Dual-line LiDAR

Abstract

The present invention relates to a dual-line laser radar, comprising a laser transmitter, a spectroscope, a reflector, two receivers, a main control board and a core seat. The core seat is provided with a first laser transmission channel, a second laser transmission channel and two receivers, a laser transmitter and a spectroscope are provided in the first laser transmission channel, a reflector is provided in the second laser transmission channel, the laser transmitter transmits laser light to the spectroscope, the spectroscope performs transmission and reflection, the transmitted transmission laser light is emitted from the front end face of the core seat and irradiates the target object, the reflected transmission laser light passes through the spectroscope through hole and irradiates the reflector, and is emitted from the front end face of the core seat after being reflected by the reflector and irradiates the target object; the receivers are all connected to the main control board, the receivers convert the reflected laser light formed by the reflection of the target object into a reflected laser electrical signal, the main control board obtains the distance between the laser radar and the target object according to the reflected laser electrical signal, thereby expanding the obstacle avoidance and navigation detection range and improving the recognition accuracy.

Description

Technical Field

[0001] The present invention relates to the technical field of laser radar, and in particular to a dual-line laser radar. Background Art

[0002] At present, the known triangulation ranging laser radar structure is composed of a base and a rotating platform, and the triangulation ranging laser radar of sweepers on the market cannot quickly and accurately identify obstacles such as data cables, electrical wires, shoes, pet feces, etc., resulting in jamming, wire entanglement, mis-scanning, mis-touching, etc.

[0003] Therefore, providing a laser radar that can help a sweeper expand its obstacle avoidance detection range and recognition accuracy is a technical problem that needs to be solved urgently. Summary of the invention

[0004] The purpose of the present invention is to provide a dual-line laser radar to expand the obstacle avoidance and navigation detection range and improve the recognition accuracy.

[0005] To achieve the above object, the present invention provides the following solutions:

[0006] A dual-line laser radar, comprising: a laser transmitter, a spectroscope, a reflector, two receivers, a main control board and a core seat;

[0007] A first laser emission channel and a second laser emission channel are arranged in parallel on the left side of the core seat, the first laser emission channel is located above the second laser emission channel, and a splitter hole is opened between the first laser emission channel and the second laser emission channel; the laser emitter and the beam splitter are arranged in sequence in the first laser emission channel along the direction from the rear end face to the front end face of the core seat, and the reflection direction of the beam splitter is aligned with the splitter hole; the reflector is arranged at a position directly opposite to the splitter hole in the second laser emission channel; the beam splitter transmits and reflects the emission laser emitted by the laser emitter, the transmitted emission laser is emitted from the front end face of the core seat along the first laser emission channel and irradiates the target object, the reflected emission laser passes through the splitter hole and irradiates the reflector, and after being reflected by the reflector, it is emitted from the front end face of the core seat along the second laser emission channel and irradiates the target object;

[0008] The two receivers are respectively arranged in the middle and right side of the core seat; the center of the receiver located in the middle of the core seat is on the same horizontal line as the center of the first laser emission channel, and the center of the receiver located on the right side of the core seat is on the same horizontal line as the center of the second laser emission channel;

[0009] The two receivers are connected to the main control board, and the two receivers are used to receive the reflected laser formed by the target object, convert the reflected laser into a reflected laser electrical signal, and transmit the reflected laser electrical signal to the main control board;

[0010] The main control board is used to obtain the distance between the laser radar and the target object according to the reflected laser electrical signal.

[0011] Optionally, the laser radar further includes: a signal acquisition board;

[0012] The signal acquisition board is arranged on the rear end surface of the core seat;

[0013] The signal output end of the receiver is connected to the input end of the signal acquisition board, and the control end and output end of the signal acquisition board are both connected to the main control board; the signal acquisition board is used to collect the reflected laser electrical signal of the receiver at a preset frequency under the control of the main control board, and transmit the collected reflected laser electrical signal to the main control board.

