CN220872660U - Laser radar - Google Patents

Abstract

A lidar is disclosed. The laser radar includes: a transmitting unit; a receiving unit; a data processing unit; a window having an inner surface and an outer surface, wherein a plurality of hooks protruding from the inner surface are formed on the inner surface; the front end of the shell is provided with an opening corresponding to the window, a groove is formed in the circumferential direction of the opening, and a plurality of clamping parts corresponding to the plurality of clamping hooks are formed on the inner wall of the shell; and an elastic sealing ring arranged in the groove and in interference fit with the groove; when the window is assembled on the shell, the clamping hooks are clamped with the clamping parts, so that the window is in contact locking with the inner wall of the shell; the window and the inside of the shell form a closed space; the transmitting unit, the receiving unit and the data processing unit are contained in the closed space.

Description

Laser radar

Technical Field

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

Background

Lidar is becoming increasingly important as an important detection sensor. The window belongs to the key structural component of the laser radar, and the window needs to ensure the tightness of the laser radar and the tightness of the window and the shell under the condition of ensuring normal light transmission of light beams, so that the internal electronic elements are protected from environmental influences such as humidity.

Regarding the connection structure of the laser radar window, the laser radar window is usually installed by bonding with an adhesive medium such as glue. According to the method, a layer of glue with sealing performance is smeared between the window and the shell, and the air tightness is realized by depending on the adhesive force and the sealing performance of the glue. However, without the support of the rigid structural members, the glue strength is relatively limited and the tightness may be problematic under extremely severe conditions. In addition, glue bonding complicates the production process and increases the time and capital costs of the production process. Furthermore, due to the geometry of the window and the housing, the application of glue needs to be done with special equipment and requires a long curing time. In addition, the window and the shell adhered by the glue cannot be easily separated, and if the window is damaged or scratched, the shell adhered with the window needs to be detached and replaced together.

Disclosure of utility model

The present disclosure has been made to overcome the above-mentioned problems in the prior art, and an object of the present disclosure is to provide a lidar capable of realizing sealing connection of a lidar window which is simple to assemble, easy to disassemble and replace, and satisfies both sealing and structural strength conditions.

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 beam of the probe beam reflected by one or more objects in the environment and to 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 window having an inner surface and an outer surface, the inner surface being formed with a plurality of hooks protruding from the inner surface; the front end of the shell is provided with an opening corresponding to the window, a groove is formed in the circumferential direction of the opening, and a plurality of clamping parts corresponding to the plurality of clamping hooks are formed on the inner wall of the shell; and an elastic sealing ring arranged in the groove and in interference fit with the groove; when the window is assembled on the shell, the clamping hooks are clamped with the clamping parts, so that the window is in contact locking with the inner wall of the shell; the window and the inside of the shell form a closed space; the transmitting unit, the receiving unit and the data processing unit are contained in the closed space, the probe beam emitted by the transmitting unit irradiates the environment through the window after passing through the closed space, the probe beam is reflected by one or more objects in the environment to generate the echo beam, and the echo beam is incident to the receiving unit through the closed space after passing through the window.

Further, at least one side of the inner surface of the window is provided with a first limiting jaw extending towards the direction protruding out of the inner surface, a limiting groove is formed at the position of the shell corresponding to the first limiting jaw, and the first limiting jaw stretches into the limiting groove to provide a guiding function for the assembly of the window and the shell.

Further, the window comprises at least two first limiting claws which are respectively formed at two opposite sides of the inner surface of the window, and the at least two first limiting claws are asymmetrically distributed relative to the central line of the window.

Further, the hook is formed with an inclined surface at an end portion thereof.

Further, the hooks are distributed on the inner surface of the window in a dispersed manner.

Further, the shell comprises an upper cover and a base which are mutually attached and installed, the upper cover is provided with the opening, and the window is fixedly connected with the upper cover.

Further, a plurality of bosses protruding from the front surface of the base are formed at the bottom of the front end of the base, a plurality of clamping holes corresponding to the shapes of the bosses are formed at the bottom of the front end of the upper cover, and the bosses are respectively clamped into the clamping holes.

Further, second limiting claws extending towards the direction perpendicular to the joint surface of the upper cover and the base are respectively formed on two sides of the upper cover, limiting clamping parts corresponding to the second limiting claws are respectively formed on two sides of the base, and the second limiting claws are clamped with the limiting clamping parts so as to limit the upper cover and the base in the joint direction.

