CN112888956B - Laser radar - Google Patents

Abstract

A lidar, comprising: the laser receiving and transmitting system is used for transmitting outgoing laser and receiving reflected laser, and the reflected laser is laser returned by the reflection of the outgoing laser by an object in the detection area; the rotating system is arranged on one side of the laser receiving and transmitting system and is detachably connected with the laser receiving and transmitting system, and the rotating system is configured to drive the laser receiving and transmitting system to rotate so as to change the paths of emergent laser and reflected laser; on the one hand, the paths of the laser emitted by the emitting device and the laser received by the receiving device in the laser receiving and transmitting system do not need to avoid other structures, so that the laser receiving and transmitting system is simple in structure and low in cost, and on the other hand, the laser receiving and transmitting system is connected in a detachable mode, and the laser receiving and transmitting system and the receiving device are relatively independent when not connected, so that the manufacturing processes of the laser receiving and transmitting system and the receiving device are independent, and the laser receiving and transmitting system can be produced in a modularized mode at the same time, and the laser radar production efficiency is greatly improved.

Description

Laser radar

Technical Field

The application relates to the technical field of laser detection, in particular to a laser radar.

Background

The laser radar is a radar system for detecting the position, speed and other characteristic quantities of an object by emitting laser beams, and the working principle of the laser radar is that the emitting system firstly emits emitted laser for detection to a detection area, then a receiving system receives reflected laser reflected from the object in the detection area, the reflected laser is compared with the emitted laser, and relevant information of the object such as parameters of distance, azimuth, height, speed, gesture, even shape and the like can be obtained after processing.

Current lidar comprises a housing and a base attached to the lower end of the housing. The base is provided with an upward extending positioning column, the positioning column occupies the space in the center of the shell, and in order to enable laser generated by the laser emitting device to smoothly exit the shell, an optical element is required to be arranged in the shell to adjust the path of the laser, so that the laser in the shell can avoid the positioning column. The structure of the laser radar is complex, and the production cost is high.

Content of the application

The laser radar can separate the light path part and the driving part of the laser radar, so that the internal structure of the light path part is simpler and convenient to manufacture; meanwhile, the light path part and the driving part of the laser radar can be independently produced in a modularized mode, and the processing period of the laser radar is shortened.

According to one aspect of the present application, there is provided a lidar comprising:

the laser receiving and transmitting system is used for transmitting outgoing laser and receiving reflected laser, and the reflected laser is laser returned by reflecting an object in a detected area of the outgoing laser;

the rotating system is arranged on one side of the laser receiving and transmitting system and is detachably connected with the laser receiving and transmitting system, and the rotating system is configured to drive the laser receiving and transmitting system to rotate so as to change the path of the emergent laser.

Further, the rotating system comprises a rotating body, the rotating body rotates around a central axis of the rotating body, and the end part, close to the laser receiving and transmitting system, of the rotating body is in threaded connection with the laser receiving and transmitting system so as to drive the laser receiving and transmitting system to rotate around the central axis.

Further, the rotating system further comprises a base comprising a positioning column extending along a direction parallel to the central axis, the rotating body is provided with a rotating cavity with an opening facing away from the laser receiving and transmitting system, and the positioning column extends into the rotating cavity from the opening;

the rotating system further comprises a driving motor, the driving motor comprises a stator and a rotor, the stator is connected with the positioning column, the rotor is connected with the inner peripheral wall of the rotating cavity, and the driving motor is configured to drive the rotating body to rotate around the positioning column.

Further, the method further comprises the following steps:

a first housing defining an interior chamber, the rotation system being disposed in the interior chamber;

the first shell comprises a fixed structure arranged in the inner cavity, and the rotating body is positioned on the fixed structure by a bearing, so that the rotating body can rotate relative to the fixed structure.

Further, the first housing has a rotation port penetrating the inner chamber and a fixed port opposite to the rotation port, the rotation system being disposed in the inner chamber near the fixed port;

the rotary body comprises a driving body and a shaft body, the driving body defines a rotary cavity with an opening facing the fixed port, the shaft body is connected to the end part of the driving body, which is far away from the fixed port, and the end part of the shaft body, which is far away from the driving body, is in threaded connection with the laser receiving and transmitting system;

the outer peripheral wall of the driving body is sleeved with the bearing.

