A rotating laser radar and a method of assembling the same

Abstract

This invention belongs to the field of lidar technology, and more specifically, relates to a rotating lidar and its assembly method, including a stator assembly, a rotor assembly, a ranging module, and an encoder assembly. The rotor assembly includes a rotor support and a rotor. The rotor support includes a top plate and a first hollow cylinder and a second hollow cylinder. The rotor is fixed inside the second hollow cylinder and rotatably fitted onto the outside of the stator. The ranging module is disposed on the side of the top plate opposite to the rotor. The encoder assembly includes an encoder disk, code teeth, and a detection element. The encoder disk is disposed on the stator support and extends upward. Multiple code teeth are disposed at the end of the encoder disk opposite to the stator support and are circumferentially distributed. The detection element and code teeth are located between the first and second hollow cylinders. The rotating lidar provided by this invention not only improves the applicability of rotating lidar but also isolates interference from ambient light and other optical signals, ensuring the accuracy of the rotor assembly's rotation speed and position detection.

Description

Technical Field

[0001] This invention belongs to the field of lidar technology, and more specifically, relates to a rotating lidar and its assembly method. Background Technology

[0002] With the rapid development of LiDAR technology, the application fields of LiDAR are gradually expanding. Rotating LiDAR is increasingly valued and applied in various industries due to its high accuracy and wide detection range, especially in the mobile robot industry.

[0003] A rotating lidar typically includes a rotating base, a ranging module mounted on the rotating base, and a light-transmitting cover fixed to the rotating base and covering the outside of the ranging module. The rotating base includes a mounting base, a stator assembly, and a rotor assembly. The stator assembly and the rotor assembly rotate together. The stator assembly includes a stator bracket and a stator. The stator bracket is fixed to the mounting base. This means that the rotating lidar can only be used with a mounting base, which greatly reduces the applicability of the rotating lidar.

[0004] Meanwhile, the encoder disk component in the ranging module of existing rotating lidar is often affected by ambient light and other optical signals, resulting in poor measurement performance. Summary of the Invention

[0005] The purpose of this invention is to provide a rotating lidar and its assembly method to solve the technical problems of existing rotating lidars where the stator support is fixed to the mounting base, which greatly reduces the applicability of the rotating lidar, and the poor measurement effect of the encoder disk assembly.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows: A rotating lidar is provided, comprising: a stator assembly, the stator assembly including a stator support and a stator, the stator being disposed on the stator support; a rotor assembly, the rotor assembly including a rotor support and a rotor, the rotor support including a top plate and a first hollow cylinder and a second hollow cylinder disposed on the top plate and extending downwards, the central axis of the first hollow cylinder and the central axis of the second hollow cylinder coinciding, the first hollow cylinder being located outside the second hollow cylinder; the rotor being fixed inside the second hollow cylinder and rotatably sleeved on the outside of the stator; a ranging module disposed on the side of the top plate opposite to the rotor; an encoding disk assembly, including an encoding disk, code teeth, and a detection element, the encoding disk being disposed on the stator support and extending upwards; a plurality of code teeth, the plurality of code teeth being disposed at the end of the encoding disk opposite to the stator support and distributed circumferentially; the detection element and the code teeth are both located between the first hollow cylinder and the second hollow cylinder, the detection element and the code teeth cooperating to detect the rotational speed and position of the rotor assembly.

[0007] In one embodiment, the rotating lidar further includes a first circuit board and a second circuit board. The first circuit board is disposed between the top plate and the ranging module, and the detection element is disposed on the side of the first circuit board away from the ranging module. The top plate has a through hole, and the detection element passes through the through hole and is located between the first hollow cylinder and the second hollow cylinder. Both the ranging module and the detection element are electrically connected to the first circuit board, and the stator is electrically connected to the second circuit board. The first circuit board and the ranging module are connected by a ribbon cable.

[0008] In some embodiments, the stator assembly further includes a hollow column disposed at the center of the stator support, extending upward and penetrating the stator support, with the stator sleeved on the outside of the hollow column. The rotor assembly further includes a rotating shaft disposed at the center of the top plate and extending downward, the rotating shaft and the hollow column being rotatably connected by a bearing. In one embodiment, the encoder disk and the bearing are integrally formed with the stator support. In one embodiment, a flange is provided between the rotating shaft and the top plate. The rotating lidar also includes an optical communication component, which includes a transmitter and a receiver; the transmitter is disposed on a first circuit board and faces the rotating shaft, and the receiver is disposed on a second circuit board and faces the rotating shaft; the signal emitted by the transmitter passes through the rotating shaft and is received by the receiver.

[0009] In some embodiments, the rotor assembly further includes a first power transmission component disposed within a second hollow cylinder and electrically connected to a first circuit board; the stator assembly further includes a second power transmission component disposed on the side of the stator facing the first power transmission component and electrically connected to a second circuit board. The first and second power transmission components are disposed opposite to each other and are used to supply power to the first and second circuit boards. The first power transmission component includes a first coil and a first magnetic shielding sheet; the first magnetic shielding sheet is disposed within the second hollow cylinder, the first coil is fixed to the first magnetic shielding sheet, and is electrically connected to the first circuit board; the second power transmission component includes a second coil, a coil support, and a second magnetic shielding sheet; the coil support is fixed to the side of the stator facing the first coil; the second coil is disposed opposite to the first coil and is mounted on the coil support via the second magnetic shielding sheet, and is electrically connected to the second circuit board. Furthermore, the top plate is provided with an axially penetrating first lead hole, through which the lead of the first power transmission component passes and is electrically connected to the first circuit board; the outer wall of the hollow column is provided with a second lead hole, which extends axially and penetrates the hollow column and the stator support, through which the lead of the second power transmission component passes and is connected to the second circuit board.

