Multi-line lidar

Abstract

The present application relates to the field of laser radar technology and provides a multi-line laser radar, comprising: a multi-layer stacked driving circuit board assembly, an optical fiber fixing structure, a central rotating shaft, and a rotating seat connected to the end of the central rotating shaft. The driving circuit board assembly and the optical fiber fixing structure are arranged sequentially on the rotating seat along the circumference of the central rotating shaft. An optical fiber is led out from the side of each driving circuit board assembly close to the optical fiber fixing structure, and the led-out optical fiber goes around the central rotating shaft into the side of the corresponding driving circuit board assembly away from the optical fiber fixing structure, and is connected to the optical fiber fixing structure after passing under the corresponding driving circuit board assembly. The spatial layout of the multi-line laser radar provided by the present invention is compact and reasonable, and the optical fiber winding is extremely convenient.

Description

Technical Field

[0001] The present application relates to the field of laser radar technology, and more specifically, to a multi-line laser radar. Background Art

[0002] LiDAR is a product of the integration of laser technology with atmospheric optics, target and environmental characteristics, radar technology, optomechanical integration, and computer technology. Laser, as its light source, offers advantages such as excellent monochromaticity, high collimation, and strong coherence. It is widely used in various fields, including distance measurement, atmospheric detection, and road monitoring.

[0003] In a lidar (lidar), a laser transmitter system generates and emits light pulses, which strike an object, reflect back, and are ultimately picked up by a receiver. The receiver accurately measures the propagation time from emission to reflection. Because light pulses travel at the speed of light, the receiver always receives the previous reflected pulse before the next pulse is emitted. Given the known speed of light, propagation time can be converted into a distance measurement. Lidar can accurately measure a target's position (distance and angle), motion (speed, vibration, and posture), and shape, enabling detection, identification, discrimination, and tracking. Multi-line lidar utilizes multiple laser transmitters distributed vertically, which are then scanned by a rotating motor to form multiple beams. In theory, the more and denser the beams, the more comprehensive the description of the surrounding environment, which can also reduce algorithm requirements. This offers advantages such as fast measurement speed, high accuracy, and long-range measurement.

[0004] In the existing technology, the spatial layout utilization rate of multi-line laser radar is poor, and the optical fiber winding operation is inconvenient. Summary of the Invention

[0005] The main purpose of the present invention is to provide a multi-line laser radar, which aims to solve the technical problems of poor spatial layout utilization and inconvenient optical fiber winding operation of multi-line laser radar in the existing technology.

[0006] To achieve the above-mentioned purpose, the technical solution adopted by the present invention is: a multi-line laser radar, which includes: a multi-layer stacked driving circuit board assembly, an optical fiber fixing structure, a central rotating shaft and a rotating seat connected to the end of the central rotating shaft, the driving circuit board assembly and the optical fiber fixing structure are arranged sequentially on the rotating seat along the circumference of the central rotating shaft, and an optical fiber is led out from the side of each driving circuit board assembly close to the optical fiber fixing structure, and the led-out optical fiber goes around the central rotating shaft into the side of the corresponding driving circuit board assembly away from the optical fiber fixing structure, and is connected to the optical fiber fixing structure after passing through the bottom of the corresponding driving circuit board assembly.

[0007] Furthermore, the driving circuit board assembly includes a driving circuit board and a driving board protective shell located above and below the driving circuit board. The optical fiber led out of the driving circuit board assembly is led out of the driving circuit board in the driving circuit board assembly.

[0008] Furthermore, the optical fiber fixing structure has a plurality of optical fiber fixing positions for connecting optical fibers led out of the driving circuit board assembly.

[0009] Furthermore, the optical fiber fixing structure is a slot plate, and the slot plate has an optical fiber installation groove as the optical fiber fixing position, which is used to clamp the optical fiber therein.

[0010] Furthermore, each of the slot plates forms an optical angle with the lens of the multi-line laser radar, and the optical angle is: the angle between the incident ray of the light emitted from the optical fiber on the slot plate, reflected by the reflector in the multi-line laser radar, and then entering the lens and the central axis of the lens.

