Paraxial laser radar

Abstract

This application provides a side-axis lidar, comprising: a housing assembly having a first receiving cavity and a light inlet / outlet communicating with the first receiving cavity; a laser emitting assembly disposed within the first receiving cavity for emitting laser light; a motor stator assembly disposed within the first receiving cavity and having a light guiding channel extending along a first direction; a motor rotor assembly rotatably mounted outside the motor stator assembly; a transmitting folding reflector disposed on the motor rotor assembly for deflecting the laser light emitted from the light guiding channel by 90°; a detection assembly disposed within the first receiving cavity; and a receiving folding reflector disposed on the motor rotor assembly for deflecting the echo laser light reflected back from the target object by 90°. The motor rotor assembly in this structure integrates fewer components, resulting in a smaller moment of inertia and lighter load, thus facilitating high-speed rotation and improving scanning frequency.

Description

Technical Field

[0001] This application relates to the field of lidar technology, and more particularly to a side-axis lidar. Background Technology

[0002] A side-axis lidar is a radar structure in which the transmitting optical path and the receiving optical path are completely separated in space and are parallel to each other.

[0003] Chinese invention application CN121596241A discloses a laser radar and touch control system, which includes an outer casing assembly, a laser emitting assembly, a rotor assembly, a stator assembly, and a bottom cover assembly. The laser emitting assembly includes a laser emitting radar control board, a laser mounted on the laser emitting radar control board, and a laser emitting radar control board support frame. The laser and the laser emitting radar control board are electrically connected, and the laser emitting radar control board and the laser emitting radar control board support frame are fixedly connected. The laser emitting radar control board support frame is fixedly connected to the motor stator in the stator assembly. The rotor assembly includes a rotor and a reflector bracket fixedly connected to the rotor. The system comprises: a transmitting reflector mounted on a transmitting reflector bracket; a receiving reflector bracket mounted in a reflector bracket mounting hole on a rotor; a receiving reflector mounted on a receiving reflector bracket; a laser emitting lens mounted in a laser emitting lens mounting hole on a rotor; a laser receiving lens mounted in a laser receiving lens mounting hole on a rotor; a rotating shaft mounted at the center of the rotor; a light guide column mounted within the rotating shaft; and a motor rotor mounted within the rotor. The stator assembly includes: a motor stator assembly; a receiving main control radar control board fixedly connected to the motor stator assembly; the motor stator assembly and the receiving main control radar control board are electrically connected; and the motor stator assembly and the laser emitting radar control board are electrically connected.

[0004] Although the aforementioned lidar can achieve a large scanning angle, the rotor integrates multiple components such as the emitting reflector bracket, emitting reflector, receiving reflector bracket, receiving reflector, laser emitting lens, laser receiving lens, rotating shaft, and light guide column. This results in a large rotor moment of inertia and a heavy load, making it difficult to achieve high-speed rotation and thus limiting the increase in scanning frequency. The rotor's heavy load is one aspect, but another is that they use a light guide column in the receiving optical path. The light guide column results in significant optical signal loss, making the signal received by the detector in the receiving optical path much weaker, leading to a decrease in the maximum laser ranging performance. Summary of the Invention

[0005] This application provides a side-axis lidar to solve the problems existing in related technologies. The technical solution is as follows: This application provides a side-axis lidar, including: A housing assembly having a first receiving cavity and an optical inlet / outlet, the optical inlet / outlet being in communication with the first receiving cavity; A laser emitting assembly, wherein the laser emitting assembly is disposed within the first receiving cavity, and the laser emitting assembly is used to emit laser light; A motor stator assembly is disposed within the first receiving cavity. The motor stator assembly has a light guide channel extending along a first direction, the light guide channel being used to guide the laser along the first direction in a direction away from the laser emitting assembly. A motor rotor assembly, which is rotatably sleeved outside the motor stator assembly, wherein the rotation center line of the motor rotor assembly coincides with the axial center line of the light guide channel; A radiating folding reflector is disposed on the motor rotor assembly. The radiating folding reflector is used to deflect the laser emitted from the light guide channel by 90° so that the laser is emitted outward along the second direction through the light inlet and outlet to the target object. A detection component, wherein the detection component is disposed within the first receiving cavity; and A receiving folding reflector is disposed on the motor rotor assembly. The receiving folding reflector is used to deflect the echo laser reflected from the target object by 90° so that the echo laser is emitted to the detection assembly along a first direction. The laser emitting assembly, the light guide channel, the emitting folding reflector, the receiving folding reflector and the detection assembly are arranged sequentially along the first direction.

