Laser radar, vehicle and laser radar cleaning method

Abstract

The invention provides a laser radar, a vehicle and a laser radar cleaning method. The laser radar comprises a coded disc, a rotating mirror and a gas supply assembly. The rotating mirror and the code disc are connected in a positioning mode and form a cavity in an enclosing mode, and a gap communicated with the inner side and the outer side of the cavity is formed between the rotating mirror and the code disc. The gas supply assembly is communicated with the interior of the cavity, the gas supply assembly can introduce clean gas into the cavity, and the clean gas is sprayed out from the gap. According to the laser radar, the vehicle and the laser radar cleaning method, the coded disc of the laser radar can be cleaned at any time according to requirements, and therefore normal use of the laser radar and the vehicle is guaranteed.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a laser radar, a vehicle, and a laser radar cleaning method. Background Art

[0002] With the rapid development of intelligent driving, various types of lidar are being used more and more widely in vehicles.

[0003] Laser radar mainly consists of a rotating mirror and a code disk, among which the code disk is an important component for realizing the basic functions of the laser radar. The cleanliness of the code disk surface directly affects the accuracy and even the operating status of the laser radar.

[0004] In the prior art, when the cleanliness level of the code disc is lower than the requirement, it can only be removed for cleaning and replacement, which affects the normal use of the laser radar and even the vehicle. Summary of the invention

[0005] The present application provides a laser radar, a vehicle and a laser radar cleaning method, which can clean the laser radar code disk at any time according to needs, thereby ensuring the normal use of the laser radar and the vehicle.

[0006] The present application provides a laser radar, wherein the laser radar comprises:

[0007] Code disk;

[0008] A rotating mirror is positioned and connected with the code disc to enclose a cavity, and a gap connecting the inner and outer sides of the cavity is formed between the rotating mirror and the code disc;

[0009] The gas supply component is communicated with the interior of the cavity, and the gas supply component can pass a cleaning gas into the interior of the cavity, and the cleaning gas is ejected from the gap.

[0010] The laser radar as described above, wherein the code disk and the rotating mirror are positioned and connected via a positioning bracket;

[0011] A plane is formed on one side of the code disc facing the rotating mirror;

[0012] The rotating mirror comprises a sealing plate and an annular wall portion, wherein the sealing plate is spaced apart from the plane in a direction perpendicular to the plane, and the wall portion is connected to a side of the sealing plate facing the code disc;

[0013] The positioning bracket is arranged inside the cavity, the positioning bracket is connected to the plane, and the positioning bracket is connected to a side surface of the sealing plate facing the plane and / or an inner surface of the wall portion;

[0014] The gap is formed between the end surface of the wall portion away from the sealing plate and the plane.

[0015] The laser radar as described above, wherein the size of the gap along the direction perpendicular to the plane is less than or equal to 1 mm.

[0016] As described above, the laser radar, wherein the air supply component includes an air supply head, an air supply pipeline and an air pump, the air supply head is arranged inside the cavity, a plurality of air vents are opened on the air supply head, the air supply pipeline passes through the code disk and is connected with the air supply head, and the air pump is connected with the air supply pipeline.

[0017] The laser radar as described above, wherein the air supply head is a columnar structure, a channel extending along its axial direction is formed inside the air supply head, one end of the channel is connected to the air supply pipeline, and the other end of the channel is closed, each of the air holes extends radially along the air supply head, one end of each of the air holes passes through the outer surface of the air supply head, and the other end of each of the air holes is connected to the channel.

[0018] The laser radar as described above, wherein the air holes are arranged to form at least one air hole column, and each of the air hole columns includes a plurality of air holes spaced apart along the axial direction of the air supply head.

[0019] The laser radar as described above, wherein the air hole columns are provided in plurality, and the plurality of air hole columns are evenly spaced along the circumference of the air supply head.

[0020] In the laser radar as described above, a connecting hole is provided on the code disc, and the air supply pipeline is rotatably and sealedly connected to the code disc at the connecting hole through a sealing bearing.

[0021] The laser radar as described above, wherein the air supply assembly further comprises a heater, the air supply pipeline runs through the heater, and the heater is located on a side of the air pump away from the air supply head.

[0022] The laser radar as described above, wherein the air supply component also includes a dehumidifier and a dust collector, the dehumidifier and the dust collector are connected to the air supply pipeline, and the dehumidifier and the dust collector are arranged between the air supply head and the air pump and / or between the air pump and the heater.

