Airborne laser radar

Abstract

The utility model provides an airborne laser radar which comprises a main machine shell, a laser, an emergent light adjusting assembly and a scanning assembly are arranged in the main machine shell, the scanning assembly comprises a main frame, a rotatable tower mirror is arranged on the main frame, the tower mirror is provided with a plurality of reflecting surfaces in the circumferential direction of a main shaft, the main machine shell is provided with a transparent window mirror, and the emergent light adjusting assembly comprises a right-angle reflecting prism. The laser emits pulse laser beams, the angle of the pulse laser beams is adjusted through the right-angle reflecting prism, and the laser beams reach the scanning assembly. A light gathering cover is further arranged, the right-angle reflecting prism is arranged in the center of one side of the light gathering cover, a light receiving plate is arranged on the other side of the light gathering cover, laser is reflected by a target, penetrates through the window mirror to reach the tower mirror, is reflected to the light gathering cover through the reflecting face and is finally gathered to the light receiving plate, and the problems that a traditional laser radar is not compact enough in structure, heavy in weight and large in flight resistance are solved.

Description

Technical Field

[0001] This utility model relates to the field of lidar, and in particular to an airborne lidar. Background Technology

[0002] Airborne lidar is a complex system integrating multiple technologies, such as GPS, inertial navigation systems, lidar, digital cameras, central control units, data processing software, and multi-sensor fusion. Its core component is the internal laser scanning device. Airborne lidar emits laser pulses towards the ground and receives the reflected pulses. By measuring the time interval between emission and return of the laser pulse and using the speed of light constant, the propagation distance of the laser pulse can be calculated, thus determining the precise location of a point on the ground.

[0003] Most existing lidar systems are large and heavy, and their external structures protrude and do not conform to streamlined design, making them unsuitable for use on drones. Utility Model Content

[0004] This invention provides an airborne lidar that solves the problems of traditional lidar having an insufficiently compact structure, heavy weight, and high flight drag.

[0005] To solve the above-mentioned technical problems, the technical solution adopted by this utility model is as follows: an airborne lidar includes a main housing, inside which a laser, an emission light adjustment component, and a scanning component are provided. The scanning component includes a main frame, on which a rotatable turret mirror is provided. The turret mirror has multiple reflective surfaces along the main axis. The main housing is provided with a transparent window mirror. The emission light adjustment component includes a right-angle reflecting prism. The laser emits a pulsed laser beam, which is adjusted at an angle by the right-angle reflecting prism before reaching the scanning component. The laser beam is reflected by the reflective surfaces and passes through the window mirror to reach the outside. A focusing hood is also provided. The right-angle reflecting prism is located in the center of one side of the focusing hood. A light-collecting plate is provided on the other side of the focusing hood. The laser beam is reflected by the target, passes through the window mirror, reaches the turret mirror, is reflected by the reflective surfaces, reaches the focusing hood, and finally converges onto the light-collecting plate.

[0006] In a preferred embodiment, the emitted light adjustment assembly includes a mounting base block with a central hollow hole. A right-angle reflecting prism is disposed within the central hollow hole. A collimator is provided on one side of the mounting base block, and an inclined plane reflecting mirror is provided at the end of the collimator. The laser light originates from the collimator, is reflected by the plane reflecting mirror, and then reflected again onto the right-angle reflecting prism. The collimator is rotatable. A rotating seat is provided on one side of the right-angle reflecting prism, and the rotating seat is rotatably connected to the inner wall of the central hollow hole. The rotation axis of the collimator and the axis of the rotating seat are arranged in a skewed intersecting pattern.

[0007] In a preferred embodiment, the mounting base block has a side lug seat on its side wall, the side lug seat has a through hole, the through hole of the side lug seat is rotatably sleeved with the collimator, a first adjustment seat is provided between the end of the collimator and the plane mirror, a first base block is provided at the end of the side lug seat, and a first adjustment screw and a second adjustment screw are provided on the first base block with threaded connection, the ends of the first adjustment screw and the second adjustment screw pass through the first base block to abut against the first adjustment seat.

[0008] In the preferred embodiment, the first adjusting seat is provided with a first arc-shaped hole and a pin hole. A first locking screw is provided in the first arc-shaped hole. The first locking screw is threadedly connected to the side ear seat. The side ear seat is provided with a countersunk hole, which communicates with the pin hole. The diameter of the countersunk hole is larger than that of the pin hole.