[0006] In one embodiment, the motor rotor assembly includes: A rotor body, which is rotatably fitted onto the motor stator assembly; and An optical mount is provided with a connecting part and an isolation part; the first end of the connecting part is connected to the rotor body, the connecting part is arranged around the end of the light guide channel near the emitting folding mirror, the connecting part has a laser emission port, the laser emission port is located between the emitting folding mirror and the light inlet and outlet; the isolation part is provided at the second end of the connecting part and covers the opening at the second end of the connecting part; The transmitting folding reflector is disposed inside the isolation section, and the transmitting folding reflector is located inside the connecting section; the receiving folding reflector is disposed outside the isolation section.

[0007] In one embodiment, the rotor body has a first connecting hole at one end, and the connecting part has a second connecting hole, wherein the second connecting hole is coaxially arranged with the first connecting hole; The motor rotor assembly also includes: The fastener has its head located on the side of the connecting portion away from the rotor body, and its shank passes through the second connecting hole and the first connecting hole in sequence to connect the connecting portion to the rotor body.

[0008] In one embodiment, both the transmitting folding reflector and the receiving folding reflector are planar reflectors.

[0009] In one embodiment, the off-axis lidar further includes: A receiving focusing lens is disposed on the motor rotor assembly and located between the light inlet / outlet and the receiving folding mirror. The receiving focusing lens is used to converge the echo laser reflected back from the target object.

[0010] In one embodiment, both the transmitting and receiving folding mirrors are concave mirrors.

[0011] In one embodiment, the off-axis lidar further includes: A emitting collimating lens is disposed on the motor stator assembly and is located between the light guide channel and the emitting folding mirror.

[0012] In one embodiment, the emitting collimating lens covers one end of the light guide channel near the emitting folding mirror.

[0013] In one embodiment, the housing assembly further includes: Main substrate, the main substrate having the first receiving cavity and the light inlet / outlet; and A light-transmitting cover is disposed on the main body and covers the light inlet and outlet.

[0014] In one embodiment, the main substrate includes: A first mounting base is provided with a vertical mounting part and a horizontal mounting part. The horizontal mounting part is located at the first end of the vertical mounting part, and the detection component is located on the inner side of the horizontal mounting part. A second mounting base is disposed at the second end of the vertical mounting portion. The second mounting base, the vertical mounting portion, and the horizontal mounting portion together form the first receiving cavity and the light inlet / outlet. The laser emitting assembly is disposed inside the second mounting base. The light-transmitting cover is connected to the vertical mounting portion and is located between the second mounting base and the horizontal mounting portion. The outer casing is fitted onto the first mounting base and the second mounting base, and the outer casing and the vertical mounting part form a second receiving cavity, which accommodates the radar control board, and the radar control board is electrically connected to the laser emitting component, the motor stator component and the detection component.

[0015] The advantages or beneficial effects of the above technical solutions include at least the following: The off-axis lidar of the present invention is based on a laser emitting component, a light guide channel, a transmitting folding reflector, a receiving folding reflector, and a detection component arranged sequentially along a first direction. The laser emitted by the laser emitting component passes through the light guide channel of the motor stator component and is transmitted along the first direction to the transmitting folding reflector. The transmitting folding reflector deflects the laser emitted from the light guide channel by 90° so that the laser is emitted outward along a second direction through the light inlet and outlet to the target object. Subsequently, the echo laser reflected by the target object returns along the second direction, is deflected by 90° by the receiving folding reflector, and is transmitted along the first direction to the detection component. The detection component receives the echo laser and completes photoelectric conversion, thereby realizing laser ranging of the target object. Because the motor rotor assembly integrates both a transmitting and receiving folding mirror, this off-axis lidar can achieve a scanning angle greater than 180°. Furthermore, since only the transmitting and receiving folding mirrors are mounted on the motor rotor assembly, compared to existing technologies that integrate multiple components such as a transmitting mirror bracket, transmitting mirror, receiving mirror bracket, receiving mirror, laser emitting lens, laser receiving lens, rotating shaft, and light guide column on the motor rotor assembly, this structure integrates fewer components. Therefore, the motor rotor assembly has a smaller moment of inertia and a lighter load, making it easier to achieve high-speed rotation and improving the scanning frequency.

