WO2021196230A1

WO2021196230A1 - Laser radar

Info

Publication number: WO2021196230A1
Application number: PCT/CN2020/083365
Authority: WO
Inventors: 杨迪
Original assignee: 深圳市速腾聚创科技有限公司
Priority date: 2020-04-03
Filing date: 2020-04-03
Publication date: 2021-10-07
Also published as: CN114127575A

Abstract

A laser radar, characterized by comprising a base (200) comprising a fixed shaft (210), the fixed shaft (210) being a hollow shaft; a rotating part (100) rotatably connected to the base (200) and configured to rotate about the central axis of the fixed shaft (210), the rotating part (100) and the fixed shaft (210) together defining a hollow chamber, and a laser transceiving system of the laser radar being fixed to the rotating part (100); and a driving device for driving the rotating part (100) to rotate with respect to the base (200), the driving device comprising a stator (241) and a rotor (242) coupled to the stator (241), wherein the stator (241) is fitted over the outer peripheral wall of the fixed shaft (210), the rotor (242) is provided around the stator (241), and the rotor (242) is connected to the rotating part (100). The driving device, a power supply part, and a communication part of the laser radar may be not provided on a same shaft body, so that the axial size of the laser radar along the fixed shaft can be reduced, thereby reducing the volume of the laser radar.

Description

Lidar

Technical field

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

Background technique

Lidar is a radar system that emits a laser beam to detect the position and speed of an object. Its working principle is that the transmitting system first emits the outgoing laser for detection to the detection area, and then the receiving system receives the reflection from the object in the detection area. The reflected laser is compared with the outgoing laser, and the relevant information of the object can be obtained after processing, such as distance, azimuth, height, speed, posture, and even shape parameters.

The current mechanical lidar includes a base and a rotating part. The laser transceiver of the lidar is installed on the rotating part, so that the laser transceiver can rotate relative to the base, thereby increasing the detection area. When the above structure is adopted, the base of the lidar is provided with a shaft for installing the driving device, the communication device and the power supply device. Since the above three components are arranged on the same shaft, the length of the shaft is longer. Furthermore, the size of the lidar along the axial direction of the shaft body is increased, and the volume of the lidar is increased.

Summary of the invention

The present application provides a lidar, which can reduce the size of the lidar along the axial direction of the fixed axis, thereby reducing the volume of the lidar.

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

The base includes a fixed shaft, which is a hollow shaft;

The rotating part is rotatably connected with the base and configured to be rotatable around the central axis of the fixed shaft. The rotating part and the fixed shaft jointly define a hollow chamber, and the laser transceiver system of the lidar is fixed on the rotating part;

The driving device is used for driving the rotating part to rotate relative to the base. The driving device includes a stator and a rotor coupled with the stator. The stator is sleeved on the outer peripheral wall of the fixed shaft, the rotor is arranged around the stator, and the rotor is connected with the rotating part.

According to some embodiments, the rotating part includes an annular fixed wall, the annular fixed wall is arranged around the fixed shaft, and the rotor is fixed on an inner peripheral wall surface of the annular fixed wall.

According to some embodiments, the rotating part includes a rotating shaft, the central axis of the rotating shaft coincides with the central axis of the fixed shaft, the rotating shaft is arranged in the hollow chamber and is rotatably connected with the inner peripheral wall of the fixed shaft.

According to some embodiments, the lidar further includes:

The communication part includes a first communication part and a second communication part communicatively connected with the first communication part. The first communication part and the second communication part are both arranged in the hollow chamber, and the first communication part is connected to the base, and the second communication part is The communication member is connected to the rotating part.

According to some embodiments, the rotating shaft is a hollow shaft, and the second communication member is disposed inside the rotating shaft, and the first communication member is disposed inside the fixed shaft and connected to the fixed shaft.

According to some embodiments, a connecting flange is provided on the inner peripheral wall of the fixed shaft, and the connecting flange extends in the direction of the central axis of the hollow shaft. The connecting flange includes a first abutting wall facing the rotating part and a second abutting wall facing away from the rotating part. Join the wall

The rotating shaft sleeve is provided with a first bearing and a second bearing, and the outer ring of the first bearing abuts against the first abutting wall, and the outer ring of the second bearing abuts against the second abutting wall.

