CN220961841U

CN220961841U - Laser radar

Info

Publication number: CN220961841U
Application number: CN202322477423.XU
Authority: CN
Inventors: 冯善辉; 陈杰; 陈劲松; 聂辉; 孙文森; 向少卿
Original assignee: Zhejiang Hesi Technology Co ltd
Current assignee: Zhejiang Hesi Technology Co ltd
Priority date: 2023-09-12
Filing date: 2023-09-12
Publication date: 2024-05-14
Anticipated expiration: 2033-09-12

Abstract

The present utility model provides a lidar comprising: a transmitting unit; a receiving unit; a data processing unit; a window having a first annular wall, a first snap-in assembly disposed at an end of the first annular wall, and an annular groove disposed between the first annular wall and the first snap-in assembly; an elastic seal ring disposed within the annular groove; and a base having a second annular wall, the inside of the second annular wall being provided with a second snap assembly for snap-connection with the first snap assembly, wherein the first snap assembly comprises a pin and a guide stopper distributed in the circumferential direction of the first annular wall and protruding radially outward of the first annular wall, the second snap assembly comprises a box and a limit groove distributed in the circumferential direction of the second annular wall and protruding radially inward of the second annular wall, and when the window is fixed to the base, the guide stopper is inserted into the limit groove and snapped with the box, thereby fixing the window and the base.

Description

Laser radar

Technical Field

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

Background

When we talk about automatically driving a car, lidar technology is a very important part. Lidar is a sensor that can scan the surrounding environment and generate three-dimensional images. It can be used for identifying obstacles, constructing maps, locating vehicles and other application scenarios. With the rise of autopilot technology, lidar 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 the target such as distance, azimuth, altitude, speed, gesture, even shape and the like, can be obtained, thereby detecting, tracking and identifying various targets.

Disclosure of utility model

The utility model aims to solve the technical problems

Lidar is often provided with a window (reticle) to protect the internal delicate devices while the window (reticle) can filter out the interference of the noisy optical signal, providing the detection performance of the lidar. The window of the existing laser radar is usually fixed by adhesive, the assembly process is complex, the time consumption is long, the efficiency is low, 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 window of the laser radar is inevitably damaged or worn due to the influence of broken stone impact, so that performance defects are generated.

In addition, the laser radar may encounter working environments such as high temperature, thereby causing adhesive failure and further affecting sealability. How to improve the connection mode of the window and the base of the laser radar 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.

Therefore, an object of the present disclosure is to provide a lidar, which can connect a window of the lidar with a base by using a clamping component, thereby improving the structural strength of the lidar, and can realize efficient assembly of the window of the lidar and the base, and simultaneously ensure reliable sealing between the base and the window.

Technical proposal adopted for solving the technical problems

According to an embodiment of the present disclosure, there is provided a lidar. The laser radar includes: an emission unit provided with one or more light emitters configured to emit a probe beam; a receiving unit provided with 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, configured to receive and process the electrical signal to obtain distance and/or reflectivity information of the object; a window having a first annular wall, a first snap assembly disposed at an end of the first annular wall, and an annular groove disposed between the first annular wall and the first snap assembly; an elastic sealing ring arranged in the annular groove; and a base having a second annular wall, the inside of the second annular wall being provided with a second snap-in assembly for snap-in connection with the first snap-in assembly, the base and the inside of the window forming a box-type space, the transmitting unit, the receiving unit, and the data processing unit being contained in the box-type space, wherein the first snap-in assembly includes a pin and a guide stopper distributed in the circumferential direction of the first annular wall and protruding toward the radially outer side of the first annular wall, the second snap-in assembly includes a box and a limit groove distributed in the circumferential direction of the second annular wall and protruding toward the radially inner side of the second annular wall, or the first snap-in assembly includes a box and a limit groove distributed in the circumferential direction of the first annular wall and protruding toward the radially inner side of the first annular wall, and the second snap-in assembly includes a pin and a guide stopper distributed in the circumferential direction of the second annular wall and protruding toward the radially outer side of the second annular wall, and fixing the pin and the base to the box and the limit groove when the pin and the guide stopper are inserted into the window.

Further, when the window is fixed to the base, the female buckle in the second clamping assembly is embedded into the annular groove, so that the base and the window are in contact connection through the elastic sealing ring.