[0010] In some embodiments, the ranging module includes a third circuit board, a transmitting chip, a receiving chip, and a package housing; the package housing includes a package support and a transmitting component and a receiving component disposed on the package support; the third circuit board is disposed on the package support and electrically connected to the first circuit board; the package support includes an independent cavity, and the transmitting chip and the receiving chip are both disposed on the third circuit board and located within the independent cavity; the transmitting component is used to transmit the signal emitted by the transmitting chip, and the receiving component is used to transmit the signal to the receiving chip. Further, a first mounting hole is provided on the top plate, and a second mounting hole corresponding to the first mounting hole is provided on the ranging module; a first positioning post is provided on one side of the top plate near the ranging module and on the other side of the ranging module near the top plate, and a first positioning hole corresponding to the first positioning post is provided on the other side.

[0011] In some embodiments, the rotating lidar further includes a protective base and a light-transmitting cover, the light-transmitting cover being disposed on the protective base, and the light-transmitting cover and the protective base forming a receiving cavity, in which the stator assembly, rotor assembly, ranging module and encoder disk assembly are all located.

[0012] The present invention also provides an assembly method for a rotating lidar, the assembly method comprising the following steps: providing a rotor assembly, a first circuit board, and a ranging module; wherein, the rotor assembly includes a rotor support, a rotor, and a rotating shaft, the rotor being fixed to the rotor support, and the rotating shaft being disposed at the center of the rotor support and extending downward; mounting the first circuit board above the rotor support, and mounting the ranging module above the first circuit board and electrically connecting them; providing a stator assembly and a second circuit board; wherein, the stator assembly includes a stator support, a stator, and a hollow column, the hollow column being disposed at the center of the stator support, the hollow column extending upward and penetrating the stator support, and the stator being sleeved on the outside of the hollow column; rotatably connecting the rotating shaft to the hollow column via a bearing, such that the rotor assembly is rotatably mounted on the stator assembly, and the rotor is sleeved on the outside of the stator; mounting the second circuit board on the side of the stator support opposite to the rotor, and electrically connecting the stator to the second circuit board; through the above steps, the stator assembly, rotor assembly, first circuit board, second circuit board, and ranging module are assembled into a core module.

[0013] In one embodiment, prior to providing the rotor assembly, the first circuit board, and the ranging module, the following steps are included: the rotor assembly further includes a first power transmission component, which includes a first coil and a first magnetic shielding sheet; the ranging module includes a third circuit board and a housing; the third circuit board has a second positioning hole and a third mounting hole, and the housing has a second positioning post and a fourth mounting hole; the first magnetic shielding sheet is mounted on the rotor support, and the first coil is fixed to the first magnetic shielding sheet; the second positioning post on the housing is fixed to the second positioning hole on the third circuit board, and fasteners are used to fix the third circuit board and the housing through the third mounting hole and the fourth mounting hole.

[0014] In one embodiment, the step of providing the stator assembly and the second circuit board is further included in the following steps: the stator assembly further includes a second power transmission assembly, the second power transmission assembly includes a second coil, a coil support and a second magnetic shielding sheet; the coil support is fixed to one end of the stator away from the stator support, and the second coil is fixed to the coil support by the second magnetic shielding sheet.

[0015] In one embodiment, the rotatable connection of the rotating shaft to the hollow column via the bearing further includes the following steps: providing a first washer, a second washer, and a retaining ring; placing the first washer on the upper end of the rotating shaft, passing the lower end of the rotating shaft through the bearing until it passes through the stator support, and inserting the second washer into the lower end of the rotating shaft; the lower end of the rotating shaft is provided with a retaining groove, and inserting the retaining ring into the retaining groove.

[0016] In one embodiment, the assembly method further includes: providing a light-transmitting outer cover and a protective base; mounting the movement module on the protective base; placing the light-transmitting outer cover on the protective base, forming a receiving cavity between the light-transmitting outer cover and the protective base, and the movement module being located within the receiving cavity. Further, a sealing ring is provided between the light-transmitting outer cover and the protective base.

[0017] In one embodiment, the assembly method further includes: providing a connector decorative piece; the connector decorative piece is attached to the side of the protective base with double-sided adhesive.

[0018] Compared with the prior art, the rotating lidar provided by this invention separates the stator support from the protective base, making the rotating lidar applicable to different application scenarios and improving its applicability. The first and second hollow cylinders extending downward on the top plate are arranged, with the detection element and code teeth located between the first and second hollow cylinders, which can isolate the interference of ambient light and other light signals, ensuring the accuracy of the detection of the rotation speed and position of the rotor assembly. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 An exploded view of a rotating lidar provided in an embodiment of the present invention;

[0021] Figure 2 A cross-sectional view of a rotating lidar provided in an embodiment of the present invention;

[0022] Figure 3 An exploded view of the movement module provided in an embodiment of the present invention;

[0023] Figure 4 An exploded view of the stator assembly provided in an embodiment of the present invention;

[0024] Figure 5 An exploded view of the rotor assembly provided in an embodiment of the present invention;

[0025] Figure 6 A schematic diagram of the structure of the rotating shaft provided in an embodiment of the present invention. Figure 1 ;

[0026] Figure 7 A schematic diagram of the structure of the rotating shaft provided in an embodiment of the present invention. Figure 2 ;

[0027] Figure 8 This is a schematic diagram illustrating the working principle of the code teeth and detection element provided in an embodiment of the present invention;

[0028] Figure 9 This is a schematic diagram of the ranging module provided in an embodiment of the present invention.

