A lidar

Abstract

The application discloses a laser radar and relates to the field of optical systems, and is used for solving the problem that the optical axis deviation of a transmitting light beam and a receiving field of view of the laser radar affects detection. The laser radar comprises a transmitting assembly, a receiving assembly and a control assembly. The transmitting assembly is used for emitting a light beam to the outside world and adjusting the emission direction of the light beam. The receiving assembly is used for collecting a return wave generated after the light beam is emitted to the outside world and forming a return light beam. The detecting assembly comprises a receiving part and a detecting part. The receiving part is provided with a reflecting surface. The reflecting surface is provided with a light transmission hole. When the light beam is aligned with the optical axis of the receiving assembly, the return light beam passes through the light transmission hole. The reflecting surface reflects the return light beam deviated from the light transmission hole. The detecting part receives the return light beam reflected by the reflecting surface and outputs a detection signal. The control assembly controls the transmitting assembly to adjust the emission direction of the light beam according to the detection signal. The application can detect the deflection of the transmitting light beam and adjust the direction of the transmitting light beam, so that the optical axis deviation of the transmitting light beam and the receiving field of view is avoided and the detection is affected.

Description

Technical Field

[0001] This invention relates to the field of optical systems, and in particular to a lidar. Background Technology

[0002] As a long-range remote sensing device, lidar has a very small transmission and reception field of view in order to ensure the echo signal-to-noise ratio and ranging accuracy. Furthermore, the optical axis of the transmitted beam and the optical axis of the reception field of view need to be aligned to ensure that the transmitted beam can be effectively received after being reflected by the target.

[0003] However, in real-world applications such as long-term field operations, vehicle-mounted bumps, airborne vibrations, or repeated handling and installation, lidar is prone to slight changes in the relative position and orientation of the transmitting and receiving optical components, which in turn causes the optical axis of the transmitting beam and the receiving field of view to shift.

[0004] The optical axis misalignment between the transmitted beam and the receiving field of view directly leads to a reduction in the spatial overlap area between them, resulting in a decrease in echo signal strength and consequently reduced ranging accuracy and detection probability. In more severe cases, the transmitted beam may completely deviate from the receiving field of view, at which point the lidar will be unable to capture a valid echo signal, resulting in signal loss. Summary of the Invention

[0005] The purpose of this invention is to provide a lidar that can detect the skewness of the emitted beam and adjust the direction of the emitted beam to avoid the optical axis of the emitted beam and the receiving field of view being skewed, thus affecting the detection.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] A lidar, comprising:

[0008] A transmitting component for emitting a light beam to the outside and capable of adjusting the direction of the emitted light beam;

[0009] A receiving component is used to collect the echo generated after the light beam is emitted to the outside world and form an echo beam.

[0010] A detection component includes a receiving unit and a detection unit. The receiving unit is disposed on the outgoing optical path of the receiving component and has a reflecting surface. The reflecting surface has a light-transmitting aperture, which allows the echo beam to pass through when the light beam is aligned with the optical axis of the receiving component. The reflecting surface reflects the echo beam that deviates from the light-transmitting aperture. The detection unit is disposed on the reflected optical path of the reflecting surface and is used to receive the echo beam reflected by the reflecting surface and output a detection signal. The detection signal reflects the position of the light spot of the echo beam reflected by the reflecting surface.

[0011] A control component, connected to the emitting component and the detector respectively, is used to control the emitting component to adjust the emission direction of the light beam according to the detection signal.

[0012] In some embodiments, the angle between the normal of the reflecting surface and the optical axis of the outgoing optical path of the receiving component is greater than 0° and less than 90°.

[0013] In some embodiments, the light-transmitting aperture is located at the center of the reflective surface.

[0014] In some embodiments, the end face of the receiving part is provided with a conical groove, the end face and the reflective surface are located at opposite ends of the receiving part, and the bottom of the conical groove communicates with the light-transmitting hole.

