CN215526113U - Laser radar - Google Patents

Abstract

The present invention provides a laser radar, comprising: a housing in which a laser generating laser light is housed, the housing having a front window through which the laser light passes; a laser emitting assembly detachably mounted inside the housing and capable of emitting laser light toward the outside of the housing; and a laser receiving assembly detachably mounted inside the housing and capable of receiving laser light from a predetermined region outside the housing, the laser receiving assembly including a plurality of laser receiving modules integrally mounted. The laser radar with the structure can realize a miniaturized radar device with compact structure, is simple in assembly operation and maintenance operation, and is suitable for batch production.

Description

Laser radar

Technical Field

The utility model relates to the field of laser detection, in particular to a laser radar.

Background

The laser radar is an apparatus for measuring parameters such as distance and speed of a target object by transmitting a laser to the surface of the object and measuring the arrival time of a reflected light beam, and is an optical instrument which is controlled by an optical device, a mechanical structure, electricity and software. With the wide application of the laser radar technology, higher requirements are put forward on the integration and miniaturization of the laser radar device.

Most of the conventional laser radars are configured such that a laser transmitter and a laser receiver are independent of each other, and a method of debugging and assembling the entire parts is adopted in assembling. In such a configuration, since the components are restricted from each other and it is difficult to individually remove and replace the components, there are disadvantages that the assembly work and the maintenance work are complicated, the requirement for the skill level of the operator is high, and the like, and mass production is not suitable.

SUMMERY OF THE UTILITY MODEL

In view of the problems in the prior art, it is an object of the present invention to provide a lidar which has high integration, compact structure, and simple installation and maintenance. In addition, the utility model also aims to provide the laser radar with good point cloud data processing quality.

In order to achieve the purpose, the utility model adopts the following technical scheme.

The present invention provides a laser radar, comprising: a housing in which a laser generating laser light is housed, the housing having a front window through which the laser light passes; a laser emitting assembly detachably mounted inside the housing and capable of emitting laser light toward the outside of the housing; and a laser receiving assembly detachably mounted inside the housing and capable of receiving laser light from a predetermined region outside the housing, the laser receiving assembly including a plurality of laser receiving modules integrally mounted.

Optionally, the laser receiving assembly includes an integrated bracket, the plurality of laser receiving modules are disposed on the bracket, and the bracket is fixed to the housing.

Optionally, the bracket includes a central bracket and a first inclined bracket and a second inclined bracket that are connected to both sides of the central bracket at an included angle with respect to the central bracket, the first inclined bracket and the second inclined bracket are inclined so as to be closer to the front window as the distance from the central bracket increases, and the laser receiving module is mounted on the central bracket, the first inclined bracket and the second inclined bracket, respectively.

Optionally, each laser receiving module has a lens group, the lens group is composed of more than 2 lenses arranged along an optical axis direction of the lens, and in a laser receiving area of the laser receiving module mounted on the central support, an optical axis direction of the lens group of the laser receiving module mounted on the first tilting support and an optical axis direction of the lens group of the laser receiving module mounted on the second tilting support intersect with each other.

Optionally, the laser receiving module is a single lens group laser receiving module with one lens group or a multi-lens group laser receiving module with more than two lens groups, the lens group is composed of more than 2 lenses arranged along the optical axis direction of the lenses, the plurality of laser receiving modules are a plurality of single lens group laser receiving modules, or a plurality of multi-lens group laser receiving modules, or a combination of more than one single lens group laser receiving module and more than one multi-lens group laser receiving module.

Optionally, the plurality of laser receiving modules include a single lens group laser receiving module having one lens group and a double lens group laser receiving module having two lens groups, the lens group is composed of 2 lenses arranged along an optical axis direction of the lenses, the single lens group laser receiving module is mounted on the central support, the double lens group laser receiving module is respectively mounted on the first tilting support and the second tilting support, and in a laser receiving area of the single lens group laser receiving module, an optical axis direction of the lens group of the double lens group laser receiving module mounted on the first tilting support and an optical axis direction of the lens group of the double lens group laser receiving module mounted on the second tilting support intersect with each other.

