Multi-line scanning type laser radar

Abstract

The utility model relates to a multi-line scanning type laser radar, which belongs to the technical field of radars and comprises a first laser transceiving module and a second laser transceiving module which are fixed on a turntable at intervals. The transmitting end and the receiving end of the first laser receiving and transmitting module are arranged towards the reflecting rod mirror, and a first laser ray emitted by the first laser receiving and transmitting module is perpendicular to the axis of the reflecting rod mirror; the transmitting end and the receiving end of the second laser transceiving module are arranged in the direction deviating from the reflecting rod mirror, and an included angle alpha is formed between a second laser ray emitted by the second laser transceiving module and the surface of the turntable. On the basis of the first laser transceiver module, the second laser transceiver module is additionally arranged, the scanning work of the scanning plane can be completed after the rotating part rotates once, the circumferential scanning time of the base at the starting moment is shortened, the scanning blind area of the first laser transceiver module on the scanning plane is complementarily scanned, and the scanning range of the laser radar is expanded.

Description

TECHNICAL FIELD

[0001] The utility model relates to radar technical field, especially a kind of multi-line scanning laser radar. BACKGROUND

[0002] With the progress of science and technology and the continuous improvement of living standards, people urgently need radar device with super large viewing angle range. In order to expand the viewing angle range of radar, some manufacturers use array distribution of radar layout to improve the viewing angle range in height direction; some manufacturers add swing mechanism to change the position of transmitter, transmitting antenna, receiver and receiving antenna in height direction by using swing mechanism, so as to improve the viewing angle range in height direction. However, the mechanical structure of the above radar device is too complex, and there are many internal components, which leads to the increase of connecting lines, the increase of manufacturing time and the increase of manufacturing cost. At the same time, due to the limited angle of swing mechanism in height direction, the viewing angle range in height direction is still small, and 360° omnidirectional super large viewing angle range cannot be obtained.

[0003] In order to solve the above technical problems, some manufacturers have developed radar devices with wide scanning range, such as patent No. 202410356054.5, a radar device with wide coverage, in which the shaft hole of the rod-shaped mirror is fixed on the drive shaft of the second rotary drive part, and the laser beam of the laser transceiver module intersects perpendicularly with the axis of the rod-shaped mirror. When the laser beam passes through the rotating rod-shaped mirror, the laser beam can be deflected in the height direction of the base, and a larger viewing angle in the height direction of the base can be obtained.

[0004] However, the above radar device needs to rotate the rotating part of the first rotary drive part and the rotating part of the second rotary drive part multiple times to scan the scanning area with a fan-shaped longitudinal section in the vertical and circumferential direction of the radar device. Not only the scanning time is long, but also there are multi-directional scanning blind areas in the circumferential direction of the radar, which leads to a significant reduction in the scanning range of the radar device.

[0005] Therefore, how to design a multi-line scanning laser radar with short scanning time and few scanning blind areas is a problem that needs to be solved by those skilled in the art. UTILITY MODEL CONTENT

[0006] The utility model provides a kind of multi-line scanning laser radar, and solves the technical problems that the scanning time of existing laser scanning radar is too long and there are scanning blind areas.

[0007] The utility model discloses a technical scheme that solves the above technical problem as follows: a multi-line scanning laser radar, including base, rotation drive mechanism, carousel, support, motor and pole's reflection pole mirror, the fixed part of rotation drive mechanism is fixed on the base and its rotary part rotates with the vertical line of the base as the axis, the carousel is fixed on the rotary part of rotation drive mechanism, the support is two and interval fixed on the carousel, the motor is fixed on one support and the output shaft rotates with the vertical line of the base as the axis, one end of reflection pole mirror is fixed on the output shaft of motor and the other end is fixed on another support, further include: first laser transceiver module and second laser transceiver module,

