Optical engine, packaging method and receiving and transmitting coaxial laser radar system

Abstract

The invention discloses an optical engine, a packaging method and a receiving and transmitting coaxial laser radar system, and the optical engine comprises a first circuit board, a second circuit board, a laser detector welded on the first circuit board, a laser light source welded on the second circuit board, a first optical part and a second optical part. The first circuit board is provided with a light-transmitting first packaging layer, the laser detector is plastically packaged in the first packaging layer, the first packaging layer is provided with a light-transmitting second packaging layer, the laser light source is plastically packaged in the second packaging layer, and the second packaging layer is directly plastically packaged on the first packaging layer. The laser detector and the laser light source are fixed and limited together through the first packaging layer and the second packaging layer; the first optical piece focuses the laser in the first direction to the laser detector; the second optical piece converts the laser of the laser light source into laser in a second direction and emits the laser out, and the first direction and the second direction are parallel and opposite. The structure is simple and compact, and the consistency of transmitting and receiving optical axes can be effectively ensured.

Description

Technical Field

[0001] The present invention relates to the field of laser radar, and in particular to a laser radar with coaxial transmission and reception. Background Art

[0002] In the existing coaxial laser radar systems, the optical systems of transceivers mostly use collimated laser sources combined with hollow receiving lenses. In order to ensure the consistency of the optical axes of transceivers: 1) the optical axes of transceivers are parallel; 2) the optical components of transceivers are concentric, fine-machined parts are required for mechanical limit and active optical coupling, which not only has high processing costs, but also takes a long time for optical-mechanical coupling, which is not conducive to large-scale mass production. In addition, the overall structure size is not small and compact enough.

[0003] Therefore, there is an urgent need for a coaxial laser radar system that can solve the above problems. Summary of the invention

[0004] The purpose of the present invention is to provide an optical engine for transmitting and receiving coaxial laser radar and a packaging method thereof, which has a simple and compact structure and can effectively ensure the consistency of the transmitting and receiving light axes.

[0005] In order to achieve the above-mentioned objectives, the present invention provides an optical engine for transmitting and receiving coaxial laser radar, including a first circuit board, a second circuit board, a laser detector welded on the first circuit board, a laser light source welded on the second circuit board, a first optical component and a second optical component, the first circuit board having a light-transmitting first packaging layer, the first packaging layer plastic-sealing the laser detector inside, the first packaging layer having a light-transmitting second packaging layer, the second packaging layer plastic-sealing the laser light source inside, and the second packaging layer directly plastic-sealed on the first packaging layer, so that the laser detector and the laser light source are fixed together by the first packaging layer and the second packaging layer; the first optical component focuses the laser in a first direction to the laser detector; the second optical component converts the laser of the laser light source into laser in a second direction and emits it, the first direction is parallel to the second direction and in opposite directions.

[0006] Preferably, the area of ​​the second circuit board is smaller than that of the first circuit board, the lower surface of the second circuit board contacts the upper surface of the first packaging layer, the flexible circuit board line of the second circuit board extends along the surface of the first packaging layer to outside the first packaging layer and the second packaging layer, the laser light source is located directly above the laser detector, so that the light emitting direction of the laser light source is the same as the detection direction of the laser detector and is coaxially arranged; the first optical component includes a focusing mirror, which is formed on the second packaging layer and is staggered from the position where the second circuit board is located, and the second optical component includes a collimating mirror, which is formed on the second packaging layer and corresponds to the position where the second circuit board is located.

[0007] Preferably, the laser light source is surrounded by a light-shielding and light-reflecting structure. The lower side of the light-shielding and light-reflecting structure is in contact with the upper surface of the first encapsulation layer or the second circuit board, and the upper side is in contact with the upper surface of the second encapsulation layer.

[0008] Specifically, the light-shielding and light-reflecting structure is a metal isolation layer.

[0009] Preferably, the second circuit board is perpendicular to the first encapsulation layer, such that the light-emitting direction of the laser light source is perpendicular to the detection direction of the laser detector and is located on one side of the laser detector; the first optical component includes a focusing mirror, the focusing mirror is formed on the first encapsulation layer and focuses the laser in a first direction onto the laser detector, the second optical component includes a collimating mirror and a reflecting mirror, the collimating mirror is formed on the second encapsulation layer and collimates the laser of the laser light source to be emitted in a third direction, and the reflecting mirror is located directly above the laser detector and is mounted on the first encapsulation layer or the focusing mirror and converts the laser emitted by the collimating mirror to be emitted in a second direction.