[0011] Furthermore, the slot plate has a plurality of optical fiber installation slots arranged at intervals along the height direction of the slot plate.

[0012] Furthermore, the optical fiber installation grooves are arranged at non-equidistant intervals.

[0013] Furthermore, an angle exists between an extension direction of the optical fiber installation slot and a plate edge in a height direction of the slot plate.

[0014] Furthermore, the cross section of the optical fiber installation groove is a V-shaped structure, a U-shaped structure, a semicircular structure or a polygonal structure.

[0015] Furthermore, there are multiple driving board protection shells, and the multiple driving board protection shells are stacked layer by layer, and one driving circuit board is installed between two adjacent layers of driving board protection shells; or,

[0016] From top to bottom, a driving circuit board is installed between each odd-numbered driving board protection shell and the driving board protection shell adjacent thereto.

[0017] Furthermore, the driving board protective shell is provided with a perforation, and the driving circuit board is provided with an avoidance hole corresponding to the perforation, and each driving board protective shell and the optical fiber driving circuit are connected by fasteners passing through the perforation and the avoidance hole.

[0018] Furthermore, the drive board protective shell is provided with a first positioning structure and a second positioning structure, and the first positioning structure of one drive board protective shell in two adjacent layers of drive board protective shells is limitedly matched with the second positioning structure of the other drive board protective shell.

[0019] The beneficial effects of the multi-line laser radar provided by this application are:

[0020] Since the multi-line laser radar provided by the present invention has multiple layers of driving circuit board assemblies, each driving circuit board assembly has an optical fiber led out from the side close to the optical fiber fixing structure, and the led-out optical fiber enters the side of the corresponding driving circuit board assembly away from the optical fiber fixing structure around the central rotating shaft, and is connected to the optical fiber fixing structure after passing under the corresponding driving circuit board assembly, the spatial layout of the multi-line laser radar provided by the present invention is compact and reasonable, and the winding of the optical fiber also cleverly utilizes the layout characteristics of the driving circuit board assembly and the central rotating shaft. The optical fiber winding is extremely convenient, especially convenient for debugging the corresponding optical path of the optical fiber after completing the fixation of one optical fiber, and is also convenient for direct winding inside the radar without installing all the rotating parts of the radar, which facilitates the operational convenience and flexibility of the optical fiber winding and saves the operating space for the optical fiber arrangement (coiling) work. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0022] Figure 1 A partial stereoscopic diagram of a multi-line laser radar provided in accordance with one embodiment of the present application;

[0023] Figure 2 A perspective view of some components of a multi-line laser radar provided in one embodiment of the present application;

[0024] Figure 3 A diagram showing the spatial position relationship of some components of a multi-line laser radar provided in one embodiment of the present application;

[0025] Figure 4 A diagram showing the spatial position relationship of some components of a multi-line laser radar provided in one embodiment of the present application;

[0026] Figure 5 A perspective view of a driver circuit board installation group in a multi-line laser radar provided in one embodiment of the present application;

[0027] Figure 6 A perspective view of a driver circuit board in a multi-line laser radar provided in one embodiment of the present application;

[0028] Figure 7 A diagram showing the spatial position relationship of some components of a multi-line laser radar provided in one embodiment of the present application.

[0029] The reference numerals used in the above drawings are as follows:

[0030] 1-Optical fiber; 2-Driver board protective shell;

[0031] 3-fiber rack; 4-rotating seat;

[0032] 5-Lens; 6-Transmitter adapter plate;

[0033] 7-reflector; 8-central axis;

[0034] 21-perforation; 22-boss;

[0035] 23-limiting groove; 24-optical fiber guiding structure;

[0036] 100- driver circuit board;

[0037] 101-avoidance hole; 300-optical fiber fixing structure;

[0038] 301-fiber installation slot; 400-transceiver tube;

[0039] 401-fixed slot; 500-laser receiving device;

[0040] 501-Light receiving element. DETAILED DESCRIPTION

[0041] In order to make the technical problems, technical solutions and beneficial effects to be solved by this application more clearly understood, this application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0042] It should be noted that when an element is referred to as being “fixed to” or “provided on” another element, it may be directly on the other element or indirectly on the other element. When an element is referred to as being “connected to” another element, it may be directly connected to the other element or indirectly connected to the other element.