Further, the base is detachably connected with one end of the first housing at the fixed port, and the positioning column extends from the fixed port toward the rotating port.

Further, the fixing structure defines a containing cavity with two through ends, the bearing comprises an inner ring and an outer ring sleeved outside the inner ring, the inner ring is sleeved on the peripheral wall of the rotating body, and the outer ring is arranged in the containing cavity and connected with the fixing structure.

Further, the lidar further comprises a first housing defining an interior chamber, the first housing having a rotational port through the interior chamber and a stationary port opposite the rotational port, the rotational system being disposed within the interior chamber proximate the stationary port;

one end of the laser receiving and transmitting system is positioned in the inner cavity, the other end of the laser receiving and transmitting system extends out of the inner cavity through the rotating port, the laser receiving and transmitting system comprises a transmitting lens for transmitting emergent laser and a receiving lens for receiving reflected laser, and the transmitting lens and the receiving lens are respectively arranged at one end of the laser receiving and transmitting system extending out of the inner cavity.

Further, the method further comprises the following steps:

the second shell is connected to one end, close to the laser receiving and transmitting system, of the first shell, and the laser receiving and transmitting system is completely located in a cavity enclosed by the second shell and the first shell.

Further, the laser transceiver system further includes:

the support plate is arranged in the inner cavity, one surface of the support plate faces the fixed port, the other surface of the support plate faces the rotating port, and the support plate is detachably connected with the rotating system;

the emitting device is arranged on one side, away from the rotating system, of the supporting plate and is connected with the supporting plate, and the emitting device is used for emitting the emergent laser;

the receiving device is arranged on one side, away from the rotating system, of the supporting plate and is connected with the supporting plate, and the receiving device is used for receiving the reflected laser.

The present application provides a laser radar that separates an optical path portion and a driving portion so that the two portions are relatively independent. The laser radar comprises a laser receiving and transmitting system and a rotating system, wherein a transmitting device capable of transmitting laser and a receiving device capable of receiving the laser are arranged in the laser receiving and transmitting system. The rotating system is arranged on one side of the laser receiving and transmitting system and is detachably connected with the laser receiving and transmitting system.

On the one hand, in the application, the paths of the laser emitted by the emitting device and the laser received by the receiving device in the laser receiving and transmitting system do not need to avoid other structures (the positioning column at the center is required to be avoided in the prior art), so that the laser receiving and transmitting system is simple in structure and low in cost. On the other hand, because the laser receiving and transmitting system adopts a detachable mode to be connected with the rotating system, the laser receiving and transmitting system and the rotating system are relatively independent when not connected, so that the manufacturing processes of the laser receiving and transmitting system and the rotating system are independent, and the laser receiving and transmitting system and the rotating system can be produced in a modularized mode at the same time, and the laser radar production efficiency is greatly improved.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a first cross-sectional schematic view of a lidar provided in an embodiment of the present application;

FIG. 2 is a second cross-sectional schematic view of a lidar provided in an embodiment of the present application;

FIG. 3 is a schematic cross-sectional view of a base, a rotating body, a first housing, and a second housing according to one embodiment of the present disclosure;

FIG. 4 is a schematic cross-sectional view of a laser transceiver system according to one embodiment of the present disclosure;

FIG. 5 is an exploded view of a lidar according to an embodiment of the present application;

FIG. 6 is an exploded schematic view of a cross-sectional view of a lidar provided in an embodiment of the present application;

fig. 7 is an exploded schematic view of the laser transceiver system and the second housing according to an embodiment of the present application.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.

The prior art lidar comprises a housing and a base attached to the lower end of the housing. The base is provided with an upward extending positioning column, and the positioning column stretches into the inner center of the shell. The driving device is connected between the positioning column and the shell to drive the shell to rotate relative to the positioning column. The shell is internally provided with the laser emitting device and the laser receiving device, and the laser emitting device and the laser receiving device can rotate along with the rotation of the shell, so that objects in different areas are detected.

The positioning column occupies the space in the center of the housing, and in order to enable the laser generated by the laser emitting device to be emitted out of the housing smoothly, an optical element needs to be arranged in the housing to adjust the path of the laser so that the laser in the housing can avoid the positioning column. The structure of the laser radar is complex, and the production cost is high. In addition, the laser radar in the prior art has higher integration level, so that the laser radar needs to be processed and assembled in a strict sequence, and the processing period is long.

