CN218158322U

CN218158322U - Rotating base for laser radar and laser radar

Info

Publication number: CN218158322U
Application number: CN202221929757.5U
Authority: CN
Inventors: 唐旭光; 苏健; 雷攀军; 闫敏
Original assignee: Shenzhen Oradar Technology Co Ltd
Current assignee: Shenzhen Oradar Technology Co Ltd
Priority date: 2022-07-22
Filing date: 2022-07-22
Publication date: 2022-12-27
Anticipated expiration: 2032-07-22

Abstract

The application provides a rotating base for a laser radar and the laser radar, which comprise a fixing component, a driving component and a rotating component; the fixing component comprises a base and a coding disc, and the coding disc is arranged in the base and is integrally formed with the base; the rotary assembly comprises a rotary frame and a detection element, the rotary frame comprises a top disc and a hollow cylinder arranged on the bottom surface of the top disc, the hollow cylinder and the base are enclosed to form a first accommodating cavity, and the detection element is arranged on the bottom surface of the top disc and is matched with the coding disc to detect the rotation speed and the position of the rotary assembly; the driving component is arranged in the first accommodating cavity and drives the rotating component to rotate. This application sets up to integrated into one piece through setting up coding disc and base, has saved and has set up detachable connection structure in coding disc and the base, has practiced thrift the inner space of base, has simplified the structure of fixed subassembly for rotating base has compact structure, and is small, and the cost of manufacture is low advantage, has reduced the cost of manufacture of using this rotating base's laser radar.

Description

Rotating base for laser radar and laser radar

Technical Field

The application relates to the technical field of laser radars, in particular to a rotating base for a laser radar and the laser radar.

Background

With the rapid development of the technical field of intelligent radars, the application field of radars is gradually widened, and rotary laser radars are more and more emphasized and applied by various industries due to the powerful functions thereof, and are particularly most widely applied to the robot sweeper industry.

Rotation type laser radar generally includes rotating base and sets up in rotating base's range finding module, and the range finding module can realize 360 rotations in order to detect different regions along with rotating base's rotation, in order to acquire speed and positional information when rotating base is rotatory, can set up the code disc subassembly in order to detect in rotating base usually. However, in the existing rotary laser radar, the structural arrangement of the parts such as the code disc assembly is not reasonable enough, so that the structure of the rotary base is complex and the size is large, thereby limiting the application field of the laser radar or improving the manufacturing cost of the laser radar.

SUMMERY OF THE UTILITY MODEL

An object of the application is to provide a rotating base and lidar for lidar to solve shortcoming and not enough among the prior art.

The application provides a rotating base for lidar, includes: comprises a fixed component, a driving component and a rotating component which is rotationally arranged on the fixed component; the fixing component comprises a base and a coding disc, and the coding disc is arranged in the base and is integrally formed with the base; the rotary assembly comprises a rotary frame and a detection element, the rotary frame comprises a top disc and a hollow cylinder arranged on the bottom surface of the top disc, the hollow cylinder is positioned on the inner side of the coding disc to form a first accommodating cavity with the base in an enclosing mode, and the detection element is arranged on the bottom surface of the top disc and matched with the coding disc to detect the rotation speed and the position of the rotary assembly; the driving assembly is arranged in the first accommodating cavity and used for driving the rotating assembly to rotate.

In some embodiments, the detection element includes a transmitting element and a receiving element, and the transmitting element and the receiving element are arranged at intervals and respectively located at the inner side and the outer side of the coding disc; or the transmitting component and the receiving component are positioned above the coding disc and are arranged opposite to the coding disc. Preferably, the coding disc is cylindrical, and a shielding area and a zero area for calibrating the position are regularly changed on the periphery of one side of the coding disc close to the top disc.

In some embodiments, the swivel base further comprises a first circuit board and a second circuit board; the first circuit board is arranged on the top surface of the top disc, and the detection element is electrically connected with the first circuit board; the second circuit board is arranged in a second accommodating cavity with a downward opening and the lower side surface of the base, and the driving assembly is electrically connected with the second circuit board. Preferably, the fixing assembly further comprises a bottom cover, and the bottom cover is arranged at the opening of the second accommodating cavity.

In some embodiments, the rotating assembly further includes a rotating shaft disposed at the center of the top plate and extending toward the base, the center of the base is provided with a hollow column extending toward the top plate, and the rotating shaft is rotatably connected to the hollow column of the base.

