Rotating laser radar and device with integrated transceiver

Abstract

The application discloses a transceiving integrated rotating laser radar and device, which comprises a shell, a driving unit and a ranging unit located in the shell; the ranging unit comprises a mirror seat, a laser emitter, a collimating mirror, a parabolic mirror and a photoelectric detector; the mirror seat is fixed on the top of the driving unit and is driven by the driving unit to rotate horizontally by 360 degrees; the mirror seat comprises a base, a parabolic frame and a cylindrical structure; the parabolic frame is fixed on the base at the bottom, the parabolic mirror is installed on the parabolic frame, the parabolic mirror forms a reflection and convergence focus area on one side of the parabolic frame, and the photoelectric detector is located in the reflection and convergence focus area; the laser emitter and the collimating mirror are installed in the cylindrical structure, and the collimating mirror is located on the outgoing light path of the detection light beam. The laser radar adopts a transceiving integrated rotating structure, reduces the axial dimension of the radar, and improves the compactness of the structure; the parabolic mirror is adopted as a receiving optical element, the receiving width is increased, and the ranging of the radar is improved.

Description

Technical Field

[0001] This invention relates to the field of lidar technology, and more specifically to a rotating lidar and device with integrated transceiver. Background Technology

[0002] Early lidar systems employed a top-mounted motor design, placing the motor within an optical housing at the top of the radar. A reflector was connected below the motor, which was then driven to rotate. The transceiver module was fixed at the bottom of the radar. This structure had inherent flaws: the power cables for the motor had to be routed from the bottom power module to the top, inevitably traversing the optical path and creating obstructions, resulting in blind spots in the scanning field of view and preventing true 360° horizontal coverage. Furthermore, this structure suffered from axial consistency issues: due to manufacturing and assembly errors, the motor's rotation axis and the reference axis of the transceiver optical path could not be perfectly aligned, preventing the laser scanning lines from remaining on the same ideal horizontal plane and affecting scanning accuracy and data reliability.

[0003] Therefore, we improved the structure of the aforementioned LiDAR by moving the motor below the reflector and surrounding the transceiver module. This improved structure effectively avoids obstruction by the power supply cable, achieves 360° panoramic scanning, and also solves the problem of axis consistency. However, due to the focal length requirements of the receiving mirror, the lower transceiver module must maintain a sufficient optical path working distance, which fundamentally restricts further reduction in the overall height and makes it difficult to meet the urgent demand for miniaturization of LiDAR in many current application scenarios. Summary of the Invention

[0004] To address the aforementioned shortcomings of existing technologies, a rotating LiDAR and device integrating transmission and reception is provided, which can achieve 360° horizontal panoramic scanning while reducing axial dimensions and improving structural compactness.

[0005] The technical solution adopted by the present invention to solve the above-mentioned technical problems is as follows: Firstly, a transceiver rotating lidar includes a housing and an optical cover, a drive unit located inside the housing and a ranging unit stacked on top of the drive unit; the optical cover is located on the top of the housing, the lower end of the optical cover is connected to the upper end of the housing, and the ranging unit is located in the inner cavity of the optical cover. The ranging unit includes a mirror mount, a laser emitter, a collimating lens, a parabolic mirror, and a photodetector; the mirror mount is fixed to the top of the driving unit and is driven by the driving unit to rotate horizontally 360°; the mirror mount includes a base at the bottom, a parabolic frame in the middle, and a cylindrical structure at the top; the base is horizontally fixed to the top of the driving unit. The bottom of the parabolic frame is fixed to the base. The parabolic mirror is mounted on the parabolic frame, and the parabolic mirror forms a reflection focusing area on one side of the parabolic frame. The photodetector is located in the reflection focusing area. The cylindrical structure and the photodetector are located on the same side of the parabolic mirror. The cylindrical structure is horizontally arranged, and one end of the cylindrical structure is fixed to the parabolic frame and connected to the opposite side of the reflection focusing area of ​​the parabolic frame. The laser emitter and collimating lens are installed inside the cylindrical structure, and the collimating lens is located in the output light path of the probe beam.