[0029] The following are the labeling elements in the figure:

[0030] 1-Stator assembly; 11-Stator bracket; 12-Stator; 13-Hollow column; 14-Second power transmission assembly; 141-Second coil; 142-Coil coil bracket; 143-Second magnetic shielding sheet; 2-Rotor assembly; 21-Rotor bracket; 211-Top plate; 2111-First mounting hole; 2112-First positioning post; 212-First hollow cylinder; 213-Second hollow cylinder; 22-Rotor; 23-Shaft; 231-Flange; 232-Slot; 24-First power transmission assembly; 241-First coil; 242-First magnetic shielding sheet; 25-Dynamic balancing component; 3-Distance measuring module; 31-Second mounting hole; 32-Third circuit board; 321-Second positioning hole; 322-Third mounting hole; 33-Encapsulation housing; 331-Encapsulation bracket; 3311-Independent cavity; 3 32-Transmitter assembly; 3321-Transmitter sleeve; 3322-Transmitter lens; 333-Receiver assembly; 3331-Receiver sleeve; 3332-Receiver lens; 334-Second positioning post; 335-Fourth mounting hole; 34-Transmitter chip; 35-Receiver chip; 36-First positioning hole; 4-First circuit board; 5-Second circuit board; 6-Optical communication assembly; 61-Transmitter end; 62-Receiver end; 7-Encoder disk assembly; 71-Encoder disk; 72-Code teeth; 73-Detection element; 731-Transmitter component; 732-Receiver component; 8-Flat cable; 9-Protective base; 10-Light-transmitting cover; 30-Receiving cavity; 40-First gasket; 50-Second gasket; 60-Snap ring; 70-Sealing ring; 100-Motion module; 90-Bearing; 200-Fastener. Detailed Implementation

[0031] To make the technical problems to be solved, the technical solutions, and the beneficial effects of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and are not intended to limit the present invention.

[0032] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0033] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0034] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0035] The ranging principle of a rotating lidar is as follows: it emits a probe laser beam towards the target object and receives the reflected light signal. It then calculates the flight time of the light signal from emission to acquisition and obtains the target's distance information based on this flight time. During the ranging process, by driving the lidar to rotate along its axis, a two-dimensional scan of the surrounding field of view can be achieved, acquiring point cloud data of the surrounding environment.

[0036] like Figure 1 As shown, the rotating lidar provided by the present invention includes a core module 100, a protective base 9, and a light-transmitting outer cover 10. The light-transmitting outer cover 10 covers the protective base 9, and the light-transmitting outer cover 10 and the protective base 9 form a receiving cavity 30, in which the core module 100 is located. The core module 100 is protected by the protective base 9 and the light-transmitting outer cover 10.

[0037] like Figure 1 and Figure 2As shown, the mechanism module 100 includes a stator assembly 1, a rotor assembly 2, a ranging module 3, and an encoder disk assembly 7.

[0038] like Figure 2 As shown, stator assembly 1 includes a stator support 11 and a stator 12, with the stator 12 mounted on the stator support 11. Rotor assembly 2 includes a rotor support 21 and a rotor 22. Rotor support 21 includes a top plate 211 and a first hollow cylinder 212 and a second hollow cylinder 213 mounted on the top plate 211 and extending downwards. The central axis of the first hollow cylinder 212 coincides with the central axis of the second hollow cylinder 213, and the first hollow cylinder 212 is located outside the second hollow cylinder 213. The rotor 22 is fixed inside the second hollow cylinder 213 and rotatably sleeved on the outside of the stator 12. The heights of the first hollow cylinder 212 and the second hollow cylinder 213 can be the same or different, depending on actual needs.

[0039] The ranging module 3 is disposed on the side of the top plate 211 opposite to the rotor 22. Specifically, the ranging module 3 can be disposed on the side of the top plate 211 opposite to the rotor 22 by means of fasteners 200, or by other means. When the stator 12 drives the rotor 22 to rotate, it will drive the rotor support 21 and the ranging module 3 disposed on the rotor support 21 to rotate together, so that the ranging module 3 can scan and detect different areas by following the rotation of the rotor 22 and the rotor support 21.

[0040] like Figure 4 and Figure 5 As shown, the encoder disk assembly 7 includes an encoder disk 71, code teeth 72, and a detection element 73. The encoder disk 71 is mounted on the stator support 11 and extends upward. Multiple code teeth 72 are located at one end of the encoder disk 71 opposite to the stator support 11 and are distributed circumferentially. The detection element 73 and the encoder disk 71 are both located between the first hollow cylinder 212 and the second hollow cylinder 213. The detection element 73 and the encoder disk 71 cooperate to detect the rotational speed and position of the rotor assembly 2. This isolates the rotor assembly 2 from ambient light and other light signals, ensuring the accuracy of the detection of its rotational speed and position.

[0041] Specifically, there are multiple code teeth 72, which are arranged circumferentially at one end of the encoder disk 71 away from the stator support 11. More specifically, the multiple code teeth 72 include multiple equidistant teeth and one zero-position tooth, and the equidistant teeth and the zero-position tooth have different sizes. In one embodiment, as shown... Figure 8As shown, the detection element 73 uses a through-beam detection method. The detection element 73 includes a transmitting element 731 and a receiving element 732, which are spaced apart and located on the inner and outer sides of the encoder disk 71, respectively. The transmitting element 731 and the receiving element 732 are at the same height as the code teeth 72. The transmitting element 731 can transmit detection signals to the receiving element 732 through the gaps. As the detection element 73 rotates relative to the encoder disk 71 with the rotor support 21, multiple equidistant teeth and zero-position teeth pass sequentially through the gaps between the transmitting element 731 and the receiving element 732, causing the receiving element 732 to generate changing level signals. These signals are then processed by the first circuit board 4 to obtain the rotational speed and rotation angle of the rotor assembly 2. Of course, in some other embodiments, the detection method of the detection element 73 can also be reflective. For example, the transmitting element 731 and the receiving element 732 are located above the code teeth 72 and are arranged opposite to the code teeth 72. The light emitted by the transmitting element 731 is reflected by the equidistant teeth and the zero-position teeth of the code teeth 72 and then received by the receiving element 732. The equidistant teeth and the zero-position teeth have different reflectivities, which causes the receiving element 732 to generate a changing level signal. After data processing by the first circuit board 4, the rotation speed and rotation angle of the rotor assembly 2 can be obtained.