[0009] In a preferred embodiment, a rotatable second adjustment seat is provided on the outer wall of the central hollow hole. The second adjustment seat is connected to the rotating seat of the right-angle reflecting prism. A second base block is provided on one side of the port of the central hollow hole. A third adjustment screw and a fourth adjustment screw are provided on the second base block. The ends of the third adjustment screw and the fourth adjustment screw pass through the second base block to abut against the second adjustment seat.

[0010] In a preferred embodiment, the scanning assembly includes a rotatable main shaft, the main frame is provided with a first upright plate and a second upright plate, the two ends of the main shaft are rotatably connected to the first upright plate and the second upright plate respectively, and the tower mirror is sleeved on the main shaft and located between the first upright plate and the second upright plate.

[0011] In a preferred embodiment, the first vertical plate is provided with a first bearing, and the second vertical plate is provided with a second bearing. The two ends of the main shaft are respectively sleeved with the first bearing and the second bearing. The two ends of the main shaft are respectively provided with a first shoulder and a second shoulder. The first shoulder abuts against the end of the first bearing, and the second shoulder abuts against the inner ring of the second bearing. A corrugated spring is provided on the side of the second bearing on the second vertical plate away from the first bearing. One end of the corrugated spring presses against the outer ring of the second bearing. The second vertical plate is provided with a recessed space, and the corrugated spring is located in the recessed space. A pressure cap is provided at the opening end of the recessed space. The pressure cap abuts against the other end of the corrugated spring. The pressure cap is provided with a clamping screw, and the clamping screw is threadedly connected to the second vertical plate.

[0012] In a preferred embodiment, a tower mirror drive motor is also provided. The tower mirror drive motor includes a motor stator and a motor rotor that are fitted together. A motor base is provided on the inner side of the second vertical plate, and the motor stator is fitted on the motor base. The tower mirror is provided with a flange, and the motor rotor is fitted on the inner side of the flange. An encoder is provided on the second vertical plate, and the end of the main shaft near the tower mirror drive motor is fitted with the encoder.

[0013] In the preferred embodiment, the main unit housing also includes a data processing and central control module, an analog-to-digital converter board, and a multi-function board, while the main unit housing also includes a camera interface, a power and signal interface, and an aircraft connector.

[0014] The beneficial effects of this utility model are as follows: the main components are encapsulated inside a smooth outer shell, and the pulsed laser is mainly transmitted and received through a transparent window on the shell, which effectively reduces wind resistance; the compact component layout and lightweight design of each component reduce the overall volume and weight of the device; it has an output light adjustment function, which can quickly correct the optical axis; the scanning tower mirror adopts a dual support point structure, which effectively reduces the sway and axial movement of the tower mirror during rotation and improves the scanning accuracy. Attached Figure Description

[0015] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0016] Figure 1 This is a schematic diagram of the internal components of the main unit's casing.

[0017] Figure 2 This is a schematic diagram of the main scanning mechanism.

[0018] Figure 3 This is a schematic diagram of the back side of the mounting base block.

[0019] Figure 4 This is an exploded view of each circuit board.

[0020] Figure 5 This is a schematic diagram of the bottom interface.

[0021] Figure 6 This is a schematic diagram of the emitted light adjustment component. Figure 1 .

[0022] Figure 7 This is a schematic diagram of the emitted light adjustment component. Figure 2 .

[0023] Figure 8 This is a schematic diagram of the fixing structure of the adjustment seat.

[0024] Figure 9 This is a diagram of the scanning component structure.

[0025] Figure 10 It is a cross-sectional view of the scanned component.

[0026] Figure 11 It is a cross-sectional view of the structure of the scanning component.

[0027] Figure 12 This is a cross-sectional view of the tower.

[0028] Figure 13 This is a structural diagram of the tower mirror.