According to some embodiments, the base includes a bottom shell and a substrate, the fixed shaft is fixed to the substrate, the substrate is detachably mounted on the bottom shell, and the first communication member is fixed on the inner wall surface of the fixed shaft;

The rotating part includes a bearing plate, the rotating shaft is fixed to the bearing plate, the bearing plate includes a first inner wall facing the inside of the rotating shaft, and the second communication member is fixed to the first inner wall.

According to some embodiments, the lidar further includes:

The power supply module includes a power supply coil and a power receiving coil coupled with the power supply coil. The power supply coil is connected to the base and arranged around a fixed axis. The power receiving coil is connected to the rotating part and arranged around the fixed axis. The power supply coil and the power receiving coil are arranged opposite to each other. .

According to some embodiments, both the power supply coil and the power reception coil are arranged around a fixed axis.

According to some embodiments, the lidar further includes a shielding component, and the shielding component includes:

The first shield is connected to the base, the first shield is ring-shaped and is arranged around the fixed axis, the surface wall of the first shield facing the rotating part is provided with a first annular groove arranged around the fixed axis, and the power supply coil is arranged on the second An annular groove;

The second shield is connected to the rotating part. The second shield is ring-shaped and is arranged around the fixed axis. The surface wall of the second shield facing the base is provided with a second annular groove arranged around the fixed axis. The power receiving coil is arranged in The second annular groove.

The application provides a lidar, which includes a base and a rotating part. The base includes a fixed shaft, and the rotating part is rotatably connected with the base and is configured to be rotatable around the central axis of the fixed shaft. This application omits the solid shaft connected with the base in the prior art, and uses the fixed shaft on the base as an alternative to install the driving device. Because the fixed shaft is a hollow shaft, and the hollow shaft and the rotating part jointly define a hollow cavity Therefore, there is no need to set the communication part, power supply part and other components on the outer peripheral wall of the fixed shaft, and the communication part and power supply part of the lidar can be installed in the hollow chamber. That is, compared with the prior art, the driving device, the power supply unit, and the communication unit of the lidar in this application may not be arranged on the same shaft, so that the size of the lidar along the axial direction of the fixed axis can be reduced, thereby reducing the size of the lidar. The size of the lidar is reduced.

Description of the drawings

In order to more clearly describe the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only These are some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

FIG. 1 is a perspective view of the rotating part and the base of the lidar in an embodiment of the application after being assembled;

2 is an exploded schematic diagram of a cross-sectional view of a base and a rotating part in an embodiment of the application;

Fig. 3 is an exploded schematic diagram of the base and the rotating part in an embodiment of the application;

4 is a cross-sectional view of the base and the rotating part in an embodiment of the application;

Figure 5 is an exploded schematic view of the fixed shaft, the first bearing, the second bearing and the rotating shaft in an embodiment of the application;

Fig. 6 is a partial enlarged schematic diagram of Fig. 4.

Detailed ways

In order to make the objectives, technical solutions, and advantages of this application clearer, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present application, and are not used to limit the present application.

The current mechanical lidar includes a base and a rotating part. The laser transceiver of the lidar is installed on the rotating part, so that the laser transceiver can rotate relative to the base, thereby increasing the detection area. The lidar is also provided with a driving device for driving the rotating part to rotate relative to the base, a power supply part for supplying power to the rotating part, and a communication part for realizing data transmission between the rotating part and the base. In the prior art, the driving device, the power supply unit, and the communication unit are all sleeved on the shaft of the base, which makes the length of the shaft larger, which in turn makes the size of the lidar along the axial direction of the shaft larger. Big.

In order to solve the above-mentioned problem, this embodiment provides a lidar, which can have a smaller height dimension (taking the vertical arrangement of the fixed axis of the lidar as a reference). It should be noted that, for the convenience of description, the azimuth limitation of the lidar in the following is based on the vertical arrangement of the fixed axis of the lidar as a reference.

As shown in FIGS. 1 to 6, the laser radar 10 in this embodiment includes a laser transceiver system, a base 200, a rotating part 100, and a driving device.