[0023] The laser radar as described above, wherein the laser radar further comprises a radar shell, and the code disk and the rotating mirror are both arranged inside the radar shell;

[0024] The radar shell is provided with a positioning hole, the positioning hole is coaxially corresponding to the connecting hole, and the air supply pipeline passes through the positioning hole and is fixedly connected to the radar shell.

[0025] The laser radar as described above, wherein the laser radar further includes a control component, and the control component is electrically connected to the air pump and the heater.

[0026] The present application also provides a vehicle, wherein the vehicle includes the laser radar as described above.

[0027] The present application also provides a laser radar cleaning method, wherein the laser radar cleaning method is implemented using the laser radar as described above, and the laser radar cleaning method includes:

[0028] Acquire waveform information transmitted by the code disk, and determine whether a peak value of the waveform information is lower than a peak threshold;

[0029] If the peak value is less than the peak threshold, it is determined that the cleanliness of the code disk does not meet the requirement, and the code disk is cleaned and the above steps are repeated;

[0030] If the peak value is greater than or equal to the peak threshold, it is determined that the cleanliness of the code disk meets the requirement, and the cleaning of the code disk is stopped.

[0031] The laser radar, vehicle and laser radar cleaning method provided in the present application are capable of introducing cleaning gas into the cavity formed by the code disk and the rotating mirror by arranging an air supply component. By adjusting the introduction speed and / or pressure of the cleaning gas, the air pressure inside the cavity can be made greater than the air pressure outside the cavity, so that the cleaning gas is ejected outward from the gap between the rotating mirror and the code disk. During the process of ejecting the cleaning gas, the surface of the code disk can be purged and cleaned, thereby effectively improving the cleanliness of the code disk and ensuring the normal use of the laser radar and the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 A schematic diagram of the structure of a laser radar provided in an embodiment of the present application;

[0033] Figure 2 A schematic diagram of the connection structure between the code disk and the rotating mirror of the laser radar provided in an embodiment of the present application;

[0034] Figure 3 A schematic diagram of the assembly structure of some components of the air supply assembly of the laser radar provided in an embodiment of the present application;

[0035] Figure 4 A schematic diagram of the structure of an air supply head of an air supply assembly of a laser radar provided in an embodiment of the present application;

[0036] Figure 5 A schematic diagram of the assembly structure of the air supply pipeline of the air supply assembly of the laser radar provided in an embodiment of the present application;

[0037] Figure 6Another schematic diagram of the structure of the laser radar provided in an embodiment of the present application.

[0038] Description of Figure Numbers:

[0039] 1. Code disk; 2. Rotating mirror; 21. Sealing plate; 22. Wall; 3. Cavity; 4. Gap; 5. Air supply assembly; 51. Air supply head; 511. Channel; 512. Vent; 52. Air supply pipeline; 521. Sealed bearing; 53. Air pump; 54. Heater; 55. Dehumidifier and dust collector; 6. Positioning bracket; 7. Radar shell; 8. Control assembly. DETAILED DESCRIPTION

[0040] In order to more clearly understand the above-mentioned objectives, features and advantages of the present disclosure, the scheme of the present disclosure will be further described below. It should be noted that the embodiments of the present disclosure and the features in the embodiments can be combined with each other without conflict.

[0041] In the following description, many specific details are set forth to facilitate a full understanding of the present disclosure, but the present disclosure may also be implemented in other ways different from those described herein; it is obvious that the embodiments in the specification are only part of the embodiments of the present disclosure, rather than all of the embodiments.

[0042] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the term "comprises" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0043] The code disk inside the laser radar mainly provides the angle for the laser emission of the laser radar. Usually, for the laser radar with rotating mirror laser scanning, the code disk is generally located below the rotating mirror. When a certain light hits the rotating mirror and is reflected to the outside world by the rotating mirror, the code disk will provide the emission angle of this light, and then provide it to the terminal, and calculate the three-dimensional coordinate information of the point cloud reflected by the obstacle through the angle and distance information. There are code channels on the code disk. When dirt falls on it, it will affect the acquisition of angle information, affect the accuracy of the point cloud, cause the motor to stop, and have a great impact on the function.

[0044] In view of the problems existing in the above-mentioned related technologies, the present application mainly uses a certain path to allow the hot air flow to flow through the code channel, thereby effectively cleaning the condensation or dirt on the code channel, improving the functional safety of the lidar, and avoiding abnormal point cloud performance problems.

