Lidar and automobile

Abstract

A laser radar comprises a shell, a base of the shell, a bearing surface of the base, a galvanometer module of the laser radar fixed to the bearing surface, an adjusting structure on the bearing surface, and a laser transceiver module comprising a plurality of laser transceiver devices, each of which is fixed to the adjusting structure and can generate outgoing laser beams toward the galvanometer module. The adjusting structure is configured to have a corresponding distance between each laser transceiver device and the bearing surface, so that the outgoing laser beams generated by each laser transceiver device form a preset laser detection field outside the laser radar. In order to make the corresponding laser detection field of each mirror meet the requirements, the distance of each mirror relative to the galvanometer is not adjusted, but the distance and angle of each laser transceiver device relative to the bearing surface of the base are adjusted by the adjusting structure, thereby reducing the overall space occupied by the laser radar.

Description

[0001] This application is a divisional application of Chinese application No. 202080005438.2, the foregoing contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of laser detection technology, and more particularly to a lidar and an automobile. Background Technology

[0003] LiDAR is a radar system that uses laser beams to detect the position, velocity, and other characteristics of a target object. Its working principle is that the transmitting module first emits an outgoing light signal for detection towards the target, and then the receiving module receives the reflected light signal reflected back from the target object. The reflected light signal is compared with the outgoing light signal, and after processing, relevant information about the target object can be obtained, such as parameters like distance, azimuth, height, velocity, attitude, and even shape.

[0004] When a lidar system has multiple laser transceivers, the distance and deflection angle of each transceiver relative to the galvanometer will affect the detection field of view corresponding to each reflector. To ensure the detection field of view meets the requirements, laser transceivers with larger mirror deflection angles relative to the galvanometer need to be adjusted to a greater distance from the galvanometer. However, this structural arrangement will increase the overall size of the lidar system. Summary of the Invention

[0005] This application provides a lidar and an automobile that can reduce the space occupied by the lidar.

[0006] According to one aspect of this application, a lidar is provided, comprising:

[0007] The base includes a bearing surface, and the galvanometer module of the lidar is fixed to the bearing surface;

[0008] The adjustment structure is located on the load-bearing surface;

[0009] The laser transceiver module includes multiple laser transceiver devices, each of which is fixed to the adjustment structure. Each laser transceiver device can generate an outgoing laser beam that is directed toward the galvanometer module.

[0010] The adjustment structure is configured such that each laser transceiver mounted thereon has a corresponding distance relative to the bearing surface, so that the emitted light from each laser transceiver forms a preset laser detection field of view outside the lidar.

[0011] According to some embodiments, the adjustment structure includes a plurality of first protrusions disposed on the bearing surface, each laser transceiver is connected to each first protrusion in a one-to-one correspondence, and the dimension of each first protrusion along the direction perpendicular to the bearing surface is equal to the distance from the laser transceiver connected to it to the bearing surface.

[0012] Each first protrusion is integrally set with the base.

[0013] According to some embodiments, the lidar also includes a reflection module, which is arranged on both sides of the galvanometer module, and the reflection module faces the galvanometer surface of the galvanometer module.

[0014] The reflection module includes multiple reflectors, and each reflector is configured to reflect the reflected laser generated by each laser transceiver module to the galvanometer surface in a one-to-one correspondence.

[0015] According to some embodiments, each reflector is disposed on an adjustment structure, and the adjustment structure is configured such that each reflector mounted thereon has a corresponding distance relative to the bearing surface, so that the emitted laser reflected by each reflector is directed toward the galvanometer surface along a preset path.

[0016] According to some embodiments, the adjustment structure also includes a plurality of second protrusions disposed on the bearing surface, each mirror being connected to each second protrusion in a one-to-one correspondence, and the dimension of each second protrusion along the direction perpendicular to the bearing surface is equal to the distance from the mirror to which it is connected to the bearing surface.

[0017] Each second protrusion is integrally formed with the base.

[0018] According to some embodiments, the reflectors are arranged around the vibrating mirror surface;

[0019] The lidar has a central optical path axis located in the middle of the detection area, and the adjustment structure is configured such that the distance between the reflector that is further away from the central optical path axis and the bearing surface is greater.