The base 200 includes a substrate 220 and a fixed shaft 210. In particular, the fixed shaft 210 in this embodiment is a hollow shaft, that is, the inside of the fixed shaft 210 has an internal hole extending along its own axial direction. Specifically, the fixed shaft 210 may be completely hollow or partially hollow (when the inner hole is partially hollow, at least one of the ends of the fixed shaft 210 is extended), when the fixed shaft 210 is completely hollow, the fixed shaft 210 is tubular; when the fixed shaft 210 When partly hollow, the fixed shaft 210 may be tubular at one end and solid at the other end. The axis of the inner hole in the fixed shaft 210 may or may not coincide with the central axis of the fixed shaft 210 (that is, the inner hole may be eccentrically arranged). At the same time, the cross section of the inner hole along the axial direction perpendicular to the fixed shaft 210 may be a regular shape or an irregular shape. When the internal hole has a regular shape, the internal hole may be a cylindrical hole or a prismatic hole.

The fixed shaft 210 is fixed to other parts of the base 200. In this embodiment, the fixed shaft 210 is fixed on the base plate 220 of the base 200, and whether the fixed shaft 210 is completely hollow or partially hollow, the end of the fixed shaft 210 away from the piece The parts are hollow. When the fixed shaft 210 is fixed on the substrate 220, the central axis of the fixed shaft 210 may be perpendicular to the substrate 220 or intersect the substrate 220 at an acute angle. Preferably, in this embodiment, as shown in FIG. 4, the central axis of the fixed shaft 210 It is arranged perpendicular to the substrate 220.

The rotating part 100 of the lidar 10 is rotatably connected to the base 200 and is configured to be rotatable around the central axis of the fixed shaft 210. Specifically, the rotating part 100 may be directly rotatably connected with the fixed shaft 210, or may be rotatably connected with other parts of the base 200. As shown in FIG. 4, in this embodiment, the rotating part 100 is rotatably connected with the fixed shaft 210, that is, fixed components such as bearings are connected between the rotating part 100 and the fixed shaft 210, so that the rotating part 100 is mounted on the fixed shaft 210 and can be opposed to each other. It rotates relative to the fixed shaft 210. Of course, in another embodiment, the rotating part 100 may not be connected to the fixed shaft 210, but a bearing is fixed to other parts of the base 200. In this embodiment, as shown in FIG. 4, the rotating part 100 and the fixed shaft 210 jointly define a hollow chamber, that is, the hollow part of the rotating part 100 and the fixed shaft 210 define a hollow chamber.

The laser transceiver system of the lidar 10 is fixed to the rotating part 100 and can rotate relative to the base 200 along with the rotating part 100. This enables the laser transceiver system to have a larger detection range. How the laser transceiver system is installed on the rotating part 100 and where it is installed on the rotating part 100 have long been disclosed in the prior art, and will not be repeated here.

In order to realize the relative rotation of the rotating part 100 and the base 200, the lidar 10 further includes a driving device for driving the rotating part 100 to rotate relative to the base 200. Specifically, the driving device includes a stator 241 and a rotor 242 disposed around the stator 241, and the stator 241 is coupled with the rotor 242 so that the rotor 242 can rotate around the stator 241. The stator 241 is arranged around the fixed shaft 210, and the rotor 242 is connected to the rotating part 100. When the driving device is energized, the rotor 242 rotates relative to the stator 241 so that the rotating part 100 rotates relative to the base 200.

In this embodiment, the solid shaft connected to the base in the prior art is omitted, and the fixed shaft 210 on the base 200 is used as an alternative to install the driving device. Because the fixed shaft 210 is a hollow shaft, and the hollow shaft is connected to the rotating part 100 The hollow chamber is defined together, so the outer peripheral wall of the fixed shaft 210 does not need to be sheathed with components such as the communication part and the power supply module, and the communication part and the power supply module of the lidar 10 can be arranged in the hollow chamber. That is, compared with the prior art, the driving device, power supply module, and communication part of the lidar 10 in the present application may not be arranged on the same shaft body, so that the axial direction of the lidar 10 along the fixed shaft 210 can be reduced. The size, thereby reducing the volume of the lidar 10.