Optionally, each laser receiving module has an optical filter, a diaphragm, a lens group and an APD plate, which are sequentially arranged along an optical path of the received laser, and the lens group is composed of more than 2 lenses arranged along an optical axis direction of the lenses.

Optionally, the laser emission assembly has an emission housing, the emission housing includes an upper emission housing and a lower emission housing, the upper emission housing and the lower emission housing are integrally connected, and an end of the lower emission housing away from the front window side is a recessed portion with respect to an end of the upper emission housing away from the front window side.

Optionally, a plurality of emission lenses are installed at a position far away from the front window in the lower emission housing, 1 or more reflectors are installed at a position near the front window in the lower emission housing, and are used for reflecting laser light from the emission lenses, an MEMS reflector is installed at a position far away from the front window in the upper emission housing, and a first beam expanding lens and a second beam expanding lens closer to the front window than the first beam expanding lens are installed at the front window side of the MEMS reflector.

Optionally, a light shield for closing the lower emission housing is mounted on the front window side of the emission housing; and a shielding cover for covering the upper emission shell is arranged on one side of the emission shell far away from the front window.

Optionally, the lower emission housing includes a plurality of lens mounting holes arranged side by side, and an optical fiber mounting hole communicated with the lens mounting hole is respectively disposed at an end of each lens mounting hole far from the front window side.

Optionally, the housing includes: a main housing having a box shape with a bottom, including a bottom wall, a front wall provided with the front window, a rear wall opposite to the front wall, and two side walls joined to the bottom wall, the front wall, and the rear wall; and the cover component is used for closing the main shell, and the laser emitting assembly and the laser receiving assembly are fixedly arranged on the bottom wall and are positioned close to the front window.

Optionally, the laser is disposed on the bottom wall and located near the rear wall, and an optical fiber leading-out portion of the laser is located in the concave portion.

Optionally, a circuit board is mounted in the main housing on a side thereof adjacent to the cover member.

Optionally, an input/output interface is disposed on one of the two side walls.

Optionally, a heating wire is arranged in the front window.

Optionally, the heating wire is disposed around the laser transmission region in the front window.

Effect of the utility model

According to the present invention, since the laser, the laser emitting assembly, the laser receiving assembly, the circuit board, and the like are provided so as to be attachable and detachable independently of each other, the assembly work and the attachment and detachment maintenance work are simplified. Moreover, since each individual module can be replaced individually, each individual module is suitable for mass production as an individual product. In addition, due to the compact design and reasonable utilization of the cross space among the modules, the utilization rate of the internal space of the laser radar can be improved, and the overall miniaturization of the laser radar is facilitated.

In addition, because the heating wire is arranged in the front window, the bad phenomena such as fogging of the front window can be avoided, and the quality of the point cloud data can be improved.

Drawings

Fig. 1 is an exploded perspective view showing an internal structure of a laser radar according to an embodiment of the present invention.

Fig. 2 is a perspective view showing an external structure of a laser radar according to an embodiment of the present invention.

Fig. 3 is a perspective view showing a front structure of a laser light receiving assembly according to an embodiment of the present invention.

Fig. 4 is a perspective view showing a rear structure of a laser light receiving assembly according to an embodiment of the present invention.

Fig. 5 is a view showing a cross section a-a of a laser light receiving assembly according to an embodiment of the present invention.

Fig. 6 is a sectional view showing the structure of the upper part of the laser light receiving assembly according to the embodiment of the present invention.

FIG. 7 is a view showing a B-B cross section of a laser light receiving assembly according to an embodiment of the present invention

FIG. 8 is a view showing a C-C section of a laser light receiving assembly according to an embodiment of the present invention

Fig. 9 is a schematic view illustrating a heating wire in a front window according to an embodiment of the present invention.