[0010] Specifically, the reflecting mirror is a reflecting prism.

[0011] Preferably, the first encapsulation layer and the second encapsulation layer are epoxy resin layers.

[0012] The present invention also provides a transceiver coaxial lidar system, including a main circuit board, an optical engine mounted on the main circuit board, a main reflecting mirror, and a driving mechanism. The optical engine is the optical engine of the transceiver coaxial lidar as described above. The main reflecting mirror is rotatably mounted on a frame, and the driving mechanism drives the main reflecting mirror to rotate. The main reflecting mirror reflects the input light in a first direction onto the first optical component, and reflects the light in a second direction emitted by the second optical component. The present invention divides the transceiver coaxial lidar system into an active part having an optical detector and a laser light source and a passive part including the main reflecting mirror. The active part is connected to a fixed frame, and the passive part is connected to the rotating output part of the driving mechanism.

[0013] The present invention also provides a packaging method for an optical engine of a transceiver coaxial lidar, including: soldering the chip of a laser detector on a first circuit board; soldering the chip of a laser light source on a second circuit board; pouring an insulating glue for wrapping the laser detector on the first circuit board, and curing to form a first encapsulation layer that encapsulates the laser detector therein and is light-transmissive; disposing the second circuit board on the first encapsulation layer, pouring an insulating glue for wrapping the laser light source on the first encapsulation layer, and curing to form a second encapsulation layer that encapsulates the laser light source therein and is light-transmissive, and curing the first encapsulation layer and the second encapsulation layer together; installing a first optical component and a second optical component on the first encapsulation layer and the second encapsulation layer, so that the first optical component focuses the laser in a first direction onto the laser detector, and the second optical component converts the laser of the laser light source into a laser in a second direction and emits it, and the first direction is parallel to and opposite to the second direction.

[0014] Preferably, the area of the second circuit board is smaller than that of the first circuit board. When the second circuit board is disposed on the first encapsulation layer, the lower surface of the second circuit board contacts the upper surface of the first encapsulation layer, and the flexible circuit board line of the second circuit board extends along the surface of the first encapsulation layer to the outside of the first encapsulation layer. The laser light source is directly above the laser detector, so that the light-emitting direction of the laser light source is the same as and coaxially arranged with the detection direction of the laser detector; when pouring the insulating glue for wrapping the laser light source on the first encapsulation layer, the second circuit board is simultaneously wrapped in the insulating glue, and the flexible circuit board line of the second circuit board extends outside the insulating glue; the first optical component includes a focusing mirror, the focusing mirror is formed on the second encapsulation layer and is offset from the position where the second circuit board is located, and the second optical component includes a collimating mirror, the collimating mirror is formed on the second encapsulation layer and corresponds to the position where the second circuit board is located.

[0015] Preferably, before pouring the insulating glue for wrapping the laser light source on the first encapsulation layer, a light-shielding and light-reflecting structure is further disposed around the laser light source to surround the laser light source; when pouring the insulating glue for wrapping the laser light source on the first encapsulation layer, the insulating glue also wraps the light-shielding and light-reflecting structure. After curing to form the second encapsulation layer, the lower side of the light-shielding and light-reflecting structure contacts the upper side surface of the first encapsulation layer, and the upper side contacts the upper surface of the second encapsulation layer.

[0016] Specifically, the light-shielding and light-reflecting structure is a metal isolation layer.

[0017] Preferably, when the second circuit board is disposed on the first encapsulation layer, the second circuit board is perpendicular to the first encapsulation layer, and the light emitting direction of the laser light source is perpendicular to the detection direction of the laser detector and is located on one side of the laser detector; the first optical component includes a focusing lens, the focusing lens is formed on the first encapsulation layer and focuses the laser in the first direction onto the laser detector, the second optical component includes a collimating lens and a reflecting mirror, the collimating lens is formed on the second encapsulation layer and collimates the laser of the laser light source to be emitted in the third direction, the reflecting mirror is located directly above the laser detector and is mounted on the first encapsulation layer or the focusing lens, and converts the laser emitted by the collimating lens to be emitted in the second direction.

[0018] Specifically, the reflecting mirror is located directly above the laser detector.

[0019] Specifically, the reflecting mirror is a reflecting prism.

[0020] Preferably, the insulating adhesive is epoxy resin, and the first encapsulation layer and the second encapsulation layer are epoxy resin layers.