As shown in fig. 1 to 7, the present embodiment provides a laser radar 10, and the laser radar 10 includes a laser transceiving system 200 and a rotation system 100.

The laser transceiver system 200 includes a transmitting device and a receiving device. The emitting device is used for emitting outgoing laser, and the receiving device is used for receiving reflected laser, wherein the reflected laser is laser returned by the reflection of the outgoing laser by an object in the detection area. After the emitting device emits the outgoing laser, the outgoing laser hits the detection object in the detection area and is reflected back to the laser transceiver system 200, and the reflected laser is received by the receiving device. By comparing the relative parameter changes between the laser emitted by the emitting device and the laser received by the receiving device, the relative information of the detected object, such as parameters of distance, azimuth, height, speed, gesture, even shape and the like, is obtained.

The rotating system 100 is disposed at one side of the laser transceiver system 200 and is detachably connected to the laser transceiver system 200, and the rotating system 100 is configured to drive the laser transceiver system 200 to rotate so as to change the path of the outgoing laser light and the reflected laser light. By changing the path of the outgoing laser, the path of the reflected laser is changed. The scanning area of the laser radar 10 can be changed by changing the paths of the emergent laser and the reflected laser, so that the applicable scene of the laser radar 10 is enriched.

The rotation system 100 can be specifically arranged at any position of the laser transceiver system 200, and the relative position of the rotation system and the laser transceiver system depends on actual requirements. However, for convenience of description, the following is exemplified by the case that the rotation system 100 is disposed below the laser transceiver system 200, and it should be noted that, in other embodiments, the rotation system 100 may be disposed above, to the left of, or to the right of the laser transceiver system 200.

When the rotating system 100 is disposed below the laser transceiver system 200, the upper end of the rotating system 100 is detachably connected to the lower end of the laser transceiver system 200. Specifically, the two can be connected in a threaded connection mode, a clamping mode, a magnetic force attraction mode and the like. To obtain a stable driving force, the rotating parts of the rotating system 100 may be screw-coupled with the laser transceiving system 200.

The laser emitted by the emitting device and the laser received by the receiving device in the laser transceiver system 200 in this embodiment do not need to avoid the rotating component, so the optical path is simple, and an optical element is not required to be arranged to adjust the path of the laser, which reduces the cost of the laser radar 10 as a whole. In addition, since the laser transceiver system 200 is detachably connected with the rotary system 100, the laser transceiver system and the rotary system are relatively independent when not connected, so that the manufacturing processes of the laser transceiver system and the rotary system are independent, and the laser transceiver system and the rotary system can be produced in a modularized manner at the same time, thereby greatly improving the efficiency of producing the laser radar 10.

In one embodiment, the rotating system 100 may include a rotating body 110, the rotating body 110 rotating about its central axis. When the rotation system 100 is disposed below the laser transceiving system 200, the central axis of the rotation body 110 is vertically arranged. The end of the rotating body 110 near the laser transceiving system 200 is screw-coupled with the laser transceiving system 200 to drive the laser transceiving system 200 to rotate around the central axis. When the rotating body 110 rotates around its central axis, the whole laser transceiver system 200 also rotates around the central axis of the rotating body 110, and at this time, the path of the outgoing laser emitted by the emitting device of the laser transceiver system 200 is changed accordingly.

In the screw connection method between the rotary body 110 and the laser transmission/reception system 200, the rotary body 110 may have a screw hole, and a screw or bolt provided in the laser transmission/reception system 200 may extend from the laser transmission/reception system 200 into the screw hole in the rotary body 110 to be screwed with the screw hole. Of course, an external thread may be directly provided at the end of the rotator 110, a connection hole may be provided on the laser transceiver system 200, and an internal thread may be provided on the inner surface of the connection hole, so that the external thread on the rotator 110 is matched with the internal thread in the connection hole to realize the threaded connection between the rotator 110 and the laser transceiver system 200. The threaded connection manner of the rotating body 110 and the laser transceiver system 200 is not limited to the above-mentioned case, and will not be described here.