In some embodiments, the driving assembly includes a brushless motor and a transmission coil, the brushless motor and the transmission coil are coaxially disposed with the rotating shaft, and the transmission coil is located above the brushless motor. The brushless motor comprises a stator and a motor rotor arranged opposite to the stator, the stator of the brushless motor is nested in the hollow column of the base, and the rotor of the brushless motor is fixed on the inner side wall of the hollow cylinder. Preferably, a contact pin is arranged on the stator of the brushless motor, and the contact pin is used for electrically connecting the stator with the second circuit board. The transmission coil comprises a receiving coil and a transmitting coil which are arranged up and down, the transmitting coil is nested on the hollow column of the base, and the receiving coil is fixed on the bottom surface of the top disc; the bottom surface of the top disc is provided with an annular groove, and the receiving coil is embedded in the annular groove; the transmitting coil is fixed on the hollow column of the base through a mounting bracket.

The rotating base further comprises an optical communication assembly, and the optical communication assembly comprises a transmitting tube and a receiving tube; the transmitting tube is arranged on the first circuit board, the receiving tube is arranged on the second circuit board, and the transmitting tube and the receiving tube are located on the axis of the rotating shaft.

The application provides a laser radar, which comprises a distance measurement module; a light transmissive outer cover; the rotating base is provided by the embodiment; the light-transmitting outer cover is fixed on the rotating base and covers the outer side of the distance measuring module; the distance measurement module is arranged on the rotating assembly, rotates along with the rotating base and receives and transmits optical signals through the light-transmitting outer cover so as to realize 360-degree scanning of a target view field. The two sides of the rotating base are provided with through connecting holes, and the penetrating outer cover is fixedly connected with the connecting holes through fasteners.

The application relates to a rotating base for laser radar and laser radar's beneficial effect: through setting up coding disc and base to integrated into one piece, both can be through technology integrated into one piece such as moulding plastics to saved and set up in coding disc and base and dismantled connection structure, practiced thrift the inner space of base, simplified the overall structure of fixed subassembly, thereby make rotating base have compact structure, small, advantage that the cost of manufacture is low, and then reduced the cost of manufacture of the laser radar who uses this rotating base.

For a better understanding and implementation, the present application is described in detail below with reference to the accompanying drawings.

Drawings

FIG. 1 is a schematic cross-sectional view of a lidar according to one embodiment of the present application;

FIG. 2 is an exploded view of a lidar according to an embodiment of the present application;

FIG. 3 is a schematic perspective view of a rotating base according to an embodiment of the present disclosure;

FIG. 4 is an exploded view of the rotating base of one embodiment of the present application;

FIG. 5 is a perspective view of a retaining assembly according to one embodiment of the present application;

FIG. 6 is a schematic diagram of an embodiment of the present application showing the use of code wheel and detection element;

FIG. 7 is a cross-sectional view of an embodiment of the present application.

Reference numerals:

1. a base; 11. a housing; 12. a partition plate; 13. a hollow column; 14. a bottom cover; 101. a first accommodating cavity; 102. a second accommodating cavity; 103. connecting holes; 104. shading foam; 2. a code disc; 21. a shielded area; 22. a zero bit region; 3. a second circuit board; 4. a rotating frame; 4a, a top plate; 4b, a hollow cylinder; 41. an annular groove; 42. a rotating shaft; 421. a gasket; 422. a clamp spring; 43. a bearing; 5. a second circuit board; 6. a brushless motor; 61. a stator; 62. a rotor; 71. a receiving coil; 72. a transmitting coil; 721. mounting a bracket; 81. a launch tube; 82. a receiving tube; 91. a transmitting element; 92. receiving a component; a. a distance measuring module; b. a light-transmissive envelope.

Detailed Description

The technical solutions in the embodiments of the present application will be described clearly and completely with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only some embodiments of the present application, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It will be understood that in the description of the present application, the terms "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientation or positional relationship indicated in the drawings for ease of description and simplicity of description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be considered as limiting the present application. The terms "first", "second" are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated, i.e. a feature defined as "first", "second" may explicitly or implicitly include one or more of such features. Further, unless otherwise specified, "a plurality" means two or more.