Description of the reference numerals

1-a main housing; 2-a cover member; 3-a front window; 4-plug connector; 5-a laser; 6-laser emission assembly; 61-an upper launch housing; 62-a lower launch housing; 63-lens mounting holes; 64-a recess; 65-a mounting flange; 66-a MEMS mirror; 67-MEMS cable; 68-fiber mounting holes; 69-a mirror; 70-a lens for emission; 80-a first beam expanding lens; 90-a second beam expanding lens; 7-a laser receiving assembly; 71,72, 73-laser receiving module; 71A-a bracket of the single lens group laser receiving module; 72A-a bracket of the double-lens group laser receiving module; 71B,72B1,72B 2-filters; 71C,72C1,72C 2-stop; 71D,72D1,72D 2-first lens in the lens group; 71E,72E1,72E 2-the second lens in the lens group; 71F,72F1,72F2-APD plates; 74-a scaffold; 75 installing a guide rail; 8-a first circuit board; 9-a second circuit board; 10-heating wires; 11-heating wire outlet.

Detailed Description

Embodiments of the present invention will be described below with reference to the drawings. It will be appreciated by those skilled in the art that the specific structures, dimensions, and proportions shown in the drawings and detailed in the present specification are for illustrative purposes and are intended to be exemplary and explanatory only and are not intended to limit the scope of the utility model, which is defined by the appended claims. In the drawings of the present specification, the same or similar elements are denoted by the same reference numerals, and redundant description is omitted.

In addition, in this specification, "downward", "upward", "horizontal", "vertical", "above", "below", "upper", "lower", "top", "bottom", derivatives thereof (e.g., "horizontally", "downwardly", "upwardly"), and the like are for convenience of description or illustration of the relative positional relationship of the relevant structures, the orientation in the drawings, and the like, and are not intended to particularly limit the orientation, structure, and the like of the present invention unless otherwise specified.

As shown in fig. 1 and 2, the lidar of an embodiment of the present invention includes a housing including a main housing 1 and a cover member 2 covering the main housing 1 to close the main housing 1. The main casing 1 includes a bottom wall, a front wall provided with a front window 3, a rear wall opposite to the front wall, and two side walls joining the bottom wall, the front wall, and the rear wall. The bottom wall, the front wall, the rear wall, and the two side walls enclose a storage space inside the main casing 1. The cover member 2 is attached to the main casing 1 so as to be easily attached and detached by, for example, screw fastening, thereby closing the casing internal space.

A seal structure (not shown) may be provided between the main casing 1 and the cover member 2 to prevent foreign matter such as dust and water outside the casing from entering the casing.

A laser 5 is housed inside the main case 1, and the laser 5 generates laser light and carries an optical fiber, and can supply sufficient laser light for emission.

A laser emitting assembly 6 for emitting laser light to the outside of the housing and a laser receiving assembly 7 for receiving laser light from a predetermined region outside the housing are also housed inside the main housing 1. In the present embodiment, the laser light emitting assembly 6 and the laser light receiving assembly 7 are fixedly provided on the bottom wall of the main casing 1 at a position close to the front window 3. For example, a non-coaxial laser radar may be used, and the laser emitting assembly 6 and the laser receiving assembly 7 may be arranged in a lateral direction (the left-right direction in fig. 1) near the front window 3, thereby reducing the optical path interference between the emitting side and the receiving side. More specifically, the laser light emitting end of the laser light emitting assembly 6 and the laser light receiving end of the laser light receiving assembly 7 are disposed close to the front window 3.

In addition, a circuit board is housed inside the main casing 1, and circuit control and software installation of the laser radar can be realized by the circuit board. For example, although the first circuit board 8 and the second circuit board 9 stacked on the cover member side are housed in the present embodiment, the number of the circuit boards is not limited to two, and may be set as appropriate. In addition, disposing the circuit board at a position close to the cover member 2 facilitates heat dissipation of the circuit board.

