CN220828706U - Rotary supporting device for laser radar and laser radar - Google Patents

Abstract

The application provides a rotary supporting device for a laser radar and the laser radar, the rotary supporting device comprises a shell with a containing cavity, a central shaft, a bearing supporting piece and a driving module are arranged in the containing cavity, the central shaft is fixed relative to the shell, the bearing supporting piece is matched with the central shaft through a bearing, the driving module is used for driving the bearing supporting piece to rotate, the driving module comprises a stator and a rotor, the rotor comprises an electromagnetic component, the electromagnetic component is fixed on the side wall of the bearing supporting piece, the stator comprises a magnetic component, and the magnetic component is arranged on the outer side of the electromagnetic component and is fixed relative to the shell. The rotary supporting device has the advantages that the structure is simple and compact, the size of the laser radar is reduced, the number of internal elements of the laser radar is reduced, and the cost is saved on the premise that the performance of the laser radar is not affected, so that the assembly and mass production of the laser radar are facilitated.

Description

Rotary supporting device for laser radar and laser radar

Technical Field

The application relates to the field of laser radars, in particular to a rotary supporting device for a laser radar and the laser radar.

Background

Lidars are generally classified into mechanical rotary lidars, forward lidars employing scanning devices, and solid-state lidars. The mechanical rotary laser radar is characterized in that the transmitting device and the receiving device rotate 360 degrees, laser is changed into a surface from a line through the continuous rotary laser transmitters in the horizontal direction, and a plurality of laser transmitters are arranged in the vertical direction to form a plurality of scanning surfaces, so that the scanning of the surrounding environment of the laser radar is realized.

The mechanical rotary laser radar mainly comprises a rotary supporting device and a detection device arranged on the rotary supporting device, wherein the detection device comprises a transmitting device and a receiving device of the laser radar, and the rotary supporting device drives the detection device to rotate so as to detect the surrounding environment of the laser radar. The mechanical rotary laser radar has the advantages of 360-degree field angle in the horizontal direction and the like.

However, the rotary supporting device in the existing mechanical rotary laser radar is not compact in structure, unreasonable in element arrangement, large in radial clearance among the modules on the circuit board, and more in number of axially arranged elements, so that the size and cost of the laser radar are increased, and the assembly and mass production are not facilitated.

Disclosure of utility model

The application provides a rotary supporting device for a laser radar and the laser radar, which can ensure that the laser radar has compact structure and more reasonable element arrangement on the premise of not influencing the performance of the laser radar, reduce radial gaps among modules on a circuit board, reduce the number of elements which are axially arranged, and reduce the peripheral size and cost of the laser radar, thereby being beneficial to the assembly and mass production of the laser radar. In order to achieve the above purpose, the embodiment of the present application adopts the following technical scheme:

in a first aspect, an embodiment of the present application provides a rotation support device for a lidar, including

A housing having a receiving cavity;

The central shaft is arranged in the accommodating cavity and is fixed relative to the shell;

the bearing support piece is arranged in the accommodating cavity and matched with the central shaft through a bearing so as to enable the bearing support piece to rotate relative to the central shaft; and

The driving module is arranged in the accommodating cavity and is configured to drive the bearing support to rotate, the driving module comprises a stator and a rotor, the rotor comprises an electromagnetic component, the electromagnetic component is fixed on the side wall of the bearing support, the stator comprises a magnetic component, and the magnetic component is arranged on the outer side of the electromagnetic component and is fixed relative to the shell.

According to some embodiments of the application, the electromagnetic component is disposed around the bearing support, and the magnetic component is disposed around and radially opposite the electromagnetic component.

According to some embodiments of the application, the rotary support device further comprises: and the stator fixing piece is fixed relative to the shell, and the magnetic component is fixed on the stator fixing piece.

According to some embodiments of the application, the magnetic member is of annular configuration, and the stator mount is disposed around an outer peripheral surface of the magnetic member.

According to some embodiments of the application, the rotary support device further comprises a wireless power module configured to power components of the lidar that rotate with the bearing support.

According to some embodiments of the application, the wireless power module comprises: a transmitting coil fixed relative to the housing; and a receiving coil disposed axially opposite the transmitting coil and configured to rotate with the bearing support.

According to some embodiments of the application, the rotary support device further comprises a lower circuit board fixed relative to the housing, and the lower circuit board is disposed around the central shaft or bearing support, and the transmitting coil is disposed on the lower circuit board to supply power to the transmitting coil through the lower circuit board.

According to some embodiments of the application, the rotary support device further comprises: and a transmitting coil fixing member disposed around an outer circumferential surface of the stator fixing member, the transmitting coil fixing member configured to fix the transmitting coil, and the transmitting coil fixing member disposed between the stator fixing member and the transmitting coil.

According to some embodiments of the application, the magnetic component and the transmitter coil mount are disposed on the stator mount, the stator mount being fixedly connected to the housing.

According to some embodiments of the application, the transmitting coil fixing member is made of an insulating material.

According to some embodiments of the application, the rotary support device further comprises: and the rotating support piece is fixed relative to the bearing support piece, and the detection device of the laser radar is arranged on the rotating support piece.

According to some embodiments of the application, the housing comprises a bottom and a side wall disposed around the bottom, the rotary support device further comprises a position detection module configured to detect rotational position information of the detection device, the position detection module comprising: the code disc is arranged on the inner surface of the side wall in a surrounding mode, and a code channel is arranged on the code disc; and the code reader is fixed relative to the rotary support and is arranged opposite to the code disc in the radial direction, and the code reader rotates along with the rotary support to detect the code channel on the code disc.

According to some embodiments of the application, the track extends parallel to the central axis.

According to some embodiments of the application, an upper circuit board is arranged between the rotary support and the detection device, and the code reader is fixed on the upper circuit board.

According to some embodiments of the application, a code reader circuit board is arranged below the upper circuit board, and the code reader is arranged on the code reader circuit board.

According to some embodiments of the application, the upper circuit board is perpendicular to the central axis, and the code reader circuit board is parallel to the central axis.

According to some embodiments of the application, a gap between the code reader and the code wheel is smaller than a width of the code wheel in an axial direction.

According to some embodiments of the application, the upper circuit board is further provided with a processor, and the processor is electrically connected with the code reader to process the rotation position information acquired by the code reader.