[0029] In the diagram: Outgoing light adjustment assembly 1; Collimator 101; Plane mirror 102; First adjustment seat 103; Mounting base block 104; First base block 105; First adjusting screw 106; Second adjusting screw 107; Right-angle reflecting prism 108; Rotary seat 109; Second adjustment seat 110; Second base block 111; Third adjusting screw 112; Fourth adjusting screw 113; Right-angle prism reflected light 114; Optical axis 115; Central hollow hole 116; Side lug seat 117; Light transmission hole 118; First arc-shaped hole 119; First locking screw 120; Countersunk hole 121; Pin hole 122; Outgoing line position 2; Laser moving line 201; Scanning assembly 3; Main spindle 301; First bearing 302; Second bearing 303; Main frame 304; First end lock nut 305; End cap 306 ; Motor mount 307; Retaining ring 308; End lock screw 309; Corrugated spring 310; Pressure cap 311; Tower mirror 312; Second end lock nut 313; Motor rotor 314; Flange 315; Motor stator 316; First upright plate 317; Second upright plate 318; Reflective surface 319; First shoulder 320; Second shoulder 321; Clamping screw 322; Slotted space 323; Encoder 4; Data processing and central control module 5; Main unit cover 6; Window mirror 601; Laser 7; Main unit housing 8; Data interface 9; Switching device 10; Multifunctional board 11; Analog-to-digital converter board 12; Light receiving plate 13; Light receiving adjustment device 14; Seed light plate 15; Condenser 16; Camera interface 17; Power and signal interface 18; Aircraft connector 19; Inertial sensor 20. Detailed Implementation

[0030] like Figure 1-13 An airborne lidar includes a main housing, within which a laser 7, an emission light adjustment assembly 1, and a scanning assembly 3 are housed. The scanning assembly 3 includes a main frame 304, on which a rotatable turret mirror 312 is mounted. The turret mirror 312 has multiple reflective surfaces 319 circumferentially along a main axis 301. The main housing has a transparent window mirror 601. The emission light adjustment assembly 1 includes a right-angle reflecting prism 108. The laser 7 emits a pulsed laser beam, which is adjusted at an angle by the right-angle reflecting prism 108 before reaching the scanning assembly 3. The laser beam is reflected by the reflective surfaces 319 and passes through the window mirror 601 to reach the outside. A focusing hood 16 is also provided, with the right-angle reflecting prism 108 located at the center of one side of the focusing hood 16. A light-collecting plate 13 is provided on the other side of the focusing hood 16. The laser beam is reflected by the target, passes through the window mirror 601, reaches the turret mirror 312, is reflected by the reflective surfaces 319, returns to the focusing hood 16, and finally converges onto the light-collecting plate 13.

[0031] The light-collecting cover 16 is a conical or arc-shaped surface, and the light-collecting plate 13 is equipped with a photodetector that can receive the reflected laser light and convert it into an electrical signal.

[0032] In a preferred embodiment, the emitted light adjustment assembly 1 includes a mounting base block 104 with a central hollow hole 116. A right-angle reflecting prism 108 is disposed within the central hollow hole 116. A collimator 101 is provided on one side of the mounting base block 104, and an inclined plane reflecting mirror 102 is provided at the end of the collimator 101. The laser light originates from the collimator 101, is reflected by the plane reflecting mirror 102, and then reflected again onto the right-angle reflecting prism 108. The collimator 101 is rotatable. A rotating seat 109 is provided on one side of the right-angle reflecting prism 108. The rotating seat 109 is rotatably connected to the inner wall of the central hollow hole 116. The rotation axis of the collimator 101 and the axis of the rotating seat 109 are arranged in a skewed intersecting pattern.

[0033] The central hollow hole 116 has a light-transmitting hole 118 on its side wall, which is used to reflect light from the plane mirror 102 to the right-angle reflecting prism 108. The central axis of the central hollow hole 116 is in the direction of the theoretical optical axis 115. The light ray 114 reflected by the right-angle prism needs to be parallel to the optical axis 115.

[0034] The axis of the swivel base 109 is perpendicular to the central axis of the hollow hole 116.

[0035] One of the faces of the mounting base block 104 is the reference mounting face, which must be perpendicular to the optical axis 115.

[0036] The axis of rotation of collimator 101 and the axis of rotation of right-angle reflecting prism 108 can be arranged perpendicularly to each other.

[0037] When the planes are perpendicular, adjusting the plane mirror 102 only changes a single swing angle component. However, considering the actual position of the exit point 2, the vertical arrangement would result in an excessively large bending angle of the wire. Therefore, the collimator 101 is tilted at a certain angle to ensure that the wire is at a safe angle.