[0014] Optionally, the laser radar further includes: a filter lens;

[0015] The filter lens is arranged behind the receiving lens of the receiver, and the filter lens is arranged opposite to the receiving lens. The filter lens is used to isolate stray light.

[0016] Optionally, the laser radar further includes: a rotating structure and a base;

[0017] The core seat is arranged on the rotating structure, and the rotating structure is rotatably connected to the base;

[0018] The control end of the rotating structure is connected to the main control board, and the rotating structure is used to drive the core seat to rotate under the control of the main control board.

[0019] Optionally, the rotating structure includes: a rotating disk, a bearing, a driving wheel, a transmission belt and a motor;

[0020] The upper end surface of the rotating disk is provided with the core seat, and the lower end surface of the rotating disk is connected to the base through the bearing;

[0021] The output shaft of the motor is connected to the driving wheel, and the driving wheel is connected to the bearing through the transmission belt;

[0022] The control end of the motor is connected to the main control board.

[0023] Optionally, the laser radar further includes: a wireless power transmission board, a transformer and a wireless power receiving board;

[0024] The wireless power transmission board is fixedly arranged on the upper end surface of the rotating disk, and the core seat is arranged on the wireless power transmission board; the transformer is arranged in the middle of the bearing; and the wireless power receiving board is arranged at the bottom of the base;

[0025] The primary coil of the transformer is connected to the wireless power transmission board, and the secondary coil of the transformer is connected to the wireless power receiving board; the wireless power transmission board is used to convert the first direct current into the first alternating current, and transmit the first alternating current to the primary coil of the transformer; the transformer is used to convert the first alternating current into the second alternating current, and transmit the second alternating current to the wireless power receiving board;

[0026] The wireless power supply receiving board is respectively connected to the power input terminal of the laser transmitter, the power input terminals of the two receivers and the power input terminal of the main control board. The wireless power supply receiving board is used to generate a second direct current according to the second alternating current, and use the second direct current to power the laser transmitter, the two receivers and the main control board respectively.

[0027] Optionally, the wireless power supply transmitting board includes: a transmitting housing and an AC converter;

[0028] The AC converter is arranged inside the launch shell, the launch shell is arranged on the upper end surface of the rotating disk, and the core seat is arranged on the launch shell;

[0029] The AC converter is connected to the primary coil of the transformer, and is used for converting a first direct current into a first alternating current, and transmitting the first alternating current to the primary coil of the transformer.

[0030] Optionally, the wireless power receiving board includes: a receiving shell, a rectifier and a voltage stabilizer;

[0031] The rectifier and the voltage stabilizer are both arranged inside the receiving shell, and the receiving shell is arranged at the bottom of the base;

[0032] The secondary coil of the transformer is connected to the rectifier, the rectifier is connected to the voltage stabilizer, and the rectifier is used to convert the second alternating current into a third direct current and transmit the third direct current to the voltage stabilizer;

[0033] The voltage stabilizer is respectively connected to the power input terminal of the laser transmitter, the power input terminals of the two receivers and the power input terminal of the main control board. The voltage stabilizer is used to obtain the second direct current according to the third direct current, and use the second direct current to power the laser transmitter, the two receivers and the main control board respectively.

[0034] Optionally, the laser radar further includes: an inner coil winding seat and an outer coil winding seat;

[0035] The outer coil winding seat is arranged in the middle of the bearing, and the inner coil winding seat is arranged in the middle of the outer coil winding seat; the primary coil of the transformer is wound on the inner coil winding seat, and the primary coil of the transformer is wound on the outer coil winding seat.

[0036] Optionally, the laser radar further includes: a light shield and a rotating cover;

[0037] The light shield is arranged in front of the laser emission channel, the laser reflection channel and the two receivers;

[0038] The rotating cover is connected to the wireless power supply transmitting board, and the core seat and the light shield are both arranged in a cavity formed by the rotating cover and the wireless power supply transmitting board.