According to some embodiments of the application, the driving module, the wireless power supply module and the position detection module are all arranged around the central shaft as a center, and the driving module, the wireless power supply module and the position detection module are sequentially arranged along a direction away from the central shaft.

According to some embodiments of the application, the rotary support device further comprises an intermediate circuit board, the intermediate circuit board is disposed on the rotary support and located between the upper circuit board and the lower circuit board, the intermediate circuit board is disposed around the central shaft or the bearing support, the intermediate circuit board is capable of supplying power to the upper circuit board and the electromagnetic component, the receiving coil of the wireless power supply module is also disposed on the rotary support, and the receiving coil and the intermediate circuit board are disposed on two sides of the rotary support, respectively.

According to some embodiments of the application, the rotary support device further comprises: the optical communication circuit board is arranged on the shell; the uplink wireless communication transmitter and the downlink wireless communication receiver are arranged on the optical communication circuit board; the uplink wireless communication receiver and the downlink wireless communication transmitter are both arranged on the upper circuit board, the uplink wireless communication transmitter and the uplink wireless communication receiver are configured to perform uplink optical communication, and the uplink optical communication is realized in the central shaft; the downstream wireless communication transmitter and the downstream wireless communication receiver are configured for downstream optical communication, and the downstream optical communication is implemented within the central axis.

According to some embodiments of the application, the bearing comprises a first bearing and a second bearing, the first bearing and the second bearing are respectively arranged at two ends of the central shaft, the inner ring of the first bearing and the inner ring of the second bearing are respectively sleeved at two ends of the central shaft, the bearing support piece comprises a first bearing chamber and a second bearing chamber, the outer ring of the first bearing is fixed with the first bearing chamber, and the outer ring of the second bearing is fixed with the second bearing chamber.

According to some embodiments of the application, the side wall of the bearing support is provided with a flange extending outwards, and the rotary support is connected with the flange of the bearing support.

According to some embodiments of the application, the flange and the first end face of the bearing support have a predetermined spacing therebetween, and the rotary support is disposed between the flange and the first end face.

According to some embodiments of the application, the electromagnetic component is provided with a first clamping portion, the bearing support is provided with a second clamping portion, and the first clamping portion is clamped with the second clamping portion.

In a second aspect, an embodiment of the present application provides a lidar, including:

The rotary support device described in any one of the embodiments of the first aspect above;

The detection device is arranged on the rotary supporting device, and the detection device is driven to rotate through the rotary supporting device so as to detect the periphery of the laser radar.

According to some embodiments of the application, the detection device comprises: a light emitting device configured to emit probe light; a light receiving device for receiving the echo light of the probe light reflected by the target object; and the light emitting device and the light receiving device are arranged on the driving circuit board.

The rotary supporting device for the laser radar and the laser radar provided by the embodiment of the application have the following beneficial effects:

1. According to the rotary supporting device provided by the embodiment of the application, the electromagnetic component is arranged on the rotor, the magnetic component is arranged on the stator, so that a magnetic field is generated after the rotor is electrified, the magnetic field and the magnetic component of the stator drive the rotor and the bearing support to rotate under the interaction of the magnetic field, and the electromagnetic component is directly fixed on the side wall of the bearing support and rotates along with the bearing support in the structure, so that a gap between the electromagnetic component and the bearing support is omitted, the peripheral size of the rotary supporting device can be reduced, the structure of the laser radar is more compact on the premise that the performance of the laser radar is not influenced, the peripheral size of the laser radar is reduced, and the assembly and mass production of the laser radar are facilitated;

2. According to the rotary supporting device provided by the embodiment of the application, the transmitting coil fixing piece is arranged to fix the transmitting coil, the transmitting coil fixing piece is arranged around the outer peripheral surface of the stator fixing piece, and the transmitting coil fixing piece is arranged between the stator fixing piece and the transmitting coil. Compared with the prior art, the structure reduces a circuit board for supplying power to the transmitting coil, so that the number of elements arranged axially is reduced, and the height of the laser radar is reduced;

3. According to the rotary supporting device provided by the embodiment of the application, as the code disc of the position detection module is arranged on the inner surface of the side wall of the shell in a surrounding manner, the code reader of the position detection module is fixed relative to the rotary supporting piece and is arranged opposite to the code disc along the radial direction, and the code reader rotates along with the rotary supporting piece to detect the code channel on the code disc. Therefore, compared with the prior art, the space occupied by the surface of the code wheel provided with the code channels is changed from radial space to axial space, so that the peripheral size of the rotary supporting device can be further reduced;

4. According to the rotary supporting device provided by the embodiment of the application, as the upper circuit board is provided with the processor, the processor is electrically connected with the code reader to process the rotary position information acquired by the code reader, compared with the scheme that the processor is arranged on the lower circuit board in the prior art, the rotary supporting device can directly process the position information detected by the position detection module through the processor of the upper circuit board, so that the number, the size and the manufacturing cost of elements on the lower circuit board are reduced, and the peripheral size of the laser radar is reduced;

5. According to the rotary supporting device provided by the embodiment of the application, the flange is arranged on the side wall of the bearing supporting piece in an outward extending manner, the preset interval is arranged between the flange and the first end face of the bearing supporting piece, and the rotary supporting piece is arranged between the flange and the first end face, so that the axial space occupied by the rotary supporting piece is saved;

6. The laser radar provided by the embodiment of the application adopts the rotary supporting device in any embodiment, so that the peripheral size of the rotary supporting device can be reduced, the peripheral size of the laser radar is reduced, the laser radar is compact in structure and more reasonable in element arrangement on the premise of not affecting the performance of the laser radar, radial gaps among modules on a circuit board are reduced, the number of elements axially arranged by the laser radar is reduced, and the peripheral size and cost of the laser radar are reduced, so that the laser radar is favorable for assembly and batch production.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present description, the drawings that are needed in the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present description, 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 cross-sectional view of a rotary support device according to an embodiment of the present application;

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

FIG. 3 is an exploded view of portion A of FIG. 2;

Fig. 4 is a schematic structural diagram of a bearing support and an electromagnetic component in a rotary supporting device according to an embodiment of the present application;

fig. 5 is a schematic structural diagram of a rotary supporting device according to an embodiment of the present application when a driving module and a wireless power supply module are not installed;

Fig. 6 is a schematic diagram of a position detection module in a rotary supporting device according to an embodiment of the present application;

fig. 7 is a schematic structural diagram of a detection device in a lidar according to an embodiment of the present application;

fig. 8 is a schematic structural diagram of an upper circuit board in a lidar according to an embodiment of the present application;

fig. 9 is a schematic structural diagram of a lidar according to an embodiment of the present application.