[0038] In a preferred embodiment, the mounting base block 104 has a side lug seat 117 on its side wall. The side lug seat 117 has a through hole and is rotatably connected to the collimator 101. A first adjustment seat 103 is provided between the end of the collimator 101 and the plane mirror 102. A first base block 105 is provided at the end of the side lug seat 117. A first adjustment screw 106 and a second adjustment screw 107 with threaded connection are provided on the first base block 105. The ends of the first adjustment screw 106 and the second adjustment screw 107 pass through the first base block 105 to abut against the first adjustment seat 103.

[0039] The side lug 117 is tilted at a certain angle, so that the central axis of the collimator 101 is not perpendicular to the central axis of the rotary seat 109. This ensures a reasonable bending angle for the wire in a compact mechanism arrangement. When the collimator 101 is rotated, the line drawn by the laser on the right-angle reflecting prism 108, such as the laser movement line 201, is an oblique line.

[0040] The first base block 105 has a through hole and a threaded sleeve for installing the first adjusting screw 106 and the second adjusting screw 107.

[0041] The first adjusting screw 106 pushes out the second adjusting screw 107 and retracts, causing the first adjusting seat 103 to rotate clockwise; the second adjusting screw 107 pushes out the first adjusting screw 106 and retracts, causing the emitted light adjusting assembly 1 to rotate counterclockwise.

[0042] In a preferred embodiment, the first adjusting seat 103 is provided with a first arc-shaped hole 119 and a pin hole 122. A first locking screw 120 is provided in the first arc-shaped hole 119. The first locking screw 120 is threadedly connected to the side ear seat 117. The side ear seat 117 is provided with a countersunk hole 121. The countersunk hole 121 communicates with the pin hole 122. The diameter of the countersunk hole 121 is larger than that of the pin hole 122.

[0043] Initially, the first locking screw 120 is loosened. After the optical axis is adjusted, the first locking screw 120 is tightened. Then, glue is poured into the pin hole 122, and part of the glue flows into the groove hole 121. After solidification, the angle between the first adjusting seat 103 and the side ear seat 117 is fixed.

[0044] In a preferred embodiment, the outer wall of the central hollow hole 116 is provided with a rotatable second adjustment seat 110. The second adjustment seat 110 is connected to the rotating seat 109 of the right-angle reflecting prism 108. A second base block 111 is provided on one side of the port of the central hollow hole 116. The second base block 111 is provided with a threaded third adjustment screw 112 and a fourth adjustment screw 113. The ends of the third adjustment screw 112 and the fourth adjustment screw 113 pass through the second base block 111 to abut against the second adjustment seat 110.

[0045] The pushing and rotating principle of the second adjusting seat 110 is similar to that of the first adjusting seat 103, and the locking structure can also adopt the same method as the locking structure of the first adjusting seat 103.

[0046] In a preferred embodiment, the scanning assembly 3 includes a rotatable spindle 301, and the main frame 304 is provided with a first upright plate 317 and a second upright plate 318. The two ends of the spindle 301 are rotatably connected to the first upright plate 317 and the second upright plate 318 respectively. The tower mirror 312 is sleeved on the spindle 301 and located between the first upright plate 317 and the second upright plate 318.

[0047] The main frame 304 has a U-shaped structure, and the main shaft 301 is supported at both ends, which makes it more stable and prevents swaying similar to that of a cantilever structure.

[0048] The tower mirror 312 has a concave cavity in the center, and the main shaft 301 has a positioning flange in the middle. The bottom end of the concave cavity abuts against the positioning flange, and the other side has a second end lock nut 313 that is threadedly connected to the Forbidden City to fix and clamp the tower mirror 312.

[0049] The main frame 304 has a U-shaped structure, and the main shaft 301 is supported at both ends, which makes it more stable and prevents swaying similar to that of a cantilever structure.

[0050] The tower mirror 312 has a concave cavity in the center, and the main shaft 301 has a positioning flange in the middle. The bottom end of the concave cavity abuts against the positioning flange, and the other side has a second end lock nut 313 that is threadedly connected to the Forbidden City to fix and clamp the tower mirror 312.

