Mechanical laser radar

Abstract

The application provides a mechanical laser radar, and relates to the field of laser radars.The mechanical laser radar comprises a base for accommodating a rotating mechanism, a coaxial optical system and a control circuit board, and a top for accommodating a scanning mechanism.The mechanical laser radar provided by the application is controlled by the control circuit board to rotate the rotating mechanism around the central axis of the rotating mechanism, so that the scanning mechanism is driven to rotate synchronously.The scanning mechanism reflects the laser beam, which is emitted by the coaxial optical system and reaches the scanning mechanism through a receiving lens, to a target object, and reflects the reflected laser beam, which is returned by the target object and reaches the scanning mechanism, to the receiving lens for focusing.Finally, the voltage signal corresponding to the reflected laser beam, which is sent by the coaxial optical system, is subjected to signal processing by the control circuit board.The control circuit board integrates the functions of an algorithm board and a control board, and compared with the traditional mechanical laser radar, one circuit board and one connecting flat cable are reduced, the cost is reduced, and the complexity of the system is reduced.

Description

Technical Field

[0001] This invention relates to the field of lidar, and more particularly to a mechanical lidar. Background Technology

[0002] LiDAR (Light Detection and Ranging) is a radar system that uses emitted laser beams to detect the position, velocity, and other characteristics of a target. Its working principle involves emitting a detection laser beam towards the target, then comparing the received laser signal reflected back from the target with the emitted laser. After appropriate processing, information about the target can be obtained, such as its distance, azimuth, altitude, velocity, attitude, and even shape. Mechanical LiDAR, on the other hand, achieves detection in a 360° horizontal field of view by rotating.

[0003] Current mechanical lidar systems primarily use brushless motors to rotate the algorithm circuit board, transmitting circuit board, receiving circuit board, and optical components 360° to emit laser light. A photoelectric conversion device then receives the voltage signal, which is sent to the algorithm board for signal processing to obtain the distance value. This data is then transmitted wirelessly to the control board, which in turn sends it to external devices via Ethernet. However, the presence of the algorithm board and control board complicates the internal structure of these systems and increases their cost. Summary of the Invention

[0004] To overcome the shortcomings of the prior art, this application provides a mechanical lidar.

[0005] This application provides a mechanical lidar, including a base for housing a rotating mechanism, a coaxial optical system and a control circuit board, and a top for housing a scanning mechanism and located above the base in the vertical direction.

[0006] The coaxial optical system includes a receiving lens, which is disposed in the central through hole of the rotating mechanism;

[0007] The scanning mechanism is connected to the rotating mechanism. The scanning mechanism is used to reflect the laser beam emitted by the coaxial optical system, which passes through the receiving lens and reaches the scanning mechanism, to the target object, and to reflect the reflected laser beam that returns from the target object and reaches the scanning mechanism back to the receiving lens for focusing.

[0008] The control circuit board is electrically connected to the rotating mechanism and the coaxial optical system respectively. The control circuit board is used to control the rotating mechanism to rotate around the central axis of the rotating mechanism, thereby driving the scanning mechanism to rotate synchronously, and to perform signal processing on the voltage signal corresponding to the reflected laser beam sent by the coaxial optical system.

[0009] In one possible implementation, the coaxial optical system further includes:

[0010] A laser emitting module is electrically connected to the control circuit board and is used to emit the laser beam;

[0011] A receiving prism, located on the side of the receiving lens opposite to the scanning mechanism, is used to reflect the laser beam emitted by the laser emitting module to the receiving lens, and to allow the reflected laser beam, focused by the receiving lens, to transmit; and

[0012] A laser receiver is located on the side of the receiving prism facing away from the receiving lens. The laser receiver is electrically connected to the control circuit board. The laser receiver is used to receive the reflected laser beam transmitted through the receiving prism and send the corresponding voltage signal to the control circuit board.

[0013] In one possible implementation, the laser emitting module includes:

[0014] At least one laser emitter for emitting the laser beam, the laser emitter being electrically connected to the control circuit board; and

[0015] A transmitting lens is located between the laser emitter and the receiving prism and is used to collimate the laser beam emitted by the laser emitter.

[0016] In one possible implementation, when the laser emitting module includes at least two laser emitters, the control circuit board drives the at least two laser emitters to emit the laser beam using a pulse coding method.

[0017] In one possible implementation, the base is also provided with a heat dissipation component.

