Lidar

Abstract

A laser radar, characterized in comprising: a base (200) comprising a fixed shaft (210), the fixed shaft (210) being a hollow shaft; a rotating part (100) rotationally connected with the base (200) and configured to rotate around a central axis of the fixed shaft (210), the rotating part (100) and the fixed shaft (210) jointly defining a hollow chamber, and a laser transceiver system of the laser radar being fixed to the rotating part (100); and a driving device for driving the rotating part (100) to rotate relative to the base (200), the driving device comprising a stator (241) and a rotor (242) coupled with the stator (241), the stator (241) being sleeved on an outer peripheral wall of the fixed shaft (210), the rotor (242) being arranged around the stator (241), and the rotor (242) being connected with the rotating part (100). The driving device, a power supply part and a communication part of the laser radar can not be arranged on the same shaft body, so that the axial dimension of the laser radar along the fixed shaft can be reduced, and the volume of the laser radar is further reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of laser detection, and in particular to a laser radar. BACKGROUND

[0002] The laser radar is a radar system for detecting the position, speed and other characteristic quantities of an object by emitting a laser beam. The working principle of the laser radar is that a transmitting system first emits an outgoing laser for detection to a detection area, and then a receiving system receives reflected laser reflected from an object in the detection area. The reflected laser is compared with the outgoing laser, and relevant information of the object, such as distance, direction, height, speed, attitude, and even shape, can be obtained after processing.

[0003] The current mechanical laser radar includes a base and a rotating part. A laser transceiver device of the laser radar is mounted on the rotating part, so that the laser transceiver device can rotate relative to the base to increase the detection area. When the above structure is adopted, a shaft body for mounting a driving device, a communication device and a power supply device is arranged on the base of the laser radar. Since the above three components are arranged on the same shaft body, the length of the shaft body is relatively long, thereby increasing the size of the laser radar in the axial direction of the shaft body and increasing the volume of the laser radar. SUMMARY

[0004] The present application provides a laser radar, which can reduce the size of the laser radar in the axial direction of the fixed shaft, thereby reducing the volume of the laser radar.

[0005] According to an aspect of the present application, a laser radar is provided, comprising:

[0006] a base including a fixed shaft, the fixed shaft being a hollow shaft;

[0007] a rotating part rotationally connected with the base and configured to rotate around a central axis of the fixed shaft, the rotating part and the fixed shaft together defining a hollow chamber, and a laser transceiver system of the laser radar being fixed to the rotating part;

[0008] a driving device for driving the rotating part to rotate relative to the base, the driving device including a stator and a rotor coupled with the stator, the stator being sleeved on an outer peripheral wall of the fixed shaft, the rotor being arranged around the stator, and the rotor being connected with the rotating part.

[0009] According to some embodiments, the rotating part includes an annular fixed wall, the annular fixed wall being arranged around the fixed shaft, and the rotor being fixed to an inner peripheral wall surface of the annular fixed wall.

[0010] According to some embodiments, the rotating part includes a rotating shaft, a central axis of the rotating shaft coincides with a central axis of the fixed shaft, the rotating shaft is arranged in the hollow chamber, and the rotating shaft is rotationally connected with an inner peripheral wall of the fixed shaft.

[0011] According to some embodiments, the laser radar further comprises:

[0012] The communication unit comprises a first communication device and a second communication device in communication connection with the first communication device, the first communication device and the second communication device are arranged in the hollow chamber, and the first communication device is connected to the base, and the second communication device is connected to the rotating unit.

[0013] According to some embodiments, the rotating shaft is a hollow shaft, and the second communication device is arranged inside the rotating shaft, and the first communication device is arranged inside and connected to the fixed shaft.

[0014] According to some embodiments, the inner circumferential wall of the fixed shaft is provided with a connecting flange extending towards the central axis of the hollow shaft, and the connecting flange comprises a first abutting wall facing the rotating unit and a second abutting wall facing away from the rotating unit.

[0015] The rotating shaft sleeve is provided with a first bearing and a second bearing, and the outer ring of the first bearing abuts the first abutting wall, and the outer ring of the second bearing abuts the second abutting wall.

[0016] According to some embodiments, the base comprises a bottom shell and a base plate, the fixed shaft is fixed to the base plate, the base plate is detachably mounted to the bottom shell, and the first communication device is fixed to the inner wall surface of the fixed shaft.

[0017] The rotating unit comprises a bearing plate, the rotating shaft is fixed to the bearing plate, the bearing plate comprises a first inner wall facing the inside of the rotating shaft, and the second communication device is fixed to the first inner wall.