[0039] According to the specific embodiments provided by the present invention, the present invention discloses the following technical effects:

[0040] The invention provides a dual-line laser radar, wherein a first laser emission channel and a second laser emission channel are arranged on the left side of a core seat, a laser emitter and a spectroscope are arranged in the first laser emission channel, a reflector is arranged in the second laser emission channel, the laser emitter emits an emission laser to the spectroscope, the spectroscope performs transmission and reflection, the transmitted emission laser is emitted from the front end surface of the core seat and irradiates the target object, the reflected emission laser passes through the spectroscope through hole and irradiates the reflector, and after being reflected by the reflector, it is emitted from the front end surface of the core seat and irradiates the target object; two receivers are arranged in the middle and right side of the core seat, both of which are connected to a main control board, the receivers receive reflected laser formed by reflection of the target object, and convert the reflected laser into a reflected laser electrical signal, the main control board obtains the distance between the laser radar and the target object according to the reflected laser electrical signals of the two receivers, thereby expanding the obstacle avoidance and navigation detection range and improving the recognition accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0042] Figure 1 A structural diagram of a dual-line laser radar provided by the present invention;

[0043] Figure 2A front view of a dual-line laser radar provided by the present invention;

[0044] Figure 3 A rear view of a dual-line laser radar provided by the present invention;

[0045] Figure 4 A top view of a dual-line laser radar provided by the present invention;

[0046] Figure 5 A bottom view of a dual-line laser radar provided by the present invention;

[0047] Figure 6 An exploded view of a dual-line laser radar provided by the present invention;

[0048] Figure 7 An overall diagram of a dual-line laser radar provided by the present invention;

[0049] Figure 8 A left side view of the core seat provided by the present invention;

[0050] Fig. 9 A front view of the core seat provided by the present invention;

[0051] Fig.10 A rear view of the core seat provided by the present invention;

[0052] Fig.11 A schematic diagram of the principle of wireless power supply provided by the present invention;

[0053] Fig.12 The working timing diagram of the signal acquisition board provided by the present invention;

[0054] Explanation of symbols: 1-first receiving lens, 2-second receiving lens, 3-core seat, 4-first laser emission channel, 5-beam splitter, 6-reflector, 7-second laser emission channel, 8-motor, 9-laser transmitter, 10-driving wheel, 11-transmission belt, 12-wireless power supply transmitting board, 13-base, 14-first signal acquisition board, 15-second signal acquisition board, 16-rotating disk, 17-first lens fixing hole, 18-second lens fixing hole, 19-first filter lens, 20-second filter lens, 21-beam splitting hole, 22-laser circular hole, 23-outer coil winding seat, 24-inner coil winding seat, 25-bearing, 26-rotating cover, 27-light shield, 28-wireless power supply receiving board. DETAILED DESCRIPTION

[0055] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0056] The purpose of the present invention is to provide a dual-line laser radar to expand the obstacle avoidance and navigation detection range and improve the recognition accuracy.

[0057] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0058] The present invention provides a dual-line laser radar, such as Figure 1-7 As shown, the laser radar includes: a laser transmitter 9, a spectroscope 5, a reflector 6, two receivers, a main control board ( Figure 1 Not shown) and core seat 3.

[0059] The left side of the core seat 3 is provided with a first laser emitting channel 4 and a second laser emitting channel 7 in parallel. The first laser emitting channel 4 is located above the second laser emitting channel 7. A light splitting through hole 21 is provided between the first laser emitting channel 4 and the second laser emitting channel 7. In the first laser emitting channel 4, a laser emitter 9 and a light splitter 5 are sequentially arranged along the direction from the rear end face to the front end face of the core seat 3. Figure 8 As shown, the laser emitter 9 is specifically arranged in the laser circular hole 22 of the first laser emission channel 4. The reflection direction of the beam splitter 5 is aligned with the beam splitting through hole 21. The reflector 6 is arranged in a position directly opposite to the beam splitting through hole 21 in the second laser emission channel 7. The beam splitter 5 transmits and reflects the emission laser emitted by the laser emitter 9. The transmitted emission laser is emitted from the front end surface of the core seat 3 along the first laser emission channel 4 and irradiates the target object. The reflected emission laser passes through the beam splitting through hole 21 and irradiates the reflector 6. After being reflected by the reflector, it is emitted from the front end surface of the core seat 3 along the second laser emission channel 7 and irradiates the target object.

