An optical path system and lidar

Abstract

This application provides an optical path system and a lidar. The optical path system provided by this application includes a first optical structural component, an optical deflection structural component, and a second optical structural component. The first and second optical structural components are located on the X-axis and Y-axis of a Cartesian coordinate system, respectively. The optical deflection structural component is located within the quadrant defined by the X-axis of the first optical structural component and the Y-axis of the second optical structural component, and is used to deflect light rays from one of the first and second optical structural components to the other. The Y-axis has a first position and a second position. The first position is at a distance h from the origin of the Cartesian coordinate system, and the second position is at a distance h′ from the origin of the Cartesian coordinate system, where h > h′. The first position, the optical deflection structural component, and the first optical structural component are collinear, and the second optical structural component is located at the second position. By using the optical structural deflection component to deflect the path between the first and second optical structural components, the size of the lidar is reduced.

Description

Technical Field

[0001] This application belongs to the field of radar detection technology, and more specifically, relates to an optical path system and a lidar. Background Technology

[0002] LiDAR (Light Detection and Ranging) is a radar system that uses emitted laser beams to detect the range, azimuth, and other characteristics of targets. Because it can obtain three-dimensional information about targets, it has advantages such as strong anti-jamming capabilities and high resolution, thus occupying an important position in the fields of autonomous driving and robotics.

[0003] Traditional mechanical multi-line lidar typically uses multiple laser emitting units to measure multiple emission angles. However, due to the characteristics of the optical mirror assembly and emitting devices, the spatial layout of the optical mirror assembly and emitting devices in the lidar requires a relatively large space inside the lidar. Therefore, mechanical scanning lidar cannot meet the market requirements for small size. Summary of the Invention

[0004] The purpose of this application is to provide an optical path system and a lidar to solve the technical problem that lidar in the prior art cannot meet the market requirements for small size.

[0005] To achieve the above objectives, the technical solution adopted in this application is: to provide an optical path system for use in multi-line lidar, wherein the optical path system includes a first optical structural component, an optical deflection structural component, and a second optical structural component;

[0006] The first optical structure and the second optical structure are located at any position on the X-axis and any position on the Y-axis in the same rectangular coordinate system, respectively. The optical deflection structure is located in the quadrant defined by the X half-axis where the first optical structure is located and the Y half-axis where the second optical structure is located, and is used to deflect light from one of the first optical structure and the second optical structure to the other.

[0007] The Y-axis is defined as having a first position and a second position. The distance from the first position to the origin of the rectangular coordinate system is h, and the distance from the second position to the origin of the rectangular coordinate system is h′, where h > h′. The first position, the optical deflection structure, and the first optical structure are collinear, and the second optical structure is located at the second position.

[0008] In one embodiment, the first optical structural member has a defined light-receiving area for receiving a light beam;

[0009] The second optical structural component has a light emission origin for emitting a light beam;

[0010] A light beam from the first position is set to be emitted to the light receiving area via a straight path. The light deflection structure is disposed on the straight path. After the light beam from the origin of the light emission is deflected by the light deflection structure, its path coincides with the straight path and is deflected to the light receiving area.

[0011] In one embodiment, the first optical structural member has a defined light emitting area for emitting a light beam;

[0012] The second optical structural component has a light receiving origin for receiving light beams;

[0013] A light beam from the light emitting region is configured to be received at the first position via a straight path. The light deflection structure is disposed on the straight path. After the light beam from the light emitting region is deflected by the light deflection structure, its path deviates from the straight path and is deflected and received at the light receiving origin.

[0014] In one embodiment, the light deflection structure is a reflector, and the first light structure and the second light structure are disposed on the side where the reflective surface of the reflector is located.

[0015] In one embodiment, the first optical structure has a central axis and a defined region for emitting or receiving multi-beam light, the defined region being perpendicular to the central axis.

[0016] The mirror has a central axis, and the reflecting surface is perpendicular to the central axis;

[0017] The central axis of the first optical structural component and the central axis of the reflector are perpendicular to each other.

