Optical assembly and lidar

Abstract

The application provides an optical assembly and a laser radar. The optical assembly comprises a shell, a seat body, and a cover. The cover is detachably connected to the seat body. The optical assembly further comprises a transmitting assembly, a receiving assembly, and a first optical element. The transmitting assembly is detachably connected to the shell and is used for transmitting detection laser for detecting a target object. The receiving assembly is detachably connected to the shell and is used for receiving the detection laser reflected by the target object. The first optical element is detachably connected to the shell. The first optical element has a reflecting surface and a light exit hole. The detection laser emitted by the transmitting assembly passes through the light exit hole and is emitted to the target object. The detection laser reflected by the target object is reflected by the reflecting surface and is reflected to the receiving assembly. The optical assembly integrates the optical transceiver system into one shell. The laser radar scanning can be realized by coupling the optical assembly and the scanning system light signal inlet, the manufacturing process is simplified, and the production efficiency is improved.

Description

Technical Field

[0001] This application relates to the technical field of lidar, and more specifically, to an optical component and lidar. Background Technology

[0002] Self-propelled devices often require LiDAR (Light Detection and Ranging) to detect surrounding obstacles, thereby assisting the device in walking or performing corresponding tasks. Currently, the optical components of LiDAR are quite complex, including multiple unit components such as light sources, lens assemblies, receiving units, and scanning units. The precise assembly of these multiple unit components is necessary to achieve accurate target detection along the walking path. In addition, the individual assembly of multiple unit components also reduces the production efficiency of LiDAR. Utility Model Content

[0003] The purpose of this application is to address the technical problems in related technologies by providing an optical component and a lidar. The specific solution is as follows:

[0004] This application provides an optical component, including:

[0005] The housing includes a base and a cover, the cover being detachably connected to the base;

[0006] The emitting component is detachably connected to the housing and is used to emit a detection laser for detecting a target object;

[0007] A receiving component, detachably connected to the housing, is used to receive the detection laser reflected by the target object;

[0008] A first optical element is detachably connected to the housing. The first optical element has a reflective surface and a light-emitting aperture. The detection laser emitted by the emitting component passes through the light-emitting aperture and is directed to the target object. The detection laser reflected by the target object is reflected by the reflective surface and then to the receiving component.

[0009] In one embodiment, the housing has a first positioning groove and / or a second positioning groove, the first positioning groove and / or the second positioning groove being used to engage the first optical element, and the first optical element being positioned within the housing through the first positioning groove and / or the second positioning groove.

[0010] In one embodiment, the reflective surface of the first optical element forms a first angle with respect to the light-receiving surface of the receiving component.

[0011] In one embodiment, the first angle is 45 degrees.

[0012] In one embodiment, the axis of the light-emitting aperture forms a second angle with respect to the reflecting surface of the first optical element.

[0013] In one embodiment, the second angle is 45 degrees.

[0014] In one embodiment, the seat body is provided with a first snap-fit ​​structure, and the first positioning groove is provided on the first snap-fit ​​structure.

[0015] In one embodiment, the housing is provided with a second snap-fit ​​structure, and the second positioning groove is provided on the second snap-fit ​​structure.

[0016] In one embodiment, the optical assembly further includes a second optical element detachably connected to the housing and located on the light-emitting side of the emitting assembly. The second optical element is used to collimate the detection laser emitted by the emitting assembly.

[0017] In one embodiment, the housing has a third positioning groove and / or a fourth positioning groove, the third positioning groove and / or the fourth positioning groove being used to engage the second optical element, the second optical element being positioned within the housing via the third positioning groove and / or the fourth positioning groove.

[0018] In one embodiment, the seat body is provided with a third snap-fit ​​structure, and the third positioning groove is provided on the third snap-fit ​​structure.

[0019] In one embodiment, the housing is provided with a fourth snap-fit ​​structure, and the fourth positioning groove is provided on the fourth snap-fit ​​structure.

[0020] In one embodiment, the first optical element is located between the emitting assembly and the second optical element, and the detection laser emitted by the emitting assembly passes sequentially through the light-emitting aperture of the first optical element and the second optical element before reaching the target object.

[0021] In one embodiment, the axis of the second optical element, the axis of the light-emitting aperture, and the light-emitting center of the emitting assembly are located on the same axis.

[0022] In one embodiment, the maximum field of view of the probe laser emitted by the emitting component when passing through the light exit aperture is less than or equal to the inner diameter of the light exit aperture, so that the probe laser emitted by the emitting component can completely pass through the light exit aperture without being reflected by the inner wall of the light exit aperture.

[0023] In one embodiment, a light guide channel is provided inside the housing. The light guide channel is located between the light-emitting side of the emitting component and the light-emitting hole, and the light guide channel and the light-emitting hole are connected. The detection laser emitted by the emitting component passes through the light guide channel and the light-emitting hole in sequence.