[0016] In addition, this off-axis lidar does not have a light guide column, which would weaken the echo laser, thus weakening the echo laser signal received by the detection component and reducing the maximum laser ranging performance. Therefore, this solution helps to reduce echo laser loss.

[0017] The above overview is for illustrative purposes only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments, and features described above, further aspects, embodiments, and features of this application will become readily apparent from the accompanying drawings and the following detailed description. Attached Figure Description

[0018] In the accompanying drawings, unless otherwise specified, the same reference numerals throughout the various drawings denote the same or similar parts or elements. These drawings are not necessarily drawn to scale. It should be understood that these drawings depict only some embodiments disclosed in this application and should not be construed as limiting the scope of this application.

[0019] Figure 1 This is a three-dimensional structural diagram of the off-axis lidar of the present invention from a first-view perspective. Figure 2 This is an exploded view of the off-axis lidar of the present invention from a first-view perspective. Figure 3 This is an exploded view of the off-axis lidar of the present invention from a second perspective. Figure 4 This is a cross-sectional view of the off-axis lidar of the present invention.

[0020] Figure Labels 1. Housing assembly; 11. Main base; 111. First mounting base; 112. Second mounting base; 113. Outer shell; 114. First receiving cavity; 12. Light-transmitting cover; 2. Laser emitting assembly; 21. Light-emitting circuit board; 22. Light-emitting chip; 3. Motor stator assembly; 31. Stator shaft; 311. Light guide channel; 32. Stator silicon steel coil; 4. Motor rotor assembly; 41. Rotor body; 42. Optical base; 421. Connecting part; 4211. Laser emission port; 422. Isolation part; 43. Permanent magnet; 44. Bearing; 5. Emitting folding reflector; 6. Detection assembly; 61. Receiving circuit board; 62. Detector; 7. Receiving folding reflector; 9. Receiving focusing lens; 10. Emitting collimating lens; 20. Radar control board. Detailed Implementation

[0021] In the following description, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments can be modified in various ways without departing from the spirit or scope of this application. Therefore, the drawings and description are considered to be exemplary in nature and not restrictive.

[0022] See Figures 1-4 This invention illustrates a preferred embodiment of a side-axis lidar, comprising: Housing assembly 1, housing assembly 1 has a first receiving cavity 114 and a light inlet / outlet, the light inlet / outlet being connected to the first receiving cavity 114; Laser emitting component 2 is disposed in the first receiving cavity 114 and is used to emit laser light. Motor stator assembly 3 is disposed on the side of the first receiving cavity 114 near the laser emitting assembly 2. Motor stator assembly 3 has a light guide channel 311 extending along a first direction. The light guide channel 311 is used to guide the laser along the first direction in a direction away from the laser emitting assembly 2. The motor rotor assembly 4 is rotatably sleeved on the outside of the motor stator assembly 3, so that the motor rotor assembly 4 can rotate around the motor stator assembly 3, and the rotation center line of the motor rotor assembly 4 coincides with the axial center line of the light guide channel 311. The emitting folding reflector 5 is mounted on the motor rotor assembly 4, so that the emitting folding reflector 5 rotates with the motor rotor assembly 4, thereby changing the emission scanning angle. The emitting folding reflector 5 is used to deflect the laser emitted from the light guide channel 311 by 90° so that the laser is emitted outward along the second direction through the light inlet and outlet to the target object. Detection component 6 is located on the side of the first receiving cavity 114 opposite to the motor stator assembly 3; and A receiving folding reflector 7 is mounted on the motor rotor assembly 4, causing the receiving folding reflector 7 to rotate with the motor rotor assembly 4, thereby changing the receiving scanning angle. The receiving folding reflector 7 is used to deflect the echo laser reflected from the target object by 90°, so that the echo laser is emitted along the first direction to the detection assembly 6. The laser emitting assembly 2, the light guide channel 311, the emitting folding reflector 5, the receiving folding reflector 7 and the detection assembly 6 are arranged sequentially along the first direction.