[0020] According to some embodiments, the base further includes an outer wall surface opposite to the bearing surface, the outer wall surface being located outside the lidar, and a plurality of first heat dissipation grooves are provided on the outer wall surface, each of the first heat dissipation grooves being arranged one-to-one with the orthographic projection area of ​​each first protrusion on the outer wall surface; or

[0021] The base also includes an outer wall surface opposite to the bearing surface. The outer wall surface is located outside the lidar. Multiple second heat dissipation slots are provided on the outer wall surface. Each second heat dissipation slot is arranged in a corresponding manner within the orthographic projection area of ​​each second protrusion on the outer wall surface.

[0022] According to some embodiments, the galvanometer module includes a bracket and a galvanometer device, the bracket being connected to a bearing surface and the galvanometer device being disposed on the bracket;

[0023] The support includes clearance channels through which the emitted light from each laser transceiver passes and is directed one-to-one toward each reflector.

[0024] According to some embodiments, the galvanometer module also includes a light shield disposed in the clearance channel to block light reflected from the reflection module to the laser transceiver module;

[0025] The light shield includes multiple clearance holes, through which the outgoing light generated by each laser transceiver passes and is directed toward the reflector.

[0026] A second aspect of this application also provides a car,

[0027] LiDAR including any of the above;

[0028] The LiDAR is installed on the exterior of the vehicle or embedded within the vehicle body.

[0029] This application provides a lidar system, including a base, an adjustment structure, a laser transceiver module, and a galvanometer module. In this application, to ensure that the laser detection field of view corresponding to each laser transceiver meets the requirements, the distance between each laser transceiver and the galvanometer is not adjusted. Instead, the distance and angle between each laser transceiver and the support surface of the base are adjusted through the adjustment structure. This structural arrangement allows for adjustment of the distance between the laser transceiver and the support surface of the base by setting the height of the adjustment structure, thereby adjusting the distance and deflection angle of the galvanometer relative to the laser transceiver. This adjusts the detection field of view offset corresponding to the edge reflector, ensuring the overall detection efficiency of the lidar in the target detection area, while avoiding the forced increase in the size of the lidar due to adjusting the detection field of view, thus reducing the overall space occupied by the lidar. Attached Figure Description

[0030] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0031] Figure 1 This is a schematic diagram of the laser detection field of view of a lidar in the prior art, where the a-axis is the horizontal 0-degree field of view guideline;

[0032] Figure 2 This is a three-dimensional schematic diagram of a lidar in one embodiment of this application;

[0033] Figure 3 This is an exploded schematic diagram of a lidar in one embodiment of this application;

[0034] Figure 4This is a three-dimensional schematic diagram of the combination of the reflection module, the galvanometer module, and the laser transceiver module in one embodiment of this application;

[0035] Figure 5 This is a top view schematic diagram of the combination of the reflection module, the galvanometer module and the laser transceiver module in one embodiment of this application;

[0036] Figure 6 This is a front view schematic diagram of the combination of the reflection module, the galvanometer module, and the laser transceiver module in one embodiment of this application;

[0037] Figure 7 This is a rear view schematic diagram of the combination of the reflection module, galvanometer module and laser transceiver module in one embodiment of this application;

[0038] Figure 8 This is a first perspective view of the base in one embodiment of this application;

[0039] Figure 9 for Figure 8 A magnified view of a portion of point A in the middle;

[0040] Figure 10 This is a schematic diagram of the laser detection field of view of the lidar in this application, where the horizontal axis represents the horizontal field of view angle and the vertical axis represents the vertical field of view angle;

[0041] Figure 11 This is a three-dimensional schematic diagram of a galvanometer module in one embodiment of this application;

[0042] Figure 12 This is a second perspective view of the base in one embodiment of this application;

[0043] Figure 13 This is a schematic diagram of a car in one embodiment of this application;

[0044] Figure 14 This is a schematic diagram of a car in another embodiment of this application. Detailed Implementation

[0045] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0046] LiDAR is a radar system that uses laser beams to detect the position, velocity, and other characteristics of a target object. Its working principle is that the transmitting module first emits an outgoing light signal for detection towards the target, and then the receiving module receives the reflected light signal reflected back from the target object. The reflected light signal is compared with the outgoing light signal, and after processing, relevant information about the target object can be obtained, such as parameters like distance, azimuth, height, velocity, attitude, and even shape.

[0047] A lidar system includes a laser transceiver and a galvanometer. The laser light generated by the transceiver is directed towards the galvanometer, which then uses displacement and deflection to direct the emitted laser light along a preset path toward the detection area. A lidar system can have multiple laser transceivers, each of which directs its own laser light toward the galvanometer.

