Optical scanning device and lidar

Abstract

A light scanning device and a laser radar are disclosed. The light scanning device according to an embodiment of the present application includes a support portion rotating about a rotation axis and having a plurality of side surfaces spaced apart from the rotation axis; a rotating baffle fixed to the support portion and forming a gap into which a mirror is inserted between the side surfaces of the support portion and the rotating baffle; and the mirror inserted into the gap between the rotating baffle and the support portion, a first side surface among the plurality of side surfaces forming a floor protruding from the support portion at a first end in the rotation axis direction, the mirror being in contact with the floor.

Description

Technical Field

[0001] This invention relates to lidar, and more particularly to a lidar capable of rotating and scanning with a laser. Background Technology

[0002] In the fields of autonomous driving and autonomous walking robots, devices such as LiDAR (Light Detection and Ranging) can be used to detect surrounding objects. LiDAR emits a laser beam as a detection signal into the surrounding three-dimensional space. After the laser beam illuminates an object in the surrounding space, it is reflected as an echo signal and returns. The LiDAR compares the received echo signal with the emitted detection signal to obtain relevant information about the surrounding objects, such as distance and speed.

[0003] As described above, a lidar system includes a transmitting module and a receiving module. The transmitting module generates and emits a laser beam, which strikes surrounding objects and is reflected back to the receiving module. Since the speed of light is known, the distance of surrounding objects relative to the lidar can be measured by the propagation time of the laser.

[0004] Furthermore, since the number of transmitting or receiving modules included in a lidar is limited, a light scanning device can be set up to scan the laser emitted from the transmitting module within a large field of view. Summary of the Invention

[0005] The present invention provides an optical scanning device that can improve the scanning range of laser emitted from the transmitting module of a lidar, and a lidar having the same.

[0006] According to an embodiment of the present invention, an optical scanning device includes: a support portion that rotates about a rotation axis and has a plurality of side surfaces spaced apart from the rotation axis; a rotating baffle fixed to the support portion, forming a gap between the side surfaces of the support portion and the rotating baffle for inserting a reflector; and a reflector inserted into the gap between the rotating baffle and the support portion, wherein a first side surface of the plurality of side surfaces has a base plate protruding from the support portion at a first end in the direction of the rotation axis, and the reflector contacts the base plate.

[0007] Furthermore, the first end of the first side can be closer to the rotation axis than the second end of the first side opposite to the first end.

[0008] Furthermore, a step portion can be formed between the first end and the second end of the first side surface, and the distance between each point on the first side surface and the rotation axis changes abruptly at the step portion, with the reflector contacting the step portion.

[0009] Furthermore, the formation direction of the step portion can be perpendicular to the rotation axis.

[0010] Furthermore, multiple sides can be parallel to the axis of rotation.

[0011] Furthermore, a support platform can be formed between multiple sides of the support, and the rotating baffle is fixed to the support platform.

[0012] Furthermore, a protrusion may be formed on the side of the support, the protrusion being in contact with the reflector, and the direction in which the protrusion is formed is perpendicular to the direction in which the base plate is formed.

[0013] Furthermore, the base plate can be formed perpendicular to the axis of rotation.

[0014] Furthermore, a motor can be installed inside the support to drive the support to rotate around the rotation axis. The support, the rotating baffle, and the reflector rotate around the rotation axis with the help of the motor.

[0015] Furthermore, the reflector can be in the shape of a plane mirror and be rectangular.

[0016] A lidar according to another embodiment of the present invention may include: an optical scanning device as described above; a transmitting module for emitting laser light to the optical scanning device; and a receiving module for receiving laser light emitted from the transmitting module and reflected by an object outside the lidar after being reflected by the optical scanning device.

[0017] According to an embodiment of the present invention, at least one of the following effects can be achieved: 1) the tilt angles of multiple reflectors relative to the rotation axis can be different, thereby increasing the number of laser lines; 2) assembly is simple, after fixing the support and the rotating baffle, the reflectors can be inserted; 3) plane mirrors can be used to reduce the manufacturing cost of the reflectors; 4) the combination of the rotating baffle and the support helps to isolate light between the transmitting and receiving parts of the lidar.

[0018] The effects of the present invention are not limited to those described above, and those skilled in the art can derive effects not described above from the following description. Attached Figure Description

[0019] Figure 1 This is a schematic diagram showing the transmitting part of a lidar according to an embodiment of the present invention.