The rotor 242 in the driving device can be connected to the rotating part 100 in any structure, and it only needs to be able to drive the rotating part 100 to rotate together when the rotor 242 rotates relative to the stator 241. In this embodiment, the rotating part 100 further includes an annular fixed wall 120, the annular fixed wall 120 is arranged around the fixed shaft 210, and the rotor 242 is connected to the inner peripheral wall surface of the annular fixed wall 120. Specifically, the rotor 242 can be tightly fitted with the annular fixed wall 120, so that the connection between the rotor 242 and the annular fixed wall 120 can be made more stable, and the torque transmission can be more reliable.

In an embodiment, the stator 241 and the rotor 242 may be two complete components that have been packaged, and only the two components described above need to be installed during installation. In another embodiment, the stator 241 and the rotor 242 may both be wound coils, and the stator 241 is arranged around the fixed shaft 210 and forms an integral body with the fixed shaft 210 (that is, the fixed shaft 210 can be regarded as the winding dot circle above). Together they constitute the stator 241 of the drive device. Similarly, the rotor 242 can also be installed on the annular fixed wall 120 and form a whole with the annular fixed wall 120 (that is, the aforementioned winding coil and the annular fixed wall 120 together form the rotor 242 of the driving device).

The lidar 10 in this embodiment may further include a communication part (not shown in the figure). The communication part includes a first communication part and a second communication part communicatively connected with the first communication part, the first communication part and the second communication part. The pieces are all set in the hollow chamber. It should be noted that when the rotating part 100 is close to the end of the fixed shaft 210 facing away from the base plate 220, the hollow chamber can be regarded as the inner hole of the fixed shaft 210. However, when the rotating part 100 and the end of the fixed shaft 210 facing away from the base plate 220 have a gap, the inner hole of the fixed shaft 210 can be regarded as only a part of the hollow chamber. Since the communication part arranged in the hollow cavity can better fix the axial space of the shaft 210, the size of the lidar 10 along the axial direction of the fixed shaft 210 is reduced, thereby reducing the vertical height of the lidar 10.

The communication part may be any device that can realize communication between two components that produce relative rotation. For example, the communication part may be a magnetic ring assembly or an optical communication assembly. In this embodiment, the communication part is an optical communication component, and among the first communication part and the second communication part of the optical communication part, the first communication part is connected to the base 200 and the second communication part is connected to the rotating part 100. When the rotating part 100 rotates relative to the base 200, the data transmission between the first communication part and the second communication part realizes the signal transmission between the rotating part 100 and the base 200.

The rotating part 100 is installed on the base 200 and carried by the base 200. When the fixed shaft 210 of the base 200 is vertically arranged, the rotating part 100 may be installed above the base 200 and the base 200 provides the rotating part 100 with upward supporting force. The rotating part 100 can be connected to the base 200 in various ways. In this embodiment, the rotating part 100 includes a rotating shaft 110. The central axis of the rotating shaft 110 coincides with the central axis of the fixed shaft 210. The rotating shaft 110 is arranged in the hollow chamber. , And rotatably connected with the inner peripheral wall of the fixed shaft 210. That is, the fixed shaft 210 gives upward supporting force to the rotating shaft 110, so as to realize the load bearing of the rotating part 100 as a whole. Since the rotating shaft 110 is disposed in the fixed shaft 210, the connecting part between the fixed shaft 210 and the rotating shaft 110 is also disposed in the hollow of the fixed shaft 210, so that the internal space of the fixed shaft 210 can be further utilized.

The connecting component between the fixed shaft 210 and the rotating shaft 110 may be a bearing, and specifically may be a deep groove ball bearing. And the number of bearings between the fixed shaft 210 and the rotating shaft 110 can be determined according to the actual situation. In this embodiment, two bearings are provided between the fixed shaft 210 and the rotating shaft 110, namely the first bearing 271 and the second bearing 272. . The inner rings of the first bearing 271 and the second bearing 272 are both sleeved outside the rotating shaft 110, and the outer rings of the first bearing 271 and the second bearing 272 are both connected to the inner wall surface of the fixed shaft 210 and are connected to the fixed shaft 210. The inner wall surface is tightly fitted.

