Laser radar and carrier

Abstract

A lidar and a vehicle are disclosed. The laser radar comprises a base and a spindle. The base comprises a first mounting part and a second mounting part, the first mounting part is located in the peripheral area of the base and used for mounting a photomask of the laser radar, and the second mounting part is located in the first mounting part; a sealing groove is formed in the first mounting part and surrounds the second mounting part, and a first sealing piece is arranged in the sealing groove; the main shaft is arranged on the second installation part and provided with a rotating frame, the rotating frame is rotationally connected with the main shaft, and the main shaft protrudes out of the base. According to the laser radar, the main shaft protrudes out of the base, the height of the first mounting part is reduced, the cost of the base can be reduced, internal parts of the laser radar can be conveniently assembled, and the production efficiency is improved while the cost is reduced.

Description

Technical Field

[0001] The embodiments of the present disclosure relate to the field of optical detection technology, and in particular to laser radar and vehicles. Background Art

[0002] Optical detection technology uses light as a medium to detect objects. Compared with ordinary light sources, lasers have the characteristics of monochromaticity and good directionality, and object detection using lasers as a medium has received more attention. For example, laser detection and ranging (LiDAR) uses lasers as a medium to detect objects and has been applied in the fields of intelligent driving, industrial manufacturing, drones, robot recognition, geographic mapping, or environmental monitoring. However, during the application process, laser radar is still restricted by cost or volume. Utility Model Content

[0003] The disclosed embodiments provide a laser radar and a vehicle to reduce the cost of the laser radar while improving production efficiency.

[0004] In a first aspect, a laser radar is provided, comprising a base and a main shaft. The base comprises a first mounting portion and a second mounting portion, wherein the first mounting portion is located in the peripheral area of ​​the base and is used to mount a light shield of the laser radar, and the second mounting portion is located inside the first mounting portion; a sealing groove is provided on the first mounting portion, the sealing groove surrounds the second mounting portion, and a first sealing member is provided in the sealing groove; the main shaft is provided on the second mounting portion, and a rotating frame is provided on the main shaft, the rotating frame is rotatably connected to the main shaft, and the main shaft protrudes from the base.

[0005] The above laser radar is designed with the main axis protruding from the base, which reduces the height of the first mounting part, can reduce the cost of the base, and facilitate the assembly of the internal components of the laser radar, which reduces costs and improves production efficiency. The sealing groove and the first seal can realize the sealed connection between the light cover and the base, prevent external dust, moisture, or other contaminants from entering the interior of the laser radar, and reduce the impact of the external environment on the normal operation of the laser radar. In addition, the good sealing between the base and the light cover can also protect the optical elements or electronic devices inside the laser radar, reduce the impact of the external environment on the optical elements or electronic devices, and extend the service life of the optical elements and electronic devices.

[0006] Optionally, the height of one or more of the first mounting portion or the second mounting portion is less than or equal to the first threshold. The height of the first mounting portion is relatively low. On the one hand, it can reduce the shielding of the second mounting portion by the first mounting portion, facilitate the installation of internal components of the laser radar, simplify the assembly of the laser radar, and improve assembly efficiency; on the other hand, it can reduce the cost of the laser radar. The height of the second mounting portion is relatively low, which can reduce the partial thickness of the base, thereby reducing the cost of the base. The heights of the first mounting portion and the second mounting portion are both set relatively low, which can reduce the overall thickness of the base, thereby reducing the cost of the base; and realize the overall flattening design of the base, which is convenient for the installation of internal components of the laser radar.

[0007] Optionally, the first threshold comprises 20 mm.

[0008] Optionally, the shape of the sealing groove matches that of the first sealing member. The sealing groove and the first sealing member with matching shapes can make the first sealing member evenly pressurized in the sealing groove, prevent sealing failure caused by uneven pressure, and improve the stability of the seal. The first sealing member can be more easily installed in place, and is also convenient for disassembly and replacement.

[0009] Optionally, one or both of the outer wall and the inner wall of the first seal is provided with a plurality of protrusion structures. Providing the protrusion structures on one or both of the outer wall and the inner wall of the first seal can reduce the probability of displacement or rotation of the first seal during movement, improve the stability of the first seal, reduce wear, and help extend the service life of the first seal.

[0010] Optionally, multiple protrusion structures are evenly distributed on the outer wall of the first seal; or, multiple protrusion structures are evenly distributed on the inner wall of the first seal; or, multiple protrusion structures are evenly distributed on the inner wall and outer wall of the first seal. Evenly distributed protrusion structures can further reduce the probability of displacement or rotation of the first seal during movement, further improve the stability of the first seal, reduce wear, and extend the service life of the first seal.

[0011] Optionally, the laser radar also includes a cable, and the side wall of the first mounting part is also provided with a first opening; a circuit board is installed on the second mounting part, the first end of the cable is electrically connected to the circuit board, and the second end of the cable extends outside the base through the first opening.

[0012] Optionally, the laser radar further includes a second seal having a through hole; the first mounting portion further includes a receiving structure, the receiving structure is protrudingly arranged at the first opening; and the receiving structure has a receiving groove and a second opening, the second opening is arranged opposite to the first opening, the second seal is arranged in the receiving groove, the first end of the cable passes through the second opening, the through hole, and the first opening, and the first end of the cable is fixed to the second mounting portion. The second seal can seal the first opening when the cable passes through the first opening, thereby achieving sealing of the connection between the cable and the laser radar, and further preventing external dust, moisture, or other contaminants from entering the interior of the laser radar.

[0013] Optionally, the cable and the through hole are interference fit, and the second seal is interference fit with the receiving groove. The interference fit between the cable and the through hole can make the cable and the second seal fit tightly, thereby improving the sealing effect between the cable and the second seal. The interference fit between the second seal and the receiving groove can make the second seal have a certain pressure in the receiving groove, so that the second seal can be more firmly fixed in the receiving groove, and the second seal will not be displaced due to vibration or mechanical movement, thereby maintaining the stability of the seal and reducing wear.

[0014] Optionally, the receiving groove and the sealing groove are connected, and the first sealing member and the second sealing member are integrally formed. This can not only reduce the manufacturing process of the sealing member, but also reduce the complexity of the assembly process and improve the assembly efficiency. In addition, the integral molding of the two sealing members can make the joints between the sealing members tighter and reduce the risk of poor sealing.

[0015] Optionally, the first mounting portion includes a main body and a plurality of flanges, the main body is arranged outside the second mounting portion; the plurality of flanges extend outward from the outer side wall of the main body, and the plurality of flanges are arranged at intervals in the circumferential direction of the main body. The arrangement of the flanges can facilitate the installation of the light shield.

[0016] Optionally, the containing structure is located between a first flange and a second flange of the plurality of flanges. The containing structure is located between two flanges, which can facilitate the arrangement of the containing structure and the installation of the cable.

[0017] Optionally, the laser radar further includes: a fixing member, disposed on the second mounting portion, configured to fix a fixing magnetic member of a driving device of the laser radar, wherein the rotating frame is configured to install a rotating magnetic member of the driving device. The setting of the fixing member can facilitate the installation of the driving device, making the driving device more stable during operation.

[0018] Optionally, the fixing member includes at least two fixing parts, which are evenly distributed around the main axis. The segmented structure can further reduce the occupied area of ​​the mechanical structure on the base, and reduce the cost and weight of the laser radar. In addition, the segmented structure can leave assembly space for other components of the laser radar.

[0019] Optionally, the base and the main shaft are integrally formed, which can reduce the number of independent components of the laser radar and the assembly process of the laser radar.

[0020] Optionally, the base is made of metal and the light shield is made of plastic. The metal base can provide greater support strength, and the plastic light shield can reduce the overall cost of the laser radar.

[0021] In a second aspect, a vehicle is provided, comprising a connecting device and any one of the above laser radars, wherein the laser radar is installed on the vehicle via the connecting device. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the following is an illustrative introduction to the drawings used in the description of the embodiments. The drawings described below are only embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without creative work. The drawings are used to provide a further understanding of the present disclosure and constitute a part of the specification. Together with the embodiments of the present disclosure, they are used to explain the present disclosure and do not constitute a limitation to the present disclosure.

[0023] Figure 1 An example block diagram of a laser radar provided in some embodiments of the present disclosure is shown;

[0024] Figure 2 An example diagram of the structure of a laser radar provided in some embodiments of the present disclosure is shown;

[0025] Figure 3 A structural example diagram of a base of a laser radar provided in some embodiments of the present disclosure is shown;

[0026] Figure 4 An exploded example diagram of a laser radar provided in some embodiments of the present disclosure is shown;

[0027] Figure 5 An example diagram of the structure of internal components of a laser radar provided in some embodiments of the present disclosure is shown;

[0028] Figure 6 An exemplary diagram of a sealing structure provided in some embodiments of the present disclosure is shown;

[0029] Figure 7 An exemplary diagram showing another sealing structure provided in some embodiments of the present disclosure is shown;

[0030] Figure 8 An exemplary diagram showing another sealing structure provided in some embodiments of the present disclosure is shown;

[0031] Fig. 9An exemplary cross-sectional view of some components of a laser radar provided in some embodiments of the present disclosure is shown;

[0032] Fig.10 A structural example diagram of a support member provided in some embodiments of the present disclosure is shown;

[0033] Fig.11 An exemplary diagram showing the installation of a support member on a base provided in some embodiments of the present disclosure is shown;

[0034] Fig.12 An exemplary structural diagram of a rotating frame of a laser radar provided in some embodiments of the present disclosure at a viewing angle is shown;

[0035] Fig.13 An exemplary structural diagram of a rotating frame of a laser radar provided in some embodiments of the present disclosure at another viewing angle is shown;

[0036] Fig.14 An exemplary diagram showing the installation of a first magnetic member on a fixing member provided in some embodiments of the present disclosure is shown;

[0037] Fig.15 An exemplary partial cross-sectional view of a fixing portion provided in some embodiments of the present disclosure is shown. DETAILED DESCRIPTION

[0038] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the specific implementation methods of the present disclosure will be described below with reference to the accompanying drawings. The accompanying drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other accompanying drawings and other embodiments can be obtained based on these accompanying drawings without creative work. Adjustments and improvements made without departing from the concept of the present disclosure all belong to the protection scope of the present disclosure.