Detailed Description

The following description is presented to enable one of ordinary skill in the art to make and use the invention, and is provided in the context of a particular application and its requirements. Various modifications to the disclosed embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments and applications without departing from the spirit and scope of the disclosure. Thus, the present description is not limited to the embodiments shown, but is to be accorded the widest scope consistent with the claims.

The terminology used herein is for the purpose of describing particular example embodiments only and is not intended to be limiting. For example, as used herein, the singular forms "a", "an" and "the" include plural referents unless the context clearly dictates otherwise. The terms "comprises," "comprising," "includes," and/or "including," when used in this specification, are taken to specify the presence of stated integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

In the present application, the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "vertical", "horizontal", "lateral", "longitudinal" and the like indicate an azimuth or a positional relationship based on that shown in the drawings. These terms are only used to better describe the present application and its embodiments and are not intended to limit the scope of the indicated devices, elements or components to the particular orientations or to configure and operate in the particular orientations.

Also, some of the terms described above may be used to indicate other meanings in addition to orientation or positional relationships, for example, the term "upper" may also be used to indicate some sort of attachment or connection in some cases. The specific meaning of these terms in the present application will be understood by those of ordinary skill in the art according to the specific circumstances.

Furthermore, the terms "mounted," "configured," "provided," "connected," and "connected" are to be construed broadly. For example, it may be a fixed connection, a removable connection, or a unitary construction; may be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements, or components. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.

These and other features of the present specification, as well as the operation and function of the related elements of structure, as well as the combination of parts and economies of manufacture, may be significantly improved upon in view of the following description. All of which form a part of this specification, reference is made to the accompanying drawings. It is to be expressly understood, however, that the drawings are for the purpose of illustration and description only and are not intended as a definition of the limits of the description. It should also be understood that the drawings are not drawn to scale.

In order to solve the problems of the prior art that the rotating support device is not compact in structure, unreasonable in arrangement of internal elements, large in radial clearance between modules on a circuit board, more in number of axially arranged elements, and increased in peripheral size and cost of the laser radar, thereby affecting the assembly and batch production of the laser radar, the application provides a rotating support device for the laser radar, which comprises

A housing having a receiving cavity;

The central shaft is arranged in the accommodating cavity and is fixed relative to the shell;

the bearing support piece is arranged in the accommodating cavity and matched with the central shaft through a bearing so as to enable the bearing support piece to rotate relative to the central shaft; and

The driving module is arranged in the accommodating cavity and is configured to drive the bearing support to rotate, the driving module comprises a stator and a rotor, the rotor comprises an electromagnetic component, the electromagnetic component is fixed on the side wall of the bearing support, the stator comprises a magnetic component, and the magnetic component is arranged on the outer side of the electromagnetic component and is fixed relative to the shell.

According to the rotary supporting device provided by the embodiment of the application, the electromagnetic component is arranged on the rotor, and the magnetic component is arranged on the stator, so that a magnetic field is generated after the rotor is electrified, and the magnetic field of the magnetic component of the stator interact to drive the rotor and the bearing supporting piece to rotate. Because the electromagnetic component is directly fixed on the side wall of the bearing support piece in the structure and rotates along with the bearing support piece, the gap between the electromagnetic component and the bearing support piece is omitted, and the peripheral size of the rotary support device can be reduced, so that the structure of the laser radar is more compact on the premise of not influencing the performance of the laser radar, the peripheral size of the laser radar is reduced, and the assembly and mass production of the laser radar are facilitated. The application is illustrated in detail below by means of specific examples:

as shown in fig. 1 and 2, an embodiment of the present application provides a rotation support device for a laser radar, where the rotation support device includes a central shaft 2, a bearing 5 is sleeved on the outer circumference of the central shaft 2, a bearing support 3 is provided on the outer circumference of the bearing 5, where the bearing 5 includes a first bearing 51 and a second bearing 52, the first bearing 51 and the second bearing 52 are respectively disposed at two ends of the central shaft 2, and an inner ring of the first bearing 51 and an inner ring of the second bearing 52 are both sleeved on the central shaft 2 and are in clearance fit with the central shaft 2. Accordingly, the bearing support 3 comprises a first bearing chamber and a second bearing chamber, wherein the first bearing chamber and the second bearing chamber refer to the space within the bearing support 3 for accommodating the bearing 5. Specifically, the outer race of the first bearing 51 is interference-fitted with the first bearing chamber, and the outer race of the second bearing 52 is interference-fitted with the second bearing chamber, so that the bearing outer race and the bearing support 3 can rotate synchronously with respect to the central shaft 2.

In assembling the bearing support 3, a specific assembly process is as follows: the outer rings of the first bearing 51 and the second bearing 52 are first fixed into the first bearing chamber and the second bearing chamber of the bearing support 3 by interference fit, respectively, then the bearing support 3 with the first bearing 51 and the second bearing 52 is integrally sleeved on the central shaft 2, so that the inner rings of the first bearing 51 and the second bearing 52 are in clearance fit with the central shaft 2, and the central shaft 2 is connected and supports the second bearing 52 in the axial direction, thereby the central shaft 2 supports the bearing support 3 with the first bearing 51 and the second bearing 52 in the axial direction, and finally the inner rings of the first bearing 51 are locked by the locking member 21 such as a snap spring to prevent the bearing 5 and the bearing support 3 from moving in the axial direction of the central shaft 2.