When the rotating body 110 is disposed below the laser transceiver system 200, the rotating body 110 and the laser transceiver system 200 may be only in shaft hole engagement. For example, a connecting shaft is disposed at the upper end of the rotating body 110, a connecting hole is disposed at the lower end of the laser transceiver system 200, and the connecting shaft stretches into the connecting hole to complete the detachable connection between the rotating body 110 and the laser transceiver system 200, and the transverse cross sections of the connecting shaft and the connecting hole may not be circular, so that the rotating body 110 may drive the laser transceiver system 200 to rotate. Of course, in other embodiments, the above-described connection shaft may be provided in the laser transmitter-receiver system 200, and the above-described connection hole may be provided in the rotating body 110.

In this embodiment, the rotation system 100 further includes a base 500. The base 500 includes a positioning post 510 extending in a direction parallel to the central axis of the rotating body 110. The rotator 110 has a rotation cavity 113 with an opening facing away from the laser transceiving system 200 (i.e. the opening of the rotation cavity 113 is arranged downwards), and the positioning post 510 extends into the rotation cavity 113 from bottom to top. The positioning post 510 is positioned at the center of the rotation chamber 113 after it extends into the rotation chamber 113.

The rotation system 100 further includes a driving motor positioned at the positioning post 510 of the base 500 and driving the rotation body 110 to rotate around the positioning post 510. Specifically, the driving motor may include a stator 141 and a rotor 142, the stator 141 of the driving motor is sleeved on the positioning column 510, and the rotor 142 is connected to the inner circumferential wall of the rotating cavity 113 of the rotating body 110. When the driving motor works, the rotor 142 rotates around the stator 141, so the rotator 110 is driven by the rotor 142 to rotate around the positioning column 510 of the base 500, and the laser receiving and transmitting system 200 is driven by the rotator 110 to rotate relative to the base 500, and finally the purpose of changing the path of the emitted laser of the laser receiving and transmitting system 200 is achieved.

The lidar 10 may also include a first housing 300. The first housing 300 defines an interior chamber 320, and the rotary system 100 is disposed in the interior chamber 320 such that the first housing 300 provides good protection for the rotary system 100. The first housing 300 may have a rotation port 321 at an upper end and a fixed port 322 at a lower end, each of the rotation port 321 and the fixed port 322 penetrating the inner chamber 320 of the first housing 300. The rotary system 100 is specifically disposed within the interior chamber 320 proximate to the stationary port 322. The fixed port 322 of the first housing 300 is fixedly connected with the base 500, and the laser transceiving system 200 generates a rotational motion at the rotational port 321 of the first housing 300.

In one embodiment, the rotator 110 may be positioned on the positioning posts 510 of the base 500, i.e., the positioning posts 510 impart a vertically upward bearing force to the rotator 110. However, in the above structure, the positioning column 510 is required to impart both torque and bearing force to the rotating body 110, so the mechanical performance requirement of the positioning column 510 is high, and the positioning column 510 is disposed in the rotating cavity 113 of the rotating body 110, so the size of the positioning column is limited, and it is difficult to satisfy the practical requirement.

In this embodiment, the first housing 300 may include a fixing structure 310 disposed in the inner chamber 320, and the rotating body 110 is positioned at the fixing structure 310 by the bearing 120 such that the rotating body 110 can rotate relative to the fixing structure 310. I.e., the upward bearing force provided to the rotating body 110 by the fixing structure 310 of the first housing 300 (the first housing 300 gives the bearing force in other directions to the rotating body 110 when the rotating system 100 is disposed in other orientations of the laser transceiving system 200). And the first housing 300 is coupled with the rotating body 110 using the bearing 120 such that the rotating body 110 can be rotated with respect to the fixing structure 310 while the fixing structure 310 can provide the upward bearing force of the rotating body 110.

When the rotation system 100 is disposed under the laser transceiving system 200, the bearing 120 between the rotation body 110 and the fixed structure 310 needs to transmit a vertically upward bearing force. The bearing 120 may be a thrust bearing, and the thrust bearing may be provided at a lower end of the rotating body 110, and may be fixed to the fixing structure 310 of the first housing 300 while abutting the rotating body 110. The thrust bearing can provide a large thrust to the rotating body 110 while ensuring that the rotating body 110 can rotate with respect to the fixed structure 310. When the bearing 120 connected to the rotating body 110 is a thrust bearing, the thrust bearing may be fixed on the base 500, that is, after the positioning column 510 of the base 500 passes through the thrust bearing, the upper surface of the thrust bearing abuts against the rotating body 110, and the lower end surface of the thrust bearing is positioned on the base 500. Of course, the configuration and specific construction of the bearing 120 will depend on the actual requirements.