[0018] In one possible implementation, the scanning mechanism includes a rotating mirror and a mirror support;

[0019] The rotating reflector is mounted on the reflector bracket. The rotating reflector is used to reflect the laser beam that arrives at the rotating reflector through the receiving lens to the target object, and to reflect the reflected laser beam that returns from the target object to the rotating reflector back to the receiving lens.

[0020] The reflector bracket is connected to the rotating mechanism.

[0021] In one possible implementation, the rotating mechanism includes a motor stator and a motor rotor, the motor stator being disposed in the motor rotor, the receiving lens being disposed in the motor stator, and the motor rotor being connected to the scanning mechanism.

[0022] In one possible implementation, the mechanical lidar further includes an angular displacement measuring mechanism, which includes a code disk and an encoder;

[0023] The code disk is mounted on the motor rotor, and the encoder is located inside the base and facing the code disk. It is used to measure the rotation angle of the motor rotor, and the encoder is electrically connected to the control circuit board.

[0024] In one possible implementation, the mechanical lidar further includes a wiring terminal that passes through the base, is electrically connected to the control circuit board, and is used to enable the control circuit board to transmit data with the outside world.

[0025] In one possible implementation, the base is formed of a first housing and the top is formed of a second housing, the second housing being made of a light-transmitting material.

[0026] Compared with the prior art, the beneficial effects of this application are:

[0027] The mechanical lidar provided in this application uses a control circuit board to control a rotating mechanism to rotate around its central axis, thereby driving a scanning mechanism to rotate synchronously. The scanning mechanism reflects the laser beam emitted by the coaxial optical system, which passes through a receiving lens and reaches the scanning mechanism, onto the target object. It also reflects the reflected laser beam returning from the target object back to the scanning mechanism back to the receiving lens for focusing. Finally, the control circuit board processes the voltage signal corresponding to the reflected laser beam sent by the coaxial optical system. This control circuit board integrates the functions of an algorithm board and a control board, reducing one circuit board and one connecting cable compared to traditional mechanical lidars, thus lowering costs and system complexity. Attached Figure Description

[0028] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0029] Figure 1 A schematic diagram of the structure of a mechanical lidar provided in an embodiment of this application is shown;

[0030] Figure 2 It shows Figure 1 A schematic diagram of the internal components of the mechanical lidar;

[0031] Figure 3 It shows Figure 1 A schematic diagram of the mechanical lidar during its rotating operation;

[0032] Figure 4 It shows Figure 1 The schematic diagram shows the principle of a single-line mechanical lidar.

[0033] Figure 5 It shows Figure 1 The schematic diagram shows the principle of a multi-line mechanical lidar.

[0034] Explanation of key component symbols:

[0035] 100-Mechanical LiDAR; 10-Base; 20-Top; 30-Rotating mechanism; 31-Motor stator; 32-Motor rotor; 40-Coaxial optical system; 41-Receiving lens; 42-Laser emitting module; 42a-Laser emitter; 42b-Emitting lens; 43-Receiving prism; 44-Laser receiver; 50-Control circuit board; 60-Scanning mechanism; 61-Rotating reflector; 62-Reflector bracket; 70-Angular displacement measuring mechanism; 71-Code disk; 72-Encoder; 80-Terminal block. Detailed Implementation

[0036] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0037] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, 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. Therefore, they should not be construed as limitations on this invention.

[0038] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0039] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0040] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0041] Example

[0042] Please see Figure 1 One embodiment of this application provides a mechanical lidar 100 for detecting in a 360° horizontal field of view. The mechanical lidar 100 has a simple structure, reduces the heat generated by the entire device, and can achieve 360° detection for a single-line mechanical lidar, as well as multi-line mechanical lidar using a coaxial optical system 40.

[0043] Please also refer to Figure 2 The mechanical lidar 100 includes a base 10, a top 20, a rotating mechanism 30, a coaxial optical system 40, a control circuit board 50, a scanning mechanism 60, an angular displacement measuring mechanism 70, and wiring terminals 80.

[0044] The top 20 is located vertically above the base 10. The rotating mechanism 30, the coaxial optical system 40, the control circuit board 50, and the angular displacement measuring mechanism 70 are all housed in the base 10, while the scanning mechanism 60 is housed in the top 20.

[0045] The coaxial optical system 40 includes a receiving lens 41, which is disposed in the central through hole of the rotating mechanism 30 and located below the scanning mechanism 60 in the vertical direction.

[0046] The scanning mechanism 60 is connected to the rotating mechanism 30. The scanning mechanism 60 reflects the laser beam emitted by the coaxial optical system 40 and reaching the scanning mechanism 60 through the receiving lens 41 to the target object, and reflects the reflected laser beam that returns from the target object and reaches the scanning mechanism 60 back to the receiving lens 41 for focusing.

