Rotary supporting device for laser radar and laser radar

Abstract

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

Description

Technical Field

[0001] The present application relates to the field of laser radar, and in particular to a rotating support device for laser radar and a laser radar. Background Art

[0002] Lidar is usually divided into mechanical rotating Lidar, forward-looking Lidar with scanning device and solid-state Lidar. Among them, mechanical rotating Lidar means that the transmitting device and receiving device rotate 360°, and the laser emitter is continuously rotated in the horizontal direction to change the laser from "line" to "surface", and multiple laser emitters are arranged in the vertical direction to form multiple scanning surfaces, thereby realizing the scanning of the environment around the Lidar.

[0003] The mechanical rotating laser radar mainly includes a rotating support device and a detection device arranged on the rotating support device, wherein the detection device includes a transmitting device and a receiving device of the laser radar, and the rotating support device drives the detection device to rotate to detect the surrounding environment of the laser radar. The mechanical rotating laser radar has advantages such as a 360-degree field of view in the horizontal direction.

[0004] However, the rotating support device in the existing mechanical rotating laser radar has a non-compact structure, unreasonable component arrangement, large radial gaps between modules on the circuit board, and a large number of axially arranged components, which increases the size and cost of the laser radar and is not conducive to assembly and mass production. Summary of the invention

[0005] The present application provides a rotating support device for laser radar and laser radar, which can make the structure of laser radar compact, arrange components more reasonably, reduce radial gaps between modules on the circuit board, reduce the number of axially arranged components, and reduce the peripheral size and cost of laser radar without affecting the performance of laser radar, thereby facilitating the assembly and mass production of laser radar. To achieve the above purpose, the embodiments of the present application adopt the following technical solutions:

[0006] In a first aspect, an embodiment of the present application provides a rotating support device for a laser radar, comprising:

[0007] A housing having a receiving cavity;

[0008] A central axis is disposed in the accommodating cavity and fixed relative to the housing;

[0009] a bearing support, disposed in the accommodating cavity and cooperating with the central axis via a bearing, so that the bearing support can rotate relative to the central axis; and

[0010] A driving module is disposed in the accommodating cavity and is configured to drive the bearing support to rotate. The driving module includes a stator and a rotor. The rotor includes an electromagnetic component, which is fixed to the side wall of the bearing support. The stator includes a magnetic component, which is disposed on the outside of the electromagnetic component and fixed relative to the housing.

[0011] According to some embodiments of the present application, the electromagnetic component is disposed around the bearing support, and the magnetic component is disposed around the electromagnetic component and is radially opposite to the electromagnetic component.

[0012] According to some embodiments of the present application, the rotating support device further includes: a stator fixing member fixed relative to the housing, and the magnetic component is fixed on the stator fixing member.

[0013] According to some embodiments of the present application, the magnetic component is an annular structure, and the stator fixing piece is arranged around the outer circumference of the magnetic component.

[0014] According to some embodiments of the present application, the rotating support device also includes a wireless power supply module, which is configured to supply power to a component of the laser radar that rotates with the bearing support.

[0015] According to some embodiments of the present application, the wireless power supply module includes: a transmitting coil fixed relative to the housing; and a receiving coil arranged axially opposite to the transmitting coil and configured to rotate with the bearing support.

[0016] According to some embodiments of the present application, the rotating support device also includes a lower circuit board, which is fixed relative to the housing and is arranged around the central axis or the bearing or the bearing support. The transmitting coil is arranged on the lower circuit board to supply power to the transmitting coil through the lower circuit board.

[0017] According to some embodiments of the present application, the rotating support device further includes: a transmitting coil fixing part, which is arranged around the outer circumference of the stator fixing part, the transmitting coil fixing part is configured to fix the transmitting coil, and the transmitting coil fixing part is arranged between the stator fixing part and the transmitting coil.

[0018] According to some embodiments of the present application, the magnetic component and the transmitting coil fixing member are arranged on the stator fixing member, and the stator fixing member is fixedly connected to the housing.

[0019] According to some embodiments of the present application, the transmitting coil fixing piece is made of insulating material.

[0020] According to some embodiments of the present application, the rotating support device further includes: a rotating support member, which is fixed relative to the bearing support member, and the detection device of the laser radar is installed on the rotating support member.

[0021] According to some embodiments of the present application, the housing includes a bottom and a side wall arranged around the bottom, the rotating support device also includes a position detection module, configured to detect the rotational position information of the detection device, the position detection module includes: a code disk, which is arranged around the inner surface of the side wall, and the code disk is provided with a code track; and a code reader, which is fixed relative to the rotating support and arranged radially opposite to the code disk, and the code reader rotates with the rotating support to detect the code track on the code disk.

[0022] According to some embodiments of the present application, an extension direction of the code channel is parallel to the central axis.

[0023] According to some embodiments of the present application, an upper circuit board is provided between the rotating support and the detection device, and the code reader is fixed on the upper circuit board.

[0024] According to some embodiments of the present application, a code reader circuit board is provided below the upper circuit board, and the code reader is arranged on the code reader circuit board.

[0025] According to some embodiments of the present application, the upper circuit board is perpendicular to the central axis, and the code reader circuit board is parallel to the central axis.

[0026] According to some embodiments of the present application, the gap between the code reader and the code disc is smaller than the axial width of the code disc.

[0027] According to some embodiments of the present application, the upper circuit board is further provided with a processor, and the processor is electrically connected to the code reader to process the rotation position information acquired by the code reader.

[0028] According to some embodiments of the present application, the driving module, the wireless power supply module and the position detection module are all arranged around the central axis, and the driving module, the wireless power supply module and the position detection module are arranged in sequence in a direction away from the central axis.

[0029] According to some embodiments of the present application, the rotating support device also includes an intermediate circuit board, which is arranged on the rotating support member and is located between the upper circuit board and the lower circuit board. The intermediate circuit board is arranged around the central axis or the bearing or the bearing support member. The intermediate circuit board can supply power to the upper circuit board and the electromagnetic component. The receiving coil of the wireless power supply module is also arranged on the rotating support member, and the receiving coil and the intermediate circuit board are respectively arranged on both sides of the rotating support member.

