Laser radar base, laser radar and mobile device

Abstract

The invention is suitable for the technical field of laser radars, and provides a laser radar base, a laser radar and a mobile device.The laser radar base is used for supporting a laser ranging part of the laser radar and enabling the laser ranging part to rotate relative to the laser radar base, the laser radar base comprises a base part and a rotary supporting part, the rotating supporting part comprises a rotor assembly, a stator assembly and a rotating support, at least one end of the rotor assembly is provided with a rotating structure, the rotating structure and the rotor assembly are coaxially arranged, the rotor assembly is rotatably installed on the base part through the rotating structure, and the stator assembly is arranged on the rotor assembly in a sleeving mode and fixedly connected with the base part; the rotating support is fixedly connected with the rotor assembly and used for supporting the laser ranging part. Compared with a laser radar base in which the rotor assembly is arranged outside the stator assembly in the prior art, the laser radar base provided by the invention has the advantage that the radial size of the laser radar base can be designed to be smaller.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of laser radars, and more particularly to a laser radar base, a laser radar and a mobile device. BACKGROUND

[0002] A laser radar is a sensor that measures the distance, speed, shape and other information of a target by emitting and receiving laser beams. Its working principle is based on the optical properties of laser, and the position and characteristics of the target are determined by measuring the reflection time or phase difference of the laser beam. Laser radars have a wide range of applications in many fields, such as autonomous driving, robot navigation, mapping, environmental monitoring, etc. It can provide high-precision, high-resolution three-dimensional spatial information to help vehicles or robots perceive the surrounding environment, avoid collisions and obstacles.

[0003] The patent with publication number CN211674058U discloses a laser radar and a sweeping robot, which discloses that the hollow shaft, bearing, hollow column, motor stator, motor rotor, receiving coil, grating detection encoding disc and transmitting coil are coaxially arranged from inside to outside. This laser radar has arranged many parts closely in the radial direction, and the size optimization space in the radial direction is small. SUMMARY

[0004] The purpose of the embodiments of the present application is to provide a laser radar base, a laser radar and a mobile device, aiming to solve the technical problem of how to further optimize the radial size of the laser radar base in the prior art.

[0005] To achieve the above-mentioned purpose, according to one aspect of the present application, a laser radar base is provided for supporting the laser ranging part of a laser radar, which comprises a base part and a rotating support part. The rotating support part comprises a rotor assembly, a stator assembly and a rotating bracket. The rotor assembly comprises a rotor body and a rotating structure. The rotating structure is coaxially arranged on at least one end of the rotor body. The rotor body is rotatably mounted on the base part through the rotating structure. The stator assembly is sleeved outside the rotor assembly and fixedly connected with the base part. The rotating bracket is fixedly connected with the rotor assembly and used for supporting the laser ranging part.

[0006] Optionally, the laser radar base further comprises a first bearing support part, which comprises a bearing assembly. The bearing assembly is connected between the base part and the rotating structure in a matching manner, and used for supporting the rotating structure.

[0007] Optionally, the first end of the rotor body is provided with a rotating structure, the first bearing support part comprises a plurality of bearing assemblies, the plurality of bearing assemblies are arranged at intervals along the extension direction of the rotating structure and are connected in cooperation between the base part and the rotating structure; or, the second end of the rotor body is provided with a rotating structure, the first bearing support part comprises a plurality of bearing assemblies, the plurality of bearing assemblies are arranged at intervals along the extension direction of the rotating structure and are connected in cooperation between the base part and the rotating structure; or, the first end of the rotor body and the second end of the rotor body are both provided with a rotating structure, the first bearing support part comprises a plurality of bearing assemblies, at least one bearing assembly is connected in cooperation between the base part and the rotating structure on the first end of the rotor body, and at least one bearing assembly is connected in cooperation between the base part and the rotating structure on the second end of the rotor body; wherein the first end of the rotor body is an end axially close to the rotating support, and the second end of the rotor body is an end axially close to the base part.

[0008] Optionally, the base part comprises a base body, a second circular ring structure, a base outer wall structure and a first mounting plate, the second circular ring structure and the base outer wall structure are arranged on the side of the base body axially close to the rotating support, the base outer wall structure is sleeved outside the second circular ring structure, the first mounting plate is arranged on the inner side of the second circular ring structure and is fixedly connected with the second circular ring structure, at least one bearing assembly is connected in cooperation between the first mounting plate and the rotating structure, and the stator assembly is arranged in the second circular ring structure and abuts against the inner side wall of the second circular ring structure; or, the base part comprises a base body, a base outer wall structure and a second mounting plate, the base outer wall structure is arranged on the side of the base body axially close to the rotating support, the second mounting plate is arranged on the inner side of the base outer wall structure and is fixedly connected with the base outer wall structure, at least one bearing assembly is connected in cooperation between the second mounting plate and the rotating structure, and the stator assembly is arranged in the base outer wall structure and abuts against the inner side wall of the base outer wall structure.

[0009] Optionally, the laser radar base further comprises a wireless power transmission part, the wireless power transmission part comprises a first coil and a second coil, the first coil is arranged on the rotating support and is electrically connected with the laser ranging part, the second coil is arranged on the base part, and the first coil and the second coil can be connected in wireless transmission of electric energy.

[0010] Optionally, the base part comprises a base body and a second circular ring structure, the rotating support comprises a rotating support body and a first circular ring structure, the first circular ring structure is arranged on the side of the rotating support body axially close to the base body, the second circular ring structure is arranged on the side of the base body axially close to the rotating support, the first circular ring structure is sleeved outside the second circular ring structure, the first coil is sleeved on the outer side wall of the first circular ring structure, the second coil is sleeved on the outer side wall of the second circular ring structure, and the stator assembly is arranged in the second circular ring structure and abuts against the inner side wall of the second circular ring structure; or, the base part comprises a base body, a second circular ring structure, a base outer wall structure and a first mounting plate, the second circular ring structure and the base outer wall structure are arranged on the side of the base body axially close to the rotating support, the base outer wall structure is sleeved outside the second circular ring structure, the first mounting plate is arranged inside the second circular ring structure and fixedly connected with the second circular ring structure, the first coil is arranged on the side of the rotating support axially close to the first mounting plate, the second coil is arranged on the side of the first mounting plate axially close to the rotating support, the first coil and the second coil are arranged opposite along the axial direction, and the stator assembly is arranged in the second circular ring structure and abuts against the inner side wall of the second circular ring structure; or, the base part comprises a base body, a base outer wall structure and a second mounting plate, the base outer wall structure is arranged on the side of the base body close to the rotating support, the second mounting plate is arranged inside the base outer wall structure and fixedly connected with the base outer wall structure, the first coil is arranged on the side of the rotating support axially close to the second mounting plate, the second coil is arranged on the side of the second mounting plate axially close to the rotating support, the first coil and the second coil are arranged opposite along the axial direction, and the stator assembly is arranged in the base outer wall structure and abuts against the inner side wall of the base outer wall structure.

[0011] Optionally, the laser radar base further comprises a detection part, the detection part comprises a grating coding structure and a photoelectric sensor, one of the grating coding structure and the photoelectric sensor is arranged on the base part, and the other of the grating coding structure and the photoelectric sensor is arranged on the rotating support; the photoelectric sensor can detect photoelectric information on the grating coding structure to determine the rotation speed or relative position of the rotating support relative to the base part.