[0008] The first laser transceiver module is fixed on the carousel and both its transmitting end and receiving end are arranged towards the reflection pole mirror, and the first laser ray it transmits is arranged perpendicularly to the axis of the reflection pole mirror, so as to deflect the first laser ray along the vertical direction and the circumferential direction of the base with the rotation of the rotary part of the rotation drive mechanism and the output shaft of the motor, and obtain a scanning area with a fan-shaped longitudinal section in the vertical direction and the circumferential direction of the base, the vertical direction of the base is the direction of the vertical line perpendicular to the disc surface of the carousel, and the circumferential direction of the base is the circumferential direction of the disc surface of the carousel rotating;

[0009] The second laser transceiver module is arranged apart from the first laser transceiver module and fixed on the carousel, and both the transmitting end and the receiving end of the second laser transceiver module are arranged towards the direction away from the reflection pole mirror and the second laser ray it transmits is arranged at an angle alpha with the disc surface of the carousel, so as to deflect the second laser ray along the circumferential direction of the base with the rotation of the rotary part of the rotation drive mechanism, and obtain a scanning plane arranged at the angle alpha with the disc surface of the carousel in the axial direction of the base, and supplement the scanning of the scanning blind area of the first laser transceiver module existing on the scanning plane.

[0010] The utility model has the advantages that: the structure of the existing radar device is improved, a second laser transceiver module is additionally arranged on the basis of the first laser transceiver module, the first laser transceiver module needs to rotate multiple times with the rotary part of the rotation drive mechanism and the output shaft of the motor before scanning is completed, and since both the transmitting end and the receiving end of the second laser transceiver module are arranged towards the outside direction of the base and the second laser ray it transmits is arranged at an angle alpha with the disc surface of the carousel, the scanning plane can be scanned after one rotation of the rotary part (before the scanning of the first laser transceiver module is completed), the circumferential scanning time of the base at the starting moment is shortened, the scanning blind area of the first laser transceiver module on the scanning plane is supplemented, and the scanning range of the laser radar is expanded.

[0011] On the basis of the above technical scheme, the utility model can also be improved as follows.

[0012] Further, the first laser transceiver modules are a plurality of modules arranged at intervals.

[0013] The above further beneficial effect is that a plurality of first laser transceiver modules are fixed at intervals on the rotating disc, which can shorten the scanning time of the scanning area.

[0014] Further, the second laser transceiver modules are a plurality of modules arranged at intervals and the plurality of angles a are different values.

[0015] The above further beneficial effect is that a plurality of second laser transceiver modules are fixed at intervals on the rotating disc, when the angles between the plurality of second laser radars and the disc surface of the rotating disc are the same, the scanning time of the scanning plane can be shortened; and when the angles between the plurality of second laser radars and the disc surface of the rotating disc are different, a plurality of scanning planes arranged at different angles a with the disc surface of the rotating disc can be obtained in the axial direction of the base, which expands the scanning range of the laser radar.

[0016] Further, the angle between the second laser ray and the disc surface of the rotating disc is -90°-90°.

[0017] The above further beneficial effect is that when the angle between the second laser ray and the disc surface of the rotating disc is 0°-90°, the angle between the scanning plane and the disc surface of the rotating disc is 0°-90°; and when the angle between the second laser ray and the disc surface of the rotating disc is -90°-0°, the angle between the scanning plane and the disc surface of the rotating disc is -90°-0°.

[0018] Further, the rotating drive mechanism comprises a stator, a rotor and a ring plate, the top surface of the base is provided with a mounting groove, and the groove bottom of the mounting groove is fixed with a mounting cylinder arranged in the vertical direction; the stator is a fixed part of the rotating drive mechanism, the stator is annular structure and is wound with a coil, and the stator is sleeved on the outer periphery side of the mounting cylinder; the rotor is magnetic and rotates in the mounting cylinder through a bearing; the ring plate is a rotating part of the rotating drive mechanism and its bottom surface is fixed on the top end of the rotor protruding out of the mounting cylinder; the bottom surface of the rotating disc is fixed on the top surface of the ring plate.