[0023] The off-axis lidar of the present invention is based on a laser emitting component 2, a light guide channel 311, a transmitting folding reflector 5, a receiving folding reflector 7, and a detection component 6 arranged sequentially along a first direction. The laser emitted by the laser emitting component 2 passes through the light guide channel 311 of the motor stator component 3 and is transmitted along the first direction to the transmitting folding reflector 5. The transmitting folding reflector 5 deflects the laser emitted from the light guide channel 311 by 90° so that the laser is emitted outward along the second direction through the light inlet and outlet to the target object. Subsequently, the echo laser reflected by the target object returns along the second direction, is deflected by 90° by the receiving folding reflector 7, and is transmitted along the first direction to the detection component 6. The detection component 6 receives the echo laser and completes photoelectric conversion, thereby realizing laser ranging of the target object. Because the motor rotor assembly 4 integrates the transmitting folding reflector 5 and the receiving folding reflector 7, this off-axis lidar can achieve a scanning angle greater than 180°. At the same time, since only the transmitting folding reflector 5 and the receiving folding reflector 7 are set on the motor rotor assembly 4, compared with the prior art which integrates multiple components such as the transmitting reflector bracket, transmitting reflector, receiving reflector bracket, receiving reflector, laser transmitting lens, laser receiving lens, rotating shaft and light guide column on the motor rotor assembly 4, the number of integrated components in this structure is less. Therefore, the motor rotor assembly 4 has a smaller moment of inertia and a lighter load, which makes it easier to achieve high-speed rotation and is beneficial to improve the scanning frequency.

[0024] In addition, with the motor rotor assembly 4 as the dividing line, the laser emitting assembly 2 and the emitting folding reflector 5, the detection assembly 6 and the receiving folding reflector 7 are arranged on both sides along the first direction, respectively, to avoid spatial interference and thus improve the utilization rate of the first accommodating cavity 114. At the same time, the laser emitting assembly 2, the light guide channel 311, the emitting folding reflector 5, the receiving folding reflector 7 and the detection assembly 6 are arranged in sequence along the first direction to form a regular linear arrangement structure, which further compresses the gap between adjacent components and can also improve the utilization rate of the first accommodating cavity 114. This helps to reduce the overall size of the off-axis lidar and is conducive to the compact and miniaturized design of the off-axis lidar.

[0025] In addition, this off-axis lidar does not have a light guide column, which would weaken the echo laser, thus weakening the echo laser signal received by the detection component and reducing the maximum laser ranging performance. Therefore, this solution helps to reduce echo laser loss.

[0026] See Figure 4 In one embodiment, the laser emitting assembly 2 includes: Light-emitting circuit board 21, which is disposed on housing assembly 1; and The light-emitting chip 22 is disposed on the light-emitting circuit board 21 and is electrically connected to the light-emitting circuit board 21. The light-emitting chip 22 emits laser light under the control of the light-emitting circuit board 21.

[0027] See Figure 4 In one embodiment, the detection component 6 includes: Receiver circuit board 61, receiver circuit board 61 is disposed on housing assembly 1; and Detector 62 is mounted on receiving circuit board 61 and is electrically connected to receiving circuit board 61.

[0028] See Figure 4 In one embodiment, the motor rotor assembly 4 includes: Rotor body 41, rotatably sleeved around motor stator assembly 3, so that rotor body 41 can rotate around motor stator assembly 3; and Optical base 42, optical base 42 is provided with connecting part 421 and isolation part 422; the first end of connecting part 421 is connected to rotor body 41 so that connecting part 421 can rotate synchronously with rotor body 41, connecting part 421 is provided around the end of light guide channel 311 near the emitting folding mirror 5, connecting part 421 has laser outlet 4211, laser outlet 4211 is located between emitting folding mirror 5 and light inlet and outlet; isolation part 422 is provided at the second end of connecting part 421 and covers the second end opening of connecting part 421; The transmitting folding reflector 5 is located inside the isolation section 422 and within the connecting section 421; the receiving folding reflector 7 is located outside the isolation section 422. The motor rotor assembly 4 includes a rotor body 41 and an optical mount 42. The rotor body 41 is rotatably fitted around the motor stator assembly 3, allowing it to rotate around the stator assembly 3. The first end of the connecting section 421 of the optical mount 42 is connected to the rotor body 41, allowing it to rotate synchronously with the rotor body 41. The connecting section 421 is positioned around the end of the light guide channel 311 near the transmitting folding reflector 5, forming a hollow structure that reduces its weight and further lowers the electrical conductivity. The overall load of the rotor assembly 4 is distributed, while the isolation part 422 is provided at the second end of the connecting part 421 and covers the opening at the second end of the connecting part 421. At the same time, the transmitting folding reflector 5 is provided inside the isolation part 422 and located inside the connecting part 421, and the receiving folding reflector 7 is provided outside the isolation part 422. Thus, the transmitting folding reflector 5 and the receiving folding reflector 7 are separated by the isolation part 422, that is, the transmitting optical path and the receiving optical path are separated by the isolation part 422, thereby avoiding the interference of stray light at near distance and the problem of the receiving optical path being occupied by the transmitting optical path.

