CN217034247U - Laser radar receiving and dispatching module, laser radar equipment and mobile robot - Google Patents

Abstract

The utility model relates to the technical field of radar ranging, in particular to a laser radar receiving and transmitting module, laser radar equipment and a mobile robot. The laser radar transceiving module comprises a fixed support, a laser transmitting module and a receiving module; the fixed support is provided with an optical transmission channel; the laser emission module is arranged on the fixed support and used for emitting laser; the receiving module comprises a light receiving part and at least one deflection lens; the deflection mirror is arranged in the light transfer passage and used for deflecting the reflected light reflected into the light transfer passage by the obstacle to the light receiving piece. The laser radar transceiving module has the characteristics of compact structure, small volume, high ranging precision and the like, so that the laser radar equipment and the mobile robot comprising the laser radar transceiving module have the characteristics of compact structure, small volume, high ranging precision and the like.

Description

Laser radar receiving and dispatching module, laser radar equipment and mobile robot

Technical Field

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

Background

In the field of mobile robots, in order to improve the safety performance and obstacle avoidance capability of the mobile robot, a laser radar is generally set to scan at 360 degrees. Generally, set up radar navigation head at the top of robot, specifically, radar navigation head includes base, rotary platform, triangle laser radar, actuating mechanism and drive mechanism, and drive mechanism locates the top of base, and rotary platform is connected with drive mechanism, and laser radar installs in rotary platform, and actuating mechanism sets up and rotates and drive rotary platform rotation in order to drive laser radar in the base bottom and realize 360 scans. Meanwhile, the larger the distance between the transmitting and receiving parts of the triangular laser radar is, the more accurate the distance measurement is. However, the structural design of the current radar navigation device can cause the mobile robot to have a high height and a large size, which makes the mobile robot difficult to enter a low space for work.

SUMMERY OF THE UTILITY MODEL

One of the objectives of the present invention is to provide a laser radar transceiver module to solve the problems of the existing radar navigation device, such as large distance between the transceiver components and large size of the radar navigation device.

In order to achieve the above purpose, the embodiment of the present invention adopts the following technical solutions:

a lidar transceiver module comprising:

a fixed support on which a light transmission channel is mounted;

the laser emission module is arranged on the fixed bracket and is used for emitting laser;

a receiving module comprising a light receiving element and at least one deflection mirror; the deflection lens is arranged in the light transmission channel and is used for deflecting reflected light reflected into the light transmission channel by an obstacle to the light receiving part.

In a possible embodiment, the light receiving part comprises a photosensitive sensor, and the photosensitive sensor and the laser emission module are arranged on the same side of the optical path of the reflected light;

or, the light receiving part comprises a photosensitive sensor, and the photosensitive sensor and the laser emission module are respectively arranged on two opposite sides of the reflected light path.

In a possible embodiment, the deflecting surface of the deflecting mirror is a plane surface or a curved surface or a partially flat surface and a partially curved surface connected to the flat surface.

In a possible embodiment, the receiving module further comprises a light-gathering component, a part of the light-gathering component is installed on the light transmission channel and covers the entrance of the light transmission channel; the light condensing assembly and the deflection lens are arranged at intervals along a reflection light path.

In a possible embodiment, the light transmission channel comprises a first channel and a second channel communicated with the first channel, and the light-gathering component is partially installed in the first channel and is located at one end far away from the second channel;

the deflection mirror is mounted in the second channel;

the light receiving part is arranged at one end, far away from the first channel, of the second channel.

In one possible embodiment, the fixing bracket has a first lateral end portion and a second lateral end portion disposed opposite to the first lateral end portion, and the light transmission channel extends in a direction from the first lateral end portion to the second lateral end portion; the light receiving part comprises a circuit board and a photosensitive sensor, the circuit board is installed at the second side end part and covers the second channel, and the photosensitive sensor is installed on the surface, facing the second channel, of the circuit board.