[0042] In practical applications, the mechanism module 100 can be used together with the protective base 9 and the light-transmitting cover 10. The mechanism module 100 can also be used independently. Alternatively, the mechanism module 100 can be installed as a whole into a robot or other equipment that requires ranging functionality. The specific settings can be selected according to actual needs.

[0043] Compared with the prior art, the rotating lidar provided by this invention separates the stator support 11 from the protective base 9, making the rotating lidar applicable to different application scenarios and improving its applicability. A first hollow cylinder 212 and a second hollow cylinder 213 extending downwards are provided on the top plate 211, with the detection element 73 and the code teeth 72 located between the first hollow cylinder 212 and the second hollow cylinder 213. This isolates the interference from ambient light and other light signals, ensuring the accuracy of the detection of the rotation speed and position of the rotor assembly 2.

[0044] like Figure 2 and Figure 3As shown, the rotating lidar also includes a first circuit board 4, a second circuit board 5, and an optical communication component 6. The optical communication component 6 includes a transmitter 61 and a receiver 62. The first circuit board 4 is disposed between the top plate 211 and the ranging module 3. More specifically, the first circuit board 4 is disposed between the top plate 211 and the ranging module 3 by fasteners 200. The transmitter 61 is disposed on the first circuit board, and the detection element 73 is disposed on the side of the first circuit board 4 away from the ranging module 3. The top plate 211 is provided with an axially penetrating light guide hole and a through hole. The detection element 73 passes through the through hole and is located between the first hollow cylinder 212 and the second hollow cylinder 213. The signal emitted by the transmitter 61 passes through the light guide hole and is directed to the receiver 62, enabling signal transmission between the transmitter 61 and the receiver 62. The second circuit board 5 is disposed on the side of the stator bracket 11 opposite to the encoder disk 71, and the receiver 62 is disposed on the second circuit board 5; the ranging module 3 and the detection element 73 are both electrically connected to the first circuit board 4, and the stator 12 is electrically connected to the second circuit board 5. The operation of the ranging module 3, the detection element 73 and the stator 12 can be controlled through the first circuit board 4 and the second circuit board 5, and communication between the first circuit board 4 and the second circuit board 5 can be realized through the optical communication component 6.

[0045] In existing rotating lidar systems, the first circuit board 4 and the ranging module 3 are typically soldered directly. However, this method is not only difficult to implement technically, but also prone to short circuits, and the signal transmission performance deteriorates after prolonged use. In this embodiment, as... Figure 1 As shown, the first circuit board 4 and the ranging module 3 are connected by a ribbon cable 8, which not only makes installation convenient but also improves safety and reliability.

[0046] like Figure 2 and Figure 4 As shown, the stator assembly 1 also includes a hollow column 13 located at the center of the stator support 11, extending upward and penetrating the stator support 11. The stator 12 is sleeved on the outside of the hollow column 13. The rotor assembly 2 also includes a rotating shaft 23 located at the center of the top plate 211 and extending downward. The rotating shaft 23 and the hollow column 13 are rotatably connected by a bearing 90. Specifically, the rotating shaft 23 and the hollow column 13 are rotatably connected, and the rotating shaft 23 passes through the hollow column 13. The rotating shaft 23 is hollow, and its lower end passes through the hollow column 13 until it penetrates the stator support 11. The transmitting end 61 is located on the first circuit board 4 and faces the hollow part of the rotating shaft 23. The receiving end 62 is located on the second circuit board 5 and faces the hollow part of the rotating shaft 23. Thus, the transmitting end 61 and the receiving end 62 form an optical communication assembly 6, and the hollow part of the rotating shaft 23 is used to transmit signals, which improves space utilization and reduces external interference.

[0047] More specifically, the bearing 90 is installed inside the hollow column 13, and the rotating shaft 23 is located at the center of the top plate 211 and extends downward through the bearing 90. The inner ring of the bearing 90 is fitted onto the rotating shaft 23, and the outer ring of the bearing 90 is installed inside the hollow column 13, thereby achieving a rotatable connection between the rotating shaft 23 and the hollow column 13. The central axes of the rotating shaft 23, the bearing 90, and the hollow column 13 coincide, which ensures that the rotating shaft 23 is subjected to uniform force, prevents the rotating shaft 23 from shaking and aging, and ensures the stability of the rotor support 21 rotation. In this embodiment, preferably, as shown in the figure... Figure 2 and Figure 3 As shown, a first washer 40, a second washer 50, and a retaining ring 60 are also provided. The first washer 40 and the second washer 50 are respectively provided at both ends of the rotating shaft 23 in the vertical direction. The bearing 90 is provided between the first washer 40 and the second washer 50. The first washer 40 and the second washer 50 are used to make the rotating shaft 23 and the inner ring of the bearing 90 rotate synchronously. A retaining groove 232 is provided at the end of the rotating shaft 23 away from the top plate 211. The retaining ring 60 is engaged in the retaining groove 232 and abuts against the second washer 50 to prevent the second washer 50 from falling off, which facilitates the installation and removal of the bearing 90.

[0048] In this embodiment, the encoder disk 71 and the stator support 11 are integrally formed. For example, the encoder disk 71 and the stator support 11 can be integrally formed by injection molding or other methods. This eliminates the need for a detachable connection structure in the encoder disk 71 and the stator support 11, reducing the overall space of the rotating lidar and making the structure of the rotating lidar more compact. The bearings 90 are all integrally formed with the stator support 11. For example, the bearings 90 and the stator support 11 can be integrally formed by in-mold injection molding or other methods. This makes the bearings 90 more stable and less prone to detachment, ensures high precision in the axial perpendicularity of the bearings 90, and enhances the mechanical strength of the bearings 90.