[0018] In one embodiment, the first optical structural member has a defined region for emitting or receiving multi-beam light, and the defined region has a geometric center; the second optical structural member has an optical origin for emitting or receiving multi-beam light; and the reflective surface has a geometric center.

[0019] The first position, the geometric center of the reflective surface, and the geometric center of the set area are collinear, and the light origin, the geometric center of the reflective surface, and the geometric center of the set area are located at the three vertices of an obtuse triangle.

[0020] In one embodiment, the light deflection structure is a prism structure, which has at least a first deflection surface and a second deflection surface set at an angle. The first light structure is disposed on the side where the first deflection surface is located, and the second light structure is disposed on the side where the second deflection surface is located.

[0021] In one embodiment, the first optical structure has a defined region for emitting or receiving multi-beam light, and the defined region has a geometric center; the prism structure has a central axis, the first deflecting surface is parallel to or at an angle to the central axis, and the second deflecting surface is parallel to or at an angle to the central axis.

[0022] The central axis of the first optical structure and the central axis of the prism structure are perpendicular to each other.

[0023] In one embodiment, the first optical structural member has a defined region for emitting or receiving multi-beam light, and the defined region has a geometric center; the second optical structural member has an optical origin for emitting or receiving multi-beam light; the prism structure is a triangular prism structure, and the triangular prism structure has a geometric center.

[0024] The first position, the geometric center of the prism structure, and the geometric center of the set area are collinear, and the optical origin, the geometric center of the prism structure, and the geometric center of the set area are located at the three vertices of an obtuse triangle.

[0025] In one embodiment, the light deflection structure is a liquid crystal structure, which includes an optical housing and a liquid crystal disposed inside the optical housing. The optical housing has a first side and a second side opposite to each other. The first light structure is disposed on the side where the first side is located, and the second light structure is disposed on the side where the second side is located.

[0026] The advantages of the optical path system provided in this application are as follows:

[0027] Compared with the prior art, the optical path system provided in this application, based on the axis where the first optical structure is located, uses an optical structure deflector to deflect the path between the first and second optical structure, replacing the propagation of light through a straight path used in the prior art. This makes the second optical structure closer to the first optical structure, thereby reducing the distance between the first and second optical structure along the direction perpendicular to the axis where the first optical structure is located, and further reducing the span between them along this direction. This places the first and second optical structure in a smaller space, reducing the space occupied by the first and second optical structure on the internal space of the radar, and achieving the purpose of reducing the size of the radar.

[0028] Another object of this application is to provide a lidar, said lidar comprising a housing; and, as described above, an optical path system; wherein...

[0029] The housing is transparent, and the optical path system is located inside the housing.

[0030] The lidar provided in this application employs an optical path system based on the axis of the first optical structural component. This system uses an optical structural deflector to deflect the path between the first and second optical structural components, replacing the straight-line propagation of light used in the prior art. This allows the second optical structural component to be closer to the first optical structural component, thereby reducing the distance between the first and second optical structural components along the direction perpendicular to the axis of the first optical structural component. This reduces the span between them along that direction, placing the first and second optical structural components in a smaller space, reducing their occupation of the internal space of the radar, and achieving the goal of reducing the size of the radar. Attached Figure Description

[0031] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0032] Figure 1 This is a schematic diagram of an optical path system provided in an embodiment of the present application, wherein the optical deflection structure is a reflector;

[0033] Figure 2 This is a schematic diagram of an optical path system provided in an embodiment of this application, wherein the optical deflection structure is a prism structure;

[0034] Figure 3 This is a schematic diagram of an optical path system provided in an embodiment of this application, wherein the optical deflection structure is a liquid crystal structure.

[0035] The following are the labeling elements in the figure:

[0036] 10. First optical structural component; 20. Second optical structural component; 30. Third optical structural component; 40. Fourth optical structural component; 50. Fifth optical structural component; 60. Optical deflection structural component; 70. Housing; 101. Convex mirror surface. Detailed Implementation

[0037] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0038] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0039] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0040] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0041] The optical path system and lidar provided in the embodiments of this application will now be described.