[0043] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0044] 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 the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. Throughout the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0045] In order to illustrate the technical solution described in this application, the following is a detailed description with reference to specific drawings and embodiments.

[0046] See also Figure 1 and Figure 2 The embodiment of the present invention provides a multi-line laser radar, which includes:

[0047] A multi-layer stacked driving circuit board assembly, an optical fiber fixing structure 300, a central shaft 8, and a rotating seat 4 connected to the end of the central shaft 8, the driving circuit board assembly and the optical fiber fixing structure 300 are arranged sequentially on the rotating seat along the circumference of the central shaft, and an optical fiber 1 is led out from the side of each driving circuit board assembly close to the optical fiber fixing structure, and the led-out optical fiber 1 goes around the central shaft 8 into the side of the corresponding driving circuit board assembly away from the optical fiber fixing structure, and is connected to the optical fiber fixing structure 300 after passing under the corresponding driving circuit board assembly.

[0048] Since the multi-line laser radar provided by the present invention has multiple layers of driving circuit board assemblies, each driving circuit board assembly has an optical fiber 1 led out from the side close to the optical fiber fixing structure 300, and the led optical fiber 1 revolves around the central rotation axis 8 to enter the side of the corresponding driving circuit board assembly away from the optical fiber fixing structure 300, and passes through the bottom of the corresponding driving circuit board assembly and is connected to the optical fiber fixing structure 300. Therefore, the spatial layout of the multi-line laser radar provided by the present invention is compact and reasonable, and the winding of the optical fiber 1 also cleverly utilizes the layout characteristics of the driving circuit board assembly and the central rotation axis 8. The optical fiber winding is extremely convenient, especially convenient for debugging the corresponding optical path of the optical fiber after completing the fixation of one optical fiber. It is also convenient to coil it directly inside the radar without installing all the rotating parts of the radar, which facilitates the operational convenience and flexibility of the optical fiber winding and saves the operating space for the optical fiber arrangement (coiling) work.

[0049] According to one embodiment of the present invention, a driver circuit board assembly includes a driver circuit board 100 positioned above and below the driver circuit board 100, with a driver board protective housing 2 positioned above and below the driver circuit board 100. The optical fiber leading out of the driver circuit board assembly is routed from the driver circuit board 2 within the driver circuit board assembly. Specifically, the optical fiber is routed from the side of the driver circuit board 2 closest to the optical fiber mounting structure. The optical fiber then orbits around a central axis 8 and enters the side of the corresponding driver circuit board assembly away from the optical fiber mounting structure 300. It then passes through the driver board protective housing 2 below the driver circuit board 100 within the corresponding driver circuit board assembly before connecting to the optical fiber mounting structure 300.

[0050] In addition, the multi-line laser radar can also include an optical fiber rack 3. The driving circuit board assembly, the optical fiber rack 3 and the optical fiber fixing structure 300 are arranged in sequence on the rotating seat 4 around the central rotating shaft 8 so that they can rotate with the rotating seat 4. Therefore, the driving circuit board assembly, the optical fiber rack 3 and the optical fiber fixing structure 300 together with the central rotating shaft 8 and the rotating seat 4 can be called a rotating part.

[0051] According to one embodiment of the present invention, a plurality of partition rods are provided on the optical fiber rack 3 in the vertical direction. When the driving circuit board 100 is provided in multiple layers, the space between two partition rods of different heights is used to guide the optical fibers 1 led out from the driving circuit boards 100 in different layers to pass through.

[0052] According to a preferred embodiment of the present invention, the optical fiber fixing structure 300 has multiple optical fiber fixing positions for connecting the optical fibers 1 led out of the driving circuit board assembly, so as to facilitate the fixing of more led-out optical fibers 1.