Compared with the prior art, according to the laser radar transceiver module provided by the embodiment of the utility model, the reflection light path is changed by arranging the at least one deflection lens on the reflection light path, so that the reflection light is deflected to the light receiving part, and the laser transmitting module and the receiving module based on triangular laser ranging can obtain an accurate ranging result at a small distance, so that the structure of the laser radar transceiver module becomes compact, the size of the laser radar transceiver module is effectively reduced, and the laser radar transceiver module can be flexibly arranged according to the installation space on the basis of ensuring that the structure of the laser radar transceiver module is more compact.

A second object of an embodiment of the present invention is to provide a laser radar apparatus, which includes the following specific technical solutions:

the utility model provides laser radar equipment, which comprises a laser radar transceiving module provided by the first object of the utility model.

In a possible embodiment, the lidar device further comprises a lidar carrying device, wherein the lidar carrying device is provided with a receiving cavity; the laser radar receiving and transmitting module is contained in the containing cavity.

In one possible embodiment, the laser radar bearing device comprises a base, a rotating platform, a power mechanism, a transmission mechanism and a cover body;

the rotating platform is used for bearing the laser radar receiving and transmitting module;

the rotating platform is arranged at the top of the base and is connected with the transmission mechanism; the power mechanism is used for driving the transmission mechanism to drive the rotating platform to rotate;

the cover body is connected with the rotating platform and at least covers the laser radar transceiving module and the rotating platform.

Compared with the prior art, the laser radar equipment provided by the embodiment of the utility model has the characteristics of compact structure and smaller volume due to the use of the laser radar transceiving module, and is beneficial to miniaturization of the laser radar equipment.

A third object of the embodiments of the present invention is to provide a mobile robot, which has the following specific technical solutions:

the mobile robot comprises a robot main body and a laser radar receiving and transmitting module provided by the first purpose of the utility model, wherein the laser radar receiving and transmitting module is arranged on the robot main body;

alternatively, the laser radar device comprises a robot main body and the laser radar device provided by the second object of the utility model, and the laser radar device is installed on the robot main body.

Compared with the prior art, the mobile robot provided by the embodiment of the utility model comprises the laser radar transceiving module, so that the structural compactness of the mobile robot can be improved on one hand, and the mobile robot has higher ranging precision on the other hand, so that the obstacle avoidance performance and the safety performance of the mobile robot are effectively improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a schematic perspective view of a laser radar transceiver module according to an embodiment of the present invention;

fig. 2 is an exploded schematic view of a lidar transceiver module according to an embodiment of the present invention;

fig. 3 is a schematic cross-sectional view of a laser radar transceiver module according to an embodiment of the present invention;

fig. 4 is a schematic perspective view of a fixing bracket according to an embodiment of the present invention;

fig. 5 is a schematic perspective view of a lidar apparatus according to an embodiment of the present invention;

fig. 6 is a schematic diagram of a partial explosion structure of a lidar apparatus according to an embodiment of the present invention;

fig. 7 is a schematic diagram of an explosion structure of a lidar apparatus according to an embodiment of the present invention;

fig. 8 is a simplified structural diagram of a mobile robot according to an embodiment of the present invention;

FIG. 9 is a simplified block diagram of another mobile robot according to an embodiment of the present invention;

fig. 10 is a schematic view of a second side end of the fixing bracket according to the second embodiment of the present invention.

Reference numerals are as follows:

10. a laser radar transceiver module;

11. fixing a bracket; 1101. a first lateral end portion; 1102. a second lateral end portion; 1103. a third side end portion; 1104. a fourth side end portion; 1105. a tip portion; 1106. a bottom end portion; 111. a light delivery channel; 1111. a first channel; 1112. a second channel; 112. a through hole;

12. a laser emission module;

13. a receiving module; 131. deflecting the lens; 132. a light receiving part; 1321. a light-sensitive sensor; 1322. a circuit board; 133. a light focusing assembly;

20. a laser radar device;

21. a laser radar bearing device; 210. an accommodating cavity; 211. a base; 212. rotating the platform; 213. a power mechanism; 214. a transmission mechanism; 215. a cover body; 2151. an exit aperture; 2152. a receiving aperture;

30. a mobile robot; 31. a robot main body.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.

