CN219871772U - Laser radar device and sensing equipment - Google Patents

Abstract

The embodiment of the utility model provides a laser radar device and sensing equipment, and relates to the field of laser radars. The laser radar device comprises a frame body, a scanning piece, a transceiver module, a reflecting piece and a shell; the scanning piece is arranged on the frame body; the receiving and transmitting module is arranged at one end of the frame body and is used for transmitting or receiving laser; the reflecting piece is arranged opposite to the receiving and transmitting module and is positioned at the other end of the frame body, and the reflecting piece is used for reflecting the laser to the scanning piece or the receiving and transmitting module; the shell is arranged outside the frame body. Therefore, the laser radar device provided by the utility model realizes the integrated installation of the scanning piece, the transceiver module and the reflecting piece, ensures that the relative position is in the position of optical theoretical design, and ensures that the laser radar has a simplified integral structure and excellent detection capability under the condition of effectively reducing the volume of the laser radar.

Description

Laser radar device and sensing equipment

Technical Field

The utility model relates to the field of laser radars, in particular to a laser radar device and sensing equipment.

Background

Lidar is an important sensing device of sensing equipment, and plays a vital role in the field of automatic driving in particular. However, the existing laser radar is generally complex in whole structure, so that the volume is huge, most of use requirements cannot be met, the practicability is not high, and the competitiveness is lacking.

Disclosure of Invention

The utility model provides a laser radar device and sensing equipment, which have high integration level, are in modularized design, occupy small space and have simple structure.

Embodiments of the utility model may be implemented as follows:

in a first aspect, the present utility model provides a lidar device comprising:

a frame body;

the scanning piece is arranged on the frame body;

the receiving and transmitting module is arranged at one end of the frame body and is used for transmitting or receiving laser;

the reflecting piece is arranged opposite to the receiving and transmitting module and is positioned at the other end of the frame body, and the reflecting piece is used for reflecting the laser to the scanning piece or the receiving and transmitting module;

the shell is arranged outside the frame body.

In an alternative embodiment, the housing includes a first housing and a second housing, the first housing and the second housing are detachably fastened, and the frame is accommodated in the first housing and the second housing.

In an alternative embodiment, the connection portion of the first housing and the plane where the connection portion of the second housing is located are disposed in an inclined manner.

In an alternative embodiment, a heat conducting member is provided on top of the frame body, and the frame body is connected with the top wall of the first housing through the heat conducting member.

In an alternative embodiment, a plurality of first grooves are formed in the outer surface of the top wall of the first shell, and the plurality of first grooves are arranged at intervals.

In an alternative embodiment, a heat conducting member is disposed on a side of the transceiver module, which is close to the side wall of the second housing, and the transceiver module is connected to the side wall of the second housing through the heat conducting member.

In an alternative embodiment, a plurality of second grooves are formed in the outer surface of the side wall, connected with the transceiver module, of the second housing, and the plurality of second grooves are arranged at intervals.

In an alternative embodiment, the first housing is provided with a window, the window corresponds to the scanning member, the window is provided with a light-transmitting member, and the light-transmitting member is obliquely arranged.

In an alternative embodiment, the light-transmitting member is planar or arcuate.

In an alternative embodiment, the first housing further includes a heating member disposed on the light-transmitting member for heating the light-transmitting member.

In an alternative embodiment, the heating member includes heating wires uniformly disposed in the light-transmitting member.

In an alternative embodiment, the heating member includes a heating film disposed on a surface of the light-transmitting member.

In an alternative embodiment, the frame body is provided with a clamping portion, the second housing is provided with a positioning portion, and the clamping portion is in clamping fit with the positioning portion so as to position the frame body.

In an alternative embodiment, the frame body includes integrated into one piece's bottom plate, roof and two curb plates, the bottom plate the roof and two the curb plate encloses into the passageway that both ends are open-ended, the reflector with transceiver module set up respectively in the both ends of passageway, the scanner set up in the passageway and be located the reflector with between the transceiver module.