In addition, an input/output interface is further provided on the side wall of the main housing 1, for realizing electrical connection between the internal components of the laser radar and the outside, so as to provide power supply, realize signal interaction, and the like. In the present embodiment, as shown in fig. 1, the input/output interface includes a plug 4.

Next, the structure of the laser emitting assembly 6 will be described with reference to fig. 3 to 6.

As shown in fig. 3, the laser discharge assembly 6 has a discharge case including an upper discharge case 61 and a lower discharge case 62, and the upper discharge case 61 and the lower discharge case 62 are connected to form an integral structure. An end portion (rear end portion in fig. 3) of the lower transmitting case 62 which is away from the front window side in the assembled state becomes a recessed portion 64 which is a recessed portion with respect to an end portion (rear end portion in fig. 3) of the upper transmitting case 61 which is away from the front window side in the assembled state. This recessed portion 64 enables the laser emitting assembly 6 and the laser 5 to be mounted more compactly in the mounted state, as will be described in detail later.

As shown in fig. 3 and 5, the lower emission case 62 includes a plurality of lens mounting holes 63 arranged side by side, and an emission lens 70 is mounted in a deep part of each lens mounting hole 63 (an end part of each lens mounting hole 63 on the side away from the front window). A mirror 69 is attached in front of each lens attachment hole 63 (i.e., on the side close to the front window 3 in the attached state). Further, a light shield (not shown) for closing the lower radiation housing 62 is attached to the front window side of the radiation housing, and the light shield is fastened to the radiation housing, for example, the lower radiation housing 62 by a screw or the like.

An optical fiber mounting hole 68 communicating with the lens mounting hole 63 is provided at each rear end of the lens mounting hole 63 (i.e., at the end away from the front window 3 in the mounted state). The fiber heads led out from the laser 5 are respectively mounted in the fiber mounting holes 68, and emit laser light to the corresponding emission lenses 70.

As shown in fig. 3, 4, and 6, the MEMS mirror 66 is mounted at a position (upper position in fig. 6) distant from the front window 3 in the assembled state in the upper transmitting case 61, the first expander lens 80 and the second expander lens 90 closer to the front window 3 than the first expander lens in the assembled state are mounted on the front window side (lower side in fig. 6) of the MEMS mirror 66. That is, as viewed in fig. 6, the MEMS mirror 66, the first expander lens 80, and the second expander lens 90 are arranged from the top down.

As shown in fig. 4, the MEMS mirror 66 is fastened and attached to the upper radiation housing 61 by screws or the like from the back side of the upper radiation housing 61 (the side away from the front window 3 in the assembled state). In addition, a shield can may be mounted on the side of the emission housing remote from the front window 3, the shield can covering the upper emission housing 61, in particular, the position in the upper emission housing 61 where the MEMS mirror 66 is mounted.

When the laser emission assembly shown in fig. 3 to 6 is used to emit laser light, the laser light emitted from the laser 5 is emitted from 3 fiber heads, is emitted to 3 reflection mirrors 69 with different angles through 3 emission lenses 70, is reflected by the reflection mirrors 69 with specific angles, is collected on the MEMS reflection mirror 66, is emitted through the first beam expanding lens 80 and the second beam expanding lens 90, and is further emitted to a predetermined area outside the laser radar through the front window 3. Here, 3 optical fibers, 3 emission lenses, and the like are taken as an example for explanation, but those skilled in the art know that the number of optical fibers, emission lenses, and lens mounting holes is not limited, and those skilled in the art can appropriately determine the number as needed.

Next, the structure of the laser light receiving assembly 7 will be described with reference to fig. 1,7, and 8.

As shown in fig. 1, the laser light receiving assembly 7 includes a plurality of laser light receiving modules mounted in one body. In the present embodiment, three laser light receiving modules 71,72, and 73 are shown, but the number of laser light receiving modules is not limited to this, and may be set arbitrarily as long as reception of laser light from the target area can be achieved.

