CN219957854U

CN219957854U - Optical system, laser radar and vehicle

Info

Publication number: CN219957854U
Application number: CN202321168887.6U
Authority: CN
Inventors: 郑天航; 钟辉; 刘飞; 张于帅; 连炜林; 周伟光
Original assignee: Shanghai Wingtech Electronic Technology Co Ltd
Current assignee: Wingtech Communication Co Ltd
Priority date: 2023-05-15
Filing date: 2023-05-15
Publication date: 2023-11-03
Anticipated expiration: 2033-05-15

Abstract

The utility model discloses an optical system, a laser radar and a vehicle, wherein the optical system comprises a transmitting device and a receiving device, the transmitting device comprises a laser, an optical component and an adjusting component, the optical component is arranged on one side of the laser, the optical component is used for modulating a laser beam, the adjusting component is rotatably arranged on one side of the optical component, which is away from the laser, the adjusting component is used for rotating relative to the optical component to change the outgoing direction of the laser beam and transmitting the laser beam to a tested target, and the receiving device is used for receiving the laser beam reflected by the tested target. According to the scheme of the utility model, the adjusting component is arranged on the transmitting device, so that the laser beam emitted from the optical component can be received and the angle of the laser beam is changed to be transmitted to the tested target, the laser beam can scan a larger range, and the receiving device can receive the laser beam reflected from the tested target, so that the detection range of the laser radar is improved.

Description

Optical system, laser radar and vehicle

Technical Field

The utility model relates to the technical field of optical ranging, in particular to an optical system, a laser radar and a vehicle.

Background

The laser radar generally comprises a transmitting device and a receiving device, wherein the transmitting device transmits a laser beam to a measured target, and the receiving device receives the laser beam reflected from the measured target, so that the functions of ranging, positioning and the like of the measured target can be realized. In the related art, a transmitting device can generally transmit laser light only in one direction, resulting in a smaller detection range of a lidar.

Disclosure of Invention

The embodiment of the utility model discloses an optical assembly, a laser radar and a vehicle, wherein the angle of a laser beam emitted by a laser can be changed through an adjusting assembly, and a larger range can be scanned, so that the detection range of the laser radar is improved.

To achieve the above object, in a first aspect, the present utility model discloses an optical system comprising:

the emission device comprises a laser, an optical component and an adjusting component, wherein the laser is used for emitting a laser beam, the optical component is arranged on one side of the laser, the optical component is used for receiving the laser beam emitted by the laser and modulating the laser beam, the adjusting component is rotatably arranged on one side of the optical component, which is away from the laser, the adjusting component is used for receiving the laser beam emitted from the optical component and emitting the laser beam, and the adjusting component is used for rotating relative to the optical component to change the emitting direction of the laser beam and emit the laser beam to a measured object; and

and the receiving device is used for receiving the laser beam reflected by the tested target.

In an alternative embodiment, in an embodiment of the first aspect of the present utility model, the adjusting assembly includes a mirror and a rotating mechanism, where the mirror is connected to the rotating mechanism, and the rotating mechanism is used to drive the mirror to rotate.

In an alternative embodiment, in an embodiment of the first aspect of the present utility model, the rotation mechanism is configured to drive the mirror to rotate around a line in which a first direction is located and/or a line in which a second direction is located, where the second direction is perpendicular to the first direction, and both the first direction and the second direction are perpendicular to an optical axis direction of the mirror.

In an optional implementation manner, in an embodiment of the first aspect of the present utility model, the rotation mechanism includes a coil, a first electromagnetic component and a second electromagnetic component, where the coil is enclosed by the reflector, the first electromagnetic component is disposed along the second direction, the first electromagnetic component is configured to drive the coil to rotate around a line where the first direction is located, the second electromagnetic component is disposed along the first direction, and the second electromagnetic component is configured to drive the coil to rotate around a line where the second direction is located.

As an alternative implementation manner, in an embodiment of the first aspect of the present utility model, the optical assembly includes a first lens and a second lens, where the first lens is disposed on one side of the laser, the first lens is configured to receive the laser beam emitted by the laser and is configured to shape the laser beam, the second lens is disposed on one side of the first lens facing away from the laser, the second lens is configured to receive the laser beam emitted from the first lens and is configured to collimate the laser beam, and the adjusting assembly is rotatably disposed on one side of the second lens facing away from the first lens.