[0020] Figure 2 This is a perspective view showing an optical scanning device according to an embodiment of the present invention.

[0021] Figure 3 This is a perspective view showing a support portion according to an embodiment of the present invention.

[0022] Figure 4 This is a perspective view showing a support portion and a rotating baffle according to an embodiment of the present invention.

[0023] Figures 5-6 This is a plan view showing a rotating baffle according to an embodiment of the present invention.

[0024] Figure 7 This is a schematic diagram illustrating how the reflector is positioned on the support and rotating baffle.

[0025] Figure 8 This is a schematic diagram showing the connection relationship between the rotating baffle and the fixed baffle. Detailed Implementation

[0026] The technical solutions of the embodiments of the present invention will now be described in detail with reference to the accompanying drawings. Obviously, the embodiments disclosed below are only a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art based on the following embodiments without creative effort are within the protection scope of the present invention.

[0027] Furthermore, in the description of this invention, the terms "upper," "lower," "left," "right," "front," "rear," etc., indicate the orientation or positional relationship based on the orientation or positional relationship of the accompanying drawings, and are only for the purpose of simplifying the description of this invention, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0028] Figure 1 This is a schematic diagram showing the transmitting part of a lidar according to an embodiment of the present invention. Figure 2 This is a perspective view showing an optical scanning device according to an embodiment of the present invention.

[0029] like Figure 1 As shown, the transmitting part of a lidar according to an embodiment of the present invention includes a transmitting module 10, a collimating lens 40, and an optical scanning device 30. Laser light emitted horizontally from the transmitting module 10 can be incident on the collimating lens 40. The collimating lens 40 can be a focusing lens to collimate the incident laser light, and the collimated laser light can be incident on the optical scanning device 30. The optical scanning device 30 can be in the form of a rotating mirror, and the laser light incident on the optical scanning device 30 can be reflected by a reflective surface to change its angle before being emitted to the outside of the lidar. By rotating the optical scanning device 30, the laser light reflected by a reflective surface of the optical scanning device 30 can be scanned within a predetermined horizontal range.

[0030] Figure 1 The illustration shows an optical scanning device 30 with four reflective surfaces, but the invention is not limited thereto. The optical scanning device 30 may have two, three, or five or more reflective surfaces. The number of reflective surfaces can be appropriately selected according to requirements.

[0031] Furthermore, the optical scanning device 30 may have a rotation axis, around which the optical scanning device 30 may rotate. Figure 1 In this process, the rotation axis can be located at the center of the optical scanning device 30 and perpendicular to the paper surface. The four reflective surfaces of the optical scanning device 30 can be parallel to the rotation axis, or they can be non-parallel to the rotation axis. The four reflective surfaces can each have a different tilt angle relative to the rotation axis.

[0032] like Figure 2 As shown, the optical scanning device 30 can have four reflectors 300, which are respectively disposed on the four sides of the optical scanning device 30. The four reflectors 300 can be approximately parallel to the rotation axis, but not completely parallel to the rotation axis. Reflector C can be positioned with its upper part closer to the rotation axis than its lower part; reflector B can be positioned with its lower part closer to the rotation axis than its upper part; and reflector A can be positioned with its upper part closer to the rotation axis than its lower part. Furthermore, the tilt angles of reflectors A through C can be appropriately selected according to requirements. By making the four reflectors of the optical scanning device 30 have different tilt angles relative to the rotation axis, the laser beams reflected by the four reflectors can be reflected to different positions in the vertical direction, thereby improving the vertical resolution of the lidar. For example, when the tilt angles of the four reflectors 300 are not the same, the laser emitted from a single transmitting module can be located at four different positions in the vertical direction.

[0033] As mentioned above, refer to Figures 1-2 The transmitting section of the lidar has been described. The structure of the receiving section of the lidar can be similar to that of the transmitting section. Figure 1 In this configuration, the receiving section can be obtained by replacing the transmitting module 10 with a receiving module. Furthermore, the transmitting and receiving sections of the lidar are preferably arranged vertically, spaced apart. Figure 2 As shown, the transmitting module 10 can be located above the rotating baffle 200 so that the laser emitted from the transmitting module 10 hits the top of the rotating baffle 200; the receiving module can be located below the rotating baffle 200 so as to receive the laser reflected by the reflector 300 below the rotating baffle 200.