Further, the pin includes an engagement guide surface facing radially outward for guiding an engagement direction, the engagement direction being a vertical direction perpendicular to the first annular wall and the second annular wall, and the degree of elastic deformation of the pin is controlled based on a guide angle, which is an angle formed by the engagement guide surface and the vertical direction.

Further, the male buckle and the guiding limiter are respectively provided with a plurality of guiding limiters, the guiding limiter is arranged between the two male buckles, the female buckle and the limiting groove are respectively provided with a plurality of limiting grooves, and the limiting groove is arranged between the two female buckles.

Further, the number of the female buckles is consistent with the number of the male buckles, and the number of the limit grooves is consistent with the number of the guide limiters.

Further, the position of the female buckle in the circumferential direction of the second annular wall or the first annular wall corresponds to the position of the male buckle in the circumferential direction of the first annular wall or the second annular wall,

The position of the limit groove in the circumferential direction of the second annular wall or the first annular wall corresponds to the position of the guide limiter in the circumferential direction of the first annular wall or the second annular wall.

Further, the number of the male buckles is 4 to 10, and the number of the guide limiters is 4 to 10.

Further, the box has an inclined shape protruding toward the radial inside, and the inclined shape corresponds to the shape of the engagement guide surface of the pin.

Further, the guide angle of the engagement guide surface of the pin is 10 degrees to 40 degrees.

Further, the length of the male buckle in the circumferential direction is greater than or equal to the length of the guide limiter in the circumferential direction.

Further, the engagement amount of the male buckle and the female buckle is 0.2 to 1.0mm.

Further, the first engaging member and the second engaging member are formed of polyester carbonic acid.

Further, the first clamping component and/or the second clamping component are/is provided with a hardening layer.

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

ADVANTAGEOUS EFFECTS OF INVENTION

According to the laser radar, the window of the laser radar can be connected with the base by the clamping assembly. The structural strength of the lidar is improved, and the strength thereof can be ensured even in the case that the internal air pressure is increased at a high temperature.

In addition, according to the laser radar, the window adopts integral injection molding, and secondary processing is not needed, so that the production efficiency is higher, the window assembly time is shorter, and the mass production of the laser radar is facilitated. The high-efficiency assembly of the window of the laser radar and the base can be realized, and meanwhile, the reliable sealing between the base and the window is ensured.

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 diagram showing the overall structure of a lidar according to embodiment 1 of the present utility model.

Fig. 2 is a perspective view of a window according to embodiment 1 of the present utility model.

Fig. 3 is a bottom view of a window according to embodiment 1 of the present utility model.

Fig. 4 is a perspective view of a base according to embodiment 1 of the present utility model.

Fig. 5 is a schematic cross-sectional view showing a state in which a window and a base according to embodiment 1 of the present utility model are fixed.

Fig. 6 is an enlarged view of a portion of the first and second snap members after they have been secured.

Fig. 7 is an enlarged view of a portion of the first engagement assembly.

Fig. 8 is an enlarged view of a portion of the second engagement assembly.

Fig. 9 is a schematic view showing the amount of engagement of the pin and the box.

Description of the reference numerals: 10 window, 20 base, 30 elastic sealing ring, 100 first annular wall, 200 second annular wall, 300 annular groove, 101 first block assembly, 201 second block assembly, 1001 pin, 1002 guide limiter, 1003 block guide surface, 2001 box, 2002 limit groove, 2003 inclined shape, D block amount.

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.

The following describes a lidar according to an embodiment of the present utility model in detail with reference to the drawings.

Embodiment 1

As shown in fig. 1, the lidar according to the present utility model mainly includes a window 10 and a base 20. The window 10 and the base 20 are fixed by means of a snap-fit connection via an elastic seal ring 30, and after the fixation, a box-type space is formed inside the window and the base, and a transmitting unit, a receiving unit and a data processing unit (both not shown) are provided in the box-type space.

The emission unit is provided with one or more light emitters configured to emit a probe light beam. The receiving unit is provided with one or more light receivers configured to receive an echo light beam of the probe light beam reflected by the object and to convert the light signal into an electrical signal. The data processing unit is coupled with the receiving unit and is configured to receive and process the electric signals so as to obtain the distance and/or reflectivity information of the object.

The window and the base are described in detail below.

Fig. 2 is a perspective view of window 10 according to embodiment 1 of the present utility model. Fig. 3 is a bottom view of window 10 according to embodiment 1 of the present utility model.