[0039] In order to simplify the drawings, each of the drawings schematically shows only the parts related to the corresponding embodiments, and they do not represent the actual structure of the product, and there may be more or fewer structures or components in reality. In addition, in order to simplify the drawings and facilitate understanding, for the structures or components shown in the drawings, there may be more or fewer similar structures or components in reality.

[0040] The terms “install”, “set” and “connect” should be understood in a broad sense. For example, “install” can be directly installed or installed through other components; “set” can be directly set or set through other components; “connect” can be directly connected or connected through other components.

[0041] In the embodiments shown in the drawings, directional indications (such as up, down, left, right, front, and back, etc.) are not absolute but relative when describing the structure or movement of each component, and are not used to limit the direction of the product in actual use.

[0042] LiDAR uses laser as a medium to detect objects and can be applied to fields such as intelligent driving, industrial manufacturing, drones, robot identification, geographic mapping, or environmental monitoring. Intelligent driving can also be called autonomous driving or assisted driving, including any level of autonomous driving, such as any level of autonomous driving from L1 to L5. In applications, LiDAR can be installed on a vehicle to provide the vehicle with perception data, such as point cloud data, so that the vehicle can use the perception data to perform analysis, decision-making, or control functions. Vehicles include, for example, vehicles, manufacturing terminals, ships, aircraft (such as flying vehicles or drones), robots (such as industrial robots or household robots), or surveying and mapping equipment.

[0043] Figure 1 An example block diagram of a laser radar provided in some embodiments of the present disclosure is shown. Figure 1 , the laser radar 100 includes a laser transmitting circuit 110, a laser receiving circuit 120, an optical system 130, and a control and processing system 140. Optionally, the laser radar 100 may also include a scanning system 150, such as a mechanical laser radar or a semi-solid laser radar. The scanning system 150 may include, for example, a scanner and a driving device, and the driving device is used to drive the scanner to rotate so that the laser can scan one or all of the vertical or horizontal fields of view. For example, the laser is emitted through the scanner, and the rotation of the scanner can change the emission path of the laser; for example, the echo of the laser can be incident on the scanner and guided to the light receiving path through the scanner. The embodiment of the present disclosure does not limit the type of scanner, for example, it may include but is not limited to a rotating mirror, a swinging mirror, a galvanometer or other devices that can make the laser shoot to different directions in the environment. Optionally, the scanning system 150 may include a rotating platform; for example, one or more of the laser transmitting circuit, the laser receiving circuit, or the optical system may be set on the rotating platform, and as the rotating platform rotates, one or all of the vertical or horizontal fields of view are scanned.

[0044] The laser transmitting circuit 110 is used to transmit laser. After the laser encounters an object, it is reflected by the surface of the object, and the reflected light reflected back to the laser radar 100 is called an echo. The laser receiving circuit 120 receives the echo and converts the echo into an electrical signal. After preprocessing the electrical signal, echo data is obtained, and the echo data is provided to the control and processing system 140. The control and processing system 140 processes the echo data to obtain perception data, such as point cloud data. The control and processing system 140 sends the perception data to the vehicle, and the vehicle uses the perception data to implement functions such as analysis, decision-making, or control.

[0045] The laser emission circuit 110 includes a driving circuit and a laser. The laser emits laser light under the drive of the driving circuit, and the laser light is emitted through the optical system 130. The laser includes, for example, a semiconductor laser, a fiber laser, or other types of lasers. The semiconductor laser includes, for example, a laser emission circuit, a vertical cavity surface emitting laser (VCSEL), an edge emitting laser (EEL), a distributed feedback laser (DFB), or a similar device. The above is only an example, and the embodiments of the present disclosure do not limit the type of laser.

[0046] The laser receiving circuit 120 includes a detector and a preprocessing circuit. The optical system 130 collects the echoes onto the photosensitive surface of the detector; the detector converts the optical signal into an electrical signal using the photoelectric effect. The detector includes, for example: a photodetection circuit, a PIN photodiode (PINPD), an avalanche photodiode (APD), a single photon avalanche diode (SPAD), a silicon photomultiplier (SiPM), or a similar device. The above is for example only, and the embodiments of the present disclosure do not limit the type of detector.

[0047] Preprocessing can also be called analog front-end processing, for example, including one or more of amplification, filtering, digitization and other processing. Preprocessing circuit can also be called analog front-end circuit, for example, including one or more of amplification circuit, filtering circuit and digitization circuit. Amplification circuit, for example, includes an amplifier, which can amplify the electrical signal converted by the detector. Filtering circuit, for example, includes a filter, which is used to filter out noise or interference. Digital circuit, for example, includes one or more of analog to digital converter (ADC) or time to digital converter (TDC). For example, ADC converts analog electrical signal into digital signal reflecting the waveform of echo by periodically sampling the output signal of detector, and obtains echo data. For another example, the electrical signal converted by the detector can be converted (for example, converted and amplified into voltage, and compared with reference voltage to generate threshold signal) and provided to TDC. TDC performs timing based on the received electrical signal to measure the arrival time of echo and obtain echo data. Echo data can include data reflecting echo time and / or echo intensity.

[0048] The optical system 130 includes, for example, a transmitting optical element and a receiving optical element. The transmitting optical element is on the laser emission path (hereinafter referred to as the emission optical path), and is used to shape the laser emitted by the laser and adjust the emission path of the laser. The receiving optical element is on the laser receiving path (hereinafter referred to as the receiving optical path), and is used to collect the echo reflected by the object and converge the echo onto the photosensitive surface of the detector. Exemplarily, the transmitting optical element may include one or more optical elements such as a mirror, a lens, a beam splitter, a light homogenizer, and a beam splitter. Exemplarily, the receiving optical element may include one or more optical elements such as a mirror, a lens, a beam splitter, and a filter. The transmitting optical element and the receiving optical element may be independent of each other, partially multiplexed, or fully multiplexed. Exemplarily, in a lidar with coaxial transceiver, the optical system 130 may include an independent transmitting optical element and a receiving optical element, such as an independent transmitting lens and a receiving lens. The optical system 130 may further include an optical element shared by the emission optical path and the receiving optical path, such as a beam splitter (or a beam splitter mirror), for separating the emission optical path and the receiving optical path; or, a shared lens, for shaping the coaxial beams on the emission optical path and the receiving optical path.

[0049] The control and processing system 140 is used to process the echo data to obtain the sensing data. The control and processing system 140 is also used to send a control signal to the driving circuit to control the driving circuit to drive the laser to emit light and realize the emission of the laser. When the laser radar 100 includes a scanning system 150, the control and processing system 140 is also used to control the scanning system 150. In some embodiments, the control and processing system 140 may include one or more processors. The processor includes, for example, but is not limited to: an application specific integrated circuit (ASIC), a hardware circuit implemented by a programmable logic device (PLD), a microcontroller unit (MCU), a microprocessor unit (MPU), a digital signal processor (DSP), or a central processing unit (CPU). The hardware circuit implemented by the PLD includes, for example, a field programmable gate array (FPGA). When the control and processing system 140 includes multiple processors, the types of processors may be the same or different, for example, the control and processing system 140 includes an MCU and an FPGA; or, the control and processing system 140 includes an MCU, an FPGA, and a DSP; or, the control and processing system 140 includes a CPU and an FPGA, etc. When the control and processing system 140 includes multiple processors, these processors may be separately provided, or partially integrated together, or may be fully integrated together, for example, the control and processing system 140 may be implemented in the form of a system on chip (SOC) or an ASIC.

[0050] The laser radar includes many components, such as optical elements, electronic devices, and mechanical components. The embodiments of the present disclosure design the mechanical components or electromechanical structures of the laser radar to make the laser radar have lower cost or more compact structure, thereby reducing the cost or volume constraints of the laser radar during application.

[0051] Figure 2 A structural example diagram of a laser radar provided in some embodiments of the present disclosure is shown. Figure 2, the lidar 200 includes a base 210 and a light cover 220. The base 210 is used to support the installation of the internal components of the lidar 200, such as supporting the installation of the optical elements, electronic devices, and mechanical components of the lidar; the light cover 220 is buckled on the base 210 to protect the internal components of the lidar 200. The light cover 220 can also be called a housing, and its whole or part can be made of a light-transmitting material (such as light-transmitting glass or light-transmitting plastic, etc.) or provided with an antireflection film to facilitate the transmission of laser light. The light cover 220 can allow the light of the working wavelength of the lidar to pass through. For example, it can allow the light with a wavelength near 905nm, 940nm, 1310nm, or 1550nm to pass through. The light cover 220 can also at least partially block the light in the visible light band from passing through. For example, the light cover 220 includes a main body and a window. The main body can be made of a non-light-transmitting material with high mechanical strength, and a window is provided on the main body. The window is made of a light-transmitting material or provided with an antireflection film in the window area, so that the laser can be emitted and returned through the window. Another example is that the light cover 220 is made of a light-transmitting material as a whole or provided with an antireflection film as a whole. In this way, the laser can be emitted from the light cover 220 in a larger range, which is convenient for increasing the field of view of the lidar 200. Another example is that the connecting part for mounting the light cover 220 on the base 210 can be made of a material with high mechanical strength or adopt a structural strengthening design. In this way, the structural strength of the light cover 220 can be enhanced, the connection stability between the base 210 and the light cover 220 can be increased, and the probability of damage to the light cover 220 can be reduced. The embodiments of the present disclosure do not limit the material and structure of the light cover 220; for example, one or more of metal, plastic, alloy, glass, or other composite materials, etc. can be selected.