[0034] According to an embodiment of the present invention, a lidar can detect objects outside the lidar by emitting laser light to the outside of the lidar and receiving the laser light reflected from the outside of the lidar in the manner described above.

[0035] Next, refer to Figures 2-8 A more detailed description will be given of an optical scanning device 30 according to an embodiment of the present invention.

[0036] Figure 2 This is a perspective view showing an optical scanning device according to an embodiment of the present invention. Figure 3This is a perspective view showing a support portion 100 according to an embodiment of the present invention. Figure 4 This is a perspective view showing a support portion 100 and a rotating baffle 200 according to an embodiment of the present invention. Figures 5-6 This is a plan view showing a rotating baffle 200 according to an embodiment of the present invention. Figure 7 This is a schematic diagram illustrating the manner in which the reflector 300 is disposed on the support 100 and the rotating baffle 200. Figure 8 This is a schematic diagram showing the connection relationship between the rotating baffle 200 and the fixed baffle.

[0037] like Figure 2 As shown, the optical scanning device 30 may include a support 100, a rotating baffle 200, and four reflectors 300.

[0038] The support portion 100 serves to support the rotating baffle 200 and the reflector 300. Furthermore, the interior of the support portion 100 can be hollow, allowing a rotary motor to be installed inside, which in turn drives the rotating baffle 200 and the reflector 300 to rotate. Assuming the rotation axis is vertical, the support portion 100 can be vertically aligned, and the rotating baffle 200 can be horizontally aligned.

[0039] like Figure 3 As shown, the support portion 100 may include a base plate 110, a stepped portion 120, a protrusion 130, and a support platform 140.

[0040] The support portion 100 can be generally formed into a hollow cuboid shape. The base plate 110 can be located at the upper or lower end of one side of the support portion 100, and its forming direction can be perpendicular to the axis of rotation. Furthermore, the base plate 110 can be formed along the upper / lower edge of the support portion 100 and protrude outward from the side of the support portion 100 by a predetermined height. The predetermined height is the height at which the reflector 300, described later, can be placed.

[0041] The stepped portion 120 can be formed perpendicular to the axis of rotation, or it can be formed parallel to the base plate 110. The stepped portion 120 divides the side of the support portion 100 into two regions, one high and one low, along the vertical direction. That is, Figure 3In this configuration, on surface A of the support portion 100, the area above the step portion 120 can be a low-thickness area; the area below the step portion 120 can be a high-thickness area. That is, the distance from each point on surface A of the support portion 100 to the rotation axis can abruptly change on the step portion 120. The base plate 110 can be formed in the low-thickness area above surface A. Furthermore, on surface B of the support portion 100, the area above the step portion 120 can be a high-thickness area; the area below the step portion 120 can be a low-thickness area. The base plate 110 can be formed in the low-thickness area below surface B. Preferably, the base plate 110 is formed on the side of the support portion 100 closer to the rotation axis.

[0042] In this invention, the case where a stepped portion 120 is formed on one side of the support portion 100 has been described. However, the invention is not limited to this; multiple stepped portions 120 may be formed on one side of the support portion 100, dividing the side of the support portion 100 into multiple regions of different thicknesses along the vertical direction. The thickness may gradually increase or decrease along the vertical direction.

[0043] Furthermore, in another embodiment of the present invention, the step portion 120 may not be formed, and the side surface of the support portion 100 may be tilted entirely relative to the rotation axis. That is, the thickness of the support portion 100 may not abruptly change at the step portion 120, but the thickness of the side surface of the support portion 100 may gradually decrease from top to bottom or from bottom to top.

[0044] The support portion 100 may also have a support platform 140. The support platform 140 may be formed between multiple sides of the support portion 100. The support platform 140 may be used to place the rotating baffle 200, which will be described later. Furthermore, the upper part of the support platform 140 may be open to facilitate the placement of the rotating baffle 200 from above onto the support platform 140. Threaded holes may be formed in the support platform 140 and the rotating baffle 200, so that when the rotating baffle 200 is placed on the support platform 140, it can be fixed to the support platform 140 by screws. The relative height of the support platform 140 and the step portion 120 is not limited, and the support platform 140 may be located above or below the step portion 120.