Example one

Fig. 1 to 9 are schematic structural diagrams of the lidar transceiver module 10, the lidar device 20, and the mobile robot 30 according to an embodiment of the present invention.

Referring to fig. 1 and 2, a lidar transceiver module 10 of the present embodiment includes a fixing bracket 11, a laser emitting module 12, and a receiving module 13. Wherein, the fixed bracket 11 is provided with a light transmission channel 111; the laser emitting module 12 is mounted on the fixing bracket 11 for emitting laser; the receiving module 13 includes a deflection mirror 131 and a light receiving element 132; the deflecting mirror 131 is disposed in the light transfer passage 111 for deflecting the laser light reflected into the light transfer passage 111 by the obstacle to the light receiving element 132. The embodiment is based on the principle of triangular laser ranging, and deflects the reflected light through the deflecting mirror 131, so as to obtain the deflected light, and the light path of the reflected light includes a reflected light path and a deflected light path, wherein the light path from the obstacle to the deflecting mirror 131 is the reflected light path, and the light path between the light receiving elements 132 of the deflecting mirror 131 is the deflected light path, so as to flexibly design the lidar transceiver module 10 according to the installation space of the lidar transceiver module 10 reserved by the lidar device 20 or the mobile robot 30, so that the lidar transceiver module 10 has a compact structure, which is beneficial for improving the compactness of the lidar device 20 or the mobile robot 30, for example, when the installation space is narrow, the light receiving elements 132 may be disposed at one end far from the lidar emitting module 12, that is, the light receiving elements 132 and the lidar emitting module 12 are respectively disposed at two opposite sides of the reflected light path, that is, after being deflected by the deflecting mirror 131, the included angle between the deflecting optical path and the laser optical path emitted by the laser emitting module 12 is larger than the included angle between the reflecting optical path and the laser optical path emitted by the laser emitting module 12; when the installation space is small and the length is short, the light receiving element 132 is disposed between the reflection light path and the laser emitting module 12, that is, after being deflected by the deflection lens 131, the extension line of the laser light path emitted from the deflection light path to the laser emitting module 12 approaches to be received by the light receiving element 132.

Referring to fig. 4 and 3, in some embodiments, the fixing bracket 11 has a first side end 1101 and a second side end 1102, and the first side end 1101 and the second side end 1102 are disposed opposite to each other. The light transmission channel 111 extends through the fixing bracket 11 in a direction from the first side end 1101 to the second side end 1102. In some embodiments, the light-transmitting channel 111 includes a first channel 1111 and a second channel 1112, the first channel 1111 extending from the first side end 1101 to the second side end 1102 and communicating with the second channel 1112. In some embodiments, the fixing bracket 11 is further provided with a mounting portion for mounting the laser emission module 12, and a laser emitting end of the laser emission module 12 is located at the first side end portion 1101 so that the laser light emitted from the laser emission module 12 is emitted from the first side end portion 1101 in a direction away from the second side end portion 1102. In some embodiments, the mounting portion is a through hole 112 penetrating the fixing bracket 11 along a direction from the first side end portion 1101 to the second side end portion 1102, so that one end of the wire is connected to the laser emitting module 12 from the second side end portion 1102, and the other end of the wire is connected to a controller (not shown) to control whether the laser emitting module 12 emits laser light. Because set up deflection lens 131 in receiving module 13, can effectively shorten the size between first side tip 1101 to second side tip 1102, be favorable to improving the compactedness of laser radar transceiver module 10 structure, reduce laser radar transceiver module 10's volume, be favorable to laser radar transceiver module 10's miniaturization.