[0021] Compared with the prior art, in the optical engine of the present invention, the laser detector and the laser light source do not need to be separately fixed by a frame, and are only fixedly spaced apart by the cured encapsulating adhesive (the first encapsulation layer and the second encapsulation layer) between the two, eliminating the mechanical limiting structure members and the cumbersome optical-mechanical coupling process. The structure is simple and compact. The light receiving and emitting optical components are encapsulated in one optical engine, ensuring the consistency of the light receiving and emitting optical axes, enabling the optical engine to adopt a modular design and integration, which is conducive to large-scale mass production. Furthermore, the light receiving and emitting lenses of the optical engine of the present invention can adopt a planar structure lens, for example, a Fresnel lens or a metasurface lens can be used, which simplifies the structure and is beneficial to system-level packaging. Description of the Drawings

[0022] Figure 1 is a structural diagram of the transceiver coaxial lidar system of the present invention.

[0023] Figure 2 is a structural diagram of the optical engine in Embodiment 1 of the present invention.

[0024] Figure 3 is a structural diagram of the optical engine in Embodiment 2 of the present invention. Detailed Embodiments

[0025] To describe in detail the technical content, structural features, achieved objectives and effects of the present invention, the following is described in detail in conjunction with the embodiments and with reference to the drawings.

[0026] Refer to Figure 1, the present invention discloses a transceiver coaxial lidar system, which includes a main circuit board 200, an optical engine 100 mounted on the main circuit board 200, a main reflector 300, and a driving mechanism (not shown in the figure). The optical engine 100 includes a laser light source 22 and a laser detector 12. The main reflector 300 is rotatably mounted on a frame, and the driving mechanism drives the main reflector 300 to rotate. The main reflector 300 reflects the input light onto a first optical component 14 and reflects the light in the second direction emitted by the second optical component 24. The present invention divides the transceiver coaxial lidar system into an active part with an optical detector and a laser light source 22 and a passive part including the main reflector 300. The active part is connected to a fixed frame, and the passive part is connected to the rotating output part of the driving mechanism. The emission optical path and the reception optical path of the optical engine 100 are coaxial, parallel, and in opposite directions.

[0027] Specifically, the driving mechanism is a brushless motor, specifically a hollow brushless motor, and the optical path reflected by the main reflector 300 corresponds to the through hole of the hollow brushless motor. The rotating part (rotating output end) of the brushless motor is connected to the main reflector 300 to drive the reflector to rotate, and the main body of the brushless motor is mounted on the frame. Alternatively, the driving mechanism uses a brushed motor and drives the rotating part buckled on the bearing through a transmission component (such as a belt).

[0028] Reference Figure 2 , the optical engine 100 includes a first circuit board 11, a second circuit board 21, a laser detector 12 soldered on the first circuit board 11, a laser light source 22 soldered on the second circuit board 21, a first optical component 14, and a second optical component 24. The first circuit board 11 has a light-transmitting first encapsulation layer 13, which encapsulates the laser detector 12 therein. The first encapsulation layer 13 has a light-transmitting second encapsulation layer 23, which encapsulates the laser light source 22 therein, and the second encapsulation layer 23 is directly encapsulated on the first encapsulation layer 13, so that the laser detector 12 and the laser light source 22 are fixed and limited together through the first encapsulation layer 13 and the second encapsulation layer 23, and the laser detector 12 and the laser light source 22 are fixedly spaced apart through the first encapsulation layer 13.

[0029] Reference Figure 2 , the first optical component 14 focuses the laser in the first direction onto the laser detector 12; the second optical component 24 converts the laser of the laser light source 22 into laser in the second direction and emits it, and the first direction is parallel and opposite to the second direction.

[0030] The present invention also provides a packaging method for the optical engine 100 of a transceiver coaxial lidar, which includes steps S1 to S4.

[0031] S1. Solder the chip of the laser detector 12 onto the first circuit board 11; solder the chip of the laser light source 22 onto the second circuit board 21.

[0032] S2. Pour an insulating adhesive on the first circuit board 11 to encapsulate the laser detector 12, and cure it to form a first encapsulation layer 13 that encapsulates the laser detector 12 and is light-transmissive.

[0033] S3. Place the second circuit board 21 on the first encapsulation layer 13, pour an insulating adhesive on the first encapsulation layer 13 to encapsulate the laser light source 22, and cure it to form a second encapsulation layer 23 that encapsulates the laser light source 22 and is light-transmissive.