[0015] In some embodiments, the light-transmitting aperture is located at the focal plane of the receiving component.

[0016] In some embodiments, the detection unit includes:

[0017] A first converging element is disposed on the reflected light path of the reflecting surface, and is used to focus the echo beam reflected by the reflecting surface onto the position detector;

[0018] The position detector is disposed on the transmission light path of the first converging element.

[0019] In some embodiments, the detector further includes:

[0020] A first filter element is disposed on the transmission light path of the first converging element for filtering the echo beam reflected by the reflective surface.

[0021] In some embodiments, the transmitting component includes:

[0022] A reflective element, mounted on an adjustment frame, is used to reflect the light beam emitted from the light source, so that the light beam is emitted to the outside.

[0023] The adjustment frame is connected to the control component and is used to drive the reflective element to rotate.

[0024] In some embodiments, the receiving component includes:

[0025] A concave reflector is provided with a central light-transmitting area, which is used to collect the echo generated after the light beam is emitted to the outside and reflect the echo to a convex reflector;

[0026] The convex reflector is arranged opposite to the concave reflector to converge the echo, so that the converged echo beam passes through the central light-transmitting area and is then emitted.

[0027] The transmitting component includes:

[0028] A reflective element is used to reflect the light beam emitted from the light source, so that the light beam is emitted to the outside. The reflective element can be rotated to adjust the emission direction of the light beam. The reflective element is located on the side of the convex reflector that is opposite to the concave reflector.

[0029] In some embodiments, a collimating element, a second filter element, a second converging element, and a photodetector are sequentially arranged along the outgoing optical path of the receiving section.

[0030] The collimating element is used to collimate the echo beam passing through the light aperture;

[0031] The second filter element is used to filter the echo beam passing through the light aperture;

[0032] The second converging element is used to converge the echo beam that has passed through the second filter element to the photodetector.

[0033] As can be seen from the above technical solution, the beneficial effect of the present invention is that the lidar, through its detection component, can detect the skewness of the emitted beam relative to the optical axis of the receiving component, and adjust the direction of the emitted beam according to the skewness, so that the emitted beam is aligned with the optical axis of the receiving component. Therefore, the lidar of the present invention can detect the skewness of the emitted beam and adjust its direction, avoiding the skewness between the optical axes of the emitted beam and the receiving field of view, which would affect detection. Attached Figure Description

[0034] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, 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 the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0035] Figure 1 A schematic diagram of a lidar provided for one embodiment;

[0036] Figure 2 A schematic diagram of the receiver section of a lidar provided in one embodiment;

[0037] Figure 3 for Figure 2 The longitudinal sectional view of the receiving section shown.

[0038] The reference numerals in the accompanying drawings include:

[0039] 1-Transmitting component, 10-Light source, 11-Adjusting frame, 2-Receiving component, 21-Concave reflector, 22-Convex reflector, 3-Receiving part, 31-Light transmission hole, 32-Reflecting surface, 33-Conical groove, 34-End face, 4-Detecting part, 41-First converging element, 42-First filter element, 43-Position detector, 5-Collimating element, 6-Second filter element, 7-Second converging element, 8-Photodetector, 9-Data acquisition board, 12-Industrial control computer. Detailed Implementation

[0040] To enable those skilled in the art to better understand the technical solutions of this invention, the technical solutions of the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this invention.

[0041] For reference Figure 1 , Figure 1 A schematic diagram of a lidar provided for one embodiment, as shown below. Figure 1 As shown, the lidar provided in this embodiment includes:

[0042] The emitting component 1 is used to emit a light beam to the outside and can adjust the emission direction of the light beam;

[0043] Receiving component 2 is used to collect the echo generated after the light beam is emitted to the outside world and form an echo beam;

[0044] The detection component includes a receiving unit 3 and a detection unit 4. The receiving unit 3 is disposed on the outgoing light path of the receiving component 2. The receiving unit 3 is provided with a reflecting surface 32. The reflecting surface 32 is provided with a light-transmitting aperture 31. The light-transmitting aperture 31 is used to allow the echo beam to pass through the light-transmitting aperture 31 when the light beam is aligned with the optical axis of the receiving component 2. The reflecting surface 32 is used to reflect the echo beam that deviates from the light-transmitting aperture 31. The detection unit 4 is disposed on the reflected light path of the reflecting surface 32 and is used to receive the echo beam reflected by the reflecting surface 32 and output a detection signal. The detection signal reflects the position of the light spot of the echo beam reflected by the reflecting surface 32.