In one embodiment, the rotator 110 may be used to carry the laser transceiving system 200, i.e., the rotator 110 imparts a vertical upward thrust to the laser transceiving system 200. At this time, the bearing 120 between the rotating body 110 and the first housing 300 receives the weight force common to both the rotating body 110 and the laser transmitter-receiver system 200. Of course, in other embodiments, other structures may be disposed on the first housing 300, and the bearing 120 is connected between the structure and the laser transceiver system 200, so that the first housing 300 can bear the gravity of the laser transceiver system 200 and simultaneously generate relative rotation with the laser transceiver system 200.

The rotating body 110 may include a driving body 111 and a shaft body 112 positioned above the driving body 111. The driving body 111 defines the aforementioned rotation cavity 113 with an opening facing the fixed port 322, the shaft body 112 is connected to an end of the driving body 111 facing away from the fixed port 322, and an end of the shaft body 112 facing away from the driving body 111 is screwed with the laser transceiver system 200. When this is done, the bearing 120 can be fitted to the outer peripheral wall of the driving body 111. Since the lateral cross section of the driving body 111 is large, a large bearing 120 can be provided, and the ultimate bearing capacity of the bearing 120 can be improved. Meanwhile, the bearing 120 is disposed on the peripheral wall of the driving body 111, not disposed at the vertical position of the rotating body 110 (i.e., above or below the rotating body 110), so as to reduce the vertical occupation space of the rotating system 100, thereby reducing the overall vertical height of the laser radar 10 (in the case where the laser transceiver system 200 and the rotating system 100 are disposed up and down).

The base 500 may be integrally provided with the first housing 300, but in order to facilitate the assembly and disassembly of the lidar 10, in this embodiment, the base 500 is detachably connected to an end of the first housing 300 at the fixed port 322, and the positioning post 510 extends from the fixed port 322 toward the rotating port 321. Specifically, the base 500 may be coupled with the first housing 300 using a threaded fastener. When the base 500 is connected to the fixed port 322 of the first housing 300, the base 500 can cover the fixed port 322 of the first housing 300, and at the same time, the base 500 can also be used to support the first housing 300, i.e. the base 500 gives the first housing 300 a vertical upward supporting force. In other embodiments, the first housing 300 may also be configured to support the base 500, i.e. the base 500 is suspended after being connected to the fixing port 322 of the housing, the supporting force of the base 500 is provided by the threaded connection between the base 500 and the first housing 300, and the supporting force of the laser radar 10 as a whole is provided by the first housing 300.

In one embodiment, the fixing structure 310 of the first housing 300 may be a transversely disposed annular bearing platform, but in this embodiment, as shown in fig. 3, the fixing structure 310 defines a receiving cavity 311 with two ends penetrating therethrough in order to provide for convenient installation and fixing of the rotating body 110 and the bearing 120. The bearing 120 may include an inner ring and an outer ring sleeved outside the inner ring, and spherical balls or cylindrical rollers may be disposed between the inner ring and the outer ring. The inner ring of the bearing 120 is sleeved on the outer circumferential wall of the rotating body 110, and the outer ring is arranged in the accommodating chamber 311 of the fixed structure 310 and is connected to the inner circumferential wall of the fixed structure 310.

As shown in fig. 1 to 2, in order to facilitate positioning of the bearing 120, a stepped structure may be provided in the receiving chamber 311 of the fixing structure 310 and the bearing 120 may be fixed on the stepped structure, and the stepped structure may give a bearing force vertically upward to the outer ring of the bearing 120. In order to make the positioning of the rotating body 110 more stable, two bearings 120 may be disposed in the receiving chamber 311 of the fixing structure 310, and the two bearings 120 are respectively sleeved at the upper and lower ends of the outer peripheral wall of the driving body 111.