As shown in fig. 1, the outer side of the bearing support 3 is provided with a driving module 4, the driving module 4 comprises a stator and a rotor, the rotor comprises an electromagnetic component 41, the stator comprises a magnetic component 42, the electromagnetic component 41 is fixed on the side wall of the bearing support 3, and the magnetic component 42 is arranged on the outer side of the electromagnetic component 41 and fixed relative to the housing 1. The detection device (not shown in the figure) of the laser radar is fixed relative to the bearing support 3, and the bearing support 3 is driven to rotate by the driving module 4, so that the bearing support 3 drives the detection device to rotate 360 degrees along the horizontal direction, and 360-degree detection of the laser radar is realized. The driving module 4 sets the electromagnetic component 41 on the rotor and the magnetic component 42 on the stator, so that a magnetic field is generated after the electromagnetic component 41 is electrified, and the rotor and the bearing support 3 are driven to rotate under the interaction of the magnetic field of the magnetic component 42. Because the electromagnetic component 41 is directly fixed on the side wall of the bearing support 3 and rotates along with the bearing support 3 in the structure, compared with the prior art, the application omits the gap between the electromagnetic component 41 and the bearing support 3, and can reduce the peripheral size of the rotary support device, thereby ensuring that the structure of the laser radar is more compact and the peripheral size of the laser radar is reduced on the premise of not influencing the performance of the laser radar, and being beneficial to the assembly and mass production of the laser radar.

Specifically, the above-described electromagnetic member 41 may be provided in a ring-like structure and disposed around the bearing support 3, and its height in the axial direction may be substantially close to that of the second bearing 52. The magnetic member 42 may be provided in a ring-like structure, and may be provided around the electromagnetic member 41. The magnetic member 42 is disposed radially opposite to the electromagnetic member 41 to ensure electromagnetic induction therebetween. In order to further reduce the outer peripheral size of the rotary supporting means, the portion of the outer side wall of the bearing support 3 for disposing the electromagnetic member 41 may be disposed in a radially depressed structure toward the central axis, whereby the electromagnetic member 41 and the magnetic member 42 may be positioned at a position close to the central axis 2, thereby further reducing the outer peripheral size of the rotary supporting means. In addition, after the structure recessed toward the central axis is formed on the outer side wall of the bearing support 3, the outer side wall of the bearing support 3 is formed with a step portion, and when the electromagnetic member 41 is mounted, the end surface of the electromagnetic member 41 can be abutted against the step portion, thereby realizing the axial positioning of the electromagnetic member 41.

In fixing the electromagnetic member 41 to the outer side wall of the bearing support 3, the fixing may be performed by various fixing means, such as bonding, screwing, clamping, welding, and the like. When the clamping manner is used, as shown in fig. 4, a first clamping portion 411 may be provided on the electromagnetic component 41, and a second clamping portion 31 may be provided on the bearing support 3, and the first clamping portion 411 and the second clamping portion 31 may be clamped to prevent the electromagnetic component 41 and the bearing support 3 from rotating relatively. Specifically, the first clamping portion 411 may be a boss, and the corresponding second clamping portion 31 may be a clamping groove; or the first clamping portion 411 is a clamping groove, and the corresponding second clamping portion 31 is a boss.

The stator fixing member 43 may be used for fixing the magnetic member 42. Specifically, the stator fixing piece 43 may be fixed to the housing 1 first, and then the magnetic member 42 may be fixed to the stator fixing piece 43. As shown in fig. 1 and 3, the stator fixing member 43 may be an annular bracket that is disposed around the outer circumference of the magnetic member 42 and fixedly connected to the magnetic member 42. Specifically, a positioning step is formed on one side of the annular support, facing the central shaft 2, and the magnetic component 42 is fixed on the positioning step, and specifically, the fixing can be performed by adopting modes of bonding, clamping, threaded connection, welding and the like.

Specifically, the electromagnetic member 41 may be an annular electromagnet including an iron core and a coil winding wound around the outside of the iron core. The magnetic member 42 may be a ring-shaped permanent magnet, the interior of which is charged with a sine wave magnetic field.

Since the electromagnetic member 41 is rotated, the wireless power supply module 6 can be used to supply power to the electromagnetic member 41. The wireless power supply module 6 can supply power to other components which rotate along with the bearing support 3 and need power, such as a circuit board arranged on the bearing support 3 and components which need power in the detection device, besides supplying power to the electromagnetic component 41.

Specifically, the wireless power supply may be performed by using the principle of electromagnetic induction, as shown in fig. 1 and 3, the wireless power supply module 6 may be disposed outside the driving module 4, and the wireless power supply module 6 includes a transmitting coil 61 and a receiving coil 62, where the transmitting coil 61 is fixed relative to the housing 1, and the receiving coil 62 is disposed opposite to the transmitting coil 61 in an axial direction and is capable of rotating with the bearing support 3. In particular, the transmitting coil 61, the driving module 4, and the second bearing 52 may be disposed to have a substantially similar height in the axial direction, and the transmitting coil 61 may be disposed outside the stator mount 43, and the receiving coil 62 may be also disposed to have a substantially similar height in the axial direction to the first bearing 51, so that the axial height may not be increased; and the receiving coil 62 is disposed above the transmitting coil 61 with a space therebetween. Thus, when power is supplied, the transmitting coil 61 may be electrically connected to an external power supply to supply power to the transmitting coil 61, alternating current flows into the transmitting coil 61, a varying magnetic field is generated around the transmitting coil 61, and the varying magnetic field induces current at the receiving coil 62 to supply power to the electromagnetic component 41 or the like, thereby realizing wireless power supply to the electromagnetic component 41 or the like.

It should be noted that, besides the above electromagnetic induction type wireless power supply mode, the wireless power supply module 6 may also adopt other principles to perform wireless power supply, which is not described herein.

As shown in fig. 1, 2 and 3, the transmitting coil 61 may be supplied with power by a lower circuit board 11 fixed opposite the housing 1, said lower circuit board 11 may be arranged in a ring-like structure and around said central shaft 2, bearing 5 or bearing support 3. Specifically, the stator fixing member 43 is disposed on the bottom of the casing 1 and fixedly connected, and the lower circuit board 11 is disposed on the stator fixing member 43, thereby realizing the relative fixation of the lower circuit board 11 and the casing 1, and the lower circuit board 11 is electrically connected with an external power source to directly supply power to the transmitting coil 61 through the lower circuit board 11. This structure reduces a circuit board for supplying power to the transmitting coil 61 in the axial direction compared with the prior art, and thus reduces the height of the lidar.