Further, a first fixing portion is formed on two sides of the upper cover, a second fixing portion corresponding to the first fixing portion is formed on two sides of the base, and the first fixing portion and the second fixing portion are fixedly connected through a fastener.

Further, a plurality of third fixing portions are formed at the rear end of the upper cover, a plurality of fourth fixing portions corresponding to the third fixing portions are formed at the rear end of the base, and the third fixing portions and the fourth fixing portions are fixedly connected through fasteners.

According to the laser radar, the sealing connection of the laser radar window, which is simple to assemble, convenient to disassemble and replace and capable of meeting the conditions of sealing and structural strength, can be realized.

Drawings

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

Fig. 1 is a schematic structural view of a package structure of a lidar according to an exemplary embodiment of the present disclosure;

fig. 2 shows a schematic structural view of the package structure of the lidar of fig. 1 from the other side;

FIG. 3 shows a perspective view of a window in the packaging structure of the lidar of FIG. 1 from the inner surface side;

fig. 4 shows a perspective view of an upper cover of a housing in the packaging structure of the lidar of fig. 1;

FIG. 5 shows a perspective view of a base of a housing in the packaging structure of the lidar of FIG. 1;

FIG. 6 shows a cross-sectional view taken along section line A-A' of FIG. 1;

fig. 7 is an enlarged schematic view showing a snap-fit state of the snap hook and the snap portion in the circled portion of fig. 6; and

Fig. 8 shows an exploded view of the packaging structure of the lidar of fig. 1.

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 this disclosure, unless expressly stated or limited otherwise, a first feature being "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other by way of additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.

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.

Embodiments of the present disclosure are described below with reference to the accompanying drawings, it being understood that the embodiments described herein are for purposes of illustration and explanation only and are not intended to limit the present disclosure.

Referring to fig. 1 to 6, fig. 1 is a schematic structural view of a package structure of a lidar according to an exemplary embodiment of the present disclosure; fig. 2 shows a schematic structural view of the package structure of the lidar of fig. 1 from the other side; FIG. 3 shows a perspective view of a window in the packaging structure of the lidar of FIG. 1 from the inner surface side; fig. 4 shows a perspective view of an upper cover of a housing in the packaging structure of the lidar of fig. 1;

FIG. 5 shows a perspective view of a base of a housing in the packaging structure of the lidar of FIG. 1; fig. 6 shows a cross-section taken along section line A-A' of fig. 1.

As shown in fig. 1 and 6, lidar 100 may include a window 110, a housing 120, and an elastomeric seal 130.

Window 110 is shown in fig. 3 as having an inner surface 111 and an outer surface 112. The window 110 in fig. 3 has a rectangular shape, but this is only one example, and the window 110 may be formed in other shapes.

A plurality of hooks 113 protruding from the inner surface 111 are formed on the inner surface 111 of the window 110. The hook 113 may be formed of an elastic material. For example, in some embodiments of the present disclosure, the hooks 113 may be formed of polycarbonate, for example.

Furthermore, in some embodiments of the present disclosure, the plurality of hooks 113 may be distributed on the inner surface 111 of the window 110. For example, as shown in fig. 3, 12 hooks 113 may be respectively disposed around the inner surface 111 of the rectangular window 110. Wherein, 4 hooks 113 may be provided on each of the upper and lower sides, and 2 hooks 113 may be provided on each of the left and right sides. Also, the shape and size of each hook 113 may be set to be different. It is understood that the number and the distribution manner of the hooks may be other, and the number and the distribution manner of the hooks depend on parameters such as the shape and the size of the window, which are not specifically limited in this disclosure.

In some embodiments of the present disclosure, as shown in fig. 3, the hooks 113 may be formed with inclined surfaces at ends thereof for guiding during the engagement process, thereby facilitating the assembly of the window 110 and the housing 120. In fig. 3, the inclined surface is disposed on a surface of the end of the hook 113 facing the outside of the window 110, and is inclined with respect to the direction in which the hook 113 protrudes from the window 110.

The front end of the housing 120 is formed with an opening corresponding to the window 110, and the window 111 is fitted into the opening such that a closed space is formed between the window 111 and the inside of the housing 120.

In some embodiments of the present disclosure, the housing 120 may include an upper cover 121 and a base 122 mounted to each other as shown in fig. 1. Referring to fig. 4, an opening 121A is provided in the upper cover 121, and the window 111 is fixedly connected to the upper cover 121 through the opening 121A. The opening 121A may be formed in a shape corresponding to the shape of the window 110, for example, a rectangular opening in fig. 4. Further, a groove 121B is formed in the circumferential direction of the opening 121A.