[0030] According to some embodiments of the present application, the rotating support device also includes: an optical communication circuit board, which is arranged on the housing; an uplink wireless communication transmitter and a downlink wireless communication receiver, both of which are arranged on the optical communication circuit board; an uplink wireless communication receiver and a downlink wireless communication transmitter, both of which are arranged on the upper circuit board, and the uplink wireless communication transmitter and the uplink wireless communication receiver are configured to perform uplink optical communication, and the uplink optical communication is implemented within the central axis; the downlink wireless communication transmitter and the downlink wireless communication receiver are configured to perform downlink optical communication, and the downlink optical communication is implemented within the central axis.

[0031] According to some embodiments of the present application, the bearing includes a first bearing and a second bearing, the first bearing and the second bearing are respectively arranged at the two ends of the central axis, and the inner ring of the first bearing and the inner ring of the second bearing are respectively sleeved on the two ends of the central axis, and the bearing support includes a first bearing chamber and a second bearing chamber, the outer ring of the first bearing is fixed to the first bearing chamber, and the outer ring of the second bearing is fixed to the second bearing chamber.

[0032] According to some embodiments of the present application, a flange is provided on the side wall of the bearing support member extending outward, and the rotating support member is connected to the flange of the bearing support member.

[0033] According to some embodiments of the present application, there is a preset distance between the flange and the first end surface of the bearing support member, and the rotation support member is arranged between the flange and the first end surface.

[0034] According to some embodiments of the present application, the electromagnetic component is provided with a first clamping portion, and the bearing support is provided with a second clamping portion, and the first clamping portion is clamped with the second clamping portion.

[0035] In a second aspect, an embodiment of the present application provides a laser radar, including:

[0036] The rotating support device described in any embodiment of the first aspect above;

[0037] The detection device is arranged on the rotating support device, and the detection device is driven to rotate by the rotating support device to detect the surroundings of the laser radar.

[0038] According to some embodiments of the present application, the detection device includes: a light emitting device, configured to emit detection light; a light receiving device, receiving echo light after the detection light is reflected by a target object; and a driving circuit board, the light emitting device and the light receiving device are both arranged on the driving circuit board.

[0039] The rotary support device for laser radar and the laser radar provided in the embodiments of the present application have at least the following beneficial effects:

[0040] 1. The rotary support device provided in the embodiment of the present application sets the electromagnetic component on the rotor and sets the magnetic component on the stator, so that a magnetic field is generated after the rotor is energized. The magnetic field interacts with the magnetic field of the magnetic component of the stator to drive the rotor and the bearing support to rotate. In addition, since the electromagnetic component in the structure is directly fixed to the side wall of the bearing support and rotates with the bearing support, the gap between the electromagnetic component and the bearing support is eliminated, so the peripheral size of the rotary support device can be reduced, so that the structure of the laser radar can be made more compact without affecting the performance of the laser radar, and the peripheral size of the laser radar can be reduced, which is conducive to the assembly and mass production of the laser radar.

[0041] 2. The rotating support device provided in the embodiment of the present application has a transmitting coil fixing part to fix the transmitting coil, and the transmitting coil fixing part is arranged around the outer circumference of the stator fixing part, and the transmitting coil fixing part is arranged between the stator fixing part and the transmitting coil. Compared with the prior art, this structure reduces a circuit board for supplying power to the transmitting coil, thereby reducing the number of axially arranged components and reducing the height of the laser radar;

[0042] 3. In the rotating support device provided by the embodiment of the present application, since the code disk of the position detection module is disposed around the inner surface of the side wall of the housing, the code reader of the position detection module is fixed relative to the rotating support and disposed radially opposite to the code disk, and the code reader rotates with the rotating support to detect the code track on the code disk. Thus, compared with the prior art, the space occupied by the surface of the code disk with the code track is converted from radial space to axial space, thereby further reducing the peripheral size of the rotating support device;

[0043] 4. The rotating support device provided in the embodiment of the present application has a processor on the upper circuit board, and the processor is electrically connected to the code reader to process the rotation position information acquired by the code reader. Therefore, compared with the solution of setting the processor on the lower circuit board in the prior art, the present application can directly process the position information detected by the position detection module through the processor on the upper circuit board, thereby reducing the number of components on the lower circuit board, the size and the manufacturing cost, and thus reducing the peripheral size of the laser radar;

[0044] 5. In the rotary support device provided in the embodiment of the present application, a flange is provided on the side wall of the bearing support member, and a preset distance is provided between the flange and the first end face of the bearing support member. The rotary support member is provided between the flange and the first end face, thereby saving the axial space occupied by the rotary support member.

[0045] 6. The laser radar provided in the embodiments of the present application adopts the rotating support device described in any of the above embodiments, so the peripheral dimensions of the rotating support device can be reduced, thereby reducing the peripheral dimensions of the laser radar, and without affecting the performance of the laser radar, the structure of the laser radar can be made compact, the component arrangement can be more reasonable, the radial gap between the modules on the circuit board can be reduced, and the number of axially arranged components of the laser radar can be reduced, thereby reducing the peripheral dimensions and cost of the laser radar, which is beneficial to the assembly and mass production of the laser radar. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the technical solutions in the embodiments of this specification, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this specification. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0047] Figure 1 A cross-sectional view of a rotary support device provided in an embodiment of the present application;

[0048] Figure 2 An exploded view of a rotary support device provided in an embodiment of the present application;

[0049] Figure 3 for Figure 2 Exploded view of part A in the middle;

[0050] Figure 4 A schematic diagram of the structure of the cooperation between the bearing support and the electromagnetic component in the rotary support device provided in an embodiment of the present application;

[0051] Figure 5 This is a schematic diagram of the structure of the rotary support device provided in an embodiment of the present application when the drive module and the wireless power supply module are not installed;

[0052] Figure 6 A schematic diagram of a position detection module in a rotation support device provided in an embodiment of the present application;

[0053] Figure 7 A schematic diagram of the structure of a detection device in a laser radar provided in an embodiment of the present application;

[0054] Figure 8 A schematic diagram of the structure of the upper circuit board of the laser radar provided in an embodiment of the present application;

[0055] Fig. 9 A schematic diagram of the structure of the laser radar provided in an embodiment of the present application. DETAILED DESCRIPTION

[0056] The following description provides specific application scenarios and requirements of this specification, with the purpose of enabling those skilled in the art to make and use the contents of this specification. Various local modifications to the disclosed embodiments will be apparent to those skilled in the art, and the general principles defined herein may be applied to other embodiments and applications without departing from the spirit and scope of this specification. Therefore, this specification is not limited to the embodiments shown, but to the widest scope consistent with the claims.