[0051] In a preferred embodiment, the first vertical plate portion 317 is provided with a first bearing 302, and the second vertical plate portion 318 is provided with a second bearing 303. The two ends of the main shaft 301 are respectively sleeved with the first bearing 302 and the second bearing 303. The two ends of the main shaft 301 are respectively provided with a first shaft shoulder 320 and a second shaft shoulder 321. The first shaft shoulder 320 abuts against the end of the first bearing 302, and the second shaft shoulder 321 abuts against the inner ring of the second bearing 303. The second shaft on the second vertical plate portion 318... A corrugated spring 310 is provided on the side of the bearing 303 away from the first bearing 302. One end of the corrugated spring 310 presses against the outer ring of the second bearing 303. The second vertical plate 318 is provided with a recessed space 323. The corrugated spring 310 is located in the recessed space 323. A pressure cap 311 is provided at the opening end of the recessed space 323. The pressure cap 311 abuts against the other end of the corrugated spring 310. The pressure cap 311 is provided with a clamping screw 322. The clamping screw 322 is threadedly connected to the second vertical plate 318.

[0052] The rotating tower mirror 312 can adjust the distance between the inner end of the pressure cap 311 and the bottom of the settling tank space 323 to change the degree of compression of the corrugated spring 310, thereby changing the clamping force on the outer ring of the second bearing 303 and adjusting the clearance of the second bearing 303.

[0053] It is also provided with an end lock screw 309 and a retaining ring 308. The inner ring of the second bearing 303 abuts against the retaining ring 308 on the side away from the first bearing 302. One end of the end lock screw 309 is threaded to the end of the main shaft 301 and presses against the retaining ring 308. The other end of the main shaft 301 is provided with a first end lock nut 305 abutting against the outer inner ring of the first bearing 302. The second vertical plate 318 is also provided with an end cap 306 abutting against the outer outer ring of the first bearing 302.

[0054] In a preferred embodiment, a tower mirror drive motor is also provided. The tower mirror drive motor includes a motor stator 316 and a motor rotor 314 that are fitted together. A motor base 307 is provided on the inner side of the second vertical plate 318, and the motor stator 316 is fitted onto the motor base 307. The tower mirror 312 is provided with a flange 315, and the motor rotor 314 is fitted onto the inner side of the flange 315. An encoder 4 is provided on the second vertical plate 318, and the end of the main shaft 301 near the tower mirror drive motor is fitted onto the encoder 4.

[0055] The flange 315 is fixedly connected to the tower mirror 312, and the tower mirror 312 is sleeved with the main shaft 301 and rotates synchronously.

[0056] The motor drives the spindle 301 in the middle so that the end is exposed for mounting the encoder 4.

[0057] In the preferred embodiment, the main unit housing also includes a data processing and central control module 5, an analog-to-digital converter board 12, and a multi-function board 11, while the main unit housing also includes a camera interface 17, a power and signal interface 18, and an aircraft connector 19.

[0058] The main unit casing includes a main unit cover 6 and a main unit housing 8. The main unit cover 6 is equipped with a window mirror 601. The main unit cover 6 takes into account the requirements of structural strength and lightweight design. The window mirror 601 has good light transmission, which can reduce the reflection loss and scattering of incident light. At the same time, a heating function is added to the window mirror 601, so that the window mirror 601 can maintain good performance even in extreme environments.

[0059] The airframe module integrates a laser 7, a data processing and central control module 5, an analog-to-digital converter board 12, a multi-function board 11, a heat dissipation module, a switching device 10, a data interface 9, a camera interface 17, an aircraft connector 19, and a power and signal interface 18.

[0060] Laser 7 is a customized high-precision laser, which is more compatible with the onboard lidar in terms of size, parameters, interface and accuracy;

[0061] The data processing and central control module 5 integrates the functions of processing point cloud data and controlling the operation of the entire lidar system. The core heat-generating unit of this module is in effective contact with the body through the heat sink, which efficiently conducts heat away and ensures the normal operation of the module.

[0062] The analog-to-digital converter board 12 can convert analog signals into digital signals;

[0063] The multi-function board 11 integrates functions such as motor control, power supply, GPS, encoder data conversion, and various peripheral interfaces;

[0064] The heat dissipation module uses heat sinks to efficiently transfer heat to the body. The body has heat sinks, and the cover plate and the heat sinks on the body form an effective airflow channel. Two fans effectively transfer the heat on the heat sinks to the outside of the device, ensuring the normal operation of the entire lidar system in extreme environments.

[0065] Data interface 9 can be either USB or Type-C;

[0066] Camera interface 17 allows external camera devices to be connected and integrated into this LiDAR system for use;

[0067] The aircraft connector 19 is the mechanical structure connecting the lidar system and the UAV, and its installation is simple and reliable.

[0068] The power and signal interface 18 can power the lidar system via a drone and connect to the antenna and data on the drone.