[0018] According to some embodiments, the laser radar further comprises:

[0019] The power supply module comprises 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 unit and arranged around the fixed shaft, and the power supply coil and the power receiving coil are arranged opposite to each other.

[0020] According to some embodiments, the power supply coil and the power receiving coil are arranged around the fixed shaft.

[0021] According to some embodiments, the laser radar further comprises a shielding assembly, the shielding assembly comprises:

[0022] The first shielding device is connected to the base, the first shielding device is annular and arranged around the fixed shaft, and the surface wall of the first shielding device facing the rotating unit is provided with a first annular groove arranged around the fixed shaft, and the power supply coil is arranged in the first annular groove.

[0023] The second shielding device is connected to the rotating unit, the second shielding device is annular and arranged around the fixed shaft, and the surface wall of the second shielding device facing the base is provided with a second annular groove arranged around the fixed shaft, and the power receiving coil is arranged in the second annular groove.

[0024] The application provides a laser radar, comprising a base and a rotating part. The base comprises a fixed shaft, and the rotating part is rotationally connected with the base and is configured to rotate around a central axis of the fixed shaft. The application omits the solid shaft body connected with the base in the prior art, and instead uses the fixed shaft on the base to install the driving device. Since the fixed shaft is a hollow shaft, and the hollow shaft and the rotating part jointly define a hollow chamber, the communication part and the power supply part can be disposed in the hollow chamber. That is, compared with the prior art, the driving device, the power supply part and the communication part of the laser radar in the application can not be disposed on the same shaft body, so that the size of the laser radar in the axial direction of the fixed shaft can be reduced, and the volume of the laser radar is further reduced. BRIEF DESCRIPTION OF DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description only constitute some embodiments of the application, and for those skilled in the art, other drawings can also be obtained from these drawings without creative labor.

[0026] Figure 1 It is a perspective view of the laser radar in an embodiment of the application after the rotating part and the base are assembled.

[0027] Figure 2 It is an exploded schematic view of the sectional view of the base and the rotating part in an embodiment of the application.

[0028] Figure 3 It is an exploded schematic view of the base and the rotating part in an embodiment of the application.

[0029] Figure 4 It is a sectional view of the base and the rotating part in an embodiment of the application.

[0030] Figure 5 It 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.

[0031] Figure 6 It is a partial enlarged schematic view. Figure 4 DETAILED DESCRIPTION

[0032] In order to make the purpose, technical solutions and advantages of the application more clear, the following will further describe the application in combination with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the application, and are not used to limit the application.

[0033] ​LiDAR is a radar system that uses laser beams to detect the position, velocity, and other characteristics of objects. Its working principle is that the transmitting system first emits an outgoing laser beam for detection into the detection area, and then the receiving system receives the reflected laser beams from the objects in the detection area. By comparing the reflected laser beams with the outgoing laser beams and processing them, relevant information about the objects can be obtained, such as distance, orientation, height, velocity, attitude, and even shape.

[0034] Currently, mechanical lidar systems include a base and a rotating section. The lidar's laser transceiver is mounted on the rotating section, allowing it to rotate relative to the base and thus increasing the detection area. The lidar also includes a drive unit for rotating the section relative to the base, a power supply unit for supplying power to the rotating section, and a communication unit for data transmission between the rotating section and the base. In existing technology, the drive unit, power supply unit, and communication unit are all mounted on a shaft of the base, resulting in a large length of this shaft and consequently a large axial dimension of the lidar.

[0035] To address the aforementioned issues, this embodiment provides a lidar that can have a smaller height (with reference to the vertical orientation of the lidar's fixed axis). It should be noted that, for ease of description, the orientation of the lidar mentioned below is based on the vertical orientation of the lidar's fixed axis.

[0036] like Figures 1 to 6 As shown, the lidar 10 in this embodiment includes a laser transceiver system, a base 200, a rotating part 100, and a driving device.

[0037] The base 200 includes a base plate 220 and a fixing shaft 210. Specifically, in this embodiment, the fixing shaft 210 is a hollow shaft, meaning it has an internal hole extending along its own axial direction. Specifically, the fixing shaft 210 can be completely hollow or partially hollow (in the case of partial hollowness, the internal hole extends beyond at least one end of the fixing shaft 210). When the fixing shaft 210 is completely hollow, it is tubular; when it is partially hollow, it can be tubular at one end and solid at the other. The axis of the internal hole within the fixing shaft 210 can coincide with or not coincide with the central axis of the fixing shaft 210 (i.e., the internal hole can be eccentrically positioned). Simultaneously, the cross-section of the internal hole along the axial direction perpendicular to the fixing shaft 210 can be either regular or irregular. When the internal hole is regular in shape, it can be a cylindrical hole or a prism hole, etc.