[0034] S4. Fix a first optical component 14 and a second optical component 24 on the first encapsulation layer 13 and the second encapsulation layer 23, such that the first optical component 14 focuses the laser in a first direction onto the laser detector 12, and the second optical component converts the laser of the laser light source 22 into a laser in a second direction and emits it. The first direction and the second direction are parallel and opposite.

[0035] Reference Figure 2 , in Embodiment 1, the surface of the second circuit board 21 contacts the upper surface of the first encapsulation layer 13, and the area of the second circuit board 21 is smaller than that of the first circuit board 11. The flexible printed circuit (FPC) line of the second circuit board extends along the surface of the first encapsulation layer 13 to the outside of the first encapsulation layer 13 and the second encapsulation layer 23. The light-emitting direction of the laser light source 22 is the same as the detection direction of the laser detector 12 and is coaxially arranged. The laser light source 22 is located directly above the laser detector 12 and is spaced from the laser detector 12 by the first encapsulation layer 13. The first optical component 14 includes a focusing mirror and is formed at a position where the second encapsulation layer 23 and the second circuit board 21 are staggered. The second optical component 24 includes a collimating mirror and is formed at a position corresponding to the second encapsulation layer 23 and the second circuit board 21.

[0036] Preferably, the periphery of the second circuit board 21 has a light-shielding and light-reflecting structure that surrounds the laser light source 22. The lower side of the light-shielding and light-reflecting structure contacts the upper side of the first encapsulation layer 13, and the upper side contacts the upper surface of the second encapsulation layer 23. Among them, the light-shielding and light-reflecting structure is a metal isolation layer.

[0037] Among them, the first encapsulation layer 13 and the second encapsulation layer 23 are epoxy resin layers.

[0038] Among them, when pouring the insulating glue that wraps the laser light source 22 on the first encapsulation layer 13, the second circuit board 21 is simultaneously wrapped in the insulating glue, and the flexible circuit board line of the second circuit board 21 extends outside the insulating glue; the first optical component 14 includes a focusing mirror and is formed at a position where the second encapsulation layer 23 is offset from the second circuit board 21, and the second optical component 24 includes a collimating mirror and is formed at a position corresponding to the second circuit board 21 on the second encapsulation layer 23.

[0039] Before pouring the insulating glue that wraps the laser light source 22 on the first encapsulation layer 13, a light-shielding and light-reflecting structure that surrounds the laser light source 22 is also provided around the second circuit board 21; when pouring the insulating glue that wraps the laser light source 22 on the first encapsulation layer 13, the insulating glue also wraps the light-shielding and light-reflecting structure. After curing to form the second encapsulation layer 23, the lower side of the light-shielding and light-reflecting structure contacts the upper surface of the first encapsulation layer 13, and the upper side contacts the upper surface of the second encapsulation layer 23. Specifically, the light-shielding and light-reflecting structure is a metal isolation layer. Of course, the light-shielding and light-reflecting structure can also be other structures, not limited to the metal isolation layer.

[0040] The optical engine 100 of this embodiment has a thin thickness.

[0041] Reference Figure 3 Differing from Embodiment 1, in Embodiment 2, the second circuit board 21 is perpendicular to the first encapsulation layer 13. The light-emitting direction of the laser light source 22 is perpendicular to the detection direction of the laser detector 12 and is located on one side of the laser detector 12. The second encapsulation layer 23 is located on the board surface of the second circuit board 21; the first optical component 14 includes a focusing mirror, and the focusing mirror is formed on the first encapsulation layer 13 and focuses the laser in the first direction onto the laser detector 12. The second optical component includes a collimating mirror 24a and a reflecting mirror 24b. The collimating mirror 24a is formed on the upper surface of the second encapsulation layer 23 opposite to the laser light source 22 and collimates the laser of the laser light source 22 to be emitted in the third direction. The reflecting mirror 24b is installed on the first encapsulation layer 13 or the first optical component 14, and the reflecting mirror 24b converts the laser emitted by the collimating mirror 24a to be emitted in the second direction. The reflecting mirror 24b is located directly above the laser detector 12, so that the light emitted by the reflecting mirror 24b is parallel and coaxial with the light received by the laser detector 12. Among them, the reflecting mirror 24b is a reflecting prism.

[0042] The insulating glue is epoxy resin, and the first encapsulation layer 13 and the second encapsulation layer 23 are epoxy resin layers.