[0019] Further, it further comprises a wireless charging assembly, the wireless charging assembly comprises a rotating cylinder, a fixed cylinder, a first coil and a second coil, the rotating cylinder is sleeved on the outer periphery side of the rotor and its top end is fixed on the bottom surface of the ring plate, the rotating cylinder rotates in the mounting groove corresponding to the outer periphery side of the stator; the fixed cylinder is sleeved on the outer periphery side of the rotating cylinder and is fixed in the mounting groove; the first coil is wound on the fixed cylinder and is electrically connected with the coil wound on the stator, and the second coil is wound on the rotating cylinder and is in the same frequency resonance with the first coil, so as to realize the wireless transmission of current.

[0020] The further beneficial effects are that the first coil is wound on the fixed cylinder and the second coil is wound on the rotating cylinder according to the wireless charging principle, and wireless charging can be realized while the rotating cylinder and the fixed cylinder rotate relative to each other due to the same frequency resonance of the first coil and the second coil, and the structure of the laser radar is simplified.

[0021] Further, the controller includes a sub-control circuit board and a main control circuit board, the rotor shaft is provided with a through hole penetrating through both ends and communicating with the inner hole of the ring plate, the bottom end of the base is provided with a receiving groove, the groove bottom of the receiving groove is provided with a through hole communicating with the through hole, the top surface of the sub-control circuit board is fixed on the bottom surface of the rotating disc and electrically connected with the second coil, the first optocoupler is fixed on the bottom surface of the sub-control circuit board corresponding to the through hole, the main control circuit board is fixed in the receiving groove and electrically connected with the first coil, the second optocoupler is fixed on the top surface of the main control circuit board corresponding to the through hole, and the second optocoupler is wirelessly connected with the first optocoupler.

[0022] The further beneficial effects are that the first coil is wound on the fixed cylinder and the second coil is wound on the rotating cylinder according to the wireless charging principle, and wireless charging can be realized while the rotating cylinder and the fixed cylinder rotate relative to each other due to the same frequency resonance of the first coil and the second coil, and the structure of the laser radar is simplified.

[0023] Further, the position recognition mechanism includes a first recognizer, a first code ring, a second recognizer and a second code ring, the first code ring is sleeved on the outer circumferential side of the fixed cylinder and fixed in the mounting groove, the first recognizer is fixed on the sub-control circuit board and electrically connected with the sub-control circuit board, the first recognizer is arranged opposite to the first code ring to recognize the position code on the first code ring, the second code ring is sleeved on the outer circumferential side of the reflecting rod mirror, and the second recognizer is fixed on the rotating disc and electrically connected with the sub-control circuit board.

[0024] The further beneficial effects are that the first recognizer is used to recognize the position code on the first code ring, the deflection positions of the first laser transceiver module and the second laser transceiver module in the circumferential direction of the base can be found, and the positioning of the corresponding positions in space is realized.

[0025] Further, the transparent protective cover is sleeved on the outer circumferential side of the rotating driving mechanism, the rotating disc, the support, the motor, the reflecting rod mirror, the first laser transceiver module and the second laser transceiver module and fixed on the base.

[0026] The further advantage is that the optical cover can filter out light other than laser light, reducing optical interference and preventing external pollution. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 Figure 1 is a schematic diagram of the assembly structure of a multi-line scanning laser radar according to the present application;

[0028] Figure 2 Figure 2 is a schematic diagram of the assembly structure of a multi-line scanning laser radar according to the present application after the protective cover is removed;

[0029] Figure 3 Figure 3 is an exploded schematic diagram of a multi-line scanning laser radar according to the present application;

[0030] Figure 4 Figure 4 is a schematic diagram of the cross-sectional structure of a multi-line scanning laser radar according to the present application along the axis of the reflecting rod mirror;