In an alternative embodiment, the laser radar apparatus further includes a power panel and a driving panel, the power panel and the driving panel are respectively disposed on the two side panels, the power panel is used for installing a power source, and the driving panel is used for installing a driver.

In an alternative embodiment, the lidar device further comprises a processing motherboard, the processing motherboard is disposed on the top plate, and the processing motherboard is used for installing a processor.

In an alternative embodiment, the bottom plate is provided with a through slot, the reflecting member and the transceiver module are oppositely arranged at two ends of the through slot, and the through slot is used for allowing the laser to pass through.

In an alternative embodiment, the number of the reflecting members and the number of the transceiver modules each include a plurality of reflecting members, the plurality of reflecting members are arranged side by side, the plurality of transceiver modules are arranged side by side, and the plurality of reflecting members and the plurality of transceiver modules are in one-to-one correspondence.

In an alternative embodiment, the plurality of reflecting members are all disposed obliquely, so as to reflect the laser light emitted by the corresponding transceiver module to the scanning member, or reflect the laser light emitted by the scanning member to the corresponding transceiver module.

In a second aspect, the utility model provides a sensing device comprising a lidar apparatus as in any of the preceding embodiments.

The laser radar device and the sensing equipment provided by the embodiment of the utility model have the beneficial effects that: transmitting laser to the reflecting piece through the receiving and transmitting module, reflecting the laser transmitted by the receiving and transmitting module to the vibrating mirror of the scanning piece by the reflecting piece, scanning by the vibrating mirror to form point cloud, and transmitting the laser out through the window of the shell by the scanning piece; the laser emitted from the laser radar device encounters the target obstacle and reflects the target obstacle to the scanning piece again, and the laser returns to the receiving and transmitting module through the scanning piece and the reflecting piece, so that the position and distance information of the target obstacle are acquired. Therefore, the scanning piece is arranged on the frame body, the receiving and transmitting module and the reflecting piece are oppositely arranged at two ends of the frame body, the scanning piece, the receiving and transmitting module and the reflecting piece are integrally installed on the frame body, the relative position of the scanning piece and the receiving and transmitting module is guaranteed to be in a position of optical theory design, and under the condition of effectively reducing the volume of the laser radar, the whole structure of the laser radar is simplified, and meanwhile, the laser radar has excellent detection capability.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present utility model and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic structural diagram of a lidar device according to an embodiment of the present utility model;

fig. 2 is a schematic view of a first view angle structure of a portion of a lidar device according to an embodiment of the present utility model;

fig. 3 is a schematic view of a second view structure of a portion of a lidar device according to an embodiment of the present utility model.

Icon: 10-a lidar device; 100-a housing; 110-a first housing; 111-a first mounting hole; 112-a first groove; 113-a window; 114-a light-transmitting member; 120-a second housing; 121-a positioning part; 122-a second mounting hole; 200-frame body; 210-a bottom plate; 211-through grooves; 220-top plate; 230-side plates; 231-a catch; 240-pass; 300-scanning piece; 400-a transceiver module; 500-reflecting member; 600-driving plate; 700-power panel; 800-processing motherboard.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present utility model more apparent, the technical solutions of the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model, and it is apparent that the described embodiments are some embodiments of the present utility model, but not all embodiments of the present utility model. The components of the embodiments of the present utility model generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the utility model, as presented in the figures, is not intended to limit the scope of the utility model, as claimed, but is merely representative of selected embodiments of the utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.

In the description of the present utility model, it should be noted that, if the terms "upper", "lower", "inner", "outer", and the like indicate an azimuth or a positional relationship based on the azimuth or the positional relationship shown in the drawings, or the azimuth or the positional relationship in which the inventive product is conventionally put in use, it is merely for convenience of describing the present utility model and simplifying the description, and it is not indicated or implied that the apparatus or element referred to must have a specific azimuth, be configured and operated in a specific azimuth, and thus it should not be construed as limiting the present utility model.