In some embodiments, the light receiving element 132 includes a photosensitive sensor 1321 and a circuit board 1322, and the photosensitive sensor 1321 is mounted to the circuit board 1322 and connected to the circuit board 1322. The fixing bracket 11 further has a third side end 1103 and a fourth side end 1104, the third side end 1103 and the fourth side end 1104 are oppositely disposed, and the third side end 1103 and the fourth side end 1104 are connected between the first side end 1101 and the second side end 1102. In some embodiments, the deflecting mirror 131 is used to deflect the reflected light path toward the third side end 1103, the deflecting mirror 131 is disposed on the second channel 1112 near the fourth side end 1104, a deflecting surface of the deflecting mirror 131 faces the third side end 1103, the circuit board 1322 is disposed on the second side end 1102, the photosensor 1321 is disposed on a surface of the circuit board 1322 facing the second channel 1112, and the photosensor 1321 and the laser emitting module 12 are both located on the same side of the reflected light path. Such a configuration is advantageous for accommodating and mounting the lidar transceiver module 10 when the length dimension along the first side end 1101 to the second side end 1102 and the length dimension along the third side end 1103 to the fourth side end 1104 in the installation space are small. In some alternative embodiments, the deflecting mirror 131 is used to deflect the reflected light toward the direction of the fourth side end 1104, the deflecting mirror 131 is disposed on one side of the second channel 1112 close to the third side end 1103, the deflecting surface of the deflecting mirror 131 faces the direction of the fourth side end 1104, the circuit board 1322 is disposed on the second side end 1102, the light sensor 1321 is disposed on the surface of the circuit board 1322 facing the second channel 1112, and the light sensor 1321 and the laser emitting module 12 are disposed on two opposite sides of the reflected light path. Such a configuration is advantageous for accommodating and mounting the lidar transceiver module 10 when the length dimension along the first side end 1101 to the second side end 1102 is small and the length dimension along the third side end 1103 to the fourth side end 1104 is long in the mounting space.

Referring to fig. 2 and 3, in some embodiments, the deflecting surface of the deflecting mirror 131 is a plane. When the deflecting surface of the deflecting mirror 131 is designed to be a plane, the reflected light is irradiated to the deflecting mirror 131 to be deflected, and the finally deflected reflected light is received by the light sensor 1321, and the distance between the obstacle and the laser radar transceiver module 10 is calculated according to the position where the reflected light is irradiated to the light sensor 1321. Because the utility model adopts a similar trigonometry calculation method, for measuring a short-distance obstacle, the reflected light of the short-distance obstacle has a large distribution range on the photosensitive sensor 1321, so that the position is easy to distinguish, and the calculation is accurate, and for measuring a long-distance obstacle, the reflected light of the long-distance obstacle has a narrow distribution range on the photosensitive sensor 1321, so that the position is difficult to distinguish, and the calculation is fuzzy. In other embodiments of the present invention, the deflection surface of the deflection mirror 131 is partially a plane and partially a curved surface connected to the plane, wherein the partially curved surface of the deflection mirror 131 mainly measures the reflected light reflected from the remote obstacle for the lidar transceiver module 10, and the curved surface portion of the deflection mirror 131 performs divergence modulation (for example, the curved surface is a convex reflection mirror) on the reflected light reflected from the remote obstacle, so that the reflected light at different distances is scattered and uniformly irradiated to the photosensor 1321, which is convenient for identifying the position of the reflected light, and improves the measurement accuracy. In other embodiments of the present invention, the deflecting surface of the deflecting mirror 131 is completely a curved surface (for example, a part of the deflecting mirror is a concave reflecting mirror, and another part connected to the concave reflecting mirror is a convex reflecting mirror), the convex reflecting mirror is mainly used to disperse the long-distance reflected light, the concave reflecting mirror is mainly used to converge the short-distance reflected light, and the short-distance reflected light is converged to reduce the area of the photosensitive sensor 1321 and save the cost, so that the reflecting light regardless of the long-distance and the short-distance is uniformly irradiated onto the photosensitive sensor 1321 by completely the deflecting surface of the deflecting mirror 131, thereby improving the measurement accuracy.