[0012] Optionally, the base part comprises a base body and a second circular ring structure, the rotating support comprises a rotating support body and a first circular ring structure, the first circular ring structure is arranged on the side of the rotating support axially close to the base body, the second circular ring structure is arranged on the side of the base body axially close to the rotating support, the first circular ring structure is sleeved outside the second circular ring structure, the stator assembly is arranged in the second circular ring structure and abuts against the inner side wall of the second circular ring structure; the grating encoding structure is arranged on the side of the first circular ring structure axially close to the base body and the photoelectric sensor is arranged on the base body, or the grating encoding structure is arranged on the side of the second circular ring structure axially close to the rotating support body and the photoelectric sensor is arranged on the rotating support body; or, the base part comprises a base body, a second circular ring structure, a base outer wall structure and a first mounting plate, the second circular ring structure and the base outer wall structure are arranged on the side of the base body axially close to the rotating support, the base outer wall structure is sleeved outside the second circular ring structure, the first mounting plate is arranged in the second circular ring structure and fixedly connected with the second circular ring structure, the stator assembly is arranged in the second circular ring structure and abuts against the inner side wall of the second circular ring structure; the grating encoding structure is arranged on the side of the rotating support axially close to the first mounting plate and the photoelectric sensor is arranged on the first mounting plate or the second circular ring structure, or the grating encoding structure is arranged on the side of the first mounting plate axially close to the rotating support or the side of the second circular ring structure axially close to the rotating support, and the photoelectric sensor is arranged on the rotating support; or, the base part comprises a base body, a base outer wall structure and a second mounting plate, the base outer wall structure is arranged on the side of the base body close to the rotating support, the second mounting plate is arranged in the base outer wall structure and fixedly connected with the base outer wall structure, the stator assembly is arranged in the base outer wall structure and abuts against the inner side wall of the base outer wall structure; the grating encoding structure is arranged on the side of the rotating support axially close to the second mounting plate and the photoelectric sensor is arranged on the second mounting plate, or the grating encoding structure is arranged on the side of the second mounting plate axially close to the rotating support and the photoelectric sensor is arranged on the rotating support.

[0013] Optionally, the laser radar base further comprises a wireless communication part, the wireless communication part further comprises a first communication assembly and a second communication assembly, the first communication assembly is arranged on the rotating support part, the second communication assembly is arranged on the base part, the rotor assembly is provided with a hollow channel extending along the extension direction of the rotating structure, the first communication assembly and the second communication assembly are arranged on the two sides of the hollow channel respectively, and the first communication assembly and the second communication assembly can perform wireless communication through the hollow channel.

[0014] According to another aspect of the present application, a laser radar is provided, which comprises a laser radar base and a laser ranging part, the laser ranging part is arranged on the laser radar base, and the laser radar base is the laser radar base described above.

[0015] Optionally, the laser radar further comprises an upper cover assembly and a second bearing support part, the upper cover assembly is installed on the base part, a containing cavity is formed between the upper cover assembly and the base part, the laser ranging part is arranged in the containing cavity, the second bearing support part is arranged between the laser ranging part and the upper cover assembly, the second bearing support part is coaxially arranged with the rotating support part, and the second bearing support part is used for supporting the laser ranging part.

[0016] According to another aspect of the present application, a mobile device is provided, the mobile device comprising a laser radar, the laser radar being the laser radar described above.

[0017] The laser radar base provided by the present application has the beneficial effect that, compared with the prior art, the laser radar base provided by the present application is provided with rotating structures coaxial with the rotor body on at least one end of the rotor body, so that the rotor body provided by the present application can be rotatably installed on the base part through the rotating structures. At the same time, the stator assembly provided by the present application is sleeved on the rotor assembly, and the stator assembly is fixedly connected with the base part, and the rotating support is fixedly connected with the rotor assembly, so that the rotor assembly provided by the present application can drive the rotating support to rotate relative to the base part under the driving of the stator assembly. Compared with the laser radar base in the prior art in which the motor rotor is arranged outside the motor stator, the laser radar base provided by the present application can support the rotating support through the rotor assembly in the stator assembly, without the need to arrange a hollow column or other structures in the stator assembly, so that the radial dimension of the laser radar base provided by the present application can be designed to be smaller. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or prior art description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0019] Figure 1 It is a structural schematic diagram of the laser radar base in the prior art;

[0020] Figure 2 It is a structural schematic diagram of the laser radar base provided by the present application, which is provided with rotating structures on both ends of the stator assembly;

[0021] Figure 3 It is a structural schematic diagram of the laser radar base provided by the present application, which is provided with a rotating structure only on the first end of the stator assembly;

[0022] Figure 4 It is a structural schematic diagram of the laser radar base provided by the present application, which is provided with a rotating structure only on the second end of the stator assembly;

[0023] Figure 5 A structure diagram of a laser radar base provided by another embodiment of the application, in which rotating structures are arranged on both ends of the stator assembly;

[0024] Figure 6 A structure diagram of a laser radar base provided by another embodiment of the application, in which rotating structures are arranged only on the first end of the stator assembly;

[0025] Figure 7 A structure diagram of a laser radar base provided by another embodiment of the application, in which rotating structures are arranged only on the second end of the stator assembly;

[0026] Figure 8 A structure diagram of a laser radar base provided by another embodiment of the application, in which rotating structures are arranged on both ends of the stator assembly;

[0027] Figure 9 A structure diagram of a laser radar base provided by another embodiment of the application, in which rotating structures are arranged only on the first end of the stator assembly;

[0028] Figure 10 A structure diagram of a laser radar base provided by another embodiment of the application, in which rotating structures are arranged only on the second end of the stator assembly;

[0029] Figure 11 A structure diagram of a laser radar provided by an embodiment of the application;

[0030] Figure 12 A structure diagram of a laser radar provided by an embodiment of the application; Figure 11 A local enlarged view of region A in the above structure diagram;

[0031] The label details involved in the above drawings are as follows:

[0032] 22, motor stator; 221, hollow column; 222, bearing; 223, hollow shaft;

[0033] 10, base part; 11, base body; 111, second ring structure; 112, base outer wall structure; 12, first mounting plate; 13, second mounting plate;

[0034] 20, rotating support part; 211, rotor body; 212, rotating structure; 22, stator assembly; 23, rotating support; 231, first ring structure; 232, rotating support body;

[0035] 30, first bearing support part; 31, bearing assembly;

[0036] 40, wireless power transmission part; 41, first coil; 42, second coil;

[0037] 51. A grating coding structure;

[0038] 60. A laser ranging unit;

[0039] 70. An upper cover assembly;

[0040] 80. A second bearing support portion. DETAILED DESCRIPTION

[0041] In order to make the technical problems to be solved, technical solutions and beneficial effects of the present application clearer, the present application will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and not intended to limit the present application.

[0042] It should be noted that when an element is referred to as being "fixed" or "disposed" on another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or indirectly connected to the other element. The embodiments in the present application and the features in the embodiments can be combined with each other without conflict. The present application will be described in detail below with reference to the drawings and embodiments.

[0043] It should be understood that the terms "length", "width", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0044] In addition, the terms "first", "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise explicitly and specifically limited.

[0045] As described in the background art, a laser radar is a sensor that measures distance, speed, shape, etc. of a target by emitting and receiving a laser beam. Its working principle is based on the optical properties of laser, which determines the position and characteristics of the target by measuring the reflection time or phase difference of the laser beam. Laser radar has a wide range of applications in many fields, such as autonomous driving, robot navigation, mapping, environmental monitoring, etc. It can provide high-precision, high-resolution three-dimensional spatial information to help vehicles or robots perceive the surrounding environment, avoid collisions and obstacles. However, as shown in Figure 1 The existing laser radar base coaxially arranges the hollow shaft 223", bearing 222", hollow column 221", motor stator 22", motor rotor 21", receiving coil 41", grating detection encoding disc 51" and transmitting coil 42" from inside to outside. The laser radar has arranged many parts in the radial direction, and the size optimization space in the radial direction is small.