As shown in fig. 2 and 3, the window 10 is dome-shaped with an opening below it, which opening constitutes a first annular wall 100 of the window 10. A first snap assembly 101 is provided at the end of the first annular wall 100 and an annular groove 300 is provided above the first snap assembly 101 of the first annular wall 100, the elastic sealing ring 20 being provided in the annular groove 300.

More specifically, the first engagement assembly 101 includes a pin 1001 and a guide stopper 1002 distributed in the circumferential direction of the first annular wall 100 and protruding toward the radially outer side of the first annular wall 100.

The pin 1001 and the guide stopper 1002 are provided in plurality on the first annular wall 100, respectively. In the present embodiment, as shown in fig. 3, 8 male buttons 1001 are provided, and 8 guide stoppers 1002 are provided. However, the number of male buttons 1001 may be 4 to 10, and the number of guide stoppers 1002 may be 4 to 10, which may be selected according to actual needs.

In addition, as shown in fig. 3, a guide stopper 1002 is provided between two pin 1001. In the present embodiment, the guide stopper 1002 and the pin 1001 are provided at a distance from each other.

Fig. 4 is a perspective view of a base 20 according to embodiment 1 of the present utility model. As shown in fig. 4, the base 20 has a cylindrical shape, and has an opening corresponding to the opening of the window 10 above the base, and the opening becomes the second annular wall 200 of the base 20. A second snap assembly 201 is provided at the end of the second annular wall 200. The shape of the base 20 is not limited to this, and may be square or the like.

More specifically, the second engagement assembly 201 includes a female buckle 2001 and a stopper groove 2002 distributed in the circumferential direction of the second annular wall 200 and protruding toward the radially inner side of the second annular wall 200.

The female buckle 2001 and the stopper groove 2002 are provided in plurality on the second annular wall 200, respectively. In order to fix the window 10 to the base 20, the number of the female buttons 2001 is identical to the number of the male buttons 1001, and the number of the stopper grooves 2002 is identical to the number of the guide stoppers 1002. The position of the pin 1001 in the circumferential direction of the first annular wall 100 corresponds to the position of the box 2001 in the circumferential direction of the second annular wall 200. Likewise, the position of the guide stopper 1002 in the circumferential direction of the first annular wall 100 corresponds to the position of the stopper groove 2002 in the circumferential direction of the second annular wall 200.

In the present embodiment, the number of the female buttons 2001 is 8, and the number of the limit grooves 2002 is 8, but the number of the female buttons 2001 may be 4 to 10, and the number of the limit grooves 2002 may be 4 to 10, as long as they are respectively identical to the number of the male buttons 1001 and the guide stoppers 1002.

Fig. 5 is a schematic cross-sectional view showing a state in which window 10 and base 20 according to embodiment 1 of the present utility model are fixed. Fig. 6 is a partial enlarged view of the first engagement assembly 101 and the second engagement assembly 201 after being fixed.

When the window 10 is mounted on the base 20, the elastic seal ring 30 is first disposed in the annular groove 300 of the first annular wall 100, and then the guide stopper 1002 is inserted into the stopper groove 2002, and at the same time, the pin 1001 is engaged with the box 2001, so that the window 10 and the base 20 can be fixed.

When the window 10 is fixed to the base 20, the female buckle 2001 of the second snap assembly 201 is inserted into the annular groove 300, so that the base 20 and the window 10 are in contact connection through the elastic seal ring 30.

Fig. 7 is a partial enlarged view of the first engaging member 101, and fig. 8 is a partial enlarged view of the second engaging member 201.

As shown in fig. 7, the pin 1001 has an engagement guide surface 1003 that faces radially outward of the first annular wall 100 and guides an engagement direction. The engagement direction is a vertical direction perpendicular to the first annular wall 100 and the second annular wall 200, i.e., a Z direction in fig. 1. At the time of installation, the degree of elastic deformation of the pin 1001 is controlled based on the angle of the engagement guide surface 1003 with respect to the vertical direction, that is, the guide angle. In the present embodiment, the guide angle of the engagement guide surface 1003 of the pin 1001 is preferably 10 degrees to 40 degrees.

Accordingly, as shown in fig. 8, the female button 2001 has an inclined shape 2003 protruding radially inward of the annular wall 200, and the inclined shape 2003 corresponds to the shape of the engagement guide surface 1003 of the male button 1001. The male buckle 1001 is engaged with the female buckle 2001, thereby achieving the purpose of fixing the window 10 and the base 20.