[0052] Figure 3 The structural example diagram of a base of a lidar provided in some embodiments of the present disclosure is shown. Please refer to Figure 3 , the lidar 200 includes a base 210 and a main shaft 230. The base 210 includes, for example, a first mounting portion 211 and a second mounting portion 212. The first mounting portion 211 is located in the peripheral area of the base 210 and is used to mount the light cover 220 of the lidar 200. The second mounting portion 212 is located inside the first mounting portion 211. A sealing groove G is provided on the first mounting portion 211. The sealing groove G surrounds the second mounting portion 212, and a first sealing member 201 is provided in the sealing groove G. The main shaft 230 is provided on the second mounting portion 212, and the main shaft 230 protrudes from the base 210.

[0053] The above lidar designs the main shaft 230 to protrude from the base 210, which can reduce the height of the first mounting portion 211, reduce the cost of the base 210, and facilitate the assembly of the internal components of the lidar, bringing an improvement in production efficiency while reducing costs.

[0054] Figure 4An exploded example diagram of a laser radar provided in some embodiments of the present disclosure is shown. Figure 5 FIG. 1 shows an example diagram of the structure of the internal components of a laser radar provided in some embodiments of the present disclosure. Figure 4 and Figure 5 , the internal components of the laser radar 200 may include, for example, a structural member supporting the installation, such as one or more of a rotating frame 240, a supporting member 250, and a fixing member 260; another example may include an optical-mechanical structure 270, a first circuit board C1, and a second circuit board C2; another example may include a wireless power supply device 280; another example may include a driving device 290. The rotating frame 240 may be arranged on the main shaft 230, and the rotating frame 240 is rotatably connected to the main shaft 230. The supporting member 250 may be arranged on the base 210. The fixing member 260 may be arranged on the base 210. The rotating frame 240 may support the installation of the optical-mechanical structure 270 and the first circuit board C1. The second circuit board C2 may be arranged on the base 210. The structural member may support the installation of the wireless power supply device 280 and the driving device 290. Along the height direction of the base 210, the main shaft 230 protrudes from the first mounting portion 211 and the second mounting portion 212 of the base 210, which can facilitate the installation of the internal components of the laser radar. By lowering the height of the base 210, the interference of the base 210 during the installation process can be reduced, making the installation of the internal components of the laser radar more convenient and the assembly more convenient, simple and quick.

[0055] The light shield 220 is mounted on the first mounting portion 211 of the base 210, and the first mounting portion 211 is arranged outside the second mounting portion 212. After the installation of the internal components of the laser radar is completed, the light shield 220 can be installed on the first mounting portion 211, and the light shield 220 can protect the internal components of the laser radar.

[0056] The sealing groove G and the first sealing member 201 can realize the sealed connection between the optical cover 220 and the base 210, prevent external dust, moisture, or other contaminants from entering the interior of the laser radar, and reduce the impact of the external environment on the normal operation of the laser radar. In addition, the good sealing between the base 210 and the optical cover 220 can also protect the optical elements or electronic devices inside the laser radar, reduce the impact of the external environment on the optical elements or electronic devices, and extend the service life of the optical elements and electronic devices.

[0057] In some embodiments of the present disclosure, the height of the first mounting portion 211 is less than or equal to the first threshold. The height of the first mounting portion 211 is relatively low, which can reduce the shielding of the second mounting portion 212 by the first mounting portion 211, facilitate the installation of the internal components of the laser radar, simplify the assembly of the laser radar, and improve the assembly efficiency; on the other hand, it can reduce the cost of the laser radar. In some embodiments of the present disclosure, the height of the second mounting portion 212 is less than or equal to the first threshold. The height of the second mounting portion 212 is relatively low, which can reduce the thickness of part of the base 210, thereby reducing the cost of the base 210. In some embodiments of the present disclosure, the height of the first mounting portion 211 and the second mounting portion 212 are both less than or equal to the first threshold. The heights of the first mounting portion 211 and the second mounting portion 212 are both set relatively low, which can reduce the overall thickness of the base 210, thereby reducing the cost of the base 210; and realize the overall flattening design of the base 210, which is convenient for the installation of the internal components of the laser radar. For example, the first threshold includes, for example, 20 mm, that is, the height of the first mounting portion 211 is less than or equal to 20 mm. The above is only an example of the first threshold value. The value of the first threshold value may also include, for example, 25 mm, 18 mm, 15 mm, or 12 mm.

[0058] The height of the first mounting portion 211 and the second mounting portion 212 may be the same or different. In some embodiments of the present disclosure, the height difference between the first mounting portion 211 and the second mounting portion 212 is less than or equal to the second threshold. The value of the second threshold may include, for example, 10 mm, 8 mm, 5 mm, 3 mm, or 2 mm. For example, the height of the second mounting portion 212 is slightly lower than the height of the first mounting portion 211, forming a groove in the base 210.

[0059] In some embodiments of the present disclosure, the material of the base 210 includes metal, for example, which can provide greater support strength. The laser radar can reduce the cost of the base 210 by thinning the base 210 as a whole. The material of the light shield 220 includes plastic, for example, which can reduce the overall cost.

[0060] In some embodiments of the present disclosure, the shape of the sealing groove G matches that of the first sealing member 201. The shape-matched sealing groove G and the first sealing member 201 can make the first sealing member 201 evenly pressurized in the sealing groove G, prevent sealing failure due to uneven pressure, and improve the stability of the seal. The first sealing member 201 can be easier to install in place, and is also convenient for disassembly and replacement. The embodiments of the present disclosure do not impose any restrictions on the material of the first sealing member 201, and the material of the first sealing member 201 can be, for example, a corrosion-resistant flexible material, such as rubber. The embodiments of the present disclosure do not impose any restrictions on the shape of the first sealing member 201, and do not impose any restrictions on the shape of the sealing groove G, which can include, for example, regular or irregular shapes, such as circular, elliptical, rectangular, polygonal, or runway-shaped.

[0061] In some embodiments of the present disclosure, one or both of the outer wall and the inner wall of the first sealing member 201 are provided with a plurality of protrusion structures. Figure 6 An example diagram of a sealing structure provided in some embodiments of the present disclosure is shown. Figure 6 , the sealing structure includes a first sealing member 201. In some embodiments, a plurality of protrusion structures 2011 are provided on the outer wall of the first sealing member 201. Optionally, the plurality of protrusion structures 2011 are evenly or unevenly distributed on the outer wall of the first sealing member 201. In some embodiments, a plurality of protrusion structures 2012 are provided on the inner wall of the first sealing member 201. Optionally, the plurality of protrusion structures 2012 are evenly or unevenly distributed on the inner wall of the first sealing member 201. In some embodiments, in combination with the above two structures, a plurality of protrusion structures are provided on both the inner wall and the outer wall of the first sealing member 201. The number of protrusion structures provided on the inner wall and the outer wall of the first sealing member 201 may be the same or different. Providing a protrusion structure on one or all of the outer wall or the inner wall of the first sealing member 201 can reduce the probability of displacement or rotation of the first sealing member 201 during movement, improve the stability of the first sealing member 201, reduce wear, and help extend the service life of the first sealing member 201. The embodiments of the present disclosure do not impose any restrictions on the shape or thickness of the protruding structure. For example, the protruding structure may be a regular or irregular protruding structure, and the protruding surface may be, for example, an arc-shaped protruding surface or a non-arc-shaped protruding surface.

[0062] Please continue to refer to Figures 3 to 5 In some embodiments of the present disclosure, the side wall of the first mounting portion 211 is further provided with a first opening S1. The first opening S1 can facilitate the connection of the circuit inside the laser radar with the outside through a cable, so as to realize the communication between the laser radar and the outside, or to power the laser radar. For example, a circuit board is installed on the second mounting portion 212, and the circuit board includes, for example, the second circuit board C2 or the third circuit board in the above embodiment. The first end of the cable L is electrically connected to the circuit board (such as Figure 3 As shown in the dashed box A1 , the second end of the cable L extends to the outside of the base 210 through the first opening S1 .

[0063] The cable L extends out of the laser radar from the first opening S1, and electrically connects the external device of the laser radar (for example, a data receiving device, or a power supply, etc.) with the internal circuit of the laser radar (for example, a circuit on the second circuit board C2 or the third circuit board). The electrical connection can be used for communication between the laser radar and the data receiving device, and for sending point cloud data to the data receiving device; or, the electrical connection can be used for the vehicle to supply power to the laser radar. The cable L may include, for example, a composite cable. In this way, both communication between the laser radar and the external device and power supply to the laser radar can be achieved.