[0024] In one embodiment, the maximum field of view of the probe laser emitted by the emitting component when passing through the light guide channel is less than or equal to the minimum inner cavity size of the light guide channel, so that the probe laser emitted by the emitting component can pass completely through the light guide channel without being reflected by the inner wall of the light guide channel.

[0025] In one embodiment, the housing is provided with a first positioning hole, and at least a portion of the transmitting assembly is disposed within the first positioning hole.

[0026] In one embodiment, the axis of the first positioning hole and the axis of the light-emitting hole are located on the same axis.

[0027] In one embodiment, the emitting assembly includes a light source emitting element and a first control system. The light source emitting element is electrically connected to the first control system, and the first control system is used to control the light source emitting element to emit a detection laser.

[0028] In one embodiment, the outer side wall of the housing is provided with a first mounting groove, and the first control system is disposed in the first mounting groove.

[0029] In one embodiment, the housing is provided with a second positioning hole, and at least a portion of the receiving component is disposed within the second positioning hole.

[0030] In one embodiment, the receiving component includes a receiving element and a second control system. The receiving element is electrically connected to the second control system, which is used to process the detection laser received by the receiving element.

[0031] In one embodiment, the outer wall of the housing is provided with a second mounting groove, and the second control system is disposed in the second mounting groove.

[0032] In one embodiment, a positioning component is provided between the cover and the base, and the cover and the base are positioned relative to each other during installation.

[0033] In one embodiment, the positioning component includes a positioning protrusion and a first positioning groove. The positioning protrusion is disposed on one of the base and the cover, and the first positioning groove is disposed on the other of the base and the cover. The positioning protrusion and the first positioning groove are interlocked and adapted.

[0034] In one embodiment, the positioning protrusions are distributed along the edge of the cover or the base; the first positioning groove is adapted to the distribution of the positioning protrusions.

[0035] In one embodiment, the positioning component includes a positioning post and a second positioning groove. The positioning post is disposed on one of the base and the cover, and the second positioning groove is disposed on the other of the base and the cover. The positioning post and the second positioning groove are interlocked.

[0036] In one embodiment, the positioning post is located inside the cover or the base; the second positioning groove is adapted to the position of the positioning post.

[0037] This application also provides a lidar, including the optical components described in any of the above embodiments.

[0038] Compared with the prior art, this application has at least the following technical effects:

[0039] This application proposes an optical component and a lidar system. The optical component integrates an optical transceiver system into a single housing, achieving the dual functions of collimating the emitted light signal and focusing the received signal onto the receiving chip. LiDAR scanning can be achieved simply by coupling the optical component as a whole with the optical signal inlet of the scanning system, simplifying the manufacturing process and improving production efficiency. Furthermore, the modular components are easier to replace, reducing maintenance time and costs. The optical component allows for flexible selection or replacement of appropriate modules according to different application scenarios, enhancing the product flexibility of the lidar.

[0040] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0041] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. It is obvious that the drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort. In the drawings:

[0042] Figure 1 This is a schematic diagram of the overall structure of an optical component according to some embodiments.

[0043] Figure 2 This is a schematic diagram of the split structure of an optical component according to some embodiments.

[0044] Figure 3 This is a schematic diagram of the structure of the first optical element of an optical assembly according to some embodiments.

[0045] Figure 4 This is a schematic diagram of the mounting structure of an optical component according to some embodiments.

[0046] Figure 5 This is a schematic diagram of the housing structure of an optical component according to some embodiments.

[0047] Figure 6 This is a schematic diagram of the mounting structure of an optical component according to some embodiments.

[0048] Figure label:

[0049] 1. Housing; 101. Base; 102. Cover; 103. Connecting lug; 104. First positioning groove; 105. Second positioning groove; 106. First snap-fit ​​structure; 107. Second snap-fit ​​structure; 108. Light guide channel; 109. First positioning hole; 110. First mounting groove; 111. Second positioning hole; 112. Second mounting groove; 113. Third positioning groove; 114. Fourth positioning groove; 115. Third snap-fit ​​structure; 116. Fourth snap-fit ​​structure; 117. Positioning protrusion; 118. First positioning groove; 119. Positioning post; 120. Second positioning groove; 2. Transmitting assembly; 201. Light source emitting element; 202. First control system; 3. Receiving assembly; 301. Receiving element; 302. Second control system; 4. First optical element; 401. Reflecting surface; 402. Light emitting hole; 5. Second optical element. Detailed Implementation

[0050] To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0051] The terminology used in the embodiments of this application is for the purpose of describing particular embodiments only and is not intended to limit the application. The singular forms “a,” “the,” and “the” used in the embodiments of this application and the appended claims are also intended to include the plural forms, unless the context clearly indicates otherwise. “Multiple” generally includes at least two, and other quantifiers are similar.