[0048] When a lidar system has multiple laser transceivers, the distance and deflection angle of the galvanometer relative to each transceiver will affect the detection field of view for each transceiver. Laser transceivers located at the edges are farther from the galvanometer and have larger deflection angles, thus shifting their detection field of view upwards, deviating from the horizontal 0-degree detection field of view. Figure 1 As shown, it displays five detection fields of view. The edge detection fields on both sides are offset upward from the horizontal 0-degree detection field of view guideline a. It can be understood that the horizontal 0-degree detection field of view is the target detection area. When the edge detection field of view deviates from the horizontal detection field of view, the edge transceiver will not be able to detect objects in the target area, which will affect the overall detection efficiency of the lidar for the target area.

[0049] like Figures 2 to 12 As shown, this embodiment provides a lidar 100, which has multiple laser transceivers 141. The lidar 100 in this embodiment can achieve a smaller size while ensuring that the reflected laser field of view formed by each laser transceiver 141 meets the requirements. Specifically, the lidar 100 in this embodiment includes a housing, a laser transceiver module 140, a reflection module 120 (in other embodiments, the reflection module 120 may not be included; the addition of the reflection module 120 can further reduce the size of the lidar 100), and a galvanometer module 130. It should be noted that, for ease of description, in this embodiment, the lidar 100 is defined as having a central optical path axis 150 located in the middle of the detection area. The central optical path axis 150 can be understood as the axis 150 of the lidar 100 pointing directly forward.

[0050] The housing includes a base 110, which can be a regular plate or an irregular structure. The base 110 can be located inside the lidar 100, providing a carrier for other components of the lidar 100. The base 110 can also be part of the outer shell of the lidar 100. The base 110 includes a bearing surface 111 facing the interior of the lidar 100, to which the galvanometer module 130 of the lidar 100 is fixed. The bearing surface 111 can be a plane or an irregular curved surface; its specific shape depends on the specific assembly requirements.

[0051] The base 110 has an adjustment structure 160 on its bearing surface 111 for adjusting the distance between the reflective module 120 and the bearing surface 111. The adjustment structure 160 can be an independent component and connected to the bearing surface 111, for example, the adjustment structure 160 can be bonded to the bearing surface 111 or threadedly connected. Alternatively, the adjustment structure 160 can be integrally formed with the base 110, that is, the adjustment structure 160 is a protrusion or recess on the bearing surface 111 of the base 110.

[0052] The reflection module 120 includes multiple reflectors 121, each of which is used to reflect the emitted light from the lidar 100 to the galvanometer module 130. For example... Figures 3 to 5 As shown, Figure 5 The reflective module 120 in the present invention has seven reflective components, but the three reflective components located in the middle and on both sides are used for ROI area detection and scanning and belong to ROI area detection reflectors. Therefore, they are not used as reflectors 121 in this embodiment.

[0053] This embodiment has four reflectors 121 (in other embodiments, the number of reflectors is not limited and can be two or more). Each reflector 121 independently receives the emitted light from inside the lidar 100 and reflects the emitted light to the galvanometer module 130. Specifically, each reflector 121 is fixed to an adjustment structure 160. The adjustment structure 160 is configured such that each reflector 121 mounted thereon has a corresponding distance relative to the bearing surface 111 (e.g., as shown in the image). Figure 6 As shown, the reflectors 121 located on both sides of the central optical path axis 150 and at equal distances from the central optical path axis 150 have the same height, so that the outgoing light reflected by each reflector 121 forms a preset laser detection field of view (specifically, an optimal laser detection field of view) outward from the lidar 100. In other optional embodiments, when the reflectors 121 are installed on the adjustment structure 160, the distances of each reflector 121 relative to the supporting surface 111 can also be different, so that the outgoing light reflected by each reflector 121 forms an optimal laser detection field of view outward from the lidar 100.

[0054] It should be noted that in this embodiment, when the adjustment structure 160 protrudes entirely from the bearing surface 111, the distance from the reflector 121 to the bearing surface 111 is determined by the part of the reflector 121 closest to the bearing surface 111, rather than by the center of the reflector 121. Because the adjustment structure 160 can raise the reflector 121 corresponding to the emitted laser that deviates from the central optical path axis 150 relative to the bearing surface 111 by a certain distance, this structure can counteract the impact on the laser detection area caused by its deviation from the central optical path axis 150. Since the space occupied by the reflector 121 after raising it is the original extra space, this structural setting does not occupy additional volume, keeping the overall volume of the lidar 100 unchanged. Therefore, compared to lidars in the prior art, the lidar 100 in this embodiment can be made smaller.