When the pin 1001 and the box 2001 are engaged with each other, the pin and the box are engaged with each other by their own elastic deformation, and thus engaged with each other in the radial direction of the first annular wall (second annular wall) (XY plane in fig. 1). Fig. 9 is a schematic view showing the amount of engagement of the pin and the box. As shown in fig. 9, for easier understanding, only the general shapes of the pin 1001 and the box 2001 are shown, and the other parts are omitted. As can be seen from fig. 9, D represents the amount of engagement of the pin 1001 with the box 2001 when the pin is engaged with the box. In the present embodiment, the amount of engagement between the pin and the box is preferably 0.2mm to 1.0mm.

In order to secure the strength and the firmness of the engagement, it is preferable that the length of the pin 1001 in the circumferential direction of the first annular wall 100 is equal to or longer than the length of the guide stopper 1002 in the circumferential direction of the first annular wall 100. Correspondingly, the length of the female buckle 2001 in the circumferential direction of the second annular wall 200 is preferably equal to or greater than the length of the limit groove 2002 in the circumferential direction of the second annular wall 200.

As shown in fig. 5, after the window 10 and the base 20 are fixed, the laser radar is integrated, and the window 10 at the upper part does not rotate relative to the base 20 due to the cooperation of the guide stopper 1002 and the stopper groove 2002. The seal ring 30 is fitted between the first engagement unit 101 and the second engagement unit 201, and functions to prevent water and dust.

Next, effects of embodiment 1 of the present utility model will be described.

Because the window 10 and the base 20 are fixed by adopting a buckling mode, the operation time is short, the efficiency is high, and the structural strength is high. The strength thereof can be ensured even in the case where the internal air pressure is increased at a high temperature. In addition, the buckle 1001 and the window 10 are integrally formed by injection molding, so that secondary processing is not required, the production efficiency is high, and the window assembly time is short, thereby being beneficial to mass production.

When the window 10 is inserted into the base 20, the stopper 1002 functions as an assembly guide, and the stopper 1002 can be accurately and easily inserted into the stopper groove 2002 by guiding the engagement guide surface 1003 of the stopper 1002, and the pin 1001 can be engaged with the box 2001. After the window 10 is fixed to the base 20, the stopper 1002 can also function to prevent the window 10 from rotating relative to the base 20 in the circumferential direction. Through the quantity of rational arrangement buckle (pin and box) and stopper and spacing groove, can ensure the accurate positioning and firm installation of window and base easily.

Embodiment 2

Embodiment 1 shows a case where the pin 1001 and the guide stopper 1002 are provided at a distance from each other.

In embodiment 2, 1 guide stopper 1002 is provided every two or more pin 1001. The number of the box 2001 and the stopper groove 2002 also corresponds to the number of the pin 1001 and the guide stopper 1002, respectively, and their positions in the circumferential direction of the first annular wall 100 and the second annular wall 200 also correspond to each other.

In this case, although the number of the guide stopper and the stopper groove is reduced, the function of the engagement guide and the function of the rotation preventing stopper are not changed. In addition, as the number of the buckles is increased, the firmness of the buckling is further improved, and the device is applicable to occasions requiring larger buckling force.

Embodiment 3

In embodiment 1, the first engaging member of the first annular wall mounted on the window includes a male buckle and a guiding stopper, and the second engaging member of the second annular wall mounted on the base includes a female buckle and a limiting groove.

In embodiment 3, the first engaging member of the first annular wall mounted on the window may further include a female buckle and a limiting groove, and the second engaging member of the second annular wall mounted on the base may further include a male buckle and a guiding limiter.

That is, in embodiment 3, the first engagement assembly (corresponding to the second engagement assembly of embodiment 1) includes a female buckle and a stopper groove that are distributed in the circumferential direction of the first annular wall and protrude toward the radially inner side of the first annular wall, and the second engagement assembly (corresponding to the first engagement assembly of embodiment 1) includes a male buckle and a guide stopper that are distributed in the circumferential direction of the second annular wall and protrude toward the radially outer side of the second annular wall.

Under the condition, the clamping effect of the window and the base is unchanged, and the window and the base are applicable to different installation environments.

In the above embodiments 1 to 3, the pin 1001 is in the form of a hook, and the guide stopper 1002 is in the form of a boss (with an anti-rotation stopper function), but the present invention is not limited thereto, and the pin 1001 may be any fastener having an engagement (snap-fit) function, and the guide stopper 1002 may be any structure having an anti-rotation stopper function.