Furthermore, the terms "first," "second," and the like, if any, are used merely for distinguishing between descriptions and not for indicating or implying a relative importance.

It should be noted that the features of the embodiments of the present utility model may be combined with each other without conflict.

Lidar is an important sensing device of sensing equipment, and plays a vital role in the field of automatic driving, and in the case of using the lidar as a vehicle-mounted electronic product, the volume and the importance of the lidar are usually severely limited, and a long-distance detection function also usually needs higher power consumption.

However, the existing laser radar is generally complex in whole structure, so that the volume is huge, some laser radar devices adopt too many parts, and more openings are formed in a shell, so that good heat radiation performance can be brought, and a large hidden trouble can be brought due to the sealing performance of the device; some laser radar devices discard a heat dissipation structure in order to compress the whole volume, so that the temperature rise of the whole system is increased to influence the ranging capability.

Therefore, the existing laser radar cannot simultaneously meet the conditions of simple structure, excellent detection capability, excellent heat dissipation capability and the like, has low practicality, cannot meet the vehicle-mounted requirement and lacks competitiveness.

Based on the above problems, referring to fig. 1 to 3, the present utility model provides a lidar device 10, which is applied to the sensing and detecting fields, and is particularly suitable for vehicle-mounted sensing equipment, and has the advantages of simple structure, excellent detecting capability, excellent heat dissipation capability and the like.

The lidar device 10 includes a housing 100, a frame 200, a scanning member 300, a transceiver module 400, a reflecting member 500, a driving board 600, a power supply board 700, and a processing motherboard 800.

The casing 100 is disposed outside the frame 200, and the casing 100 may play a role in protection. The scanning element 300 is disposed on the frame 200, the transceiver module 400 is disposed at one end of the frame 200, the reflecting element 500 is disposed at the other end of the frame 200, and the driving board 600, the power board 700 and the processing motherboard 800 are disposed on the frame 200. The driving board 600 is provided with a driver, the power board 700 is provided with a power supply, the processing main board 800 is provided with a PCBA circuit board, and the driver, the power supply and the circuit board are electrically connected with the transceiver module 400 and the scan piece 300, so as to control the transceiver module 400 and the scan piece 300 to operate normally.

The transceiver module 400 has the functions of transmitting laser light and receiving and processing the laser light; and the housing is provided with a window 113 through which the laser light passes.

In this embodiment, the transmitting and receiving module 400 transmits laser to the reflecting member 500, the reflecting member 500 reflects the laser transmitted by the transmitting and receiving module 400 to the galvanometer of the scanning member 300, and forms a point cloud after scanning by the galvanometer, and the scanning member 300 transmits the laser through the window 113 of the housing; the laser emitted from the lidar device 10 encounters the target obstacle and reflects back to the scanning element 300 again, and returns to the transceiver module 400 via the scanning element 300 and the reflecting element 500, so as to obtain the position and distance information of the target obstacle.

It can be understood that by arranging the scanning element 300 on the frame 200 and arranging the transceiver module 400 and the reflector 500 at two ends of the frame 200 relatively, the scanning element 300, the transceiver module 400 and the reflector 500 are integrally mounted, and the relative positions of the scanning element 300, the transceiver module 400 and the reflector 500 are ensured to be at the optical theoretical design positions, so that the laser radar has a simplified overall structure and excellent detection capability under the condition of effectively reducing the volume of the laser radar.

Alternatively, the reflector 500 may be a mirror.

Further, the housing 100 includes a first housing 110 and a second housing 120, the first housing 110 and the second housing 120 are detachably fastened, and the frame 200, the scan element 300, the transceiver module 400, the reflective element 500, the driving board 600, the power panel 700 and the processing board 800 are all accommodated in the first housing 110 and the second housing 120.

In this embodiment, the first housing 110 is provided with the first mounting hole 111, the second housing 120 is provided with the second mounting hole 122, and the first mounting hole 111 and the second mounting hole 122 are sequentially penetrated through by bolts to fix the first housing 110 and the second housing 120, so that the frame 200, the scanning element 300, the transceiver module 400, the reflecting element 500, the driving board 600, the power panel 700 and the processing main board 800 are protected.