The lower circuit board 11 may supply power to other electric components fixed to the housing 1 in addition to the transmitting coil 61, for example, the lower circuit board 11 may supply power to the optical communication circuit board 12. The lower circuit board 11 is arranged around said central shaft 2 or bearing 5 or bearing support 3.

In order to fix the transmitting coil 61, as shown in fig. 1, 3, and 5, a transmitting coil fixing member 63 may be provided, and in particular, the transmitting coil fixing member 63 may be provided in a ring-like structure and disposed around the outer circumferential surface of the above-described stator fixing member 43, and the transmitting coil 61 is disposed around the outer circumferential surface of the transmitting coil fixing member 63. The transmitting coil fixing member 63 may be fixed to the outer circumferential surface of the stator fixing member 43, and the transmitting coil 61 may be fixed to the outer circumferential surface of the transmitting coil fixing member 63, i.e., a side remote from the stator fixing member 43.

In addition, in order to save components, the transmitting coil 61 may be directly fixed to the outside of the stator mount 43. The outer peripheral size of the rotary supporting means can be further reduced by fixing the transmitting coil 61 by the transmitting coil fixing member 63 and directly fixing the magnetic member 42 by the stator fixing member 43.

In fixing the above-mentioned transmitting coil fixing member 63, the magnetic member 42 and the transmitting coil fixing member 63 may be disposed on the stator fixing member 43, and then the stator fixing member 43 may be fixed to the bottom of the housing 1, and the lower circuit board 11 may be fixed to the stator fixing member 43, thereby achieving the relative fixation of the transmitting coil 61, the transmitting coil fixing member 63, the magnetic member 42, the stator fixing member 43, the lower circuit board 11, and the housing 1. Since the strength of the circuit board is usually not high, in order to improve the connection strength, the stator fixing member 43 may be fixedly connected to the bottom of the housing 1 by penetrating through the lower circuit board 11, and in the specific connection, bonding, screwing, clamping, welding, and the like may be adopted.

In order to prevent interference between the transmitter coil 61 and the magnetic member 42, the transmitter coil holder 63 may be made of an insulating material. So that effective isolation can be formed between the transmitting coil 61 and the magnetic member 42, preventing electromagnetic interference from occurring between the transmitting coil 61 and the magnetic member 42. In particular, the transmitting coil fixing member 63 may be made of plastic material.

As shown in fig. 1, 2 and 9, in order to install and position the detection device 100 of the laser radar, a rotating support member 7 may be disposed on the bearing support member 3, and the detection device 100 of the laser radar may be installed on the rotating support member 7, so that the bearing support member 3 may drive the rotating support member 7 and the detection device 100 to rotate synchronously when rotating. In particular, the rotary support 7 may take the form of an annular rotary support structure and be arranged around the bearing support 3. The rotary support 7 may be located above the drive module 4 and the wireless power module 6 and substantially close to the height of the first bearing 51 in the axial direction.

In order to facilitate the connection of the bearing support 3 and the rotary support 7, a flange 32 may be provided extending outwardly from the side wall of the bearing support 3, and the rotary support 7 may then be connected to said flange 32. As shown in fig. 2, the flange 32 includes an annular protrusion 321 protruding outward from the outer side wall of the bearing support 3, and a plurality of protrusions 322 protruding outward from the annular protrusion 321. Wherein, a plurality of protruding parts 322 can be used for setting up the connecting hole, connect with rotatory support 7 through the connecting hole. The flange 32 may be disposed at an axial end of the bearing support 3, where a preset distance is provided between the flange 32 and a first end face of the bearing support 3 (i.e., an upper end face of the bearing support 3 in fig. 1), so that the rotating support 7 may be disposed between the flange 32 and the first end face, and the rotating support 7 is supported by the flange 32 in an axial direction, thereby saving an axial space occupied by the rotating support 7.

As shown in fig. 1, the receiving coil 62 may be fixed to an edge region of the lower surface of the rotation support 7, and a recess structure may be provided at the lower surface of the rotation support 7 such that at least a portion of the receiving coil 62 is embedded in the recess structure, whereby the height of the rotation support device may be further reduced. In addition, the step formed by the recessed structure also radially restrains the receiving coil 62, preventing the receiving coil 62 from moving radially, so that the receiving coil 62 and the transmitting coil 61 remain aligned in the axial direction.

In order to detect the rotation information of the detecting device 100, the rotation speed and the rotation angle of the motor are accurately controlled. As shown in fig. 6, a position detection module 8 may be provided. The position detection module 8 comprises a code disc 81 and a code reader 82, one of the code disc 81 and the code reader 82 can be fixed relative to the shell 1, the other is fixed relative to the rotor, and the code disc 81 and the code reader 82 are oppositely arranged, so that when the rotor rotates, the information of a code channel on the code disc 81 can be read through the code reader 82, and the rotating speed and the rotating angle of the motor can be accurately controlled. When the surface of the code disc 81 provided with the code channel is perpendicular to the central shaft 2 and can be parallel to the central shaft 2, the surface of the code disc 81 provided with the code channel needs to be reserved with a certain width when the surface of the code disc 81 provided with the code channel is perpendicular to the central shaft 2, so that a certain radial space is occupied, and the radial peripheral size of the rotary supporting device is larger. Therefore, in order to save radial space, as shown in fig. 5 and 6, the code wheel 81 may be disposed around the inner surface of the side wall of the housing 1, such that the surface of the code wheel 81 provided with the code tracks faces the direction of the central axis 2, and when the code tracks on the code wheel 81 are disposed, the extending direction of the code tracks may be disposed parallel to the central axis 2. And fixes the code reader 82 with respect to the rotary support 7 and is disposed radially opposite to the code wheel 81. When the code reader 82 rotates along with the rotation support 7, the code track on the code wheel 81 can be detected. Thereby, the space occupied by the surface of the code wheel 81 provided with the code channels can be changed from the radial space to the axial space, so that the outer peripheral size of the rotary supporting means can be reduced.