As shown in fig. 6 and fig. 7 described later, a plurality of engaging portions 121C corresponding to the plurality of hooks 113 are formed on the inner wall of the upper cover 121 of the housing 120. In some embodiments of the present disclosure, the clamping portion 121C may be provided as a boss or the like.

Fig. 7 is an enlarged schematic view showing a state in which the hook 113 and the engaging portion 121C are engaged and fixed in the circled portion of fig. 6. When the window 110 is assembled to the housing 120, the plurality of hooks 113 and the plurality of engaging portions 121C are engaged as shown in fig. 7, so that the window 110 is locked in contact with the inner wall of the housing 120. Preferably, the amount D of the engagement between the hook 113 and the engaging portion 121C may be set to 0.2 to 1.5mm, so as to ensure the stability of the engagement and the convenience of assembling the window and the housing.

An elastic seal ring 130 is disposed in the groove 121B and is interference fit with the groove 121B. As an example, the material of the elastic sealing ring 130 may be silicon rubber.

When the hook 113 of the window 110 is locked with the locking portion 121C of the housing 120, the elastic sealing ring 130 is pressed, so that the window 110 and the housing 120 are tightly sealed, which is helpful to separate the internal space and the external environment of the laser radar 100 and prevent the entry of contaminants. 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.

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 the echo light beam of the probe light beam after reflection by one or more objects in the environment 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 transmitting unit, the receiving unit and the data processing unit are contained in a closed space formed by the window 111 and the interior of the housing 120. The detection light beam emitted by the emission unit irradiates the environment through the window after passing through the closed space, the detection light beam is reflected by one or more objects in the environment to generate an echo light beam, and the echo light beam enters the receiving unit through the closed space after passing through the window.

According to the laser radar, the sealing connection of the laser radar window, which is simple to assemble, convenient to disassemble and replace and capable of meeting the conditions of sealing and structural strength, can be realized.

Because no adhesive medium such as glue or mechanical fixing fittings such as bolts are needed, the assembly is simple, the production efficiency is greatly improved, and the automatic production of the laser radar is facilitated.

In addition, because the clamping hook structure is adopted, no adhesive medium such as glue or mechanical fixing fittings such as bolts are arranged, the window can be easily detached by utilizing the elasticity of the clamping hook material of the window during detachment, the detachment is simple and convenient, and the maintenance of the laser radar in the use process are facilitated, so that the service life of the laser radar is prolonged.

Moreover, the clamping hook structure with high enough strength is arranged in the limited space of the window, so that the degumming risk in the traditional design is avoided, the sealing and structural strength conditions can be simultaneously met, and the pressure generated by the internal air pressure rise under severe environments such as high temperature and the like can be borne.

In addition, in some other embodiments of the present disclosure, as shown in fig. 3, at least one side of the inner surface 111 of the window 110 may be formed with a first limiting jaw 114 extending toward a direction protruding from the window inner surface 111. Correspondingly, as shown in fig. 1, 2 and 4, the housing 120 may be formed with a limiting groove 1210 at a position corresponding to the first limiting jaw 114. The first limiting jaw 114 protrudes into the limiting recess 1210 to provide a guiding function for the assembly of the window 110 with the housing 120.

Specifically, the window 110 may include at least one first limiting jaw 114 disposed at one side of the window 110. In other embodiments, the window 110 may include at least two first limiting jaws 114, and the at least two first limiting jaws 114 may be formed at opposite sides of the inner surface 111 of the window 110, respectively, and asymmetrically distributed with respect to a center line of the window 110. Thus, a better positioning and guiding action can be achieved for the assembly of the window 110 with the housing 120.

An example of two first limit jaws 114 is shown in fig. 3. One of the first limiting claws 114 is disposed below the left side of the inner surface 111 of the window 110 and the other first limiting claw 114 is disposed above the right side of the inner surface 111 of the window 110. Correspondingly, as shown in fig. 1 and 4, two limit grooves 1210 are correspondingly formed at positions above and below the housing 120, specifically, both sides of the upper cover 121, respectively.

The first limiting claw of the window and the limiting groove of the shell are utilized to provide a guiding function for the assembly of the window and the shell, so that the assembly process of the window and the shell can be carried out more reliably and smoothly.