In one embodiment, in order to enhance the fixing effect on the rotating shaft 110, the inner peripheral wall of the fixed shaft 210 may be provided with a connecting flange 211, the connecting flange 211 extends in the direction of the central axis of the hollow shaft, and the connecting flange 211 includes The first abutting wall of the rotating part 100 and the second abutting wall facing away from the rotating part 100. The connecting flange 211 serves as a bearing shoulder of the first bearing 271 and the second bearing 272 to limit the degree of freedom of the first bearing 271 and the second bearing 272 in the direction of the central axis of the fixed shaft 210. The shape of the connecting flange 211 is preferably a ring shape, so that it can provide greater supporting force.

Specifically, the inner ring of the first bearing 271 is sleeved outside the rotating shaft 110 and the outer ring abuts against the first abutting wall of the connecting flange 211. In this way, the connecting flange 211 can give the first bearing 271 a bearing capacity in the direction from the base 200 to the rotating part 100. When the rotating part 100 is disposed above the base 200, the mating structure of the connecting flange 211 and the first bearing 271 can effectively carry the rotating part 100. The inner ring of the second bearing 272 is sleeved outside the rotating shaft 110 and the outer ring abuts against the second abutting wall of the connecting flange 211. In this way, when the rotating part 100 is disposed below the base 200, the mating structure of the connecting flange 211 and the second bearing 272 can effectively carry the base 200.

Due to the existence of the connecting flange 211, it is difficult for the second bearing 272 to be installed close to the end of the rotating part 100 by the fixed shaft 210. Therefore, in order to facilitate the installation of the second bearing 272, as shown in FIG. 2, in an embodiment, the base 200 may further include a base plate 220 and a bottom shell 230. The fixed shaft 210 is mounted on the base plate 220, and the base plate 220 and the bottom shell 230 are detachable. Type installation. In particular, the base plate 220 has a mounting hole, the fixed shaft 210 is completely hollow, and the fixed end facing away from the rotating part 100 passes through the mounting hole. In this way, when the second bearing 272 needs to be installed, the second bearing 272 can be fixed by The end of the shaft 210 facing away from the rotating part 100 is installed.

After the rotating shaft 110 is disposed in the fixed shaft 210, the height space of the lidar 10 occupied by the rotating shaft 110 can be reduced, but the rotating shaft 110 also occupies the internal space of the fixed shaft 210, which is inconvenient for the arrangement of the communication unit. In order to solve the above problem, in an embodiment, the rotating shaft 110 may also be a hollow shaft, and the second communication member is disposed inside the rotating shaft 110, and the first communication member is disposed inside the fixed shaft 210. In this way, the rotating shaft 110 can not only support the entire rotating part 100, but also does not affect the arrangement of the communication part, which further reduces the height dimension of the lidar 10.

Similarly, the rotating shaft 110 can be completely hollow or partially hollow (when partly hollow, the inner hole extends at least the end of the rotating shaft 110 close to the fixed shaft 210). When the rotating shaft 110 is completely hollow, the rotating shaft 110 is tubular; When the rotating shaft 110 is partially hollow, the rotating shaft 110 may have a tubular shape at one end and a solid shape at one end. The axis of the inner hole in the rotating shaft 110 may or may not coincide with the central axis of the rotating shaft 110 (that is, the inner hole may be eccentrically arranged). At the same time, the cross section of the inner hole along the axial direction perpendicular to the rotating shaft 110 may be a regular shape or an irregular shape. When the internal hole has a regular shape, the internal hole may be a cylindrical hole or a prismatic hole.

The rotating part 100 is provided with laser transceivers and other power equipment. Therefore, it is necessary to guide the electric energy to the rotating part 100 through the base 200. However, since the rotating part 100 as a whole rotates relative to the base 200, it is difficult to use conventional wire connections to conduct electricity. The way. In this embodiment, as shown in FIG. 2, the lidar 10 further includes a power supply module. The power supply module includes a power supply coil 252 and a power receiving coil 251 coupled to the power supply coil 252. The power supply coil 252 is connected to the base 200 and arranged around the fixed shaft 210, and the power receiving coil 251 is connected to the rotating part 100 and arranged around the fixed shaft 210. The power feeding coil 252 and the power receiving coil 251 are arranged opposite to each other.