It should be noted that, in the description of the present application, unless otherwise explicitly specified or limited, the terms "disposed," "connected," and "hollow" are to be construed broadly, e.g., as meaning fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in this application will be understood to be a specific case for those of ordinary skill in the art.

Referring to fig. 1 to 7, a rotating base provided in an embodiment of the present application is described, where the rotating base is used for a laser radar, and a ranging module a of the laser radar may be installed on the rotating base, rotate along with the rotating base, and transmit and receive optical signals through the light-transmitting housing, so as to implement 360-degree scanning of a target field of view. Specifically, this rotating base includes fixed subassembly, drive assembly and rotates the rotating assembly who locates on the fixed subassembly.

As shown in fig. 1-4, the fixing assembly includes a base 1 and a code disc 2, the code disc 2 is disposed in the base 1 and integrally formed therewith; the rotating assembly is rotatably arranged on the fixing assembly and comprises a rotating frame 4 and a detection element, the rotating frame 4 comprises a top disc 4a and a hollow cylinder 4b arranged on the bottom surface of the top disc 4a, the hollow cylinder 4b is positioned on the inner side of the coding disc 2 to form a first accommodating cavity 101 with the base 1 in a surrounding mode, and the detection element is arranged on the bottom surface of the top disc 4a and matched with the coding disc 2 to detect the rotating speed and the position of the rotating assembly, so that the current positions of the rotating assembly and the fixing assembly relative to the initial position can be determined; the driving assembly is arranged in the first accommodating cavity and used for driving the rotating assembly to rotate. In this embodiment, the rotating assembly further includes a first circuit board 5 disposed on the top surface of the top plate 4a, and the first circuit board 5 is fixedly connected to and bears the distance measuring module a and is electrically connected to the distance measuring module a, so that the distance measuring module rotates along with the rotation of the rotating frame 4.

Base 1 includes integrated into one piece's shell 11, division board 12 and court hollow post 13 that the head disc extends, division board 12 sets up in the middle part of shell 11 in order to separate the inner chamber of shell 11 for epicoele and lower chamber, and hollow post 13 sets up in the center of division board 12 and the chamber is protruding up, and hollow section of thick bamboo 4b sets up in the epicoele and encloses out first holding chamber 101 with division board 12 and hollow post 13, and the lower chamber is second holding chamber 102, and second holding chamber 102 opening is down. The hollow column 13 is a through hole that can communicate the first receiving chamber 101 and the second receiving chamber 102 and has a positioning function.

In this embodiment, the rotating base further comprises a first circuit board 5 and a second circuit board 3. The first circuit board 5 is disposed on the top surface of the top plate 4a, fixedly connected to and carrying the distance measuring module a, and electrically connected to the distance measuring module a, so that the distance measuring module rotates along with the rotation of the rotating frame 4. The second circuit board is fixedly disposed in the second accommodating cavity 102 and electrically connected to the driving assembly. In this embodiment, the fixing assembly further includes a bottom cover 14, and the bottom cover 14 covers the opening of the second accommodating cavity 102 to seal the bottom of the base 1, so as to achieve a waterproof effect.

It can be understood that, the rotating base in the embodiment of the present application, the encoding disk 2 and the base 1 are set to be integrally formed, and both of them can be integrally formed through processes such as injection molding, so as to omit the arrangement of detachable connection structures in the encoding disk 2 and the base 1, save the internal space of the base 1, simplify the overall structure of the fixed component, and further enable the rotating base to have the advantages of compact structure, small size and low manufacturing cost, thereby reducing the manufacturing cost of the laser radar using the rotating base.

As shown in fig. 1, 3 and 4, in this embodiment, the central axis of the code disc 2 coincides with the central axis of the hollow cylinder 4b, so that the rotating frame 4 is conveniently installed in the base 1, the overall structural design of the rotating base is more reasonable, the internal space is fully utilized, the structure is compact, and the occupied space is small.

As shown in fig. 5, in the present embodiment, the code disc 2 is cylindrical, and a shielding area 21 and a zero position area 22 for calibrating a position are regularly arranged on a periphery of one side of the code disc, which is close to the top disc 4a, and the zero position area 22 is used as a reference point to facilitate position calculation; the shaded area 21 is regularly varied and is used to facilitate the calculation of the specific rotation speed of the turret 4 and the angle of the turret 4 with respect to the null area 22, thereby facilitating the determination of its specific position. Specifically, in the present embodiment, the encoding disk 2 is provided with a plurality of tooth blocks at intervals on the periphery, the plurality of tooth blocks includes a plurality of equidistant teeth and a zero tooth, the equidistant teeth and the zero tooth are different in size, the shielding region 21 is formed by the plurality of equidistant teeth, and the zero region 22 is a zero tooth.