Specifically, as shown in fig. 1, the laser receiver assembly 7 includes an integrated bracket 74, a plurality of laser receiver modules are provided on the bracket 74, and the bracket 74 is fixed to the housing by a plurality of vertically arranged mounting rails 75, for example.

As an example, as shown in fig. 1, the bracket 74 includes a central bracket and first and second tilting brackets coupled to both sides of the central bracket at an angle with respect to the central bracket, and the first and second tilting brackets are tilted so as to get closer to the front window as the distance from the central bracket gets farther. And the central bracket, the first inclined bracket and the second inclined bracket are respectively provided with a laser receiving module.

As shown in fig. 7 and 8, each laser receiving module includes, as an example, a filter, an aperture stop, a lens group, and an APD plate arranged in this order along the optical path of the received laser light, and the lens group may be configured by 2 or more (2 in the present embodiment) lenses arranged in the optical axis direction of the lenses. When receiving laser, the laser penetrates through the optical filter, then passes through the diaphragm to intercept stray light, then passes through the two lenses, and finally reaches the APD plate to be subjected to signal analysis. The positional accuracy of the lens and the diaphragm is ensured by CNC machining of the housing.

When such laser light receiving modules are mounted on the holder 74, as shown in fig. 1, in the laser light receiving area of the laser light receiving module 71 mounted on the center holder, the optical axis direction of the lens group of the laser light receiving module 72 mounted on the first tilt holder and the optical axis direction of the lens group of the laser light receiving module 73 mounted on the second tilt holder intersect with each other. Such a structure in which the laser receiving ends of the laser receiving modules are arranged so as to be close together contributes to effective use of space and further contributes to downsizing of the entire laser radar, compared with a structure in which the laser receiving ends are arranged radially in the related art.

In the present embodiment, the laser receiving module 71 mounted on the central support is a single lens group laser receiving module having one lens group. The laser receiving module 72 mounted on the first tilting bracket and the laser receiving module 73 mounted on the second tilting bracket are of an axisymmetric structure, and are both double-lens-group laser receiving modules with two lens groups.

As shown in fig. 7, the single-lens group laser receiving module (laser receiving module 71) includes a holder 71A of the single-lens group laser receiving module, and a filter 71B, a diaphragm 71C, a lens group (in the present embodiment, a lens group including a first lens 71D and a second lens 71E), and an APD plate 71F are fixedly attached to the holder 71A of the single-lens group laser receiving module in this order along the traveling path of the incident laser light.

As for the double-lens group laser receiving module (laser receiving modules 72, 73), as shown in fig. 8, the bracket 72A of the double-lens group laser receiving module is an integral structure, and two groups of optical elements for receiving laser light, such as the optical filter 72B1, the stop 72C1, the lens group (in this embodiment, the lens group composed of the first lens 72D1 and the second lens 72E 1), the APD plate 72F1, which are located at the upper side in fig. 8, the optical filter 72B2, the stop 72C2, the lens group (in this embodiment, the lens group composed of the first lens 72D2 and the second lens 72E 2), and the APD plate 72F2, which are located at the lower side in fig. 8, are fixedly mounted in the bracket 72A of the double-lens group laser receiving module. It should be noted that, in the dual-lens laser receiving module, the two groups of laser receiving units usually operate in an alternative manner, that is, one group of optical elements works instead of the other group of optical elements, thereby improving the reliability of the laser receiving module.

In addition, the single-lens-group laser receiving module can be designed to be approximately the same or slightly larger than one optical unit in the double-lens-group laser receiving module.

As described above, the combination of the single-lens group laser beam receiving module and the double-lens group laser beam receiving module as shown in fig. 1 is described as an example, but the present invention is not limited thereto. For example, the plurality of laser receiving modules arranged on the bracket may all be single-lens-group laser receiving modules, or may all be multi-lens-group laser receiving modules; the laser receiving module can also be a combination of more than one single lens group laser receiving module and more than one multi-lens group laser receiving module. The multi-lens group laser receiving module is a laser receiving module having 2 lens groups arranged side by side, or 3 lens groups arranged side by side, or more lens groups arranged side by side. The person skilled in the art can freely select as long as the technical object of the present invention can be achieved.