The shaft body 112 of the rotating body 110 may extend upwards out of the first housing 300 to be detachably connected with the laser transceiver system 200, but in order to improve the connection reliability between the laser transceiver system and the rotating body 110, in this embodiment, the lower end of the laser transceiver system 200 is located in the inner chamber 320 and is detachably connected with the shaft body 112 of the rotating body 110. The other end of the laser transceiver system 200 protrudes upwardly from the rotation port 321 out of the interior chamber 320. The above structure makes the connection between the laser transceiver system 200 and the shaft 112 of the rotator 110 covered by the first housing 300, so that the connection failure between the two is not easy to occur due to the foreign matter entering.

When the lower end of the laser transceiver system 200 extends into the accommodating chamber 311 of the first housing 300, the transmitting lens 220 of the laser transceiver system 200 for transmitting outgoing laser light and the receiving lens 230 for receiving reflected laser light are both located outside the inner chamber 320, i.e. the transmitting lens 220 and the receiving lens 230 are respectively disposed at the upper end of the laser transceiver system 200 extending out of the inner chamber 320, so as to facilitate the transmission and reception of laser light.

The laser transceiver system 200 may further include a support plate 210, the support plate 210 being laterally disposed in the inner chamber 320 of the first housing 300, and one side of the support plate 210 facing the fixed port 322 and the other side facing the rotation port 321. The supporting plate 210 is disposed at the bottom end of the laser transceiver system 200, and the supporting plate 210 is detachably connected to the rotating system 100, specifically, connected to the shaft 112 of the rotating system 100 by using a threaded fastener. The transmitting device and the receiving device of the laser transceiver system 200 are both disposed on the upper end surface of the support plate 210.

To protect the internal components of the laser transceiving system 200, it may further include an outer case 240, the outer case 240 having an opening at a lower end thereof, and the support plate 210 being coupled to the outer case 240 and closing the opening at the lower end of the outer case 240. The transmitting device and the receiving device of the laser transceiver system 200 are disposed in the space enclosed by the outer housing 240 and the support plate 210. Since the space enclosed by the outer housing 240 and the support plate 210 has no other component for shielding the laser path, the laser generated by the laser emitting device can be emitted out of the outer housing 240 along a straight line, and the laser entering the outer housing 240 can also reach the receiving device along a straight line.

The lidar 10 may also include a second housing 400. The second housing 400 is connected to an end of the first housing 300 near the laser transceiver system 200, and the laser transceiver system 200 is completely located in a cavity enclosed by the second housing 400 and the first housing 300. Specifically, the second casing may be spherical and made of a light-transmitting material, so that the outgoing laser generated by the emitting device may be emitted out of the second casing 400; the reflected laser light received by the receiving means can be incident into the second housing 400.

The laser transceiver system 200 may further include a circuit board 250, the circuit board 250 is configured to process and transmit laser signals, the circuit board 250 is fixed on the support plate 210, in particular, the circuit board 250 may be disposed above the circuit board 250, so that the outer housing 240 of the laser transceiver system 200 can protect the circuit board 250, and the circuit board 250 may also be disposed below the support plate 210 to fully utilize the space below the support plate 210. To increase the area of the circuit board 250, an opening may be provided in the circuit board 250, and the shaft body 112 of the rotation system 100 may pass through the opening of the circuit board 250, so that the circuit board 250 may entirely cover the lower surface of the support plate 210.

The lidar 10 may also include a magnetic ring assembly including an inner magnetic ring 151 and an outer magnetic ring 152 disposed about the inner magnetic ring 151. The inner magnetic ring 151 may be sleeved on the positioning post 510, and the outer magnetic ring 152 is fixed at the inner peripheral wall of the rotating body 110. When the rotating body 110 rotates, the outer magnetic ring 152 rotates with respect to the inner magnetic ring 151. The outer magnetic ring 152 is electrically connected with the circuit board 250 of the laser transceiver system 200, and signals are transmitted to the outer magnetic ring 152, and the outer magnetic ring 152 transmits received signals to the inner magnetic ring 151, so that the signals of the laser transceiver system 200 can be smoothly transmitted to the outside of the laser radar 10.