As shown in fig. 6, the detection element includes a transmission element 91 and a reception element 92, and is electrically connected to the first circuit board 5. In one embodiment, the detection mode of the transmitting component 91 and the receiving component 92 is a correlation mode, and the transmitting component 91 and the receiving component 92 are arranged at intervals and are respectively located at the inner side and the outer side of the code wheel 2. The transmitting component 91 can transmit a detection signal to the receiving component 92, and in the process that the detection element rotates along with the rotating frame 4 relative to the coding disc 2, the detection signal can pass through intervals between a plurality of equidistant teeth and zero teeth, so that the receiving component 92 generates a changed level signal, and data processing is performed through the first circuit board 5, and the rotating speed and the rotating angle of the rotating assembly are obtained. In other embodiments, the detection mode of the transmitting component 91 and the receiving component 92 may also be a reflective type, for example, the transmitting component 91 and the receiving component 92 are located above the code disc 2 and are arranged opposite to the code disc 2, the light of the transmitting component 91 is reflected by the shielding region 21 and the null region 22 of the code disc 2 and then received by the receiving component 92, and the shielding region 21 and the null region 22 have different reflectivities, so that the receiving component 92 generates a varying level signal, and after data processing is performed on the first circuit board 5, the rotation speed and the rotation angle of the rotating assembly can be obtained.

As shown in fig. 1, 2 and 4, the rotating assembly further includes a rotating shaft 42 disposed at the center of the top plate 4a and extending downward, and the rotating shaft 42 is rotatably connected to the hollow column 13 of the base 1 through a bearing 43. The inner ring cover of bearing 43 is established on pivot 42, and the outer loop of bearing 43 is installed in hollow post 13 to realize that pivot 42 is connected with base 1's rotation, pivot 42 and the coaxial setting of hollow post 13 make pivot 42 atress even like this, prevent that pivot 42 from rocking and ageing, guarantee the rotatory stability of swivel mount 4. In this embodiment, two ends of the rotating shaft 42 are respectively provided with a pad 421, the bearing 43 is arranged between the two pads 421, and the two pads 421 are used for enabling the rotating shaft 42 and the inner ring of the bearing 43 to synchronously rotate. Wherein, the one end that top dish 4a was kept away from to pivot 42 is equipped with the draw-in groove, and draw-in groove department is equipped with the jump ring 422 that is used for preventing that gasket 421 from droing, overlaps gasket 421, bearing 43 on pivot 42 in proper order during the installation, then accomplishes bearing 43's installation in going into the draw-in groove with jump ring 422 card, and the purpose that sets up like this makes things convenient for bearing 43's installation and dismantlement. In this embodiment, the rotating shaft 42 is a hollow metal shaft, such as a hollow steel pipe, the rotating frame 4 is a plastic frame, and the rotating shaft 42 and the rotating frame 4 are integrated through a rubber coating process. Therefore, the structural strength of the rotating shaft 42 is guaranteed, the distance measuring module a can be installed on the rotating frame 4, the rotating shaft 42 is firmly connected with the rotating frame 4, and the purpose that the distance measuring module a and the rotating shaft 42 rotate synchronously all the time is achieved.