[0052] It should be understood that although the terms "first," "second," "third," etc., may be used in the embodiments of this application, these descriptions should not be limited to these terms. These terms are only used to distinguish the described objects. For example, "first" may also be referred to as "second," and similarly, "second" may also be referred to as "first," without departing from the scope of the embodiments of this application. Furthermore, the terms "first," "second," "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0053] It should be understood that the term "and / or" used in this document is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, and B alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects have an "or" relationship. The singular forms "a" and "the" are also intended to include the plural forms unless the context clearly indicates otherwise.

[0054] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0055] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a product or device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a product or device. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the product or device that includes that element.

[0056] In related technologies, lidar optical components include multiple unit components such as a light source, lens assembly, and receiving unit. These components are independently configured and require debugging before assembly to obtain accurate detection signals. For example, the laser beam generated by the light source needs adjustment by the transmitting system to achieve the desired spot size and energy distribution. The design of the transmitting system affects the performance of the light source, such as beam quality and divergence angle. The layout and design of the transmitting system also affect the performance of the receiving system, such as the receiving angle and sensitivity. Conversely, the performance of the receiving system also influences the selection of the transmitting system, such as the need to match a suitable receiving angle. Therefore, if any component in the entire optical system deviates, it will affect the operating status of other components. Consequently, the assembly and debugging efficiency of lidar optical components is low.

[0057] This application provides an optical assembly, including a housing, a transmitting assembly, a receiving assembly, and a first optical element. The housing includes a base and a cover, the cover being detachably connected to the base. The transmitting assembly is detachably connected to the housing and is used to emit a detection laser for detecting a target object. The receiving assembly is detachably connected to the housing and is used to receive the detection laser reflected by the target object. The first optical element is detachably connected inside the housing and has a reflective surface and a light-emitting aperture. The detection laser emitted by the transmitting assembly passes through the light-emitting aperture and reaches the target object; the detection laser reflected by the target object is reflected by the reflective surface and then to the receiving assembly.

[0058] The optical assembly provided in this application integrates the optical transceiver system into a single housing. Multiple positioning structures are installed within the housing, allowing the transmitting component, receiving component, and optical elements to be snapped into the corresponding structures, thus assembling the optical assembly. LiDAR scanning can be achieved simply by coupling the entire optical assembly to the optical signal input of the scanning system, simplifying the manufacturing process and improving production efficiency. Furthermore, the modular components are easier to replace, reducing maintenance time and costs. The optical assembly allows for flexible selection or replacement of appropriate modules according to different application scenarios, enhancing the product flexibility of the LiDAR.

[0059] The optional embodiments of this application are described in detail below with reference to the accompanying drawings.

[0060] This application provides an optical component that is coupled to the optical signal input of a scanning system to form a lidar.

[0061] like Figure 1 and Figure 2As shown, the optical assembly includes a housing 1, which includes a base 101 and a cover 102. The cover 102 is detachably connected to the base 101, and the base 101 and the cover 102 are fastened together to form the integral structure of the housing 1. Optionally, at least one connecting lug 103 is provided on the outer side of the base 101 and the cover 102 respectively. After the connecting lugs 103 of the base 101 and the cover 102 are mated, the base 101 and the cover 102 are stably connected by fasteners such as bolts to form a structurally stable optical assembly. The optical assembly also includes a transmitting component 2 and a receiving component 3. The transmitting component 2 is detachably connected to one side of the housing 1, and the receiving component 3 is detachably disposed on the other side of the housing 1. The transmitting component 2 is used to emit a detection laser for detecting a target object, and the receiving component 3 is used to receive the detection laser reflected by the target object. The optical assembly also includes a first optical element 4, which is detachably disposed inside the housing 1. In this way, the transmitting component 2, the first optical element 4, and the receiving component 3 are detachably installed within the housing 1, offering the advantage of high assembly efficiency. This allows for convenient assembly of the transmitting component 2, the first optical element 4, and the receiving component 3 within the housing 1. Furthermore, when the transmitting component 2, the first optical element 4, and the receiving component 3 need to be replaced, they can be easily removed and installed. It should be noted that the replacement of the transmitting component 2, the first optical element 4, and the receiving component 3 may be necessary due to component failure or the original component no longer meeting requirements, necessitating replacement with a component with different parameters. Moreover, the fixed positions of the transmitting component 2, the first optical element 4, and the receiving component 3 within the housing 1 achieve modularity of the optical components. During operation, only coupling the modular optical components to the optical signal input of the scanning system is required to achieve LiDAR scanning. The optical components can be flexibly selected or replaced according to different application scenarios, improving the product flexibility of the LiDAR.

