CN220603684U - Laser radar - Google Patents

Abstract

A lidar is disclosed. The laser radar includes: a transmitting unit; a receiving unit; a data processing unit; a base having an inner wall, an outer wall, and an annular groove defined between the inner wall and the outer wall, wherein a plurality of fitting parts are formed inside the outer wall, the fitting parts having an opening portion, a passage portion, and a stopper portion; the elastic sealing ring is arranged in the annular groove and is in interference fit with the annular groove; the photomask is provided with an annular wall, a plurality of protruding parts are formed on the end part of the outer surface of the annular wall, and the protruding parts sequentially pass through the opening part and the channel part and then are limited to the limiting part, so that the base and the photomask are in contact connection through the elastic sealing ring; the base and the photomask form a box-type space inside, and the transmitting unit, the receiving unit and the data processing unit are contained in the box-type space.

Description

Laser radar

Technical Field

The present disclosure relates to the field of photoelectric detection, and more particularly to a lidar.

Background

With the rise of unmanned vehicle technology, laser radar is becoming more and more important as an important detection sensor. Lidar, as its name implies, is a radar system that detects characteristic quantities such as the position, speed, etc. of a target by emitting a laser beam. The working principle is that a detection signal (laser beam) is emitted to a target, and then the received signal (target echo) reflected from the target is properly processed, so that the related information of the target, such as parameters of target distance, azimuth, altitude, speed, gesture, even shape and the like, can be obtained, and the targets of an airplane, a missile and the like are detected, tracked and identified.

Lidar is often provided with a mask to protect the internal precision devices while the mask can filter out the interference of the noise light signal to provide the detection performance of the lidar. The existing photomask of the laser radar is usually fixed by adhesive, the assembly process is complex and takes longer time, and once the adhesive is solidified, nondestructive dismantling cannot be realized, and when the laser radar is installed on a carrier such as a vehicle, a robot, an aircraft and the like for use, the photomask of the laser radar is inevitably damaged or worn due to the influence of broken stone impact, so that performance defects are generated, the photomask needs to be replaced, and the working environments such as high temperature and the like can possibly be encountered, so that the adhesive is possibly invalid, and the tightness is affected. How to improve the connection mode of the laser radar photomask and the base and ensure the long-term performance reliability of the laser radar in the long-term working process is a technical problem to be solved in the field.

Disclosure of Invention

It is an object of the present disclosure to overcome the above-mentioned and/or other problems of the prior art by providing an improved connection of a laser radar light cover to a base, which allows easy assembly and non-destructive disassembly of the light cover to the base of the laser radar while ensuring a reliable seal between the base and the light cover.

According to an exemplary embodiment of the present disclosure, there is provided a lidar. The laser radar includes: an emission unit including one or more light emitters configured to emit a probe beam; a receiving unit including one or more light receivers configured to receive an echo light beam of the probe light beam reflected by the object and convert an optical signal into an electrical signal; a data processing unit coupled to the receiving unit and configured to receive and process the electrical signal to obtain distance and/or reflectivity information of the object; a base having an inner wall, an outer wall, and an annular groove defined between the inner wall and the outer wall, wherein a plurality of fitting parts having an opening portion, a passage portion, and a stopper portion are formed on an inner side of the outer wall; the elastic sealing ring is arranged in the annular groove and is in interference fit with the annular groove; and a mask having an annular wall configured to allow light beams within a preset wavelength range to pass therethrough, the preset wavelength range including wavelengths corresponding to the probe light beam and the echo light beam; forming a plurality of protruding parts on the end part of the outer surface of the annular wall, wherein the size of the annular wall of the photomask is matched with the size of the annular groove, the number of the protruding parts corresponds to the number of the assembly parts, and the protruding parts sequentially pass through the opening part and the channel part and then are limited to the limiting part, so that the base and the photomask are in contact connection through the elastic sealing ring; the base and the inside of the photomask form a box-type space, and the transmitting unit, the receiving unit and the data processing unit are contained in the box-type space.