[0069] The scanning mirror module is mainly responsible for emitting the outgoing light and recovering the incoming light, which is mainly accomplished by the tower mirror 312. The tower mirror is fixed on the main shaft, which is supported by bearings at both ends. One bearing is equipped with a corrugated spring 310 to eliminate bearing clearance. The tower mirror 312 is driven by a motor, and there is an encoder 4 on the end face of the main shaft to control the motor.

[0070] The light-collecting module not only recovers the incident light but also adjusts the emitted and incident light. The main components of the light-collecting module are: a light-collecting cover 16, a light-collecting plate 13, a light-collecting adjustment device 14, a seed light plate 15, an inertial sensor 20, an emitted light adjustment device 1, and a collimator 101.

[0071] The lidar is mounted on a drone. It emits a pulsed laser beam through a high-precision laser 7. The laser beam is emitted through a collimator 101 and then through two reflectors. After reaching the reflective surface of the rotating turret mirror 312, the light is emitted through the window mirror 601.

[0072] The emitted laser pulse travels through the atmosphere to reach the surface of the target object and is reflected back from there. Because lasers have high directionality, they can be precisely pointed at a specific target.

[0073] When the laser pulse is reflected by the target, a portion of the energy passes sequentially through the window mirror 601, the tower mirror 312, and the focusing cover 16, before being received by the detector (integrated on the light-receiving plate 13), which records the time taken for this process. Based on the time required for the laser to travel to and from the target and the speed of light, the distance between the emission point and the target can be calculated.

[0074] By using the Global Positioning System (GPS integrated on the multifunction board 11) to determine the aircraft's position and the Inertial Navigation System (INS) to monitor the aircraft's attitude changes, the exact position and attitude of the aircraft at the time of each laser pulse emission can be known, and the measured distance can be converted into three-dimensional coordinates.

[0075] All collected data, including the location and intensity of the laser points and other possible information (such as the number of echoes), will be integrated to form point cloud data. A point cloud is a collection of points in three-dimensional space, where each point represents the location information of a point in the real world.

[0076] After the point cloud is filtered and classified by data processing software, products such as digital terrain models (DTM), digital surface models (DSM), and vegetation height models (CHM) can be obtained. These models can be used in various applications, such as urban planning, forest resource surveys, and disaster risk assessment.

[0077] Furthermore, the onboard laser scanning system also has an interface for connecting to a digital camera. When the onboard LiDAR is used in conjunction with a camera, the onboard laser scanning can acquire optical images, thereby providing richer geographic information. Combining LiDAR data and optical images, color information can be used to further enhance the data quality of point clouds and help to better understand and interpret the collected data.

[0078] The above embodiments are merely preferred technical solutions of this utility model and should not be considered as limitations on this utility model. The protection scope of this utility model should be the technical solution described in the claims, including equivalent substitutions of the technical features described in the claims. That is, equivalent substitutions and improvements within this scope are also within the protection scope of this utility model.

Claims

1. An airborne lidar, characterized in that: The main unit includes a housing, which houses a laser (7), an output light adjustment assembly (1), and a scanning assembly (3). The scanning assembly (3) includes a main frame (304), on which a rotatable tower mirror (312) is mounted. The tower mirror (312) has multiple reflecting surfaces (319) circumferentially along the main axis (301). The main unit housing has a transparent window mirror (601). The output light adjustment assembly (1) includes a right-angle reflecting prism (108). The laser (7) emits a pulsed laser beam that passes through the right-angle reflecting prism. (108) After adjusting the angle, the laser reaches the scanning component (3). After being reflected by the reflective surface (319), the laser passes through the window mirror (601) and reaches the outside. A condenser (16) is also provided. A right-angle reflecting prism (108) is located in the center of one side of the condenser (16). A light-collecting plate (13) is provided on the other side of the condenser (16). After being reflected by the target, the laser passes through the window mirror (601) and reaches the tower mirror (312). After being reflected by the reflective surface (319), the laser is reflected back to the condenser (16) and finally converges onto the light-collecting plate (13). The emitted light adjustment assembly (1) includes a mounting base block (104), which has a central hollow hole (116). A right-angle reflecting prism (108) is located inside the central hollow hole (116). A collimator (101) is located on one side of the mounting base block (104). An inclined plane reflecting mirror (102) is located at the end of the collimator (101). The laser light originates from the collimator (101), is reflected by the plane reflecting mirror (102), and then reflected again onto the right-angle reflecting prism (108). The collimator (101) is rotatable. A rotating seat (109) is located on one side of the right-angle reflecting prism (108). The rotating seat (109) is rotatably connected to the inner wall of the central hollow hole (116). The rotation axis of the collimator (101) and the axis of the rotating seat (109) are arranged in a skewed arrangement.