As an optional implementation manner, in an embodiment of the first aspect of the present utility model, the first lens is a superlens, and the second lens is a superlens.

In an optional implementation manner, in an embodiment of the first aspect of the present utility model, the receiving device includes a third lens and a laser sensor, where the third lens is disposed on one side of the laser sensor, and the third lens is configured to receive the laser beam reflected by the measured object and concentrate the laser beam to the laser sensor.

As an optional implementation manner, in an embodiment of the first aspect of the present utility model, the third lens is a superlens.

In a second aspect, the utility model discloses a lidar, which comprises a housing, a mounting seat and the optical system according to the first aspect, wherein a light transmission area is arranged on the housing, the housing is provided with a containing cavity, the mounting seat is rotatably arranged in the containing cavity, and the transmitting device and the receiving device are arranged on the mounting seat at intervals.

In an optional implementation manner, in an embodiment of the second aspect of the present utility model, the housing includes a cover plate, a middle frame and a bottom plate, where the middle frame is connected between the cover plate and the bottom plate to enclose and form the accommodating cavity, the middle frame is provided with the light-transmitting area, and the mounting seat is rotatably disposed in the accommodating cavity.

In a third aspect, the utility model discloses a vehicle comprising a lidar as described in the second aspect above.

Compared with the prior art, the utility model has the beneficial effects that:

the optical component comprises a transmitting device and a receiving device, wherein a laser of the transmitting device transmits laser beams to the optical component, the optical component can modulate the laser beams, and characteristics (such as amplitude, intensity, frequency and phase) of the laser beams can be changed, so that the laser beams emitted from the optical component meet the requirements of the laser radar.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present utility model, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic view of an optical system disclosed in a first aspect of an embodiment of the present utility model;

FIG. 2 is a schematic structural view of an adjustment assembly disclosed in the first aspect of the embodiment of the present utility model;

FIG. 3 is a schematic view of a laser radar according to a second aspect of the present utility model;

FIG. 4 is a schematic view of a laser radar (stealth enclosure) according to a second aspect of an embodiment of the present utility model;

fig. 5 is a schematic block diagram of a vehicle disclosed in a third aspect of an embodiment of the utility model.

Icon: 1. an optical system; 10. a transmitting device; 100. a laser; 101. an optical component; 101a, a first lens; 101b, a second lens; 102. an adjustment assembly; 102a, a mirror; 102b, a rotating mechanism; 1020. a coil; 1021. a first electromagnetic assembly; 1022. a second electromagnetic assembly; 11. a receiving device; 110. a third lens; 111. a laser sensor; 2. a laser radar; 20. a housing; 20a, a cover plate; 20b, a middle frame; 200. a light-transmitting region; 20c, a bottom plate; 21. a mounting base; 3. a vehicle; 4. a measured target; x, a first direction; y, second direction.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

In the present utility model, the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal" and the like indicate an azimuth or a positional relationship based on that shown in the drawings. These terms are only used to better describe the present utility model and its embodiments and are not intended to limit the scope of the indicated devices, elements or components to the particular orientations or to configure and operate in the particular orientations.

Also, some of the terms described above may be used to indicate other meanings in addition to orientation or positional relationships, for example, the term "upper" may also be used to indicate some sort of attachment or connection in some cases. The specific meaning of these terms in the present utility model will be understood by those of ordinary skill in the art according to the specific circumstances.

Furthermore, the terms "mounted," "configured," "provided," "connected," and "connected" are to be construed broadly. For example, it may be a fixed connection, a removable connection, or a unitary construction; may be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements, or components. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.

Furthermore, the terms "first," "second," and the like, are used primarily to distinguish between different devices, elements, or components (the particular species and configurations may be the same or different), and are not used to indicate or imply the relative importance and number of devices, elements, or components indicated. Unless otherwise indicated, the meaning of "a plurality" is two or more.

The technical scheme of the utility model will be further described with reference to the examples and the accompanying drawings.