[0053] According to one embodiment of the present invention, the optical fiber fixing structure 300 is a slot plate having an optical fiber installation groove 301 as an optical fiber fixing position for clamping the optical fiber 1 therein. Specifically, the cross-section of the optical fiber installation groove 301 is a V-shaped structure (preferably), a U-shaped structure, a semicircular structure or a polygonal structure, as long as it is convenient for the optical fiber 1 to be clamped in. Of course, the optical fiber fixing structure 300 may also adopt other types and is not limited to having only the optical fiber installation groove 301.

[0054] See also Figure 3 and Figure 4 According to one embodiment of the present invention, each slot plate forms an optical angle with the lens 5 of the multi-line laser radar. The optical angle is: the angle θ between the incident ray emitted from the optical fiber 1 on the slot plate, reflected by the reflector 7 in the multi-line laser radar, and then entering the lens 5, and the central axis of the lens 5. In addition, there is an angle α between the extension direction of the optical fiber installation slot 301 and the plate edge in the height direction of the slot plate. The angle θ is equivalent to the angle between the longitudinal direction and the lens 5, and the angle α is equivalent to the angle between the latitudinal direction and the lens 5. The angles θ and α are both intended to ensure that the emitted light is directed to the lens 5 as much as possible, thereby improving the light extraction efficiency. Specifically, θ and α can be greater than 0° and less than 60°, or other suitable angles.

[0055] See also Figure 1 According to one embodiment of the present invention, a plurality of slot plates can be arranged in both the horizontal and vertical directions, and the slot plates can be specifically fixed in the transceiver tube 400 of the laser radar. Fixed slots 401 can be provided on the transceiver tube 400 corresponding to the plurality of slot plates for positioning and fixing the slot plates. The transceiver tube 400 is also equipped with a reflector 7, including a transmitting reflector and a receiving reflector.

[0056] According to one embodiment of the present invention, the slot plate has a plurality of optical fiber installation slots 301 spaced apart along the height direction of the slot plate, so that multiple optical fibers 1 can be fixed conveniently through one slot plate.

[0057] According to one embodiment of the present invention, the optical fiber installation slots 301 are arranged at non-equidistant distances, but may also be arranged at equal distances, and may be flexibly adjusted according to the fixed orientation of the optical fiber 1 .

[0058] In addition, the multi-line laser radar includes a plurality of layers of driver circuit boards 100 arranged at intervals, and each driver circuit board 100 leads to multiple optical fibers 1, thereby increasing the detection effect of the radar.

[0059] See also Figure 1 、 Figures 5 to 7 In addition, there are multiple drive board protection shells 2, and multiple drive board protection shells 2 are stacked layer by layer. A drive circuit board 100 is installed between two adjacent layers of drive board protection shells 2, and the drive circuit board 100 is inserted into the transmission adapter board 6. Of course, the present invention is not limited to the form in which an optical fiber 1 drive circuit is installed between two adjacent layers of drive board protection shells 2. For example, a scheme in which a total drive board protection shell 2 is provided to accommodate multiple drive circuit boards 100, and a scheme in which multiple drive board protection shells 2 can accommodate multiple drive circuit boards 100 will fall within the protection scope of the present invention. As another form, from top to bottom, a drive circuit board 100 is installed between each odd-numbered layer of drive board protection shell 2 and the adjacent drive board protection shell 2 below it, that is, no drive circuit board 100 is installed between each even-numbered layer of drive board protection shell 2 and the adjacent drive board protection shell 2 below it. In this way, from top to bottom, each odd-numbered layer of drive board protection shell 2 and the adjacent drive board protection shell 2 below it plus the drive circuit board 100 therein form a drive circuit board installation group.

[0060] According to one embodiment of the present invention, a through hole 21 is provided on the driving board protective shell 2, and an avoidance hole 101 is provided on the driving circuit board 100 corresponding to the through hole 21. Each driving board protective shell 2 and the optical fiber 1 driving circuit are connected by fasteners passing through the through hole 21 and the avoidance hole 101, and the fasteners are, for example, bolts, screws, etc.