2. The airborne lidar according to claim 1, characterized in that: The mounting base block (104) has a side ear seat (117) on its side wall. The side ear seat (117) has a through hole. The through hole of the side ear seat (117) is rotatably connected to the collimator (101). A first adjustment seat (103) is provided between the end of the collimator (101) and the plane mirror (102). A first base block (105) is provided at the end of the side ear seat (117). A first adjustment screw (106) and a second adjustment screw (107) with threaded connection are provided on the first base block (105). The ends of the first adjustment screw (106) and the second adjustment screw (107) pass through the first base block (105) to abut against the first adjustment seat (103).

3. The airborne lidar according to claim 2, characterized in that: The first adjusting seat (103) is provided with a first arc-shaped hole (119) and a pin hole (122). The first arc-shaped hole (119) is provided with a first locking screw (120). The first locking screw (120) is threadedly connected to the side ear seat (117). The side ear seat (117) is provided with a countersunk hole (121). The countersunk hole (121) is connected to the pin hole (122). The diameter of the countersunk hole (121) is larger than that of the pin hole (122).

4. The airborne lidar according to claim 1, characterized in that: The outer wall of the central hollow hole (116) is provided with a rotatable second adjustment seat (110). The second adjustment seat (110) is connected to the rotating seat (109) of the right-angle reflecting prism (108). A second base block (111) is provided on one side of the port of the central hollow hole (116). The second base block (111) is provided with a threaded third adjustment screw (112) and a fourth adjustment screw (113). The ends of the third adjustment screw (112) and the fourth adjustment screw (113) pass through the second base block (111) to abut against the second adjustment seat (110).

5. The airborne lidar according to claim 1, characterized in that: The scanning assembly (3) includes a rotatable main shaft (301), and the main frame (304) is provided with a first upright plate (317) and a second upright plate (318). The two ends of the main shaft (301) are rotatably connected to the first upright plate (317) and the second upright plate (318) respectively. The tower mirror (312) is sleeved on the main shaft (301) and located between the first upright plate (317) and the second upright plate (318).

6. The airborne lidar according to claim 5, characterized in that: The first vertical plate (317) is provided with a first bearing (302), and the second vertical plate (318) is provided with a second bearing (303). The two ends of the main shaft (301) are respectively sleeved with the first bearing (302) and the second bearing (303). The two ends of the main shaft (301) are respectively provided with a first shaft shoulder (320) and a second shaft shoulder (321). The first shaft shoulder (320) abuts against the end of the first bearing (302), and the second shaft shoulder (321) abuts against the inner ring of the second bearing (303). The second bearing (303) is on the second vertical plate (318). A corrugated spring (310) is provided on the side away from the first bearing (302). One end of the corrugated spring (310) presses against the outer ring of the second bearing (303). The second vertical plate (318) is provided with a recessed space (323). The corrugated spring (310) is located in the recessed space (323). A pressure cap (311) is provided at the opening end of the recessed space (323). The pressure cap (311) abuts against the other end of the corrugated spring (310). The pressure cap (311) is provided with a clamping screw (322). The clamping screw (322) is threadedly connected to the second vertical plate (318).

7. The airborne lidar according to claim 5, characterized in that: The tower mirror drive motor is also provided. The tower mirror drive motor includes a motor stator (316) and a motor rotor (314) that are connected together. A motor seat (307) is provided on the inner side of the second vertical plate (318). The motor stator (316) is connected to the motor seat (307). The tower mirror (312) is provided with a flange (315). The motor rotor (314) is connected to the inner side of the flange (315). An encoder (4) is provided on the second vertical plate (318). The end of the main shaft (301) near the tower mirror drive motor is connected to the encoder (4).

8. The airborne lidar according to claim 1, characterized in that: The main unit housing also includes a data processing and central control module (5), an analog-to-digital converter board (12), and a multi-function board (11). The main unit housing also includes a camera interface (17), a power and signal interface (18), and an aircraft connector (19).

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