[0062] like Figure 3 As shown, the first optical element 4 has a reflective surface 401 and a light-emitting aperture 402. Specifically, the first optical element 4 is disposed on the light-emitting side of the emitting assembly 2. The light-emitting aperture 402 passes through the first optical element 4 along the optical path direction of the detection laser emitted by the emitting assembly 2, so that the detection laser emitted by the emitting assembly 2 can be emitted through the light-emitting aperture 402. The reflective surface 401 is the side of the first optical element 4 facing away from the emitting assembly 2, and the reflective surface 401 of the first optical element 4 faces the light-receiving surface of the receiving assembly 3. In this way, the detection laser emitted by the emitting assembly 2 is emitted to the target object after passing through the light-emitting aperture 402. The detection laser reflected by the target object is reflected by the reflective surface 401 and then to the receiving assembly 3. The receiving assembly 3 can process the received detection laser to form point cloud data of the surrounding environment.

[0063] In one embodiment, the reflecting surface 401 of the first optical element 4 forms a first angle with the light-receiving surface of the receiving component 3, optionally 45 degrees. With this configuration, when the detection laser reflected by the target object passes through the reflecting surface 401, the reflecting surface 401 can change the direction of the detection laser. Since the first angle is 45 degrees, the optical axis of the changed-direction detection laser can be aligned with the light-receiving surface of the receiving component 3, thereby allowing more detection laser reflected by the target object to be received by the receiving component 3, thus improving the accuracy of environmental detection.

[0064] In one embodiment, the light-emitting aperture 402 passes through the first optical element 4 along the optical path direction of the detection laser emitted by the emitting component 2, and the axis of the light-emitting aperture 402 forms a second angle with respect to the reflecting surface 401 of the first optical element 4, optionally 45 degrees. With this configuration, the penetration direction of the light-emitting aperture 402 is consistent with the optical path direction of the detection laser emitted by the emitting component 2, allowing the detection laser emitted by the emitting component 2 to pass directly through the light-emitting aperture 402 without reflection from the inner wall of the light-emitting aperture 402, thereby enabling more of the detection laser emitted by the emitting component 2 to reach the outside.

[0065] In one embodiment, the axis of the light-emitting aperture 402 and the light-emitting center of the emitting component 2 are located on the same axis. This arrangement further ensures that the penetration direction of the light-emitting aperture 402 is consistent with the optical path direction of the probe laser emitted by the emitting component 2.

[0066] In one embodiment, the maximum field of view of the detection laser emitted by the transmitting component 2 when passing through the exit aperture 402 is less than or equal to the inner diameter of the exit aperture 402, so that the detection laser emitted by the transmitting component 2 can pass completely through the exit aperture 402 without being reflected by the inner wall of the exit aperture 402. This further ensures that the detection laser emitted by the transmitting component 2 can pass directly through the exit aperture 402 without being reflected by the inner wall of the exit aperture 402, thereby allowing more of the detection laser emitted by the transmitting component 2 to reach the outside. It should be noted that the maximum field of view of the detection laser emitted by the transmitting component 2 when passing through the exit aperture 402 refers to the maximum field of view angle of the detection laser emitted by the transmitting component 2 in both the vertical and horizontal directions.

[0067] In one embodiment, such as Figure 4 , Figure 5 As shown, the housing 1 has a first positioning groove 104 or a second positioning groove 105, which is used to engage the first optical element 4 and to position the first optical element 4. In another embodiment, the housing 1 has a first positioning groove 104 and a second positioning groove 105, and the first optical element 4 is positioned within the housing 1 through the first positioning groove 104 and the second positioning groove 105.

[0068] In one embodiment, such as Figure 4 As shown, the base 101 has a first snap-fit ​​structure 106, which is located on the light-emitting side of the emitting assembly 2. A first positioning groove 104 is formed on the side of the first snap-fit ​​structure 106 opposite to the emitting assembly 2. The first positioning groove 104 is used to snap-fit ​​at least a portion of the first optical element 4. The first positioning groove 104 can be rectangular, circular, or elliptical, as long as it can stably snap-fit ​​the first optical element 4. This application does not impose any limitations on this.

[0069] In one embodiment, such as Figure 5 As shown, the housing 102 has a second snap-fit ​​structure 107, and a second positioning groove 105 is disposed on the second snap-fit ​​structure 107. The second positioning groove 105 is used to snap-fit ​​at least a portion of the first optical element 4. The second positioning groove 105 has a positioning function and can position the first optical element 4.