In detail, the frame 200 is provided with a plurality of clamping portions 231, the second housing 120 is provided with a plurality of positioning portions 121, and the plurality of clamping portions 231 are in one-to-one corresponding and clamping engagement with the plurality of positioning portions 121 to position the frame 200.

In this embodiment, the positioning portion 121 may be a guide pin, and the catching portion 231 may be a guide hole for the positioning portion 121 to pass through. In the process of mounting the first housing 110 and the second housing 120, the clamping portion 231 on the frame body 200 is clamped and matched with the positioning portion 121 on the second housing 120, that is, the guide pin is inserted into the guide hole, so that the frame body 200 is positioned and fixed, and the mounting stability of the frame body 200 is improved. After the frame body 200 is mounted in place, the first and second housings 110 and 120 are fastened by bolts so that the first housing 110 is stably mounted on the second housing 120.

Further, the casing 100 has a diagonal casing opening structure, so that a plane where the connection portion of the first casing 110 and the connection portion of the second casing 120 are located is inclined.

As shown in the drawings, the cross section of the first housing 110 and the cross section of the second housing 120 are triangular, and the connection portion corresponding to the hypotenuse of the cross section of the first housing 110 is connected with the connection portion corresponding to the hypotenuse of the cross section of the second housing 120, i.e. the connection portion of the first housing 110 is connected with the connection portion of the second housing 120.

In the present embodiment, the casing 100 has a diagonally opened casing structure, which is beneficial for the installation or the disassembly of the first casing 110 and the second casing 120, and in the case that the first casing 110 and the second casing 120 are disassembled and the frame 200 is installed on the second casing 120, the operation space can be maximized, so that the convenience of installation, adjustment and maintenance of the lidar device 10 is improved.

Further, a heat conducting member (not shown) is disposed on the top of the frame 200 and on one side of the transceiver module 400 near the side wall of the second housing 120, the frame 200 is connected to the top wall of the first housing 110 through the heat conducting member, and the transceiver module 400 is connected to the side wall of the second housing 120 through the heat conducting member.

Alternatively, the heat conductive member may be a heat conductive silicone grease.

In this embodiment, the heat-conducting silicone grease is coated on the top processing motherboard 800 mounted on the frame 200, so that the processing motherboard 800 contacts with the top inner wall of the first housing 110 through the heat-conducting silicone grease, so that heat can be effectively transferred to the top inner wall of the first housing 110 through the processing motherboard 800, and transferred from the inner wall of the first housing 110 to the outer wall of the first housing 110, thereby ensuring that the processing motherboard 800 can effectively dissipate heat.

Likewise, the heat-conducting silicone grease is further coated on a side wall of the transceiver module 400 facing the second housing 120, so that the transceiver module 400 contacts with the side inner wall of the second housing 120 through the heat-conducting silicone grease, so that heat is effectively transferred to the side inner wall of the second housing 120 through the transceiver module 400 and transferred from the inner wall of the second housing 120 to the outer wall of the second housing 120, thereby ensuring that the transceiver module 400 can effectively dissipate heat.

Therefore, by providing the heat conductive member on the top of the frame 200 and the transceiver module 400, the heat dissipation performance of the lidar device 10 can be effectively improved, and the normal operation of the lidar device can be ensured.

Further, in order to further improve the heat dissipation performance of the lidar, a plurality of first grooves 112 are formed on the outer surface of the top wall of the first housing 110 corresponding to the processing motherboard 800, and the plurality of first grooves 112 are arranged at intervals; a plurality of second grooves (the second groove structure is the same as the first groove 112, not shown) are formed on the outer surface of the side wall of the second housing 120 connected to the transceiver module 400, and the plurality of second grooves are disposed at intervals.