[0060] The beam splitter 5 is fixed by setting a beam splitting slope on the front end of the first laser emission channel 4 near the core seat 3, and fixing the beam splitter 5 on the beam splitting slope with 8008 glue. The reflector 6 is fixed by setting a reflective slope on the second laser emission channel 7, and fixing the reflector 6 on the reflective slope with 8008 glue. The transmitted emission laser is parallel to the navigation radar, and the reflected emission laser is at an angle of 12 ° The light is split downwards through the light splitting through hole 21 to the reflector 6, and then reflected by the reflector is emitted from the front end surface of the core seat 3 to achieve the purpose of obstacle avoidance.

[0061] The two receivers are respectively arranged in the middle and right side of the core seat 3. The center of the receiver located in the middle of the core seat 3 is on the same horizontal line with the center of the first laser emission channel 4, and the center of the receiver located on the right side of the core seat 3 is on the same horizontal line with the center of the second laser emission channel 7. The structure of the core seat 3 is shown in FIG. Figure 8-10 shown.

[0062] Both receivers are connected to the main control board, and both receivers are used to receive reflected laser formed by reflection of the target object, convert the reflected laser into a reflected laser electrical signal, and transmit the reflected laser electrical signal to the main control board.

[0063] The main control board is used to obtain the distance between the laser radar and the target object based on the reflected laser electrical signal.

[0064] The laser radar also includes: a signal acquisition board.

[0065] The signal acquisition board is arranged on the rear end surface of the core seat 3. Figure 1 and Figure 3 As shown, a fixing hole is set at the rear end of the middle of the core seat 3, that is, the upper end of the rear end of the first lens fixing hole 17, close to the left and right ends of the square groove, and a fixing hole is set at the lower end of the rear end of the core seat 3, close to the left and right ends of the square groove, respectively. The first signal acquisition board 14 is screwed through the fixing holes at the rear end of the core seat 3, and the first signal acquisition board 14 is fixed to the rear end of the middle of the core seat 3, that is, the rear end of the first lens fixing hole 17. The second signal acquisition board 15 is set in the same way as the first signal acquisition board 14, and the second signal acquisition board 15 is fixed to the rear end of the right side of the core seat 3.

[0066] The signal output end of the receiver is connected to the input end of the signal acquisition board, and the control end and output end of the signal acquisition board are connected to the main control board. The signal acquisition board is used to collect the reflected laser electrical signal of the receiver at a preset frequency under the control of the main control board, and transmit the collected reflected laser electrical signal to the main control board.

[0067] Fig.12The working timing diagram of the signal acquisition board, the output of the first signal acquisition board 14 and the second signal acquisition board 15 is an analog signal, the output channel (Video) is respectively connected to the two ADC channels of the main control chip (main control board), and the output of the two signal boards is collected simultaneously using the ADC double-ended (parallel) mode for data processing. The main control chip provides a certain frequency of CLK for the two signal acquisition boards, and then determines when the signal acquisition board performs signal acquisition by controlling the StartPulse (ST for short) pin of the acquisition board. When ST is high, the acquisition board performs signal acquisition. After ST is pulled down from high, after 12 clocks, the acquisition board outputs data through the signal output pin. The main control chip captures data at the rising edge of each trigger signal (Trig). thp(ST) is the high period of ST, tlp(ST) is the low period of ST, and tpi(ST) is one cycle of ST. integrationtime represents the integration time.

[0068] The acquisition board communicates with the outside world through the UASRT serial port, with a baud rate of 230400. Instructions can be received and data can be sent through the serial port.