[0038] The fixed shaft 210 is fixed to other components of the base 200. In the embodiment, the fixed shaft 210 is fixed to the base plate 220 of the base 200, and the fixed shaft 210 is hollow regardless of being completely hollow or partially hollow. The end of the fixed shaft 210 away from the base plate 220 is hollow. When the fixed shaft 210 is fixed to the base plate 220, the central axis of the fixed shaft 210 can be perpendicular to the base plate 220 or can be at an acute angle with the base plate 220. Preferably, as shown in Figure 4 the embodiment, the central axis of the fixed shaft 210 is perpendicular to the base plate 220.

[0039] The rotating part 100 of the laser radar 10 is rotationally connected to the base 200 and is configured to rotate around the central axis of the fixed shaft 210. Specifically, the rotating part 100 can be directly rotationally connected to the fixed shaft 210 or can be rotationally connected to other parts of the base 200. As shown in Figure 4 the embodiment, the rotating part 100 is rotationally connected to the fixed shaft 210, i.e., a bearing or other fixed component is 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 rotate relative to the fixed shaft 210. Of course, in another embodiment, the rotating part 100 can not be connected to the fixed shaft 210, but a bearing is provided between the rotating part 100 and other components of the base 200. In the embodiment, as shown in Figure 4 the rotating part 100 and the fixed shaft 210 together define a hollow chamber, i.e., the hollow parts of the rotating part 100 and the fixed shaft 210 define a hollow chamber.

[0040] The laser transceiver system of the laser radar 10 is fixed to the rotating part 100 and can rotate relative to the base 200 with the rotating part 100. This can enable the laser transceiver system to have a larger detection range. How the laser transceiver system is mounted to the rotating part 100 and where it is mounted to the rotating part 100 is known in the prior art and will not be described here.

[0041] In order to realize the relative rotation of the rotating part 100 and the base 200, the laser radar 10 further comprises a driving device for driving the rotating part 100 to rotate relative to the base 200. Specifically, the driving device comprises a stator 241 and a rotor 242 arranged around the stator 241, and the stator 241 is coupled to 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 powered on, the rotor 242 rotates relative to the stator 241, thereby causing the rotating part 100 to rotate relative to the base 200.

[0042] The embodiment omits the solid shaft body connected with the base in the prior art, and uses the fixed shaft 210 on the base 200 as a replacement to install the driving device. Since the fixed shaft 210 is a hollow shaft, and the hollow shaft and the rotating part 100 jointly define a hollow chamber, the outer peripheral wall of the fixed shaft 210 can not be sleeved with the communication part, the power supply module and other components, and the communication part and the power supply module of the laser radar 10 can be arranged in the hollow chamber. That is, compared with the prior art, the driving device, the power supply module and the communication part of the laser radar 10 in the application can not be arranged on the same shaft body, which can reduce the size of the laser radar 10 along the axial direction of the fixed shaft 210, and further reduce the volume of the laser radar 10.

[0043] The rotor 242 in the driving device can be connected with the rotating part 100 in any structure, as long as the rotor 242 can drive the rotating part 100 to rotate when the rotor 242 rotates relative to the stator 241. In the 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 is more stable, and the torque transmission is more reliable.

[0044] In one embodiment, the stator 241 and the rotor 242 can be two complete components that have been packaged, and only the two components need to be installed. In another embodiment, the stator 241 and the rotor 242 can be both wire coils, the stator 241 is arranged around the fixed shaft 210 and forms an integral whole with the fixed shaft 210 (that is, the fixed shaft 210 and the wire coil can be regarded as forming the stator 241 of the driving device together). Similarly, the rotor 242 can also be installed on the annular fixed wall 120 and form an integral whole with the annular fixed wall 120 (that is, the wire coil and the annular fixed wall 120 can be regarded as forming the rotor 242 of the driving device together).