[0031] Figure 5 Figure 5 is a schematic diagram of the cross-sectional structure of a multi-line scanning laser radar according to the present application along the axis perpendicular to the reflecting rod mirror;

[0032] Figure 6 Figure 6 is a schematic diagram of the scanning range of a multi-line scanning laser radar according to the present application of type 1;

[0033] Figure 7 Figure 7 is a schematic diagram of the scanning range of a multi-line scanning laser radar according to the present application of type 2;

[0034] Figure 8 Figure 8 is a schematic diagram of the scanning range of a multi-line scanning laser radar according to the present application of type 3;

[0035] Figure 9 Figure 9 is a schematic diagram of the scanning range of a multi-line scanning laser radar according to the present application of type 4;

[0036] Figure 10 Figure 10 is a schematic diagram of the scanning range of a multi-line scanning laser radar according to the present application of type 5.

[0037] In the drawings, the components represented by the respective reference numerals are listed as follows:

[0038] 1, base, 11, mounting groove, 12, mounting cylinder, 13, containing groove, 2, rotating drive mechanism, 21, stator, 22, rotor, 23, ring plate, 3, rotating disc, 4, support, 5, motor, 6, reflecting rod mirror, 7, first laser transceiver module, 8, second laser transceiver module, 9, wireless charging assembly, 91, rotating drum, 92, fixed cylinder, 10, controller, 101, sub-control circuit board, 102, main control circuit board, 103, first optocoupler, 104, second optocoupler, 14, position recognition mechanism, 141, first identifier, 142, first code ring, 143, second identifier, 144, second code ring, 15, spacer ring, 16, partition plate, 17, protective cover. DETAILED DESCRIPTION

[0039] The principles and characteristics of the utility model are described below in combination with the drawings, and the examples are only used to explain the utility model and are not used to limit the scope of the utility model.

[0040] As Figure 1 , Figure 2 , Figure 3 and Figure 4 A kind of multi-line scanning laser radar, including base 1, rotating drive mechanism 2, rotating disc 3, support 4, motor 5 and reflecting rod mirror 6, the fixed part of rotating drive mechanism 2 is fixed on base 1 and its rotating part rotates with the vertical line of base 1 as axis;Rotating disc 3 is fixed on the rotating part of rotating drive mechanism 2;Support 4 is fixed on rotating disc 3;Motor 5 is fixed on support 4 and output shaft rotates with the vertical line of base 1 as axis;Reflecting rod mirror 6 is fixed on the output shaft of motor 5;Further include: first laser transceiver module 7 and second laser transceiver module 8,

[0041] First laser transceiver module 7 is fixed on rotating disc 3 and its transmitting end and receiving end are both arranged in the direction of reflecting rod mirror 6, and the first laser ray it emits is arranged perpendicularly to the axis of reflecting rod mirror 6, to deflect first laser ray along the vertical direction and the circumferential direction of base 1 with the rotating part of rotating drive mechanism 1 and the output shaft of motor 5, to obtain scanning area with fan-shaped longitudinal section in the vertical direction and the circumferential direction of base 1;

[0042] Second laser transceiver module 8 is arranged with first laser transceiver module 7 and fixed on rotating disc 3, and the transmitting end and receiving end of second laser transceiver module 8 are arranged in the direction away from reflecting rod mirror 6 and the second laser ray it emits is arranged with an angle α between the disc surface of rotating disc 3, to deflect second laser ray along the circumferential direction of base 1 with the rotating part of rotating drive mechanism 1, to obtain scanning plane arranged with an angle α with rotating disc 3, to complement the scanning blind area of first laser ray on scanning plane.