Referring to fig. 2 and 3, in some embodiments, the receiving module 13 further includes a light focusing assembly 133, a portion of the light focusing assembly 133 is installed in the light transmitting channel 111 and covers an inlet of the light transmitting channel 111; the condensing assembly 133 and the deflecting mirror 131 are disposed at intervals along the optical path direction of the reflected light, so that the reflected light condensed by the condensing assembly 133 is irradiated to the deflecting mirror 131. In some embodiments, the light focusing assembly 133 includes an optical lens, and the reflected light is focused by the light focusing assembly 133, so as to increase the intensity of the reflected light, and is irradiated into the deflection lens 131, so as to improve the precision of laser ranging. In some embodiments, the optical lens of the light collecting assembly 133 is disposed at the first side end 1101 to facilitate collecting the reflected light reflected by the obstacle.

Referring to fig. 5, 6 and 7, based on the laser radar transceiver module 10, the present embodiment further provides a laser radar apparatus 20, where the laser radar apparatus 20 includes the laser radar transceiver module 10.

Referring to fig. 5 and 7, in some embodiments, the lidar apparatus 20 further includes a lidar carrying device 21, where the lidar carrying device 21 has a receiving cavity 210; the lidar transceiver module 10 is accommodated in the accommodating cavity 210.

Referring to fig. 5 and 7, in some embodiments, lidar carriage 21 includes a base 211, a rotating platform 212, a power mechanism 213, a transmission mechanism 214, and a cover 215. Wherein, the rotating platform 212 is disposed on the top of the base 211 for carrying the lidar transceiver module 10; the power mechanism 213 is connected with the transmission mechanism 214, and the transmission mechanism 214 is connected with the rotating platform 212; the cover 215 is connected to the rotating platform 212 and covers at least the lidar transceiver module 10 and the rotating platform 212, and the cover 215 and the base 211 enclose a receiving cavity 210. In some embodiments, the power mechanism 213 is a brushless motor, the transmission mechanism 214 is a bearing, an inner ring of the bearing is connected to the base 211, an outer ring of the bearing is connected to the rotary platform 212, and the brushless motor is connected to the outer ring of the bearing, and the outer ring of the bearing is driven to rotate by the energization of the brushless motor, so as to drive the rotary platform 212 to rotate. With such a structure, the brushless motor, the bearing, the rotating platform 212 and the lidar transceiver module 10 can be accommodated in the accommodating cavity 210. By using a brushless motor as the power mechanism 213, the noise of the laser radar device 20 can be effectively reduced, and the service life of the laser radar device 20 can be improved. In some embodiments, the transmission mechanism 214 includes a bearing (not shown), a driving wheel (not shown), a driven wheel (not shown), and a transmission belt (not shown) connected between the driving wheel and the driven wheel, the power mechanism 213 includes a motor and an output shaft, the output shaft is connected to the driving wheel to drive the transmission mechanism 214 to rotate, the driven wheel is mounted on an outer ring of the bearing, and the outer ring of the bearing is connected to the rotating platform 212, so that the power mechanism 213 drives the transmission mechanism 214 to rotate the rotating platform 212. In some embodiments, the side wall of the cover 215 is opened with an exit hole 2151 and a receiving hole 2152, the exit hole 2151 is used for laser emitted by the laser emitting module 12 to pass through, so that laser emitted by the laser emitting module 12 can pass through the laser radar device 20, and the receiving hole 2152 is used for light reflected by an obstacle to pass through the laser radar device 20 to be received by the receiving module 13.

Referring to fig. 1 and 8, on the basis of the laser radar transceiver module 10, a mobile robot 30 is further provided in the present embodiment. This mobile robot 30 includes robot main part 31 and lidar transceiver module 10, and lidar transceiver module 10 installs in robot main part 31 to can dwindle mobile robot 30's volume effectively, perhaps make lidar transceiver module 10's volume diminish in mobile robot 30's volume accounts for, be favorable to improving mobile robot 30's assembly compactness effectively and improving mobile robot 30's precision.

Referring to fig. 5 and 9, in some embodiments, the mobile robot 30 includes a robot body 31 and the laser radar device 20, and the laser radar device 20 is mounted on the robot body 31.