[0047] The control circuit board 50 is electrically connected to both the rotating mechanism 30 and the coaxial optical system 40. On one hand, the control circuit board 50 controls the rotating mechanism 30 to rotate around its central axis, thereby causing the scanning mechanism 60 to rotate synchronously, thus changing the detection direction of the mechanical lidar 100. On the other hand, the control circuit board 50 also processes the voltage signal corresponding to the reflected laser beam sent by the coaxial optical system 40 to calculate the distance and reflectivity data of the target object.

[0048] The angular displacement measuring mechanism 70 is electrically connected to the control circuit board 50. The angular displacement measuring mechanism 70 can measure the rotation angle of the rotating mechanism 30, thereby determining the detection direction of the mechanical lidar 100.

[0049] The terminal block 80 is inserted through the base 10 and is electrically connected to the control circuit board 50, enabling the control circuit board 50 to transmit data with the outside world.

[0050] In some embodiments, the base 10 is formed by a first housing, the top 20 is formed by a second housing, and both the first and second housings are cylindrical.

[0051] Furthermore, the second housing is made of a light-transmitting material, allowing the laser beam reflected from the scanning mechanism 60 to the target and the reflected laser beam returning from the target to the scanning mechanism 60 to pass through.

[0052] Furthermore, a heat dissipation component is also provided on the base 10.

[0053] In some embodiments, the heat dissipation component may be a heat dissipation adhesive layer coated on the surface of the base 10.

[0054] In other embodiments, the heat dissipation component may also be a plurality of heat dissipation fins integrally formed with or welded to the base 10.

[0055] The coaxial optical system 40 also includes a laser emitting module 42, a receiving prism 43, and a laser receiver 44.

[0056] The laser emitting module 42 is electrically connected to the control circuit board 50 and emits a laser beam under the control of the control circuit board 50.

[0057] The receiving prism 43 is located vertically below the receiving lens 41, that is, on the side of the receiving lens 41 facing away from the scanning mechanism 60, and is flush with the height of the laser emitting module 42. Furthermore, the receiving prism 43 has two right-angled sides and one hypotenuse. One right-angled side is horizontal, the other is vertical, and the angle between the hypotenuse and the horizontal direction is 45°.

[0058] In use, the laser beam emitted by the laser emitting module 42 illuminates the oblique side of the receiving prism 43 in a horizontal direction. The receiving prism 43 reflects the laser beam, causing it to pass vertically upward through the center of the receiving lens 41 and then reach the scanning mechanism 60. The scanning mechanism 60 further reflects the laser beam to the target object.

[0059] The laser receiver 44 is located below the receiving prism 43 in the vertical direction, that is, on the side of the receiving prism 43 facing away from the receiving lens 41. The laser receiver 44 is electrically connected to the control circuit board 50.

[0060] In use, the scanning mechanism 60 reflects the reflected laser beam that returns from the target object to the receiving lens 41 for focusing. The reflected laser beam focused by the receiving lens 41 shines vertically downwards onto the inclined side of the receiving prism 43. The receiving prism 43 allows the reflected laser beam to pass through, further illuminating the laser receiver 44. After receiving the reflected laser beam, the laser receiver 44 performs photoelectric conversion, converting it into a voltage signal, and sends the corresponding voltage signal to the control circuit board 50.

[0061] In some embodiments, the laser receiver 44 employs a photoelectric sensor.

[0062] Furthermore, the laser emitting module 42 includes at least one laser emitter 42a and also includes an emitting lens 42b.

[0063] The laser emitter 42a is either an edge-emitting laser (EEL) or a vertical-cavity surface-emitting laser (VCSEL). The laser emitter 42a is electrically connected to the control circuit board 50 and emits a laser beam under the control of the control circuit board 50.

[0064] The emitting lens 42b is located between the laser emitter 42a and the receiving prism 43, and collimates the laser emitted by the laser emitter 42a, compressing the divergence angles of the fast and slow axes of the laser at the same time. This ensures that the laser spot is small even when it reaches a distance, thereby improving the accuracy of distance measurement repeatability and distance measurement capability.

[0065] The scanning mechanism 60 includes a rotating reflector 61 and a reflector support 62. The rotating reflector 61 is mounted on the reflector support 62, and the reflector support 62 is connected to the rotating mechanism 30.