[0046] Referring to Figures 2 to 12To solve the above problems, according to one aspect of the present application, the embodiment of the present application provides a laser radar base for supporting a laser ranging part 60 of a laser radar, the laser radar base comprising: a base part 10 and a rotating support part 20, wherein the rotating support part 20 comprises a rotor assembly, a stator assembly 22 and a rotating support 23, the rotor assembly comprising a rotor body 211 and a rotating structure 212, the rotating structure 212 being coaxial with the rotor body 211 and arranged on at least one end of the rotor body 211, the rotor body 211 being rotatably mounted on the base part 10 through the rotating structure 212, the stator assembly 22 being sleeved on the rotor assembly and fixedly connected with the base part 10, and the rotating support 23 being fixedly connected with the rotor assembly and used for supporting the laser ranging part 60. The laser radar base provided by the embodiment can rotatably mount the rotor body 211 on the base part 10 through the rotating structure 212 coaxial with the rotor body 211 arranged on at least one end of the rotor body 211. At the same time, the stator assembly 22 is sleeved on the rotor assembly and fixedly connected with the base part 10, and the rotating support 23 is fixedly connected with the rotor assembly, so that the rotor assembly can drive the rotating support 23 to rotate relative to the base part 10 under the drive of the stator assembly 22. Compared with the laser radar base in the prior art in which the motor rotor is arranged outside the motor stator, the laser radar base provided by the embodiment can support the rotating support 23 through the rotor assembly in the stator assembly 22, without the need to arrange a hollow column or other structures in the stator assembly 22, so that the radial dimension of the laser radar base provided by the embodiment can be designed to be smaller, and the rotating structure 212 and the bearing assembly 31 do not occupy the radial space of the rotor assembly, which is conducive to the optimization of the radial dimension of the laser radar base.

[0047] In an optional embodiment, the radial direction of the laser radar base provided by the embodiment refers to the direction intersecting and perpendicular to the rotation axis of the rotor assembly, and the axial direction of the laser radar base refers to the direction parallel to the rotation axis of the rotor assembly. Of course, in other embodiments, the radial direction and the axial direction provided by the embodiment can also be other directions.

[0048] Referring to Figures 2 to 10As shown in the figure, in a specific embodiment, the laser radar base in the embodiment further comprises a first bearing support part 30, the first bearing support part 30 comprises a bearing assembly 31, the bearing assembly 31 is connected between the base part 10 and the rotating structure 212 in a matched mode, and is used for supporting the rotating structure 212. By arranging the bearing assembly 31 between the base part 10 and the rotating structure 212, the rotating structure 212 provided by the embodiment can be supported by the bearing assembly 31, and thus the rotor body 211 provided by the embodiment can be effectively supported.

[0049] As shown in the figure, Figure 3 , Figure 6 and Figure 9 As shown in the figure, in a specific embodiment, the first end of the rotor body 211 in the embodiment is provided with the rotating structure 212, the first bearing support part 30 comprises a plurality of bearing assemblies 31, the plurality of bearing assemblies 31 are arranged in a spaced mode along the extension direction of the rotating structure 212 and are connected between the base part 10 and the rotating structure 212 in a matched mode; by arranging the first bearing support part 30 provided by the embodiment to comprise the plurality of bearing assemblies 31, and arranging the plurality of bearing assemblies 31 in the spaced mode along the extension direction of the rotating structure 212 arranged on the first end of the rotor body 211, and simultaneously connecting the plurality of bearing assemblies 31 between the base part 10 and the rotating structure 212 in the matched mode, the rotating structure 212 on the first end of the rotor body 211 provided by the embodiment can be supported by the plurality of bearing assemblies 31, so that the rotation stability of the rotor body 211 provided by the embodiment is effectively improved.

[0050] As shown in the figure, Figure 4 , Figure 7 and Figure 10 As shown in the figure, in another embodiment, the second end of the rotor body 211 provided by the embodiment is provided with the rotating structure 212, the first bearing support part 30 comprises a plurality of bearing assemblies 31, the plurality of bearing assemblies 31 are arranged in a spaced mode along the extension direction of the rotating structure 212 and are connected between the base part 10 and the rotating structure 212 in a matched mode; by arranging the first bearing support part 30 provided by the embodiment to comprise the plurality of bearing assemblies 31, and arranging the plurality of bearing assemblies 31 in the spaced mode along the extension direction of the rotating structure 212 arranged on the second end of the rotor body 211, and simultaneously connecting the plurality of bearing assemblies 31 between the base part 10 and the rotating structure 212 in the matched mode, the rotating structure 212 on the second end of the rotor assembly provided by the embodiment can be supported by the plurality of bearing assemblies 31, so that the rotation stability of the rotor assembly provided by the embodiment is effectively improved.

[0051] In an alternative embodiment, the first end of the rotor assembly is fixedly connected to the rotating support 23, and the rotor assembly is supported by the bearing assembly 31 arranged only on the second end of the rotor assembly, so that the assembly of the lidar base provided by the embodiment is simpler.

[0052] As shown in Figure 2 , Figure 5 and Figure 8 , in yet another embodiment, the first end of the rotor body 211 and the second end of the rotor body 211 are both provided with the rotating structure 212, the first bearing support part 30 includes a plurality of bearing assemblies 31, at least one bearing assembly 31 is connected in cooperation between the rotating structure 212 on the first end of the rotor body 211 and the base part 10, and at least one bearing assembly 31 is connected in cooperation between the rotating structure 212 on the second end of the rotor body 211 and the base part 10. By arranging the first bearing support part 30 provided by the embodiment to include a plurality of bearing assemblies 31, and connecting at least one bearing assembly 31 in cooperation between the rotating structure 212 on the first end of the rotor body 211 and the base part 10, and at least one bearing assembly 31 in cooperation between the rotating structure 212 on the second end of the rotor body 211 and the base part 10, the rotating structure 212 on both ends of the rotor body 211 provided by the embodiment can be effectively supported, thereby effectively improving the rotation stability of the rotor assembly provided by the embodiment.

[0053] It should be noted that the first end of the rotor body 211 is the end axially close to the rotating support 23, and the second end of the rotor body 211 is the end axially close to the base part 10.

[0054] As shown in Figure 2 , Figure 3 , Figure 5 and Figure 6As shown, in a specific embodiment, the base part 10 in the embodiment comprises a base body 11, a second circular ring structure 111, a base outer wall structure 112 and a first mounting plate 12, the second circular ring structure 111 and the base outer wall structure 112 are arranged on the side of the base body 11 axially close to the rotating support 23, the base outer wall structure 112 is sleeved outside the second circular ring structure 111, the first mounting plate 12 is arranged on the inner side of the second circular ring structure 111 and is fixedly connected with the second circular ring structure 111, at least one bearing assembly 31 is connected between the first mounting plate 12 and the rotating structure 212, the stator assembly 22 is arranged in the second circular ring structure 111 and abuts against the inner side wall of the second circular ring structure 111. By arranging the second circular ring structure 111 on the side of the base body 11 axially close to the rotating support 23, arranging the first mounting plate 12 fixedly connected with the second circular ring structure 111 on the inner side of the second circular ring structure 111, and connecting the at least one bearing assembly 31 between the first mounting plate 12 and the rotating structure 212, the laser radar base provided in the embodiment can arrange the stator assembly 22 in the second circular ring structure 111 through the inner side wall of the second circular ring structure 111, support the rotor assembly through the first mounting plate 12 and the bearing assembly 31, and enable the rotor body 211 to be at least partially arranged in the stator assembly 22. At the same time, the rotating structure 212, the bearing assembly 31 and the first mounting plate 12 on the first end of the rotor body 211 in the embodiment can jointly form a support assembly of the first end of the rotor assembly. Since the rotating support 23 provided with the laser ranging part 60 and the rotor assembly having a certain weight are arranged on the two sides of the support assembly of the first end of the rotor assembly, the rotating stability of the rotor assembly is ensured to a certain extent.