[0042] Please see Figures 1 to 3 As shown, the optical path system provided in this application embodiment is applied to a multi-line lidar. The optical path system includes a first optical structural component 10, an optical deflection structural component 60, and a second optical structural component 20.

[0043] The first optical structure 10 and the second optical structure 20 are located at any position on the X-axis and any position on the Y-axis in the same rectangular coordinate system, respectively. The light deflection structure 60 is located in the quadrant defined by the X-axis where the first optical structure 10 is located and the Y-axis where the second optical structure 20 is located, and is used to deflect light from one of the first optical structure 10 and the second optical structure 20 to the other.

[0044] The Y-axis is set to have a first position and a second position. The distance from the first position to the origin of the rectangular coordinate system is h, and the distance from the second position to the origin of the rectangular coordinate system is h′, and h>h′; the first position, the light deflection structure 60 and the first light structure 10 are collinear, and the second light structure 20 is located at the second position.

[0045] Compared with the prior art, the optical path system provided in this application embodiment, based on the axis where the first optical structure component 10 is located, uses an optical structure deflector to deflect the path between the first optical structure component 10 and the second optical structure component 20, replacing the propagation of light through a straight path used in the prior art. This makes the second optical structure component 20 closer to the first optical structure component 10, thereby reducing the distance between the first optical structure component 10 and the second optical structure component 20 along the direction perpendicular to the axis where the first optical structure component 10 is located, and further reducing the span between them along this direction. This places the first optical structure component 10 and the second optical structure component 20 in a smaller space, reducing the space occupied by the first optical structure component 10 and the second optical structure component 20 in the radar's internal space, and achieving the purpose of reducing the radar's size.

[0046] In one embodiment, the optical path system provided in this application can be used in an optical emission module.

[0047] For example, the first optical structure 10 has a set light receiving area for receiving a light beam, preferably a multi-beam light; the second optical structure 20 has a light emitting origin for emitting a light beam, preferably a multi-beam light, which is cone-shaped; the multi-beam light from the first position is set to be emitted to the light receiving area via a straight path, and the light deflection structure 60 is disposed on the straight path. After the multi-beam light from the light emitting origin is deflected by the light deflection structure 60, its path coincides with the straight path and is deflected to the light receiving area.

[0048] The optical emitting module using the optical path system provided in this embodiment uses an optical structure deflector to deflect the path between the first optical structure 10 and the second optical structure 20, making the second optical structure 20 closer to the first optical structure 10. This reduces the distance between the first optical structure 10 and the second optical structure 20 along the direction perpendicular to the axis of the first optical structure 10, thereby reducing their span along that direction. This places the first optical structure 10 and the second optical structure 20 in a smaller space, reducing the space occupied by the first optical structure 10 and the second optical structure 20 in the optical emitting module, and achieving the purpose of reducing the volume of the optical emitting module.

[0049] In this embodiment, the optical path system further includes a fourth optical structural component 40, which is disposed at the first position. Multi-beam light from the fourth optical structural component 40 can be emitted to the light receiving area via a straight path. Since the second optical structural component 20 propagates light by deflection, this embodiment also achieves a large field of view and high resolution due to the effect of reducing volume.

[0050] In one embodiment, the optical path system provided in this application can be used in an optical receiving module.

[0051] For example, the first optical structure 10 has a set light emitting area for emitting a light beam, preferably a multi-beam light, which is cone-shaped; the second optical structure 20 has a light receiving origin for receiving the light beam, preferably a multi-beam light; the multi-beam light from the light emitting area is set to be received at the first position via a straight path, and the light deflection structure 60 is disposed on the straight path. After the multi-beam light from the light emitting area is deflected by the light deflection structure 60, its path deviates from the straight path and is deflected and received at the light receiving origin.

[0052] The optical receiving module using the optical path system provided in this embodiment uses an optical structure deflector to deflect the path between the first optical structure 10 and the second optical structure 20, making the second optical structure 20 closer to the first optical structure 10. This reduces the distance between the first optical structure 10 and the second optical structure 20 along the direction perpendicular to the axis of the first optical structure 10, thereby reducing their span along that direction. This places the first optical structure 10 and the second optical structure 20 in a smaller space, reducing the space occupied by the first optical structure 10 and the second optical structure 20 in the optical receiving module, and achieving the purpose of reducing the volume of the optical receiving module.