[0061] According to another embodiment of the present invention (not shown), a first positioning structure and a second positioning structure are provided on the drive board protective shell 2, and the first positioning structure of one drive board protective shell 2 in two adjacent layers of drive board protective shells 2 and the second positioning structure of the other drive board protective shell 2 are limited and matched with each other. The first positioning structure and the second positioning structure are limited and matched with each other. On the one hand, one drive board protective shell 2 in two adjacent layers of drive board protective shells 2 can be quickly positioned and connected to each other, and on the other hand, the connection stability and reliability of the two adjacent layers of drive board protective shells 2 are greatly improved.

[0062] See also Figure 5 and Figure 6 According to one embodiment of the present invention, an avoidance hole 101 is provided on the driver circuit board 100. The first positioning structure of one driver board protective shell 2 in the two adjacent layers of driver board protective shells 2 passes through the avoidance hole 101 of the driver circuit board 100 between the two adjacent layers of driver board protective shells 2 and is limitedly matched with the second positioning structure of the other driver board protective shell 2. The driver circuit board structure is cleverly designed to have the avoidance hole 101, so that the first positioning structure of the driver board protective shell 2 does not have to bypass the periphery of the driver circuit board 100 and can be limitedly matched with the second positioning structure of the other driver board protective shell 2, thereby making the spatial layout of the driver circuit board 100 and the driver board protective shell 2 more reasonable and compact, thereby improving the space utilization rate of the laser radar.

[0063] According to a specific embodiment of the present invention, one of the first positioning structure and the second positioning structure is a pin, and the other is a socket. For example, the upper driving board protective shell 2 extends a pin downward, and the socket is arranged on the upper surface of the lower driving board protective shell 2.

[0064] As other embodiments, the first positioning structure and the second positioning structure are not limited to the form of a pin and a socket, and can also be implemented in the form of a snap fit, a plug-in block and a slot fit.

[0065] According to one embodiment of the present invention, a supporting protrusion is provided on the edge of the upper surface of the drive plate protective shell 2, and the upper drive plate protective shell 2 of the two adjacent drive plate protective shells 2 is supported on the supporting protrusion of the lower drive plate protective shell 2. The supporting protrusion can be specifically a boss, and the upper drive plate protective shell 2 is supported on the boss 22 of the lower drive plate protective shell 2, and the socket or through-hole 21 is preferably provided in the boss 22, which just utilizes the height of the boss 22, but it may also not be provided in the boss 22.

[0066] See also Figure 5According to one embodiment of the present invention, a plurality of spaced-apart limiting grooves 23 are provided on the driving board protective shell 2, and each optical fiber 1 on the driving circuit board 100 is led out from each limiting groove 23 one by one. The function of the limiting groove 23 is to form a limiting protection for the optical fiber 1 to prevent adjacent optical fibers 1 from interfering with each other.

[0067] In addition, a fiber optic guiding structure 24 is also provided on the driving board protective shell 2, for example, a plurality of arc-shaped convex strips arranged at intervals. When the optical fiber 1 led out of the driving circuit board 2 revolves around the central rotating axis 8 and enters the side of the corresponding driving circuit board assembly away from the optical fiber fixing structure, it can pass through the interval space between the arc-shaped convex strips on the driving board protective shell 2 below the driving circuit board 2 and be guided out and connected to the optical fiber fixing structure 300. In addition, as other solutions, the optical fiber guiding structure 24 can also be designed in the form of multiple straight convex strips, or multiple guiding channels.

[0068] See also Figure 1 and Figure 7 According to one embodiment of the present invention, the multi-line laser radar further includes a laser receiving device 500. The laser receiving device 500, the driving circuit board assembly, the optical fiber rack 3, and the optical fiber 1 fixing mechanism are sequentially arranged on the rotating seat 4 around the central rotation axis 8. The optical fiber fixing structure 300 has multiple optical fiber fixing positions. Multiple optical fibers 1 are led out from the driving circuit board 100 and pass through the optical fiber rack 3 and are connected one-to-one to the multiple optical fiber fixing positions on the optical fiber fixing structure 300. An array of light receiving elements 501 is arranged on the laser receiving device 500. One light receiving element 501 in the array of light receiving elements 501 corresponds to at least two optical fiber fixing positions, that is, at least two emitting light sources correspond to one light receiving element 501, thereby achieving a dense arrangement of the number of lines and reserving operating space for subsequent increase in the number of lines. However, the solution of one emitting light source corresponding to one light receiving element 501 is not excluded.