[0029] See Figure 4 To improve the rotational stability and smoothness of the rotor body 41, see [reference needed]. Figure 4 In one embodiment, a bearing 44 is provided between the motor stator assembly 3 and the rotor body 41.

[0030] In one embodiment, the rotor body 41 has a first connecting hole at its end, and the connecting part 421 has a second connecting hole, which is coaxially arranged with the first connecting hole. Motor rotor assembly 4 also includes: The fastener has its head located on the side of the connecting part 421 away from the end of the rotor body 41, and the shank of the fastener passes through the second connecting hole and the first connecting hole in sequence to securely connect the connecting part 421 and the rotor body 41 together.

[0031] Specifically, the fastener can be a screw. In this case, the shank of the fastener engages with the threaded first connecting hole, ensuring a secure connection between the connecting part 421 and the rotor body 41 while also allowing for detachment of the connecting part 421 and the rotor body 41 for easy maintenance. Alternatively, in other embodiments, the fastener can be a rivet, in which case the connecting part 421 is securely fixed to the rotor body 41.

[0032] Of course, in other embodiments, the optical base 42 and the rotor body 41 can also be connected by any of the following methods: welding, snap-fit ​​connection, magnetic connection, etc.

[0033] See Figure 4 In one embodiment, the motor stator assembly 3 includes: Stator shaft 31, fixed within the first receiving cavity 114, has the aforementioned light guide channel 311 formed along its axial direction; and The stator silicon steel coil 32 is fixed on the stator shaft 31 and electrically connected to the radar control board 20. When energized, it generates an alternating magnetic field, which drives the permanent magnet 43 fixed on the rotor body 41 and the rotor body 41 to rotate. The transmitting folding reflector 5 and the receiving folding reflector 7 rotate synchronously with the rotor body 41 to achieve laser scanning over a range of more than 180°.

[0034] See Figure 4 In one embodiment, both the transmitting folding reflector 5 and the receiving folding reflector 7 are planar reflectors. In this case, both the transmitting folding reflector 5 and the receiving folding reflector 7 are inclined and symmetrically distributed on both sides of the isolation section 422 along the first direction.

[0035] See Figure 4 In one embodiment, when both the transmitting folding mirror 5 and the receiving folding mirror 7 are planar mirrors, the off-axis lidar further includes: The receiving focusing lens 9 is mounted on the motor rotor assembly 4 and is located between the light inlet / outlet and the receiving folding mirror 7. The receiving focusing lens 9 is used to converge the echo laser reflected from the target object. By converging the echo laser from the target object, more light energy is concentrated on the photosensitive surface of the detection assembly 6, thereby significantly increasing the amplitude of the received signal, which is beneficial to improving the long-distance detection capability of the ranging. In addition, the concentrated light spot energy can improve the signal-to-noise ratio of the ranging signal, thereby improving the ranging resolution and repeatability consistency.

[0036] In one embodiment, both the transmitting folding reflector 5 and the receiving folding reflector 7 are concave reflectors. The transmitting folding reflector 5, being a concave reflector, has the function of folding the light path by 90 degrees and collimating it, while the receiving folding reflector 7, being a concave reflector, has the function of folding the light path by 90 degrees and converging it. Therefore, by replacing the transmitting folding reflector 5 and the receiving folding reflector 7 with concave reflectors, the receiving focusing lens 9 can be eliminated, thereby further reducing the load on the motor rotor assembly 4. At the same time, the optical path is simplified, which helps to reduce costs.