[0045] A control component, connected to the transmitting component 1 and the detection unit 4 respectively, is used to control the transmitting component 1 to adjust the emission direction of the light beam according to the detection signal.

[0046] The transmitting component 1 emits a light beam into the outside world. After the beam is emitted, it is reflected by the outside world, generating an echo. The receiving component 2 collects the echo, enabling the lidar to perform detection.

[0047] The outgoing optical path of the receiving component 2 refers to the optical path along which the receiving component 2 collects echoes from the outside and forms an echo beam, and the echo beam is emitted from the receiving component 2. The reflected optical path of the reflecting surface 32 refers to the optical path along which the echo beam reflected by the reflecting surface 32 propagates.

[0048] Alignment of the light beam emitted from the transmitting component 1 with the optical axis of the receiving component 2 means that the light beam emitted from the transmitting component 1 coincides with the optical axis of the receiving component 2. Specifically, it can mean that the optical axis of the light beam emitted from the transmitting component 1 coincides with the optical axis of the receiving component 2. The arrangement of the receiving unit 3 is such that when the light beam emitted from the transmitting component 1 to the outside is aligned with the optical axis of the receiving component 2, the echo light beam can pass through the light transmission hole 31 of the receiving unit 3.

[0049] When the light beam emitted by the transmitting component 1 is aligned with the optical axis of the receiving component 2, the echo beam can pass through the light-transmitting aperture 31 of the receiving unit 3, and the lidar can then detect the outside world based on the received echo beam. When the light beam emitted by the transmitting component 1 is deviated from the optical axis of the receiving component 2, the echo beam deviates from the light-transmitting aperture 31 and cannot pass through the light-transmitting aperture 31. The echo beam will then illuminate the reflecting surface 32, and the echo beam will be reflected at the reflecting surface 32. The detection unit 4 receives the echo beam reflected by the reflecting surface 32 and outputs a detection signal.

[0050] The detection signal reflects the position of the light spot of the echo beam reflected by the reflective surface 32. The position of the light spot can reflect the skewness of the light beam emitted by the transmitting component 1 to the outside relative to the optical axis of the receiving component 2.

[0051] In this embodiment, the lidar uses a detection component to detect the skewness of the emitted laser beam relative to the optical axis of the receiving component. Based on this skewness, the direction of the emitted laser beam is adjusted to align it with the optical axis of the receiving component. Therefore, this lidar can detect the skewness of the emitted beam and adjust its direction, preventing skewness between the emitted beam and the optical axis of the receiving field of view from affecting detection.

[0052] In some embodiments, the angle between the normal of the reflective surface 32 and the optical axis of the outgoing optical path of the receiving component 2 is greater than 0° and less than 90°. When the light beam emitted by the transmitting component 1 is deflected relative to the optical axis of the receiving component 2, the echo beam deviates from the light-transmitting aperture 31 and illuminates the reflective surface 32. The angle between the normal of the reflective surface 32 and the optical axis of the outgoing optical path of the receiving component 2 is greater than 0°, ensuring that the deflected echo beam is reflected by the reflective surface 32 and deviates from the outgoing optical path of the receiving component 2, and the reflected echo beam can be incident on the detection component. If the angle between the normal of the reflective surface 32 and the optical axis of the outgoing optical path of the receiving component 2 is θ, then the angle between the echo beam reflected by the reflective surface 32 and the optical axis of the outgoing optical path of the receiving component 2 is 2θ.