[0045] The laser radar 10 in the embodiment can further include a communication part (not shown in the figure), the communication part includes a first communication part and a second communication part in communication connection with the first communication part, and the first communication part and the second communication part are arranged in the hollow chamber. It should be noted that when the rotating part 100 is closely close to the end of the fixed shaft 210 away from the base 220, the hollow chamber can be considered as the inner hole of the fixed shaft 210. However, when the rotating part 100 has a gap with the end of the fixed shaft 210 away from the base 220, the inner hole of the fixed shaft 210 can be considered as only a part of the hollow chamber. Since the communication part arranged in the hollow chamber can better utilize the axial space of the fixed shaft 210, the size of the laser radar 10 along the axial direction of the fixed shaft 210 is reduced, and the vertical height of the laser radar 10 is further reduced.

[0046] The communication part can be any device capable of realizing communication between two components that generate relative rotation, for example, a magnetic ring assembly or an optical communication assembly. In this embodiment, the communication part is an optical communication assembly, and the first communication part and the second communication part of the optical communication assembly are connected to the base 200 and the rotating part 100, respectively. When the rotating part 100 rotates relative to the base 200, data transmission between the first communication part and the second communication part realizes signal transmission between the rotating part 100 and the base 200.

[0047] The rotating part 100 is mounted on the base 200 and is supported by the base 200. When the fixed shaft 210 of the base 200 is arranged vertically, the rotating part 100 can be mounted above the base 200 and the base 200 provides upward support to the rotating part 100. 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 is rotationally connected to the inner wall of the fixed shaft 210. That is, the fixed shaft 210 provides upward support to the rotating shaft 110, thereby realizing support to the entire rotating part 100. Since the rotating shaft 110 is arranged in the fixed shaft 210, the connecting part between the fixed shaft 210 and the rotating shaft 110 is also arranged in the hollow interior of the fixed shaft 210, so that the internal space of the fixed shaft 210 can be further utilized.

[0048] The connecting part between the fixed shaft 210 and the rotating shaft 110 can be a bearing, specifically a deep groove ball bearing. The number of bearings between the fixed shaft 210 and the rotating shaft 110 can be determined according to actual conditions. In this embodiment, two bearings, i.e., a first bearing 271 and a second bearing 272, are arranged between the fixed shaft 210 and the rotating shaft 110. The inner rings of the first bearing 271 and the second bearing 272 are both sleeved on the outside of 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 of the fixed shaft 210 and tightly fit with the inner wall of the fixed shaft 210.

[0049] In one embodiment, in order to enhance the fixing effect on the rotating shaft 110, a connecting flange 211 can be arranged on the inner wall of the fixed shaft 210, the connecting flange 211 extends towards the central axis of the hollow shaft, and the connecting flange 211 includes a first abutting wall facing the rotating part 100 and a 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 freedom of the first bearing 271 and the second bearing 272 along the central axis of the fixed shaft 210. The shape of the connecting flange 211 is preferably annular, so that it can provide greater support.

[0050] Specifically, the inner ring of the first bearing 271 is fitted outside the rotating shaft 110, and the outer ring abuts against the first abutment wall of the connecting flange 211. Thus, the connecting flange 211 can provide the first bearing 271 with a bearing force in the direction from the base 200 to the rotating part 100. When the rotating part 100 is positioned above the base 200, the mating structure of the connecting flange 211 and the first bearing 271 can effectively support the rotating part 100. The inner ring of the second bearing 272 is fitted outside the rotating shaft 110, and the outer ring abuts against the second abutment wall of the connecting flange 211. Thus, when the rotating part 100 is positioned below the base 200, the mating structure of the connecting flange 211 and the second bearing 272 can effectively support the base 200.

[0051] Due to the presence of the connecting flange 211, the second bearing 272 is difficult to install from the end of the fixed shaft 210 near the rotating part 100. Therefore, to facilitate the installation of the second bearing 272, as follows: Figure 2 As shown, in one embodiment, the base 200 may further include a base plate 220 and a bottom shell 230. The fixing shaft 210 is mounted on the base plate 220, and the base plate 220 and the bottom shell 230 are detachably mounted. Specifically, the base plate 220 has a mounting hole, and the fixing shaft 210 is completely hollow. The end of the fixed, rotating part 100 passes through the mounting hole, so that when the second bearing 272 needs to be installed, the second bearing 272 can be installed from the end of the rotating part 100 of the fixing shaft 210.