[0070] The first optical element 4 can be positioned and installed in the housing 1 solely through the first positioning groove 104. In this case, only the first snap-fit ​​structure 106 is provided in the housing 1, and the second snap-fit ​​structure 107 is not provided. Alternatively, the first optical element 4 can be positioned and installed in the housing 1 solely through the second positioning groove 105. In this case, only the second snap-fit ​​structure 107 is provided in the housing 1, and the first snap-fit ​​structure 106 is not provided. The first optical element 4 can also be positioned and installed in the housing 1 through the cooperation of the first positioning groove 104 and the second positioning groove 105. In this case, both the first snap-fit ​​structure 106 and the second snap-fit ​​structure 107 are provided in the housing 1. For example, when the first optical element 4 is positioned and installed using the cooperation of the first positioning groove 104 and the second positioning groove 105, the first optical element 4 is first snapped into the first positioning groove 104. After the first optical element 4 is snapped into the first positioning groove 104, at least part of the first optical element 4 will protrude from the first positioning groove 104. The part of the first optical element 4 protruding from the first positioning groove 104 extends towards the second positioning groove 105 and is inserted into the second positioning groove 105, thereby realizing the positioning and fastening of the first optical element 4 by the first positioning groove 104 and the second positioning groove 105.

[0071] In one embodiment, such as Figure 4As shown, a light guide channel 108 is provided inside the housing 1. The light guide channel 108 is located between the light-emitting side of the emitting component 2 and the light-emitting hole 402, and the light guide channel 108 and the light-emitting hole 402 are connected. The light guide channel 108 is a through hole that extends along the optical path of the detection laser emitted by the emitting component 2. The cross-section of the through hole can be circular, polygonal, etc., and this embodiment does not limit this. One end of the light guide channel 108 is connected to the light-emitting side of the emitting component 2, and the other end is connected to the light-emitting hole 402 after passing through the first snap-fit ​​structure 106. The detection laser emitted by the emitting component 2 passes through the light guide channel 108 and the light-emitting hole 402 in sequence. With this configuration, the light guide channel 108 can limit the divergence angle of the detection laser emitted by the emitting component 2 to narrow the maximum field of view of the detection laser, so that the detection laser emitted by the emitting component 2 can be completely emitted through the light-emitting hole 402.

[0072] In one embodiment, the maximum field of view of the probe laser emitted by the emitting component 2 when passing through the light guide channel 108 is less than or equal to the minimum inner cavity size of the light guide channel 108, so that the probe laser emitted by the emitting component 2 can pass through the light guide channel 108 completely without being reflected by the inner wall of the light guide channel 108. This avoids the loss of the probe laser emitted by the emitting component 2 and also avoids the formation of stray light in different directions, which would affect the accuracy of the scan.

[0073] In one embodiment, a first positioning hole 109 is provided on the outer wall of the housing 1, and at least a portion of the emitting component 2 is disposed within the first positioning hole 109. Specifically, the first positioning hole 109 is a through hole extending along the optical path direction of the detection laser emitted by the emitting component 2. One end of the first positioning hole 109 opens through the outer wall of the housing 1, and the other end of the first positioning hole 109 opens to communicate with the light guide channel 108. At least a portion of the emitting component 2 can be inserted into the first positioning hole 109 through the opening in the outer wall of the housing 1, thereby realizing the installation and fixation of the emitting component 2 within the first positioning hole 109. In this way, the first positioning hole 109 enables quick assembly and disassembly of the emitting component 2 on the housing 1, facilitating maintenance and replacement. At the same time, the first positioning hole 109 has a positioning effect, enabling the positioning of the emitting component 2.

[0074] In one embodiment, the axis of the first positioning hole 109 and the axis of the light-emitting hole 402 are coaxial, and the axis of the first positioning hole 109 and the axis of the light guide channel 108 are also coaxial. This arrangement ensures that the light-emitting center of the emitting component 2 is located on the axis of the first positioning hole 109, the light guide channel 108, and the light-emitting hole 402, thereby guaranteeing that the optical axis of the detection laser emitted by the emitting component 2 is coaxial with the axes of the first positioning hole 109, the light guide channel 108, and the light-emitting hole 402, which helps improve the accuracy of the detection laser emission direction.

[0075] In one embodiment, such as Figure 6 As shown, the emitting assembly 2 includes a light source emitting element 201 and a first control system 202. The light source emitting element 201 is electrically connected to the first control system 202, which controls the light source emitting element 201 to emit probe lasers. The light source emitting element 201 is used to generate laser pulses and includes a laser diode (LD) or a vertical cavity surface-emitting laser (VCSEL), etc.

[0076] In one embodiment, a first mounting groove 110 is provided on the outer side wall of one end of the housing 1. The first mounting groove 110 is a recessed groove extending inward from the outer surface of the housing 1, and communicates with a first positioning hole 109. At least a portion of the light source emitting element 201 is mounted in the first positioning hole 109. For example, at least a portion of the light source emitting element 201 is interference-fitted into the first positioning hole 109 to achieve stable mounting of the light source emitting element 201 within the first positioning hole 109. A first control system 202 is disposed within the first mounting groove 110. For example, a screw is threaded onto the circuit board of the first control system 202 and threadedly connected to the inner side wall of the first mounting groove 110. The first control system 202 is fastened within the first mounting groove 110 by the screw. The first control system 202 is electrically connected to the light source emitting element 201 through the first mounting groove 110 and the first positioning hole 109. The first control system 202 controls the light source emitting element 201 to emit a detection laser according to control commands.