[0045] like Figure 1 and Figure 2 As shown, the present application provides a laser radar, wherein the laser radar includes a code disc 1, a rotating mirror 2 and an air supply assembly 5; the code disc 1 and the rotating mirror 2 cooperate to realize the basic functions of the laser radar, and the air supply assembly 5 is used to provide clean gas to clean the code disc 1.

[0046] The rotating mirror 2 and the code disc 1 are positioned and connected to form a cavity 3, and a gap 4 is formed between the rotating mirror 2 and the code disc 1 to connect the inside and outside of the cavity 3; the air supply component 5 is connected to the inside of the cavity 3, and the air supply component 5 can pass clean gas into the inside of the cavity 3, and the clean gas is ejected from the gap 4. By adjusting the speed and / or pressure of the clean gas entering the cavity 3, the air pressure inside the cavity 3 can be increased rapidly, so that the air pressure inside the cavity 3 is greater than the external air pressure, so that the clean gas is ejected outward from the gap 4 between the rotating mirror 2 and the code disc 1. In the process of ejecting the clean gas, the surface of the code disc 1 can be purged and cleaned, thereby effectively improving the cleanliness of the code disc 1 and ensuring the normal use of the laser radar and the vehicle.

[0047] like Figure 2 As shown, in the laser radar provided by the present application, the code disc 1 and the rotating mirror 2 are positioned and connected via a positioning bracket 6.

[0048] Specifically, a plane is formed on the side of the code disk 1 facing the rotating mirror 2; the rotating mirror 2 includes a sealing plate 21 and an annular wall portion 22, and the sealing plate 21 is spaced apart from the plane in a direction perpendicular to the plane. The sealing plate 21 and the plane can be parallel to each other, or an angle is formed between the two; the wall portion 22 presents a regular or irregular annular structure in a cross section parallel to the plane, that is, the wall portion 22 roughly forms a cylindrical structure, the interior of the cylindrical structure is hollow and the two ends in a direction perpendicular to the plane are open; the wall portion 22 is connected to the side of the sealing plate 21 facing the code disk 1, specifically, along the direction perpendicular to the plane, one end face of the cylindrical wall portion 22 is sealed and fixedly connected to the sealing plate 21, and a gap 4 is formed between the end face of the wall portion 22 away from the sealing plate 21 and the plane.

[0049] Optionally, the end face of the wall portion 22 away from the sealing plate 21 is an annular plane, which is parallel to the plane of the code disc 1 toward the rotating mirror 2, so as to form a uniform gap 4 between the code disc 1 and the rotating mirror 2, thereby ensuring that the cleaning gas is evenly sprayed in the gap 4 along the circumference of the rotating mirror 2, thereby ensuring the cleaning effect of the cleaning gas on various parts of the code disc 1.

[0050] The positioning bracket 6 is arranged inside the cavity 3, the positioning bracket 6 is connected to the plane, and the positioning bracket 6 is connected to the side surface of the sealing plate 21 facing the plane and / or the inner surface of the wall 22. The positioning bracket 6 is arranged in this way, while the rotating mirror 2 and the code disk 1 are fixedly connected, the gap 4 between the code disk 1 and the rotating mirror 2 is not blocked, and a complete and continuous gap 4 is formed between the code disk 1 and the rotating mirror 2, thereby ensuring that each position of the code disk 1 can be evenly purged and cleaned when the cleaning gas is sprayed out.

[0051] The laser radar provided in the present application has a size of the gap 4 that is less than or equal to 1 mm along a direction perpendicular to the plane, so as to ensure that when the cleaning gas is ejected from the gap 4 , the airflow has sufficient pressure to ensure the cleaning purge effect of the cleaning gas on the code disk 1 .

[0052] like Figure 3 As shown, the laser radar provided by the present application, wherein the air supply assembly 5 includes an air supply head 51, an air supply pipeline 52 and an air pump 53, the air supply head 51 is arranged inside the cavity 3, a plurality of air vents 512 are provided on the air supply head 51, the air supply pipeline 52 passes through the code disc 1 and is connected to the air supply head 51, and the air pump 53 is connected to the air supply pipeline 52. After the clean gas flows through the air supply pipeline 52, it quickly enters the cavity 3 through the air vents 512 of the air supply head 51, so that the air pressure in the cavity 3 increases rapidly, so as to quickly form a sufficient pressure difference between the inner and outer sides of the cavity 3, so as to ensure the pressure of the clean gas when it is ejected from the gap 4. The air pump 53 is used to control the supply and stop of the clean gas, and at the same time adjust the supply speed of the clean gas by adjusting the opening.