[0045] Figure 4 The shape of the rotating baffle 200 after it is positioned on the support platform 140 is shown. Figure 4 As shown, after the rotating baffle 200 is placed on the support platform 140, a predetermined gap is formed between the inner side of the rotating baffle 200 and the side of the support portion 100. This gap can correspond to the shape of the reflector 300. The reflector 300, which will be described later, can be inserted between the rotating baffle 200 and the support portion 100 through this gap.

[0046] Reference Figure 7The method of inserting the reflector 300 between the rotating baffle 200 and the support 100 will be described. For example... Figure 4 and Figure 7 As shown in (a), when the rotating baffle 200 is disposed on the support platform 140, a shape is formed between the side of the support portion 100 and the rotating baffle 200 as shown in (a). Figure 4 , 7 The gap shown allows the reflector 300 to be inserted from the thicker side (upper side) to the thinner side (lower side) of the stepped portion 120. Furthermore, the bottom surface of the reflector 300 can abut against the base plate 110 below the support portion 100. Thus, the position of the reflector 300 can be fixed between the rotating baffle 200 and the support portion 100. Preferably, the size of the gap between the rotating baffle 200 and the support portion 100 is approximately the thickness of the reflector 300 to facilitate insertion and prevent wobbling. Even if unnecessary rotation occurs when the reflector 300 is inserted into the gap, this rotation can be corrected after the reflector 300 abuts against the base plate 110. After inserting the reflector 300, adhesive can be applied to the contact area between the reflector 300 and the rotating baffle 200 or the support portion 100 to further fix the position of the reflector 300.

[0047] By means of the above description, the tilt of the reflector 300 relative to the rotation axis of the optical scanning device 30 can be effectively controlled by appropriately setting the height of the step portion 120 and the size of the gap between the rotating baffle 200 and the support portion 100.

[0048] The support portion 100 may also include a protrusion 130. While the stepped portion 120 is formed laterally, the protrusion 130 may be formed vertically on the side of the support portion 100. Furthermore, the protrusion 130 may be formed above or below the support platform 140. Figure 3 The diagram shows a case where the protrusion 130 is formed below the support platform 140. Preferably, the protrusion 130 is formed below the support platform 140, and the protrusion 130 and the support platform 140 are formed at approximately the same position in the horizontal direction, thereby maximizing the area where the reflector 300 is installed.

[0049] Furthermore, a protrusion 130 is formed on the side of the support portion 100 at the location where the reflector 300 is formed. Therefore, when the reflector 300 is inserted, the side of the protrusion 130 can contact the side of the reflector 300 to fix the lateral position of the reflector 300. Figure 3 In the middle, on both surface A and surface B, the protrusion 130 is formed at the left end and can extend vertically to the bottom of the support 100. The specific location of the protrusion 130 is not limited to this, as long as it is formed at a position that abuts against the side of the reflector 300.

[0050] Next, refer to Figures 4-6 The rotating baffle 200 of the present invention will be described below. Figure 4 As shown, the rotating baffle 200 is placed on the support platform 140 of the support part 100.

[0051] Figure 5 and Figure 6 These are plan views showing two examples of the rotating baffle 200. (See attached image.) Figures 5-6 As shown, the outer periphery of the rotating baffle 200 can be circular, and the interior can form a rectangular hollow region. Furthermore, referring to... Figure 2 , Figure 4 The rotating baffle 200 is formed as a plate with a predetermined thickness. Furthermore, the rotating baffle 200 can be disposed on the support portion 100 in a manner perpendicular to the axis of rotation.

[0052] like Figure 5 As shown, inwardly protruding connectors 210 can be formed at the four corners inside the rotating baffle 200. The connectors 210 can protrude inward from the corners of the hollow interior region of the rotating baffle 200 and are used to connect and fix with the support platform 140 of the support part 100. Figure 5 The diagram shows a configuration with four connectors 210. The number of connectors 210 can correspond to the number of reflectors 300 included in the optical scanning device 30.

[0053] A space is formed between two adjacent connectors 210 for inserting a reflector 300. Furthermore, a space is formed between the inner side of the rotating baffle 200 and the side of the support 100 for inserting a reflector 300. Thus, as... Figure 4 As shown, when the connector 210 is attached to the support platform 140 of the support part 100, four spaces for inserting the reflector 300 can be formed between the rotating baffle 200 and the support part 100.

