module of any one of claims 1-5, wherein the bracket has a first end face and a second end face disposed opposite to each other, the second mounting hole and the first mounting hole each extending from the first end face to the second end face; the TOF laser receiving lens is fixedly connected to the first end face, and a through hole consistent with the extending direction of the first mounting hole is penetratingly formed in the center of the optical axis of the TOF laser receiving lens;

7. The laser transceiver module of claim 6, wherein the laser emitted by the second laser emitting module is focused by the triangular laser receiving lens after being reflected by a target obstacle.

8. The laser transceiver module of claim 6, wherein the first laser emitting module and the second laser emitting module each comprise a laser barrel, a collimating lens and a laser emitter, a light passage is formed in the laser barrel, the collimating lens is arranged in the light passage and is of an integral structure with the laser barrel, and the laser emitter is positioned on one side of the collimating lens and emits laser light through the collimating lens.

9. The laser transceiver module of claim 8, wherein a center line of the third mounting hole forms an included angle with a center line of the first mounting hole and/or the second mounting hole,

10. The laser transceiver module of claim 6, wherein the laser transceiver module comprises a first signal processing circuit board and a second signal processing circuit board, and the first signal processing circuit board and the second signal processing circuit board are both mounted on the second end face; the laser ranging component comprises a triangular laser receiver arranged on the first signal processing circuit board and a TOF laser receiver arranged on the second signal processing circuit board, the triangular laser receiver corresponds to the second mounting hole, and the TOF laser receiver corresponds to the first mounting hole.

11. The laser transceiver module of claim 10, wherein the first signal processing circuit board and the second signal processing circuit board are arranged at intervals, or the first signal processing circuit board and the second signal processing circuit board are in an integrated structure.

12. The laser transceiver module of claim 10, further comprising a laser driving circuit board, wherein the laser transmitter of the first laser transmitting module is electrically connected to the laser driving circuit board, and the laser driving circuit board is closely attached to the back surface of the rear end of the TOF laser receiving lens and aligned to the through hole.

13. A lidar comprising a laser transceiver module according to any of claims 1 to 12.