[0077] In one embodiment, the side wall of the housing 1 is provided with a second positioning hole 111, and at least a portion of the receiving component 3 is disposed within the second positioning hole 111. The second positioning hole 111 penetrates the outer side wall of the housing 1, and the extending direction of the second positioning hole 111 points towards the reflecting surface 401. The axis of the second positioning hole 111 is perpendicular to the axis of the first positioning hole 109, and the axis of the second positioning hole 111 forms a third angle with the reflecting surface 401, preferably 45 degrees. With this configuration, the detection laser from the reflecting surface 401 can be directed toward the light-receiving surface of the receiving component 3 in a direction perpendicular to the light-receiving surface of the receiving component 3, thereby enabling the light-receiving surface of the receiving component 3 to more completely receive the detection laser from the reflecting surface 401.

[0078] In one embodiment, such as Figure 6 As shown, the receiving component 3 includes a receiving element 301 and a second control system 302. The receiving element 301 is electrically connected to the second control system 302. The second control system 302 is used to process the detection laser received by the receiving element 301. The receiving element 301 includes an avalanche photodiode (APD) or a silicon photomultiplier tube (SiPM), etc.

[0079] In one embodiment, the outer wall of the housing 1 is provided with a second mounting groove 112, which is a recessed groove extending inward from the outer surface of the housing 1, and communicates with a second positioning hole 111. At least a portion of the receiving element 301 is mounted in the second positioning hole 111. The second control system 302 is electrically connected to the receiving element 301, and the receiving element 301 transmits the laser receiving signal to the second control system 302 for processing. It should be noted that the way the receiving element 301 is mounted in the second positioning hole 111 can be the same as the way the light source emitting element 201 is mounted in the first positioning hole 109, and the way the second control system 302 is mounted in the second mounting groove 112 can be the same as the way the first control system 202 is mounted in the first mounting groove 110, which will not be elaborated here.

[0080] In one embodiment, such as Figure 6 As shown, the optical assembly also includes a second optical element 5, which is detachably connected to the housing 1 and located on the light-emitting side of the emitting assembly 2. The second optical element 5 is used to collimate the detection laser emitted by the emitting assembly 2. Optionally, the second optical element 5 can be a lens or a lens group. The first optical element 4 is located between the emitting assembly 2 and the second optical element 5. The detection laser emitted by the emitting assembly 2 passes sequentially through the light-emitting aperture 402 of the first optical element 4 and the second optical element 5 before reaching the target object. The detection laser reflected by the target object is received again by the second optical element 5 and then reflected by the reflective surface 401 of the first optical element 4 before reaching the receiving assembly 3. Optionally, the axis of the second optical element 5, the axis of the light-emitting aperture 402, and the light-emitting center of the emitting assembly 2 are located on the same axis to achieve coaxial emission.

[0081] In one embodiment, such as Figure 4 and Figure 5 As shown, the housing 1 has a third positioning groove 113 and / or a fourth positioning groove 114. The third positioning groove 113 and / or the fourth positioning groove 114 are used to engage the second optical element 5. The second optical element 5 is positioned and fastened within the housing 1 through the third positioning groove 113 and / or the fourth positioning groove 114.

[0082] In one embodiment, the housing 1 has a third positioning groove 113 or a fourth positioning groove 114. The third positioning groove 113 is used to engage the second optical element 5 and to position the second optical element 5. In another embodiment, the housing 1 has a third positioning groove 113 and a fourth positioning groove 114. The second optical element 5 is positioned within the housing 1 through the third positioning groove 113 and the fourth positioning groove 114.

[0083] In one embodiment, the base 101 has a third locking structure 115, which is located on the side of the first optical element 4 facing away from the transmitting assembly 2. Exemplarily, the third locking structure 115 is part of the inner sidewall of the base 101, and is circumferentially arranged on the inner sidewall of the base 101. A third positioning groove 113 is disposed on the inner sidewall of the third locking structure 115, and the extending direction of the third positioning groove 113 is adapted to the outer contour of the second optical element 5. At least a portion of the outer contour of the second optical element 5 can be locked within the third positioning groove 113 to achieve the installation and positioning of the second optical element 5 within the housing 1.

[0084] In one embodiment, a fourth snap-fit ​​structure 116 is provided inside the housing 102, and a fourth positioning groove 114 is provided on the fourth snap-fit ​​structure 116. The fourth snap-fit ​​structure 116 is located on the side of the first optical element 4 away from the transmitting assembly 2. Exemplarily, the fourth snap-fit ​​structure 116 is part of the inner sidewall of the housing 102, and the fourth positioning groove 114 is provided on the fourth snap-fit ​​structure 116. The extending direction of the fourth positioning groove 114 is adapted to the outer contour of the second optical element 5, and at least part of the outer contour of the second optical element 5 can be snapped into the fourth positioning groove 114 to realize the installation and positioning of the second optical element 5 in the housing 1.