[0053] In this embodiment, the optical path system further includes a fourth optical structure 40, which is located at the first position. The multi-beam light from the light emission area can be received by the fourth optical structure 40 through a straight path. Since the second optical structure 20 propagates light by deflection, this embodiment also achieves the purpose of large field of view and high resolution based on the effect of reducing volume.

[0054] In one embodiment, reference is made to Figure 1 As shown, the light deflection structure 60 achieves deflection through emission. The light deflection structure 60 is a reflector, and the first light structure 10 and the second light structure 20 are located on the side of the reflector's reflecting surface.

[0055] In this embodiment, the first optical structural component 10 has a central axis and a defined region for emitting or receiving multi-beam light, and the defined region is perpendicular to the central axis. The reflector has a central axis, preferably with its reflective surface perpendicular to the central axis. The central axis of the first optical structural component 10 and the central axis of the reflector are perpendicular to each other. Thus, based on their respective central axes, the first optical structural component 10, the reflector, and the second optical structural component 20 can be easily positioned.

[0056] Of course, in other embodiments, the positions and angles of the first optical structural component 10, the reflector, and the second optical structural component 20 can be flexibly set, as long as the first optical structural component 10, the reflector, and the second optical structural component 20 can achieve the deflection and propagation of light. For example, the central axis of the reflector and the central axis of the first optical structural component 10 can be set at any angle other than perpendicular.

[0057] In this embodiment, the first optical structure 10 has a set area for emitting or receiving multi-beam light, and the set area has a geometric center; the second optical structure 20 has a light origin for emitting or receiving multi-beam light; the reflective surface has a geometric center; the first position, the geometric center of the reflective surface, and the geometric center of the set area are collinear, and the light origin, the geometric center of the reflective surface, and the geometric center of the set area are preferably located at the three vertices of an obtuse triangle, that is, the deflection angle is obtuse, so that multiple second optical structure 20s can be arranged near the reflector.

[0058] Of course, in other embodiments, the light origin, the geometric center of the reflecting surface, and the geometric center of the set area are located at the three vertices of a right triangle, that is, the deflection angle is a right angle.

[0059] In one embodiment, reference is made to Figure 2 As shown, the light deflection structure 60 achieves deflection through refraction. The light deflection structure 60 is a prism structure, which has at least a first deflection surface and a second deflection surface set at an angle. The first light structure 10 is located on the side where the first deflection surface is located, and the second light structure 20 is located on the side where the second deflection surface is located. The deflection at a set angle is achieved through the sequential refraction of the first deflection surface and the second deflection surface.

[0060] In this embodiment, the first optical structural component 10 has a defined region for emitting or receiving multi-beam light, and the defined region has a geometric center; the prism structure has a central axis, a first deflecting surface is parallel to or at an angle to the central axis, and a second deflecting surface is parallel to or at an angle to the central axis; wherein, the central axis of the first optical structural component 10 and the central axis of the prism structure are perpendicular to each other. Thus, based on their respective central axes, the first optical structural component 10, the prism structure, and the second optical structural component 20 can be easily positioned.

[0061] In this embodiment, the first optical structural component 10 has a defined area for emitting or receiving multi-beam light, and the defined area has a geometric center; the second optical structural component 20 has an optical origin for emitting or receiving multi-beam light; the prism structure is a triangular prism structure, and the triangular prism structure has a geometric center; the first position, the geometric center of the triangular prism structure, and the geometric center of the defined area are collinear, and the optical origin, the geometric center of the triangular prism structure, and the geometric center of the defined area are located at the three vertices of an obtuse triangle, that is, the deflection angle is obtuse. In this way, multiple second optical structural components 20 can be arranged near the prism structure.

[0062] Of course, in other embodiments, the optical origin, the geometric center of the prism structure, and the geometric center of the defined region are located at the three vertices of a right triangle, that is, the deflection angle is a right angle.