[0069] As a preferred embodiment of the present invention, the laser receiving device 500 includes an APD receiving board and an APD array arranged on the APD receiving board, that is, an APD (avalanche photodiode) is used as the light receiving element 501. For example, the laser transmitter in the multi-line laser radar in the embodiment of the present invention can emit n laser beams, and at least one APD in the APD array containing m APD phase elements can receive two or more echo beams, thereby making the number of APD phase elements (m) smaller than the number of laser beams (that is, the number of lines of the laser radar), reducing the number of APD phase elements required, and on the premise of ensuring that all echo beams can be projected onto the APD phase elements, the multi-line laser radar provided in the embodiment of the present application uses a smaller number of components, has low device cost, compact structure (small size), is easy to mass produce, and is easy to debug, thereby reducing the difficulty of application and operation and increasing the competitiveness of the product.

[0070] The above description is merely an optional embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A multi-line laser radar, characterized in that: include: A multi-layer stacked drive circuit board assembly, an optical fiber fixing structure, a central shaft, and a rotating seat connected to the end of the central shaft. The drive circuit board assembly and the optical fiber fixing structure are arranged sequentially on the rotating seat along the circumference of the central shaft. An optical fiber is led out from the side of each drive circuit board assembly close to the optical fiber fixing structure, and the led-out optical fiber goes around the central shaft into the side of the corresponding drive circuit board assembly away from the optical fiber fixing structure, and is connected to the optical fiber fixing structure after passing under the corresponding drive circuit board assembly.

2. The multi-line laser radar according to claim 1, characterized in that: The driving circuit board assembly includes a driving circuit board and a driving board protective shell located above and below the driving circuit board. The optical fiber led out of the driving circuit board assembly is led out of the driving circuit board in the driving circuit board assembly.

3. The multi-line laser radar according to claim 1, characterized in that: The optical fiber fixing structure is provided with a plurality of optical fiber fixing positions for connecting optical fibers led out of the driving circuit board assembly.

4. The multi-line laser radar according to claim 3, characterized in that: The optical fiber fixing structure is a slot plate, and the slot plate has an optical fiber installation slot as the optical fiber fixing position, which is used to clamp the optical fiber therein.

5. The multi-line laser radar according to claim 4, characterized in that: Each of the slot plates forms an optical angle with the lens of the multi-line laser radar, and the optical angle is: the angle between the incident ray of light emitted from the optical fiber on the slot plate, reflected by the reflector in the multi-line laser radar, and then entering the lens and the central axis of the lens.

6. The multi-line laser radar according to claim 4, characterized in that: The slot plate has a plurality of optical fiber installation slots arranged at intervals along the height direction of the slot plate.

7. The multi-line laser radar according to claim 6, characterized in that: The optical fiber installation grooves are arranged at non-equidistant intervals.

8. The multi-line laser radar according to any one of claims 4 to 7, characterized in that: An angle is formed between the extending direction of the optical fiber installation slot and the plate edge in the height direction of the slot plate.

9. The multi-line laser radar according to any one of claims 4 to 7, characterized in that: The cross section of the optical fiber installation groove is a V-shaped structure, a U-shaped structure, a semicircular structure or a polygonal structure.

10. The multi-line laser radar according to claim 2, characterized in that: There are multiple drive board protection shells, and the multiple drive board protection shells are stacked layer by layer, with one drive circuit board installed between two adjacent layers of drive board protection shells; or From top to bottom, a driving circuit board is installed between each odd-numbered driving board protection shell and the driving board protection shell adjacent thereto.

11. The multi-line laser radar according to claim 10, characterized in that: The driving board protective shell is provided with a perforation, and the driving circuit board is provided with an avoidance hole corresponding to the perforation. Each driving board protective shell and the optical fiber driving circuit are connected by a fastener passing through the perforation and the avoidance hole.

12. The multi-line laser radar according to claim 11, characterized in that: An optical fiber guiding structure is provided on the driving plate protective shell.

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