In addition, the first limit claw and the limit groove are respectively arranged on the side edges of the window and the shell, such as the left side and the right side, so that whether the window and the shell are assembled in place or not can be judged more easily from the appearance.

In some other embodiments of the present disclosure, as shown in fig. 5, a plurality of bosses 1221 protruding from the front surface of the base 122 may be formed at the bottom of the front end of the base 122 of the housing 120. Correspondingly, as shown in fig. 4, a plurality of card holes 1211 corresponding to the shape of the plurality of bosses 1221 are formed at the bottom of the front end of the upper cover 121 of the housing 120. The bosses 1221 are respectively clamped into the clamping holes 1211, so as to realize the fixed clamping connection between the base 122 and the upper cover 121 at the front end.

In some embodiments of the present disclosure, as shown in fig. 4, second limit claws 1212 extending in a direction perpendicular to the abutting surface of the upper cover 121 and the base 122 may be formed at both sides of the upper cover 121, respectively. Correspondingly, as shown in fig. 5, a limit clamping portion 1222 corresponding to the second limit claw 1212 may be formed on two sides of the base 122. The second limiting jaw 1212 is engaged with the limiting engagement portion 1222 to limit the position of the upper cover 121 in the fitting direction with the base 122.

Specifically, the second limit pawl 1212 in fig. 4 is formed in a rectangular sheet shape, and the limit catch 1222 in fig. 5 is formed in an L-shaped bent hook shape bent toward the front end of the base 122. The second limit pawl 1212 and the limit lock portion 1222 are engaged by hooking as shown in fig. 1 and 2. Of course, the shapes of the second limit pawl 1212 and the limit clamping portion 1222 in fig. 4 and 5 are only an example, and any other structure that can be clamped may be adopted.

In some embodiments of the present disclosure, as shown in fig. 4, first fixing parts 1213 may be formed at both sides of the upper cover 121, respectively. Correspondingly, as shown in fig. 5, second fixing portions 1223 corresponding to the first fixing portions 1213 may be formed at both sides of the base 122, respectively. The first fixing portion 1213 and the second fixing portion 1223 are fixedly coupled by a fastener 1203 shown in fig. 8 described later, thereby fixedly coupling the upper cover 121 and the base 122 on both sides.

Specifically, the first fixing portion 1213 in fig. 4 and the second fixing portion 1223 in fig. 5 are mounting lugs provided with screw holes, and are fastened and connected by a fastener 1203 as a screw.

In some embodiments of the present disclosure, as shown in fig. 4, a plurality of third fixing parts 1214 may be formed at rear ends of the upper cover 121, respectively. Correspondingly, as shown in fig. 5, a plurality of fourth fixing portions 1224 corresponding to the plurality of third fixing portions 1214 may be formed at the rear end of the base 122, respectively. The third fixing portions 1214 and the fourth fixing portions 1224 are fixedly connected to each other by fasteners 1204 shown in fig. 8, which will be described later, thereby fixedly connecting the upper cover 121 and the base 122 at the rear end.

Specifically, the third fixing portion 1214 in fig. 4 and the fourth fixing portion 1224 in fig. 5 are mounting ears provided with screw holes, and are fastened by fasteners 1204 as screws.

Fig. 8 shows an exploded view of the packaging structure of the lidar of fig. 1. In some embodiments of the present disclosure, the window 110 may be assembled to the upper cover 121 first, and then the upper cover 121 assembled with the window 110 is fixedly coupled with the base 122. Of course, the upper cover 121 and the base 122 may be fixedly connected, and then the window 110 may be assembled to the upper cover 121.

Specifically, in the case where the window 110 is previously assembled to the upper cover 121, and then the upper cover 121 assembled with the window 110 is fixedly coupled to the base 122, the assembly process thereof is as follows:

First, the hook 113 of the window 110 is engaged with the engaging portion 121C of the upper cover 121, so that the window 110 is locked in contact with the inner wall of the housing 120. Meanwhile, the first limiting jaw 114 of the window 110 extends into the limiting groove 1210 of the upper cover 121 to provide a guiding function for assembling the window 110 and the housing 120;

When the hook 113 of the window 110 is locked with the locking portion 121C of the upper cover 121, the elastic sealing ring 130 is pressed, so that the window 110 is tightly sealed with the upper cover 121 of the housing;