[0055] Referring to Figure 8 and Figure 9As shown, in another embodiment, the base part 10 provided by the embodiment comprises a base body 11, a base outer wall structure 112, and a second mounting plate 13, the base outer wall structure 112 is arranged on the side of the base body 11 axially close to the rotating support 23, the second mounting plate 13 is arranged inside the base outer wall structure 112 and fixedly connected with the base outer wall structure 112, at least one bearing assembly 31 is connected between the second mounting plate 13 and the rotating structure 212, and the stator assembly 22 is arranged inside the base outer wall structure 112 and abuts against the inner side wall of the base outer wall structure 112. By arranging the base outer wall structure 112 on the side of the base body 11 axially close to the rotating support 23, arranging the second mounting plate 13 fixedly connected with the base outer wall structure 112 inside the second circular structure 111, and connecting the at least one bearing assembly 31 between the second mounting plate 13 and the rotating structure 212, the laser radar base provided by the embodiment can arrange the stator assembly 22 inside the base outer wall structure 112 through the inner side wall of the base outer wall structure 112, and support the rotor assembly through the second mounting plate 13 and the bearing assembly 31, so that the rotor body 211 can be at least partially arranged inside the stator assembly 22. At the same time, the rotating structure 212, the bearing assembly 31, and the second mounting plate 13 on the first end of the rotor body 211 can jointly form a support assembly of the first end of the rotor assembly, and the rotating stability of the rotor assembly is ensured to a certain extent because the rotating support 23 provided with the laser ranging part 60 and the rotor assembly having a certain weight are arranged on the two sides of the support assembly of the first end of the rotor assembly.

[0056] As shown in Figure 2 , Figure 3 , Figure 5 and Figure 6 As shown, in a specific embodiment, the first mounting plate 12 provided by the embodiment is provided with a first bearing mounting structure for mounting the bearing assembly 31, or as shown in Figure 8 and Figure 9 As shown, in a specific embodiment, the second mounting plate 13 provided by the embodiment is provided with a first bearing mounting structure for mounting the bearing assembly 31.

[0057] In an optional embodiment, the first bearing mounting structure provided by the embodiment is a first bearing mounting hole, the rotating structure 212 on the first end of the rotor body 211 provided by the embodiment is a support shaft, the bearing assembly 31 provided by the embodiment is arranged in the first bearing mounting hole, the outer ring of the bearing assembly 31 abuts against the inner side wall of the first bearing mounting hole, and the support shaft is arranged in the bearing assembly 31, and the outer side wall of the support shaft abuts against the inner ring of the bearing assembly 31.

[0058] In another embodiment, the first bearing mounting structure provided by the embodiment is a first bearing mounting shaft, the rotating structure 212 on the first end of the rotor body 211 provided by the embodiment is a support sleeve, the bearing assembly 31 provided by the embodiment is sleeved on the first bearing mounting shaft, the inner ring of the bearing assembly 31 abuts against the outer side wall of the first bearing mounting shaft, and the support sleeve is sleeved on the bearing assembly 31, and the inner side wall of the support sleeve abuts against the outer ring of the bearing assembly 31.

[0059] In an optional embodiment, the first mounting plate 12 provided by the embodiment is integrally formed with the second annular structure 111.

[0060] In an optional embodiment, the second mounting plate 13 provided by the embodiment is integrally formed with the second annular structure 111.

[0061] In another optional embodiment, the first mounting plate 12 provided by the embodiment is fixed to the second annular structure 111 by gluing, or the second mounting plate 13 is fixed to the outer wall structure 112 of the base by gluing, so that the laser radar base provided by the embodiment can be installed on the bearing assembly 31 in advance, and the coaxiality of the plurality of bearing assemblies 31 is ensured, and then the first mounting plate 12 or the second mounting plate 13 is fixed on the base portion 10 by gluing, thereby reducing the possibility of generating a large coaxiality error between the upper and lower bearing assemblies 31.

[0062] Participation Figure 2 , Figure 4 , Figure 5 , Figure 7 , Figure 8 and Figure 10 As shown in an optional embodiment, the second bearing mounting structure provided by the embodiment is arranged on the base body 11.

[0063] In an optional embodiment, the second bearing mounting structure provided by the embodiment is a second bearing mounting hole, the rotating structure 212 on the second end of the rotor body 211 provided by the embodiment is a support shaft, and the bearing assembly 31 provided by the embodiment is arranged in the second bearing mounting hole, the outer ring of the bearing assembly 31 abuts against the inner side wall of the second bearing mounting hole, the support shaft is arranged in the bearing assembly 31, and the outer side wall of the support shaft abuts against the inner ring of the bearing assembly 31.

[0064] In another embodiment, the second bearing mounting structure provided by the embodiment is a second bearing mounting shaft, the rotating structure 212 on the second end of the rotor body 211 provided by the embodiment is a support sleeve, the bearing assembly 31 provided by the embodiment is sleeved on the second bearing mounting shaft, the inner ring of the bearing assembly 31 abuts against the outer side wall of the second bearing mounting shaft, and the support sleeve is sleeved on the bearing assembly 31, and the inner side wall of the support sleeve abuts against the outer ring of the bearing assembly 31.

[0065] In a specific embodiment, the laser radar base in the embodiment further includes a wireless power transmission part 40, the wireless power transmission part 40 includes a first coil 41 and a second coil 42, the first coil 41 is arranged on the rotating support 23 and is electrically connected with the laser ranging part 60, the second coil 42 is arranged on the base part 10, and the first coil 41 and the second coil 42 can be wirelessly connected for power transmission. By arranging the first coil 41 electrically connected with the laser ranging part 60 on the rotating support 23 and arranging the second coil 42 on the base part 10, the laser ranging part 60 and the base part 10 provided by the embodiment can be wirelessly connected for power transmission through the first coil 41 and the second coil 42.

[0066] In a specific embodiment, the laser radar base in the embodiment further includes a control part, the control part includes a first control board, the first control board is arranged on the rotating support 23 and can be electrically connected with the laser ranging part 60 for controlling the laser ranging part 60; and the control part further includes a second control board, the second control board is arranged on the base part 10 and is electrically connected with the first control board for controlling the work of the first control board. By arranging the first control board on the rotating support 23 provided by the embodiment and arranging the first control board provided by the embodiment to be electrically connected with the laser ranging part 60, the laser radar base provided by the embodiment can supply power and control the work of the laser ranging part 60 through the first control board. At the same time, by arranging the second control board on the base part 10 provided by the embodiment and electrically connecting the second control board with the first control board, the laser radar base provided by the embodiment can supply power and control the work of the first control board through the second control board.

[0067] In a specific embodiment, the first coil 41 is electrically connected with the first control board, the second coil 42 is electrically connected with the second control board, and the first control board and the second control board can be wirelessly connected for power transmission and signal transmission through the first coil 41 and the second coil 42.