When the code reader 82 is fixed, the code reader 82 may be disposed on the upper circuit board 71. The upper circuit board 71 is disposed between the rotation support 7 and the detecting device 100 to rotate with the rotation support 7. The upper circuit board 71 is further provided with a processor electrically connected to the code reader 82 to process the rotation position information acquired by the code reader 82, and to receive and process the detection signal of the detection device 100. Specifically, as shown in fig. 6, a code reader circuit board 83 is provided below the upper circuit board 71, and the code reader 82 is provided on the code reader circuit board 83. The upper circuit board 71 may be arranged vertically with respect to said central axis 2, thereby facilitating the connection of the detecting device 100. The code reader circuit board 83 may be disposed parallel to the central axis 2, and specifically, the upper end of the code reader circuit board 83 may be connected to the upper circuit board 71, for example, a conductive hole may be formed at an edge of the code reader circuit board 83, and the code reader circuit board 83 may be soldered to the upper circuit board 71 through the conductive hole. The conductive holes can be round holes, semicircular holes or holes with other shapes. The code reader 82 is disposed on the outer side surface of the code reader circuit board 83, so that the reading end of the code reader 82 faces radially outward toward the code wheel 81. Compared with the scheme that the processor is arranged on the lower circuit board in the prior art, the method can directly process the position information detected by the position detection module through the processor of the upper circuit board 71, so that the number of elements, the peripheral size and the manufacturing cost of the lower circuit board are reduced, and the peripheral size of the laser radar is further reduced.

When the gap between the code reader 82 and the code disc 81 is set, the smaller the gap between the code reader 82 and the code disc 81 is, the better the gap is. The gap may be set smaller than the width of the code wheel 81 in the axial direction. Thereby minimizing the radial space occupied by the position detection module 8.

As shown in fig. 1, the rotary supporting device further includes an intermediate circuit board 72, where the intermediate circuit board 72 is disposed on the rotary supporting member 7 and is located between the upper circuit board 71 and the lower circuit board 11, the intermediate circuit board 72 is disposed around the central shaft 2, the bearing 5 or the bearing supporting member 3, the receiving coil 62 of the wireless power supply module 6 is also disposed on the rotary supporting member 7, and the receiving coil 62 and the intermediate circuit board 72 are respectively disposed on two sides of the rotary supporting member 7. The receiving coil 62 of the wireless power module 6 may supply power to an intermediate circuit board 72, the intermediate circuit board 72 being configured to supply power to the upper circuit board 71 and the electromagnetic component 41, the upper circuit board 71 being configured to supply power to the detection device 100. As shown in fig. 1 and 2, when the intermediate circuit board 72 is specifically mounted, a recess 73 may be provided on the upper surface of the rotary support 7, and the intermediate circuit board 72 may be disposed in the recess 73, so as to reduce the radial space occupied by the intermediate circuit board 72 and to effectively protect the intermediate circuit board 72. In addition, as shown in fig. 2, one or more positioning pins 74 are further disposed in the recess 73, and an avoidance hole is disposed at a position of the intermediate circuit board 72 corresponding to the positioning pin 74, so that the positioning pin 74 passes through. Similarly, as shown in fig. 8, the upper circuit board 71 is also provided with a relief opening corresponding to the position of the positioning pin 74, so that the positioning pin 74 can be connected with the detecting device 100 after passing through. By providing the positioning pins 74, the intermediate circuit board 72 and the upper circuit board 71 are prevented from rotating relative to the rotary support 7 on the one hand, and the detection device 100 is directly fixed to the rotary support 7 on the other hand.

In order to realize uplink optical communication and downlink optical communication of the lidar, as shown in fig. 1, an optical communication circuit board 12 is further provided on the housing 1, an uplink wireless communication transmitter and a downlink wireless communication receiver are provided on the optical communication circuit board 12, and an uplink wireless communication receiver and a downlink wireless communication transmitter are provided on the upper circuit board 71. The uplink wireless communication transmitter and the uplink wireless communication receiver are used for uplink optical communication. Correspondingly, the downlink wireless communication transmitter and the downlink wireless communication receiver are used for downlink optical communication. Specifically, the optical communication circuit board 12 may be disposed on the lower side of the lower circuit board 11 and located in a groove at the bottom of the housing, where an opening of the groove faces upwards, and the central shaft 2 is located above the groove and shields the opening of the groove, so that the optical communication circuit board 12 may be effectively protected, and the optical communication circuit board 12 may not occupy additional axial space, so that the height of the rotary supporting device is reduced. And the uplink optical communication and the downlink optical communication can be realized in the central shaft 2, so that the central shaft 2 can be used for shielding the external interference while the uplink optical communication and the downlink optical communication are realized, and the signal communication quality is ensured.

As shown in fig. 1, 2, and 3, the lower circuit board 11 and the intermediate circuit board 72 have a central hole, and are disposed around the central shaft 2, the bearing 5, or the bearing support 3. A rotary support 7, a receiving coil 62 and a transmitting coil 61 are provided in this order from top to bottom between the lower circuit board 11 and the intermediate circuit board 72. The transmitting coil 61, the transmitting coil holder 63, the stator holder 43, the magnetic member 42, and the electromagnetic member 41 are sequentially disposed at the same height in the radial direction from the outside to the inside. The upper circuit board 71 and the optical communication circuit board 12 are disposed on the upper and lower sides of the center axis, respectively, and the upper circuit board 71 and the optical communication circuit board 12 have no center hole.

In summary, the radial arrangement relationship of the parts of the rotary supporting device is as follows: the driving module 4, the wireless power supply module 6 and the position detection module 8 are all arranged around the central shaft 2, and the driving module 4, the wireless power supply module 6 and the position detection module 8 are sequentially arranged along the direction far away from the central shaft 2. The arrangement relation of each part along the axial direction is as follows: the upper circuit board 71, the intermediate circuit board 72, the rotary support 7, the wireless power module 6 (and the driving module 4), the lower circuit board 11, and the optical communication circuit board 12 are sequentially arranged from top to bottom in the axial direction.

In addition, the rotary supporting device further comprises a housing 1, the housing 1 is provided with a containing cavity, and each component of the rotary supporting device can be arranged in the containing cavity of the housing 1. The code wheel 81, the stator fixing member 43, the central shaft 2, and the optical communication circuit board 12 may be directly fixed to the housing, and other components may not be directly connected to the housing.