[0066] Furthermore, the rotating reflector 61 reflects the laser beam that reaches the rotating reflector 61 via the receiving lens 41 back to the target object, and reflects the reflected laser beam that returns from the target object back to the rotating reflector 61 back to the receiving lens 41.

[0067] Specifically, the rotating reflector 61 is positioned at an angle of 45° to the horizontal direction, so that the laser beam transmitted from the receiving lens 41 can be reflected on the rotating reflector 61 and then emitted through the top 20.

[0068] Based on this, the rotating mechanism 30, under the control of the control circuit board 50, drives the rotating reflector 61 to rotate in the horizontal direction through the reflector bracket 62, so that the laser beam can be emitted in different directions in the horizontal direction after being reflected on the rotating reflector 61, thereby changing the detection direction of the mechanical lidar 100.

[0069] Please also refer to Figure 3 The rotating mechanism 30 is a hollow shaft brushless motor. The rotating mechanism 30 is mounted on the base 10.

[0070] The rotating mechanism 30 includes a motor stator 31 and a motor rotor 32, with the motor stator 31 disposed in the motor rotor 32.

[0071] The receiving lens 41 is disposed in the motor stator 31, and the reflector bracket 62 is fixedly connected to the motor rotor 32.

[0072] The angular displacement measuring mechanism 70 includes a code disk 71 and an encoder 72. The code disk 71 is mounted on the motor rotor 32. The encoder 72 is located inside the base 10 and faces the code disk 71, and is electrically connected to the control circuit board 50. The code disk 71 can rotate with the rotation of the motor rotor 32, and the encoder 72 can detect the position of the code disk 71 to calculate the rotation angle of the motor rotor 32, thereby determining the angular position of each launch.

[0073] In some embodiments, the code disk 71 is a metal code disk.

[0074] Please see Figure 4 In some embodiments, the laser emitting module 42 includes only one laser emitter 42a. In this case, the mechanical lidar 100 is a single-line mechanical lidar.

[0075] Its working principle is as follows: the emitted beam and the received beam are coaxial in the vertical direction of the bottom surface of the receiving prism 43, where the coaxial optical system 40 can function well. The laser emitter 42a emits light with a repetition rate of 1Hz to 500KHz. The laser is collimated by the emitting lens 42b, reflected by the receiving prism 43, and passes through the center of the receiving lens 41 to hit the center of the rotating mirror 61. The beam is then reflected by the rotating mirror 61, passes through the top 20, and reaches the target object. The rotating mechanism 30 drives the rotating mirror 61 to rotate, enabling 360° object scanning measurement. After reflection from the target object, the beam returns through the top 20 to the rotating mirror 61, and is reflected by the receiving lens 41, focusing the beam. At this time, the unidirectional transmission characteristic of the receiving prism 43 allows the beam to pass through the inclined plane and directly enter the interior of the receiving prism 43, finally reaching the laser receiver 44 for photoelectric conversion. The voltage signal from the photoelectric conversion is sent to the control circuit board 50 for signal processing, thereby calculating the final target distance and reflectivity data. The encoder 72 is used to detect the code disk 71, thereby calculating the angle position of each point cloud transmission.

[0076] Please see Figure 5 In some embodiments, the laser emitting module 42 includes at least two laser emitters 42a, and the control circuit board 50 drives the at least two laser emitters 42a to emit laser beams using a pulse coding method. In this case, the mechanical lidar 100 is a multi-line mechanical lidar.

[0077] Its working principle and Figure 4 The single-line mechanical lidar shown is identical to the one that uses a coaxial optical system 40. The difference lies in that, in the multi-line mechanical lidar, a single laser receiver 44 is also used to receive the laser, rather than distinguishing the corresponding channel by position. Because a single laser receiver 44 is used, and the repetition rate of a single laser emission cannot reach 500kHz, the laser transmitter 42a needs to emit light using an encoded method to distinguish which corresponding channel is sending the laser.

[0078] In some embodiments, the terminal block 80 is an aviation terminal block.