[0057] The terms used herein are only used for the purpose of describing specific example embodiments and are not restrictive. For example, unless the context clearly indicates otherwise, as used herein, the singular forms "a", "an" and "the" may also include plural forms. When used in this specification, the terms "include", "comprise" and / or "contain" mean that the associated integers, steps, operations, elements and / or components exist, but do not exclude the existence of one or more other features, integers, steps, operations, elements, components and / or groups or that other features, integers, steps, operations, elements, components and / or groups may be added in the system / method.

[0058] In the present application, the terms "upper", "lower", "left", "right", "front", "back", "top", "bottom", "inner", "outer", "vertical", "horizontal", "lateral", "longitudinal" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings. These terms are mainly used to better describe the present application and its embodiments, and are not used to limit the indicated devices, elements or components to have a specific orientation, or to be constructed and operated in a specific orientation.

[0059] In addition, some of the above terms may be used to express other meanings in addition to indicating orientation or positional relationship. For example, the term "on" may also be used to express a certain dependency or connection relationship in some cases. For those of ordinary skill in the art, the specific meanings of these terms in this application can be understood according to specific circumstances.

[0060] In addition, the terms "installed", "set", "provided with", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection, or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be an internal connection between two devices, elements, or components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0061] In view of the following description, these and other features of the present specification, as well as the operation and function of the related elements of the structure, and the economy of the combination and manufacture of the parts can be significantly improved. Reference is made to the accompanying drawings, all of which form a part of this specification. However, it should be clearly understood that the drawings are for illustration and description purposes only and are not intended to limit the scope of this specification. It should also be understood that the drawings are not drawn to scale.

[0062] In order to solve the problems that the rotating support device of the prior art is not compact in structure, the internal components are not arranged reasonably, the radial gap between the modules on the circuit board is large, the number of axially arranged components is large, the peripheral size and cost of the laser radar are increased, and thus the assembly and mass production of the laser radar are affected, the present application provides a rotating support device for the laser radar, including

[0063] A housing having a receiving cavity;

[0064] A central axis is disposed in the accommodating cavity and fixed relative to the housing;

[0065] a bearing support, disposed in the accommodating cavity and cooperating with the central axis via a bearing, so that the bearing support can rotate relative to the central axis; and

[0066] A driving module is disposed in the accommodating cavity and is configured to drive the bearing support to rotate. The driving module includes a stator and a rotor. The rotor includes an electromagnetic component, which is fixed to the side wall of the bearing support. The stator includes a magnetic component, which is disposed on the outside of the electromagnetic component and fixed relative to the housing.

[0067] The rotating support device provided in the embodiment of the present application sets the electromagnetic component on the rotor and sets the magnetic component on the stator, so that a magnetic field is generated after the rotor is energized. The magnetic field interacts with the magnetic field of the magnetic component of the stator to drive the rotor and the bearing support to rotate. Since the electromagnetic component in this structure is directly fixed to the side wall of the bearing support and rotates with the bearing support, the gap between the electromagnetic component and the bearing support is eliminated, and the peripheral size of the rotating support device can be reduced. Therefore, without affecting the performance of the laser radar, the structure of the laser radar can be made more compact, the peripheral size of the laser radar can be reduced, and it is beneficial to the assembly and mass production of the laser radar. The present application is described in detail through specific embodiments below:

[0068] like Figure 1 , Figure 2 As shown, the embodiment of the present application provides a rotating support device for laser radar, which includes a central shaft 2, a bearing 5 is sleeved on the outer periphery of the central shaft 2, and a bearing support 3 is provided on the outer periphery of the bearing 5, wherein the bearing 5 includes a first bearing 51 and a second bearing 52, the first bearing 51 and the second bearing 52 are respectively arranged at the two ends of the central shaft 2, and the inner ring of the first bearing 51 and the inner ring of the second bearing 52 are sleeved on the central shaft 2 and are clearance-matched with the central shaft 2. Correspondingly, the bearing support 3 includes a first bearing chamber and a second bearing chamber, wherein the first bearing chamber and the second bearing chamber refer to the space in the bearing support 3 for accommodating the bearing 5. Specifically, the outer ring of the first bearing 51 is interference-fitted with the first bearing chamber, and the outer ring of the second bearing 52 is interference-fitted with the second bearing chamber, so that the outer ring of the bearing and the bearing support 3 can rotate synchronously relative to the central shaft 2.

[0069] When assembling the bearing support 3, the specific assembly process is as follows: first, the outer rings of the first bearing 51 and the second bearing 52 are fixed to the first bearing chamber and the second bearing chamber of the bearing support 3 by interference fit respectively, and then the bearing support 3 equipped with the first bearing 51 and the second bearing 52 is integrally sleeved on the central shaft 2, so that the inner rings of the first bearing 51 and the second bearing 52 are clearance-fitted with the central shaft 2, and the central shaft 2 is axially connected to and supports the second bearing 52, so that the central shaft 2 axially supports the bearing support 3 equipped with the first bearing 51 and the second bearing 52, and finally, the inner ring of the first bearing 51 is locked by a locking member 21 such as a retaining spring to prevent the bearing 5 and the bearing support 3 from moving axially along the central shaft 2.

[0070] like Figure 1As shown, a driving module 4 is provided on the outside of the bearing support 3, and the driving module 4 includes a stator and a rotor, the rotor includes an electromagnetic component 41, and the stator includes a magnetic component 42. The electromagnetic component 41 is fixed to the side wall of the bearing support 3, and the magnetic component 42 is arranged on the outside of the electromagnetic component 41 and fixed relative to the housing 1. The detection device of the laser radar (not shown in the figure) is fixed relative to the bearing support 3, and the bearing support 3 is driven to rotate by the driving module 4, so that the bearing support 3 can drive the detection device to rotate 360° in the horizontal direction, thereby realizing 360° detection of the laser radar. Among them, the driving module 4 sets the electromagnetic component 41 on the rotor and the magnetic component 42 on the stator, so that a magnetic field is generated after the electromagnetic component 41 is energized, and the rotor and the bearing support 3 are driven to rotate under the interaction with the magnetic field of the magnetic component 42. Since the electromagnetic component 41 in this structure is directly fixed to the side wall of the bearing support 3 and rotates with the bearing support 3, compared with the prior art, the present application eliminates the gap between the electromagnetic component 41 and the bearing support 3, thereby reducing the peripheral dimensions of the rotating support device. This makes the structure of the laser radar more compact and reduces the peripheral dimensions of the laser radar without affecting the performance of the laser radar, which is beneficial to the assembly and mass production of the laser radar.