Referring to fig. 1, the dashed arrow line in fig. 1 illustrates the optical path of the laser beam. The first aspect of the present utility model provides an optical system 1, including a transmitting device 10 and a receiving device 11, where the transmitting device 10 includes a laser 100, an optical component 101 and an adjusting component 102, the laser 100 is used for transmitting a laser beam, the optical component 101 is disposed on one side of the laser 100, the optical component 101 is used for receiving the laser beam transmitted by the laser 100 and is used for modulating the laser beam, the adjusting component 102 is rotatably disposed on one side of the optical component 101 away from the laser 100, the adjusting component 102 is used for receiving the laser beam emitted from the optical component 101 and emitting the laser beam, and rotating relative to the optical component 101 to change the emitting direction of the laser beam to emit the laser beam to a measured target 4, and the receiving device 11 is used for receiving the laser beam reflected by the measured target 4.

The optical system 1 provided in the first aspect of the embodiment of the present utility model includes a transmitting device 10 and a receiving device 11, where the laser 100 of the transmitting device 10 transmits a laser beam to the optical component 101, the optical component 101 can modulate the laser beam, and can change characteristics (such as amplitude, intensity, frequency, phase, etc.) of the laser beam, so that the laser beam emitted from the optical component 101 meets the requirement of the laser radar, and by setting the adjusting component 102 in the transmitting device 10, the laser beam emitted from the optical component 101 can be received and the emitting direction of the laser beam is changed to be emitted to the measured target 4, so that the laser beam can scan a larger range, and the receiving device 11 can receive the laser beam reflected from the measured target 4, thereby improving the detection range of the laser radar.

In some embodiments, the optical assembly 101 includes a first lens 101a and a second lens 101b, the first lens 101a is disposed on one side of the laser 100, the first lens 101a is configured to receive the laser beam emitted by the laser 100 and is configured to shape the laser beam, the second lens 101b is disposed on one side of the first lens 101a away from the laser 100, the second lens 101b is configured to receive the laser beam emitted from the first lens 101a and is configured to collimate the laser beam, and the adjusting assembly 102 is rotatably disposed on one side of the second lens 101b away from the first lens 101 a.

Thus, by arranging the first lens 101a, the beam emitted by the laser 100 can be shaped, so that the laser beam forms a point cloud, and the simultaneous scanning of a plurality of points of the measured object 4 is realized, by arranging the second lens 101b, the laser beam emitted from the first lens 101a can be collimated, the stability of the laser beam direction is improved, and by combining the first lens 101a and the second lens 101b, the laser beam emitted from the second lens 101b can meet the requirement of a laser radar for detecting functions.

In some embodiments, the first lens 101a is a superlens and the second lens 101b is a superlens.

In this way, by setting the first lens 101a and the second lens 101b as superlenses, on one hand, the first lens 101a can have better shaping performance, so that the point cloud formed by the laser beams is more uniform, the second lens 101b can also have better collimation performance, the parallelism of the collimated laser beams is improved, and then the detection effect of the laser radar is improved, and on the other hand, the volumes of the first lens 101a and the second lens 101b are smaller, the occupation of the first lens 101a and the second lens 101b on the space can be reduced, and thus the whole volume of the laser radar is reduced.

In some embodiments, the receiving device 11 includes a third lens 110 and a laser sensor 111, the third lens 110 is disposed on one side of the laser sensor 111, and the third lens 110 is configured to receive the laser beam reflected by the measured object 4 and converge the laser beam on the laser sensor 111.

In this way, by providing the third lens 110, the laser beam reflected from the object 4 to be measured can be converged to the laser sensor 111, and the receiving effect of the laser sensor 111 on the laser beam can be ensured.

Alternatively, the third lens 110 may be a conventional lens such as a biconvex lens, a plano-convex lens, or a meniscus lens, or may be a superlens, and may be specifically selected according to practical situations, which is not specifically limited in this embodiment.

In this embodiment, the third lens 110 is taken as a superlens as an example, and by setting the third lens 110 as a superlens, on one hand, the superlens has higher convergence performance, improves the receiving effect of the laser sensor 111, and can enable the laser beams forming the point cloud to be respectively converged to each laser sensor 111, so as to ensure that each laser sensor 111 can respectively receive the laser beams reflected from a plurality of points of the measured object 4, and on the other hand, the volume of the third lens 110 is smaller, so that the occupation of the third lens 110 to the space can be reduced, thereby reducing the overall volume of the laser radar.