[0055] When the adjustment structure 160 is integrally formed with the base 110, the adjustment structure 160 can consist entirely of bosses on the bearing surface 111, entirely of grooves on the bearing surface 111, or partly of bosses and partly of grooves on the bearing surface 111. All three cases allow adjustment of the arrangement height of the reflector 121 relative to the base 110. When the adjustment structure 160 consists entirely of bosses on the bearing surface 111, the adjustment structure 160 can include multiple second bosses 161 disposed on the bearing surface 111, with each reflector 121 corresponding to one of the second bosses 161. The dimension of each second boss 161 along the direction perpendicular to the bearing surface 111 is equal to the distance from the reflector 121 connected to it to the bearing surface 111. That is, the arrangement height of each reflector 121 relative to the base 110 is determined by the dimension of each second boss 161 along the direction perpendicular to the bearing surface 111. When the dimension of the second boss 161 in the direction perpendicular to the bearing surface 111 is larger, the distance of the corresponding reflector 121 relative to the bearing surface 111 is larger; when the dimension of the second boss 161 in the direction perpendicular to the bearing surface 111 is smaller, the distance of the corresponding reflector 121 relative to the bearing surface 111 is smaller.

[0056] To facilitate the placement of multiple reflectors 121, each reflector 121 can be arranged around the galvanometer module 130. Specifically, the projections of the centers of each reflector 121 onto the bearing surface 111 can be arranged along a common arc. When the reflectors 121 are arranged in the above structure, to obtain the optimal detection field of view, the adjustment structure 160 can be configured such that the distance between the reflector 121 that is further away from the central optical path axis 150 and the bearing surface 111 is greater. That is, the dimension of the second protrusion 161 perpendicular to the bearing surface 111 is larger the further away from the central optical path axis 150. This can reduce the height of the field of view of the reflector 121 located far from the central optical path axis 150 from the central 0-degree field of view guideline. The specific detection field of view effect is as follows: Figure 10This improves the detection efficiency of edge detection modules, thereby enhancing the overall detection efficiency of the lidar.

[0057] The lidar 100 includes a laser transceiver module 140, which is disposed within the housing of the lidar 100. For example... Figure 5 As shown, in this embodiment, the reflection module 120 is arranged on one side of the galvanometer surface of the galvanometer module 130, and the laser transceiver module 140 is arranged on the side of the galvanometer module 130 opposite to the reflection module 120. The laser transceiver module 140 includes multiple laser transceiver devices 141, and each laser transceiver device 141 generates an outgoing laser beam that is directed one-to-one towards each reflecting mirror 121. The number of laser transceiver devices 141 can be the same as the number of reflecting mirrors 121, and the two correspond one-to-one. Of course, in other embodiments, the number of laser transceiver devices 141 can be more than the number of reflecting mirrors 121, and the outgoing laser beams generated by multiple laser transceiver devices 141 can be directed simultaneously towards the same reflecting mirror 121. When the laser transceiver module 140 and the reflection module 120 are located on opposite sides of the galvanometer module 130, the integration of the lidar 100 can be improved, and the overall space occupied by the lidar 100 can be reduced.

[0058] The laser transceiver 141 can be fixed to the base 110 and other locations within the housing. For better integration, each laser transceiver 141 can be fixed to the base 110. When the laser transceiver 141 is fixed to the base 110, each laser transceiver 141 is positioned on the adjustment structure 160. The adjustment structure 160 is configured such that each laser transceiver 141 mounted thereon has a corresponding distance relative to the bearing surface 111, so that the emitted laser light generated by each laser transceiver 141 is directed along a preset path towards the corresponding reflector 121. This structure ensures that the positions of each laser transceiver 141 correspond to those of each reflector 121.

[0059] Similarly, the portion of the adjusting structure 160 connecting the laser transceiver 141 can consist entirely of bosses on the bearing surface 111, can consist entirely of grooves on the bearing surface 111, or can consist partly of bosses and partly of grooves on the bearing surface 111. All three cases allow adjustment of the arrangement height of the laser transceiver 141 relative to the base 110. When the portion of the adjusting structure 160 connecting the laser transceiver 141 consists entirely of bosses on the bearing surface 111, the adjusting structure 160 also includes multiple first bosses 162 disposed on the bearing surface 111. Each laser transceiver 141 is connected to a corresponding first boss 162. The dimension of each first boss 162 along the direction perpendicular to the bearing surface 111 is equal to the distance from the laser transceiver 141 connected to it to the bearing surface 111. That is, the arrangement height of each laser transceiver 141 relative to the base 110 is determined by the dimension of each first boss 162 along the direction perpendicular to the bearing surface 111. When the size of the first boss 162 in the direction perpendicular to the bearing surface 111 is larger, the distance between the corresponding laser transceiver 141 and the bearing surface 111 is larger; when the size of the first boss 162 in the direction perpendicular to the bearing surface 111 is smaller, the distance between the corresponding laser transceiver 141 and the bearing surface 111 is smaller.