In this embodiment, the outer surface of the top of the first housing 110 is provided with the plurality of first grooves 112, and the outer surface of the side of the second outer side is provided with the plurality of second grooves, so as to increase the heat dissipation area of the first housing 110 and the second housing 120, so that the heat transferred by the processing motherboard 800 and the transceiver module 400 can be effectively dissipated through the first housing 110 and the second housing 120, and therefore the heat dissipation effect of the lidar device 10 is significantly improved.

Further, the first housing 110 is further provided with a window 113, the window 113 is disposed opposite to a side wall of the second housing 120 and corresponds to the scanning element 300, and the window 113 is provided with a light-transmitting element 114.

In this embodiment, the light-transmitting member 114 is disposed obliquely, so as to prevent the scanning beam of the scanning member 300 from reflecting and forming stray light when it is directed to the inner surface of the light-transmitting member 114, which causes the stray light to enter the receiving light path to affect the normal operation of the lidar device 10.

Alternatively, the light transmissive member 114 may be a planar mirror.

Of course, in other embodiments of the present utility model, the light-transmitting member 114 may also have an arc shape. The arc-shaped light transmitting member 114 can facilitate the formation of a horizontal angle of view as large as possible within a limited cross-sectional size range of the window 113, thereby improving the detection capability of the laser radar.

Further, the first housing 110 further includes a heating element (not shown) disposed on the light-transmitting element 114 for heating the light-transmitting element 114.

In this embodiment, the transparent member 114 is made of a material with high temperature resistance, and the heating member is disposed on the transparent member 114 to raise the temperature of the transparent member 114, so that water is evaporated by heating under the condition that water drops or mist are generated on the surface of the transparent member 114, and the detection capability of the laser radar device 10 is prevented from being affected by the water drops or mist.

Alternatively, the heating element may be a heating wire, which is installed simply and at low cost by uniformly disposing the heating wire on the transparent element 114 to heat the transparent element 114.

Of course, in other embodiments of the present utility model, the heating element may be a heating film, and by plating the ITO heating film on the surface of the transparent element 114, uniform heating of the transparent element 114 may be achieved.

Further, the frame 200 includes a bottom plate 210, a top plate 220, and two side plates 230, which are integrally formed, and the bottom plate 210, the top plate 220, and the two side plates 230 enclose a channel 240 with two open ends.

The reflecting member 500 and the transceiver module 400 are disposed at two ends of the channel 240, the scanning member 300 is mounted on the top plate 220 and located between the reflecting member 500 and the transceiver module 400 in the channel 240, and the horizontal height of the scanning member 300 is greater than the horizontal height of the reflecting member 500 and the transceiver module 400.

In this embodiment, the reflective member 500 is mounted on the bottom plate 210 of the frame 200 and is located at the front end of the frame 200 facing the window 113 of the first housing 110, the transceiver module 400 is suspended on the top plate 220 of the frame 200 by bolts and is located at the rear end of the frame 200 facing the side of the second housing 120, and the transceiver module 400 and the reflective member 500 are at the same level, so that the laser light emitted from the transceiver module 400 can be accurately emitted to the reflective member 500 through the channel 240 and reflected to the scanning member 300 through the reflective member 500.

Since the overall height is a very important index for the lidar device 10, the transceiver module 400 is mounted by hoisting, so that the mounting height can be reduced, thereby reducing the overall height of the rack 200.

In addition, the frame 200 is further provided with an inclined mounting portion (not shown) in the channel 240 for mounting the scan piece 300 such that the scan piece 300 is inclined and the cross-sectional structure of the frame 200 is zigzag. The emitted light beam of the scanning element 300 is emitted and scanned by the vibrating mirror arranged therein, so that a certain view angle field, for example, a view angle field with a horizontal angle of 90 degrees and a vertical angle of 30 degrees can be formed.

Further, the number of the reflectors 500 and the transceiver modules 400 includes a plurality of reflectors 500, a plurality of transceiver modules 400 are arranged side by side, and a plurality of reflectors 500 and a plurality of transceiver modules 400 are in one-to-one correspondence.