Referring to fig. 2, in some embodiments, the adjusting assembly 102 includes a mirror 102a and a rotating mechanism 102b, the mirror 102a is connected to the rotating mechanism 102b, and the rotating mechanism 102b is used to rotate the mirror 102 a.

In this way, by providing the reflecting mirror 102a and the rotating mechanism 102b, the reflecting mirror 102a can reflect the laser beam emitted from the optical component 101, the rotating mechanism 102b can drive the reflecting mirror 102a to rotate, and the angle between the optical axis of the reflecting mirror 102a and the laser beam emitted from the optical component 101 is changed, so that the emitting direction of the laser beam emitted from the reflecting mirror 102a is changed, and the scanning range of the laser beam is further widened.

In some embodiments, the mirror 102a has a first direction X and a second direction Y, which are perpendicular to the first direction X, and both the first direction X and the second direction Y are perpendicular to the optical axis direction of the mirror 102 a.

In one example, the rotation mechanism 102b is configured to rotate the mirror 102a about a line in the first direction X. In this way, the rotation mechanism 102b can drive the mirror 102a to rotate in the first direction X, so that the outgoing direction of the laser beam from the mirror 102a can be changed in a plane in which the optical axis of the mirror is located and which is perpendicular to the first direction X.

In another example, the rotation mechanism 102b is configured to drive the mirror 102a to rotate around a line in the first direction X and/or a line in the second direction Y, and the rotation mechanism 102b is configured to drive the mirror 102a to rotate along the second direction Y, so that an outgoing direction of the laser beam from the mirror 102a can be changed in a plane in which an optical axis of the mirror is located and perpendicular to the second direction Y.

In another example, the rotation mechanism 102b is configured to rotate the mirror 102a about a line in the first direction X and also configured to rotate the mirror 102a about a line in the second direction Y. In this way, the rotation mechanism 102b can drive the reflecting mirror 102a to rotate along the first direction X and the second direction Y, so that not only can the outgoing direction of the laser beam from the reflecting mirror 102a be changed in the plane of the optical axis of the reflecting mirror and perpendicular to the first direction X, but also the outgoing direction of the laser beam from the reflecting mirror 102a can be changed in the plane of the optical axis of the reflecting mirror and perpendicular to the second direction Y, i.e. the outgoing direction of the laser beam from the reflecting mirror 102a can be changed at will, and the scanning range of the laser beam is further improved.

In some embodiments, the rotating mechanism 102b includes a coil 1020, a first electromagnetic component 1021 and a second electromagnetic component 1022, the coil 1020 is enclosed by the reflecting mirror 102a, the first electromagnetic component 1021 is disposed along a second direction Y, the first electromagnetic component 1021 is configured to drive the coil 1020 to rotate around a line along the first direction X, the second electromagnetic component 1022 is disposed along the first direction X, and the second electromagnetic component 1022 is configured to drive the coil 1020 to rotate around a line along the second direction Y.

Thus, when the coil 1020 and the first electromagnetic component 1021 are energized, the first electromagnetic component 1021 generates a magnetic field, generates an ampere force with the current in the coil 1020, and the coil 1020 rotates along the straight line along the first direction X, so that the reflecting mirror 102a is driven to rotate along the straight line along the first direction X, the direction of the straight line along the first direction X of the coil 1020 can be changed by changing the current direction of the coil 1020, and when the coil 1020 and the second electromagnetic component 1022 are energized, the second electromagnetic component 1022 generates a magnetic field, generates an ampere force with the current in the coil 1020, and the coil 1020 rotates along the straight line along the second direction Y, so that the reflecting mirror 102a is driven to rotate along the straight line along the second direction Y, and the direction of the straight line along the second direction Y of the coil 1020 can be changed by changing the current direction of the coil 1020. In addition, the adoption of the rotating mechanism 102b enables the reflector 102a to have a higher rotating frequency and a higher response speed, so that the flexibility of laser radar detection can be improved.

Alternatively, the first electromagnetic assembly 1021 may include a plurality of electromagnets, for example, two, three, four, etc., which may be specifically selected according to practical situations, and in this embodiment, two electromagnets are exemplified, and two electromagnets are disposed on two sides of the coil 1020 along the second direction Y.