[0053] like Figure 4 As shown, the laser radar provided by the present application, wherein the air supply head 51 is a columnar structure, a channel 511 extending along its axial direction is formed inside the air supply head 51, one end of the channel 511 is connected to the air supply pipeline 52, the other end of the channel 511 is closed, each vent 512 extends along the radial direction of the air supply head 51, one end of each vent 512 penetrates the outer surface of the air supply head 51, and the other end of each vent 512 is connected to the channel 511. The channel 511 can evenly transport the clean gas transported by the air supply pipeline 52 to each vent 512, so that the clean gas enters the interior of the cavity 3 synchronously through each vent 512, which can effectively increase the flow area of ​​the clean gas, and can meet the requirements of rapid input of the clean gas to make other parts in the cavity 3 increase rapidly.

[0054] like Figure 3 and Figure 4As shown, the laser radar provided by the present application, wherein the vent holes 512 are arranged to form at least one vent column, and each vent column includes a plurality of vent holes 512 spaced apart along the axial direction of the air supply head 51. By arranging the vent holes 512 spaced apart along the axial direction of the air supply head 51, it is equivalent to arranging the plurality of vent holes 512 in the direction in which the sealing plate 21 and the code disc 1 are spaced apart, so that when the clean gas is filled in the cavity 3, the uniformity of the air pressure at various places in the cavity 3 can be improved, and the clean gas is ensured to be uniformly and continuously ejected outward through the gap 4 under the action of the air pressure inside the cavity 3, and the continuity of the clean gas purging and cleaning action on the code disc 1 is ensured, thereby ensuring the cleaning effect on the code disc 1.

[0055] like Figure 4 As shown, the laser radar provided by the present application has a plurality of air hole rows, and the plurality of air hole rows are evenly spaced along the circumference of the air supply head 51; this can further improve the uniformity of the air pressure at various locations in the cavity 3, ensure that the clean gas is continuously and effectively ejected outward from the gap 4, and further improve the cleaning effect of the code disk 1.

[0056] like Figure 5 As shown, the laser radar provided by the present application is as described above, wherein a connecting hole is opened on the code disc 1, and the air supply pipeline 52 is rotatably and sealedly connected to the code disc 1 at the connecting hole through a sealing bearing 521.

[0057] Optionally, the sealed bearing 521 can be a deep groove ball bearing, including an inner ring and an outer ring which are coaxially arranged, wherein a plurality of balls are positioned between the inner ring and the outer ring, and along the axial direction of the bearing, seals are respectively provided on both sides of each ball between the inner ring and the outer ring; during assembly, the inner ring is sealed and fixedly connected to the outer surface of the air supply pipeline 52, and the outer ring is sealed and fixedly connected to the wall of the connecting hole of the code disk 1, so that the air supply pipeline 52 and the code disk 1 are rotatably connected. During the operation of the laser radar, the code disk 1 can rotate relative to the air supply pipeline 52 to ensure the normal use of the code disk 1 and avoid the air supply pipeline 52 from being damaged by force.

[0058] like Figure 6 As shown, the laser radar provided by the present application, wherein the air supply component 5 also includes a heater 54, the air supply pipeline 52 runs through the heater 54, the heater 54 is located on the side of the air pump 53 away from the air supply head 51, the heater 54 can heat the clean gas so that the clean gas can be hot air, thereby effectively removing condensation on the code disk 1.

[0059] Optionally, when the laser radar provided in the present application is applied to a vehicle, a vehicle heat source can be used as a heater 54 to heat the clean gas to improve the energy utilization rate of the vehicle.

[0060] like Figure 6As shown, the laser radar provided by the present application, wherein the air supply component 5 also includes a dehumidifier and dust collector 55, and the dehumidifier and dust collector 55 is connected to the air supply pipeline 52. By setting the dehumidifier and dust collector 55, the water vapor and impurities in the clean gas can be removed, so that the clean gas is dry hot air, thereby preventing the water vapor or impurities in the clean gas from affecting the cleaning effect of the code disk 1.

[0061] A dehumidifier and dust collector 55 is provided between the air supply head 51 and the air pump 53 and / or between the air pump 53 and the heater 54. One or two dehumidifiers and dust collectors 55 can be flexibly provided as required.

[0062] In some embodiments, a dehumidifier and dust collector 55 is provided between the air supply head 51 and the air pump 53, and between the air pump 53 and the heater 54. By setting up a two-stage dehumidifier and dust collector 55, water vapor and impurities in the clean gas can be removed as much as possible to the greatest extent, thereby improving the cleanliness of the clean gas itself and ensuring the cleaning effect of the code disk 1.