Preferably, when the protruding portion is located in the limiting portion, the fitting component circumferentially limits the protruding portion, and the fitting component and the elastic seal ring axially limit the protruding portion.

Preferably, the fitting part has a bottom surface, a first top surface located at the passage portion, and a second top surface located at the stopper portion, wherein a minimum distance between the first top surface and the bottom surface is smaller than a minimum distance between the second top surface and the bottom surface. Preferably, a bottom surface of the fitting part has a height difference from a bottom of the annular groove to form a stepped portion.

Preferably, the elastic sealing ring is provided with a first side which is attached to the annular wall of the photomask and a second side which is opposite to the first side, and the elastic sealing ring is provided with a plurality of ribs on the first side and the second side respectively. Preferably, the elastic sealing ring has an H-shaped cross section. Preferably, the elastic sealing ring has a third side which is attached to the outer wall and a fourth side which is attached to the inner wall, and the elastic sealing ring has a plurality of projections distributed along the circumferential direction on the third side and/or the fourth side.

Preferably, the elastic sealing ring is provided with a third side which is attached to the outer wall and a fourth side which is attached to the inner wall, and the elastic sealing ring is respectively provided with a plurality of waterproof ribs on the third side and the fourth side. Preferably, the plurality of waterproof ribs are distributed in a wavy or zigzag shape in the axial direction.

Preferably, the upper end of the inner wall of the base is provided with one or more notches, wherein at the notches, the upper end surface of the inner wall is flush with the bottom of the annular groove.

Preferably, when the protruding portion is located in the channel portion, the compression amount of the elastic sealing ring is between 30% and 50%.

Preferably, when the protruding portion is located in the limiting portion, the compression amount of the elastic sealing ring is between 10% and 30%.

Preferably, the elastic sealing ring is made of silicon rubber.

Preferably, the plurality of fitting parts are uniformly distributed along a circumferential direction of the base, and the plurality of protrusions are uniformly distributed along a circumferential direction of the mask.

Drawings

The disclosure may be better understood by describing exemplary embodiments thereof in conjunction with the accompanying drawings, in which:

FIG. 1 is an exploded schematic view of a packaging structure of a lidar according to an example embodiment of the present disclosure;

FIG. 2 shows an enlarged view of a protrusion of a photomask;

FIG. 3 shows an enlarged view of the mounting components of the base;

FIG. 4 shows a side view of the mounting components of the base;

FIG. 5 is a partial cross-sectional view taken along section line A-A' of FIG. 1;

FIG. 6 shows a schematic diagram of an assembly process of a reticle and a base of a lidar;

FIG. 7 shows an example of an elastomeric seal ring;

FIG. 8 is a cross-sectional view of an example elastomeric seal ring taken along section line B-B' of FIG. 7; and

fig. 9 shows another example of an elastic sealing ring.

Detailed Description

In the following, specific embodiments of the present disclosure will be described, and it should be noted that in the course of the detailed description of these embodiments, it is not possible in the present specification to describe all features of an actual embodiment in detail for the sake of brevity. It should be appreciated that in the actual implementation of any of the implementations, as in any engineering or design project, numerous implementation-specific decisions must be made to achieve the developers' specific goals, such as compliance with system-related and business-related constraints, which may vary from one implementation to another. Moreover, it should be appreciated that while such a development effort might be complex and lengthy, it would nevertheless be a routine undertaking of design, fabrication, or manufacture for those of ordinary skill having the benefit of this disclosure, and thus should not be construed as having the benefit of this disclosure.

Unless defined otherwise, technical or scientific terms used in the claims and specification should be given the ordinary meaning as understood by one of ordinary skill in the art to which this disclosure belongs. The terms "first," "second," and the like in the description and in the claims, do not denote any order, quantity, or importance, but rather are used to distinguish one element from another. The terms "a" or "an" and the like do not denote a limitation of quantity, but rather denote the presence of at least one. The word "comprising" or "comprises", and the like, is intended to mean that elements or items that are immediately preceding the word "comprising" or "comprising", are included in the word "comprising" or "comprising", and equivalents thereof, without excluding other elements or items. The terms "connected" or "connected," and the like, are not limited to physical or mechanical connections, nor to direct or indirect connections.