Because the size of the lidar transceiver module 10 or the lidar device 20 of the embodiment of the present invention is small, the lidar transceiver module 10 or the lidar device 20 of the present invention may be used as an obstacle avoidance scanning component of a sweeping robot, a searching robot, a detecting robot, an Automated Guided Vehicle (AGV), or the like, or may be used as an obstacle avoidance detecting component of an automatic driving device. After assembling lidar transceiver module 10 or lidar device 20 and robot main body 31 into mobile robot 30, not only can effective detection be carried out to effectively improve obstacle avoidance performance and safety performance of mobile robot 30, but also more importantly, because the size of lidar transceiver module 10 or lidar device 20 is smaller, the structural compactness of mobile robot 30 can be effectively improved, so that the size of mobile robot 30 is also smaller, therefore, mobile robot 30 can enter into a low space to work, and the working space of mobile robot 30 is wider. In some embodiments, the sweeping robot of the present invention can enter low spaces such as sofas and bed bottoms, while the searching robot of the present invention can dig into the bottoms of shelves for searching; the detection robot can enter narrow spaces such as pipelines, sewers and the like; the unmanned transport vehicle has a more compact structure, so that the fault caused by collision between parts and transported objects or other objects in the environment in the transporting process can be effectively avoided. In some embodiments, the lidar transceiver module 10 or the lidar device 20 is mounted on top of the robot body 31.

Example two

Referring to fig. 10 and fig. 1 to 9, the difference between the lidar transceiver module 10, the lidar apparatus 20, and the mobile robot 30 of the first embodiment and the first embodiment is mainly the following structure differences:

in the first embodiment, the deflection mirror 131 is used to deflect the reflected light path toward the third side end 1103, the deflection mirror 131 is disposed on the second channel 1112 near the fourth side end 1104, the deflection surface of the deflection mirror 131 faces the direction toward the third side end 1103, the circuit board 1322 is disposed on the second side end 1102, the photosensor 1321 is disposed on the surface of the circuit board 1322 facing the second channel 1112, and the photosensor 1321 and the laser emitting module 12 are both located on the same side of the reflected light path. Alternatively, the deflecting mirror 131 is used to deflect the reflected light toward the direction of the fourth side end 1104, the deflecting mirror 131 is disposed on the side of the second channel 1112 close to the third side end 1103, the deflecting surface of the deflecting mirror 131 faces the direction of the fourth side end 1104, the circuit board 1322 is disposed on the second side end 1102, the light sensor 1321 is disposed on the surface of the circuit board 1322 facing the second channel 1112, and the light sensor 1321 and the laser emitting module 12 are disposed on two opposite sides of the reflected light path.

In this embodiment, the fixed bracket 11 further includes a bottom end portion 1106 and a top end portion 1105, the bottom end portion 1106 and the top end portion 1105 are oppositely disposed, and the bottom end portion 1106 and the top end portion 1105 respectively extend from the first side end portion 1101 to the second side end portion 1102 and are respectively connected with the second side end portion 1102. In some embodiments, the deflection mirror 131 is used to deflect the reflected light toward the top end 1105, the deflection mirror 131 is disposed in the second channel 1112 near the bottom end 1106, the deflection surface of the deflection mirror 131 faces the top end 1105, and the light receiving element 132 is disposed at the top end 1105. In some alternative embodiments, the deflection mirror 131 is used to deflect the reflected light toward the bottom end 1106, the deflection mirror 131 is disposed in the second channel 1112 near the top end 1105, the deflection surface of the deflection mirror 131 faces the direction of the bottom end 1106, and the light receiving element 132 is disposed at the bottom end 1106. Due to the design of the deflecting mirror 131, since the light receiving element 132 is no longer disposed at the second side end 1102, the length from the first side end 1101 to the second side end 1102 can be further shortened, and the deflected reflected light path is not on the same plane as the laser emitted from the laser emitting module 12.