[0063] like Figure 1 , Figure 3 and Figure 6 As shown, the laser radar provided by the present application further includes a radar shell 7, and the code disk 1 and the rotating mirror 2 are both arranged inside the radar shell 7. The radar shell 7 can protect the code disk 1 and the rotating mirror 2, while improving the aesthetics of the overall appearance of the laser radar.

[0064] A positioning hole is provided on the radar shell 7, and the positioning hole corresponds to the connecting hole coaxially, and the air supply pipeline 52 passes through the positioning hole and is fixedly connected to the radar shell 7. In this way, the air supply pipeline 52 is fixed, and the external force on the connection between the air supply pipeline 52 and the air supply head 51 during use is reduced, thereby ensuring the reliability of the connection between the two.

[0065] like Figure 6 As shown, the laser radar provided by the present application further includes a control component 8, which is electrically connected to the air pump 53 and the heater 54. The control component 8 is used to control the start and stop of the air pump 53 and the heater 54, thereby adjusting the air supply state and the heating temperature.

[0066] Optionally, when the laser radar provided in the present application is applied to a vehicle, the laser radar provided in the present application can be directly controlled by the vehicle's control system.

[0067] At present, LiDAR plays an important role in the field of autonomous driving, and its output point cloud provides accurate obstacle location information for autonomous driving. Therefore, there are high requirements for the confidence and performance of the point cloud output by LiDAR. If the LiDAR encoder 1 is dirty and condensed, it will cause abnormal operation or restart of the motor, abnormal point cloud performance, abnormal ranging accuracy, point cloud performance, etc., and deviations in obstacle position detection within the field of view (FOV), thereby affecting perception processing analysis and affecting the autonomous driving function.

[0068] The present application can effectively solve the occurrence of the above-mentioned point cloud anomaly caused by the problem of dirt and condensation on the code disk 1, thereby ensuring that accurate and effective obstacle information is provided for perception.

[0069] The present application also provides a vehicle, wherein the vehicle includes the laser radar as described above.

[0070] The vehicle provided in the present application has a laser radar that can introduce clean gas into the cavity formed by the code disk and the rotating mirror by arranging an air supply component. By adjusting the introduction speed and / or pressure of the clean gas, the air pressure inside the cavity can be made greater than the external air pressure, so that the clean gas is ejected outward from the gap between the rotating mirror and the code disk. In the process of ejecting the clean gas, the surface of the code disk can be purged and cleaned, thereby effectively improving the cleanliness of the code disk and ensuring the normal use of the laser radar and the vehicle.

[0071] The present application also provides a laser radar cleaning method, wherein the laser radar cleaning method is implemented using the laser radar as described above, and the laser radar cleaning method includes:

[0072] Obtain the waveform information transmitted by the code disk, and determine whether the peak value of the waveform information is lower than the peak threshold;

[0073] If the peak value is less than the peak threshold, it is determined that the cleanliness of the code disk does not meet the requirements, and the code disk is cleaned and the above steps are repeated;

[0074] If the peak value is greater than or equal to the peak threshold, it is determined that the cleanliness of the code disk meets the requirements, and the cleaning of the code disk is stopped.

[0075] Specifically, the laser radar provided in the present application, in the powered-on working state, obtains the waveform information transmitted by the code disk through its own functional safety diagnosis mechanism, wherein the code disk waveform signal has a fixed reference baseline, and the specific value of the reference baseline is the threshold value. When the peak of the waveform information is lower than the reference baseline, it can be judged that there is dirty condensation on the code disk, and at this time, it is determined that the waveform information transmitted by the code disk is abnormal;

[0076] If the waveform information transmitted by the code disc is abnormal, it is determined that the code disc is dirty. The control component determines whether the code disc needs to be cleaned according to the waveform information and controls the start and stop of the air supply component;

[0077] If the bottom code disc needs to be cleaned, the control component will control the air supply component to start supplying air, and adjust the air supply speed, flow rate, etc. as needed to clean the code disc;

[0078] During the cleaning process, the waveform information transmitted by the code disk will be periodically and continuously transmitted to the control component until the control component detects that the waveform information transmitted by the code disk is normal. At this time, the air supply component will be controlled to stop supplying air to complete the cleaning of the code disk.