[0053] In this embodiment, the angle θ between the normal of the reflecting surface 32 and the optical axis of the outgoing optical path of the receiving component 2 is not limited and can be 15±5°. The angle between the reflected echo beam and the optical axis of the outgoing optical path of the receiving component 2 is 30±10°. This angle will not significantly affect the effective passing shape of the light-transmitting aperture 31, and it can also create space between the reflected echo beam and the outgoing optical path of the receiving component 2, which can effectively arrange subsequent detectors.

[0054] In some embodiments, the light-transmitting aperture 31 is located at the center of the reflecting surface 32. The beam emitted from the transmitting component 1 can be deflected relative to the optical axis of the receiving component 2 in different directions circumferentially towards the optical axis of the receiving component 2. Therefore, the light-transmitting aperture 31 is located at the center of the reflecting surface 32, allowing the reflecting surface 32 around the light-transmitting aperture 31 to receive the echo beams collected when the emitted beam from the transmitting component 1 is deflected in different directions circumferentially towards the optical axis of the receiving component 2. This ensures that the detection component can effectively detect the deflection of the beam emitted from the transmitting component 1 and the optical axis of the receiving component 2 under different deflection conditions. In some embodiments, exemplarily, refer to... Figure 2 , Figure 2 This is a schematic diagram of the receiving section of a lidar according to one embodiment. The reflective surface 32 is circular, and the light-transmitting aperture 31 is located at the center of the reflective surface 32. The cross-section of the light-transmitting aperture 31 can be circular.

[0055] In some implementations, exemplarily, reference may be made to Figure 3 , Figure 3 for Figure 2 The longitudinal sectional view of the receiving section shown is as follows: Figure 3As shown, the end face 34 of the receiving part 3 is provided with a conical groove 33. The end face 34 and the reflecting surface 32 are located at opposite ends of the receiving part 3, and the bottom of the conical groove 33 communicates with the light-transmitting hole 31. When the echo beam is exactly incident on the light-transmitting hole 31, the echo beam passes through the light-transmitting hole 31 and exits from the conical groove 33 on the back of the receiving part 3. The shape of the conical groove 33 matches the form in which the echo beam is focused and then propagates in a divergent manner. Therefore, the light-transmitting hole 31 is provided on the front side (i.e., the reflecting surface 32) of the receiving part 3, and the conical groove 33 is provided on the back side (i.e., the end face 34) of the receiving part 3 to avoid the receiving part 3 affecting the propagation of the echo beam. The light-transmitting hole 31 can be referred to as an anisotropic aperture.

[0056] In some embodiments, the reflective surface 32 and the end face 34 of the receiving part 3 are not parallel, where the end face 34 of the receiving part 3 refers to the end face with the conical groove 33. The angle between the reflective surface 32 and the end face 34 of the receiving part 3 is θ. When the receiving part 3 is arranged in the optical path of the lidar, the end face 34 of the receiving part 3 can be perpendicular to the optical axis of the outgoing optical path of the receiving assembly 2, and the light-transmitting aperture 31 is located on the optical axis of the outgoing optical path of the receiving assembly 2. Accordingly, the angle between the normal of the reflective surface 32 of the receiving part 3 and the optical axis of the outgoing optical path of the receiving assembly 2 is θ, which facilitates the arrangement of the receiving part 3. In some embodiments, the reflective surface 32 of the receiving part 3 is coated with a high-reflectivity film, achieving a reflectivity of 99% or higher.

[0057] The light-passing aperture 31 can serve as an aperture stop in the outgoing optical path of the receiving component 2, allowing the echo beam to pass through while blocking background light. The light-passing aperture 31 also blocks background light outside the field of view of the receiving component 2. In some embodiments, the light-passing aperture 31 is located at the focal plane of the receiving component 2. This allows the echo collected by the receiving component 2 at the light-passing aperture 31 to be focused, enabling as many echoes as possible to pass through the aperture 31 and effectively blocking background light.