[0071] Specifically, the electromagnetic component 41 can be set as an annular structure and arranged around the bearing support 3, and its axial height can be basically close to the height of the second bearing 52. The magnetic component 42 can also be set as an annular structure and arranged around the electromagnetic component 41. The magnetic component 42 and the electromagnetic component 41 are arranged radially opposite to each other to ensure that electromagnetic induction can be generated between the two. In order to further reduce the peripheral size of the rotation support device, the part of the outer wall of the bearing support 3 for arranging the electromagnetic component 41 can be set as a structure that is recessed toward the central axis in the radial direction, thereby allowing the electromagnetic component 41 and the magnetic component 42 to be positioned at a position close to the central axis 2, thereby further reducing the peripheral size of the rotation support device. In addition, after the structure recessed toward the central axis is formed on the outer wall of the bearing support 3, a step portion is formed on the outer wall of the bearing support 3. When the electromagnetic component 41 is installed, the end face of the electromagnetic component 41 can be abutted against the step portion, thereby achieving axial positioning of the electromagnetic component 41.

[0072] When the electromagnetic component 41 is fixed to the outer wall of the bearing support 3, it can be achieved by various fixing methods, such as bonding, threaded connection, clamping, welding and the like. When the clamping method is used, Figure 4As shown, a first clamping portion 411 may be provided on the electromagnetic component 41, and a second clamping portion 31 may be provided on the bearing support 3, and the first clamping portion 411 and the second clamping portion 31 may be clamped to prevent the electromagnetic component 41 and the bearing support 3 from rotating relative to each other. Specifically, the first clamping portion 411 may be a boss, and the corresponding second clamping portion 31 may be a slot; or the first clamping portion 411 may be a slot, and the corresponding second clamping portion 31 may be a boss.

[0073] When fixing the magnetic component 42, the stator fixing member 43 may be used for fixing. Specifically, the stator fixing member 43 may be first fixed to the housing 1, and then the magnetic component 42 may be fixed to the stator fixing member 43. Figure 1 , Figure 3 As shown, the stator fixing member 43 may be an annular bracket, which is arranged around the outer circumference of the magnetic component 42 and is fixedly connected to the magnetic component 42. Specifically, a positioning step is formed on one side of the annular bracket facing the central axis 2, and the magnetic component 42 is fixed on the positioning step, and the specific fixing method may be bonding, clamping, threading, welding, etc.

[0074] Specifically, the electromagnetic component 41 may be an annular electromagnet, which includes an iron core and a coil winding wound outside the iron core. The magnetic component 42 may be an annular permanent magnet, which is filled with a sinusoidal magnetic field.

[0075] Since the electromagnetic component 41 is rotating, the wireless power supply module 6 can be used to supply power to the electromagnetic component 41. In addition to supplying power to the electromagnetic component 41, the wireless power supply module 6 can also supply power to other components that rotate with the bearing support 3 and require power, such as a circuit board disposed on the bearing support 3 and components in the detection device that require power.

[0076] Specifically, the principle of electromagnetic induction can be used for wireless power supply, such as Figure 1 , Figure 3As shown, the wireless power supply module 6 can be arranged outside the driving module 4, and the wireless power supply module 6 includes a transmitting coil 61 and a receiving coil 62, wherein the transmitting coil 61 is fixed relative to the housing 1, and the receiving coil 62 is arranged axially opposite to the transmitting coil 61, and can rotate with the bearing support 3. In the specific setting, the transmitting coil 61, the driving module 4 and the second bearing 52 can be arranged to be substantially close in height in the axial direction, and the transmitting coil 61 is arranged outside the stator fixing member 43, and the receiving coil 62 and the first bearing 51 are also arranged to be substantially close in height in the axial direction, so that the axial height can be not increased; and the receiving coil 62 is arranged above the transmitting coil 61 at intervals. Therefore, when powering, the transmitting coil 61 can be electrically connected to an external power supply to power the transmitting coil 61, and an alternating current is input into the transmitting coil 61, and a changing magnetic field is generated around the transmitting coil 61, and the changing magnetic field induces a current at the receiving coil 62 for use by the electromagnetic component 41, etc., thereby realizing wireless power supply of the electromagnetic component 41 and other components.

[0077] It should be noted that, in addition to the above electromagnetic induction wireless power supply method, the wireless power supply module 6 can also use other principles for wireless power supply, which will not be described in detail here.

[0078] like Figure 1 , Figure 2 , Figure 3 As shown, the transmitting coil 61 can be powered by the lower circuit board 11 relatively fixed to the housing 1, and the lower circuit board 11 can be set as an annular structure and arranged around the central axis 2, the bearing 5 or the bearing support 3. Specifically, the stator fixing member 43 is arranged on the bottom of the housing 1 and fixedly connected, and the lower circuit board 11 is arranged on the stator fixing member 43, so that the lower circuit board 11 is relatively fixed to the housing 1, and the lower circuit board 11 is electrically connected to the external power supply to directly power the transmitting coil 61 through the lower circuit board 11. Compared with the prior art, this structure reduces a circuit board for powering the transmitting coil 61 in the axial direction, thereby reducing the height of the laser radar.

[0079] In addition to supplying power to the transmitting coil 61, the lower circuit board 11 can also supply power to other electrical components fixed relatively to the housing 1, for example, the lower circuit board 11 can also supply power to the optical communication circuit board 12. The lower circuit board 11 is arranged around the central shaft 2 or the bearing 5 or the bearing support 3.