The intermediate circuit board 72, the rotary support 7, the magnetic member 42, the electromagnetic member 41, the stator fixing member 43, the transmitting coil 61, the receiving coil 62, the transmitting coil fixing member 63, and the lower circuit board 11 may be provided in a ring-shaped structure; the upper circuit board 71 and the optical communication circuit board 12 may be each provided in a circular structure, and the center of the circular structure are both located in the axial direction of the center shaft 2. Therefore, the whole structure is more symmetrical and compact, and the rotating parts are more stable in the rotating process. And the structure of the shell 1 can be correspondingly arranged to be cylindrical, so that the occupied space is smaller, and the shell is convenient to install and use in equipment such as automobiles.

The embodiment of the application also provides a lidar, as shown in fig. 7, 8 and 9, comprising a detection device 100 and a rotation support device 200 according to any of the above embodiments. The detecting device 100 is disposed on the rotating support device 200, the upper circuit board 71 is disposed at the bottom of the detecting device, and the upper circuit board 71 may be electrically connected to the intermediate circuit board 72 and the driving circuit board of the detecting device 100, respectively. Wherein the driving circuit board is used for driving the light emitting device and the light receiving device of the detecting device 100 to work.

The rotation supporting device drives the detection device to rotate 360 degrees so as to detect the periphery of the laser radar. Specifically, the detection device may be disposed on the rotary support 7 of the rotary support device, and the rotary support 7 and the detection device 100 are driven to rotate by the driving module 4 of the rotary support device.

The laser radar provided by the embodiment of the application adopts the rotary supporting device in any embodiment, so that the peripheral size of the rotary supporting device can be reduced, the peripheral size of the laser radar can be reduced on the premise of not influencing the performance of the laser radar, and the assembly and mass production of the laser radar are facilitated.

Specifically, the above-described detecting device 100 includes a light emitting device, a light receiving device, and a driving circuit board. Wherein the light emitting device is used for emitting detection light. The light receiving device is capable of receiving the echo light after the probe light is reflected by the target object. The driving circuit board is used for bearing the light emitting device and the light receiving device and is electrically connected with the light emitting device and the light receiving device respectively. Therefore, the design that the light emitting device and the light receiving device share one circuit board is realized, the structure can simplify the steps of receiving and transmitting alignment and debugging of the light emitting device and the light receiving device, and the assembly and mass production are facilitated.

The light emitting device may specifically include a light emitter and an emitting lens group, the light receiving device may specifically include a light receiver and a receiving lens group, wherein the light emitter is driven to emit probe light, the emitting lens group is used for collimating the probe light, the light receiver is driven to receive echo light after the probe light is reflected by the target object, and the receiving lens group is used for converging the echo light. Specifically, the above-mentioned light emitter may employ a VCSEL (VERTICAL CAVITY Surface EMITTING LASER ) laser; the optical receiver may employ a single photon detector such as a SPAD (Single Photon Avalanche Diode ) detector, or SiPM (Silicon photomultiplier, silicon photomultiplier). Since the VCSEL emits the detection light in a direction perpendicular to the driving circuit board and the single photon detector receives the return light in a direction perpendicular to the driving circuit board, the emission light path of the detection light emitted by the light emitting device and the reception light path of the return light received by the light receiving device are arranged substantially in parallel.

Specifically, the above-mentioned lidar further includes a window disposed on the housing 1, the window being configured to transmit the probe light to the outside of the lidar and transmit the echo light into the inside of the lidar, and fixedly connected to the housing 1, so that the housing 1 and the window after the fixed connection accommodate components inside the lidar, including the probe device 100 and other components of the rotating support device 200 except the housing 1.

The foregoing describes specific embodiments of the present disclosure. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims can be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

In view of the foregoing, it will be evident to a person skilled in the art that the foregoing detailed disclosure may be presented by way of example only and may not be limiting. Although not explicitly described herein, those skilled in the art will appreciate that the present description is intended to encompass various adaptations, improvements, and modifications of the embodiments. Such alterations, improvements, and modifications are intended to be proposed by this specification, and are intended to be within the spirit and scope of the exemplary embodiments of this specification.

Furthermore, certain terms in the present description have been used to describe embodiments of the present description. For example, "one embodiment," "an embodiment," and/or "some embodiments" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the present description. Thus, it is emphasized and should be appreciated that two or more references to "an embodiment" or "one embodiment" or "an alternative embodiment" in various portions of this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined as suitable in one or more embodiments of the invention.

It should be appreciated that in the foregoing description of embodiments of the present specification, various features have been combined in a single embodiment, the accompanying drawings, or description thereof for the purpose of simplifying the specification in order to assist in understanding one feature. However, this is not to say that a combination of these features is necessary, and it is entirely possible for a person skilled in the art to extract some of them as separate embodiments to understand them upon reading this description. That is, embodiments in this specification may also be understood as an integration of multiple secondary embodiments. While each secondary embodiment is satisfied by less than all of the features of a single foregoing disclosed embodiment.

Each patent, patent application, publication of patent application, and other materials, such as articles, books, specifications, publications, documents, articles, etc., cited herein are hereby incorporated by reference. The entire contents for all purposes, except for any prosecution file history associated therewith, may be any identical prosecution file history inconsistent or conflicting with this file, or any identical prosecution file history which may have a limiting influence on the broadest scope of the claims. Now or later in association with this document. For example, if there is any inconsistency or conflict between the description, definition, and/or use of terms associated with any of the incorporated materials, the terms in the present document shall prevail.

It should be further noted that the content of the background section is only information known to the inventor, and does not represent that the information has entered the public domain before the filing date of the present disclosure, nor that it may be the prior art of the present disclosure.

Finally, it is to be understood that the embodiments of the application disclosed herein are illustrative of the principles of the embodiments of the present specification. Other modified embodiments are also within the scope of this specification. Accordingly, the embodiments disclosed herein are by way of example only and not limitation. Those skilled in the art can adopt alternative arrangements to implement the application in the specification based on the embodiments in the specification. Therefore, the embodiments of the present specification are not limited to the embodiments precisely described in the application.