The cooperation of the power supply coil 252 and the power reception coil 251 realizes the transmission of the electric energy on the base 200 to the rotating seat. When power is supplied, an alternating current can be generated in the power supply coil 252, so that a changing magnetic field is generated in the power supply coil 252. The changed magnetic field causes a current to be generated in the power receiving coil 251. The laser transceiver system supplies power.

The number and arrangement position of the power supply coil 252 and the power reception coil 251 may be determined according to specific requirements. In an embodiment, the number of power supply coils 252 may be multiple, and the multiple power supply coils 252 are arranged around the fixed shaft 210 (the fixed shaft 210 is located outside the power supply coil 252). The number of power receiving coils 251 can also be multiple, and each power receiving coil 251 is arranged around the rotating shaft 110 (the rotating shaft 110 is located outside the power supply coil 252), so that when the rotating part 100 rotates relative to the base 200, it can always be A part of the power supply coil 252 and the power reception coil 251 are arranged relatively apart, that is, electric energy can be transmitted through the power supply coil 252 and the power reception coil 251 arranged oppositely. Of course, in the above embodiment, the greater the number of power supply coils 252 and the power reception coils 251, the smaller the influence of the rotation of the rotating part 100 on the power transmission. In addition, the magnetic field generated by the power supply coil 252 in the above-mentioned embodiment has less influence on other components in the base 200.

In the above embodiments, on the one hand, the number of power supply coils 252 and power reception coils 251 is relatively large, and the cost is relatively high. On the other hand, it is also difficult to arrange each power supply coil 252 and each power reception coil 251 exactly opposite to each other during the rotation of the rotating part 100. In order to solve the above problem, in this embodiment, as shown in FIG. 4, the power supply module only includes one power supply coil 252 and one power reception coil 251, and both the power supply coil 252 and the power reception coil 251 are arranged around the fixed shaft 210 (fixed shaft The central axis of 210 passes through the inside of the power supply coil 252 and the power reception coil 251). In this way, no matter how the rotating part 100 rotates relative to the base 200, the power supply coil 252 and the power reception coil 251 can be arranged exactly opposite to each other, which improves the power supply efficiency.

When the number of the power supply coil 252 and the power reception coil 251 is one, in order to increase the diameter of the coil, the driving device can be installed inside the power supply coil 252 and the power reception coil 251, and the diameters of the power supply coil 252 and the power reception coil 251 are changed. The power supply is more efficient after the university. At the same time, the power supply coil 252 and the power reception coil 251 are not arranged on the same axis as the driving device, so the vertical space of the lidar 10 is not occupied, and the vertical space of the lidar 10 is reduced compared to the structure of the prior art. To size.

When the power supply coil 252 and the power receiving coil 251 have a driving device or other power equipment inside, the magnetic field generated by the power supply coil 252 will affect the above-mentioned power equipment. In order to solve the above problem, in this embodiment, as shown in FIG. 4, the laser The radar 10 may further include a shielding component, and the shielding component includes a first shielding component 261 and a second shielding component 262. The first shielding member 261 is connected to the base 200. The first shielding member 261 has a ring shape and is arranged around the fixed shaft 210. The surface wall of the first shielding member 261 facing the rotating part 100 is provided with a first annular groove arranged around the fixed shaft 210 , The power supply coil 252 is disposed in the first annular groove. The second shielding member 262 is connected to the rotating part 100. The second shielding member 262 has a ring shape and is arranged around the fixed shaft 210. The surface wall of the second shielding member 262 facing the base 200 is provided with a second annular groove arranged around the fixed shaft 210. , The power receiving coil 251 is arranged in the second annular groove. The first shielding member 261 and the second shielding member 262 are made of materials that can shield the magnetic lines of induction. Therefore, the above-mentioned structure prevents the magnetic field generated by the power supply coil 252 from overflowing and affecting its internal power equipment.