[0043] Specific application principle:

[0044] The rotating disc 3 is fixed on the rotating part of the rotating driving mechanism 2, and the second laser transceiver module 8 is fixed on the rotating disc 3 and the transmitting end and the receiving end thereof are arranged in the direction away from the reflecting rod mirror 6, so that the scanning plane arranged at an angle α with the disc surface of the rotating disc 3 can be obtained in the circumferential direction of the base 1 after one rotation of the rotating part of the rotating driving mechanism 2. At the same time, the reflecting rod mirror 6 is fixed on the output shaft of the motor 5, and since the motor 5 is fixed on the bracket 4 and the bracket 4 is fixed on the rotating disc 3, the first laser transceiver module 7 rotates in the circumferential direction of the rotating disc 3 while the reflecting rod mirror 6 rotates in the axial direction thereof, so that the scanning area with a fan-shaped longitudinal section can be obtained in the vertical and circumferential directions of the base 1 after multiple rotations of the rotating part of the rotating driving mechanism 2 and the output shaft of the motor 5.

[0045] Specifically, the first laser transceiver module 7 can be a plurality of modules arranged at intervals.

[0046] Specifically, the second laser transceiver module 8 can be a plurality of modules arranged at intervals and the plurality of angles α are different values.

[0047] Specifically, the angle α can be -90°-90°.

[0048] As shown in Figure 4 some specific embodiments, the rotating driving mechanism 2 can include a stator 21, a rotor 22 and a ring plate 23, the top surface of the base 1 is provided with a mounting groove 11, and the groove bottom of the mounting groove 11 is fixed with a mounting cylinder 12 arranged in the vertical direction. The stator 21 is the fixed part of the rotating driving mechanism 2, the stator 21 is annular and wound with a coil, and the stator 21 is sleeved on the outer peripheral side of the mounting cylinder 12. The rotor 22 is magnetic and rotates in the mounting cylinder 12 through a bearing. The ring plate 23 is the rotating part of the rotating driving mechanism 2 and its bottom surface is fixed on the top end of the rotor 22 protruding out of the mounting cylinder 12. The bottom surface of the rotating disc 3 is fixed on the top surface of the ring plate 23.

[0049] As shown in Figure 3 and Figure 4 some specific embodiments, a wireless charging assembly 9 can also be included, which includes a rotating cylinder 91, a fixed cylinder 92, a first coil and a second coil. The rotating cylinder 91 is sleeved on the outer peripheral side of the rotor 22 and its top end is fixed on the bottom surface of the ring plate 23, and the rotating cylinder 91 rotates in the mounting groove 11 corresponding to the outer peripheral side of the stator 21. The fixed cylinder 92 is sleeved on the outer peripheral side of the rotating cylinder 91 and fixed in the mounting groove 11. The first coil is wound on the fixed cylinder 92 and electrically connected with the coil wound on the stator 21, and the second coil is wound on the rotating cylinder 91 and resonates with the first coil at the same frequency, so as to realize wireless transmission of current.

[0050] As shown in Figure 4As shown in the drawings, in some embodiments, the controller 10 can also be included, the controller 10 includes a sub-control circuit board 101 and a main control circuit board 102, the rotor 22 is axially provided with a through hole penetrating through both ends and the through hole is communicated with the inner hole of the ring plate 23; the bottom end of the base 1 is provided with a containing groove 13 and the groove bottom of the containing groove 13 is provided with a through hole communicated with the through hole; the top surface of the sub-control circuit board 101 is fixed on the bottom surface of the rotating disc 3 and is electrically connected with the second coil, the first optical coupler 103 is fixed on the bottom surface of the sub-control circuit board 101 corresponding to the through hole; the main control circuit board 102 is fixed in the containing groove 13 and is electrically connected with the first coil, the second optical coupler 104 is fixed on the top surface of the main control circuit board 102 corresponding to the through hole, and the second optical coupler 104 is wirelessly connected with the first optical coupler 103.