[0060] In one embodiment, when a laser transceiver 141 emits a laser towards a reflector 121, it can be assumed that the laser transceiver 141 corresponds to the reflector 121, and the first boss 162 connected to the laser transceiver 141 corresponds to the second boss 161 connected to the reflector 121. Specifically, the dimensions of the corresponding first boss 162 and second boss 161 perpendicular to the bearing surface 111 can be made the same, so that the corresponding laser transceiver 141 and the reflector 121 are raised to the same height.

[0061] In one embodiment, the base 110 can be the outer shell of the lidar 100, wherein the bearing surface 111 of the base 110 is its wall facing the interior of the lidar 100. In this case, the base 110 also includes an outer wall surface 112 opposite to the bearing surface 111, and the outer wall surface 112 is located outside the lidar 100.

[0062] When the adjustment structure 160 is integrally formed with the base 110, since the adjustment structure 160 is a protrusion on the bearing surface 111, it increases both the material and weight of the base 110. To reduce both the material and weight of the base 110, in this embodiment, multiple first heat dissipation grooves (not shown in the figure) can be provided on the outer wall surface 112 of the base 110, and each first heat dissipation groove is arranged correspondingly within the orthographic projection area of ​​each first protrusion 161 on the outer wall surface 112. The first heat dissipation grooves can also increase the external surface area of ​​the lidar 100, thus improving its heat dissipation performance. The size and depth of the first heat dissipation grooves depend on specific requirements. Each first protrusion 161 and each second protrusion 162 can be provided with one or multiple first heat dissipation grooves. Furthermore, when the material strength of the base 110 is sufficient, the depth of the first heat dissipation grooves can be greater than the minimum wall thickness of the base 110. Similarly, multiple second heat dissipation slots 113 can also be provided on the outer wall surface 112, with each second heat dissipation slot 113 corresponding to the orthographic projection area of ​​each second protrusion 162 on the outer wall surface 112. The first heat dissipation slot can dissipate heat for the reflective module 120, and the second heat dissipation slots 113 can dissipate heat for the laser transceiver module 140.

[0063] When the laser transceiver module 140 and the reflector module 120 are located on opposite sides of the galvanometer module 130, the height of the galvanometer module 130 relative to the laser transceiver module 140 and the reflector module 120 can be adjusted to direct the emitted light from the laser transceiver module 140 toward the reflector module 120. In one embodiment, such as Figure 11 As shown, the galvanometer module 130 may include a bracket 131 and a galvanometer device 132. The bracket 131 is connected to the bearing surface 111, and the galvanometer device 132 is disposed on the bracket 131. The bracket 131 may include clearance channels through which the emitted light generated by each laser transceiver 141 passes and is directed toward each corresponding reflector 121. The bracket 131 is used to raise the height of the galvanometer module 130, and the clearance channels within the bracket 131 are used to allow the emitted light generated by the laser transceiver module 140 to pass through and be directed toward the reflector module 120.

[0064] Specifically, the galvanometer module 130 may further include a light-shielding plate 133, which is disposed in the clearance channel to block light reflected from the reflector module 120 to the laser transceiver module 140. The light-shielding plate 133 can be a separate component connected to the bracket 131, or it can be integrally formed with the bracket 131. The light-shielding plate 133 can prevent stray light reflected from the reflector module 120 from returning to the laser transceiver 141, thereby affecting the detection accuracy. When the reflector module 120 has multiple reflectors 121, the light-shielding plate 133 may include multiple clearance holes 1331, with the outgoing light generated by each laser transceiver 141 passing through a corresponding clearance hole 1331 and heading towards the reflector 121. The number of clearance holes 1331 corresponds one-to-one with the number of laser transceivers 141. When the number of laser transceivers 141 is the same as the number of reflectors 121, the number of laser transceivers 141, reflectors 121, and clearance holes 1331 are all the same. The size of the clearance holes 1331 depends on the actual requirements and will not be elaborated here.