[0037] See Figure 4 In one embodiment, the off-axis lidar further includes: A emitting collimating lens 10 is mounted on the motor stator assembly 3 and positioned between the light guide channel 311 and the emitting folding mirror 5. The emitting collimating lens 10 collimates the laser emitted from the light guide channel 311, reducing the divergence angle of the laser beam. This ensures that the emitted laser maintains a small spot size even after long-distance transmission, thereby increasing the light power density per unit area on the target object's surface and enhancing the long-range detection capability of the off-axis lidar. Furthermore, the collimated laser beam has an approximately parallel propagation direction, resulting in a stable incident angle and a large spot size when it strikes the emitting folding mirror 5. The regular shape facilitates the precise 90° deflection of the refracting mirror 5, avoiding directional deviation and energy dispersion caused by divergent light, and ensuring that the laser is emitted with high pointing accuracy along the second direction. In addition, the emitting collimating lens 10 is set on the motor stator assembly 3 and does not rotate with the motor rotor assembly 4, avoiding vibration and positional shift caused by rotational motion, so that the direction of the emitted beam remains stable over a long period of time, which is beneficial to improving the repeatability and consistency of the measurement of the off-axis lidar. At the same time, it does not increase the load on the motor rotor assembly 4, making it easier for the motor rotor assembly 4 to achieve high-speed rotation.

[0038] See Figure 4 In one embodiment, the transmitting collimating lens 10 covers the end of the light guide channel 311 near the transmitting folding reflector 5, so that the transmitting collimating lens 10 is close to the exit end face of the light guide channel 311. This allows all the diverging laser emitted from the light guide channel 311 to enter the effective aperture of the transmitting collimating lens 10 within the shortest distance, preventing some energy from overflowing outside the aperture of the transmitting collimating lens 10 after the laser beam freely diffuses in the air, thereby improving the light energy utilization rate. In addition, by having the transmitting collimating lens 10 directly cover the exit end face of the light guide channel 311 instead of arranging them at intervals, the reserved air gap between the two is eliminated, effectively reducing the length occupied by the transmitting light path along the first direction, thus making the overall structure of this off-axis lidar more compact.

[0039] Of course, in other embodiments, the emitting collimating lens 10 and the light guide channel 311 are arranged at intervals along the first direction.

[0040] See Figures 1-4 In one embodiment, the housing assembly 1 further includes: Main substrate 11, the main substrate 11 having a first receiving cavity 114 and an optical inlet / outlet; and A light-transmitting cover 12 is disposed on the main substrate 11, covering the light inlet and outlet. Thus, the main substrate 11 provides a first accommodating cavity 114 to house the laser emitting assembly 2, the motor stator assembly 3, the motor rotor assembly 4, the emitting folding mirror 5, the detection assembly 6, and the receiving folding mirror 7. Simultaneously, the light inlet and outlet serve as a common channel for laser emission and echo reception. The light-transmitting cover 12, as a transparent protective element covering this light inlet and outlet, not only effectively blocks dust, moisture, and particulate matter from the external environment from entering the first accommodating cavity 114, protecting the surface cleanliness and long-term stability of core optical components such as the emitting folding mirror 5, the receiving folding mirror 7, and the detection assembly 6, but also, by selecting optical materials with high transmittance and low reflection loss and an anti-reflection coating, minimizes the energy attenuation of the laser when entering and exiting the light inlet and outlet, thereby simultaneously ensuring efficient output of emitted light energy and efficient reception of echo signals.