[0064] Please continue to refer to Figures 6 to 8 In some embodiments of the present disclosure, the laser radar may further include a second sealing member 202, and the second sealing member 202 has a through hole 2021. Figures 3 to 5 The first mounting portion 211 further includes a receiving structure 211-1, which is protrudingly disposed at the first opening S1; and the receiving structure 211-1 has a receiving groove H and a second opening S2. The second opening S2 is disposed opposite to the first opening S1, and the second sealing member 202 is disposed in the receiving groove H. The first end of the cable L passes through the second opening S2, the through hole 2021, and the first opening S1. The first end of the cable L can be grounded at the second mounting portion 212 (e.g., Figure 3 The second seal 202 can seal the first opening S1 when the cable L passes through the first opening S1, thereby sealing the connection between the cable L and the laser radar, and further preventing external dust, moisture, or other contaminants from entering the interior of the laser radar. Through the design of the second seal, one end of the cable can be directly inserted into the interior of the laser radar and connected to the circuit board. The second seal can achieve a tight seal on the edge of the cable, and can provide support for the end of the cable inserted into the laser radar. There is no need to design a dedicated connector for the cable, which reduces the overall cost of the laser radar while improving the stability of the connection between the cable and the internal circuit of the laser radar.

[0065] In some embodiments, the second seal 202 can be seamlessly connected to the first seal 201. For example, the second seal 202 can be integrally formed with the first seal 201. The first seal 201 can extend from opposite sides of the second seal 202 to form an integral sealing structure. In this way, the seal between the light cover and the base and the seal between the cable and the base of the laser radar can be achieved simultaneously through one seal. By reducing the number of seals, the processing cost of the seals and the assembly steps can be reduced.

[0066] The embodiment of the present disclosure does not impose any limitation on the shape of the second sealing member 202. For example, the second sealing member 202 matches the shape of the receiving groove H to facilitate installation. Figures 7 and 8 Several other exemplary sealing structures provided in some embodiments of the present disclosure are shown. For example, the contour shape of the second sealing member 202 may include a regular or irregular shape, such as a circle, an ellipse, a square, or an irregular shape convex to one side.

[0067] In some embodiments of the present disclosure, the first end of the cable L can be fixed on the second mounting portion 212, which can improve the stability of the internal connection of the cable L laser radar and prevent the connection between the cable L and the circuit board from loosening.

[0068] In some embodiments of the present disclosure, the cable L is interference-fitted with the through hole 2021, and the second seal 202 is interference-fitted with the receiving groove H. The interference fit between the cable L and the through hole 2021 can make the cable L and the second seal 202 fit closely, thereby improving the sealing effect between the cable L and the second seal 202. The interference fit between the second seal 202 and the receiving groove H can make the second seal 202 have a certain pressure in the receiving groove H, so that the second seal 202 can be more firmly fixed in the receiving groove H, and the second seal 202 will not be displaced due to vibration or mechanical movement, thereby maintaining the stability of the seal and reducing wear.

[0069] In some embodiments of the present disclosure, the receiving groove H is connected to the sealing groove G. The first seal 201 and the second seal 202 can be integrally formed. In this way, the first seal 201 and the second seal 202 can be easily installed as a whole. The first seal 201 and the second seal 202 are integrally formed, which can not only reduce the manufacturing process of the seal, but also reduce the complexity of the assembly process and improve the assembly efficiency. In addition, the integral molding of the two seals can make the joints between the seals tighter and reduce the risk of poor sealing.

[0070] In some embodiments of the present disclosure, please continue to refer to Figure 3 The first mounting portion 211 includes a main body 211-2 and a plurality of flanges 211-3. The main body 211-2 is disposed outside the second mounting portion 212. The plurality of flanges 211-3 extend outward from the outer side wall of the main body 211-2. The plurality of flanges 211-3 are disposed at intervals in the circumferential direction of the main body 211-2. The main body 211-2 is disposed around the second mounting portion 212. The sealing groove G is disposed on the main body 211-2. Please refer to Figure 2 , the bottom of the photomask 220 includes an abutting portion 221 and a plurality of connecting portions 222 extending outward from the abutting portion 221. The abutting portion 221 abuts against the main body 211-2, and can be pressed above the sealing groove G to press the first sealing member 201 to achieve sealing between the photomask 220 and the base 210. A plurality of connecting portions 222 are arranged on a plurality of flanges 211-3, and the connecting portions 222 and the flanges 211-3 can be fixedly connected by bolts or clamping. After the photomask 220 is fastened to the base 210, the abutting portion 221 squeezes the first sealing member 201. A sealing effect between the photomask 220 and the base 210 can be achieved. Optionally, the first sealing member 201 slightly protrudes from the sealing groove G. In this way, a better sealing effect can be achieved. The embodiment of the present disclosure does not limit the number of flanges 211-3. Four flanges are used as an example in the figure. More or fewer flanges 211-3 may be included. For example, the number of flanges 211-3 may include two, three, four, or more. The arrangement of flanges can facilitate the installation of the light shield.

[0071] Please continue to refer to Figure 3 In some embodiments of the present disclosure, the containing structure 211-1 may be located between two adjacent flanges of the plurality of flanges 211-3. The containing structure 211-1 is located between two flanges, which may facilitate the arrangement of the containing structure 211-1 and the installation of the cable L.

[0072] In some embodiments of the present disclosure, the mechanical structure of the laser radar is designed so that the mechanical structure can support the installation of the components of the laser radar, reduce the overall occupied volume, reduce the volume of the laser radar, and facilitate the miniaturization of the laser radar. Figure 4 The laser radar 200 includes, for example, a base 210, a main shaft 230, a rotating frame 240, and a support member 250. The main shaft 230 is arranged on the base 210; the rotating frame 240 is rotatably connected to the main shaft 230; the bottom of the support member 250 is arranged on the base 210 and extends upward, that is, extends in the direction of the rotating frame 240. The above laser radar can better utilize the vertical space inside the laser radar through the arrangement of the supporting member 250 and the rotating frame 240, so as to improve the compactness of the internal structure of the laser radar, reduce the volume of the laser radar, and facilitate the miniaturization of the laser radar.

[0073] Fig. 9 Schematic diagram of a cross-sectional view of some components of a laser radar provided in some embodiments of the present disclosure. Fig. 9 , the laser radar 200 may also include a sensor 203, and the support 250 may be used to support the elements of the sensor 203, and the sensor 203 is used to perform position sensing during the rotation of the rotating frame 240. The sensor 203 includes an interference element 2031 and a sensing element 2032, wherein the interference element 2031 is arranged on the support 250, and the sensing element 2032 is arranged on the rotating frame 240. When the rotating frame 240 rotates relative to the main shaft 230, the interference element 2031 interferes with the sensing of the sensing element 2032, and the output signal of the sensing element 2032 may change accordingly. The above laser radar can better utilize the vertical space inside the laser radar through the arrangement of the support 250 and the rotating frame 240, so as to improve the compactness of the internal structure of the laser radar, reduce the volume of the laser radar, and facilitate the miniaturization of the laser radar. The support 250 extends in the direction of the rotating frame 240, and the top may be opposite to the rotating frame 240, so that the sensing element 2032 can be conveniently arranged on the rotating frame 240, simplifying the assembly process of the laser radar.

[0074] When the sensing element 2032 rotates with the rotating frame 240, the output signal of the sensing element 2032 will change, and the output signal can be used to reflect the position information such as the rotation angle of the rotating frame 240. The position information can be used to control the time when the laser emitting circuit emits the laser, or to control the time when the laser emitting circuit emits the laser and the working time of the laser receiving circuit, and the working time includes, for example, the activation time or the output time of the detector. In some embodiments, the driving device of the scanning system can drive the rotating frame 240 to rotate. The scanner or rotating platform of the laser radar can be set on the rotating frame 240. For example, during the detection process of the laser radar, the driving device can drive the scanner or the rotating platform to rotate; during the rotation process of the scanner or the rotating platform, the control and processing system 140 can control the laser emitting circuit 110 according to the position information of the rotating frame 240, for example, control the driving circuit to drive the laser to emit laser at different positions of the scanner or the rotating platform, so that the laser is emitted at different field of view angles of the laser radar, and one or all of the vertical or horizontal fields of view of the laser radar are scanned. The sensor 203 can sense the position of the rotating part of the laser radar (for example, the rotating frame 240), and the laser radar can control the laser emission circuit according to the sensing signal of the sensor 203 to realize the emission of laser at the corresponding scanning angle during the rotation of the scanner or the rotating platform. Optionally, the control and processing system 140 can also control the laser receiving circuit 120 during the rotation of the scanner or the rotating platform. For example, the laser receiving circuit 120 may include a gating circuit, and the control and processing system 140 can control the corresponding detector by controlling the gating circuit to receive the echo of the laser; for another example, the control and processing system 140 can control the readout circuit of the corresponding detector to read the signal of the detector. In the laser radar, the detector selected and the laser emitting laser in the same time window can correspond to the same sub-field of view, and at least one laser corresponding to the same sub-field of view corresponds to at least one detector. The number of lasers and detectors corresponding to the same sub-field of view can be the same or different.

[0075] In some embodiments of the present disclosure, the sensing element 2032 may be electrically connected to the first circuit board C1. The optical system of the laser radar may include an optomechanical structure 270, which is disposed above the rotating frame 240, and the laser emitting circuit or the laser receiving circuit may be disposed entirely or partially on the optomechanical structure 270. The first circuit board C1 is disposed above the rotating frame 240. The first circuit board C1 may include part or all of the circuits of the control and processing system of the laser radar. Optionally, the laser emitting circuit or the laser receiving circuit may be disposed entirely or partially on the first circuit board C1. By arranging the sensing element 2032 on the rotating frame 240, the sensing element 2032 may be closer to the first circuit board C1, which facilitates the arrangement of the sensing circuit on the first circuit board C1, and a separate circuit board may not be arranged for the sensing circuit, which may improve the integration of the laser radar. In addition, by electrically connecting the sensing element 2032 to the first circuit board C1, the output signal of the sensing element 2032 may be transmitted through the board and provided to the first circuit board C1, and the laser emitting circuit or the laser receiving circuit may be controlled by the first circuit board C1, which is conducive to simplifying the connection design between the circuits.