[0080] In order to fix the transmitting coil 61, as Figure 1 , Figure 3 , Figure 5As shown, a transmitting coil fixing part 63 may be provided. Specifically, the transmitting coil fixing part 63 may be provided as an annular structure and provided around the outer circumference of the stator fixing part 43, and the transmitting coil 61 may be provided around the outer circumference of the transmitting coil fixing part 63. The transmitting coil fixing part 63 may be fixed to the outer circumference of the stator fixing part 43, and the transmitting coil 61 may be fixed to the outer circumference of the transmitting coil fixing part 63, that is, provided on a side away from the stator fixing part 43.

[0081] In addition, in order to save components, the transmitting coil 61 can also be directly fixed to the outside of the stator fixing member 43. Thus, the outer size of the rotating support device can be further reduced by fixing the transmitting coil 61 and the magnetic component 42 directly by using the stator fixing member 43 through the transmitting coil fixing member 63.

[0082] When fixing the transmitting coil fixing part 63, the magnetic component 42 and the transmitting coil fixing part 63 can be both arranged on the stator fixing part 43, and then the stator fixing part 43 can be fixed to the bottom of the housing 1, and the lower circuit board 11 can be fixed to the stator fixing part 43, so as to achieve relative fixation of the transmitting coil 61, the transmitting coil fixing part 63, the magnetic component 42, the stator fixing part 43, the lower circuit board 11 and the housing 1. Since the strength of the circuit board is usually not high, in order to improve the connection strength, the stator fixing part 43 can be passed through the lower circuit board 11 and fixedly connected to the bottom of the housing 1. When specifically connected, bonding, threaded connection, clamping, welding and the like can be adopted.

[0083] In order to prevent interference between the transmitting coil 61 and the magnetic component 42, the transmitting coil fixing member 63 may be made of an insulating material. Thus, effective isolation can be formed between the transmitting coil 61 and the magnetic component 42 to prevent electromagnetic interference between the transmitting coil 61 and the magnetic component 42. Specifically, the transmitting coil fixing member 63 may be made of a plastic material.

[0084] like Figure 1 , Figure 2 , Fig. 9 As shown, in order to install and position the laser radar detection device 100, a rotating support member 7 can be provided on the bearing support member 3, and the laser radar detection device 100 can be installed on the rotating support member 7, so that the bearing support member 3 can drive the rotating support member 7 and the detection device 100 to rotate synchronously when rotating. Specifically, the rotating support member 7 can adopt a circular ring-shaped rotating bracket structure and be arranged around the bearing support member 3. The rotating support member 7 can be located above the driving module 4 and the wireless power supply module 6, and the height of the rotating support member 7 in the axial direction is basically close to that of the first bearing 51.

[0085] In order to facilitate the connection between the bearing support 3 and the rotating support 7, a flange 32 may be provided extending outwardly from the side wall of the bearing support 3, and then the rotating support 7 is connected to the flange 32. Figure 2 As shown, the flange 32 includes an annular protrusion 321 protruding outward from the outer wall of the bearing support 3 and a plurality of protrusions 322 protruding outward from the annular protrusion 321. The plurality of protrusions 322 can be used to set connection holes, and connected to the rotating support 7 through the connection holes. The position of the above-mentioned flange 32 can be set at the end of the bearing support 3 along the axial direction. In this case, the flange 32 is connected to the first end surface (i.e., Figure 1 There is a preset distance between the flange 32 and the upper end surface of the middle bearing support 3, so that the rotating support 7 can be set between the flange 32 and the first end surface, and the rotating support 7 is supported axially by the flange 32, thereby saving the axial space occupied by the rotating support 7.

[0086] like Figure 1 As shown, the receiving coil 62 can be fixed to the edge area of ​​the lower surface of the rotating support 7, and a recessed structure can be provided on the lower surface of the rotating support 7, so that at least a portion of the receiving coil 62 is embedded in the recessed structure, thereby further reducing the height of the rotating support device. In addition, the step formed by the recessed structure can also limit the receiving coil 62 in the radial direction, preventing the receiving coil 62 from moving in the radial direction, so that the receiving coil 62 and the transmitting coil 61 remain aligned in the axial direction.

[0087] In order to detect the rotation information of the detection device 100, the motor speed and rotation angle can be accurately controlled. Figure 6 As shown, a position detection module 8 can be provided. The position detection module 8 includes a code disk 81 and a code reader 82. During installation, one of the code disk 81 and the code reader 82 can be fixed relative to the housing 1, and the other can be fixed relative to the rotor, and the code disk 81 and the code reader 82 can be arranged relative to each other, so that when the rotor rotates, the information of the code track on the code disk 81 can be read by the code reader 82, so as to accurately control the motor speed and rotation angle. In the specific setting, the surface of the code disk 81 provided with the code track can be perpendicular to the central axis 2 or parallel to the central axis 2. When the surface of the code disk 81 provided with the code track is perpendicular to the central axis 2, since a certain width needs to be reserved for the surface of the code disk 81 provided with the code track, a certain radial space will be occupied, making the radial outer dimension of the rotating support device larger. Therefore, in order to save radial space, such as Figure 5 , Figure 6As shown, the code disc 81 can be arranged around the inner surface of the side wall of the housing 1, so that the surface of the code disc 81 with the code track faces the direction of the central axis 2. When the code track on the code disc 81 is arranged, the extension direction of the code track can be arranged parallel to the central axis 2. The code reader 82 is fixed relative to the rotating support 7 and arranged radially opposite to the code disc 81. When the code reader 82 rotates with the rotating support 7, the code track on the code disc 81 can be detected. In this way, the space occupied by the surface of the code disc 81 with the code track can be converted from radial space to axial space, thereby reducing the peripheral size of the rotating support device.