[0054] Figure 5 The diagram illustrates a scenario where the width of the connection between the connector 210 and the main body of the rotating baffle 200 is reduced. (By...) Figure 5 As shown, a rotating baffle 200 is formed, compared to Figure 6 The rotating baffle 200, as shown, increases the distance between two adjacent connectors 210, thereby increasing the space between the connectors 210 where the reflector 300 can be inserted. Therefore, Figure 5 Compared to connector 210 Figure 6 The connector 210 allows for the insertion of a wider reflector 300.

[0055] The function of the rotating baffle 200 in creating the space for the inserting mirror 300 has been explained above. Next, refer to... Figure 8 The blocking effect of the rotating baffle 200 will be explained. Figure 8 This is a schematic diagram showing the connection relationship between the rotating baffle 200 and the fixed baffle 500. Figure 8 This is a vertical cross-sectional view of the rotating baffle 200 and the fixed baffle 500.

[0056] As described above, a rotary motor can be installed inside the support 100, which drives the rotating baffle 200 and the reflector 300 to rotate. Therefore, the rotating baffle 200 is a rotating component. Furthermore, the rotating baffle 200, combined with a stationary baffle 500, prevents laser light from directly entering the receiving portion below the rotating baffle 200 from the emitting portion above it. The stationary baffle 500 can be formed horizontally inside the lidar to separate the emitting and receiving portions, allowing the laser light emitted from the emitting module to be reflected by an external object and then enter the receiving module from the other side of the stationary baffle after passing through the window. Furthermore, the stationary baffle 500 can have a hole corresponding to the shape of the rotating baffle 200, and the rotating baffle 200 and the optical scanning device 30 are installed inside the hole. Figure 8 As shown in (a), the left-side component of the rotating baffle 200 can be a fixed baffle 500. The direct incidence of laser light from the emitting part to the receiving part can be reduced by decreasing the distance between the rotating baffle 200 and the fixed baffle 500. Alternatively, it can be as follows... Figure 8 As shown in (b), the rotating baffle 200 is positioned below the protrusion of the fixed baffle 500 to further block light leakage between the rotating baffle 200 and the fixed baffle 500.

[0057] Next, a reflector 300 according to an embodiment of the present invention will be described. For example... Figure 1 and Figure 7 As shown, the reflector 300 can be a rectangular plane mirror. In this invention, the shapes of the support 100 and the rotating baffle 200 are designed to allow the reflector 300 to be tilted. Therefore, the reflector 300 can be formed as a plane mirror. Compared to a non-plane mirror shape, this reduces the difficulty of manufacturing the reflector 300 and lowers costs.

[0058] Before installing the 300 reflector, you can first... Figure 4As shown, a rotating baffle 200 is disposed on the support platform 140 of the support portion 100, and then a reflector 300 is inserted between the rotating baffle 200 and the support portion 100. On surface A of the support portion 100, a base plate 110 is formed on the thinner upper side of the support portion 100, therefore, the reflector 300 can be inserted from below the support portion 100; on surface B of the support portion 100, the base plate 110 is formed on the thinner lower side of the support portion 100, therefore, the reflector 300 can be inserted from above the support portion 100. When inserting the reflector 300, the reflector 300 can be pushed along the side of the protrusion 130, thereby better fixing the lateral position of the reflector 300. Furthermore, after the reflector 300 is inserted into the gap between the rotating baffle 200 and the support portion 100, the reflector 300 can be pushed until it contacts the base plate 110, thereby completing the installation of the reflector 300. After the reflector 300 is inserted, one side of the reflector 300 can contact the step portion 120; or the other side of the reflector 300 can contact the rotating baffle 200; or the reflector 300 can contact both the step portion 120 and the rotating baffle 200 simultaneously. After the reflector 300 is inserted, adhesive can be applied to the contact point between the reflector 300 and the support portion 100 or the rotating baffle 200 to fix the position of the reflector 300.

[0059] In the manner described above, optical scanning devices 30 with varying tilt angles of the reflectors 300 relative to the rotation axis can be formed. Alternatively, at least one optical scanning device 30 with its reflectors 300 not parallel to the rotation axis can be formed. Furthermore, by dividing the reflectors 300 into upper and lower separated sections using the rotating baffle 200, the transmitting and receiving sections of the lidar can be separated vertically. That is, the transmitting module 10 of the lidar can be positioned above or below the rotating baffle 200, and the receiving module can be positioned on the other side of the rotating baffle.