[0076] The sensor 203 may include, for example, a photoelectric sensor, a magnetic induction sensor, or a capacitive induction sensor. The interference element 2031 is used to interfere with the output signal of the sensor, such as photoelectric interference or electromagnetic induction interference. For example, when the sensing element 2032 rotates with the rotating frame 240, the light flux passing through the interference element 2031 changes accordingly, and the light signal incident on the sensing element 2032 also changes accordingly, and the photoelectric effect is used to obtain an electrical signal reflecting the position change of the rotating frame 240. For another example, when the sensing element 2032 rotates with the rotating frame 240, the relative distance between the interference element 2031 and the sensing element 2032 changes, and electromagnetic induction is used to change the voltage, inductance, or capacitance and other parameters of the sensing circuit where the sensing element 2032 is located.

[0077] For a photoelectric sensor, the interference element 2031 may include an encoder (or an encoding structure), such as a code disk, and the sensing element 2032 may include a code reader. For a magnetic induction sensor, the interference element 2031 may include a conductive target, and the sensing element 2032 may include a magnetic element; or the interference element 2031 may include a magnetic element, and the sensing element 2032 may include a Hall element, etc. For a capacitive induction sensor, the interference element 2031 may include a target, and the sensing element 2032 may include a sensing electrode.

[0078] In some embodiments of the present disclosure, the sensor may be a photoelectric sensor. For example, Fig.10 A structural example diagram of a support member provided in some embodiments of the present disclosure is shown. Fig.11FIG. 1 shows an example of installing a support member on a base provided in some embodiments of the present disclosure. Figures 9 to 11 The interference element 2031 may include an encoder, such as a code disk or a code channel structure; the sensing element 2032 may be a photoelectric sensing element, such as a code reader. The encoder may include a plurality of code channels, and the plurality of code channels are circumferentially arranged on the top of the support member 250. The encoder is fixedly arranged relative to the base 210, and the code reader is arranged on the rotating frame 240 and faces the encoder. The code reader emits a light signal, and the light signal is read by the code reader through the encoder; during the rotation of the rotating frame 240, the code reader rotates with the rotating frame 240, and during the change of the light flux passing through the encoder, the output signal of the code reader changes, and the output signal can be used to indicate the position information such as the rotation angle of the rotating frame 240. In some embodiments of the present disclosure, the code reader is electrically connected to the first circuit board C1, and the output signal of the code reader can be output as a sensing signal through the sensing circuit and provided to the first circuit board C1.

[0079] In the above mechanical structure, the code channel is directly set on the top of the support member 250, which can reduce the number of components of the laser radar and reduce the cost of the laser radar. In addition, this structural design can better utilize the vertical space inside the laser radar, which is conducive to the miniaturization of the laser radar. The support member 250 extends toward the rotating frame 240, and the top can be opposite to the rotating frame 240, which can facilitate the installation of the sensing element 2032 on the rotating frame 240.

[0080] In some embodiments of the present disclosure, please continue to refer to Fig.10 and Fig.11 The encoder and the support member 250 are integrally formed. The support member 250 is fixedly arranged on the base 210, and the encoder includes a plurality of code tracks, which are arranged circumferentially on the top of the support member 250, and the code tracks extend upward close to the rotating frame 240 or the first circuit board C1. The setting of the interference element 2031 is realized by the support member with an integrated design, which can reduce the number of components of the laser radar, reduce the installation process, and further reduce the cost and volume of the laser radar.

[0081] In some embodiments of the present disclosure, please refer to Fig. 9, an opening O is provided on the rotating frame 240, and the sensing element 2032 is arranged in the opening O, and one end extends in the opening O facing the support 250, and is arranged corresponding to the area where the interference element 2031 is arranged on the support 250. The setting of the opening O can save the installation space of the sensing element 2032 and protect the sensing element 2032, so that the structure of the laser radar is more compact, the performance of the sensor 203 is more stable, and it is conducive to the miniaturization of the laser radar. For example, the code reader is arranged across the two sides of the encoder, and the code reader emits a light signal. When the rotating frame 240 rotates, the light flux passing through the encoder will change, and the output signal of the code reader will change accordingly. The output signal can be used to characterize the position information such as the rotation angle of the rotating frame 240.

[0082] Please continue to refer to Figure 4 and Fig. 9 In some embodiments of the present disclosure, the laser radar 200 may further include a wireless power supply device 280. The wireless power supply device 280 can realize wireless power supply between the internal circuit boards of the laser radar. Optionally, the wireless power supply device 280 can also realize data transmission between circuit boards. For example, the second circuit board C2 of the laser radar (for example, a circuit board arranged on the base 210) can supply power to the first circuit board C1. The wireless power supply device 280, for example, includes a transmitting coil 281 and a receiving coil 282. When alternating current passes through, the transmitting coil 281 generates a changing magnetic field; the receiving coil 282 generates an induced current within the range of the changing magnetic field, which can transfer energy from the transmitting end to the receiving end, thereby playing a role of wireless power supply.

[0083] In some embodiments of the present disclosure, the support member 250 can also be used to support the installation of the transmitting coil 281. This allows the support member 250 to support multiple functional requirements, without the need to set up mechanical support structures for the transmitting coil 281 and the interference element 2031, and thus without the need to arrange positions for the mechanical support structures of the transmitting coil 281 and the interference element 2031, thereby reducing the space occupied by the installation of the transmitting coil 281 and the interference element 2031, and reducing the size of the laser radar; and reducing the number of structural parts in the laser radar, reducing costs and assembly processes. For example, please refer to Figure 4 and Fig. 9 , the transmitting coil 281 is arranged on the support 250; the receiving coil 282 is arranged on the rotating frame 240. The above structure integrates the elements of the sensor 203 (such as the interference element 2031) and the elements of the wireless power supply device 280 (such as the transmitting coil 281), which can greatly reduce the number of mechanical structural parts in the laser radar, increase the integration, and reduce the cost and assembly complexity.

[0084] In some embodiments of the present disclosure, the transmitting coil 281 and the receiving coil 282 are arranged opposite to each other along the radial direction of the main axis 230; or in other words, the transmitting coil 281 and the receiving coil 282 are arranged opposite to each other along a direction perpendicular to the main axis 230. Figure 4 and Fig. 9 In the example, the transmitting coil 281 may be arranged on the outside of the receiving coil 282. In some other embodiments of the present disclosure, the receiving coil 282 may be arranged on the outside of the transmitting coil 281. The above transmitting coil 281 and the receiving coil 282 are distributed radially along the main axis 230 of the laser radar, and the inside and outside are opposite to each other, so that the power supply coil (including the transmitting coil 281 and the receiving coil 282) can be wound in the vertical direction. The power supply coil is wound in the vertical direction, so that the transmitting coil 281 can utilize the side wall area of ​​the support 250 to reduce the radial size of the laser radar. Compared with the method of winding the coil in the horizontal direction, the power supply coil is wound in the vertical direction to make the coil winding more compact. The rotating frame 240 can also be used to support the receiving coil 282. There is no need to set up an additional support structure for the receiving coil 282. By supporting multiple functions through the rotating frame 240, the components of the laser radar can be further reduced, the cost of the laser radar can be reduced, and it is more conducive to the miniaturization of the laser radar.

[0085] In some embodiments of the present disclosure, the support member 250 may have an internal hollow structure, and the receiving coil 282 is disposed inside the support member 250. In this way, the transmitting coil 281 and the receiving coil 282 can be disposed relatively inside and outside along the radial direction of the main axis 230, and the internal space of the laser radar can be effectively utilized.

[0086] Fig.12 An example diagram of the structure of a rotating frame of a laser radar provided in some embodiments of the present disclosure at a viewing angle is shown. Fig.13 FIG. 1 shows an example structure diagram of a laser radar rotating frame provided in some embodiments of the present disclosure from another perspective. Please refer to Fig.12 and Fig.13 , the rotating frame 240 includes, for example, a bearing portion 241 and an extension portion 242. The bearing portion 241 and the extension portion 242 may be integrally formed, or may be separately formed and then fixedly connected together. The extension portion 242 may be rotatably connected to the main shaft 230. The bearing portion 241 is disposed above the extension portion 242, and the cross-sectional area of ​​the bearing portion 241 in a direction perpendicular to the main shaft 230 may be, for example, greater than the cross-sectional area of ​​the extension portion 242. The extension portion 242 of the rotating frame 240 extends toward the base 210 and is rotatably connected to the main shaft 230. The support member 250 is disposed around the outer side of the extension portion 242 of the rotating frame 240, the transmitting coil 281 of the wireless power supply device 280 may be wound around the outer side wall of the supporting member 250, and the receiving coil 282 may be wound around the outer side wall of the extension portion 242 of the rotating frame 240 and located inside the supporting member 250.

[0087] In some embodiments, the extension portion 242 of the turret 240 may be disposed outside the support 250. The transmitting coil 281 of the wireless power supply device 280 may be disposed around the outer wall of the support 250, and the receiving coil 282 may be disposed around the outer wall of the extension portion 242 of the turret 240 and located outside the support 250.