[0006] According to the above technical solution, the cylindrical structure is located on the symmetry plane of the parabolic mirror. The parabolic mirror is divided into three sections: left, middle, and right. The left and right sections of the parabolic mirror are symmetrically arranged, and the middle section is located directly below the cylindrical structure.

[0007] According to the above technical solution, it also includes a core circuit board and a transmitting circuit board; the core circuit board is located between the driving unit and the mirror mount, and is clamped and fixed by the two; the photodetector is mounted on the core circuit board and is electrically connected to the core circuit board; the transmitting circuit board is fixed on the opposite side of the parabolic frame reflection focusing area, and the laser emitter is mounted on the upper part of the transmitting circuit board.

[0008] According to the above technical solution, a high-voltage circuit board is provided on the side of the mirror base. The high-voltage circuit board and the transmitting circuit board are fixed on the same side of the mirror base, and the high-voltage circuit board is farther away from the parabolic mirror than the transmitting circuit board.

[0009] According to the above technical solution, the base and the parabolic frame are integrally formed.

[0010] According to the above technical solution, the drive unit includes a motor base, a motor housing, and a motor assembly. The motor housing is located above the motor base, and the two together form a drive cavity. The motor assembly is located in the drive cavity, connected between the motor base and the motor housing, and drives the motor housing to rotate horizontally 360°. The mirror mount is fixed on the motor housing.

[0011] According to the above technical solution, the motor base includes a base plate and a fixed cylinder extending axially in the middle of the base plate; the motor housing includes a rotating platform and a rotating sleeve connected to the lower surface of the rotating platform, and the mirror base is fixed on the rotating platform; the motor assembly includes a motor shaft passing through the center of the motor base and rotatably connected to the inner wall of the fixed cylinder, a stator surrounding the outer periphery of the fixed cylinder, and a rotor coupled to the stator, and the rotor is connected to the inner wall of the rotating sleeve.

[0012] According to the above technical solution, it also includes a wireless power transmission unit and a photoelectric encoder; The wireless transmission unit includes a first wireless transmission coil, a first wireless transmission housing, a second wireless transmission coil, and a second wireless transmission housing; The motor assembly also includes a motor drive board. A first wireless power transmission housing is connected to the motor drive board, which is positioned above the motor base. A second wireless power transmission housing is connected to the lower surface of the rotating platform of the motor housing. Both the first and second wireless power transmission housings are annular and arranged around the motor assembly. The surface wall of the first wireless power transmission housing facing the motor housing has a first annular groove, and a first wireless power transmission coil is disposed in the first annular groove. The surface wall of the second wireless power transmission housing facing the motor base has a second annular groove, and a second wireless power transmission coil is disposed in the second annular groove. The first and second wireless power transmission coils are arranged opposite each other, and through their cooperation, the electrical energy on the motor base is transferred to the motor housing to power the ranging unit on the motor housing. The photoelectric encoder includes a code disk support base surrounding the wireless power transmission unit and mounted on the motor drive board, an annular code disk bonded to the upper surface of the code disk support base, and a code disk reader head connected to the lower surface of the rotating platform of the motor housing. The code disk reader head is electrically connected to the core circuit board, and the trajectory of the code disk reader head as the motor housing rotates is located directly above the code disk.

[0013] According to the above technical solution, it also includes a wireless power transmission unit and a photoelectric encoder; The motor assembly also includes a motor drive board. The photoelectric encoder includes a code disk support seat surrounding the motor assembly and mounted on the motor drive board, an annular code disk bonded to the upper surface of the code disk support seat, and a code disk reader connected to the lower surface of the core circuit board. The code disk reader is located directly above the code disk as the core circuit board rotates. The wireless transmission unit includes a first wireless transmission coil, a first wireless transmission housing, a second wireless transmission coil, and a second wireless transmission housing; The first wireless transmission housing is connected to the inner wall of the code disk support base, and the first wireless transmission coil is connected to the inner side wall of the first wireless transmission housing; the second wireless transmission housing is arranged around the outer periphery of the rotating sleeve of the motor housing and abuts against the lower surface of the rotating platform, and the second wireless transmission coil is connected to the outer peripheral wall of the second wireless transmission housing; the first wireless transmission coil is arranged around the second wireless transmission coil, and there is a gap between the first wireless transmission coil and the second wireless transmission coil. Through the cooperation of the two, the electrical energy on the motor base is transferred to the motor housing, and the ranging unit on the motor housing is powered.