[0060] In the above manner, the light emitted from the emitting module 10 can be scanned in the horizontal direction, and the number of laser lines in the vertical direction can be increased by using reflectors 300 with different tilt angles.

[0061] Although this application describes the case of forming four reflectors 300, the present invention is not limited thereto and can be applied to the case of setting two or more reflectors 300. When the number of reflectors 300 is changed, the number of sides of the support 100 and the shape of the rotating baffle 200 can be changed accordingly.

[0062] In this invention, the up and down directions of the optical scanning device 30 can be opposite, without affecting the function of the optical scanning device 30 in the lidar.

[0063] The embodiments of the apparatus and method described above are merely illustrative. The separate units described may or may not be physically separate, and the components shown as units may or may not be physical units; that is, they may be located in one position or distributed across multiple network units. Some or all of the modules can be selected to implement the technical solution of the present invention according to actual needs.

Claims

1. An optical scanning device, characterized in that, include: The support part rotates about a rotation axis and has multiple sides spaced apart from the rotation axis; A rotating baffle is fixed to the support, and a gap is formed between the side of the support and the rotating baffle, which allows a reflector to be inserted. The reflector is inserted into the gap between the rotating baffle and the support. The first side of the multiple sides has a base plate that protrudes from the support at the first end in the direction of the rotation axis, and the reflector contacts the base plate; The support portion serves to support the rotating baffle and the reflector. The interior of the support portion is a hollow cuboid shape. A rotary motor is installed inside the support portion, which drives the rotating baffle and the reflector to rotate. The support portion includes a base plate, a protrusion, and a support platform; or, the support portion includes a base plate, a step, a protrusion, and a support platform. The base plate is located at the upper or lower end of one side of the support portion and is formed in a direction perpendicular to the rotation axis. The base plate is formed along the upper or lower edge of the support portion and protrudes outward from the side of the support portion by a predetermined height. The stepped portion is formed in a direction perpendicular to the axis of rotation. The stepped portion divides the side of the support portion into at least two regions with different thicknesses along the vertical direction, and the thickness increases or decreases sequentially along the vertical direction. The protrusion is formed on the side of the support in the vertical direction, and the protrusion is formed above or below the support platform; The support platform is formed between multiple sides of the support portion and is used to place the rotating baffle. The outer periphery of the rotating baffle is circular, and the interior forms a rectangular hollow area. There are inwardly protruding connectors at the four corners inside the rotating baffle. The connectors protrude inward from the corners of the hollow interior area of ​​the rotating baffle and are used to connect and fix with the support platform of the support portion.

2. The optical scanning device as described in claim 1, characterized in that, The first end of the first side is closer to the rotation axis than the second end of the first side opposite to the first end.

3. The optical scanning device as described in claim 2, characterized in that, A stepped portion is formed between the first end and the second end of the first side surface, and the distance between each point on the first side surface and the axis of rotation changes abruptly at the stepped portion. The reflector contacts the step.

4. The optical scanning device as described in claim 3, characterized in that, The plurality of said sides are parallel to the axis of rotation.

5. The optical scanning device as described in claim 1, characterized in that, A support platform is formed between multiple sides of the support, and a rotating baffle is fixed to the support platform.

6. The optical scanning device as described in claim 1, characterized in that, A protrusion is formed on the side of the support, which contacts the reflector, and the direction in which the protrusion is formed is perpendicular to the direction in which the base plate is formed.

7. The optical scanning device as claimed in claim 1, characterized in that, A motor is installed inside the support section to drive the support section to rotate around a rotation axis. The support, rotating baffle, and reflector rotate around the rotating axis with the help of a motor.

8. The optical scanning device as claimed in claim 1, characterized in that, The reflector is a plane mirror and is rectangular in shape.

9. A lidar, characterized in that, include: The optical scanning device is the optical scanning device according to any one of claims 1 to 8; The transmitting module emits laser light to the optical scanning device; The receiving module receives the laser emitted from the transmitting module, reflected by the optical scanning device, reflected by an object outside the lidar, and then reflected by the optical scanning device. The transmitting module is located above the rotating baffle so that the laser emitted from the transmitting module hits the reflector above the rotating baffle; the receiving module is located below the rotating baffle so that it receives the laser reflected by the reflector below the rotating baffle.

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