As shown in fig. 1, 2 and 4, the driving assembly includes a brushless motor 6 and a transmission coil, the brushless motor and the transmission coil are both disposed coaxially with the rotating shaft, and the transmission coil is located above the brushless motor, so that the space of the first accommodating cavity 101 can be fully utilized, and the structure is more compact. The brushless motor 6 is disposed in the first accommodating cavity 101 and electrically connected to the second circuit board, and the brushless motor 6 is electrically connected to the second circuit board 3 to obtain electric energy, so that the brushless motor 6 can obtain enough electric energy. The brushless motor includes a stator 61 and a rotor 62 disposed opposite the stator. The stator 61 of the brushless motor 6 is fixed to the base 1 and nested on the hollow column 13 of the base, specifically, the stator 61 is provided with pins, and the pins pass through the positioning holes on the partition plate 12 downwards to be electrically connected with the second circuit board 3, preferably, the pins and the stator 61 are integrally formed, and the number of the pins can be 3. The rotor 62 of the brushless motor 6 is fixed on the inner side wall of the hollow cylinder 4b, and the rotor 62 of the brushless motor 6 rotates relative to the stator 61 to drive the rotating frame 4 to rotate, so that compared with gear meshing transmission, the driving mode simplifies the structure and reduces the volume. In this embodiment, the stator 61 and the rotor 62 are both permanent magnets, the rotor 62 drives the rotating frame 4 to rotate synchronously in the rotating process relative to the stator 61, the stator 61 is sleeved on the outer side of the hollow column 13, the rotor 62 is fixed on the inner side wall of the hollow cylinder 4b, and the stator 61, the rotating shaft 42 and the hollow column 13 are coaxially arranged.

The transmission coil comprises a receiving coil 71 and a transmitting coil 72 which are arranged up and down, the transmitting coil 72 is fixed on the base 1 and electrically connected with the second circuit board 3, the receiving coil 71 is fixed on the bottom surface of the top plate 4a of the rotating frame 4 and electrically connected with the first circuit board 5, therefore, the second circuit board 3 controls the transmitting coil 72 to generate an electromagnetic field, the transmitting coil 72 and the receiving coil 71 generate inductive coupling, and the receiving coil 71 can convert electromagnetic energy into electric energy and provide the electric energy for the first circuit board 5 so as to supply the electric energy to the ranging module. As shown in fig. 1, the transmitting coil 72 is preferably nested on the hollow column 13 of the base 1 through a mounting bracket 721, so as to facilitate the mounting of the transmitting coil 72 and make it fixed firmly, wherein the mounting bracket 721 is embodied as an annular bracket, the top side of which is provided with a recessed groove for mounting the transmitting coil 72, and the middle part of which is connected with the hollow column 13. Further, the annular groove 41 is formed in the bottom surface of the top disc 4a of the rotating frame 4, the receiving coil 71 is embedded in the annular groove 41, the receiving coil 71 can be conveniently mounted by the annular groove 41, and interference of other parts on the receiving coil 71 is effectively avoided.

As shown in fig. 1, the present embodiment further includes an optical communication assembly, which includes a transmitting tube 81 and a receiving tube 82, the transmitting tube 81 is disposed on the first circuit board 5, the receiving tube 82 is disposed on the second circuit board 3, and the transmitting tube 81 and the receiving tube 82 are located on the axis of the rotating shaft 42. Specifically, the transmitting tube 81 is disposed on the first circuit board 5 and electrically connected thereto, the receiving tube 82 is disposed on the second circuit board 3 and electrically connected thereto, that is, the receiving tube 82 is located in the second accommodating cavity 102, and after the information collected by the distance measuring module is transmitted to the first circuit board 5, the information is transmitted to the receiving tube 82 through the transmitting tube 81, and then is processed by the related circuit on the second circuit board 3.

As can be seen from the above description, the rotating shaft 42 is a hollow metal shaft, the channel in the rotating shaft 42 is used for information transmission between the transmitting tube 81 and the receiving tube 82, and the rotating shaft 42 is made of a metal material and has a shielding effect, so that the interference resistance of information transmission between the transmitting tube 81 and the receiving tube 82 can be increased. Further, the second receiving cavity 102 is provided with a light shielding foam 104, and the light shielding foam 104 is annular and surrounds the receiving tube 82 to reduce light leakage.

As shown in fig. 1 and 2, an embodiment of the present application further provides a laser radar, which includes a distance measuring module a, a light-transmitting housing b, and the rotating base of the embodiment. The light-transmitting outer cover is fixed on the base and covers the outer side of the distance measuring module; the distance measurement module sets up on rotating assembly, follows the rotating base rotation and receives and dispatches light signal through the printing opacity dustcoat to the realization is to 360 degrees scannings of target visual field. The light-transmitting outer cover b can play a role in protection, and the light-transmitting outer cover b is connected with the base 1 through screws, as shown in fig. 7, wherein the cross-sectional direction of fig. 7 is perpendicular to that of fig. 1, specifically, the two sides of the base 1 are provided with through connection holes 103, and the light-transmitting outer cover b is connected with the connection holes 103 through screws. The connection hole 103 is provided to penetrate the upper and lower sides of the base 1, and serves to prevent water from entering the body.