[0041] See Figures 1-4 To reduce installation difficulty, in one embodiment, the main base 11 includes: The first mounting base 111 is provided with a vertical mounting part and a horizontal mounting part. The horizontal mounting part is located at the first end of the vertical mounting part, and the detection component 6 is located on the inner side of the horizontal mounting part. The second mounting base 112 is located at the second end of the vertical mounting portion. The second mounting base 112, the vertical mounting portion, and the horizontal mounting portion together form a first receiving cavity 114 and a light inlet / outlet. The laser emitting assembly 2 is located inside the second mounting base 112. The light-transmitting cover 12 is connected to the vertical mounting portion and is located between the second mounting base 112 and the horizontal mounting portion. The outer shell 113 is fitted over the first mounting base 111 and the second mounting base 112, and the outer shell 113 and the vertical mounting part form a second receiving cavity. The second receiving cavity accommodates the radar control board 20, which is electrically connected to the laser emitting assembly 2, the motor stator assembly 3 and the detection assembly 6. By using a split-type combination layout of the first mounting base 111 and the second mounting base 112, with the vertical mounting part as the central supporting frame, and in conjunction with the horizontally extending mounting parts at both ends and the second mounting base 112, a first receiving cavity 114 and an optical inlet / outlet are naturally formed to accommodate the core optical and mechanical components. This achieves a face-to-face arrangement where the laser emitting component 2 and the detection component 6 are respectively fixed to the inner side of the second mounting base 112 and the inner side of the horizontal mounting part. This shortens the optical path transmission path and avoids vibration deviation caused by cantilever support by using a two-sided fixing method, thereby improving the collimation accuracy and vibration resistance of the optical path within the first receiving cavity 114. At the same time, the outer shell 113 is fitted outside the first mounting base 111 and the second mounting base 112 and forms an independent second receiving cavity with the vertical mounting part. This second receiving cavity is used to accommodate the radar control board 20 that is electrically connected to each component, realizing the optical structure, motor structure and drive control. The clear partitioning of the control circuit in physical space avoids the negative impact of circuit device heating on the thermal stability of optical components, and also prevents electromagnetic interference from crosstalking to the sensitive area of ​​the optical path through the cavity. The light-transmitting cover 12 spans between the second mounting base 112 and the horizontal mounting part and connects to the vertical mounting part. Its position precisely covers the light inlet and outlet and forms a tight fit with the first mounting base 111 and the second mounting base 112. This not only simplifies the sealing structure of the light inlet and outlet, but also allows the light-transmitting cover 12 to undertake part of the structural connection function in the overall frame, enhancing the relative rigidity between the first mounting base 111 and the second mounting base 112. In addition, the second receiving cavity formed by the outer shell 113 and the vertical mounting part provides additional wiring space and shielding layer, which facilitates the cable management and grounding protection between the radar control board 20 and the laser emitting assembly 2, the motor stator assembly 3 and the detection assembly 6, reduces the assembly difficulty and improves the electromagnetic compatibility of the whole machine.

[0042] Specifically, the working principle of the off-axis lidar of the present invention is as follows: Under the control of the radar control board 20, the light-emitting chip 22 emits laser light, which is collimated by the transmitting collimating lens 10 and then enters the transmitting folding reflector 5, where the light path is deflected by 90 degrees, forming a transmitted light path along the second direction. The echo laser reflected from the target object is focused by the receiving focusing lens 9 and deflected by 90 degrees by the receiving folding reflector 7, and then converges onto the detector 62. The detector 62 is soldered onto the receiving circuit board 61, realizing the conversion of optical signals into electrical signals. Under the control of the lidar main control board, the system realizes signal transmission and reception and performs laser ranging on the target.

[0043] The assembly process of the off-axis lidar of this invention is as follows: First, the distance between the light-emitting chip 22 and the emitting collimating lens 10 is adjusted using shims or threaded structures. Next, the light-emitting circuit board 21 is adjusted to make the emitting optical path and the rotating optical axis of the rotor body 41 coaxial. Then, the emitting folding reflector 5 is adjusted to make the emitting optical path emit horizontally. Next, a simulated detector 62 is placed at the position of the detector 62, and a laser is used to emit light, making the simulated detector 62 simulate a light source. The position of the simulated detector 62 is adjusted, and the position of the optical axis distance is adjusted so that the simulated detector 62 is at the focal plane of the receiving focusing lens 9. Then, the simulated detector 62 is moved on the focal plane so that the optical path formed by the light simulated by the simulated detector 62 after passing through the receiving folding reflector 7 and the receiving focusing lens 9 is parallel to the collimated emitting optical path. Finally, the detector 62 is used to replace the simulated detector 62, realizing the adjustment of the focal length of the receiving and transmitting optical paths and the coaxial adjustment of the transmitting and receiving paths.

[0044] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of those different embodiments or examples.

[0045] 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 at least one of that feature. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified.