[0085] The second optical element 5 can be positioned and installed in the housing 1 solely through the third positioning groove 113. In this case, only the third snap-fit ​​structure 115 is provided in the housing 1, and the fourth snap-fit ​​structure 116 is not provided. Alternatively, the second optical element 5 can be positioned and installed in the housing 1 solely through the fourth positioning groove 114. In this case, only the fourth snap-fit ​​structure 116 is provided in the housing 1, and the third snap-fit ​​structure 115 is not provided. The second optical element 5 can also be positioned and installed in the housing 1 through the cooperation of the third positioning groove 113 and the fourth positioning groove 114. In this case, both the third snap-fit ​​structure 115 and the fourth snap-fit ​​structure 116 are provided in the housing 1.

[0086] In one embodiment, such as Figure 4 and Figure 5As shown, a positioning assembly is provided between the cover 102 and the base 101. During installation, the cover 102 and the base 101 are positioned relative to each other through the positioning assembly. The positioning assembly includes a positioning protrusion 117 and a first positioning groove 118. The positioning protrusion 117 is located on one of the base 101 and the cover 102, and the first positioning groove 118 is located on the other of the base 101 and the cover 102. The positioning protrusion 117 and the first positioning groove 118 are interlocked. Optionally, the positioning protrusion 117 is distributed along the edge of the cover 102 or the base 101; the first positioning groove 118 is adapted to the distribution of the positioning protrusion 117. When the cover 102 is connected to the base 101, the positioning protrusion 117 and the first positioning groove 118 can be interlocked to ensure that the positions of the cover 102 and the base 101 are fixed.

[0087] In one embodiment, the positioning component may further include a positioning post 119 and a second positioning groove 120. The positioning post 119 is disposed on one of the base 101 and the cover 102, and the second positioning groove 120 is disposed on the other of the base 101 and the cover 102. The positioning post 119 and the second positioning groove 120 are interlocked. Optionally, the positioning post 119 is located inside the cover 102 or the base 101; the second positioning groove 120 is positionally adapted to the positioning post 119. When the cover 102 is connected to the base 101, the positioning post 119 and the second positioning groove 120 can also be interlocked to ensure that the positions of the cover 102 and the base 101 are fixed.

[0088] This application also provides a lidar, including the optical components as described in any of the preceding embodiments. The lidar further includes a scanning system that enables a laser beam to scan in space, forming two-dimensional or three-dimensional point cloud data. The scanning system can be implemented using mechanical rotation, microelectromechanical systems (MEMS) mirrors, fiber optic scanners, etc. The lidar also includes a signal processing unit for amplifying, filtering, digitizing, and other processing of the received signal. The lidar also includes data processing software for processing the acquired data to generate point cloud maps or images.

[0089] This application also provides a self-moving device, including the lidar as described in the above embodiment, for detecting targets around the self-moving device. Other structures and functions of the self-moving device are not described in detail here.

[0090] This application proposes an optical component, a lidar system, and a self-moving device. The optical component integrates an optical transceiver system into a housing 1, achieving the dual functions of collimating the emitted light signal and focusing the received signal onto the receiving chip. LiDAR scanning can be achieved simply by coupling the entire optical component to the optical signal input of the scanning system, simplifying the manufacturing process and improving production efficiency. Furthermore, the modular components are easier to replace, reducing maintenance time and costs. The optical component allows for flexible selection or replacement of corresponding modules according to different application scenarios, improving the product flexibility of the lidar.

[0091] Finally, it should be noted that the various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the systems or apparatus disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the descriptions are relatively simple, and relevant parts can be referred to the method section.

[0092] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. An optical component, characterized in that, include: The housing includes a base and a cover, the cover being detachably connected to the base; The emitting component is detachably connected to the housing and is used to emit a detection laser for detecting a target object; A receiving component, detachably connected to the housing, is used to receive the detection laser reflected by the target object; A first optical element is detachably connected to the housing. The first optical element has a reflective surface and a light-emitting aperture. The detection laser emitted by the emitting component passes through the light-emitting aperture and is directed to the target object. The detection laser reflected by the target object is reflected by the reflective surface and then to the receiving component.

2. The optical component according to claim 1, characterized in that, The housing has a first positioning groove and / or a second positioning groove, which are used to engage the first optical element. The first optical element is positioned within the housing through the first positioning groove and / or the second positioning groove.

3. The optical component according to claim 2, characterized in that, The reflective surface of the first optical element forms a first angle with respect to the light-receiving surface of the receiving component.

4. The optical component according to claim 3, characterized in that, The first angle is 45 degrees.

5. The optical component according to claim 1, characterized in that, The axis of the light-emitting aperture forms a second angle with respect to the reflecting surface of the first optical element.