In addition to the above configuration schemes and the first embodiment, the lidar transceiver module 10, the lidar device 20, and the mobile robot 30 provided in the second embodiment can be designed correspondingly according to the first embodiment, and are not repeated herein for brevity.

EXAMPLE III

Referring to fig. 1 to 9, the difference between the lidar transceiver module 10, the lidar apparatus 20, and the mobile robot 30 of the first embodiment and the first embodiment is mainly the following structure differences:

in the first embodiment, the deflecting mirror 131 has only one piece. In this embodiment, the number of the deflecting mirrors 131 is two or more, so that the reflected light can be deflected for multiple times, the size of the lidar transceiver module 10 can be further reduced, and the compactness of the lidar transceiver module 10 can be further improved.

In addition to the above configuration schemes and the first embodiment, the lidar transceiver module 10, the lidar device 20, and the mobile robot 30 provided in the second embodiment can be designed correspondingly according to the first embodiment, and are not repeated herein for brevity.

The above is only an embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive various equivalent modifications or substitutions within the technical scope of the present invention, and these modifications or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims (10)

1. A laser radar transceiver module, comprising:

a fixed support on which a light transmission channel is mounted;

the laser emission module is arranged on the fixed bracket and is used for emitting laser;

a receiving module comprising a light receiving element and at least one deflection lens; the deflection mirror is arranged in the light transfer passage and used for deflecting the reflected light reflected by the obstacle into the light transfer passage to the light receiving element.

2. The lidar transceiver module of claim 1, wherein the light receiving element comprises a photosensor, and the photosensor and the lidar emission module are disposed on a same side of the path of the reflected light;

or, the light receiving part comprises a photosensitive sensor, and the photosensitive sensor and the laser emission module are respectively arranged on two opposite sides of the reflected light path.

3. The lidar transceiver module of claim 1 wherein the deflecting surface of the deflecting lens is planar or curved or partially planar and partially curved to connect to the planar surface.

4. The lidar transceiver module of any of claims 1 to 3, wherein the receiver module further comprises a light focusing assembly partially mounted to the light transmitting channel and covering an entrance of the light transmitting channel; the light condensing assembly and the deflection lens are arranged at intervals along a reflection light path.

5. The lidar transceiver module of claim 4, wherein the light delivery channel comprises a first channel and a second channel in communication with the first channel, and wherein the light focusing assembly is partially mounted to the first channel and is positioned at an end distal from the second channel;

the deflection mirror is mounted in the second channel;

the light receiving part is arranged at one end of the second channel far away from the first channel.

6. The lidar transceiver module of claim 5, wherein the mounting bracket has a first lateral end and a second lateral end disposed opposite the first lateral end, the light transmission channel extending in a direction from the first lateral end to the second lateral end; the light receiving part comprises a circuit board and a photosensitive sensor, the circuit board is installed at the second side end part and covers the second channel, and the photosensitive sensor is installed on the surface, facing the second channel, of the circuit board.

7. Lidar apparatus, comprising a lidar transceiver module according to any of claims 1 to 6.

8. The lidar apparatus of claim 7, further comprising a lidar carrier having a receiving cavity; the laser radar receiving and transmitting module is contained in the containing cavity.

9. The lidar apparatus of claim 8, wherein the lidar support apparatus comprises a base, a rotating platform, a power mechanism, a transmission mechanism, and a cover;

the rotating platform is used for bearing the laser radar receiving and transmitting module;

the rotating platform is arranged at the top of the base and is connected with the transmission mechanism; the power mechanism is used for driving the transmission mechanism to drive the rotating platform to rotate;

the cover body is connected with the rotating platform and at least covers the laser radar receiving and transmitting module and the rotating platform.

10. A mobile robot comprising a robot main body and the lidar transceiver module of any one of claims 1 to 6, wherein the lidar transceiver module is mounted to the robot main body;

alternatively, the laser radar apparatus may include a robot main body and the laser radar apparatus of any one of 8 to 9, and the laser radar apparatus may be mounted to the robot main body.

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