Alternatively, the second electromagnetic assembly 1022 may include a plurality of electromagnets, such as two, three, four, etc., and may be specifically selected according to the practical situation, in this embodiment, four electromagnets are exemplified, where two electromagnets are disposed on one side of the coil 1020 along the first direction X, and two other electromagnets are disposed on the other side of the coil 1020 along the first direction X.

Referring to fig. 3 and 4 together, in a second aspect, the present utility model discloses a laser radar 2, which includes a housing 20, a mounting base, and an optical system 1 according to the first aspect of the foregoing embodiment, a light-transmitting area 200 is disposed on the housing 20, the housing 20 has a receiving cavity (not shown), the mounting base 21 is rotatably disposed in the receiving cavity, and the transmitting device 10 and the receiving device 11 are disposed on the mounting base 21 at intervals.

The laser radar 2 provided in the second aspect of the embodiment of the present utility model, because the optical system 1 provided in the first aspect of the embodiment of the present utility model is provided on the laser radar 2, the optical system 1 includes a transmitting device 10 and a receiving device 11, the laser 100 of the transmitting device 10 transmits a laser beam to the optical component 101, the optical component 101 can modulate the laser beam, and can change the characteristics (such as amplitude, intensity, frequency, phase, etc.) of the laser beam, so that the laser beam emitted from the optical component 101 meets the requirement of the laser radar 2, and by providing the adjusting component 102 in the transmitting device 10, the laser beam emitted from the optical component 101 can be received and the emitting direction of the laser beam is changed to be emitted to the measured target 4, so that the laser beam can scan a larger range, and the receiving device 11 can receive the laser beam reflected from the measured target 4, thereby improving the detection range of the laser radar 2. In addition, the laser radar 2 can protect the transmitting device 10 and the receiving device 11 in the shell 20 by arranging the shell 20, so that the working safety of the laser radar 2 is ensured, and the laser beam can pass through the light transmission area 200 on the shell 20, so that the transmitting device 10 can not transmit the laser beam to the target 4 to be detected, the receiving device 11 can not receive the laser beam reflected from the target 4 to be detected, the mounting seat 21 is rotatably arranged in the shell 20, the transmitting device 10 and the receiving device 11 are arranged in the mounting seat 21 at intervals, and the transmitting device 10 and the receiving device 11 can be simultaneously driven to rotate by the mounting seat 21, so that the transmitting device 10 and the receiving device 11 can transmit and receive the laser beam in different directions, the detectable range of the laser radar 2 is improved, and the use flexibility of the laser radar 2 is also improved.

Alternatively, the light-transmitting area 200 may be a through hole formed in the housing 20, or a portion of the housing 20 may be made of a light-transmitting material, such as glass, transparent plastic, etc., which may be specifically selected according to practical situations, and is not specifically limited in this embodiment.

In some embodiments, the housing 20 includes a cover 20a, a middle frame 20b and a bottom 20c, the middle frame 20b is connected between the cover 20a and the bottom 20c to enclose a receiving cavity, the middle frame 20b is provided with a light-transmitting area 200, and the mounting seat 21 is rotatably disposed in the receiving cavity.

In this way, by providing the case 20 as the cover plate 20a, the middle frame 20b, and the bottom plate 20c, the installation of the lidar 2 can be facilitated, and the light-transmitting region 200 is provided on the middle frame 20b, so that the emission device 10 is not affected to emit the laser beam to the target 4 to be measured, and the receiving device 11 is not affected to receive the laser beam reflected from the target 4 to be measured.

Alternatively, the light-transmitting region 200 may be disposed on any one or more sides of the middle frame 20b, and may be specifically selected according to practical situations, which is not particularly limited in this embodiment.

Referring to fig. 5, in a third aspect, the present utility model discloses a vehicle 3 comprising a lidar 2 according to the second aspect of the embodiment.