[0068] Referring to Figures 2 to 4As shown, in a specific embodiment, the base part 10 in the embodiment includes a base body 11 and a second circular ring structure 111, the rotating support 23 includes a rotating support body 232 and a first circular ring structure 231, the first circular ring structure 231 is arranged on the side of the rotating support body 232 axially close to the base body 11, the second circular ring structure 111 is arranged on the side of the base body 11 axially close to the rotating support 23, the first circular ring structure 231 is sleeved outside the second circular ring structure 111, the first coil 41 is sleeved on the outer side wall of the first circular ring structure 231, the second coil 42 is sleeved on the outer side wall of the second circular ring structure 111, and the stator assembly 22 is arranged in the second circular ring structure 111 and abuts against the inner side wall of the second circular ring structure 111. By arranging the first circular ring structure 231 on the side of the rotating support body 232 axially close to the base body 11, arranging the second circular ring structure 111 on the side of the base body 11 axially close to the rotating support 23, and sleeving the first circular ring structure 231 outside the second circular ring structure 111, the rotating support 23 provided in the embodiment can integrate the first coil 41 through the outer side wall of the first circular ring structure 231, the base part 10 can integrate the second coil 42 through the outer side wall of the second circular ring structure 111, and the stator assembly 22 can be integrated through the inner side wall of the second circular ring structure 111, so that the structure is reused, and compared with the prior art, the fixed annular structure provided with the power transmission coil is arranged on both sides in the radial direction. The radial inner side of the second circular ring structure 111 provided in the embodiment and provided with the second coil 42 eliminates the gap space, so that the radial size of the laser radar base provided in the embodiment can be designed to be smaller.

[0069] Referring to Figures 5 to 7As shown, in another embodiment, the base part 10 provided by the embodiment includes a base body 11, a second circular ring structure 111, a base outer wall structure 112, and a first mounting plate 12, the second circular ring structure 111 and the base outer wall structure 112 are arranged on the side of the base body 11 axially close to the rotating support 23, the base outer wall structure 112 is sleeved outside the second circular ring structure 111, the first mounting plate 12 is arranged inside the second circular ring structure 111 and fixedly connected with the second circular ring structure 111, the first coil 41 is arranged on the side of the rotating support 23 axially close to the first mounting plate 12, the second coil 42 is arranged on the side of the first mounting plate 12 axially close to the rotating support 23, the first coil 41 and the second coil 42 are oppositely arranged along the axial direction, and the stator assembly 22 is sleeved in the second circular ring structure 111 and abuts against the inner side wall of the second circular ring structure 111. By arranging the second circular ring structure 111 on the side of the base body 11 axially close to the rotating support 23 and arranging the first mounting plate 12 fixedly connected with the second circular ring structure 111 inside the second circular ring structure 111, the rotating support 23 can be integrated with the first coil 41 through the side of the rotating support 23 axially close to the first mounting plate 12, the base part 10 can be integrated with the second coil 42 through the side of the first mounting plate 12 axially close to the rotating support 23, and the stator assembly 22 is integrated by the inner side wall of the second circular ring structure 111. Since the first coil 41 provided by the embodiment is integrated on the side of the rotating support 23 axially close to the first mounting plate 12, the first circular ring structure 231 does not need to be arranged on the rotating support 23, the gap between the second circular ring structure 111 and the base outer wall structure 112 provided by the embodiment can be smaller, and thus the radial dimension of the laser radar base provided by the embodiment can be effectively reduced.

[0070] Referring to Figures 8 to 10As shown, in another embodiment, the base part 10 provided by the embodiment includes a base body 11, a base outer wall structure 112, and a second mounting plate 13, the base outer wall structure 112 is arranged on the side of the base body 11 close to the rotating support 23, the second mounting plate 13 is arranged inside the base outer wall structure 112 and fixedly connected with the base outer wall structure 112, the first coil 41 is arranged on the side of the rotating support 23 close to the second mounting plate 13 in the axial direction, the second coil 42 is arranged on the side of the second mounting plate 13 close to the rotating support 23 in the axial direction, the first coil 41 and the second coil 42 are oppositely arranged in the axial direction, and the stator assembly 22 is arranged in the base outer wall structure 112 and abuts against the inner side wall of the base outer wall structure 112. By arranging the base outer wall structure 112 on the side of the base body 11 close to the rotating support 23 in the axial direction, and arranging the second mounting plate 13 fixedly connected with the base outer wall structure 112 inside the base outer wall structure 112, the rotating support 23 can be integrated with the first coil 41 through the side of the rotating support 23 close to the second mounting plate 13 in the axial direction, the base part 10 can be integrated with the second coil 42 through the side of the second mounting plate 13 close to the rotating support 23 in the axial direction, and the stator assembly 22 is integrated by the inner side wall of the base outer wall structure 112. Since the first coil 41 provided by the embodiment is integrated on the side of the rotating support 23 close to the first mounting plate 12 in the axial direction, and the stator assembly 22 is integrated on the inner side wall of the base outer wall structure 112, the first annular structure 231 does not need to be arranged on the rotating support 23, the second annular structure 111 does not need to be arranged on the base body 11, a gap does not need to be arranged between the inner side wall of the base outer wall structure 112 and the stator assembly 22, and the radial dimension of the laser radar base provided by the embodiment can be designed to be smaller.

[0071] Referring to Figures 2 to 10 As shown, in a specific embodiment, the laser radar base in the embodiment further includes a detection part, the detection part includes a grating code structure 51 and a photoelectric sensor, one of the grating code structure 51 and the photoelectric sensor is arranged on the base part 10, and the other of the grating code structure 51 and the photoelectric sensor is arranged on the rotating support 23, the photoelectric sensor can detect photoelectric information on the grating code structure 51 to determine the rotation speed or relative position of the rotating support 23 relative to the base part 10.

[0072] Referring to Figures 2 to 4In a specific embodiment, the base part 10 in the embodiment includes a base body 11 and a second circular ring structure 111, the rotating support 23 includes a rotating support body 232 and a first circular ring structure 231, the first circular ring structure 231 is arranged on the side of the rotating support 23 axially close to the base body 11, the second circular ring structure 111 is arranged on the side of the base body 11 axially close to the rotating support 23, the first circular ring structure 231 is sleeved outside the second circular ring structure 111, the stator assembly 22 is arranged inside the second circular ring structure 111 and abuts against the inner side wall of the second circular ring structure 111, the grating encoding structure 51 is arranged on the side of the first circular ring structure 231 axially close to the base body 11 and the photoelectric sensor is arranged on the base body 11, or the grating encoding structure 51 is arranged on the side of the second circular ring structure 111 axially close to the rotating support body 232 and the photoelectric sensor is arranged on the rotating support body 232. By arranging the first circular ring structure 231 on the side of the rotating support 23 axially close to the base body 11, arranging the second circular ring structure 111 on the side of the base body 11 axially close to the rotating support 23, and sleeving the first circular ring structure 231 outside the second circular ring structure 111, the rotating support 23 provided in the embodiment can integrate the grating encoding structure 51 through the side of the first circular ring structure 231 axially close to the base body 11, the base part 10 can integrate the photoelectric sensor through the base body 11, or the rotating support 23 provided in the embodiment can integrate the photoelectric sensor through the rotating support body 232, and the base part 10 can integrate the grating encoding structure 51 through the side of the second circular ring structure 111 axially close to the rotating support body 232. In the case that the grating encoding structure 51 is integrated on the side of the second circular ring structure 111 axially close to the rotating support body 232 and the photoelectric sensor is integrated on the rotating support body 232, since the first circular ring structure 231 is sleeved outside the second circular ring structure 111, the grating encoding structure 51 integrated on the second circular ring structure 111 can be covered by the rotating support 23, thereby avoiding the interference of light in the external environment on the grating encoding structure 51. At the same time, by multiplexing the second circular ring structure 111 to arrange the grating encoding structure 51 or the photoelectric sensor, it is not necessary to separately arrange components with the grating encoding structure 51 or components for mounting the photoelectric sensor in the radial inner side space of the first circular ring structure 231, and compared with the fixed annular structure provided with the grating encoding structure in the prior art, which is provided with a gap space on both the radial inner side and the radial outer side, the radial inner side of the second circular ring structure 111 provided with the grating encoding structure 51 or the photoelectric sensor in the embodiment eliminates the gap space, so that the radial dimension of the lidar base can be designed to be smaller, which is more conducive to the miniaturization design of the lidar base.