[0063] In one embodiment, reference is made to Figure 3 As shown, the optical deflection structure 60 is a liquid crystal structure, which includes an optical housing and a liquid crystal disposed inside the optical housing. The optical housing has a first side and a second side opposite to each other. The first optical structure 10 is disposed on the side where the first side is located, and the second optical structure 20 is disposed on the side where the second side is located. The deflection effect is achieved by the refraction of the liquid crystal itself.

[0064] In one embodiment, the first optical structure 10 includes at least one receiving lens, and in this embodiment, it preferably includes a plurality of receiving lenses along its axis.

[0065] The receiving lens closest to the optical deflection structure 60 has a convex mirror surface 101. The first optical structure 10 is used to receive multi-beam light from the second optical structure 20 through the convex mirror surface 101 and transmit it to the target to be detected. It is also used to receive the echo beam from the target to be detected and transmit it to the optical deflection structure 60 through the convex mirror surface 101. The optical deflection structure 60 is used to deflect the echo beam to the second optical structure 20. Preferably, the first optical structure 10 adopts a receiving lens group, and the optical deflection structure 60 is positioned by the axis of its convex mirror surface 101. The first optical structure 10 is then positioned by the optical deflection structure 60.

[0066] In one embodiment, a third position is defined on the Y-axis, the distance of the third position from the origin of the rectangular coordinate system being h" and h′>h"; the optical path system also includes a third optical structure 30, which is located at the third position, and an optical deflection structure 60 is used to deflect light from either the first optical structure 10 or the third optical structure 30 to the other. Similarly, multiple optical structures with optical origins can be set on the X-axis, each optical structure emitting multiple beams of light to the optical deflection structure 60. Through the deflection of the optical deflection structure 60, the multiple beams of light from each optical structure can be deflected to a designated area of ​​the first optical structure 10.

[0067] In this embodiment, the optical path system further includes a fourth optical structure component 40, which is located at a first position. Multi-beam light from the first optical structure component 10 can be received by the fourth optical structure component 40 via a straight path, or multi-beam light from the fourth optical structure component 40 can be emitted to the first optical structure component 10 via a straight path. Multiple fourth optical structure components 40 located at different h positions can be configured according to different distances from the origin and different values ​​of h. For example, different h values ​​have h1 and h2, where h1 > h2 > h′ > h″. Since the second optical structure component 20 and the third optical structure component 30 propagate light through deflection, this embodiment also achieves a large field of view and high resolution based on the effect of reducing volume.

[0068] In this embodiment, the optical path system further includes a fifth optical structural component 50, which is located at the origin of the Cartesian coordinate system. The fifth optical structural component 50 is used to emit multi-beam light in a straight line to the first optical structural component 10 or to receive multi-beam light from the first optical structural component 10 in a straight line. Since the second optical structural component 20 and the third optical structural component 30 propagate light by deflection, this embodiment also achieves the goal of large field of view and high resolution based on the effect of reducing volume.

[0069] Another objective of this application embodiment is to provide a lidar, which includes a housing 70 and an optical path system as described above; wherein the housing 70 is transparent and the optical path system is disposed inside the housing 70.

[0070] In one embodiment, the housing 70 is annular and has a central axis. The first optical structure 10 of the optical path system includes at least one receiving lens with a central axis perpendicular to the central axis of the housing 70. The receiving lens has a convex mirror surface 101 facing the interior of the housing 70 and a proximal surface facing away from the convex mirror surface 101, which is disposed close to the housing 70. The first optical structure 10 is used to receive multi-beam light from the second optical structure 20 through the convex mirror surface 101 and transmit it to the target to be detected. It is also used to receive the echo beam from the target to be detected and transmit it through the convex mirror surface 101 to the optical deflection structure 60, which deflects the echo beam to the second optical structure 20. Through the deflection propagation of the optical deflection structure, the dimension of the housing 70 along its axis can be reduced, thereby achieving the purpose of reducing the radar volume.