In the present disclosure, all embodiments and preferred embodiments mentioned herein may be combined with each other to form new technical solutions, if not specifically stated. In the present disclosure, all technical features mentioned herein as well as preferred features may be combined with each other to form new technical solutions, if not specifically stated.

In the description of the embodiments of the present disclosure, the term "and/or" is merely an association relationship describing an association object, and indicates that three relationships may exist, for example, a and/or B may indicate: a exists alone, A and B exist together, and B exists alone. In addition, the character "/" herein generally indicates that the front and rear associated objects are an "or" relationship.

A lidar provided according to an embodiment of the present disclosure is described in detail below with reference to the drawings.

1-4, wherein FIG. 1 is an exploded schematic view of a packaging structure of a lidar according to an exemplary embodiment of the present disclosure; FIG. 2 shows an enlarged view of a protrusion of a photomask; FIG. 3 shows an enlarged view of the mounting components of the base; fig. 4 shows a side view of the mounting part of the base.

Lidar 100 may include a base 110, an elastomeric seal 120, and a reticle 130.

The base 110 may have an inner wall 111, an outer wall 112, and an annular groove 113 defined between the inner wall 111 and the outer wall 112. The inner side of the outer wall 112 may be formed with a plurality of fitting parts 114.

An elastomeric seal ring 120 may be disposed within the annular groove 113. The annular groove 113 can accommodate the elastic sealing ring 120 and perform a circumferential limiting function on the elastic sealing ring. The elastic sealing ring 120 circumferentially surrounds the inner wall 111 of the base 110, forming a full-angle seal protection. The elastic sealing ring 120 may be in interference fit with the annular groove 113, which helps to isolate the internal space of the lidar 100 from the external environment and prevent contaminants from entering. This interference fit causes the elastomeric seal ring 120 to circumferentially surround the inner wall 111 of the base 110, ensuring intimate contact between the elastomeric seal ring 120 and the base 110. In this way, even if vibration or impact is generated when the lidar 100 is operated, air, moisture, dust, and other contaminants can be prevented from entering the internal space of the lidar 100, thereby maintaining the performance thereof to be stable. And compared with the mode of adopting bonding glue to fix the window and the base in the past, the quick assembly of the window can be realized by adopting the elastic sealing ring and the annular groove reserved for the elastic sealing ring, and the operations such as long-time glue solidification, standing and the like are not needed, so that the assembly difficulty and time are greatly reduced, and the cost is reduced.

The mask 130 may have an annular wall 131. A plurality of protrusions 132 may be formed on an outer surface end of the annular wall 131. The dimensions of the annular wall 131 of the mask 130 may be matched to the dimensions of the annular trench 113. The number of projections 132 may correspond to the number of fitting parts 114. Preferably, the plurality of fitting parts 114 may be uniformly distributed along the circumferential direction of the base 110, and the plurality of protrusions 132 may be uniformly distributed along the circumferential direction of the mask 110. The protruding part 132 is matched with the assembling part 114, so that the assembly and disassembly of the photomask 130 and the base 110 are easy to realize, the disassembly operation has no damage to the photomask and the base, the assembly cost can be reduced, and the mass production of the laser radar and the maintenance of the laser radar in the use process are facilitated. In addition, the plurality of protruding portions 132 and the plurality of assembling components 114 can be uniformly distributed along the circumferential direction, so that the uniform distribution of the clamping force between the light cover 130 and the base 110 can be ensured, the problem that the sealing performance is reduced due to insufficient partial position clamping force in the use process of the laser radar can be avoided, the sealing effect is further ensured, the uniformity of the vertical angles of all directions of the light cover 130 can be ensured, and the influence of the inclination of the light cover 130 on the detection performance is avoided.