[0065] like Figures 12 to 14 As shown, a second aspect of this application also provides a vehicle 10, which includes the lidar 100 in any of the above embodiments. Specifically, the vehicle 10 also includes a vehicle body, and the lidar 100 is mounted on the exterior of the vehicle body or embedded in the vehicle body. When the lidar 100 is disposed outside the vehicle body, the lidar 100 is preferably disposed on the roof of the vehicle body.

[0066] In the accompanying drawings of this embodiment, the same or similar reference numerals correspond to the same or similar components. In the description of this application, it should be understood that if terms such as "upper," "lower," "left," and "right" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, they 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, or be constructed and operated in a specific orientation. Therefore, the terms used to describe positional relationships in the accompanying drawings are only for illustrative purposes and should not be construed as limiting this patent. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0067] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A lidar, characterized in that, include: The housing includes a base, wherein the base includes a bearing surface facing the interior of the lidar, and the galvanometer module of the lidar is fixed to the bearing surface; The adjustment structure is located on the bearing surface; A laser transceiver module includes multiple laser transceivers, each of which is fixed to the adjustment structure, and each of which can generate an outgoing laser beam directed toward the galvanometer module. A reflection module, comprising multiple reflectors, each of which is fixed to the adjustment structure, and each of which is configured to reflect the emitted laser generated by each laser transceiver module to the galvanometer surface of the galvanometer module in a one-to-one correspondence. The adjustment structure is configured such that each laser transceiver and each reflector mounted thereon have a corresponding distance relative to the bearing surface, so that the emitted laser generated by each laser transceiver is reflected by the reflector and forms a preset laser detection field of view outside the lidar.

2. The lidar as described in claim 1, characterized in that, The adjustment structure includes a plurality of first protrusions disposed on the bearing surface. Each laser transceiver is connected to each first protrusion in a one-to-one correspondence. The dimension of each first protrusion along the direction perpendicular to the bearing surface is equal to the distance from the laser transceiver connected to it to the bearing surface. Each of the first protrusions is integrally formed with the base.

3. The lidar as described in claim 2, characterized in that, The reflection module and the laser transceiver module are respectively arranged on both sides of the galvanometer module, and the reflection module faces the galvanometer surface of the galvanometer module.

4. The lidar as described in claim 1, characterized in that, The adjustment structure also includes a plurality of second protrusions disposed on the bearing surface, each of the reflectors being connected to each of the second protrusions in a one-to-one correspondence, and the dimension of each second protrusion along the direction perpendicular to the bearing surface is equal to the distance from the reflector to which it is connected to the bearing surface; Each of the second protrusions is integrally formed with the base.

5. The lidar as described in claim 4, characterized in that, Each of the aforementioned reflectors is arranged around the galvanometer surface; The lidar has a central optical path axis located in the middle of the detection area, and the adjustment structure is configured such that the distance between the reflector and the bearing surface increases as it deviates from the central optical path axis.

6. The lidar as described in claim 3, characterized in that, The base also includes an outer wall surface opposite to the bearing surface. The outer wall surface is located outside the lidar. A plurality of first heat dissipation grooves are provided on the outer wall surface, and each of the first heat dissipation grooves is arranged one-to-one in the orthographic projection area of ​​each of the first protrusions on the outer wall surface.

7. The lidar as described in claim 5, characterized in that, The base also includes an outer wall surface opposite to the bearing surface. The outer wall surface is located outside the lidar. A plurality of second heat dissipation grooves are provided on the outer wall surface, and each of the second heat dissipation grooves is arranged in a corresponding manner within the orthographic projection area of ​​each of the second protrusions on the outer wall surface.

8. The lidar as described in claim 1, characterized in that, The galvanometer module includes a bracket and a galvanometer device, the bracket being connected to the bearing surface and the galvanometer device being disposed on the bracket; The bracket includes a clearance channel through which the emitted lasers generated by each of the laser transceivers pass and are directed one-to-one toward each of the reflectors.

9. The lidar as described in claim 8, characterized in that, The galvanometer module also includes a light shield, which is disposed in the clearance channel to block the light reflected from the reflection module to the laser transceiver module. The light-shielding plate includes a plurality of clearance holes, through which the emitted laser generated by each of the laser transceivers passes and is directed toward the reflector.

10. A car, characterized in that, Including the lidar as described in any one of claims 1-9; The vehicle body, wherein the lidar is mounted on the exterior of the vehicle body or embedded within the vehicle body.

Images