[0058] In some embodiments, the detection unit 4 includes: a first converging element 41 disposed on the reflected light path of the reflecting surface 32, for focusing the echo beam reflected by the reflecting surface 32 onto the position detector 43; the position detector 43 being disposed on the transmitted light path of the first converging element 41. The first converging element 41 may be, but is not limited to, a focusing lens, and may use a small focal length lens, thus enabling detection within the shortest possible optical path range and ensuring that the position detector, with its limited photosensitive surface diameter, can cover the largest possible deflection field of view. The position detector 43 may be, but is not limited to, a four-quadrant photodetector. Compared to traditional CCD cameras, using a four-quadrant photodetector provides better detection performance in low light, and the detected position information is sufficient to complete optical path consistency adjustment.

[0059] In some embodiments, the detection unit 4 further includes a first filter element 42, disposed in the transmission optical path of the first converging element 41, for filtering the echo beam reflected by the reflecting surface 32. The first filter element 42 allows light of the corresponding wavelength band of the echo beam to pass through, but does not allow light of other wavelength bands outside the corresponding wavelength band of the echo beam to pass through. The first filter element 42 can be a narrowband filter or an optical filter, with an optical efficiency of over 80% within its operating bandwidth. The background light is broadband light, with a spectral width of several hundred nanometers to greater than 1 micrometer, while the signal light (i.e., the echo) is narrowband light, for example, with a spectral width of less than one nanometer and a fixed wavelength. The first filter element 42 uses an optical filter with a slightly larger filtering bandwidth, such as 5-10 nm bandwidth, to ensure that non-parallel light can effectively pass through the filter, and also to avoid damage to the position detector from strong light under direct sunlight. In practical applications, the first filter element 42 can be selected with an appropriately low-performance filter, which can meet the requirements while appropriately controlling the cost.

[0060] In some embodiments, the detection signal output by the detection unit 4 reflects the deviation of the spot position of the echo beam reflected by the reflective surface 32 from a preset position. This deviation reflects the skewness of the beam emitted by the transmitting component 1 relative to the optical axis of the receiving component 2. In some embodiments, the control component adjusts the emission direction of the beam based on the detection signal by controlling the transmitting component 1 to adjust the emission direction of the beam, thereby reducing the deviation of the spot position of the echo beam reflected by the reflective surface 32 from the preset position. A decrease in the deviation of the spot position of the echo beam reflected by the reflective surface 32 from the preset position indicates a decrease in the skewness of the beam emitted by the transmitting component 1 relative to the optical axis of the receiving component 2, gradually aligning the two components.

[0061] In some embodiments, the control component is used to control the transmitting component 1 to adjust the emission direction of the light beam according to the detection signal. This includes: when the deviation of the position of the reflected beam spot from the reflective surface 32, as reflected by the detection signal, from a preset position is less than or equal to a preset value, the control component controls the transmitting component 1 to adjust the emission direction of the light beam by a first step distance; and when the deviation of the position of the reflected beam spot from the reflective surface 32, as reflected by the detection signal, from a preset position is greater than a preset value, the control component controls the transmitting component 1 to adjust the emission direction of the light beam by a second step distance, where the first step distance is less than the second step distance. For example, in an embodiment where the position detector 43 uses a four-quadrant photodetector, if the emitted light beam is deflected at a certain angle, the backscattered signal generated by the telescope will deviate from the position of the light-passing aperture 31 and illuminate the front-end reflective surface 32. After focusing and filtering, the signal will then illuminate one or both quadrants of the four-quadrant photodetector corresponding to the offset position. Based on the corresponding quadrant signal, the automatic adjustment frame is adjusted in the opposite direction to the light beam, thus restoring the optical path. After the optical path is readjusted, there is no situation where one or two quadrants of the four-quadrant photodetector have a significant signal, proving that the beam adjustment and restoration have been completed. For example, if the light spot on the four-quadrant photodetector falls on one or two quadrants, meaning only one or two quadrants of the four-quadrant photodetector have a signal, then the transmitting component 1 is controlled to adjust the direction of the beam, moving the light spot towards the quadrant with no signal. This adjustment can be done in larger step sizes, such as 5X step sizes. If there are signals in all four quadrants of the four-quadrant photodetector, but the signal strengths differ, the transmitting component 1 can be controlled to adjust the direction of the beam, moving the light spot towards the quadrant with lower intensity. This adjustment can be done in smaller step sizes, such as X step sizes. Ultimately, this ensures that all four quadrants of the four-quadrant photodetector have a uniform signal.