[0069] The laser radar also includes: a filter lens. The filter lens is set behind the receiving lens of the receiver. A square groove is set at the rear end of the lens fixing hole. The filter lens is fixed in the square groove with 8008 glue. The filter lens is set opposite to the receiving lens. The filter lens is used to isolate stray light.

[0070] The receiving lens is arranged on the front end face of the core seat 3, and the front end face on the right side and the front end face in the middle of the core seat 3 are respectively provided with lens fixing holes (such as Figure 1 The first lens fixing hole 17 and the second lens fixing hole 18 in the ...8 are provided to receive the lens (such as Figure 1 The first receiving lens 1 and the second receiving lens 2) are respectively stuck in the lens fixing holes, and the lens fixing holes play the role of fixing the receiving lenses. Fig.10 As shown, there are two filter lenses, namely a first filter lens 19 and a second filter lens 20. The first filter lens 19 is arranged behind the first receiving lens 1, and the second filter lens 20 is arranged behind the second receiving lens 2.

[0071] The laser radar further includes: a rotating structure and a base 13. The core base 3 is arranged on the rotating structure, and the rotating structure is rotatably connected to the base 13. The control end of the rotating structure is connected to the main control board, and the rotating structure is used to drive the core base 3 to rotate under the control of the main control board.

[0072] The rotating structure includes: a rotating disk 16, a bearing 25, a driving wheel 10, a transmission belt 11 and a motor 8. The upper end surface of the rotating disk 16 is provided with a core seat 3, and the lower end surface of the rotating disk 16 is connected to the base 13 through the bearing 25. The output shaft of the motor 8 is connected to the driving wheel 10, and the driving wheel 10 is connected to the bearing 25 through the transmission belt 11. The control end of the motor 8 is connected to the main control board. Figure 6 As shown, the rotating structure further includes: an outer coil winding seat 23 and an inner coil winding seat 24.

[0073] The laser radar also includes: a wireless power transmission board 12, a transformer and a wireless power receiving board 28. The wireless power transmission board 12 is fixedly arranged on the upper end surface of the rotating disk 16, and the core seat 3 is arranged on the wireless power transmission board 12. The transformer is arranged in the middle of the bearing. The wireless power receiving board 28 is arranged at the bottom of the base 13, and four fixing holes are arranged at the bottom of the base 13. The wireless power receiving board 28 is fixed to the bottom of the base 13 through the four fixing holes.

[0074] The primary coil L1 of the transformer is connected to the wireless power transmitting board 12, and the secondary coil L2 of the transformer is connected to the wireless power receiving board 28. The wireless power transmitting board 12 is used to convert the first direct current into the first alternating current, and transmit the first alternating current to the primary coil L1 of the transformer. The transformer is used to convert the first alternating current into the second alternating current, and transmit the second alternating current to the wireless power receiving board 28.

[0075] The wireless power receiving board 28 is respectively connected to the power input terminal of the laser transmitter 9, the power input terminals of the two receivers and the power input terminal of the main control board. The wireless power receiving board 28 is used to generate a second direct current according to the second alternating current, and use the second direct current to power the laser transmitter 9, the two receivers and the main control board respectively.

[0076] The wireless power supply transmitting board 12 includes: a transmitting shell and an AC converter. The AC converter is arranged inside the transmitting shell, the transmitting shell is arranged on the upper end surface of the rotating disk 16, and the core seat 3 is arranged on the transmitting shell. The AC converter is connected to the primary coil L1 of the transformer, and the AC converter is used to convert the first direct current into the first alternating current, and transmit the first alternating current to the primary coil L1 of the transformer.

[0077] The wireless power receiving board 28 includes: a receiving shell, a rectifier and a voltage stabilizer. The rectifier and the voltage stabilizer are arranged inside the receiving shell, and the receiving shell is arranged at the bottom of the base 13. The secondary coil L2 of the transformer is connected to the rectifier, and the rectifier is connected to the voltage stabilizer. The rectifier is used to convert the second alternating current into a third direct current and transmit the third direct current to the voltage stabilizer. The voltage stabilizer is respectively connected to the power input terminal of the laser transmitter 9, the power input terminals of the two receivers and the power input terminal of the main control board. The voltage stabilizer is used to obtain the second direct current according to the third direct current, and use the second direct current to power the laser transmitter 9, the two receivers and the main control board respectively.