[0088] In some embodiments of the present disclosure, the receiving coil 282 can be directly wound around the outer wall of the extension portion 242. For example, the extension portion 242 is made of silicon steel sheets, and the silicon steel sheets are separated by insulating coatings, or magnetic materials are bonded or sintered on the outer side of the extension portion 242, so that at least a portion of the extension portion 242 has magnetic conductivity and non-conductive properties. In some embodiments, please continue to refer to Fig. 9 , Fig.12 and Fig.13 , a magnetic structure 244 may be further provided on the extension 242 of the rotating frame 240, for example, on the outer wall of the extension 242. The receiving coil 282 may be wound around the outer wall of the magnetic structure 244. The magnetic structure 244 may be made of a magnetically conductive but non-conductive material, for example, including but not limited to one or more of ferrite, silicon steel sheet, nickel-zinc ferrite, soft magnetic material, permanent magnet, magnetic shielding material, or magnetic plastic. The magnetic structure 244 may make the magnetic flux more concentrated inside the coil, thereby improving the receiving efficiency of the receiving coil 282.

[0089] In some embodiments of the present disclosure, please continue to refer to Figure 4 , the laser radar 200 may also include a first circuit board C1 and a second circuit board C2. The first circuit board C1 is arranged on the rotating frame 240, and the receiving coil 282 is electrically connected to the first circuit board C1. The second circuit board C2 is arranged on the base 210, and the transmitting coil 281 is electrically connected to the second circuit board C2. The second circuit board C2 may include a first control circuit, and the first control circuit can control the transmission power of the transmitting coil 281. The receiving coil 282 is electrically connected to the first circuit board C1, and can supply power to the first circuit board C1. The power supply of the laser radar by an external device (such as a vehicle) can be achieved by, for example, supplying power to the second circuit board C2. The second circuit board C2 is arranged on the base 210, and the transmitting coil 281 is electrically connected to the second circuit board C2, which can facilitate the power supply of the external device and facilitate the second circuit board C2 to supply power to the first circuit board C1. For example, the first control circuit is arranged on the second circuit board C2, and the second circuit board C2 is arranged on the base 210, which can facilitate the electrical connection between the external device and the second circuit board C2, and realize the power supply of the external device to the laser radar with a simple wiring design; and the transmitting coil 281 is wound around the outer wall of the support member 250, which can facilitate the electrical connection with the second circuit board C2 and reduce the complexity of wiring.

[0090] In some embodiments of the present disclosure, the second circuit board C2 can also transmit data to the first circuit board C1 through the transmitting coil 281 and the receiving coil 282. In this way, wireless power supply synchronization can be used to realize data transmission, reduce the communication components of the laser radar, further reduce the cost of the laser radar, and further improve the integration of the laser radar. For example, the first control circuit can add information to the carrier of the transmitting coil 281 through modulation to transmit data to the receiving coil 282. The embodiments of the present disclosure do not limit the modulation method, for example, including but not limited to: modulation of one or more parameters such as amplitude, frequency, phase, pulse, etc.

[0091] In some embodiments of the present disclosure, the first circuit board C1 may further include a sensing circuit (also referred to as a sensing signal processing circuit), which is electrically connected to the sensing element 2032. The sensing circuit may process the output signal of the sensing element 2032, and obtain a sensing signal reflecting the position information, and provide the sensing signal to the first circuit board C1, and use the first circuit board C1 to control one or all of the laser emitting circuit or the laser receiving circuit. The sensing circuit is disposed on the first circuit board C1, and more control or processing functions can be moved up, making full use of the first circuit board C1, reducing the number of circuit boards required, and further reducing the line connection requirements between multiple circuit boards, thereby improving the integration of the laser radar. In addition, the sensing circuit is disposed on the first circuit board C1, and the sensing signal can be transmitted through the board to provide the part of the first circuit board C1 that controls the laser emitting circuit or the laser receiving circuit, which is conducive to simplifying the connection design between circuits.

[0092] In some embodiments, the first circuit board C1 may include one or more of a processing circuit, a second control circuit, and a third control circuit. The processing circuit may generate point cloud data. The second control circuit may control the laser transmitting circuit of the laser radar. The third control circuit may control the laser receiving circuit of the laser radar. For example, please refer to Figure 1, the second control circuit may generate a control signal (in order to distinguish the description, it may be referred to as the first control signal), and send the first control signal to the driving circuit of the laser emitting circuit 110, and the driving circuit may drive the laser to emit laser according to the first control signal. For another example, the laser receiving circuit 120 includes a gating circuit, the third control circuit may generate a control signal (in order to distinguish the description, it may be referred to as the second control signal), and send the second control signal to the gating circuit of the laser receiving circuit 120, and the gating circuit may gating the detector according to the second control signal to receive the echo. The detector selected in the same time window and the laser emitting laser may correspond to the same sub-field of view. For another example, the laser receiving circuit 120 includes a readout circuit, the third control circuit may generate a control signal (in order to distinguish the description, it may be referred to as the third control signal), and send the third control signal to the readout circuit of the laser receiving circuit 120, and the readout circuit may read the echo signal of the detector according to the third control signal. The detector read out in the same time window and the laser emitting laser may correspond to the same sub-field of view. The first circuit board C1 can integrate one or more of the sensing circuit, the processing circuit, the second control circuit, and the third control circuit. In this way, more control functions or processing functions can be concentrated on the first circuit board C1, and the interaction between the circuits or the interaction between the control circuit and the processing circuit can also be more concentrated in the first circuit board C1, and realized by intra-board communication, which reduces the demand for uplink transmission and thus reduces the pressure of uplink transmission. The control and processing functions are concentrated on the same circuit board, which can reduce the number of circuit boards of the laser radar and further improve the integration of the control and processing system of the laser radar; and can simplify the connection design between the circuit boards, further reduce costs, and simplify assembly. In addition, the smaller number of circuit boards can also reduce the vertical height of the entire laser radar.

[0093] Please continue to refer to Figure 5, the optical system of the laser radar may include an optomechanical structure 270, and the optomechanical structure 270 is arranged above the rotating frame 240. In some embodiments, the laser radar may also include a transmitting circuit board and a receiving circuit board. The laser transmitting circuit may be arranged in whole or in part on the transmitting circuit board, and the laser receiving circuit may be arranged in whole or in part on the receiving circuit board. In some embodiments, the laser radar may also include a transmitting and receiving circuit board, and the laser transmitting circuit and the laser receiving circuit may be arranged in whole or in part on the transmitting and receiving circuit board. In some embodiments, the laser transmitting circuit or the laser receiving circuit may be arranged in whole or in part on the first circuit board C1. The laser transmitting circuit board, the laser receiving circuit board, or the laser transmitting and receiving circuit board may be arranged on the optomechanical structure 270 or on the rotating frame 240. Arranging both the second control circuit and the third control circuit on the circuit board C1 can make the second control circuit and the third control circuit closer to the laser transmitting circuit and the laser receiving circuit, which is conducive to simplifying the connection design between the control circuit and the controlled part.

[0094] In some embodiments, the second circuit board C2 includes a first control circuit. The second circuit board C2 may be provided with an interface circuit for external communication to transmit point cloud data to the outside; or, it may receive control information, upgrade instructions, upgrade packages, or configuration parameters from a vehicle controller or a remote server. For example, the second circuit board C2 includes a first control circuit and an interface circuit, and the interface circuit may communicate with a data receiving device to transmit point cloud data to the data receiving device. In other embodiments of the present disclosure, the interface circuit and the first control circuit may be provided on different circuit boards. In this way, the lower warehouse space of the laser radar may be flexibly utilized, and the position of the circuit board may be reasonably arranged as needed. For example, the laser radar may also include a third circuit board, and the third circuit board may be provided on the base 210. The third circuit board includes an interface circuit, and the interface circuit may communicate with a data receiving device to transmit point cloud data to the data receiving device; or, it may receive control information, upgrade instructions, upgrade packages, configuration parameters, etc. from a vehicle controller or a remote server.

[0095] The data receiving device may be located on the vehicle, for example, including a controller of the vehicle. The processing circuit on the first circuit board C1 may process the echo data into point cloud data, and transmit the point cloud data to the second circuit board C2 or the third circuit board, and transmit it to the data receiving device through the interface circuit. The first circuit board C1 and the second circuit board C2 may use wireless transmission or wired transmission for downlink transmission, including but not limited to wireless optical communication, optical fiber, twisted pair, or coaxial cable.

[0096] In some embodiments of the present disclosure, please continue to refer to Figure 4, the laser radar 200 may further include a driving device 290. The driving device 290 may drive the rotating frame 240 to rotate. The driving device 290 may include, for example, a first magnetic member 291 and a second magnetic member 292. The first magnetic member 291 is fixedly arranged relative to the base 210, and the second magnetic member 292 is arranged on the rotating frame 240. Under the action of the magnetic field, the second magnetic member 292 may rotate relative to the first magnetic member 291; or, the second magnetic member 292 is fixedly arranged relative to the base 210, and the first magnetic member 291 is arranged on the rotating frame 240. Under the action of the magnetic field, the first magnetic member 291 may rotate relative to the second magnetic member 292. The magnetic member fixedly arranged relative to the base is referred to as a fixed magnetic member, and the magnetic member that can be rotatably arranged is referred to as a rotating magnetic member.