The same or similar reference numerals in the drawings of this embodiment correspond to the same or similar components; in the description of this application, it should be understood that if there are the terms "upper", "lower", "left", "right", etc. The indicated orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the application and simplifying the description, and does not indicate or imply that the pointed device or element must have a specific orientation or a specific orientation. The structure and operation, therefore, the terms describing the positional relationship in the drawings are only used for exemplary description, and cannot be understood as a limitation of the patent. For those of ordinary skill in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

The above descriptions are only the preferred embodiments of this application and are not intended to limit this application. Any modification, equivalent replacement and improvement made within the spirit and principle of this application shall be included in the protection of this application. Within range.

Claims

A laser radar is characterized in that it comprises:

The base includes a fixed shaft, and the fixed shaft is a hollow shaft;

The rotating part is rotatably connected to the base and configured to be rotatable around the central axis of the fixed shaft, the rotating part and the fixed shaft jointly define a hollow chamber, and the laser transceiver system of the lidar is fixed to The rotating part;

A driving device for driving the rotating part to rotate relative to the base. The driving device includes a stator and a rotor coupled with the stator, the stator is sleeved on the outer peripheral wall of the fixed shaft, and the rotor It is arranged around the stator, and the rotor is connected with the rotating part.
The lidar of claim 1, wherein:

The rotating part includes an annular fixed wall, the annular fixed wall is arranged around the fixed shaft, and the rotor is fixed on an inner peripheral wall surface of the annular fixed wall.
The lidar of claim 1, wherein:

The rotating part includes a rotating shaft, the central axis of the rotating shaft coincides with the central axis of the fixed shaft, and the rotating shaft is disposed in the hollow chamber and is rotatably connected with the inner peripheral wall of the fixed shaft.
The lidar of claim 3, further comprising:

The communication part includes a first communication part and a second communication part communicatively connected with the first communication part, the first communication part and the second communication part are both arranged in the hollow chamber, and the first communication part A communication element is connected to the base, and the second communication element is connected to the rotating part.
The lidar of claim 4, wherein:

The rotating shaft is a hollow shaft, the second communication member is disposed inside the rotating shaft, and the first communication member is disposed inside the fixed shaft and connected to the fixed shaft.
The lidar of claim 3, wherein:

The inner peripheral wall of the fixed shaft is provided with a connecting flange, the connecting flange extends in the direction of the central axis of the hollow shaft, and the connecting flange includes a first abutting wall facing the rotating part and a distance away from the shaft. The second abutting wall of the rotating part;

The rotating shaft sleeve is provided with a first bearing and a second bearing, and the outer ring of the first bearing abuts against the first abutting wall, and the outer ring of the second bearing abuts against the second abutment wall.
The lidar of claim 6, wherein:

The base includes a bottom case and a base plate, the fixed shaft is fixed to the base plate, the base plate is detachably mounted on the bottom case, and the first communication member is fixed to the inner wall surface of the fixed shaft;

The rotating part includes a bearing plate, the rotating shaft is fixed to the bearing plate, the bearing plate includes a first inner wall facing the inside of the rotating shaft, and the second communication member is fixed to the first inner wall.
The lidar of claim 1, further comprising:

The power supply module includes a power supply coil and a power receiving coil coupled with the power supply coil. The power supply coil is connected to the base and arranged around the fixed shaft. The power receiving coil is connected to the rotating part and wound The fixed shaft is arranged, and the power supply coil is arranged opposite to the power receiving coil.
The lidar of claim 8, wherein:

Both the power supply coil and the power reception coil are arranged around the fixed shaft.
The lidar of claim 9, further comprising a shielding component, the shielding component comprising:

The first shield is connected to the base, the first shield is ring-shaped and is arranged around the fixed axis, and the surface wall of the first shield facing the rotating part is arranged around the fixed axis Arranged in the first annular groove, the power supply coil is arranged in the first annular groove;

The second shielding member is connected to the rotating part, the second shielding member is ring-shaped and arranged around the fixed axis, and a surface wall of the second shielding member facing the base is provided with around the fixed axis The second annular groove is arranged, and the power receiving coil is arranged in the second annular groove.