As shown in fig. 1, 2, and 9, a heater wire 10 is incorporated in the front window 3. By energizing the heating wire 10, moisture on the front window 3 can be dissipated or avoided. Particularly, the laser radar is at work, and inside temperature is higher, and when the laser radar was in the external environment of relative microthermal, the phenomenon of condensation can appear in front window 3 (specifically front window glass), can influence the quality of point cloud, consequently need carry out defogging to the front window and handle. The heating wires are preset in the front window and supply power to the heating wires, so that the temperature of the front window can be increased, and water drops, water vapor and the like on the front window can be evaporated. In addition, in order to avoid the shielding or disturbance of the laser light by the heating wire, the heating wire may be provided around the laser light transmission region in the front window 3.

As described above, the structure of the laser radar of the embodiment of the present invention is explained. When assembling such a laser radar, the laser 5 and the laser emitting assembly 6 are generally assembled together, and the position of the fiber head is adjusted to achieve a good optical effect. Specifically, the laser 5 is provided on the bottom wall of the main casing 1 at a position close to the rear wall of the main casing 1, and the fiber drawing portion (not shown) of the laser 5 is located in the recessed portion 64 (see fig. 3). The laser emitting assembly 6 is fixedly mounted on a positioning column in the main casing 1 with screws or the like, for example, by a mounting flange 65 integrally provided thereto.

Then, the laser light receiving assembly 7, the first circuit board 8, the second circuit board 9, the plug 7, and the cover member 2 are assembled.

According to an embodiment of the present invention, since the laser radar includes: a housing in which a laser 5 for generating laser light is housed, the housing having a front window 3 through which the laser light passes; a laser emitting assembly 6 detachably mounted inside the housing and emitting laser light toward the outside of the housing; and a laser receiving assembly 7 detachably mounted in the housing to receive laser light from a predetermined region outside the housing, and the laser receiving assembly 7 includes a plurality of laser receiving modules integrally mounted, so that modularization of main components of the laser radar can be realized, and each module can be independently detached and mounted, and assembly and maintenance are easy; and each module can be used as a separate product to carry out mass production, which is beneficial to reducing the product cost.

Moreover, the cross space is directly and reasonably utilized through each module, the space volume utilization rate can be improved, and the overall miniaturization of the laser radar is facilitated.

Moreover, the positioning structure can be directly designed for each module, so that the installation is stable and reliable.

The embodiments of the present invention have been described above by way of example. Those skilled in the art will appreciate that various modifications, combinations, and omissions may be made in the present invention without departing from the spirit thereof.

Claims (18)

1. A lidar, comprising:

a housing in which a laser generating laser light is housed, the housing having a front window through which the laser light passes;

a laser emitting assembly detachably mounted inside the housing and capable of emitting laser light toward the outside of the housing; and

a laser light receiving assembly detachably mounted in the housing and capable of receiving laser light from a predetermined region outside the housing,

the laser receiving assembly comprises a plurality of laser receiving modules which are integrally installed.

2. Lidar according to claim 1,

the laser receiving assembly comprises an integrated support, the laser receiving modules are arranged on the support, and the support is installed and fixed relative to the shell.

3. Lidar according to claim 2,

the bracket comprises a central bracket and a first inclined bracket and a second inclined bracket which are connected to two sides of the central bracket at an included angle relative to the central bracket,

the first tilting bracket and the second tilting bracket are tilted in such a manner that the farther away from the central bracket the closer to the front window,

and the central bracket, the first inclined bracket and the second inclined bracket are respectively provided with the laser receiving module.