[0088] When the code reader 82 is fixed, the code reader 82 can be set on the upper circuit board 71. The upper circuit board 71 is set between the rotating support member 7 and the detection device 100, and rotates with the rotating support member 7. The upper circuit board 71 is also provided with a processor, which is electrically connected to the code reader 82 to process the rotation position information obtained by the code reader 82, and can receive and process the detection signal of the detection device 100. Specifically, Figure 6 As shown, a code reader circuit board 83 is provided below the upper circuit board 71, and the code reader 82 is provided on the code reader circuit board 83. The upper circuit board 71 can be vertically provided relative to the central axis 2, so as to facilitate the connection of the detection device 100. The code reader circuit board 83 can be provided in parallel with the central axis 2, and specifically, the upper end of the code reader circuit board 83 can be connected to the upper circuit board 71. For example, a conductive hole can be provided at the edge of the code reader circuit board 83, and the code reader circuit board 83 can be welded to the upper circuit board 71 through the conductive hole. Among them, the conductive hole can be a circular hole, a semicircular hole or a hole of other shapes. The code reader 82 is provided on the outer side of the code reader circuit board 83, so that the reading end of the code reader 82 is radially outward toward the code disk 81. Compared with the solution of setting the processor on the lower circuit board in the prior art, the present application can directly process the position information detected by the position detection module through the processor of the upper circuit board 71, thereby reducing the number of components, the peripheral size and the manufacturing cost of the lower circuit board, and further reducing the peripheral size of the laser radar.

[0089] When setting the gap between the code reader 82 and the code disc 81, the gap between the code reader 82 and the code disc 81 can be made as small as possible under the premise of meeting the minimum reading distance requirement. Specifically, the gap can be set to be smaller than the axial width of the code disc 81, thereby minimizing the radial space occupied by the position detection module 8.

[0090] like Figure 1As shown, the rotating support device also includes an intermediate circuit board 72, which is arranged on the rotating support member 7 and is located between the upper circuit board 71 and the lower circuit board 11. The intermediate circuit board 72 is arranged around the central axis 2, the bearing 5 or the bearing support member 3. The receiving coil 62 of the wireless power supply module 6 is also arranged on the rotating support member 7, and the receiving coil 62 and the intermediate circuit board 72 are respectively arranged on both sides of the rotating support member 7. The receiving coil 62 of the wireless power supply module 6 can supply power to the intermediate circuit board 72, and the intermediate circuit board 72 is configured to supply power to the upper circuit board 71 and the electromagnetic component 41, and the upper circuit board 71 is configured to supply power to the detection device 100. As shown in FIG. Figure 1 , Figure 2 As shown, when the intermediate circuit board 72 is installed, a recessed portion 73 may be provided on the upper surface of the rotating support 7, and the intermediate circuit board 72 may be arranged in the recessed portion 73 to reduce the radial space occupied by the intermediate circuit board 72 and to effectively protect the intermediate circuit board 72. Figure 2 As shown, one or more positioning pins 74 are also provided in the recessed portion 73, and a clearance opening is provided at the position corresponding to the positioning pin 74 on the intermediate circuit board 72 to allow the positioning pin 74 to pass through. Figure 8 As shown, the upper circuit board 71 is also provided with an escape opening at the position corresponding to the positioning pin 74, so that the positioning pin 74 can pass through and connect with the detection device 100. The positioning pin 74 can be provided to prevent the intermediate circuit board 72 and the upper circuit board 71 from rotating relative to the rotating support 7, and can directly fix the detection device 100 to the rotating support 7.

[0091] In order to realize the uplink and downlink optical communications of LiDAR, Figure 1 As shown, the housing 1 is also provided with an optical communication circuit board 12, on which an uplink wireless communication transmitter and a downlink wireless communication receiver are provided, and the upper circuit board 71 is provided with an uplink wireless communication receiver and a downlink wireless communication transmitter. Among them, the uplink wireless communication transmitter and the uplink wireless communication receiver are used for uplink optical communication. Correspondingly, the downlink wireless communication transmitter and the downlink wireless communication receiver are used for downlink optical communication. Specifically, the optical communication circuit board 12 can be arranged on the lower side of the lower circuit board 11, and is located in the groove at the bottom of the housing, the opening of the groove faces upward, and the central axis 2 is located above the groove and blocks the opening of the groove, so that the optical communication circuit board 12 can be effectively protected, and the optical communication circuit board 12 will not occupy additional axial space, so that the height of the rotating support device is reduced. In addition, both uplink optical communication and downlink optical communication can be realized in the central axis 2, thereby, while realizing uplink optical communication and downlink optical communication, the central axis 2 can be used to shield external interference to ensure the signal communication quality.

[0092] It should be noted that if Figure 1 , Figure 2 , Figure 3 As shown, the lower circuit board 11 and the middle circuit board 72 have a central hole and are arranged around the central axis 2, the bearing 5 or the bearing support 3. The rotating support 7, the receiving coil 62 and the transmitting coil 61 are arranged in sequence from top to bottom between the lower circuit board 11 and the middle circuit board 72. In addition, the transmitting coil 61, the transmitting coil fixing part 63, the stator fixing part 43, the magnetic component 42 and the electromagnetic component 41 are arranged in sequence from outside to inside at the same height along the radial direction. The upper circuit board 71 and the optical communication circuit board 12 are respectively arranged on the upper side and the lower side of the central axis, and the upper circuit board 71 and the optical communication circuit board 12 do not have a central hole.

[0093] In summary, the arrangement relationship of each part of the rotating support device along the radial direction is as follows: the driving module 4, the wireless power supply module 6 and the position detection module 8 are all arranged around the central axis 2, and the driving module 4, the wireless power supply module 6 and the position detection module 8 are arranged in sequence in the direction away from the central axis 2. The arrangement relationship of each part along the axial direction is as follows: the upper circuit board 71, the middle circuit board 72, the rotating support member 7, the wireless power supply module 6 (and the driving module 4), the lower circuit board 11, and the optical communication circuit board 12 are arranged in sequence from top to bottom along the axial direction.

[0094] In addition, the rotating support device further comprises a housing 1, the housing 1 having a receiving cavity, and the components of the rotating support device can be arranged in the receiving cavity of the housing 1. Among them, the code disc 81, the stator fixing member 43, the central axis 2 and the optical communication circuit board 12 can be directly fixed on the housing, and other components may not be directly connected to the housing.

[0095] It should be noted that the above-mentioned intermediate circuit board 72, rotating support 7, magnetic component 42, electromagnetic component 41, stator fixing component 43, transmitting coil 61, receiving coil 62, transmitting coil fixing component 63 and lower circuit board 11 can all be set as annular structures; the upper circuit board 71 and optical communication circuit board 12 can all be set as circular structures, and the center of the circle of the above-mentioned annular structure and the center of the circle of the circular structure are both located in the axial direction of the central axis 2. Thereby, the overall structure is more symmetrical and compact, and the rotating parts are more stable during the rotation process. And the structure of the housing 1 can be set to a cylindrical shape accordingly, which occupies less space, so that it is easy to install and use in equipment such as automobiles.