The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the utility model. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application.

Claims

1. A rotary base for a laser radar comprises a fixed component, a driving component and a rotary component which is rotatably arranged on the fixed component, and is characterized in that,

the fixing component comprises a base and a coding disc, and the coding disc is arranged in the base and is integrally formed with the base;

the rotary assembly comprises a rotary frame and a detection element, the rotary frame comprises a top disc and a hollow cylinder arranged on the bottom surface of the top disc, the hollow cylinder is positioned on the inner side of the coding disc to form a first accommodating cavity with the base in a surrounding manner, and the detection element is arranged on the bottom surface of the top disc and is matched with the coding disc to detect the rotation speed and the position of the rotary assembly;

the driving assembly is arranged in the first accommodating cavity and used for driving the rotating assembly to rotate.

2. The swivel base of claim 1, wherein:

the detection element comprises a transmitting element and a receiving element which are arranged at intervals and are respectively positioned on the inner side and the outer side of the coding disc; or the transmitting component and the receiving component are positioned above the coding disc and are arranged opposite to the coding disc.

3. The swivel base of claim 1, wherein:

the circuit board also comprises a first circuit board and a second circuit board; the first circuit board is arranged on the top surface of the top disc, and the detection element is electrically connected with the first circuit board; the second circuit board is arranged on the lower side surface of the base and in a second accommodating cavity with a downward opening, and the driving assembly is electrically connected with the second circuit board.

4. The swivel base of claim 3, wherein:

the rotating assembly further comprises a rotating shaft which is arranged at the center of the top disc and extends towards the base, a hollow column which extends towards the top disc is arranged at the center of the base, and the rotating shaft is rotatably connected into the hollow column of the base.

5. The swivel base of claim 4, wherein:

the drive assembly comprises a brushless motor and a transmission coil, the brushless motor and the transmission coil are coaxially arranged with the rotating shaft, and the transmission coil is positioned above the brushless motor.

6. The swivel base of claim 5, wherein:

brushless motor includes the stator and relatively the rotor that the stator set up, brushless motor's stator nestification in the hollow post of base, brushless motor's rotor is fixed in on the inside wall of cavity section of thick bamboo.

7. The swivel base of claim 6, wherein:

and a contact pin is arranged on the stator of the brushless motor and used for electrically connecting the stator with the second circuit board.

8. The swivel base of claim 5, wherein:

the transmission coil comprises a receiving coil and a transmitting coil which are arranged up and down, the transmitting coil is nested in the hollow column of the base and electrically connected with the second circuit board, and the receiving coil is fixed on the bottom surface of the top plate and electrically connected with the first circuit board.

9. The swivel base of claim 8, wherein:

the bottom surface of the top disc is provided with an annular groove, and the receiving coil is embedded in the annular groove.

10. The swivel base of claim 8, wherein:

the transmitting coil is fixed on the hollow column of the base through a mounting bracket.

11. The swivel base of claim 4, wherein:

the optical communication component comprises a transmitting tube and a receiving tube; the transmitting tube is arranged on the first circuit board, the receiving tube is arranged on the second circuit board, and the transmitting tube and the receiving tube are located on the axis of the rotating shaft.

12. The swivel base of claim 3, wherein:

the fixed component further comprises a bottom cover, and the bottom cover is arranged at the opening of the second accommodating cavity in a covering mode.

13. The swivel base of any of claims 1-12, wherein:

the coding disc is cylindrical, and a shielding area and a zero position area for calibrating positions, which are regularly changed, are arranged on the periphery of one side, close to the top disc, of the coding disc.

14. A lidar, comprising:

a distance measuring module; a light transmissive outer cover; and a swivel base as claimed in any one of claims 1-13;

the light-transmitting outer cover is fixed on the rotating base and covers the outer side of the distance measuring module;

the distance measurement module is arranged on the rotating base, rotates along with the rotating base and transmits and receives optical signals through the light-transmitting outer cover so as to realize 360-degree scanning of a target view field.

15. The lidar of claim 14, wherein:

and both sides of the rotating base are provided with through connecting holes, and the light-transmitting outer cover is fixedly connected with the connecting holes through fasteners.