[0049] It should be noted that the "axial" and "vertical" directions mentioned in this application refer to the direction of the central axis of the rotating shaft 23, which is also the "vertical" direction referred to in this application, where the stator support 11 is on the lower side and the rotor support 21 is on the upper side; the "radial" direction mentioned in this application refers to the radial direction of the rotating shaft 23.

[0050] like Figure 2 , Figure 6 and Figure 7As shown, a flange 231 is provided between the rotating shaft 23 and the top plate 211, which effectively reduces the destructive force generated by the rotation of the rotor 22. Specifically, the rotating shaft 23 is a hollow shaft, and the end of the rotating shaft 23 near the top plate 211 is integrally formed with the top plate 211 through in-mold injection molding. In practical applications, a flange 231 integrally formed with the rotating shaft 23 can be provided on the side of the rotating shaft 23 near the top plate 211, or the flange 231, the rotating shaft 23, and the top plate 211 can be integrally formed through in-mold injection molding.

[0051] like Figure 4 and Figure 5 As shown, the rotor assembly 2 further includes a first power transmission component 24, which is disposed inside the second hollow cylinder 213 and electrically connected to the first circuit board 4. The stator assembly 1 further includes a second power transmission component 14, which is disposed on the side of the stator 12 facing the first power transmission component 24 and electrically connected to the second circuit board 5. The first power transmission component 24 and the second power transmission component 14 are arranged opposite to each other and are used to supply power to the first circuit board 4. When the rotating shaft 23 drives the rotor support 21 to rotate, the first power transmission component 24 will rotate together, while the second power transmission component 14 is fixed on the stator 12. The relative motion between the first power transmission component 24 and the second power transmission component 14 generates current, thereby supplying power to the first circuit board 4.

[0052] like Figure 5 As shown, the first power transmission assembly 24 includes a first coil 241 and a first magnetic shielding sheet 242 disposed within the second hollow cylinder 213. Specifically, the first magnetic shielding sheet 242 is fixed within the second hollow cylinder 213; the first coil 241 is fixed to the first magnetic shielding sheet 242 and is electrically connected to the first circuit board 4. Figure 4As shown, the second power transmission assembly 14 includes a second coil 141, a coil support 142, and a second magnetic shielding sheet 143. The coil support 142 is fixed to the side of the stator 12 facing the first coil 241. The second coil 141 is disposed opposite to the first coil 241 and is mounted on the coil support 142 via the second magnetic shielding sheet 143, and is electrically connected to the second circuit board 5. The electrical connection between the first coil 241 and the first circuit board 4, and between the second coil 141 and the second circuit board 5, can be varied. For example, they can be connected via lead wires or other methods, depending on actual needs. The second coil 141 can be mounted on the coil support 142 via the second magnetic shielding sheet 143 in various ways. For example, the second coil 141 can be adhered to the coil support 142 using double-sided adhesive on the second magnetic shielding sheet 143, or other methods can be used. Similarly, the first coil 241 is also mounted in the same way, which will not be elaborated further here. When the rotating shaft 23 drives the rotor support 21 to rotate, the first coil 241 and the second coil 141 generate relative motion and generate current, thereby supplying power to the first circuit board 4.

[0053] In one embodiment, a first through-hole is provided on the top plate 211, through which the lead wire of the first power transmission component 24 passes and is electrically connected to the first circuit board 4; a second lead hole is provided on the outer wall of the hollow column 13, extending axially and passing through the hollow column 13 and the stator support 11, through which the lead wire of the second power transmission component 14 passes and is connected to the second circuit board 5. Specifically, the lead wire on the first coil 241 passes through the first lead hole on the top plate 211 and is connected to the first circuit board 4, and the lead wire on the second coil 141 passes through the second lead hole and is connected to the second circuit board 5.

[0054] like Figure 9As shown, the ranging module 3 includes a third circuit board 32, a transmitting chip 34, a receiving chip 35, and a package housing 33. The package housing 33 includes a package support 331 and a transmitting component 332 and a receiving component 333 disposed on the package support 331. The third circuit board 32 is disposed on the package support 331 and is electrically connected to the first circuit board 4. The package support 331 also includes an independent cavity 3311. The transmitting chip 34 and the receiving chip 35 are both disposed on the third circuit board 32 and located in the independent cavity 3311. The transmitting component 332 is used to transmit the signal transmitted by the transmitting chip 34, and the receiving component 333 is used to transmit the signal to the receiving chip 35. Specifically, the third circuit board 32 is located on one side of the packaging bracket 331, and the transmitting component 332 and the receiving component 333 are located on the other side of the packaging bracket 331. The transmitting chip 34 emits an optical signal, which can be a probe laser beam. After passing through the independent cavity 3311, the optical signal is transmitted to the target object by the transmitting component 332. The target object reflects the optical signal to the receiving component 333. The receiving component 333 then transmits the optical signal through the independent cavity 3311 to the receiving chip 35. The third circuit board 32 calculates the distance information of the target based on the flight time of the optical signal from emission to acquisition.

[0055] In practical applications, such as Figure 9 As shown, the transmitting component 332 may include a transmitting sleeve 3321 and a transmitting lens 3322, and the receiving component 333 may include a receiving sleeve 3331 and a receiving lens 3332. The transmitting sleeve 3321 and the receiving sleeve 3331 are disposed on the packaging bracket 331, the transmitting lens 3322 is disposed inside the transmitting sleeve 3321, and the receiving lens 3332 is disposed inside the receiving sleeve 3331. Specifically, the transmitting chip 34 emits an optical signal, which enters the transmitting sleeve 3321 for transmission, and after optical processing by the transmitting lens 3322, is directed towards the target object. The target object reflects the optical signal into the receiving sleeve 3331, and after optical processing by the receiving lens 3332, it is transmitted to the receiving chip 35 within the receiving sleeve 3331.