The lidar may further comprise a transmitting unit, a receiving unit and a data processing unit (not shown in the figures). The emission unit may comprise one or more light emitters configured to emit the probe beam. The receiving unit may comprise one or more light receivers configured to receive an echo beam of the probe beam after reflection by the object and to convert the optical signal into an electrical signal. The data processing unit may be coupled with the receiving unit and configured to receive and process the electrical signals to obtain distance and/or reflectivity information of the object.

The annular wall 131 may be configured to allow light beams within a preset wavelength range, which may include wavelengths corresponding to the probe beam and the echo beam, to pass through. The annular wall 131 may be utilized to block a portion of ambient light (e.g., light within a non-preset wavelength range) so as to prevent the portion of ambient light from entering the receiving unit of the lidar 100. In this way, the signal-to-noise ratio of the probe signal may be improved, reducing interference, thereby enhancing the performance and reliability of lidar 100.

When the mask 130 is mounted on the base 110, the base 110 and the inside of the mask 130 may form a box-type space. A transmitting unit, a receiving unit and a data processing unit may be contained within the box space.

As shown in fig. 3 and 4, the fitting member 114 of the base 110 may include an opening portion 301, a channel portion 302, and a stopper portion 303. During assembly, the protruding portion 132 can sequentially pass through the opening portion 301 and the channel portion 302 and then be limited to the limiting portion 303, so that the base 110 and the photomask 130 are in contact connection through the elastic sealing ring 120.

Referring to fig. 4, the fitting member 114 may have a bottom surface 401, a first top surface 402 located at the channel portion 302, and a second top surface 403 located at the stopper portion 303. The pitch (average pitch or minimum pitch) h1 between the first top surface 402 and the bottom surface 401 is smaller than the pitch (average pitch or minimum pitch) h2 between the second top surface 403 and the bottom surface 401. For example, the mounting member 114 has a stop 40 above the channel portion 302 that defines the first top surface 402. The stopper 40 may have an inclined portion near the opening portion 301, or the first top surface 402 may be entirely inclined, thereby facilitating the sliding of the guide projection 132 from the opening portion 301 to the stopper portion 303. The stopper 40 may have a sidewall 404 perpendicular to the second top surface 403 near the stopper 303. The mounting member 114 may also have a sidewall 405 perpendicular to the second top surface 403 with the stop 303 being located between the sidewall 404 and the sidewall 405.

Fig. 5 is a partial cross-sectional view of the packaging structure of lidar 100 taken along section line A-A' of fig. 1. When the base 110 and the mask 130 are assembled in place, the protrusion 132 of the mask 130 is retained in the assembly member 114 and the annular wall 131 of the mask 130 and the base 110 compress the elastic sealing ring 120 in an axial direction (e.g., a direction parallel to the central axis Z of the base 110), and under different circumstances, the elastic sealing ring 120 can be ensured to be in a compressed state, so that a gap between the base 110 and the mask 130 due to environmental changes is prevented, and sealing failure is caused. Specifically, the protruding portion 132 and the fitting member 114 may have a clamping force in a radial direction, and the tightness between the base 110 and the mask 130 may be ensured by virtue of the opposing forces provided by the protruding portion 132 and the fitting member 114 and the elastic seal ring 120 in an axial direction.

Referring to fig. 6, a schematic diagram of the assembly process of the reticle and the base of the lidar is shown. As shown in fig. 6, the annular wall 131 of the mask 130 may be inserted into the annular groove 113 by aligning the protruding portion 132 of the mask 130 with the opening 301 of the fitting member 114 of the base 110; the annular wall 131 of the mask 130 may then be caused to press down against the elastomeric seal ring 120 and rotate the mask 130 in a circumferential direction such that the protrusions 132 reach the stopper 303 from the opening 301 via the channel 302; finally, the mask 130 is released to make the elastic sealing ring 120 rebound upward to clamp the protruding portion 132 in the limiting portion 303. The opening 301 can form a positioning portion and a guide portion when the mask 130 and the base 110 are assembled, so that the alignment assembly of the mask 130 and the base 110 is easy.