[0073] Referring to Figures 2 to 4As shown, in a specific embodiment, the first coil 41 provided by the embodiment is integrated on the first circular ring structure 231, and the second coil 42, the stator assembly 22 and the grating code structure 51 are integrated on the second circular ring structure 111, which is conducive to improving the size optimization of the laser radar base in the radial direction.

[0074] Referring to Figures 5 to 7In another embodiment, the base part 10 provided by the embodiment includes a base body 11, a second circular ring structure 111, a base outer wall structure 112, and a first mounting plate 12. The second circular ring structure 111 and the base outer wall structure 112 are arranged on the side of the base body 11 axially close to the rotating support 23. The base outer wall structure 112 is arranged outside the second circular ring structure 111. The first mounting plate 12 is arranged inside the second circular ring structure 111 and fixedly connected with the second circular ring structure 111. The stator assembly 22 is arranged inside the second circular ring structure 111 and abuts against the inner side wall of the second circular ring structure 111. The grating code structure 51 is arranged on the side of the rotating support 23 axially close to the first mounting plate 12, and the photoelectric sensor is arranged on the first mounting plate 12 or the second circular ring structure, or the grating code structure 51 is arranged on the side of the first mounting plate 12 axially close to the rotating support 23 or the side of the second circular ring structure 111 axially close to the rotating support 23, and the photoelectric sensor is arranged on the rotating support 23. By arranging the second circular ring structure 111 on the side of the base body 11 axially close to the rotating support 23 and arranging the first mounting plate 12 fixedly connected with the second circular ring structure 111 inside the second circular ring structure 111, the rotating support 23 can be integrated with the grating code structure 51 through the side of the rotating support 23 axially close to the first mounting plate 12, and the base part 10 can be integrated with the photoelectric sensor through the side of the first mounting plate 12 axially close to the rotating support 23 or the side of the second circular ring structure 111 axially close to the rotating support 23. Or the rotating support 23 can be integrated with the photoelectric sensor through the side of the rotating support 23 axially close to the first mounting plate 12, and the base part 10 can be integrated with the grating code structure 51 through the side of the first mounting plate 12 axially close to the rotating support 23 or the side of the second circular ring structure 111 axially close to the rotating support 23. At the same time, the grating code structure 51 or the photoelectric sensor is integrated through the first mounting plate 12 or through the second circular ring structure 111. The components with the grating code structure 51 or the components for mounting the photoelectric sensor do not need to be separately arranged in the space radially inside the base outer wall structure 112. Compared with the prior art, the second circular ring structure 111 provided with the grating code structure 51 or the photoelectric sensor provided by the embodiment eliminates the gap space radially inside, so that the radial dimension of the laser radar base can be designed to be smaller, which is more conducive to the miniaturization design of the laser radar base.

[0075] Referring to Figures 5 to 7As shown, in a specific embodiment, the rotating support 23 provided by the present embodiment can integrate the photoelectric sensor and the first coil 41, or the grating code structure 51 and the first coil 41, through the side of the rotating support 23 axially close to the first mounting plate 12, without the need to set the first circular ring structure 231, so that the gap between the second circular ring structure 111 and the outer wall structure 112 of the base provided by the present embodiment can be set smaller, thereby effectively reducing the radial size of the laser radar base provided by the present embodiment.

[0076] Referring to Figures 8 to 10 As shown, in another embodiment, the base part 10 provided by the present embodiment includes a base body 11, an outer wall structure 112 of the base, and a second mounting plate 13, the outer wall structure 112 of the base is arranged on the side of the base body 11 close to the rotating support 23, the second mounting plate 13 is arranged inside the outer wall structure 112 of the base and fixedly connected with the outer wall structure 112 of the base, the stator assembly 22 is arranged in the outer wall structure 112 of the base and abuts against the inner side wall of the outer wall structure 112 of the base; the grating code structure 51 is arranged on the side of the rotating support 23 axially close to the second mounting plate 13 and the photoelectric sensor is arranged on the second mounting plate 13, or the grating code structure 51 is arranged on the side of the second mounting plate 13 axially close to the rotating support 23 and the photoelectric sensor is arranged on the rotating support 23. By arranging the outer wall structure 112 of the base on the side of the base body 11 axially close to the rotating support 23, and arranging the second mounting plate 13 fixedly connected with the outer wall structure 112 of the base inside the outer wall structure 112 of the base, the rotating support 23 can integrate the grating code structure 51 through the side of the rotating support 23 axially close to the second mounting plate 13, the base part 10 can integrate the photoelectric sensor through the side of the second mounting plate 13 axially close to the rotating support 23, or the rotating support 23 can integrate the photoelectric sensor through the side of the rotating support 23 axially close to the second mounting plate 13, the base part 10 can integrate the grating code structure 51 through the side of the second mounting plate 13 axially close to the rotating support 23, at the same time, by integrating the grating code structure 51 or the photoelectric sensor through the second mounting plate 13, there is no need to set the components with the grating code structure 51 or the components for mounting the photoelectric sensor between the radial inner side of the outer wall structure 112 of the base and the radial outer side of the stator assembly 22, so that the radial size of the laser radar base can be designed smaller, which is more conducive to the miniaturization design of the laser radar base.

[0077] Referring to Figures 8 to 10As shown, in a specific embodiment, the rotating support 23 provided by the present embodiment can integrate the photoelectric sensor and the first coil 41, or the grating code structure 51 and the first coil 41 by the side of the rotating support 23 axially close to the second mounting plate 13, without the need to set the first circular ring structure 231, and the base 10 can integrate the stator assembly 22 by the inner side wall of the base outer wall structure 112, without the need to set the second circular ring structure 111, so that there is no need to set a gap between the inner side wall of the base outer wall structure 112 and the stator assembly 22, so that the radial size of the laser radar base provided by the present embodiment can be designed to be smaller.

[0078] In an alternative embodiment, the side of the base body 11 axially close to the second end of the rotor body 211 is provided with a support surface, which is used to support the stator assembly 22.

[0079] In a specific embodiment, the laser radar base in the present embodiment further comprises a wireless communication part, which further comprises a first communication assembly and a second communication assembly, the first communication assembly is arranged on the rotating support part 20 and is electrically connected with the laser ranging part 60, and the second communication assembly is arranged on the base part 10, and the first communication assembly and the second communication assembly can perform wireless communication.

[0080] In a specific embodiment, the first communication assembly is electrically connected with the first control board, and the second communication assembly is electrically connected with the second control board, so that the first communication assembly and the second communication assembly can perform wireless communication between the first control board and the second control board by arranging the first communication assembly on the rotating support part 20 and electrically connecting the first communication assembly with the first control board, and arranging the second communication assembly on the base part 10 and electrically connecting the second communication assembly with the second control board.