In this embodiment, the lasers emitted by the plurality of transceiver modules 400 are emitted to the center positions of the corresponding reflectors 500 one by one, and the plurality of reflectors 500 are all inclined, and the inclination angles of each reflector 500 are different, so as to ensure that the plurality of reflectors 500 respectively reflect the lasers emitted by the corresponding transceiver modules 400 to the mirror center of the galvanometer mirror of the scanning member 300 through the inclined surfaces with different angles, or reflect the lasers emitted by the scanning member 300 to the corresponding transceiver modules 400.

Alternatively, the number of the reflectors 500 and the transceiver modules 400 may be four, however, in other embodiments, the number of the reflectors 500 and the transceiver modules 400 may be other, and is not limited herein.

Further, the bottom plate 210 is provided with a through groove 211, the reflecting member 500 and the transceiver module 400 are oppositely disposed at two ends of the through groove 211, and the through groove 211 is used for passing laser.

In this embodiment, the number of the through slots 211 is also plural, the laser light emitted by the plurality of transceiver modules 400 is emitted to the reflector 500 along the plurality of through slots 211, and the laser light reflected by the plurality of reflectors 500 is emitted to the transceiver modules 400 along the plurality of through slots 211, so that the influence of stray light on the emitted or received laser light can be avoided, and the detection accuracy of the laser radar device 10 is improved.

Further, the power panel 700 and the driving panel 600 are respectively disposed on the two side plates 230, the power panel 700 is used for installing a power source, the driving panel 600 is used for installing a driving processor, the processing main board 800 is disposed on the top plate 220, and the processing main board 800 is used for installing a processor.

In this embodiment, the two side plates 230 are vertical plates, which not only can increase the overall structural strength of the frame 200, but also can serve as mounting positions for the driving plate 600 and the power panel 700.

In this way, the transceiver module 400, the reflecting element 500, the scanning element 300, the driving board 600, the power board 700 and the processing main board 800 are integrated on the frame 200, so that a complete optical-mechanical functional module of the laser radar device 10 is formed, and the laser radar device 10 has the advantages of high integration level, modularized design, small occupied space, simple structure and the like.

It should be noted that the holding portion 231 is disposed on the side plate 230, and two holding portions 231 are disposed on one side plate 230, that is, the number of holding portions 231 and the number of positioning portions 121 are four.

Further, the present utility model also provides a sensing apparatus that may include one or more lidar devices 10, and one or more lidar devices 10 may be mounted on the roof or side of a vehicle.

The laser radar device 10 adopted in this embodiment has a simple structure, small size, low cost, good heat dissipation performance, and is beneficial to installation, so that a vehicle provided with sensing equipment has good data acquisition, fusion and analysis capabilities.

In summary, the embodiment of the present utility model provides a laser radar device 10 and a sensing device, wherein the transmitting and receiving module 400 transmits laser to the reflecting member 500, the reflecting member 500 reflects the laser transmitted by the transmitting and receiving module 400 to the galvanometer of the scanning member 300, and forms a point cloud after scanning by the galvanometer, and the scanning member 300 transmits the laser through the window 113 of the housing; the laser emitted from the lidar device 10 encounters the target obstacle and reflects back to the scanning element 300 again, and returns to the transceiver module 400 via the scanning element 300 and the reflecting element 500, so as to obtain the position and distance information of the target obstacle. Therefore, by arranging the scanning element 300 on the frame 200 and arranging the transceiver module 400 and the reflector 500 at two ends of the frame 200 relatively, the scanning element 300, the transceiver module 400 and the reflector 500 are integrally mounted, and the relative positions of the scanning element 300, the transceiver module 400 and the reflector 500 are guaranteed to be at the optical theoretical design positions, so that the laser radar has a simple integral structure and excellent detection capability under the condition of effectively reducing the volume of the laser radar.