When the protrusion 132 of the light cover 130 is limited in the limiting portion 303 of the mounting member 114, the light cover 130 may experience an upward resilience of the compressed elastic sealing ring 120, and the protrusion 132 of the light cover 130 may be subjected to a downward supporting force of the second top surface 403 of the mounting member 114, so that the axial limiting of the protrusion 132 (for example, a direction parallel to the central axis Z of the base 110) may be achieved; in the circumferential direction, the protruding portion 132 is limited by the two sidewalls 404 and 405 of the mounting member 114, so as to prevent the mask 130 and the base 110 from rotating circumferentially.

If the mask 130 is worn out during use of the lidar 100 and needs to be replaced, the mask 130 may be detached from the base 110 by pressing down and rotating the mask 130 in the reverse direction in the circumferential direction so that the protruding portion 132 moves from the stopper portion 303 to the opening portion 301 via the passage portion 302. In this way, a non-destructive disassembly of the reticle 130 of the lidar 100 may be achieved, helping to reduce assembly costs, facilitating repair and maintenance of the lidar 100 during use, and thereby extending the service life of the lidar.

In some embodiments of the present disclosure, the elastic sealing ring 120 is made of a flexible material, and its hardness may be set so that the elastic sealing ring 120 can form a sufficient strength interaction force with the elastic sealing ring when compressed, thereby improving the sealing effect while preventing the annular groove 113 from being excessively stressed, resulting in damage to the base 110 or the mask 130. As an example, the material of the elastic sealing ring 120 may be silicone rubber.

In some embodiments of the present disclosure, to ensure operability of the mask 130 and the base 110 of the lidar 100 during assembly, when the elastomeric seal 120 is compressed by the mask 130 such that the protrusion 132 is located in the channel portion 302, the amount of compression of the elastomeric seal 120 may be between 30% and 50%, such as about 30%, about 31%, about 32%, about 33%, about 34%, about 35%, about 36%, about 37%, about 38%, about 39%, about 40%, about 41%, about 42%, about 43%, about 44%, about 45%, about 46%, about 47%, about 48%, about 49%, or about 50%. The compression amount in the above range can promote stable mounting of the mask 130, and can relatively easily press down the protruding portion 132 into the channel portion 302 when the mask 130 needs to be detached, reducing the strength of the operation. In addition, excessive stress within the annular groove 113 can be prevented, thereby reducing the risk of damage to the pedestal 110 or the mask 130.

In some embodiments of the present disclosure, in view of thermal expansion and contraction, to ensure that the elastomeric seal ring 120 provides sufficient rebound force to the reticle 130 under various temperature conditions to ensure tightness between the reticle 130 and the base plate 110, the amount of compression of the elastomeric seal ring 120 may be between 10% and 30%, such as about 10%, about 11%, about 12%, about 13%, about 14%, about 15%, about 16%, about 17%, about 18%, about 19%, about 20%, about 21%, about 22%, about 23%, about 24%, about 25%, about 26%, about 27%, about 28%, about 29%, or about 30%, when the elastomeric seal ring 120 is compressed by the reticle 130 such that the protrusion 132 is located in the stop 303. By controlling the compression amount of the elastic sealing ring 120 within the above range, it is possible to ensure that the elastic sealing ring 120 maintains a moderate compression amount in a full temperature range (for example, in an operating environment of-40 ℃ to +85 ℃), whereby the elastic sealing ring 120 can always form a sufficient strength interaction force together with the protrusion 132 and the fitting member 114, ensuring tightness during long-term use of the laser radar 100. In some embodiments of the present disclosure, the bottom surface 401 of the fitting part 114 and the bottom of the annular groove 113 may have a height difference to form a step. The step may be used to radially limit the elastomeric seal ring 120 to prevent the lower portion of the elastomeric seal ring 120 from moving into the mounting member 114.