[0081] In a specific embodiment, the rotor assembly in the present embodiment is provided with a hollow channel extending along the extension direction of the rotating structure 212, and the first communication assembly and the second communication assembly are arranged on the two sides of the hollow channel, respectively, so that the first communication assembly and the second communication assembly can perform wireless communication through the hollow channel. By arranging the hollow channel extending along the extension direction of the rotating structure 212 in the rotor assembly, and arranging the first communication assembly and the second communication assembly on the two sides of the hollow channel, respectively, the first communication assembly and the second communication assembly can perform wireless communication through the hollow channel.

[0082] According to another aspect of the present application, a laser radar is provided, which comprises a laser radar base and a laser ranging part 60, the laser ranging part 60 is arranged on the laser radar base, and the laser radar base is the above-mentioned laser radar base.

[0083] Referring to Figure 11 and Figure 12 In a specific embodiment, the laser radar further comprises a cover assembly 70 and a second bearing support 80, the cover assembly 70 is mounted on the base 10, and a receiving cavity is formed between the cover assembly 70 and the base 10, the laser ranging unit 60 is arranged in the receiving cavity, the second bearing support 80 is arranged between the laser ranging unit 60 and the cover assembly 70, and the second bearing support 80 is coaxially arranged with the rotating support 20 to support the laser ranging unit 60.

[0084] In a specific embodiment, the rotating support 20, the first bearing support 30, the second bearing support 80 and the laser ranging unit 60 are arranged in the receiving cavity.

[0085] In a specific embodiment, the first bearing support 30 and the second bearing support 80 are coaxially arranged.

[0086] In an optional embodiment, the laser ranging unit 60 comprises a ranging support, a laser emitting assembly and a laser receiving assembly, the laser emitting assembly and the laser receiving assembly are arranged on the ranging support, one end of the ranging support away from the cover assembly 70 is fixedly connected with the rotating support 23, the laser emitting assembly is used to emit laser to the external environment, and the laser receiving assembly is used to receive the laser reflected from the external environment, so as to realize ranging.

[0087] In another embodiment, the laser ranging unit 60 comprises a ranging support, a laser emitting assembly, a laser receiving assembly and a reflecting assembly, the laser emitting assembly and the laser receiving assembly are arranged on the base 10, the reflecting assembly is arranged on the ranging support, one end of the ranging support away from the cover assembly 70 is fixedly connected with the rotating support 23, the laser emitting assembly is used to emit laser to the reflecting assembly, the laser emitted by the laser emitting assembly can be reflected to the external environment through the reflecting assembly, and at the same time, the reflecting assembly can also reflect the laser reflected from the external environment to the laser receiving assembly to realize ranging.

[0088] According to another aspect of the present application, a mobile device is provided, and the mobile device comprises a laser radar, and the laser radar is the above-mentioned laser radar.

[0089] In summary, the laser radar base, the laser radar and the mobile device provided by the embodiment have at least the following beneficial technical effects: the laser radar base provided by the embodiment is provided with the rotating structure 212 coaxial with the rotor body 211 on at least one end of the rotor body 211, so that the rotor body 211 provided by the embodiment can be rotatably mounted on the base part 10 through the rotating structure 212. At the same time, the stator assembly 22 provided by the embodiment is sleeved on the rotor assembly, and the stator assembly 22 is fixedly connected with the base part 10, and the rotating support 23 is fixedly connected with the rotor assembly, so that the rotor assembly provided by the embodiment can drive the rotating support 23 to rotate relative to the base part 10 under the drive of the stator assembly 22. Compared with the laser radar base in the prior art in which the motor rotor is arranged outside the motor stator, the laser radar base provided by the embodiment can support the rotating support 23 through the rotor assembly in the stator assembly 22, without the need to arrange a hollow column or the like structure in the stator assembly 22, so that the radial dimension of the laser radar base provided by the embodiment can be designed to be smaller.

[0090] The above only describes the preferred embodiments of the present application and is not intended to limit the present application. Any modification, equivalent replacement and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A laser radar base, used for supporting a laser ranging unit (60) of a laser radar, characterized in that: The laser radar base includes: a base portion (10); A rotating support portion (20), the rotating support portion (20) comprising a rotor assembly, a stator assembly (22) and a rotating bracket (23), the rotor assembly comprising a rotor body (211) and a rotating structure (212), the rotating structure (212) being provided on at least one end of the rotor body (211), the rotating structure (212) being coaxially arranged with the rotor body (211), the rotor body (211) being rotatably mounted on the base portion (10) via the rotating structure (212), the stator assembly (22) being sleeved outside the rotor assembly and fixedly connected to the base portion (10), the rotating bracket (23) being fixedly connected to the rotor assembly and used for supporting the laser ranging portion (60).

2. The laser radar base according to claim 1, characterized in that: The laser radar base also includes a first bearing support portion (30), the first bearing support portion (30) includes a bearing assembly (31), and the bearing assembly (31) is cooperatively connected between the base portion (10) and the rotating structure (212) for supporting the rotating structure (212).

3. The laser radar base according to claim 2, characterized in that: The rotating structure (212) is provided on the first end of the rotor body (211); the first bearing support portion (30) includes a plurality of bearing assemblies (31); the plurality of bearing assemblies (31) are spaced apart along the extending direction of the rotating structure (212) and are cooperatively connected between the base portion (10) and the rotating structure (212); Alternatively, the rotating structure (212) is provided on the second end of the rotor body (211), the first bearing support portion (30) includes a plurality of bearing assemblies (31), and the plurality of bearing assemblies (31) are spaced apart along the extension direction of the rotating structure (212) and are cooperatively connected between the base portion (10) and the rotating structure (212); Alternatively, the rotating structure (212) is provided on both the first end of the rotor body (211) and the second end of the rotor body (211); the first bearing support portion (30) includes a plurality of bearing assemblies (31); at least one bearing assembly (31) is cooperatively connected between the base portion (10) and the rotating structure (212) on the first end of the rotor body (211); and at least one bearing assembly (31) is cooperatively connected between the base portion (10) and the rotating structure (212) on the second end of the rotor body (211); The first end of the rotor body (211) is an end axially close to the rotating bracket, and the second end of the rotor body (211) is an end axially close to the base portion.

4. The laser radar base according to claim 2, characterized in that: The base portion (10) comprises a base body (11), a second circular ring structure (111), a base outer wall structure (112) and a first mounting plate (12); the second circular ring structure (111) and the base outer wall structure (112) are provided on a side of the base body (11) close to the rotating bracket (23) in the axial direction; the base outer wall structure (112) is sleeved outside the second circular ring structure (111); the first mounting plate (12) is provided inside the second circular ring structure (111) and is fixedly connected to the second circular ring structure (111); at least one bearing assembly (31) is cooperatively connected between the first mounting plate (12) and the rotating structure (212); the stator assembly (22) is provided in the second circular ring structure (111) and abuts against the inner wall of the second circular ring structure (111); Alternatively, the base portion (10) includes a base body (11), a base outer wall structure (112) and a second mounting plate (13); the base outer wall structure (112) is provided on a side of the base body (11) close to the rotating bracket (23) in the axial direction; the second mounting plate (13) is provided on the inner side of the base outer wall structure (112) and is fixedly connected to the base outer wall structure (112); at least one bearing assembly (31) is cooperatively connected between the second mounting plate (13) and the rotating structure (212); the stator assembly (22) is provided in the base outer wall structure (112) and abuts against the inner side wall of the base outer wall structure (112).