The same or similar reference numerals in the drawings of the present embodiment correspond to the same or similar components; in the description of the present application, it should be understood that, if there is an azimuth or positional relationship indicated by terms such as "upper", "lower", "left", "right", etc., based on the azimuth or positional relationship shown in the drawings, this is for convenience of description and simplification of the description, but does not indicate or imply that the apparatus or element to be referred must have a specific azimuth, be constructed and operated in a specific azimuth, and thus terms describing the positional relationship in the drawings are merely used for illustration and are not to be construed as limitations of the present patent, and that the specific meaning of the terms described above may be understood by those of ordinary skill in the art according to the specific circumstances.

The foregoing description of the preferred embodiments of the present application is not intended to be limiting, but is intended to cover any and all modifications, equivalents, and alternatives falling within the spirit and principles of the present application.

Claims (7)

1. A lidar, comprising:

the laser receiving and transmitting system is used for transmitting outgoing laser and receiving reflected laser, and the reflected laser is laser returned by reflecting an object in a detected area of the outgoing laser;

the rotating system is arranged on one side of the laser receiving and transmitting system and is detachably connected with the laser receiving and transmitting system, and the rotating system is configured to drive the laser receiving and transmitting system to rotate so as to change the path of the emergent laser; the rotating system comprises a rotating body and a driving motor, the rotating body rotates around the central axis of the rotating body, the end part, close to the laser receiving and transmitting system, of the rotating body is in threaded connection with the laser receiving and transmitting system so as to drive the laser receiving and transmitting system to rotate around the central axis, and the rotating body is provided with a rotating cavity with an opening deviating from the laser receiving and transmitting system; the driving motor comprises a stator and a rotor, and the rotor is connected to the inner peripheral wall of the rotating cavity; the rotating system further comprises a base, the base comprises a positioning column extending along the direction parallel to the central axis, the positioning column extends into the rotating cavity from the opening, the stator is connected with the positioning column, and the driving motor is configured to drive the rotating body to rotate around the positioning column;

the rotary body is positioned on the fixed structure by utilizing a bearing, so that the rotary body can rotate relative to the fixed structure.

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

the first shell is provided with a rotary port communicated with the inner cavity and a fixed port opposite to the rotary port, and the rotary system is arranged in the inner cavity and close to the fixed port;

the rotary body comprises a driving body and a shaft body, the driving body defines a rotary cavity with an opening facing the fixed port, the shaft body is connected to the end part of the driving body, which is far away from the fixed port, and the end part of the shaft body, which is far away from the driving body, is in threaded connection with the laser receiving and transmitting system;

the outer peripheral wall of the driving body is sleeved with the bearing.

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

the base is detachably connected with one end of the first shell, which is positioned at the fixed port, and the positioning column extends from the fixed port to the rotary port.

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

the fixed structure defines a containing cavity with two through ends, the bearing comprises an inner ring and an outer ring sleeved outside the inner ring, the inner ring is sleeved on the peripheral wall of the rotating body, and the outer ring is arranged in the containing cavity and connected with the fixed structure.

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

the first shell is provided with a rotary port communicated with the inner cavity and a fixed port opposite to the rotary port, and the rotary system is arranged in the inner cavity and close to the fixed port;

one end of the laser receiving and transmitting system is positioned in the inner cavity, the other end of the laser receiving and transmitting system extends out of the inner cavity through the rotating port, the laser receiving and transmitting system comprises a transmitting lens for transmitting emergent laser and a receiving lens for receiving reflected laser, and the transmitting lens and the receiving lens are respectively arranged at one end of the laser receiving and transmitting system extending out of the inner cavity.

6. The lidar of claim 5, further comprising:

the second shell is connected to one end of the first shell, which is close to the laser receiving and transmitting system, and completely covers the rotating port, and the laser receiving and transmitting system is completely located in a cavity enclosed by the second shell and the first shell.

7. The lidar of claim 5, wherein the laser transceiver system further comprises:

the support plate is arranged in the inner cavity, one surface of the support plate faces the fixed port, the other surface of the support plate faces the rotating port, and the support plate is detachably connected with the rotating system;

the emitting device is arranged on one side, away from the rotating system, of the supporting plate and is connected with the supporting plate, and the emitting device is used for emitting the emergent laser;

the receiving device is arranged on one side, away from the rotating system, of the supporting plate and is connected with the supporting plate, and the receiving device is used for receiving the reflected laser.