[0097] The magnetic part refers to, for example, an element, component, or object that can generate a magnetic field, or respond to a magnetic field, or store energy in a magnetic field; the magnetic part may be magnetic when powered on, or may be made of a magnetic material. The disclosed embodiment does not limit the structure or type of the magnetic part. For example, the magnetic part may include, but is not limited to: a coil structure (for example, including a printed circuit board coil, or a winding, etc.), a conductor, or a magnet made of a magnetic material, etc. For example, the first magnetic part 291 includes, for example, a magnet; the second magnetic part 292 includes, for example, a coil structure. The coil structure can generate a magnetic field after power is applied. The magnetic field changes by changing the magnitude or direction of the current flowing through the coil. For example, a fourth control circuit is provided on the first circuit board C1 or the second circuit board C2, and the magnitude or direction of the current flowing through the coil is changed by the fourth control circuit; the magnetic field of the magnet interacts with the magnetic field of the coil structure, driving the coil structure and the magnet to rotate relative to each other. Figure 4 The first magnetic member 291 and the second magnetic member 292 in the figure are only for illustration, and the disclosed embodiment does not impose any restrictions on the structure of the first magnetic member 291 and the second magnetic member 292. For example, the first magnetic member 291 includes, for example, an integrally formed permanent magnet or a segmented permanent magnet. The first magnetic member 291 also includes a coil structure, which may include a core and a coil wound on the core, and the core is used to increase the magnetic flux of the magnetic field generated after the coil is energized; or the coil structure may include a coreless structure. The use of a permanent magnet in the first magnetic member 291 can reduce the number of electronic devices of the laser radar and reduce the cost and volume of the laser radar. The disclosed embodiment does not impose any restrictions on the shape of the first magnetic member 291 and the second magnetic member 292, which may be regular or irregular shapes, and their contours include, for example, circular, arc-shaped, rectangular, elliptical, or runway-shaped. The disclosed embodiment does not impose any restrictions on the number of the first magnetic member 291 and the second magnetic member 292, which may be one or more, and the number of the first magnetic member 291 and the number of the second magnetic member 292 may be the same or different.

[0098] In some embodiments of the present disclosure, the second magnetic member 292 and the fourth control circuit for controlling the magnetic field of the second magnetic member 292 can be arranged on the rotating frame 240; the first magnetic member 291 is fixedly arranged relative to the base 210. When the second magnetic member 292 is energized, a magnetic field is generated, and the magnetic field interacts with the magnetic field of the first magnetic member 291 to generate a torque, driving the second magnetic member 292 to rotate. When the second magnetic member 292 rotates, the rotating frame 240 is driven to rotate relative to the base 210 or the main shaft 230. The above setting of the driving device 290 can set the control part of the magnetic field of the driving device 290 and the controlled magnetic member on the rotatable rotating frame 240, so as to realize the setting of the magnetic field control function on the upper warehouse of the laser radar and improve the integration of the laser radar. The base 210 of the laser radar is provided with structures such as the main shaft 230, which has a smaller available space relative to the upper warehouse. The upward movement of the control function can better utilize the internal space of the laser radar and reduce the size of the laser radar. In addition, similar to the description of the above embodiment, the upward movement of the control function can reduce the pressure of the uplink transmission.

[0099] In some embodiments of the present disclosure, the first magnetic member 291 and the second magnetic member 292 may be disposed on the outside or inside of the support member 250. For example, please refer to Figure 4 and Figure 5 , the first magnetic member 291 and the second magnetic member 292 are arranged on the outside of the support member 250. The support member 250 can be arranged on the outside of the extension portion 242 of the rotating frame 240. The embodiment of the present disclosure does not limit the relative position relationship between the driving device 290 (including the first magnetic member 291 and the second magnetic member 292) and the wireless power supply device 280 (including the transmitting coil 281 and the receiving coil 282). For example, in some embodiments, along the radial direction of the main shaft 230, the driving device 290 can be arranged on the radial outside of the wireless power supply device 280. In some embodiments, the wireless power supply device 280 can be arranged on the radial outside of the driving device 290.

[0100] In some embodiments of the present disclosure, the second magnetic member 292 is disposed on the side of the rotating frame 240 facing the base 210. The second magnetic member 292 is disposed on the side of the rotating frame 240 facing the base 210, which can increase the weight under the rotating frame 240, so that the overall center of gravity of the laser radar is moved downward, the torque of the laser radar during the scanning process is reduced, and the stability of the laser radar is improved.

[0101] In some embodiments of the present disclosure, the first circuit board C1 can be arranged on the side of the rotating frame 240 away from the base 210. The side of the rotating frame 240 away from the base 210 has no main shaft, and the first circuit board C1 can have more space for use, and can achieve a larger circuit board area, which is convenient for the layout of the circuit on the circuit board. For example, please refer to Figure 5 , Fig.12 and Fig.13 The first circuit board C1 is disposed on a side of the carrying portion 241 away from the extending portion 242 , and the second magnetic member 292 is disposed on a side of the carrying portion 241 facing the extending portion 242 . Fig.12 and Fig.13 The structure of the rotating rack 240 shown is only an example, and the embodiment of the present disclosure does not impose any limitation on the shape or structure of the rotating rack 240. For example, the vertical cross-section of the rotating rack 240 may be T-shaped, trapezoidal, or rectangular.

[0102] In some embodiments of the present disclosure, please refer to Fig.12 , a bracket 243 can be provided on the rotating frame 240, and the bracket 243 can be used to install the second magnetic member 292. For example, the number of the second magnetic members 292 can be multiple, and multiple second magnetic members 292 can be provided on the bracket 243. For example, multiple second magnetic members 292 can be evenly spaced and arranged on the outer wall of the bracket 243. Optionally, multiple second magnetic members 292 can be independently arranged or integrally formed. For example, the core bodies of multiple second magnetic members 292 can be integrally formed, and the coil structures of multiple second magnetic members 292 are all arranged on the core body. The second magnetic member 292, for example, includes a coil and a silicon steel sheet, and the coil is wound on the silicon steel sheet.

[0103] In some embodiments of the present disclosure, the spindle 230 and the base 210 may be designed in an integrated manner; for example, the base 210 and the spindle 230 are integrally formed. In this way, the number of independent components of the laser radar can be reduced, and the assembly process of the laser radar can be reduced. Optionally, the spindle 230 may be designed with a slot to install a communication cable or a wireless communication device in the spindle 230 to achieve communication (for example, downlink communication) between the first circuit board C1 and the second circuit board C2.

[0104] In some embodiments of the present disclosure, the material of the bracket 243 can be plastic, for example, which can further reduce the cost of the laser radar. In addition, the use of plastic is conducive to the lightweight design of the rotating frame 240, which can reduce the requirements for the supporting force of the main shaft 230 and has better adaptability to the structure of the integrated main shaft 230 and the base 210. Optionally, the rotating frame 240 can be made of other lighter materials, such as aluminum alloy. The optomechanical structure 270 can also adopt a lightweight design. For example, some or all of the optical elements in the optomechanical structure 270 are made of plastic or other materials, and the mechanical structure is made of lighter alloy or plastic materials.

[0105] Please continue to refer to Figure 4 and Fig. 9In some embodiments of the present disclosure, the rotating frame 240 may be rotatably connected to the main shaft 230 via a bearing. For example, the laser radar includes a bearing B1 and a bearing B2, the upper end of the rotating frame 240 may be rotatably connected to the main shaft 230 via the bearing B1, and the lower end of the rotating frame 240 may be rotatably connected to the main shaft 230 via the bearing B2.

[0106] The second magnetic component 292 is arranged on the side of the rotating frame 240 facing the base 210, so that the center of gravity of the rotating part of the laser radar can be moved downward. Among them, the rotating part includes all parts that can rotate with the rotating frame 240 relative to the main shaft 230, such as the rotating frame 240, the optical-mechanical structure 270, the first circuit board C1, the second magnetic component 292, etc. In some embodiments, the center of gravity of the rotating part is located at a position below 2 mm above the upper end surface of the bearing B1. Optionally, the center of gravity of the rotating part is located below the upper end surface of the bearing B1. For example, the center of gravity of the rotating part of the laser radar is located above the upper end surface of the bearing B1, and the height difference with the upper end surface of the bearing B1 is less than or equal to 1 mm. This structural design can achieve the effect of short lever arm and small bending moment, so that the rotating frame 240 of the laser radar is more stable during rotation. The above-mentioned rotational connection between the rotating frame 240 and the main shaft 230 is only an example. The rotating frame 240 can also be rotationally connected to the main shaft 230 through one bearing or more bearings. The embodiment of the present disclosure does not impose any restriction on the number of bearings, and the number of bearings can be set according to actual assembly needs.

[0107] In some embodiments of the present disclosure, when the rotating frame 240 is assembled with the main shaft 230 through the bearing, the outer ring of the bearing can be fixed to the rotating frame 240 by gluing, interference fit, or gluing combined with interference fit to reduce the micro-wear between the bearing and the bearing seat. Optionally, the rotating frame 240 can be used as a bearing seat and can also support the second magnetic member 292, so as to diversify the functions of the rotating frame 240, reduce the number of components of the laser radar, reduce the cost of the laser radar, and facilitate the miniaturization of the laser radar.

[0108] The disclosed embodiments do not limit the materials of the base 210, the spindle 230, and the rotating frame 240. The materials of these structures can be the same or different, and can be metal or non-metal, or partially metal and partially non-metal. In some embodiments of the present disclosure, the main structure of one or more of the rotating frame 240, the spindle 230, and the base 210 can be made of metal. For example, the metal material can be selected from alloy materials, such as but not limited to die-cast aluminum alloy, zinc alloy, or magnesium alloy. For example, the material of the rotating frame 240 can be selected from aluminum alloy, which is conducive to the lightweight of the rotating frame 240 and reduces the rigidity requirements of the spindle 230. In some embodiments, when the main parts of the rotating frame 240, the spindle 230, and the base 210 are all made of metal, the heat generated on the first circuit board C1 can be conducted to the base 210 through the metal parts of the rotating frame 240 and the spindle 230. In addition, the rotating frame 240 can also realize convection heat exchange with the air through the rotation of the rotating frame 240 to achieve good heat dissipation of the first circuit board C1.