[0078] The laser radar further includes: an inner coil winding seat and an outer coil winding seat. The outer coil winding seat is arranged in the middle of the bearing, and the inner coil winding seat is arranged in the middle of the outer coil winding seat. The primary coil of the transformer is wound on the inner coil winding seat, and the primary coil of the transformer is wound on the outer coil winding seat.

[0079] like Fig.11 As shown, wireless power supply transmitting board 12: DC 5V direct current is converted into AC1 through an AC converter, and the AC generates a changing electromagnetic field through the primary coil L1 of the transformer T1. Wireless power supply receiving board 28: The coil L2 on the power supply receiving board generates current by receiving the electromagnetic field emitted by the power supply transmitting board, generating AC 5V voltage. This AC 5V electricity is then processed by rectification, voltage stabilization and other circuits to obtain DC3.3V, which is used by the main control board, laser emission, first signal acquisition board 14, and second signal acquisition board 15. L1 and L2 are independent in structure and designed to facilitate the rotation of the radar.

[0080] The laser radar further includes: a light shield 27 and a rotating cover 26. The light shield 27 is arranged in front of the laser emission channel, the laser reflection channel and the two receivers. The rotating cover 26 is connected to the wireless power supply transmitting board 12, and the core seat 3 and the light shield 27 are both arranged in the cavity formed by the rotating cover 26 and the wireless power supply transmitting board 12.

[0081] The present invention arranges a laser transmitting and two receiving lenses on the sweeping machine laser radar to achieve navigation and obstacle avoidance functions, expands the obstacle avoidance and navigation detection range, and improves recognition accuracy.

[0082] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0083] The principles and implementation methods of the present invention are described in this article using specific examples. The description of the above embodiments is only used to help understand the method and core idea of ​​the present invention. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A two-line laser radar, characterized in that: The laser radar comprises: a laser transmitter, a spectroscope, a reflector, two receivers, a main control board and a core seat; A first laser emission channel and a second laser emission channel are arranged in parallel on the left side of the core seat, the first laser emission channel is located above the second laser emission channel, and a splitter hole is opened between the first laser emission channel and the second laser emission channel; the laser emitter and the beam splitter are arranged in sequence in the first laser emission channel along the direction from the rear end face to the front end face of the core seat, and the reflection direction of the beam splitter is aligned with the splitter hole; the reflector is arranged at a position directly opposite to the splitter hole in the second laser emission channel; the beam splitter transmits and reflects the emission laser emitted by the laser emitter, the transmitted emission laser is emitted from the front end face of the core seat along the first laser emission channel and irradiates the target object, the reflected emission laser passes through the splitter hole and irradiates the reflector, and after being reflected by the reflector, it is emitted from the front end face of the core seat along the second laser emission channel and irradiates the target object; The two receivers are respectively arranged in the middle and right side of the core seat; the center of the receiver located in the middle of the core seat is on the same horizontal line as the center of the first laser emission channel, and the center of the receiver located on the right side of the core seat is on the same horizontal line as the center of the second laser emission channel; The two receivers are connected to the main control board, and the two receivers are used to receive the reflected laser formed by the target object, convert the reflected laser into a reflected laser electrical signal, and transmit the reflected laser electrical signal to the main control board; The main control board is used to obtain the distance between the laser radar and the target object according to the reflected laser electrical signal; The laser radar also includes: a signal acquisition board; The signal acquisition board is arranged on the rear end surface of the core seat; The signal output end of the receiver is connected to the input end of the signal acquisition board, and the control end and the output end of the signal acquisition board are both connected to the main control board; the signal acquisition board is used to collect the reflected laser electrical signal of the receiver according to a preset frequency under the control of the main control board, and transmit the collected reflected laser electrical signal to the main control board; The laser radar further includes: a filter lens; The filter lens is arranged behind the receiving lens of the receiver, and the filter lens is arranged opposite to the receiving lens. The filter lens is used to isolate stray light.