[0043] Among them, when pouring the insulating glue that wraps the laser light source 22 on the first encapsulation layer 13, pour the insulating glue that wraps the laser light source 22 from the side of the second circuit board 21 facing the laser light source 22, so that the second encapsulation layer 23 is located on the surface of the second circuit board 21; the first optical element 14 includes a focusing mirror, the focusing mirror is formed on the first encapsulation layer 13 and focuses the laser in the first direction to the laser detector 12, the second optical element includes a collimating mirror 24a and a reflecting mirror 24b, the collimating mirror 24a is formed on the upper surface of the second encapsulation layer 23 opposite to the laser light source 22 and collimates the laser of the laser light source 22 to be emitted in the third direction, and the reflecting mirror 24b is mounted on the first encapsulation layer 13 or the reflecting mirror 24b on the first optical element 14 and converts the laser emitted by the collimating mirror into the second direction and emits it to the main reflecting mirror 300. Specifically, the reflecting mirror 24b is located directly above the laser detector 12.

[0044] In the optical engine of this embodiment, there is no situation where the FPC line of the second circuit board blocks the focused light beam.

[0045] The present invention provides a modular design and an integrated transceiver coaxial lidar system, which is conducive to mass production. The transceiver coaxial optical engine 100 adopts system-level packaging, which not only has high packaging accuracy but also high packaging efficiency, and is also conducive to mass production. The transceiver optical system of the optical engine 100 adopts a planar structure lens, which simplifies the structure and is conducive to system-level packaging.

[0046] The present invention provides a transceiver coaxial lidar, which includes a passive part (rotating part) and an active part (fixed part). Among them, the active part integrates a transceiver coaxial optical engine with system-level packaging (SiP), eliminating mechanical limit structural parts and a cumbersome opto-mechanical coupling process.

[0047] The above-disclosed are only the preferred embodiments of the present invention. Of course, the scope of the rights of the present invention cannot be limited thereby. Therefore, equivalent changes made according to the scope of the rights defined by the present invention still fall within the scope covered by the present invention.

Claims

1. An optical engine for transmitting and receiving coaxial laser radar, characterized in that: The invention comprises a first circuit board, a second circuit board, a laser detector welded on the first circuit board, a laser light source welded on the second circuit board, a first optical component and a second optical component, wherein the first circuit board has a first light-transmitting packaging layer, the first packaging layer plastic-seals the laser detector inside, the first packaging layer has a second light-transmitting packaging layer, the second packaging layer plastic-seals the laser light source inside, and the second packaging layer is directly plastic-seals on the first packaging layer, so that the laser detector and the laser light source are fixed together by the first packaging layer and the second packaging layer; the first optical component focuses the laser in a first direction onto the laser detector; the second optical component converts the laser of the laser light source into laser in a second direction and emits it, and the first direction is parallel to and opposite to the second direction.

2. The optical engine according to claim 1, wherein: The area of ​​the second circuit board is smaller than that of the first circuit board. The lower surface of the second circuit board contacts the upper surface of the first packaging layer. The flexible circuit board line of the second circuit board extends along the surface of the first packaging layer to outside the first packaging layer and the second packaging layer. The laser light source is located directly above the laser detector, so that the light emitting direction of the laser light source is the same as the detection direction of the laser detector and is coaxially arranged; the first optical component includes a focusing mirror, which is formed on the second packaging layer and is staggered from the position where the second circuit board is located. The second optical component includes a collimating mirror, which is formed on the second packaging layer and corresponds to the position where the second circuit board is located.

3. The optical engine according to claim 2, wherein: The laser light source is surrounded by a light-shielding and reflective structure, the lower side of the light-shielding and reflective structure is in contact with the first packaging layer or the upper side of the second circuit board, and the upper side is in contact with the upper surface of the second packaging layer.

4. The optical engine according to claim 3, wherein: The light-shielding and reflective structure is a metal isolation layer.

5. The optical engine according to claim 1, wherein: The second circuit board is perpendicular to the first packaging layer, so that the light emitting direction of the laser light source is arranged perpendicularly to the detection direction of the laser detector and is located on one side of the laser detector; the first optical component includes a focusing mirror, which is formed on the first packaging layer and focuses the laser in the first direction to the laser detector; the second optical component includes a collimating mirror and a reflecting mirror, which is formed on the second packaging layer and calibrates the laser of the laser light source to be emitted in a third direction; the reflecting mirror is located directly above the laser detector and is installed on the first packaging layer or the focusing mirror and converts the laser emitted by the collimating mirror to be emitted in the second direction.