[0056] In one embodiment, such as Figure 9As shown, the receiving sleeve 3331 and the packaging bracket 331 are integrally formed, while the transmitting sleeve 3321 and the packaging bracket 331 are detachably connected. The transmitting sleeve 3321 and the packaging bracket 331 can be connected via a snap-fit ​​structure, a threaded connection structure, or other detachable methods, without limitation. By making the transmitting sleeve 3321 and the packaging bracket 331 detachably connected, different specifications of the transmitting sleeve 3321 can be replaced according to actual needs and usage scenarios. Furthermore, when the rotating lidar needs to remove the transmitting sleeve 3321 due to insufficient space, excessive size, or component interference, the transmitting sleeve 3321 can be directly removed, which not only facilitates disassembly and assembly but also helps reduce operating costs. Making the receiving sleeve 3331 and the packaging bracket 331 integrally formed effectively avoids light leakage from the transmitting optical path affecting the receiving optical path, improving the accuracy of the ranging module 3.

[0057] In one embodiment, such as Figure 3 As shown, the top plate 211 has a first mounting hole 2111, and the ranging module 3 has a second mounting hole 31 corresponding to the first mounting hole 2111. The fastener 200 fixes the top plate 211 and the ranging module 3 through the first mounting hole 2111 and the second mounting hole 31. Specifically, the fastener 200 can fix the top plate 211 and the ranging module 3 by passing through the first mounting hole 2111 and the second mounting hole 31; alternatively, one of the first mounting hole 2111 and the second mounting hole 31 can be a threaded hole, so the fastener 200 does not need to pass through the first mounting hole 2111 and the second mounting hole 31 to fix the top plate 211 and the ranging module 3. The specific setting can be selected according to actual needs. One of the top plate 211 near the ranging module 3 and the other of the ranging module 3 near the top plate 211 is provided with a first positioning post 2112, and the other is provided with a first positioning hole 36 corresponding to the first positioning post 2112. Through the cooperation of the first positioning post 2112 and the first positioning hole 36, the installation position of the top plate 211 and the ranging module 3 can be ensured to be accurate.

[0058] In a rotating lidar, the stator 12 and rotor 22 form a brushless motor to provide power for the rotation of the lidar. To increase the stability and lifespan of the motor, ensure stable rotation, and mitigate the failure of the bearing 90 and the shaft 23, this application also provides one or more dynamic balancing components 25 in the rotating lidar. In this embodiment, as shown... Figure 2 and Figure 5As shown, the rotor assembly 2 may also include one or more dynamic balancing components 25. These components 25 can be counterweights to increase the stability of the bearing 90 and the rotating shaft 23 during rotation, as well as the lifespan of the motor, and to mitigate bearing 90 failure. The dynamic balancing components 25 can be positioned in a lighter location on the rotor assembly 2, and the specific configuration can be selected based on the actual structure of the lidar. It is also understood that the dynamic balancing components 25 can be mounted on the ranging module 3, and the specific configuration can be selected based on actual needs.

[0059] The present invention also provides an assembly method for a rotating lidar, the assembly method comprising the following steps:

[0060] S01 provides a rotor assembly 2, a first circuit board 4, and a ranging module 3.

[0061] The rotor assembly 2 includes a rotor support 21, a rotor 22 and a shaft 23. The rotor 22 is fixed to the rotor support 21, and the shaft 23 is located at the center of the rotor support 21 and extends downward.

[0062] S02, the first circuit board 4 is mounted on top of the rotor support 21, and the ranging module 3 is mounted on top of the first circuit board 4 and electrically connected. Specifically, the first circuit board 4 can be mounted on top of the rotor support 21 using fasteners 200, or other methods can be used, which is not limited; similarly, the ranging module 3 can also be mounted on top of the first circuit board 4 using fasteners 200, or other methods can be used, which is not limited.

[0063] The ranging module 3 and the first circuit board 4 can be electrically connected via ribbon cable 8, or via soldering or other methods.

[0064] S03, providing stator assembly 1 and second circuit board 5;

[0065] The stator assembly 1 includes a stator support 11, a stator 12, and a hollow column 13. The hollow column 13 is located at the center of the stator support 11, extends upward and penetrates the stator support 11, and the stator 12 is sleeved on the outside of the hollow column 13.

[0066] S04, the rotating shaft 23 is rotatably connected to the hollow column 13 via the bearing 90, so that the rotor assembly 2 is rotatably mounted on the stator assembly 1, and the rotor 22 is sleeved on the outside of the stator 12. Specifically, the bearing 90 and the stator bracket 11 can be integrally formed by in-mold injection molding or by other methods. This makes the bearing 90 more stable and less prone to falling off, ensures high precision in the axial perpendicularity of the bearing 90, and enhances the mechanical strength of the bearing 90.

[0067] S05, the second circuit board 5 is installed on the side of the stator bracket 11 opposite to the rotor 22, and the stator 12 is electrically connected to the second circuit board 5. Specifically, the second circuit board 5 can be connected to the side of the stator bracket 11 opposite to the rotor 22 using fasteners 200, or protrusions and grooves can be directly provided on the second circuit board 5 and the stator bracket 11 respectively, and the connection can be achieved through the cooperation of the protrusions and grooves, or other methods can be used. The stator 12 can be electrically connected to the second circuit board 5 by opening a second through-hole in the stator bracket 11, and the lead wire of the stator 12 passes through the second through-hole to be electrically connected to the second circuit board 5.

[0068] The above steps enable the stator assembly 1, rotor assembly 2, first circuit board 4, second circuit board 5, and ranging module 3 to form a mechanism module 100.

[0069] The following steps are included before step S01:

[0070] The rotor assembly 2 also includes a first power transmission assembly 24, which includes a first coil 241 and a first magnetic shielding sheet 242; the ranging module 3 includes a third circuit board 32 and a package housing 33; the third circuit board 32 is provided with a second positioning hole 321 and a third mounting hole 322, and the package housing 33 is provided with a second positioning post 334 and a fourth mounting hole 335.