The foregoing is merely illustrative of the present utility model, and the present utility model is not limited thereto, and any changes or substitutions easily contemplated by those skilled in the art within the scope of the present utility model should be included in the present utility model. Therefore, the protection scope of the present utility model shall be subject to the protection scope of the claims.

Claims (20)

1. A lidar device, comprising:

a frame body;

the scanning piece is arranged on the frame body;

the receiving and transmitting module is arranged at one end of the frame body and is used for transmitting or receiving laser;

the reflecting piece is arranged opposite to the receiving and transmitting module and is positioned at the other end of the frame body, and the reflecting piece is used for reflecting the laser to the scanning piece or the receiving and transmitting module;

the shell is arranged outside the frame body.

2. The lidar device according to claim 1, wherein the housing comprises a first housing and a second housing, the first housing and the second housing being detachably fastened, and the frame being accommodated in the first housing and the second housing.

3. The lidar device according to claim 2, wherein the connection portion of the first housing and the connection portion of the second housing are arranged obliquely to a plane in which the connection portion is located.

4. The lidar device according to claim 2, wherein a heat conducting member is provided at a top of the frame body, and the frame body is connected to a top wall of the first housing through the heat conducting member.

5. The lidar device of claim 4, wherein a plurality of first grooves are formed in an outer surface of the top wall of the first housing, and the plurality of first grooves are arranged at intervals.

6. The lidar device according to claim 2, wherein a side of the transceiver module close to the side wall of the second housing is provided with a heat conducting member, and the transceiver module is connected to the side wall of the second housing through the heat conducting member.

7. The lidar device according to claim 6, wherein a plurality of second grooves are formed in an outer surface of a side wall of the second housing connected to the transceiver module, and the plurality of second grooves are arranged at intervals.

8. The lidar device according to claim 2, wherein the first housing is provided with a window, the window corresponds to the scanning member, the window is provided with a light-transmitting member, and the light-transmitting member is arranged obliquely.

9. The lidar device according to claim 8, wherein the light-transmitting member has a planar shape or an arc shape.

10. The lidar device according to claim 9, wherein the first housing further comprises a heating member provided to the light-transmitting member for heating the light-transmitting member.

11. The lidar device according to claim 10, wherein the heating member comprises a heating wire, and the heating wire is uniformly provided to the light-transmitting member.

12. The lidar device according to claim 10, wherein the heating member comprises a heating film provided on a surface of the light-transmitting member.

13. The lidar device according to claim 2, wherein the holder is provided with a holding portion, and the second housing is provided with a positioning portion, and the holding portion is held in engagement with the positioning portion to position the holder.

14. The lidar device according to claim 1, wherein the frame body comprises a bottom plate, a top plate and two side plates which are integrally formed, the bottom plate, the top plate and the two side plates enclose a channel with two open ends, the reflecting member and the transceiver module are respectively arranged at two ends of the channel, and the scanning member is arranged in the channel and is positioned between the reflecting member and the transceiver module.

15. The lidar device according to claim 14, further comprising a power supply board and a drive board, the power supply board and the drive board being provided to the two side boards, respectively, the power supply board being for mounting a power supply, and the drive board being for mounting a driver.

16. The lidar device according to claim 14, further comprising a processing motherboard provided to the top plate, the processing motherboard for mounting a processor.

17. The lidar device according to claim 14, wherein the bottom plate is provided with a through groove, and the reflecting member and the transceiver module are oppositely disposed at both ends of the through groove, and the through groove is used for the laser to pass through.

18. The lidar device according to claim 1, wherein the number of the reflecting members and the transceiver modules each includes a plurality of reflecting members arranged side by side, the plurality of transceiver modules arranged side by side, and the plurality of reflecting members and the plurality of transceiver modules are in one-to-one correspondence.

19. The lidar device according to claim 18, wherein the plurality of reflecting members are each provided obliquely so as to reflect the laser light emitted from the corresponding transceiver module to the scanning member or reflect the laser light emitted from the scanning member to the corresponding transceiver module, respectively.

20. A sensing apparatus comprising a lidar device according to any of claims 1 to 19.