[0062] In some embodiments, the emitting component 1 includes a light source 10 for emitting a light beam. The light source 10 may be a variety of suitable lasers.

[0063] In some embodiments, the emitting assembly 1 further includes a reflective element for reflecting the light beam emitted from the light source 10, causing the light beam to be emitted outwards. The reflective element is rotatable to adjust the emission direction of the light beam. By controlling the rotation of the reflective element, the direction in which the light beam is reflected from the reflective element can be different, thereby adjusting the emission direction of the light beam. The reflective element can be positioned in front of the receiving assembly 2 facing outwards, and the light beam is emitted outwards after being reflected by the reflective element. The reflective element can be, but is not limited to, a reflector.

[0064] In some embodiments, the transmitting assembly further includes an adjustment frame 11, connected to a control assembly, for driving the reflective element to rotate, the reflective element being disposed on the adjustment frame 11. In some embodiments, the adjustment frame 11 may be, but is not limited to, a piezoelectric reflector frame. The adjustment frame is a electrically controllable reflector frame, comprising a base plate and a fixed plate, the fixed plate and the base plate being fixedly connected, the reflector being mounted on the fixed plate, and the angle of the fixed plate being changed by electrically controlling the rotation of the set screw of the base plate of the frame, thereby achieving adjustment of the direction of the reflected beam.

[0065] In some embodiments, the receiving component 2 includes: a concave reflector 21 with a central light-transmitting area for collecting the echo generated after the light beam is emitted to the outside and reflecting the echo to a convex reflector 22; the convex reflector 22 is disposed opposite to the concave reflector 21 for converging the echo, so that the converged echo beam passes through the central light-transmitting area and is emitted. The concave reflector 21 and the convex reflector 22 form a telescope.

[0066] In some embodiments, the transmitting assembly 1 includes a reflecting element for reflecting the light beam emitted from the light source 10, causing the light beam to exit outward. The reflecting element is rotatable to adjust the exit direction of the light beam. The reflecting element is located on the side of the convex reflector 22 facing away from the concave reflector 21, which facilitates the alignment of the light beam emitted from the transmitting assembly 1 with the optical axis of the receiving assembly 2. In some embodiments, the receiving assembly 2 may be a telescope.

[0067] In some embodiments, the lidar further includes a collimating element 5, a second filter element 6, a second converging element 7, and a photodetector 8 arranged sequentially along the output optical path of the receiving unit 3: the collimating element 5 is used to collimate the echo beam passing through the light-transmitting aperture 31; the second filter element 6 is used to filter the echo beam passing through the light-transmitting aperture 31; the second converging element 7 is used to converge the echo beam transmitted through the second filter element 6 to the photodetector 8. The second filter element 6 allows light of the corresponding wavelength band of the echo beam to pass through, but does not allow light of other wavelength bands outside the corresponding wavelength band of the echo beam to pass through. The second filter element 6 can be a narrowband filter, with an optical efficiency of over 80% within the operating bandwidth. The background light is broadband light, with a spectral width of several hundred nanometers to greater than 1 micrometer, while the signal light (i.e., the echo) is narrowband light, for example, with a spectral width of less than one nanometer and a fixed wavelength. The second filter element 6 can use a narrowband filter with an effective width of approximately 1 nanometer. The photodetector 8 performs photoelectric conversion and outputs an electrical signal based on the received echo beam. Collimating element 5 may be, but is not limited to, a collimating lens. Second converging element 7 may be, but is not limited to, a focusing lens.