[0014] Secondly, the device includes a rotating laser radar that integrates transmission and reception, as described in any of the above descriptions.

[0015] The present invention has the following beneficial effects: 1. When the lidar is working, the laser emitted by the laser emitter forms a parallel beam through a collimating lens, exits from the port of the cylindrical structure, and illuminates the target object through an optical cover. The echo beam formed by the laser reflection on the target surface passes through the optical cover and enters a parabolic mirror, where it is reflected and converged to a photodetector. First, this invention adopts an integrated transceiver rotating structure, reducing the axial dimension of the lidar and improving structural compactness. Second, it employs a modular design, integrating the transceiver components, eliminating the need for assembly and adjustment. Finally, the use of a parabolic mirror as the receiving optical element increases the receiving area and extends the lidar's range.

[0016] 2. The parabolic mirror adopts a zoned differentiated design to achieve accurate reception of echo beams at near, medium and far distances, effectively solving the technical problem that a single extended aspherical surface cannot focus echo beams at all distances and different angles.

[0017] 3. Two types of wireless power transmission units and two types of photoelectric encoders are provided to meet the needs of various scenarios and improve the versatility of this device.

[0018] The above description is merely an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention and to implement it according to the contents of the specification, the preferred embodiments of the present invention are described in detail below with reference to the accompanying drawings. Specific embodiments of the present invention are given in detail below with reference to the accompanying drawings. Attached Figure Description

[0019] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and are used to explain the invention, but do not constitute an undue limitation of the invention.

[0020] Figure 1 This is a schematic diagram of the structure of the first embodiment provided by the present invention; Figure 2 This is a schematic diagram of the structure of the second embodiment provided by the present invention; Figure 3 This is a schematic diagram of the structure of the parabolic mirror according to the first embodiment of the present invention; In the diagram, 1-casing; 2-optical cover; 3-lens mount; 401-transmitting circuit board; 402-laser emitter; 403-collimating lens; 404-parabolic mirror; 405-photodetector; 501-core circuit board; 502-high voltage circuit board; 601-motor housing; 602-motor base; 603-motor shaft; 604-stator; 605-rotor; 606-motor drive board; 701-first wireless transmission housing; 702-first wireless transmission coil; 703-second wireless transmission housing; 704-second wireless transmission coil; 801-code disk support; 802-code disk; 803-code disk reader. Detailed Implementation

[0021] The following is in conjunction with the appendix Figure 1-3 The principles and features of the present invention are described below. The examples given are for illustrative purposes only and are not intended to limit the scope of the invention. The invention is described more specifically in the following paragraphs by way of example with reference to the accompanying drawings. The advantages and features of the invention will become clearer from the following description and claims. It should be noted that the drawings are in a very simplified form and use non-precise proportions, and are only used to facilitate and clarify the illustration of the embodiments of the invention.

[0022] It should be noted that when a component is described as "fixed to" another component, it can be directly on the other component or may have a component in between. When a component is considered "connected to" another component, it can be directly connected to the other component or may have a component in between. When a component is considered "set on" another component, it can be directly set on the other component or may have a component in between. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0023] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0024] Reference Figures 1-3 As shown, the present invention provides a transceiver integrated rotating lidar.

[0025] Example 1 It includes a housing 1 and an optical cover 2, a drive unit located inside the housing and a ranging unit stacked on top of the drive unit; the optical cover is located on the top of the housing, the lower end of the optical cover is connected to the upper end of the housing, and the ranging unit is located in the inner cavity of the optical cover. The ranging unit includes a mirror mount 3, a laser emitter 402, a collimating lens 403, a parabolic mirror 404, and a photodetector 405; the mirror mount is fixed to the top of the driving unit and is driven by the driving unit to rotate horizontally 360°; the mirror mount includes a base at the bottom, a parabolic frame in the middle, and a cylindrical structure at the top; the base is horizontally fixed to the top of the driving unit. The bottom of the parabolic frame is fixed to the base. The parabolic mirror is mounted on the parabolic frame, and the parabolic mirror forms a reflection focusing area on one side of the parabolic frame. The photodetector is located in the reflection focusing area. The cylindrical structure and the photodetector are located on the same side of the parabolic mirror. The cylindrical structure is horizontally arranged, and one end of the cylindrical structure is fixed to the parabolic frame and connected to the opposite side of the reflection focusing area of ​​the parabolic frame. The laser emitter and collimating lens are installed inside the cylindrical structure, and the collimating lens is located in the output light path of the probe beam.