[0052] After the rotating shaft 110 is disposed within the fixed shaft 210, the height space occupied by the rotating shaft 110 can be reduced. However, the rotating shaft 110 also occupies the internal space of the fixed shaft 210, which makes the arrangement of the communication unit inconvenient. To solve the above problems, in one embodiment, the rotating shaft 110 can also be a hollow shaft, and the second communication component is disposed inside the rotating shaft 110, while the first communication component is disposed inside the fixed shaft 210. In this way, the rotating shaft 110 can both support the rotating part 100 as a whole and not affect the arrangement of the communication unit, further reducing the height of the lidar 10.

[0053] Similarly, the rotating shaft 110 can be completely hollow or partially hollow (in the case of partial hollowness, the internal hole extends at least beyond the end of the rotating shaft 110 near the fixed shaft 210). When the rotating shaft 110 is completely hollow, it is tubular; when it is partially hollow, it can be tubular at one end and solid at the other. The axis of the internal hole within the rotating shaft 110 can coincide with or not coincide with the central axis of the rotating shaft 110 (i.e., the internal hole can be eccentrically positioned). Furthermore, the cross-section of the internal hole along the axial direction perpendicular to the rotating shaft 110 can be either regular or irregular. When the internal hole is regular in shape, it can be a cylindrical hole or a prism hole, etc.

[0054] The rotating part 100 is provided with a laser transceiver and other power equipment, so it is necessary to guide the electric energy from the base 200 to the rotating part 100. However, since the rotating part 100 rotates as a whole relative to the base 200, it is difficult to use a conventional wire connection to guide the electric energy. In the embodiment, as shown in FIG. 2, the laser radar 10 further comprises a power supply module. The power supply module comprises a power supply coil 252 and a power receiving coil 251 coupled with 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 supply coil 252 is arranged opposite to the power receiving coil 251. Figure 2

[0055] The power supply coil 252 and the power receiving coil 251 cooperate to transmit the electric energy on the base 200 to the rotating part 100. During power supply, 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 changing magnetic field causes an electric current to be generated in the power receiving coil 251. By modulating the generated electric current, the laser transceiver system on the rotating part 100 can be powered.

[0056] The number and arrangement position of the power supply coil 252 and the power receiving coil 251 can be determined according to specific requirements. In one embodiment, the number of the power supply coil 252 can 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 the power receiving coil 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). In this way, when the rotating part 100 rotates relative to the base 200, a part of the power supply coil 252 and the power receiving coil 251 can be arranged opposite to each other at any time, so that the electric energy can be transmitted through the power supply coil 252 and the power receiving coil 251 arranged opposite to each other. Of course, in the above embodiment, the more the number of the power supply coil 252 and the power receiving coil 251, the smaller the influence of the rotation of the rotating part 100 on the transmission of the electric energy. In addition, in the above embodiment, the magnetic field generated by the power supply coil 252 has less influence on other components in the base 200.

[0057] In the above embodiment, on the one hand, the number of the power supply coil 252 and the power receiving coil 251 is large, and the cost is high. On the other hand, it is difficult to arrange each power supply coil 252 and each power receiving coil 251 opposite to each other during the rotation of the rotating part 100. In order to solve the above problems, in the embodiment, as shown in FIG. 3, the power supply module further comprises a power supply coil 253 and a power receiving coil 254. The power supply coil 253 is connected to the base 200 and arranged around the fixed shaft 210, and the power receiving coil 254 is connected to the rotating part 100 and arranged around the fixed shaft 210. The power supply coil 253 is arranged opposite to the power receiving coil 254. Figure 4 ​As shown, the power supply module only includes one power supply coil 252 and one power receiving coil 251, and the power supply coil 252 and the power receiving coil 251 are both arranged around the fixed shaft 210 (the central axis of the fixed shaft 210 passes through the inside of the power supply coil 252 and the power receiving 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 receiving coil 251 can be arranged opposite to each other, which improves the power supply efficiency.

[0058] When the number of the power supply coil 252 and the power receiving coil 251 is one, in order to increase the diameter of the coil, the driving device can be arranged inside the power supply coil 252 and the power receiving coil 251. After the diameter of the power supply coil 252 and the power receiving coil 251 is increased, the power supply efficiency is higher. At the same time, the power supply coil 252 and the power receiving coil 251 are not arranged on the same shaft as the driving device, so they do not occupy the vertical space of the laser radar 10, which reduces the vertical size of the laser radar 10 compared with the structure of the prior art.