5. The laser radar base according to claim 1, characterized in that: The laser radar base also includes a wireless power transmission unit (40), which includes a first coil (41) and a second coil (42). The first coil (41) is arranged on the rotating bracket (23) and is electrically connected to the laser ranging unit (60). The second coil (42) is arranged on the base (10). The first coil (41) and the second coil (42) can be connected to each other for wireless transmission of electric energy.

6. The laser radar base according to claim 5, characterized in that: The base portion (10) includes a base body (11) and a second circular ring structure (111); the rotating bracket (23) includes a rotating bracket body (232) and a first circular ring structure (231); the first circular ring structure (231) is provided on a side of the rotating bracket body (232) close to the base body (11) in the axial direction; the second circular ring structure (111) is provided on a side of the base body (11) close to the rotating bracket (23) in the axial direction; the first circular ring structure (231) is sleeved outside the second circular ring structure (111); the first coil (41) is sleeved on the outer wall of the first circular ring structure (231); the second coil (42) is sleeved on the outer wall of the second circular ring structure (111); the stator assembly (22) is inserted into the second circular ring structure (111) and abuts against the inner wall of the second circular ring structure (111); Alternatively, the base portion (10) comprises a base body (11), a second circular ring structure (111), a base outer wall structure (112) and a first mounting plate (12); the second circular ring structure (111) and the base outer wall structure (112) are provided on a side of the base body (11) close to the rotating bracket (23) in the axial direction; the base outer wall structure (112) is sleeved outside the second circular ring structure (111); the first mounting plate (12) is provided inside the second circular ring structure (111) and is in contact with the second circular ring structure. The structure (111) is fixedly connected, the first coil (41) is arranged on a side of the rotating bracket (23) close to the first mounting plate (12) in the axial direction, the second coil (42) is arranged on a side of the first mounting plate (12) close to the rotating bracket (23) in the axial direction, the first coil (41) and the second coil (42) are arranged opposite to each other in the axial direction (212), and the stator assembly (22) is inserted into the second circular ring structure (111) and abuts against the inner side wall of the second circular ring structure (111); Alternatively, the base portion (10) comprises a base body (11), a base outer wall structure (112) and a second mounting plate (13); the base outer wall structure (112) is provided on a side of the base body (11) close to the rotating bracket (23); the second mounting plate (13) is provided on the inner side of the base outer wall structure (112) and fixedly connected to the base outer wall structure (112); the first coil (41) is provided on a side of the rotating bracket (23) close to the second mounting plate (13) in the axial direction; the second coil (42) is provided on a side of the second mounting plate (13) close to the rotating bracket (23) in the axial direction; the first coil (41) and the second coil (42) are arranged opposite to each other along the axial direction (212); the stator assembly (22) is provided in the base outer wall structure (112) and abuts against the inner side wall of the base outer wall structure (112).

7. The laser radar base according to claim 1, characterized in that: The laser radar base also includes a detection unit, which includes a grating coding structure (51) and a photoelectric sensor. One of the grating coding structure (51) and the photoelectric sensor is arranged on the base part (10), and the other of the grating coding structure (51) and the photoelectric sensor is arranged on the rotating bracket (23). The photoelectric sensor can detect the photoelectric information on the grating coding structure (51) to determine the rotation speed or relative position of the rotating bracket (23) relative to the base part (10).

8. The laser radar base according to claim 7, characterized in that: The base portion (10) includes a base body (11) and a second annular structure (111); the rotating bracket (23) includes a rotating bracket body (232) and a first annular structure (231); the first annular structure (231) is provided on a side of the rotating bracket (23) close to the base body (11) in the axial direction; the second annular structure (111) is provided on a side of the base body (11) close to the rotating bracket (23) in the axial direction; the first annular structure (231) is sleeved outside the second annular structure (111); The stator assembly (22) is inserted into the second circular ring structure (111) and abuts against the inner side wall of the second circular ring structure (111); the grating encoding structure (51) is arranged on a side of the first circular ring structure (231) close to the base body (11) in the axial direction, and the photoelectric sensor is arranged on the base body, or the grating encoding structure (51) is arranged on a side of the second circular ring structure (111) close to the rotating bracket body (232) in the axial direction, and the photoelectric sensor is arranged on the rotating bracket body (232); Alternatively, the base portion (10) comprises a base body (11), a second circular ring structure (111), a base outer wall structure (112) and a first mounting plate (12); the second circular ring structure (111) and the base outer wall structure (112) are provided on a side of the base body (11) close to the rotating bracket (23) in the axial direction; the base outer wall structure (112) is sleeved outside the second circular ring structure (111); the first mounting plate (12) is provided inside the second circular ring structure (111) and is fixedly connected to the second circular ring structure (111); the stator assembly (22) is inserted into the second circular ring structure (111) and fixedly connected to the second circular ring structure (111); The grating encoding structure (51) is arranged on a side of the rotating bracket close to the first mounting plate in the axial direction, and the photoelectric sensor is arranged on the first mounting plate (12) or the second circular ring structure (111); or the grating encoding structure (51) is arranged on a side of the first mounting plate (12) close to the rotating bracket (23) in the axial direction, or on a side of the second circular ring structure (111) close to the rotating bracket (23) in the axial direction, and the photoelectric sensor is arranged on the rotating bracket (23); Alternatively, the base portion (10) comprises a base body (11), a base outer wall structure (112) and a second mounting plate (13); the base outer wall structure (112) is provided on a side of the base body (11) close to the rotating bracket (23); the second mounting plate (13) is provided on the inner side of the base outer wall structure (112) and fixedly connected to the base outer wall structure (112); the stator assembly (22) is passed through the base outer wall structure (112) and abuts against the inner side wall of the base outer wall structure (112); the grating encoding structure (51) is provided on a side of the rotating bracket close to the second mounting plate in the axial direction and the photoelectric sensor is provided on the second mounting plate, or the grating encoding structure (51) is provided on a side of the second mounting plate close to the rotating bracket (23) in the axial direction and the photoelectric sensor is provided on the rotating bracket (23).

9. The laser radar base according to claim 1, characterized in that: The laser radar base also includes a wireless communication unit, and the wireless communication unit also includes a first communication component and a second communication component, the first communication component is arranged on the rotating support part (20), and the second communication component is arranged on the base part, and a hollow channel extending along the extension direction of the rotating structure (212) is provided in the rotor component, and the first communication component and the second communication component are respectively provided on both sides of the hollow channel, and wireless communication can be performed between the first communication component and the second communication component through the hollow channel.

10. A laser radar, characterized in that: The laser radar includes a laser radar base and a laser ranging unit (60), wherein the laser ranging unit (60) is arranged on the laser radar base, and the laser radar base is the laser radar base according to any one of claims 1 to 9.

11. The laser radar according to claim 10, characterized in that The laser radar further includes an upper cover assembly (70) and a second bearing support portion (80), wherein the upper cover assembly (70) is mounted on the base portion (10), an accommodating cavity is formed between the upper cover assembly (70) and the base portion (10), the laser ranging portion (60) is arranged in the accommodating cavity, and the second bearing support portion (80) is arranged between the laser ranging portion (60) and the upper cover assembly (70), and the second bearing support portion (80) is coaxially arranged with the rotating support portion (20) for supporting the laser ranging portion (60).

12. A mobile device, characterized in that: The mobile device includes a laser radar, which is the laser radar described in claim 10 or 11.

Images