[0109] In some embodiments of the present disclosure, the main heat dissipation area (hereinafter referred to as the first area) of the first circuit board C1 is also coated with thermally conductive adhesive. The thermally conductive adhesive can be used to conduct the heat of the first area to further enhance the heat dissipation effect of the first circuit board C1. The first area of ​​the first circuit board C1, for example, includes an area corresponding to a power-consuming element (such as a chip, a laser) on the first circuit board C1, and the heat generated by the power-consuming element can be quickly conducted to the rotating frame 240 through the thermally conductive adhesive. In the embodiments of the present disclosure, there is no limitation on the number of areas coated with thermally conductive adhesive, the area size or shape of the areas coated with thermally conductive adhesive, etc., and they can be set according to actual heat dissipation requirements.

[0110] In some embodiments of the present disclosure, the mechanical structure of the laser radar is designed, for example, the installation structure inside the laser radar is designed to make the installation of the components inside the laser radar more stable. Figure 4 , the laser radar also includes a fixing member 260, which is disposed on the base 210 and can fix the fixed magnetic member of the driving device 290 (for example, the first magnetic member 291 or the second magnetic member 292). The rotating frame 240 can be installed with the rotating magnetic member of the driving device 290 (for example, the second magnetic member 292 or the first magnetic member 291). For example, the fixing member 260 can be used to fix the first magnetic member 291, and the rotating frame 240 can be used to install the second magnetic member 292. Alternatively, the fixing member 260 can be used to fix the second magnetic member 292, and the rotating frame 240 can be used to install the first magnetic member 291.

[0111] The fixing member 260 may be an integrated structure or a segmented structure. The segmented structure can further reduce the occupied area of ​​the mechanical structure on the base 210, and reduce the cost and weight of the laser radar. In addition, the segmented structure can leave assembly space for the driving device 250 and the wireless power supply device 290. Fig.14 FIG. 1 shows an example of installing a first magnetic member on a fixing member provided in some embodiments of the present disclosure. Fig.14 The fixing member 260 is disposed on the base 210 and includes at least two fixing parts, and the figure takes three fixing parts as an example. At least two fixing parts can be disposed on the base 210 at intervals along the circumference of the main shaft 230 and are disposed around the main shaft 230. The fixing part can extend along the axial direction of the main shaft 230 toward the rotating frame 240. The first magnetic member 291 can be fixed to the top of the at least two fixing parts. Fig.14 The number of the fixing parts is only an example, and the embodiment of the present disclosure does not impose any limitation on the number of the fixing parts, and the number of the fixing parts can be one, two, four or more, as long as the first magnetic member 291 can be fixed. In some other embodiments, the bracket 243 for mounting the second magnetic member 292 can be fixed to the fixing part.

[0112] In some embodiments of the present disclosure, the fixing parts of the fixing member 260 can be evenly distributed around the main shaft 230. In this way, the fixing member 260 can provide a more stable supporting force for the magnetic member of the driving device 290, so that the installation of the magnetic member is more stable.

[0113] In some embodiments of the present disclosure, the fixing portion can provide support for the magnetic member of the driving device in more than one direction to ensure the stability of the installation. Fig.15 FIG. 1 shows an example of a partial cross-section of a fixing portion provided in some embodiments of the present disclosure. Fig.11 and Fig.15 , the fixing part includes, for example, a first surface 261 and a second surface 262, the edge of the first magnetic member 291 facing the base 210 can be arranged on the first surface 261, and the outer edge of the first magnetic member 291 is arranged on the second surface 262. A glue groove 263 is arranged on the fixing part, and the glue groove 263 can be located at one or more of the following positions: on the first surface 261, on the second surface 262, or between the first surface 261 or the second surface 262. In this way, the installation stability of the first magnetic member 291 on the fixing member 260 can be increased by glue. In some other embodiments, different edges of the second magnetic member 292 or the bracket 243 can be arranged on the first surface 261 and the second surface 262 of the fixing part.

[0114] An embodiment of the present disclosure also provides a vehicle, comprising a connecting device and a laser radar provided by any of the above embodiments, wherein the laser radar is installed on the vehicle via the connecting device.

[0115] In this disclosure, unless otherwise clearly specified and limited, ordinal numbers, such as "first", "second", etc., are only used to distinguish and describe related objects, and cannot be understood as indicating or implying the relative importance or order between related objects. In addition, ordinal numbers do not represent the number of related objects. For example, "first laser radar" may include one laser radar, or multiple laser radars. "Multiple" includes two or more, and other quantifiers are similar.

[0116] The terms "or" and "and / or" in the present disclosure are used to describe the relationship between associated objects, which represents non-exclusive inclusion. For example, "A and / or B" and "A or B" may include: "A alone", "B alone", or "A and B", where "A" and "B" may include a single object or multiple objects. For another example, "A, B and / or C", "A, B or C" and "A, B and C" may include: "A alone", "B alone", "C alone", "A and B", "A and C", "B and C", or "A, B and C", where "A", "B" and "C" may include a single object or multiple objects. In addition, " / " in the present disclosure is used to represent the "or" relationship between the previous and next associated objects. In the present disclosure, "at least one of A or B" and "one or more of A and B" have the same meaning as the above "A or B", and "one or more of A, B and C" and "at least one of A, B or C" have the same meaning as the above "A, B or C". "One or more of A, B and C" has the same meaning as the above "A, B or C".

[0117] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments. In addition, the above embodiments can be freely combined as needed.

Claims

1. A laser radar, characterized in that: It includes a base and a spindle, wherein: The base includes a first mounting portion and a second mounting portion, wherein the first mounting portion is located in the outer area of ​​the base and is used to mount the light shield of the laser radar, and the second mounting portion is located inside the first mounting portion; The first mounting portion is provided with a sealing groove, the sealing groove surrounds the second mounting portion, and a first sealing member is provided in the sealing groove; The main shaft is arranged on the second mounting portion, and a rotating frame is arranged on the main shaft, the rotating frame is rotatably connected with the main shaft, and the main shaft protrudes from the base.

2. The laser radar according to claim 1, characterized in that: A height of one or more of the first mounting portion or the second mounting portion is less than or equal to a first threshold.

3. The laser radar according to claim 2, characterized in that: The first threshold comprises 20 mm.

4. The laser radar according to any one of claims 1 to 3, characterized in that: The sealing groove matches the shape of the first sealing member.

5. The laser radar according to any one of claims 1 to 4, characterized in that: One or both of the outer wall and the inner wall of the first sealing member are provided with a plurality of protrusion structures.

6. The laser radar according to claim 5, characterized in that: The plurality of protrusion structures are evenly distributed on the outer wall of the first sealing member; or, the plurality of protrusion structures are evenly distributed on the inner wall of the first sealing member; or, the plurality of protrusion structures are evenly distributed on the inner wall and the outer wall of the first sealing member.

7. The laser radar according to any one of claims 1 to 6, characterized in that: The laser radar further includes a cable, and the side wall of the first mounting portion is further provided with a first opening; A circuit board is mounted on the second mounting portion, a first end of the cable is electrically connected to the circuit board, and a second end of the cable extends outside the base through the first opening.

8. The laser radar according to claim 7, characterized in that: Also includes: A second sealing member having a through hole; The first mounting portion further includes a receiving structure, and the receiving structure is protrudingly disposed at the first opening; The accommodating structure has an accommodating groove and a second opening, the second opening is arranged opposite to the first opening, the second sealing member is arranged in the accommodating groove, the first end of the cable passes through the second opening, the through hole, and the first opening, and the first end of the cable is fixed on the second mounting portion.

9. The laser radar according to claim 8, characterized in that: The cable is interference-fitted with the through hole, and the second sealing member is interference-fitted with the accommodating groove.

10. The laser radar according to claim 8 or 9, characterized in that: The accommodating groove is communicated with the sealing groove; and the first sealing member and the second sealing member are integrally formed.

11. The laser radar according to any one of claims 8 to 10, characterized in that: The first mounting portion includes a main body and a plurality of flanges, and the main body is arranged outside the second mounting portion; The plurality of flanges extend outward from the outer side wall of the main body, and the plurality of flanges are arranged at intervals in the circumferential direction of the main body.

12. The laser radar according to claim 11, characterized in that: The receiving structure is located between a first flange and a second flange of the plurality of flanges.

13. The laser radar according to any one of claims 1 to 12, characterized in that: Also includes: A fixing member is arranged on the second mounting portion and is configured as a fixing magnetic member for fixing the driving device of the laser radar, wherein the rotating frame is configured to install a rotating magnetic member of the driving device.

14. The laser radar according to claim 13, characterized in that: The fixing member includes at least two fixing parts which are evenly distributed around the main shaft.

15. The laser radar according to any one of claims 1 to 14, characterized in that: The base and the main shaft are integrally formed.

16. The laser radar according to any one of claims 1 to 15, characterized in that: The base is made of metal, and the light shield is made of plastic.

17. A carrier, characterized in that: include: Connecting device; The laser radar as described in any one of claims 1 to 16 is installed on the vehicle through the connecting device.

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