6. The optical component according to claim 5, characterized in that, The second angle is 45 degrees.

7. The optical component according to claim 2, characterized in that, The seat body is provided with a first snap-fit ​​structure, and the first positioning groove is provided on the first snap-fit ​​structure.

8. The optical component according to claim 2, characterized in that, The cover is provided with a second snap-fit ​​structure, and the second positioning groove is provided on the second snap-fit ​​structure.

9. The optical component according to claim 1, characterized in that, The optical assembly further includes a second optical element, which is detachably connected to the housing and located on the light-emitting side of the emitting assembly. The second optical element is used to collimate the detection laser emitted by the emitting assembly.

10. The optical component according to claim 9, characterized in that, The housing has a third positioning groove and / or a fourth positioning groove, which are used to engage the second optical element. The second optical element is positioned within the housing through the third positioning groove and / or the fourth positioning groove.

11. The optical component according to claim 10, characterized in that, The seat body is provided with a third snap-fit ​​structure, and the third positioning groove is provided on the third snap-fit ​​structure.

12. The optical component according to claim 10, characterized in that, The cover is provided with a fourth snap-fit ​​structure, and the fourth positioning groove is provided on the fourth snap-fit ​​structure.

13. The optical component according to claim 9, characterized in that, The first optical element is located between the emitting component and the second optical element. The detection laser emitted by the emitting component passes through the light outlet of the first optical element and the second optical element in sequence before reaching the target.

14. The optical component according to claim 13, characterized in that, The axis of the second optical element, the axis of the light-emitting aperture, and the light-emitting center of the emitting assembly are located on the same axis.

15. The optical component according to claim 1, characterized in that, The maximum field of view of the detection laser emitted by the emitting component when it passes through the light exit hole is less than or equal to the inner diameter of the light exit hole, so that the detection laser emitted by the emitting component can completely pass through the light exit hole without being reflected by the inner wall of the light exit hole.

16. The optical component according to claim 1, characterized in that, The housing is provided with a light guide channel, which is located between the light-emitting side of the emitting component and the light-emitting hole, and the light guide channel and the light-emitting hole are connected. The detection laser emitted by the emitting component passes through the light guide channel and the light-emitting hole in sequence.

17. The optical component according to claim 16, characterized in that, The maximum field of view of the probe laser emitted by the emitting component when it passes through the light guide channel is less than or equal to the minimum inner cavity size of the light guide channel, so that the probe laser emitted by the emitting component can pass through the light guide channel completely without being reflected by the inner wall of the light guide channel.

18. The optical component according to claim 1, characterized in that, The housing is provided with a first positioning hole, and at least a portion of the launching component is disposed within the first positioning hole.

19. The optical component according to claim 18, characterized in that, The axis of the first positioning hole and the axis of the light output hole are on the same axis.

20. The optical component according to claim 1, characterized in that, The emitting assembly includes a light source emitting element and a first control system. The light source emitting element is electrically connected to the first control system, which is used to control the light source emitting element to emit a detection laser.

21. The optical component according to claim 20, characterized in that, The outer wall of the housing is provided with a first mounting groove, and the first control system is located in the first mounting groove.

22. The optical component according to claim 1, characterized in that, The housing is provided with a second positioning hole, and at least a portion of the receiving component is disposed within the second positioning hole.

23. The optical component according to claim 1, characterized in that, The receiving assembly includes a receiving element and a second control system. The receiving element is electrically connected to the second control system, which is used to process the detection laser received by the receiving element.

24. The optical component according to claim 23, characterized in that, The outer wall of the housing is provided with a second mounting groove, and the second control system is located in the second mounting groove.

25. The optical component according to claim 1, characterized in that, A positioning component is provided between the cover and the base, and the cover and the base are positioned relative to each other during installation.

26. The optical component according to claim 25, characterized in that, The positioning component includes a positioning protrusion and a first positioning groove. The positioning protrusion is disposed on one of the base and the cover, and the first positioning groove is disposed on the other of the base and the cover. The positioning protrusion and the first positioning groove are interlocked and adapted.

27. The optical component according to claim 26, characterized in that, The positioning protrusions are distributed along the edge of the cover or the base; the first positioning groove is adapted to the distribution of the positioning protrusions.

28. The optical component according to claim 25, characterized in that, The positioning component includes a positioning post and a second positioning groove. The positioning post is disposed on one of the base body and the cover, and the second positioning groove is disposed on the other of the base body and the cover. The positioning post and the second positioning groove are interlocked and adapted.

29. The optical component according to claim 28, characterized in that, The positioning post is located inside the cover or the base; the second positioning groove is adapted to the position of the positioning post.

30. A lidar, characterized in that, Includes the optical components as described in any one of claims 1-29.

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