[0051] As shown in the drawings, Figure 3 and Figure 4 As shown in the drawings, in some embodiments, the position recognition mechanism 14 is also included, the position recognition mechanism 14 includes a first identifier 141, a first code ring 142, a second identifier 143 and a second code ring 144, the first code ring 142 is gap-fitted on the outer peripheral side of the fixed cylinder 92 and is fixed in the mounting groove 11; the first identifier 141 is fixed on the sub-control circuit board 101 and is electrically connected with the sub-control circuit board 101, the first identifier 141 can be arranged opposite to the first code ring 142 to identify the position code on the first code ring 142; the second code ring 144 is sleeved on the outer peripheral side of the reflecting rod mirror 6; the second identifier 143 is fixed on the rotating disc 3 and is electrically connected with the sub-control circuit board 101, the second identifier 143 can be arranged opposite to the second code ring 144 to identify the position code on the second code ring 144.

[0052] As shown in the drawings, Figure 2 and Figure 3 As shown in the drawings, in some embodiments, the spacer ring 15 and the spacer plate 16 can also be included, the spacer ring 15 is gap-fitted on the outer peripheral side of the middle part of the reflecting rod mirror 6; the spacer plate 16 is fixed on the shell of the first laser transceiver module 7 corresponding to the transmitting end and the receiving end thereof and is in sliding abutment with the spacer ring 15.

[0053] As shown in the drawings, Figure 1 , Figure 3 and Figure 4 As shown in the drawings, in some embodiments, the transparent protective cover 17 can also be included, the protective cover 17 covers the outer peripheral side of the rotating driving mechanism 2, the rotating disc 3, the support 4, the motor 5, the reflecting rod mirror 6, the first laser transceiver module 7 and the second laser transceiver module 8 and is fixed on the base 1.

[0054] The above is only the preferred embodiment of the present application, and is not used to limit the present application, any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A multi-line scanning laser radar comprising a base (1), a rotating drive mechanism (2), a rotating disc (3), a support (4), a motor (5) and a reflecting rod mirror (6), the fixed part of the rotating drive mechanism (2) being fixed on the base (1) and the rotating part thereof rotating about the vertical line of the base (1) as the axis; the rotating disc (3) being fixed on the rotating part of the rotating drive mechanism (2); the support (4) being fixed on the rotating disc (3); the motor (5) being fixed on the support (4) and the output shaft thereof rotating about the vertical line of the base (1) as the axis; the reflecting rod mirror (6) being fixed on the output shaft of the motor (5); characterized in that, Also comprising: a first laser transceiver module (7) fixed on the rotating disc (3) and having its transmitting end and receiving end arranged towards the reflecting rod mirror (6), and the first laser beam emitted by the first laser transceiver module (7) is arranged perpendicularly to the axis of the reflecting rod mirror (6) to deflect the first laser beam along the vertical and circumferential direction of the base (1); a second laser transceiver module (8) arranged spaced apart from the first laser transceiver module (7) and fixed on the rotating disc (3), the transmitting end and receiving end of the second laser transceiver module (8) are arranged away from the reflecting rod mirror (6), and the second laser beam emitted by the second laser transceiver module (8) is arranged at an angle α with the disc plane of the rotating disc (3) to deflect the second laser beam along the circumferential direction of the base (1) to complementarily scan the scanning blind area of the first laser beam on the scanning plane arranged at the angle α with the disc plane of the rotating disc (3).

2. A multi-line scanning laser radar according to claim 1, characterized in that The first laser transceiver module (7) is a plurality of modules arranged spaced apart.

3. A multi-line scanning laser radar according to claim 1, wherein, The second laser transceiver module (8) is a plurality of modules arranged spaced apart, and the plurality of angles α are different values.