2. The dual-line laser radar according to claim 1, characterized in that: The laser radar also includes: a rotating structure and a base; The core seat is arranged on the rotating structure, and the rotating structure is rotatably connected to the base; The control end of the rotating structure is connected to the main control board, and the rotating structure is used to drive the core seat to rotate under the control of the main control board.

3. The dual-line laser radar according to claim 2, characterized in that: The rotating structure comprises: a rotating disk, a bearing, a driving wheel, a transmission belt and a motor; The upper end surface of the rotating disk is provided with the core seat, and the lower end surface of the rotating disk is connected to the base through the bearing; The output shaft of the motor is connected to the driving wheel, and the driving wheel is connected to the bearing through the transmission belt; The control end of the motor is connected to the main control board.

4. The dual-line laser radar according to claim 3, characterized in that: The laser radar also includes: a wireless power transmission board, a transformer and a wireless power receiving board; The wireless power transmission board is fixedly arranged on the upper end surface of the rotating disk, and the core seat is arranged on the wireless power transmission board; the transformer is arranged in the middle of the bearing; and the wireless power receiving board is arranged at the bottom of the base; The primary coil of the transformer is connected to the wireless power transmission board, and the secondary coil of the transformer is connected to the wireless power receiving board; the wireless power transmission board is used to convert the first direct current into the first alternating current, and transmit the first alternating current to the primary coil of the transformer; the transformer is used to convert the first alternating current into the second alternating current, and transmit the second alternating current to the wireless power receiving board; The wireless power supply receiving board is respectively connected to the power input terminal of the laser transmitter, the power input terminals of the two receivers and the power input terminal of the main control board. The wireless power supply receiving board is used to generate a second direct current according to the second alternating current, and use the second direct current to power the laser transmitter, the two receivers and the main control board respectively.

5. The dual-line laser radar according to claim 4, characterized in that: The wireless power supply transmitting board comprises: a transmitting housing and an AC converter; The AC converter is arranged inside the launch shell, the launch shell is arranged on the upper end surface of the rotating disk, and the core seat is arranged on the launch shell; The AC converter is connected to the primary coil of the transformer, and is used for converting a first direct current into a first alternating current, and transmitting the first alternating current to the primary coil of the transformer.

6. The dual-line laser radar according to claim 4, characterized in that: The wireless power receiving board comprises: a receiving shell, a rectifier and a voltage stabilizer; The rectifier and the voltage stabilizer are both arranged inside the receiving shell, and the receiving shell is arranged at the bottom of the base; The secondary coil of the transformer is connected to the rectifier, the rectifier is connected to the voltage stabilizer, and the rectifier is used to convert the second alternating current into a third direct current and transmit the third direct current to the voltage stabilizer; The voltage stabilizer is respectively connected to the power input terminal of the laser transmitter, the power input terminals of the two receivers and the power input terminal of the main control board. The voltage stabilizer is used to obtain the second direct current according to the third direct current, and use the second direct current to power the laser transmitter, the two receivers and the main control board respectively.

7. The dual-line laser radar according to claim 4, characterized in that: The laser radar further comprises: an inner coil winding seat and an outer coil winding seat; The outer coil winding seat is arranged in the middle of the bearing, and the inner coil winding seat is arranged in the middle of the outer coil winding seat; the primary coil of the transformer is wound on the inner coil winding seat, and the primary coil of the transformer is wound on the outer coil winding seat.

8. The dual-line laser radar according to claim 4, characterized in that: The laser radar also includes: a light shield and a rotating cover; The light shield is arranged in front of the first laser emission channel, the second laser emission channel and the two receivers; The rotating cover is connected to the wireless power transmitting board, and the core seat and the light shield are both arranged in a cavity formed by the rotating cover and the wireless power transmitting board.

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