[0068] In some implementations, the control components include: a data acquisition board 9 for converting analog signals into digital signals; and an industrial computer 12 connected to the data acquisition board 9 for performing inversion calculations based on the digital signals.

[0069] The lidar provided by this invention has been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this invention. The descriptions of the embodiments above are merely for the purpose of helping to understand the method and core ideas of this invention. It should be noted that those skilled in the art can make various improvements and modifications to this invention without departing from its principles, and these improvements and modifications also fall within the protection scope of this invention.

Claims

1. A lidar, characterized in that, include: A transmitting component for emitting a light beam to the outside and capable of adjusting the direction of the emitted light beam; A receiving component is used to collect the echo generated after the light beam is emitted to the outside world and form an echo beam. A detection component includes a receiving unit and a detection unit. The receiving unit is disposed on the outgoing optical path of the receiving component and has a reflecting surface. The reflecting surface has a light-transmitting aperture, which allows the echo beam to pass through when the light beam is aligned with the optical axis of the receiving component. The reflecting surface reflects the echo beam that deviates from the light-transmitting aperture. The detection unit is disposed on the reflected optical path of the reflecting surface and is used to receive the echo beam reflected by the reflecting surface and output a detection signal. The detection signal reflects the position of the light spot of the echo beam reflected by the reflecting surface. A control component, connected to the emitting component and the detector respectively, is used to control the emitting component to adjust the emission direction of the light beam according to the detection signal.

2. The lidar according to claim 1, characterized in that, The angle between the normal of the reflecting surface and the optical axis of the outgoing optical path of the receiving component is greater than 0° and less than 90°.

3. The lidar according to claim 1, characterized in that, The light-transmitting aperture is located at the center of the reflective surface.

4. The lidar according to claim 1, characterized in that, The end face of the receiving part is provided with a conical groove, the end face and the reflective surface are located at opposite ends of the receiving part, and the bottom of the conical groove is connected to the light-transmitting hole.

5. The lidar according to claim 1, characterized in that, The light-transmitting aperture is located at the focal plane of the receiving component.

6. The lidar according to claim 1, characterized in that, The detection unit includes: A first converging element is disposed on the reflected light path of the reflecting surface, and is used to focus the echo beam reflected by the reflecting surface onto the position detector; The position detector is disposed on the transmission light path of the first converging element.

7. The lidar according to claim 6, characterized in that, The detection unit also includes: A first filter element is disposed on the transmission light path of the first converging element for filtering the echo beam reflected by the reflective surface.

8. The lidar according to claim 1, characterized in that, The transmitting component includes: A reflective element, mounted on an adjustment frame, is used to reflect the light beam emitted from the light source, so that the light beam is emitted to the outside. The adjustment frame is connected to the control component and is used to drive the reflective element to rotate.

9. The lidar according to any one of claims 1 to 8, characterized in that, The receiving component includes: A concave reflector is provided with a central light-transmitting area, which is used to collect the echo generated after the light beam is emitted to the outside and reflect the echo to a convex reflector; The convex reflector is arranged opposite to the concave reflector to converge the echo, so that the converged echo beam passes through the central light-transmitting area and is then emitted. The transmitting component includes: A reflective element is used to reflect the light beam emitted from the light source, so that the light beam is emitted to the outside. The reflective element can be rotated to adjust the emission direction of the light beam. The reflective element is located on the side of the convex reflector that is opposite to the concave reflector.

10. The lidar according to any one of claims 1 to 8, characterized in that, It also includes a collimating element, a second filter element, a second converging element, and a photodetector arranged sequentially along the outgoing light path of the receiving section: The collimating element is used to collimate the echo beam passing through the light aperture; The second filter element is used to filter the echo beam passing through the light aperture; The second converging element is used to converge the echo beam that has passed through the second filter element to the photodetector.

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