6. The optical engine according to claim 5, wherein: The reflector is a reflective prism.

7. The optical engine according to claim 1, wherein: The first encapsulation layer and the second encapsulation layer are epoxy resin layers.

8. A transceiver coaxial laser radar system, characterized in that: It includes a main circuit board, an optical engine installed on the main circuit board, a main reflector and a driving mechanism, wherein the optical engine is an optical engine for a transceiver coaxial laser radar as described in any one of claims 1 to 7, the main reflector is rotatably installed on a frame, the driving mechanism drives the main reflector to rotate, and the main reflector reflects input light along a first direction to the first optical component, and reflects light in a second direction emitted by the second optical component.

9. A packaging method for an optical engine for transmitting and receiving a coaxial laser radar, characterized in that: include: Soldering the chip of the laser detector onto the first circuit board; Soldering the chip of the laser light source onto the second circuit board; Injecting insulating glue that wraps the laser detector onto the first circuit board and curing it to form a first packaging layer that plastic-seales the laser detector and is light-transmissive; The second circuit board is arranged on the first packaging layer, and an insulating glue for wrapping the laser light source is poured on the first packaging layer, and cured to form a second packaging layer that plastic-encapsulates the laser light source and is light-transmissive, and the first packaging layer and the second packaging layer are cured together; A first optical component and a second optical component are installed on the first packaging layer and the second packaging layer, so that the first optical component focuses the laser in a first direction onto the laser detector, and the second optical component converts the laser of the laser light source into laser in a second direction and emits it, and the first direction is parallel to and opposite to the second direction.

10. The packaging method of the optical engine of the transceiver coaxial laser radar according to claim 9, characterized in that: The area of ​​the second circuit board is smaller than that of the first circuit board. When the second circuit board is arranged on the first packaging layer, the lower surface of the second circuit board contacts the upper surface of the first packaging layer, and the flexible circuit board line of the second circuit board extends outside the first packaging layer along the surface of the first packaging layer. The laser light source is located directly above the laser detector, so that the light emitting direction of the laser light source is the same as the detection direction of the laser detector and is coaxially arranged; when the insulating glue wrapping the laser light source is poured on the first packaging layer, the second circuit board is simultaneously wrapped in the insulating glue, and the flexible circuit board line of the second circuit board is extended outside the insulating glue; the first optical component includes a focusing mirror, which is formed on the second packaging layer and is staggered from the position where the second circuit board is located, and the second optical component includes a collimating mirror, which is formed on the second packaging layer and corresponds to the position where the second circuit board is located.

11. The packaging method of the optical engine of the transceiver coaxial laser radar according to claim 10, characterized in that: Before the insulating glue for wrapping the laser light source is poured onto the first packaging layer, a light-shielding and reflective structure is arranged around the laser light source to surround the laser light source; when the insulating glue for wrapping the laser light source is poured onto the first packaging layer, the light-shielding and reflective structure is also wrapped by the insulating glue. After the insulating glue is cured to form the second packaging layer, the lower side of the light-shielding and reflective structure contacts the upper side surface of the first packaging layer, and the upper side contacts the upper surface of the second packaging layer.

12. The packaging method of the optical engine of the transceiver coaxial laser radar according to claim 11, characterized in that: The light-shielding and reflective structure is a metal isolation layer.

13. The packaging method of the optical engine of the transceiver coaxial laser radar according to claim 9, characterized in that: When the second circuit board is arranged on the first packaging layer, the second circuit board is perpendicular to the first packaging layer, and the light emitting direction of the laser light source is arranged perpendicular to the detection direction of the laser detector and is located on one side of the laser detector; the first optical component includes a focusing mirror, which is formed on the first packaging layer and focuses the laser in the first direction to the laser detector; the second optical component includes a collimating mirror and a reflecting mirror, which is formed on the second packaging layer and calibrates the laser of the laser light source to be emitted in a third direction; the reflecting mirror is located directly above the laser detector and is installed on the first packaging layer or the focusing mirror, and converts the laser emitted by the collimating mirror to be emitted in the second direction.

14. The packaging method of the optical engine of the transceiver coaxial laser radar according to claim 13, characterized in that: The reflector is a reflective prism.

15. The packaging method of the optical engine of the transceiver coaxial laser radar according to claim 9, characterized in that: The insulating glue is epoxy resin, and the first encapsulation layer and the second encapsulation layer are epoxy resin layers.

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