[0071] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. An optical path system for use in multi-line lidar, characterized in that: It includes a first optical structural component, an optical deflection structural component, and a second optical structural component; The first optical structure and the second optical structure are located at any position on the X-axis and any position on the Y-axis in the same rectangular coordinate system, respectively. The optical deflection structure is located in the quadrant defined by the X half-axis where the first optical structure is located and the Y half-axis where the second optical structure is located, and is used to deflect light from one of the first optical structure and the second optical structure to the other. The Y-axis is defined as having a first position and a second position. The distance from the first position to the origin of the rectangular coordinate system is h, and the distance from the second position to the origin of the rectangular coordinate system is h′, where h > h′. The first position, the optical deflection structure, and the first optical structure are collinear, and the second optical structure is located at the second position. The first optical structural component and the second optical structural component are used to transmit and receive multi-beam light.

2. The optical path system as described in claim 1, characterized in that: The first optical structural component has a defined light-receiving area for receiving light beams; The second optical structural component has a light emission origin for emitting a light beam; A light beam from the first position is set to be emitted to the light receiving area via a straight path. The light deflection structure is disposed on the straight path. After the light beam from the origin of the light emission is deflected by the light deflection structure, its path coincides with the straight path and is deflected to the light receiving area.

3. The optical path system as described in claim 1, characterized in that: The first optical structural component has a defined light emitting area for emitting a light beam; The second optical structural component has a light receiving origin for receiving light beams; A light beam from the light emitting region is configured to be received at the first position via a straight path. The light deflection structure is disposed on the straight path. After the light beam from the light emitting region is deflected by the light deflection structure, its path deviates from the straight path and is deflected and received at the light receiving origin.

4. The optical path system as described in claim 2 or 3, characterized in that: The light deflection structure is a reflector, and the first light structure and the second light structure are located on the side where the reflective surface of the reflector is located.

5. The optical path system as described in claim 4, characterized in that: The first optical structural component has a central axis and a defined area for emitting or receiving multi-beam light, and the defined area is perpendicular to the central axis. The mirror has a central axis, and the reflecting surface is perpendicular to the central axis; The central axis of the first optical structural component and the central axis of the reflector are perpendicular to each other.

6. The optical path system as described in claim 4, characterized in that: The first optical structural component has a defined area for emitting or receiving multi-beam light, and the defined area has a geometric center; the second optical structural component has an optical origin for emitting or receiving multi-beam light; the reflective surface has a geometric center; The first position, the geometric center of the reflective surface, and the geometric center of the set area are collinear, and the light origin, the geometric center of the reflective surface, and the geometric center of the set area are located at the three vertices of an obtuse triangle.

7. The optical path system as described in claim 2 or 3, characterized in that: The optical deflection structure is a prism structure, which has at least a first deflection surface and a second deflection surface set at an angle. The first optical structure is located on the side where the first deflection surface is located, and the second optical structure is located on the side where the second deflection surface is located.

8. The optical path system as described in claim 7, characterized in that: The first optical structure has a defined area for emitting or receiving multi-beam light, and the defined area has a geometric center; the prism structure has a central axis, the first deflecting surface is parallel to or at an angle to the central axis, and the second deflecting surface is parallel to or at an angle to the central axis. The central axis of the first optical structure and the central axis of the prism structure are perpendicular to each other.

9. The optical path system as described in claim 7, characterized in that: The first optical structural component has a defined area for emitting or receiving multi-beam light, and the defined area has a geometric center; the second optical structural component has an optical origin for emitting or receiving multi-beam light; the prism structure is a triangular prism structure, and the triangular prism structure has a geometric center. The first position, the geometric center of the prism structure, and the geometric center of the set area are collinear, and the optical origin, the geometric center of the prism structure, and the geometric center of the set area are located at the three vertices of an obtuse triangle.

10. The optical path system as described in claim 2 or 3, characterized in that: The optical deflection structure is a liquid crystal structure, which includes an optical housing and a liquid crystal disposed inside the optical housing. The optical housing has a first side and a second side opposite to each other. The first optical structure is disposed on the side where the first side is located, and the second optical structure is disposed on the side where the second side is located.

11. A lidar, characterized in that: Including the casing; and, The optical path system as described in any one of claims 1-10; wherein the housing is transparent and the optical path system is disposed inside the housing.

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