[0079] The laser radar cleaning method provided in the present application can make the air pressure inside the cavity greater than the air pressure outside the cavity by introducing cleaning gas into the cavity formed by the rotating mirror and the code disk, and adjusting the introduction speed and / or pressure of the cleaning gas, so that the cleaning gas is ejected outward from the gap between the rotating mirror and the code disk. During the process of ejecting the cleaning gas, the surface of the code disk can be purged and cleaned, thereby effectively improving the cleanliness of the code disk and ensuring the normal use of the laser radar and the vehicle.

Claims

1. A laser radar, characterized in that: The laser radar comprises: Code disk; A rotating mirror is positioned and connected with the code disc to enclose a cavity, and a gap connecting the inner and outer sides of the cavity is formed between the rotating mirror and the code disc; The gas supply component is communicated with the interior of the cavity, and the gas supply component can pass a cleaning gas into the interior of the cavity, and the cleaning gas is ejected from the gap.

2. The laser radar according to claim 1, characterized in that: The code disc and the rotating mirror are positioned and connected via a positioning bracket; A plane is formed on one side of the code disc facing the rotating mirror; The rotating mirror comprises a sealing plate and an annular wall portion, wherein the sealing plate is spaced apart from the plane in a direction perpendicular to the plane, and the wall portion is connected to a side of the sealing plate facing the code disc; The positioning bracket is arranged inside the cavity, the positioning bracket is connected to the plane, and the positioning bracket is connected to a side surface of the sealing plate facing the plane and / or an inner surface of the wall portion; The gap is formed between the end surface of the wall portion away from the sealing plate and the plane.

3. The laser radar according to claim 2, characterized in that: Along a direction perpendicular to the plane, a size of the gap is less than or equal to 1 mm.

4. The laser radar according to claim 1, characterized in that: The air supply assembly includes an air supply head, an air supply pipeline and an air pump. The air supply head is arranged inside the cavity. A plurality of air vents are provided on the air supply head. The air supply pipeline passes through the code disk and is connected with the air supply head. The air pump is connected with the air supply pipeline.

5. The laser radar according to claim 4, characterized in that: The air supply head has a columnar structure, and a channel extending along its axial direction is formed inside the air supply head. One end of the channel is connected to the air supply pipeline, and the other end of the channel is closed. Each of the air holes extends radially along the air supply head, and one end of each of the air holes passes through the outer surface of the air supply head, and the other end of each of the air holes is connected to the channel.

6. The laser radar according to claim 4 or 5, characterized in that: The air holes are arranged to form at least one air hole column, and each of the air hole columns includes a plurality of air holes spaced apart along the axial direction of the air supply head.

7. The laser radar according to claim 6, characterized in that: There are a plurality of air hole rows, and the plurality of air hole rows are evenly spaced along the circumference of the air supply head.

8. The laser radar according to claim 4, characterized in that: The code disc is provided with a connection hole, and the air supply pipeline is rotatably sealed and connected to the code disc at the connection hole through a sealing bearing.

9. The laser radar according to claim 4, characterized in that: The air supply assembly also includes a heater. The air supply pipeline runs through the heater. The heater is located on a side of the air pump away from the air supply head.

10. The laser radar according to claim 9, characterized in that: The air supply assembly further includes a dehumidifier and a dust collector, which is connected to the air supply pipeline and is arranged between the air supply head and the air pump and / or between the air pump and the heater.

11. The laser radar according to claim 8, characterized in that: The laser radar further comprises a radar shell, and the code disk and the rotating mirror are both arranged inside the radar shell; The radar shell is provided with a positioning hole, the positioning hole is coaxially corresponding to the connecting hole, and the air supply pipeline passes through the positioning hole and is fixedly connected to the radar shell.

12. The laser radar according to claim 9, characterized in that: The laser radar also includes a control component, which is electrically connected to the air pump and the heater respectively.

13. A vehicle, characterized in that: The vehicle comprises a laser radar as claimed in any one of claims 1 to 12.

14. A laser radar cleaning method, characterized in that: The laser radar cleaning method is implemented by using the laser radar according to any one of claims 1 to 12, and the laser radar cleaning method comprises: Acquire waveform information transmitted by the code disk, and determine whether the peak value of the waveform information is lower than the peak threshold; If the peak value is less than the peak threshold, it is determined that the cleanliness of the code disk does not meet the requirement, and the code disk is cleaned and the above steps are repeated; If the peak value is greater than or equal to the peak threshold, it is determined that the cleanliness of the code disk meets the requirement, and the cleaning of the code disk is stopped.

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