Claims (28)

1. A rotary support device for a lidar, comprising:

A housing having a receiving cavity;

The central shaft is arranged in the accommodating cavity and is fixed relative to the shell;

the bearing support piece is arranged in the accommodating cavity and matched with the central shaft through a bearing so as to enable the bearing support piece to rotate relative to the central shaft; and

The driving module is arranged in the accommodating cavity and is configured to drive the bearing support to rotate, the driving module comprises a stator and a rotor, the rotor comprises an electromagnetic component, the electromagnetic component is fixed on the outer side wall of the bearing support, the stator comprises a magnetic component, and the magnetic component is arranged on the outer side of the electromagnetic component and is fixed relative to the shell.

2. The rotary support device of claim 1 wherein the electromagnetic component is disposed about the bearing support and the magnetic component is disposed about and radially opposite the electromagnetic component.

3. The rotary support device of claim 1, further comprising:

And the stator fixing piece is fixed relative to the shell, and the magnetic component is fixed on the stator fixing piece.

4. A rotary support device according to claim 3, wherein the magnetic member is of annular configuration, and the stator fixing member is disposed around an outer peripheral surface of the magnetic member.

5. The rotary support device of claim 1, further comprising a wireless power module configured to power components of the lidar that rotate with the bearing support.

6. The rotary support device of claim 5, wherein the wireless power module comprises:

A transmitting coil fixed relative to the housing; and

A receiving coil is disposed axially opposite the transmitting coil and configured to rotate with the bearing support.

7. The rotary support device of claim 6 further comprising a lower circuit board fixed relative to the housing and disposed about the central axis or bearing support, the transmit coil being disposed on the lower circuit board to power the transmit coil through the lower circuit board.

8. The rotary support device of claim 7, further comprising:

And a transmitting coil fixing member disposed around an outer circumferential surface of the stator fixing member, the transmitting coil fixing member configured to fix the transmitting coil, and the transmitting coil fixing member disposed between the stator fixing member and the transmitting coil.

9. The rotary support device of claim 8 wherein the magnetic component and the transmitter coil mount are disposed on the stator mount, the stator mount being fixedly connected to the housing.

10. The rotary support device of claim 8, wherein the transmitter coil fixture is an insulating material.

11. The rotary support device of claim 1, further comprising:

And the rotating support piece is fixed relative to the bearing support piece, and the detection device of the laser radar is arranged on the rotating support piece.

12. The rotary support device according to claim 11 wherein,

The housing includes a bottom and a sidewall disposed around the bottom, the rotational support device further includes a position detection module configured to detect rotational position information of the detection device, the position detection module including:

the code disc is arranged on the inner surface of the side wall in a surrounding mode, and a code channel is arranged on the code disc; and

The code reader is fixed relative to the rotary support piece and is arranged opposite to the code disc in the radial direction, and the code reader rotates along with the rotary support piece to detect the code channel on the code disc.

13. The rotary support device of claim 12, wherein the code track extends in a direction parallel to the central axis.

14. The rotary support device of claim 12, wherein an upper circuit board is disposed between the rotary support and the detection device, and the code reader is secured to the upper circuit board.

15. The rotary support device of claim 14, wherein a code reader circuit board is disposed below the upper circuit board, and the code reader is disposed on the code reader circuit board.

16. The rotary support device of claim 15 wherein the upper circuit board is perpendicular to the central axis and the code reader circuit board is parallel to the central axis.

17. The rotary support device of claim 12, wherein a gap between the code reader and the code wheel is less than a width of the code wheel in an axial direction.

18. The rotary support device of claim 15, wherein the upper circuit board is further provided with a processor electrically connected to the code reader for processing the rotational position information acquired by the code reader.

19. The rotary support device according to claim 12, wherein the driving module, the wireless power supply module, and the position detection module are all disposed around the central axis as a center, and the driving module, the wireless power supply module, and the position detection module are disposed in order in a direction away from the central axis.

20. The rotary support device of claim 14 further comprising an intermediate circuit board and a lower circuit board, the intermediate circuit board disposed on the rotary support and between the upper circuit board and the lower circuit board, the intermediate circuit board disposed about the central axis or bearing support, the intermediate circuit board capable of powering the upper circuit board and the electromagnetic component.

21. The rotary support device of claim 20, further comprising a wireless power module, wherein a receiving coil of the wireless power module is disposed on the rotary support, and wherein the receiving coil and the intermediate circuit board are disposed on two sides of the rotary support, respectively.

22. The rotary support device of claim 1, further comprising:

the optical communication circuit board is arranged on the shell;

the uplink wireless communication transmitter and the downlink wireless communication receiver are arranged on the optical communication circuit board;

An uplink wireless communication receiver and a downlink wireless communication transmitter, both arranged on the upper circuit board, and

The uplink wireless communication transmitter and the uplink wireless communication receiver are configured to perform uplink optical communication, and the uplink optical communication is implemented in the central axis;

The downstream wireless communication transmitter and the downstream wireless communication receiver are configured for downstream optical communication, and the downstream optical communication is implemented within the central axis.

23. The rotary support device according to claim 1, wherein,

The bearing comprises a first bearing and a second bearing, the first bearing and the second bearing are respectively arranged at two ends of the central shaft, an inner ring of the first bearing and an inner ring of the second bearing are respectively sleeved at two ends of the central shaft, and

The bearing support comprises a first bearing chamber and a second bearing chamber, wherein an outer ring of the first bearing is fixed with the first bearing chamber, and an outer ring of the second bearing is fixed with the second bearing chamber.

24. The rotary support device of claim 11 wherein the side wall of the bearing support extends outwardly and is provided with a flange, the rotary support being connected to the flange of the bearing support.

25. The rotary support device of claim 24, wherein the flange and the first end face of the bearing support have a predetermined spacing therebetween, the rotary support being disposed between the flange and the first end face.

26. The rotary support device according to claim 1, wherein the electromagnetic component is provided with a first clamping portion, the bearing support is provided with a second clamping portion, and the first clamping portion is clamped with the second clamping portion.

27. A lidar, comprising:

the rotary support device of any one of claims 1 to 26;

The detection device is arranged on the rotary supporting device, and the detection device is driven to rotate through the rotary supporting device so as to detect the periphery of the laser radar.

28. The lidar of claim 27, wherein the detection device comprises:

A light emitting device configured to emit probe light;

A light receiving device for receiving the echo light of the probe light reflected by the target object; and

And the light emitting device and the light receiving device are arranged on the driving circuit board.