4. Lidar according to claim 3,

each of the laser receiving modules has a lens group composed of 2 or more lenses arranged in the optical axis direction of the lens,

in a laser light receiving area of the laser light receiving module mounted to the central bracket, an optical axis direction of the lens group of the laser light receiving module mounted to the first tilting bracket and an optical axis direction of the lens group of the laser light receiving module mounted to the second tilting bracket intersect with each other.

5. Lidar according to any of claims 1 to 3,

the laser receiving module is a single lens group laser receiving module with one lens group or a multi-lens group laser receiving module with more than two lens groups, the lens group is composed of more than 2 lenses arranged along the optical axis direction of the lenses,

the plurality of laser receiving modules are a plurality of single lens group laser receiving modules, or a plurality of multi-lens group laser receiving modules, or a combination of more than one single lens group laser receiving module and more than one multi-lens group laser receiving module.

6. Lidar according to claim 3,

the plurality of laser receiving modules include a single lens group laser receiving module having one lens group and a double lens group laser receiving module having two lens groups, the lens group being composed of 2 lenses arranged in an optical axis direction of the lenses,

the central bracket is provided with the single lens group laser receiving module, the first inclined bracket and the second inclined bracket are respectively provided with the double lens group laser receiving module,

in the laser receiving area of the single lens group laser receiving module, the optical axis direction of the lens group of the double lens group laser receiving module mounted to the first tilting bracket intersects with the optical axis direction of the lens group of the double lens group laser receiving module mounted to the second tilting bracket.

7. Lidar according to claim 1,

each laser receiving module is provided with an optical filter, a diaphragm, a lens group and an APD plate which are sequentially arranged along the optical path of the received laser, and the lens group is composed of more than 2 lenses arranged along the optical axis direction of the lenses.

8. Lidar according to claim 1,

the laser emission assembly has an emission case including an upper emission case and a lower emission case, the upper emission case and the lower emission case being integrally connected, and an end of the lower emission case away from the front window side being a recessed portion with respect to an end of the upper emission case away from the front window side.

9. Lidar according to claim 8,

a plurality of emission lenses are installed in the lower emission case at a position far from the front window, 1 or more reflection mirrors for reflecting laser light from the emission lenses are installed in the lower emission case at a position near the front window,

and an MEMS reflector is arranged in the upper transmitting shell at a position far away from the front window, and a first beam expanding lens and a second beam expanding lens which is closer to the front window than the first beam expanding lens are arranged on the front window side of the MEMS reflector.

10. Lidar according to claim 9,

a light shield for closing the lower emission housing is installed on the front window side of the emission housing;

and a shielding cover for covering the upper emission shell is arranged on one side of the emission shell far away from the front window.

11. Lidar according to claim 9,

the lower emission shell comprises a plurality of lens mounting holes arranged side by side, and optical fiber mounting holes communicated with the lens mounting holes are respectively formed in the end parts, far away from the front window side, of the lens mounting holes.

12. Lidar according to claim 8,

the housing includes:

a main housing having a box shape with a bottom, including a bottom wall, a front wall provided with the front window, a rear wall opposite to the front wall, and two side walls joined to the bottom wall, the front wall, and the rear wall;

a cover member closing the main housing,

the laser emitting assembly and the laser receiving assembly are fixedly arranged on the bottom wall and are positioned close to the front window.

13. Lidar according to claim 12,

the laser is arranged on the bottom wall and is positioned close to the rear wall, and the optical fiber leading-out part of the laser is positioned in the concave part.

14. Lidar according to claim 12 or 13,

a circuit board is mounted in the main housing on a side thereof adjacent to the cover member.

15. Lidar according to claim 12 or 13,

and one side wall of the two side walls is provided with an input/output interface.

16. Lidar according to claim 1,

the front window is internally provided with a heating wire.

17. Lidar according to claim 16,

the heating wire is arranged around the laser transmission area in the front window.

18. Lidar according to claim 1,

the lidar is a non-coaxial lidar,

the laser emitting assembly and the laser receiving assembly are transversely arranged and arranged at positions close to the front window.

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