[0096] The present application also provides a laser radar, such as Figure 7 , Figure 8 , Fig. 9As shown, it includes a detection device 100 and a rotating support device 200 described in any of the above embodiments. The detection device 100 is arranged on the rotating support device 200, and the upper circuit board 71 is arranged at the bottom of the detection device. The upper circuit board 71 can be electrically connected to the middle circuit board 72 and the driving circuit board of the detection device 100 respectively. The driving circuit board is used to drive the light emitting device and the light receiving device of the detection device 100 to work.

[0097] The detection device is driven by the rotating support device to rotate 360° to detect the surroundings of the laser radar. Specifically, the detection device can be set on the rotating support member 7 of the rotating support device, and the rotating support member 7 and the detection device 100 are driven to rotate by the driving module 4 of the rotating support device.

[0098] The laser radar provided in the embodiment of the present application adopts the rotating support device described in any of the above embodiments, so the peripheral dimensions of the rotating support device can be reduced, thereby reducing the peripheral dimensions of the laser radar without affecting the performance of the laser radar, which is beneficial to the assembly and mass production of the laser radar.

[0099] Specifically, the detection device 100 includes a light emitting device, a light receiving device and a driving circuit board. The light emitting device is used to emit detection light. The light receiving device can receive the echo light after the detection light is reflected by the target object. The driving circuit board is used to carry the light emitting device and the light receiving device, and is electrically connected to the light emitting device and the light receiving device respectively. Thus, a design in which the light emitting device and the light receiving device share a circuit board is realized. This structure can simplify the alignment and debugging steps of the light emitting device and the light receiving device, which is conducive to assembly and mass production.

[0100] Among them, the light emitting device may specifically include a light emitter and a transmitting lens group, and the light receiving device may specifically include a light receiver and a receiving lens group, wherein the light emitter is driven to emit detection light, the transmitting lens group is used to collimate the detection light, the light receiver is driven to receive the echo light after the detection light is reflected by the target object, and the receiving lens group is used to converge the echo light. Specifically, the above-mentioned light emitter can adopt a VCSEL (Vertical Cavity Surface Emitting Laser) laser; the light receiver can adopt a single photon detector, such as a SPAD (Single Photon Avalanche Diode) detector, or a SiPM (Silicon photomultiplier). Since the VCSEL emits the detection light in a direction perpendicular to the driving circuit board, and the single photon detector receives the echo light in a direction perpendicular to the driving circuit board, the emission light path of the light emitting device to emit the detection light and the receiving light path of the light receiving device to receive the echo light are basically arranged in parallel.

[0101] Specifically, the above-mentioned laser radar also includes a window, which is arranged on the outer shell 1. The window is configured to allow the detection light to be transmitted to the outside of the laser radar and the echo light to be transmitted into the inside of the laser radar, and is fixedly connected to the outer shell 1, so that the fixedly connected outer shell 1 and the window accommodate and protect various components inside the laser radar, including the detection device 100 and other components in the rotating support device 200 except the outer shell 1.

[0102] The above is a description of a specific embodiment of the present specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the drawings do not necessarily require a specific order or a continuous order to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0103] In summary, after reading this detailed disclosure, those skilled in the art will appreciate that the foregoing detailed disclosure may be presented only by way of example and may not be limiting. Although not explicitly stated herein, those skilled in the art will appreciate that this specification requires various reasonable changes, improvements and modifications to the embodiments. These changes, improvements and modifications are intended to be proposed by this specification and are within the spirit and scope of the exemplary embodiments of this specification.

[0104] In addition, certain terms in this specification have been used to describe embodiments of this specification. For example, "one embodiment", "an embodiment" and / or "some embodiments" mean that a particular feature, structure or characteristic described in conjunction with the embodiment may be included in at least one embodiment of this specification. Therefore, it can be emphasized and should be understood that two or more references to "an embodiment" or "one embodiment" or "an alternative embodiment" in various parts of this specification do not necessarily refer to the same embodiment. In addition, specific features, structures or characteristics may be appropriately combined in one or more embodiments of this specification.

[0105] It should be understood that in the foregoing description of the embodiments of this specification, in order to help understand a feature and for the purpose of simplifying this specification, this specification combines various features in a single embodiment, drawing or its description. However, this does not mean that the combination of these features is necessary. When reading this specification, it is entirely possible for a person skilled in the art to extract some of the features and understand them as separate embodiments. In other words, the embodiments in this specification can also be understood as the integration of multiple secondary embodiments. This is also true when the content of each secondary embodiment is less than all the features of a single aforementioned disclosed embodiment.

[0106] Each patent, patent application, patent application publication, and other materials, such as articles, books, specifications, publications, documents, articles, etc., cited herein may be incorporated herein by reference in its entirety for all purposes, except for any prosecution document history related thereto, any equivalent that may be inconsistent or conflicting with this document, or any equivalent prosecution document history that may have a limiting effect on the broadest scope of the claims now or later associated with this document. For example, if there is any inconsistency or conflict between the description, definition, and / or use of a term associated with any of the incorporated materials and the term, description, definition, and / or use associated with this document, the term in this document shall control.

[0107] It should also be noted that the content of the background technology section is only the information known to the inventor personally, and does not mean that the above information has entered the public domain before the application date of this disclosure, nor does it mean that it can become the prior art of the present disclosure.

[0108] Finally, it should be understood that the embodiments of the application disclosed herein are explanations of the principles of the embodiments of this specification. Other modified embodiments are also within the scope of this specification. Therefore, the embodiments disclosed in this specification are only used as examples and not as limitations. Those skilled in the art can adopt alternative configurations according to the embodiments in this specification to implement the applications in this specification. Therefore, the embodiments of this specification are not limited to the embodiments accurately described in the application.

Claims

1. A rotating support device for a laser radar, characterized in that: include: A housing having a receiving cavity; A central axis is disposed in the accommodating cavity and fixed relative to the housing; a bearing support, disposed in the accommodating cavity and cooperating with the central axis via a bearing, so that the bearing support can rotate relative to the central axis; and A driving module is disposed in the accommodating cavity and is configured to drive the bearing support to rotate. The driving module includes a stator and a rotor. The rotor includes an electromagnetic component, which is fixed to the side wall of the bearing support. The stator includes a magnetic component, which is disposed on the outside of the electromagnetic component and fixed relative to the housing.