In the vehicle 3 provided in the third aspect of the present utility model, since the vehicle 3 is provided with the lidar 2 provided in the second aspect of the present utility model, the lidar 2 includes the housing 20, the mounting base 21, and the optical system 1 as in the first aspect of the foregoing embodiment, the optical system 1 includes the transmitting device 10 and the receiving device 11, the laser 100 of the transmitting device 10 transmits the laser beam to the optical component 101, the optical component 101 can modulate the laser beam, and the characteristics (such as amplitude, intensity, frequency, phase, etc.) of the laser beam can be changed, so that the laser beam emitted from the optical component 101 meets the requirement of the lidar 2, and by providing the adjusting component 102 in the transmitting device 10, the laser beam emitted from the optical component 101 can be received and the emission direction of the laser beam is changed to the measured target 4, so that the laser beam can scan a larger range, the receiving device 11 can receive the laser beam reflected from the measured target 4, thereby improving the detection range of the lidar 2, and further enabling the vehicle 3 to scan the surrounding environment in a larger range, and improving the detection performance of the vehicle 3. In addition, the laser radar 2 can be convenient for the installation of laser radar 2 on the vehicle 3 through setting up casing 20, can keep apart transmitting device 10 in the casing 20, receiving arrangement 11 and other devices on the vehicle 3, transmitting device 10 and receiving arrangement 11 in the protection casing 20 guarantee the work safety of laser radar 2, and through rotationally being equipped with mount pad 21 in casing 20, locate the mount pad 21 with transmitting device 10 with receiving arrangement 11 interval, can drive transmitting device 10 and receiving arrangement 11 rotation simultaneously through mount pad 21, thereby can make transmitting device 10 and receiving arrangement 11 can the different orientation emission and receive laser beam, the detectable range of laser radar 2 has been improved, the scanning range of vehicle 3 to the surrounding environment has further been improved.

The optical system, the laser radar and the vehicle disclosed in the embodiments of the present utility model are described in detail, and specific examples are applied to the description of the principles and the implementation modes of the present utility model, and the description of the above embodiments is only used for helping to understand the optical system, the laser radar and the vehicle of the present utility model and the core ideas thereof; meanwhile, as those skilled in the art will vary in the specific embodiments and application scope according to the idea of the present utility model, the present disclosure should not be construed as limiting the present utility model in summary.

Claims

1. An optical system, comprising:

2. The optical system of claim 1, wherein the adjustment assembly comprises a mirror and a rotation mechanism, the mirror coupled to the rotation mechanism, the rotation mechanism configured to rotate the mirror.

3. The optical system according to claim 2, wherein the rotation mechanism is configured to rotate the mirror around a line in a first direction and/or a line in a second direction, the second direction being perpendicular to the first direction, and the first direction and the second direction being perpendicular to an optical axis direction of the mirror.

4. An optical system according to claim 3, wherein the rotation mechanism comprises a coil, a first electromagnetic component and a second electromagnetic component, the coil is arranged around the reflecting mirror, the first electromagnetic component is arranged along the second direction, the first electromagnetic component is used for driving the coil to rotate around a straight line where the first direction is located, the second electromagnetic component is arranged along the first direction, and the second electromagnetic component is used for driving the coil to rotate around a straight line where the second direction is located.

5. The optical system of claim 1, wherein the optical assembly comprises a first lens and a second lens, the first lens is disposed on one side of the laser, the first lens is configured to receive the laser beam emitted by the laser and to shape the laser beam, the second lens is disposed on one side of the first lens facing away from the laser, the second lens is configured to receive the laser beam emitted from the first lens and to collimate the laser beam, and the adjustment assembly is rotatably disposed on one side of the second lens facing away from the first lens.

6. The optical system of claim 5, wherein the first lens is a superlens and the second lens is a superlens.

7. The optical system of claim 1, wherein the receiving device comprises a third lens and a laser sensor, the third lens being disposed on one side of the laser sensor, the third lens being configured to receive the laser beam reflected by the measured object and converge the laser beam on the laser sensor.

8. The optical system of claim 7, wherein the third lens is a superlens.

9. A lidar comprising a housing, a mounting base and an optical system according to any of claims 1 to 8, wherein the housing is provided with a light-transmitting region, the housing is provided with a receiving cavity, the mounting base is rotatably arranged in the receiving cavity, and the transmitting device and the receiving device are arranged on the mounting base at intervals.

10. The lidar of claim 9, wherein the housing comprises a cover plate, a middle frame and a bottom plate, the middle frame is connected between the cover plate and the bottom plate to enclose and form the accommodating cavity, the light-transmitting area is arranged on the middle frame, and the mounting seat is rotatably arranged in the accommodating cavity.

11. A vehicle comprising a lidar according to any of claims 9 or 10.