Referring to fig. 7, an example of an elastomeric seal ring is shown. The elastomeric seal ring 120 may have a first side 121 that conforms to the annular wall 131 of the mask 130 and a second side 122 opposite the first side 121. In some embodiments of the present disclosure, the elastomeric seal ring 120 has a plurality of ribs extending circumferentially on the first side 121 and the second side 122, respectively. The number of ribs may be 2, 3, 4, 5 or more. The ribs may facilitate the compression of the elastomeric seal ring 120 in the axial direction. For example, when the mask 130 applies axial pressure to the elastomeric seal ring 120, the space on both sides of the ribs may make the elastomeric seal ring 120 more easily compressed.

FIG. 8 is a cross-sectional view of an example elastomeric seal ring taken along section line B-B' of FIG. 7. In this example, the elastomeric seal 820 has two ribs 80 on the first side 121 and the second side 122, respectively, forming an H-shaped cross-sectional shape.

The elastomeric seal 120 also has a third side 123 that engages the outer wall 112 and a fourth side 124 that engages the inner wall 111. In some embodiments of the present disclosure, the elastomeric seal ring 120 may have a plurality of circumferentially distributed protrusions 70 (as shown in fig. 7) on the third side 123 and/or the fourth side 124. The number of bumps 70 may be 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 15, 20, 30, or more. The central portion of the bump 70 may have a greater protrusion distance relative to the edge portion. For example, the profile of the bump 70 may be a cylindrical curved surface, a spherical curved surface, or the like. When the elastic sealing ring 120 is compressed in the axial direction, the bump 70 contacts with the sidewall of the annular groove 113, so that the elastic sealing ring 120 can be limited in the circumferential direction, and the elastic sealing ring 120 is prevented from sliding in the annular groove 113. The outer surface of the projection 70 may have a higher coefficient of friction relative to other areas of the elastomeric seal 120 to enhance the retention.

In some embodiments of the present disclosure, the elastic sealing ring 120 may have a plurality of waterproof ribs extending in a circumferential direction on the third side 123 and the fourth side 124, and may not have ribs on the first side 121 and the second side 122. The number of the waterproof ribs may be 2, 3, 4, 5 or more. The plurality of waterproof ribs can be distributed in a wavy or zigzag shape in the axial direction. In this way, the elastic seal ring 120 can also be promoted to be compressed in the axial direction. For example, when the mask 130 applies axial pressure to the elastomeric seal ring 120, the slots between adjacent beads may make the elastomeric seal ring 120 more easily compressed. Meanwhile, when the elastic sealing ring 120 is compressed in the axial direction, the peak parts of the waterproof ribs are in contact with the side wall of the annular groove 113, so that the elastic sealing ring 120 can be limited in the circumferential direction, and the elastic sealing ring 120 is prevented from sliding in the annular groove 113. Referring to fig. 9, another example of an elastomeric seal ring is shown. In this example, the elastic sealing ring 920 may have three waterproof ribs 90 on the third side 123 and the fourth side 124, respectively.

In some embodiments of the present disclosure, an upper end of the inner wall 111 of the base 110 may have one or more indentations 60 (see fig. 1, 3, and 5). At the notch 60, the upper end surface of the inner wall 111 may be flush with the bottom of the annular groove 113. The presence of the notch may facilitate reshaping of the elastomeric seal ring 120 embedded within the annular groove 113 for ease of assembly.

Thus far, the lidar 100 according to the exemplary embodiment of the present disclosure is described. The existing laser radar design cannot be disassembled nondestructively and easily, the assembly process is complex, and sealing failure is likely to happen when the laser radar meets working environments such as high temperature, and the problem can be solved through the laser radar design. The laser radar can easily realize the assembly and nondestructive disassembly of the photomask, and ensures the long-term performance reliability of the laser radar in the long-term working process.