[0079] The mechanical lidar 100 provided in this application uses a hollow shaft brushless motor to mount a rotating reflector 61 on a rotating mechanism 30. Compared to traditional mechanical lidars, it eliminates the need to place the motor on top of the reflector, thus avoiding the need for connecting cables to the top motor and preventing obstruction of the field of view, achieving true 360° scanning. Furthermore, since the rotating mechanism 30 is directly mounted on the base 10, the rotating reflector 61 is essentially directly mounted on the base 10. Compared to the top-mounted motor installation method, this reduces system complexity, and the installation accuracy of the rotating reflector 61 is higher, with a lower deviation at 0° horizontal alignment compared to traditional installation methods. This improved accuracy also allows multi-line mechanical lidars to utilize a coaxial optical system 40. Moreover, since the motor is essentially located at the bottom of the rotating reflector 61, the brushless motor drive board can be integrated onto the control circuit board 50, combining the algorithm board and control board into one, reducing the use of circuit boards and connecting cables, lowering costs, and further reducing system complexity. Meanwhile, the rotating body in this application consists of only one rotating reflector 61, without any circuit boards, additional optical components, or other heavy structural parts. Therefore, the motor only drives the rotating reflector 61 to rotate, significantly reducing the load and output power of the motor, thus lowering heat generation and temperature rise. This increases the lifespan of the bearings used in rotation, thereby extending the lifespan of the lidar. Furthermore, due to the light load, the mechanical lidar 100 of this application exhibits stronger low-temperature start-up performance under the same conditions.

[0080] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0081] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A mechanical lidar, characterized by, The base is used for accommodating the rotating mechanism, the coaxial optical system and the control circuit board, and the top is used for accommodating the scanning mechanism and is located above the base in the vertical direction; The coaxial optical system comprises a receiving lens arranged in a central through hole of the rotating mechanism; The scanning mechanism is connected with the rotating mechanism, and is used for reflecting the laser beam emitted by the coaxial optical system to a target object through the receiving lens and reflecting the reflected laser beam returned from the target object to the receiving lens for focusing; The control circuit board is electrically connected with the rotating mechanism and the coaxial optical system respectively, and is used for controlling the rotating mechanism to rotate around the central axis of the rotating mechanism, thereby driving the scanning mechanism to rotate synchronously, and for signal processing of the voltage signal corresponding to the reflected laser beam sent by the coaxial optical system; The coaxial optical system further comprises a laser emitting module, a receiving prism and a laser receiver, the receiving prism is located on the side of the receiving lens away from the scanning mechanism, and the laser receiver is located on the side of the receiving prism away from the receiving lens, and the laser receiver is electrically connected with the control circuit board; The scanning mechanism comprises a rotating mirror and a mirror support, the rotating mirror is arranged in the mirror support, and the mirror support is connected with the rotating mechanism.

2. The mechanical laser radar according to claim 1, wherein The laser emitting module is electrically connected with the control circuit board and is used for emitting the laser beam; The receiving prism is used for reflecting the laser beam emitted by the laser emitting module to the receiving lens and allowing the reflected laser beam focused by the receiving lens to transmit; And The laser receiver is used for receiving the reflected laser beam transmitted from the receiving prism and sending the corresponding voltage signal to the control circuit board.

3. The mechanical lidar of claim 2, wherein, The laser emitting module comprises: At least one laser emitter for emitting the laser beam, the laser emitter is electrically connected with the control circuit board; and An emitting lens located between the laser emitter and the receiving prism and used for collimating the laser beam emitted by the laser emitter.

4. The mechanical lidar of claim 3, wherein, When the laser emitting module comprises at least two laser emitters, the control circuit board drives at least two laser emitters to emit the laser beam in a pulse coding mode.

5. The mechanical lidar of claim 1, wherein, The base is further provided with a heat dissipation assembly.

6. The mechanical lidar of claim 1, wherein, The rotating mirror is used for reflecting the laser beam reaching the rotating mirror through the receiving lens to a target object and reflecting the reflected laser beam reaching the rotating mirror from the target object to the receiving lens.

7. The mechanical lidar of claim 1, wherein, The rotating mechanism comprises a motor stator and a motor rotor, the motor stator is arranged in the motor rotor, the receiving lens is arranged in the motor stator, and the motor rotor is connected with the scanning mechanism.

8. The mechanical lidar of claim 7, wherein, The mechanical laser radar further comprises an angular displacement measurement mechanism, the angular displacement measurement mechanism comprises a code disc and an encoder. The code disc is arranged on the motor rotor, the encoder is arranged in the base and is arranged towards the code disc to measure the rotation angle of the motor rotor, and the encoder is electrically connected with the control circuit board.

9. The mechanical lidar of claim 1, wherein, The mechanical laser radar further comprises a wiring terminal, the wiring terminal is arranged in the base, the wiring terminal is electrically connected with the control circuit board, and the wiring terminal is used for data transmission between the control circuit board and the outside.

10. The mechanical lidar of claim 1, wherein, The base is formed by a first shell, the top is formed by a second shell, and the second shell is made of a light-transmitting material.

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