[0059] 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-mentioned problem, in the embodiment, as shown Figure 4 The laser radar 10 can also include a shielding assembly, which includes a first shielding member 261 and a second shielding member 262. The first shielding member 261 is connected to the base 200, and the first shielding member 261 is annular and 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, and the power supply coil 252 is arranged in the first annular groove. The second shielding member 262 is connected to the rotating part 100, and the second shielding member 262 is annular and 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, and 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 a material that can shield the magnetic induction line, so that the above-mentioned structure makes the magnetic field generated by the power supply coil 252 not overflow and affect the power equipment inside.

[0060] The same or similar reference numerals in the drawings of the embodiments correspond to the same or similar components; in the description of the present application, it is understood that if the orientations or positional relationships indicated by the terms "upper", "lower", "left", "right" and the like are based on the orientations or positional relationships shown in the drawings, they are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore the terms describing the positional relationships in the drawings are only used for exemplary illustration, and cannot be understood as a limitation on the present patent, for those skilled in the art, the specific meanings of the above terms can be understood according to the specific circumstances.

[0061] The above only describes the preferred embodiments of the present application and is not intended to limit the present application, any modifications, equivalent replacements and improvements made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A lidar, comprising: The laser radar comprises: a base including a fixed shaft, a base plate and a bottom shell, the fixed shaft being mounted on the base plate, the base plate being detachably mounted on the bottom shell, the base plate having a mounting hole, the fixed shaft being a hollow shaft; a rotating part rotationally connected with the base and configured to rotate around a central axis of the fixed shaft, the rotating part and the fixed shaft jointly defining a hollow chamber, and an end of the fixed shaft away from the rotating part penetrating through the mounting hole, the rotating part including a rotating shaft and an annular fixed wall, the annular fixed wall being arranged around the fixed shaft, the rotating shaft being arranged in the hollow chamber, and a laser transceiver system of the laser radar being fixed on the rotating part; wherein the laser radar further comprises a first bearing and a second bearing arranged in the hollow chamber, inner rings of the first bearing and the second bearing being sleeved on the outside of the rotating shaft, and outer rings of the first bearing and the second bearing being connected to the inner wall surface of the fixed shaft, so that the rotating shaft is rotationally connected with the inner peripheral wall of the fixed shaft; a driving device for driving the rotating part to rotate relative to the base, the driving device including a stator and a rotor coupled with the stator, the stator being a wire coil, the stator being arranged around the fixed shaft and forming an integral whole with the fixed shaft, the rotor being arranged around the stator, and the rotor being fixed to the inner peripheral wall surface of the annular fixed wall; and a power supply module including a power supply coil and a power receiving coil coupled with the power supply coil, the power supply coil being connected to the base and arranged around the fixed shaft, the power receiving coil being connected to the rotating part and arranged around the fixed shaft, and the power supply coil and the power receiving coil being arranged outside the driving device. The central axis of the rotating shaft coincides with the central axis of the fixed shaft.

2. The lidar of claim 1, wherein, The laser radar further comprises:

3. The lidar of claim 2, wherein, a communication part including a first communication device and a second communication device communicatively connected with the first communication device, the first communication device and the second communication device being arranged in the hollow chamber, and the first communication device being connected to the base and the second communication device being connected to the rotating part.

4. The laser radar of claim 3, wherein: the rotating shaft is a hollow shaft, and the second communication device is arranged inside the rotating shaft, and the first communication device is arranged inside the fixed shaft and connected with the fixed shaft.

5. The laser radar of claim 3, wherein: an inner peripheral wall of the fixed shaft is provided with a connecting flange extending towards the central axis of the hollow shaft, the connecting flange including a first abutting wall facing the rotating part and a second abutting wall facing away from the rotating part; an outer ring of the first bearing abuts the first abutting wall, and an outer ring of the second bearing abuts the second abutting wall.

6. The laser radar of claim 5, wherein: the first communication device is fixed to the inner wall surface of the fixed shaft; the rotating part includes a bearing plate, the rotating shaft being fixed to the bearing plate, the bearing plate including a first inner wall facing the inside of the rotating shaft, and the second communication device being fixed to the first inner wall. ​ 7. The lidar of claim 1, wherein, Also included is a shielding assembly, the shielding assembly comprising: a first shielding member connected to the base, the first shielding member being annular and arranged around the fixed shaft, a surface wall of the first shielding member facing the rotating portion being provided with a first annular groove arranged around the fixed shaft, the power supply coil being arranged in the first annular groove; a second shielding member connected to the rotating portion, the second shielding member being annular and arranged around the fixed shaft, a surface wall of the second shielding member facing the base being provided with a second annular groove arranged around the fixed shaft, the power receiving coil being arranged in the second annular groove.

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