[0071] S011, the first magnetic shielding sheet 242 is installed on the rotor support 21, and then the first coil 241 is fixed to the first magnetic shielding sheet 242. Specifically, the method of fixing the first coil 241 to the first magnetic shielding sheet 242 is not specifically limited. For example, the first coil 241 can be attached to the coil support 142 by the double-sided adhesive of the first magnetic shielding sheet 242.

[0072] S013, the second positioning post 334 on the package housing 33 is fixed to the second positioning hole 321 on the third circuit board 32 to achieve the positioning of the package housing 33 and the third circuit board 32. The fastener 200 fixes the third circuit board 32 and the package housing 33 through the third mounting hole 322 and the fourth mounting hole 335.

[0073] The following steps are included before step S03:

[0074] Stator assembly 1 also includes a second power transmission assembly 14, which includes a second coil 141, a coil support 142, and a second magnetic shielding sheet 143.

[0075] S031, the coil support 142 is fixed to the end of the stator 12 away from the stator support 11, and the second coil 141 is fixed to the coil support 142 by the second magnetic shielding sheet 143. Specifically, the method of fixing the second coil 141 to the coil support 142 by the second magnetic shielding sheet 143 is not specifically limited. For example, the second coil 141 can be fixed to the coil support 142 by using the double-sided adhesive of the second magnetic shielding sheet 143.

[0076] S04 also includes the following steps:

[0077] S041 provides a first washer 40, a second washer 50, and a retaining ring 60.

[0078] S042, the first shim 40 is placed on the upper end of the rotating shaft 23, the lower end of the rotating shaft 23 is passed through the bearing 90 until it passes through the stator bracket 11, and the second shim 50 is placed on the lower end of the rotating shaft 23.

[0079] S043, the lower end of the rotating shaft 23 is provided with a retaining groove 232, into which the retaining spring 60 is installed. Specifically, the retaining spring 60 is engaged in the retaining groove 232 and abuts against the second washer 50 to prevent the second washer 50 from falling off, thus facilitating the installation and removal of the bearing 90.

[0080] The assembly method for the rotating lidar provided in this embodiment further includes the following steps:

[0081] S06 provides a light-transmitting outer cover 10 and a protective base 9;

[0082] S07, the movement module 100 is installed on the protective base 9, and the light-transmitting cover 10 is placed on the protective base 9, forming a receiving cavity 30 between the light-transmitting cover 10 and the protective base 9, with the movement module 100 located within the receiving cavity 30. The movement module 100 can be protected by the light-transmitting cover 10 and the protective base 9.

[0083] Furthermore, a sealing ring 70 is provided between the light-transmitting outer cover 10 and the protective base 9. The sealing ring 70 prevents external liquids from entering the receiving cavity 30 and damaging the movement module 100. Specifically, a waterproof groove is provided on the light-transmitting outer cover 10, the sealing ring 70 is placed in the waterproof groove, and then the light-transmitting outer cover 10 is placed on the protective base 9 and secured with fasteners 200.

[0084] The assembly method for the rotating lidar provided in this embodiment further includes the following steps:

[0085] S08, provides connector decorative piece (not shown);

[0086] S09, the connector decorative piece is attached to the side of the protective base 9 with double-sided adhesive.

[0087] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A rotating lidar, characterized in that, include: A stator assembly, the stator assembly including a stator support and a stator, the stator being disposed on the stator support; A rotor assembly, comprising a rotor support and a rotor, the rotor support comprising a top plate and a first hollow cylinder and a second hollow cylinder disposed on the top plate and extending downward, the central axis of the first hollow cylinder and the central axis of the second hollow cylinder coinciding, the first hollow cylinder being located outside the second hollow cylinder; the rotor being fixed inside the second hollow cylinder and rotatably sleeved on the outside of the stator; A ranging module is disposed on the side of the top plate opposite to the rotor; The encoder assembly includes an encoder disk, code teeth, and a detection element. The encoder disk is disposed on the stator support and extends upward. There are multiple code teeth, which are disposed at one end of the encoder disk away from the stator support and are distributed in a circumferential manner. The detection element and the code teeth are both located between the first hollow cylinder and the second hollow cylinder. The detection element and the code teeth cooperate to detect the rotational speed and position of the rotor assembly.

2. The rotating lidar as described in claim 1, characterized in that, The rotating lidar also includes a first circuit board and a second circuit board; the first circuit board is disposed between the top plate and the ranging module, and the detection element is disposed on the side of the first circuit board away from the ranging module; the top plate is provided with a through hole, and the detection element passes through the through hole and is located between the first hollow cylinder and the second hollow cylinder; The ranging module and the detection element are both electrically connected to the first circuit board, and the stator is electrically connected to the second circuit board.

3. The rotating lidar as described in claim 2, characterized in that, The first circuit board and the ranging module are connected by a ribbon cable.

4. The rotating lidar as described in claim 2, characterized in that, The stator assembly further includes a hollow column disposed at the center of the stator support and extending upward and through the stator support, the stator being sleeved on the outside of the hollow column, and the rotor assembly further includes a rotating shaft disposed at the center of the top plate and extending downward, the rotating shaft and the hollow column being rotatably connected by a bearing.

5. The rotating lidar as described in claim 4, characterized in that, Both the encoder disk and the bearing are integrally formed with the stator support.

6. The rotating lidar as described in claim 4, characterized in that, A flange is provided between the rotating shaft and the top plate.

7. The rotating lidar as described in claim 4, characterized in that, The rotating lidar also includes an optical communication component, which includes a transmitter and a receiver. The transmitter is disposed on the first circuit board and faces the rotating shaft, and the receiver is disposed on the second circuit board and faces the rotating shaft. The signal emitted by the transmitter passes through the rotating shaft and is received by the receiver.