It is to be understood that the above description is intended to be illustrative, and not restrictive. For example, the above-described embodiments (and/or aspects thereof) may be used in combination with one another. In addition, many modifications may be made to adapt a particular situation or material to the teachings of the various embodiments of the utility model without departing from the scope thereof. While the dimensions and types of materials described herein are intended to define the parameters of the various embodiments of the utility model, the various embodiments are not meant to be limiting and are exemplary embodiments. Many other embodiments will be apparent to those of skill in the art upon reading the above description. The scope of the various embodiments of the utility model should, therefore, be determined with reference to the appended claims, along with the full scope of equivalents to which such claims are entitled.

Claims (14)

1. A lidar, comprising:

an emission unit including one or more light emitters configured to emit a probe beam;

a receiving unit including one or more light receivers configured to receive an echo light beam of the probe light beam reflected by the object and convert an optical signal into an electrical signal;

a data processing unit coupled to the receiving unit and configured to receive and process the electrical signal to obtain distance and/or reflectivity information of the object;

a base having an inner wall, an outer wall, and an annular groove defined between the inner wall and the outer wall, wherein a plurality of fitting parts having an opening portion, a passage portion, and a stopper portion are formed on an inner side of the outer wall;

the elastic sealing ring is arranged in the annular groove and is in interference fit with the annular groove; and

a mask having an annular wall configured to allow light beams within a preset wavelength range to pass therethrough, the preset wavelength range including wavelengths corresponding to the probe light beam and the echo light beam; forming a plurality of protruding parts on the end part of the outer surface of the annular wall, wherein the size of the annular wall of the photomask is matched with the size of the annular groove, the number of the protruding parts corresponds to the number of the assembly parts, and the protruding parts sequentially pass through the opening part and the channel part and then are limited to the limiting part, so that the base and the photomask are in contact connection through the elastic sealing ring;

the base and the inside of the photomask form a box-type space, and the transmitting unit, the receiving unit and the data processing unit are contained in the box-type space.

2. The lidar of claim 1, wherein the fitting component circumferentially positions the protrusion when the protrusion is in the position-limiting portion, and wherein the fitting component and the elastic seal ring axially position the protrusion.

3. The lidar of claim 1, wherein the mounting member has a bottom surface, a first top surface located at the channel portion, and a second top surface located at the stopper portion, wherein a spacing between the first top surface and the bottom surface is smaller than a spacing between the second top surface and the bottom surface.

4. A lidar according to claim 3, wherein the bottom surface of the fitting part and the bottom of the annular groove have a height difference to form a step.

5. The lidar of claim 1, wherein the elastic sealing ring has a first side that conforms to the annular wall of the reticle and a second side opposite the first side, the elastic sealing ring having a plurality of ribs on the first side and the second side, respectively.

6. The lidar of claim 5, wherein the elastic seal ring has an H-shaped cross section.

7. The lidar of claim 5, wherein the elastic sealing ring has a third side that is in contact with the outer wall and a fourth side that is in contact with the inner wall, and wherein the elastic sealing ring has a plurality of protrusions distributed in a circumferential direction on the third side and/or the fourth side.

8. The lidar of claim 1, wherein the elastic sealing ring has a third side that is attached to the outer wall and a fourth side that is attached to the inner wall, and wherein the elastic sealing ring has a plurality of waterproof ribs on the third side and the fourth side, respectively.

9. The lidar of claim 8, wherein the plurality of waterproof ribs are wavy or zigzag-shaped in an axial direction.

10. The lidar of claim 1, wherein an upper end of the inner wall of the base has one or more indentations, wherein at the indentations an upper end surface of the inner wall is flush with a bottom of the annular groove.

11. The lidar of claim 1, wherein the elastic sealing ring is compressed between 30% and 50% when the protrusion is in the channel.

12. The lidar of claim 1, wherein the elastic sealing ring is compressed by between 10% and 30% when the protrusion is in the limit position.

13. The lidar of claim 1, wherein the elastic sealing ring is made of silicone rubber.

14. The lidar of claim 1, wherein the plurality of mounting members are evenly distributed along a circumferential direction of the base and the plurality of protrusions are evenly distributed along a circumferential direction of the reticle.