In the above embodiments 1 to 3, the female buckle 2001 is in the form of a boss and the stopper groove 2002 is in the form of a notch, but the present invention is not limited thereto, and the female buckle 2001 may be any buckle having an engagement (snap-fit) function, and the stopper groove 2002 may be any structure having a shape matching the guide stopper and capable of performing anti-rotation stopper.

In embodiments 1 to 3, the first engaging means 101 and/or the second engaging means 201 preferably have a hardened layer on the outside or inside. Under the condition, the first clamping assembly and the second clamping assembly are more wear-resistant and not easy to break, and the structure can be kept undamaged under the condition that the clamping assembly is impacted, so that the clamping stability and the clamping firmness are more facilitated.

In embodiments 1 to 3, the first engagement unit 101 and the second engagement unit 201 are preferably made of polyester carbonate. The polyester carbonic acid has outstanding impact toughness, transparency and dimensional stability, excellent mechanical property, electrical insulation, wide use temperature range, good creep resistance, weather resistance, low water absorption, no toxicity and self-extinguishing property. In this case, durability of the fastener can be ensured.

In embodiments 1 to 3, the elastic seal ring is preferably made of silicone rubber.

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

1. A lidar, comprising:

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

A receiving unit provided with 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, configured to receive and process the electrical signal to obtain distance and/or reflectivity information of the object;

A window having a first annular wall, a first snap assembly disposed at an end of the first annular wall, and an annular groove disposed between the first annular wall and the first snap assembly;

an elastic sealing ring arranged in the annular groove; and

A base which is provided with a second annular wall, a second clamping component used for being in clamping connection with the first clamping component is arranged on the inner side of the second annular wall,

The base and the window form a box-type space inside, the transmitting unit, the receiving unit and the data processing unit are contained in the box-type space,

The first clamping assembly comprises male buckles and guide limiters which are distributed in the circumferential direction of the first annular wall and protrude towards the radial outer side of the first annular wall, and the second clamping assembly comprises female buckles and limit grooves which are distributed in the circumferential direction of the second annular wall and protrude towards the radial inner side of the second annular wall;

Or the first clamping assembly comprises a female buckle and a limiting groove which are distributed in the circumferential direction of the first annular wall and protrude towards the radial inner side of the first annular wall, and the second clamping assembly comprises a male buckle and a guiding limiter which are distributed in the circumferential direction of the second annular wall and protrude towards the radial outer side of the second annular wall;

When the window is fixed to the base, the guide limiter is inserted into the limit groove, and the male buckle is clamped with the female buckle, so that the window and the base are fixed.

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

When the window is fixed on the base, the female buckle in the second clamping assembly is embedded into the annular groove, so that the base and the window are in contact connection through the elastic sealing ring.

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

The male buckle is provided with an engaging guide surface which faces radially outwards and is used for guiding an engaging direction,

The clamping direction is a vertical direction perpendicular to the first annular wall and the second annular wall,

The degree of elastic deformation of the pin is controlled based on the angle formed by the engagement guide surface and the vertical direction, i.e., the guide angle.

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

The male buckle and the guide limiter are respectively provided with a plurality of guide limiters, the guide limiters are arranged between the two male buckles,

The female buckles and the limiting grooves are respectively provided with a plurality of limiting grooves, and the limiting grooves are formed between the two female buckles.

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

The number of the female buckles is consistent with that of the male buckles, and the number of the limiting grooves is consistent with that of the guiding limiters.

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

The position of the female buckle in the circumferential direction of the second annular wall or the first annular wall corresponds to the position of the male buckle in the circumferential direction of the first annular wall or the second annular wall,

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

The number of the male buckles is 4 to 10, and the number of the guide limiters is 4 to 10.

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

The female buckle has an inclined shape protruding toward the radial inside, and the inclined shape corresponds to the shape of the engagement guide surface of the male buckle.

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

The guide angle of the clamping guide surface of the male buckle is 10-40 degrees.

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

The length of the male buckle in the circumferential direction is larger than or equal to the length of the guide limiter in the circumferential direction.

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

The clamping amount of the male buckle and the female buckle is 0.2-1.0 mm.

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

The first clamping component and the second clamping component are composed of polyester carbonic acid.

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

The first clamping component and/or the second clamping component are/is provided with a hardening layer.

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

The elastic sealing ring is made of silicon rubber.