2. The rotary support device according to claim 1, characterized in that: The electromagnetic component is disposed around the bearing support, and the magnetic component is disposed around the electromagnetic component and is opposite to the electromagnetic component in a radial direction.

3. The rotary support device according to claim 1, characterized in that: The rotating support device also includes: The stator fixing part is fixed relative to the housing, and the magnetic component is fixed on the stator fixing part.

4. The rotary support device according to claim 3, characterized in that: The magnetic component is an annular structure, and the stator fixing piece is arranged around the outer circumference of the magnetic component.

5. The rotary support device according to claim 1, characterized in that: The rotating support device also includes a wireless power supply module, which is configured to supply power to a component of the laser radar that rotates with the bearing support.

6. The rotary support device according to claim 5, characterized in that: The wireless power supply module comprises: a transmitting coil fixed relative to the housing; and The receiving coil is arranged axially opposite to the transmitting coil and is configured to rotate with the bearing support.

7. The rotary support device according to claim 6, characterized in that: The rotating support device also includes a lower circuit board, which is fixed relative to the shell and arranged around the central axis or the bearing or the bearing support. The transmitting coil is arranged on the lower circuit board so as to supply power to the transmitting coil through the lower circuit board.

8. The rotary support device according to claim 7, characterized in that: The rotating support device also includes: The transmitting coil fixing part is arranged around the outer circumference of the stator fixing part, and the transmitting coil fixing part is configured to fix the transmitting coil, and the transmitting coil fixing part is arranged between the stator fixing part and the transmitting coil.

9. The rotary support device according to claim 8, characterized in that: The magnetic component and the transmitting coil fixing part are arranged on the stator fixing part, and the stator fixing part is fixedly connected to the shell.

10. The rotary support device according to claim 8, characterized in that: The transmitting coil fixing piece is made of insulating material.

11. The rotary support device according to claim 1, characterized in that: The rotating support device also includes: The rotating support is fixed relative to the bearing support, and the detection device of the laser radar is installed on the rotating support.

12. The rotary support device according to claim 11, characterized in that: The housing includes a bottom and a side wall arranged around the bottom, and the rotation support device also includes a position detection module configured to detect the rotation position information of the detection device, and the position detection module includes: A code disc, arranged around the inner surface of the side wall, the code disc having a code track; and The code reader is fixed relative to the rotating support and is arranged radially opposite to the code disk. The code reader rotates with the rotating support to detect the code track on the code disk.

13. The rotary support device according to claim 12, characterized in that: The extending direction of the code channel is parallel to the central axis.

14. The rotary support device according to claim 12, characterized in that: An upper circuit board is provided between the rotating support and the detection device, and the code reader is fixed on the upper circuit board.

15. The rotary support device according to claim 14, characterized in that: A code reader circuit board is provided below the upper circuit board, and the code reader is arranged on the code reader circuit board.

16. The rotary support device according to claim 15, characterized in that: The upper circuit board is perpendicular to the central axis, and the code reader circuit board is parallel to the central axis.

17. The rotary support device according to claim 12, characterized in that: The gap between the code reader and the code disc is smaller than the width of the code disc along the axial direction.

18. The rotary support device according to claim 15, characterized in that: The upper circuit board is also provided with a processor, and the processor is electrically connected to the code reader to process the rotation position information acquired by the code reader.

19. The rotary support device according to claim 12, characterized in that: The driving module, the wireless power supply module and the position detection module are all arranged around the central axis, and the driving module, the wireless power supply module and the position detection module are arranged in sequence in a direction away from the central axis.

20. The rotary support device according to claim 14, characterized in that: The rotating support device also includes an intermediate circuit board, which is arranged on the rotating support member and located between the upper circuit board and the lower circuit board. The intermediate circuit board is arranged around the central axis or the bearing or the bearing support member, and the intermediate circuit board can supply power to the upper circuit board and the electromagnetic component.

21. The rotary support device according to claim 20, characterized in that: The receiving coil of the wireless power supply module is arranged on the rotating support, and the receiving coil and the intermediate circuit board are respectively arranged on two sides of the rotating support.

22. The rotary support device according to claim 1, characterized in that: The rotating support device also includes: An optical communication circuit board is arranged on the housing; An uplink wireless communication transmitter and a downlink wireless communication receiver are both arranged on the optical communication circuit board; The uplink wireless communication receiver and the downlink wireless communication transmitter are both arranged on the upper circuit board, and The uplink wireless communication transmitter and the uplink wireless communication receiver are configured to perform uplink optical communication, and the uplink optical communication is implemented within the central axis; The downlink wireless communication transmitter and the downlink wireless communication receiver are configured to perform downlink optical communication, and the downlink optical communication is implemented within the central axis.

23. The rotary support device according to claim 1, characterized in that: The bearing comprises a first bearing and a second bearing, the first bearing and the second bearing are respectively arranged at two ends of the central shaft, and the inner ring of the first bearing and the inner ring of the second bearing are respectively sleeved at two ends of the central shaft, and The bearing support comprises a first bearing chamber and a second bearing chamber, the outer ring of the first bearing is fixed to the first bearing chamber, and the outer ring of the second bearing is fixed to the second bearing chamber.

24. The rotary support device according to claim 11, characterized in that: A flange is provided on the side wall of the bearing support member extending outward, and the rotating support member is connected to the flange of the bearing support member.

25. The rotary support device according to claim 24, characterized in that: There is a preset distance between the flange and the first end surface of the bearing support member, and the rotation support member is arranged between the flange and the first end surface.

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

27. A laser radar, characterized in that: include: The rotary support device according to any one of claims 1 to 26; The detection device is arranged on the rotating support device, and the detection device is driven to rotate by the rotating support device to detect the surroundings of the laser radar.

28. The laser radar according to claim 27, characterized in that: The detection device comprises: a light emitting device configured to emit detection light; a light receiving device for receiving the echo light after the detection light is reflected by the target object; and A driving circuit board, the light emitting device and the light receiving device are both arranged on the driving circuit board.

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