[0046] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various variations or substitutions within the technical scope disclosed in this application, and these should all be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. An off-axis lidar, characterized in that, The application relates to a side-shaft laser radar. The side-shaft laser radar comprises a housing assembly, a laser emission assembly, a motor stator assembly, a motor rotor assembly, a detection assembly and a receiving fold mirror. The housing assembly comprises a first accommodating cavity and a light inlet and outlet. The laser emission assembly is arranged in the first accommodating cavity and is used for emitting laser. The motor stator assembly is arranged on one side of the first accommodating cavity close to the laser emission assembly. The motor stator assembly has a light guide channel extending along a first direction and used for guiding the laser to be emitted along the first direction away from the laser emission assembly. The motor rotor assembly is rotatably sleeved outside the motor stator assembly, and the rotation center line of the motor rotor assembly is coincident with the axial center line of the light guide channel. The emission fold mirror is arranged on the motor rotor assembly and is used for deflecting the laser emitted from the light guide channel by 90 degrees so that the laser is emitted outward to a target object along a second direction through the light inlet and outlet. The detection assembly is arranged on the side of the first accommodating cavity away from the motor stator assembly.

2. The paraxial lidar of claim 1, wherein, The receiving fold mirror is arranged on the motor rotor assembly and is used for deflecting the echo laser reflected from the target object by 90 degrees so that the echo laser is emitted to the detection assembly along the first direction. The laser emission assembly, the light guide channel, the emission fold mirror, the receiving fold mirror and the detection assembly are arranged in sequence along the first direction. The motor rotor assembly comprises a rotor body and an optical seat. The optical seat is provided with a connecting part and an isolation part.

3. The paraxial laser radar of claim 2 wherein, The first end of the connecting part is connected with the rotor body. The connecting part is arranged around one end of the light guide channel close to the emission fold mirror. The connecting part has a laser emission port between the emission fold mirror and the light inlet and outlet.

4. The paraxial lidar of claim 1, wherein, The isolation part is arranged at the second end of the connecting part and covers the second end opening of the connecting part.

5. The paraxial laser radar of claim 4 wherein, The emission fold mirror is arranged inside the isolation part and is located in the connecting part. The receiving fold mirror is arranged outside the isolation part. The end of the rotor body has a first connecting hole. The connecting part has a second connecting hole coaxially arranged with the first connecting hole. The motor rotor assembly further comprises a fastener. The head of the fastener is located on the side of the end of the connecting part away from the rotor body. The rod of the fastener is sequentially arranged through the second connecting hole and the first connecting hole to connect the connecting part and the rotor body together. The emission fold mirror and the receiving fold mirror are both plane mirrors. The side-shaft laser radar further comprises A receiving focusing lens is arranged on the motor rotor assembly, and is located between the light inlet and outlet and the receiving fold mirror, and is used to converge the echo laser light reflected from the target object.

6. The paraxial laser radar of claim 1 wherein, The transmitting fold mirror and the receiving fold mirror are both concave mirrors.

7. The paraxial laser radar of claim 1 wherein, The off-axis laser radar further comprises: A transmitting collimating lens is arranged on the motor stator assembly, and is located between the light guide channel and the transmitting fold mirror.

8. The paraxial lidar of claim 7, wherein, The transmitting collimating lens covers one end of the light guide channel close to the transmitting fold mirror.

9. The paraxial laser radar of claim 1 wherein, The housing assembly further comprises: A main base body having the first accommodating cavity and the light inlet and outlet; and A light-transmitting cover arranged on the main base body and covering the light inlet and outlet.

10. The paraxial lidar of claim 9, wherein, The main base body comprises: A first mounting base body provided with a vertical mounting portion and a horizontal mounting portion, the horizontal mounting portion being arranged at a first end of the vertical mounting portion, and the detection assembly being arranged inside the horizontal mounting portion; A second mounting base body arranged at a second end of the vertical mounting portion, the second mounting base body, the vertical mounting portion and the horizontal mounting portion together forming the first accommodating cavity and the light inlet and outlet, the laser emitting assembly being arranged inside the second mounting base body, the light-transmitting cover being connected with the vertical mounting portion and being located between the second mounting base body and the horizontal mounting portion; and An outer shell sleeved outside the first mounting base body and the second mounting base body, and a second accommodating cavity being formed between the outer shell and the vertical mounting portion, the second accommodating cavity accommodating a radar control board, the radar control board being electrically connected with the laser emitting assembly, the motor stator assembly and the detection assembly.

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