4. A multi-line scanning lidar according to claim 1, wherein, The angle α is -90°-90°.

5. A multi-line scanning lidar according to claim 1, wherein, The rotating drive mechanism (2) comprises a stator (21), a rotor (22) and a ring plate (23), the top surface of the base (1) is provided with a mounting groove (11), and the groove bottom of the mounting groove (11) is fixed with a mounting cylinder (12) arranged along the vertical direction; the stator (21) is a fixed part of the rotating drive mechanism (2), the stator (21) is annular structure and is wound with a coil, the stator (21) is sleeved on the outer periphery of the mounting cylinder (12); the rotor (22) is magnetic and rotates in the mounting cylinder (12) through a bearing; the ring plate (23) is a rotating part of the rotating drive mechanism (2) and its bottom surface is fixed on the top end of the rotor (22) protruding out of the mounting cylinder (12); the bottom surface of the rotating disc (3) is fixed on the top surface of the ring plate (23).

6. A multi-line scanning lidar according to claim 5, wherein, It also comprises a wireless charging assembly (9) comprising a rotating cylinder (91), a fixed cylinder (92), a first coil and a second coil, the rotating cylinder (91) is sleeved on the outer periphery of the rotor (22) and its top end is fixed on the bottom surface of the ring plate (23), the rotating cylinder (91) rotates in the mounting groove (11) corresponding to the outer periphery of the stator (21); the fixed cylinder (92) is sleeved on the outer periphery of the rotating cylinder (91) and fixed in the mounting groove (11); the first coil is wound on the fixed cylinder (92) and electrically connected with the coil wound on the stator (21), the second coil is wound on the rotating cylinder (91) and resonates with the first coil at the same frequency to realize wireless transmission of current.

7. A multi-line scanning lidar according to claim 6, wherein, Also include a controller (10), the controller (10) includes sub-control circuit board (101) and main control circuit board (102), the rotor (22) is provided with a through hole through both ends in the axial direction and the through hole is communicated with the inner hole of the ring plate (23); the bottom end of the base (1) is provided with a containing groove (13) and the groove bottom of the containing groove (13) is provided with a through hole communicated with the through hole; the top surface of the sub-control circuit board (101) is fixed on the bottom surface of the turntable (3) and is electrically connected with the second coil, the first optocoupler (103) is fixed on the bottom surface of the sub-control circuit board (101) corresponding to the through hole; the main control circuit board (102) is fixed in the containing groove (13) and is electrically connected with the first coil, the second optocoupler (104) is fixed on the top surface of the main control circuit board (102) corresponding to the through hole, and the second optocoupler (104) is wirelessly connected with the first optocoupler (103).

8. A multi-line scanning lidar according to claim 7, characterized in that, Also include a position recognition mechanism (14), the position recognition mechanism (14) includes a first identifier (141), a first code ring (142), a second identifier (143) and a second code ring (144), the first code ring (142) is gap set on the outer circumferential side of the fixed cylinder (92) and is fixed in the mounting groove (11); the first identifier (141) is fixed on the sub-control circuit board (101) and is electrically connected with the sub-control circuit board (101), the first identifier (141) can be arranged opposite to the first code ring (142) to identify the position code on the first code ring (142); the second code ring (144) is sleeved on the outer circumferential side of the reflector mirror (6); the second identifier (143) is fixed on the turntable (3) and is electrically connected with the sub-control circuit board (101), the second identifier (143) can be arranged opposite to the second code ring (144) to identify the position code on the second code ring (144).

9. The multi-line scanning laser radar according to claim 1, wherein, Also include a spacer ring (15) and a partition plate (16), the spacer ring (15) is sleeved on the outer circumferential side of the middle part of the reflector mirror (6); the partition plate (16) is fixed on the shell between the corresponding emitting end and receiving end of the first laser transceiver module (7) and is in sliding abutment with the spacer ring (15).

10. The multi-line scanning laser radar according to claim 1, wherein, Also include a transparent protective cover (17), the protective cover (17) covers the outer circumferential side of the rotating drive mechanism (2), the turntable (3), the support (4), the motor (5), the reflector mirror (6), the first laser transceiver module (7) and the second laser transceiver module (8) and is fixed on the base (1).

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