8. The rotating lidar as described in claim 4, characterized in that, The rotor assembly further includes a first power transmission component, which is disposed inside the second hollow cylinder and electrically connected to the first circuit board; the stator assembly further includes a second power transmission component, which is disposed on the side of the stator facing the first power transmission component and electrically connected to the second circuit board. The first power transmission component and the second power transmission component are disposed opposite to each other and are used to supply power to the first circuit board and the second circuit board.

9. The rotating lidar as described in claim 8, characterized in that, The first power transmission component includes a first coil and a first magnetic shielding sheet; the first magnetic shielding sheet is disposed in the second hollow cylinder, the first coil is fixed on the first magnetic shielding sheet, and is electrically connected to the first circuit board; The second power transmission component includes a second coil, a coil support, and a second magnetic shielding sheet. The coil support is fixed to the side of the stator facing the first coil. The second coil is disposed opposite to the first coil and is mounted on the coil support via the second magnetic shielding sheet, and is electrically connected to the second circuit board.

10. The rotating lidar as described in claim 8, characterized in that, The top plate is provided with an axially penetrating first lead hole, and the lead of the first power transmission component passes through the first lead hole and is electrically connected to the first circuit board. A second lead hole is provided on the outer wall of the hollow column. The second lead hole extends axially and passes through the hollow column and the stator support. The lead of the second power transmission component passes through the second lead hole and is connected to the second circuit board.

11. The rotating lidar as described in any one of claims 2 to 10, characterized in that, The ranging module includes a third circuit board, a transmitting chip, a receiving chip, and a packaging housing; The packaging housing includes a packaging bracket and a transmitting component and a receiving component disposed on the packaging bracket. The third circuit board is disposed on the packaging bracket and electrically connected to the first circuit board. The packaging bracket includes an independent cavity. The transmitting chip and the receiving chip are both disposed on the third circuit board and located in the independent cavity. The transmitting component is used to transmit the signal emitted by the transmitting chip, and the receiving component is used to transmit the signal to the receiving chip.

12. The rotating lidar as described in any one of claims 1 to 10, characterized in that, The top plate has a first mounting hole, and the ranging module has a second mounting hole corresponding to the first mounting hole; one of the top plate near the ranging module and the side of the ranging module near the top plate has a first positioning post, and the other has a first positioning hole corresponding to the first positioning post.

13. The rotating lidar as described in any one of claims 1 to 10, characterized in that, The rotating lidar also includes a protective base and a light-transmitting cover. The light-transmitting cover is placed on the protective base, and the light-transmitting cover and the protective base form a receiving cavity. The stator assembly, the rotor assembly, the ranging module, and the encoder disk assembly are all located within the receiving cavity.

14. A method for assembling a rotating lidar, characterized in that, The rotating lidar is the rotating lidar as described in any one of claims 1-13, and the assembly method includes the following steps: Provides rotor assembly, first circuit board and ranging module; The rotor assembly includes a rotor support, a rotor, and a rotating shaft. The rotor is fixed to the rotor support, and the rotating shaft is located at the center of the rotor support and extends downward. The first circuit board is mounted on top of the rotor bracket, and the ranging module is mounted on top of the first circuit board and electrically connected. Provide stator assembly and second circuit board; The stator assembly includes a stator support, a stator, and a hollow column. The hollow column is located at the center of the stator support, extends upward and penetrates the stator support, and the stator is sleeved on the outside of the hollow column. The rotating shaft is rotatably connected to the hollow column via a bearing, so that the rotor assembly is rotatably mounted on the stator assembly, and the rotor is sleeved on the outside of the stator; The second circuit board is installed on the side of the stator support away from the rotor, and the stator is electrically connected to the second circuit board; The above steps enable the stator assembly, the rotor assembly, the first circuit board, the second circuit board, and the ranging module to form a core module.

15. The assembly method of the rotating lidar as described in claim 14, characterized in that, The following steps are included before the steps of providing the rotor assembly, the first circuit board, and the ranging module: The rotor assembly further includes a first power transmission assembly, which includes a first coil and a first magnetic shielding sheet; the ranging module includes a third circuit board and a package housing; the third circuit board is provided with a second positioning hole and a third mounting hole, and the package housing is provided with a second positioning post and a fourth mounting hole; Install the first magnetic shielding sheet on the rotor support, and then fix the first coil on the first magnetic shielding sheet; The second positioning post on the package housing is fixed to the second positioning hole on the third circuit board, and the fasteners fix the third circuit board and the package housing through the third mounting hole and the fourth mounting hole.

16. The assembly method of the rotating lidar as described in claim 14, characterized in that, The following steps are included prior to the step of providing the stator assembly and the second circuit board: The stator assembly also includes a second power transmission assembly, which includes a second coil, a coil support, and a second magnetic shielding sheet. The coil support is fixed to the end of the stator away from the stator support, and the second coil is fixed to the coil support by the second magnetic shielding sheet.

17. The assembly method of the rotating lidar as described in claim 14, characterized in that, The step of rotatably connecting the rotating shaft to the hollow column via the bearing further includes the following steps: Provide a first washer, a second washer, and a retaining ring; The first shim is placed on the upper end of the rotating shaft, the lower end of the rotating shaft is passed through the bearing until it passes through the stator bracket, and the second shim is placed on the lower end of the rotating shaft. The lower end of the rotating shaft is provided with a slot, into which the retaining spring is inserted.

18. The assembly method of the rotating lidar as described in any one of claims 14 to 17, characterized in that, The assembly method further includes: Provides a light-transmitting outer cover and a protective base; The movement module is installed on the protective base, and the light-transmitting cover is placed on the protective base, forming a receiving cavity between the light-transmitting cover and the protective base, with the movement module located inside the receiving cavity.

19. The assembly method of the rotating lidar as described in claim 18, characterized in that, A sealing ring is provided between the light-transmitting outer cover and the protective base.

20. The assembly method of the rotating lidar as described in claim 18, characterized in that, The assembly method further includes: Connector decorative plates are available; The connector decorative piece is attached to the side of the protective base with double-sided adhesive.

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