Then, the bosses 1221 of the base 122 are respectively clamped into the clamping holes 1211 of the upper cover 121, so as to realize the fixed clamping of the base 122 and the upper cover 121 at the front end. Meanwhile, the second limit claw 1212 of the upper cover 121 is hooked and clamped with the limit clamping portion 1222 of the base 122, so as to limit in the attaching direction of the upper cover 121 and the base 122;

Finally, the fastening members 1203 and 1204, which are screws, are screwed into the screw holes of the first fixing portion 1213 of the upper cover 121 and the second fixing portion 1223 of the base 122, and the screw holes of the third fixing portion 1214 of the upper cover 121 and the fourth fixing portion 1224 of the base 122, respectively, in the same direction, for example, in a direction from the upper cover 121 toward the base 122, so that the upper cover 121 and the base 122 are fastened to each other at both sides and the rear end.

Thus, in the above-described assembling process, the fastening operation of the fastener is only required from the same direction, and the assembling process is greatly simplified as compared with the conventional case where the screw fastening is required from a plurality of directions.

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 disclosure without departing from the scope thereof. While the dimensions and types of materials described herein are used to define the parameters of the various embodiments of the disclosure, 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 disclosure should, therefore, be determined with reference to the appended claims, along with the full scope of equivalents to which such claims are entitled.

Claims (10)

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 beam of the probe beam reflected by one or more objects in the environment and to 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 window having an inner surface and an outer surface, the inner surface being formed with a plurality of hooks protruding from the inner surface;

The front end of the shell is provided with an opening corresponding to the window, a groove is formed in the circumferential direction of the opening, and a plurality of clamping parts corresponding to the plurality of clamping hooks are formed on the inner wall of the shell; and

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

When the window is assembled on the shell, the clamping hooks are clamped with the clamping parts, so that the window is in contact locking with the inner wall of the shell;

the window and the inside of the shell form a closed space;

The transmitting unit, the receiving unit and the data processing unit are contained in the closed space, the probe beam emitted by the transmitting unit irradiates the environment through the window after passing through the closed space, the probe beam is reflected by one or more objects in the environment to generate the echo beam, and the echo beam is incident to the receiving unit through the closed space after passing through the window.

2. The lidar of claim 1, wherein the radar is configured to,

At least one side of the inner surface of the window is provided with a first limit claw extending towards the direction protruding out of the inner surface,

A limiting groove is formed at the position of the shell corresponding to the first limiting claw,

The first limiting claw stretches into the limiting groove to provide a guiding function for the assembly of the window and the shell.

3. The lidar of claim 2, wherein the radar is configured to,

The window comprises at least two first limiting clamping claws which are respectively formed at two opposite sides of the inner surface of the window, and the at least two first limiting clamping claws are asymmetrically distributed relative to the central line of the window.

4. The lidar of claim 1, wherein the radar is configured to,

The hook is formed with an inclined surface at an end portion thereof.

5. The lidar of claim 1, wherein the radar is configured to,

The hooks are distributed on the inner surface of the window in a dispersed manner.

6. The lidar of claim 1, wherein the radar is configured to,

The shell comprises an upper cover and a base which are mutually attached,

The upper cover is provided with the opening, and the window is fixedly connected with the upper cover.

7. The lidar of claim 6, wherein the radar is configured to,

The bottom of the front end of the base is provided with a plurality of bosses protruding from the front surface of the base,

The bottom of the front end of the upper cover is provided with a plurality of clamping holes corresponding to the shape of the plurality of bosses,

The bosses are respectively clamped into the clamping holes.

8. The lidar of claim 7, wherein the radar is configured to,

Second limit claws extending towards the direction perpendicular to the joint surface of the upper cover and the base are respectively formed on two sides of the upper cover,

Two sides of the base are respectively provided with a limiting clamping part corresponding to the second limiting claw,

The second limiting claw is clamped with the limiting clamping part, so that the upper cover and the base are limited in the attaching direction.

9. The lidar of claim 7 or 8, wherein the radar is configured to detect a radar signal,

First fixing parts are respectively formed at two sides of the upper cover,

Second fixing parts corresponding to the first fixing parts are respectively formed on two sides of the base,

The first fixing part and the second fixing part are fixedly connected through a fastener.

10. The lidar of claim 9, wherein the laser radar is configured to,

A plurality of third fixing parts are respectively formed at the rear end of the upper cover,

A plurality of fourth fixing parts corresponding to the third fixing parts are respectively formed at the rear end of the base,

The plurality of third fixing parts and the plurality of fourth fixing parts are respectively and fixedly connected through fasteners.