[0026] Based on Embodiment 1, it also includes a core circuit board 501 and an emitting circuit board 401; the core circuit board is located between the driving unit and the mirror mount, and is clamped and fixed by the two; the photodetector is mounted on the core circuit board and is electrically connected to the core circuit board; the emitting circuit board is fixed on the opposite side of the parabolic frame reflection focusing area, and the laser emitter is mounted on the upper part of the emitting circuit board.

[0027] In the above structure, the cylindrical structure allows the detection beam emitted by the laser emitter to pass through; the parabolic mirror is located on the incident optical path of the echo beam, used to reflect and converge the echo beam; the photodetector is located within the reflection and focusing area of ​​the parabolic mirror, used to receive the echo beam reflected and converged by the parabolic mirror. When the lidar is working, the laser emitted by the laser emitter forms a parallel beam through the collimating lens, exits from the port of the cylindrical structure, and illuminates the target object through the optical cover; the echo beam formed by the laser reflecting off the surface of the target object passes through the optical cover and enters the parabolic mirror, is reflected by the parabolic mirror, and converges to the photodetector.

[0028] This invention employs an integrated transmitting and receiving rotating structure, reducing the axial dimension of the radar and improving its compactness. Furthermore, the use of a parabolic mirror as the receiving optical element increases the receiving area and extends the radar's range.

[0029] In the above embodiments, the preferred cylindrical structure is located on the symmetry plane of the parabolic mirror. The parabolic mirror is divided into three sections: left, middle, and right. The left and right sections of the parabolic mirror are symmetrically arranged, and the middle section is located directly below the cylindrical structure. The parabolic mirror adopts a partitioned, differentiated design, consisting of a small curved surface region in the middle section and large curved surface regions in the left / right sections. Both are concave structures, exhibiting significant differences in curvature, concavity, and focusing characteristics to adapt to the reception requirements of echo beams at different distances. The small curved surface region in the middle section has a larger curvature and a more pronounced concavity, used for focusing large-angle echo beams at close range; the large curved surface regions in the left / right sections have a smaller curvature and a relatively gentle concavity, used for focusing echo beams at medium to long distances. The two sections form a complementary partitioned effect, achieving accurate reception of echo beams at near, medium, and long distances, effectively solving the technical problem that a single extended aspherical surface cannot simultaneously handle the focusing of echo beams at all distances and angles.

[0030] Example 2 The lidar further reduces the overall size of the structure. To address the issue of insufficient space for components on the core circuit board after the size reduction, a high-voltage circuit board 502 is provided on the side of the mirror mount. The high-voltage circuit board and the transmitting circuit board are fixed on the same side of the mirror mount, and the high-voltage circuit board is farther away from the parabolic mirror than the transmitting circuit board.

[0031] In embodiments 1 and 2, preferably, the base and the parabolic frame are integrally formed.

[0032] In embodiments 1 and 2, a preferred structural form of the drive unit is given. The drive unit includes a motor base 602, a motor housing 601, and a motor assembly. The motor housing is located above the motor base, and the two together form a drive cavity. The motor assembly is located in the drive cavity, connected between the motor base and the motor housing, and drives the motor housing to rotate horizontally 360°. The mirror mount is fixed on the motor housing.

[0033] The motor base includes a base plate and a fixed cylinder extending axially from the center of the base plate; the motor housing includes a rotating platform and a rotating sleeve connected to the lower surface of the rotating platform, and the mirror mount is fixed on the rotating platform; the motor assembly includes a motor shaft 603 passing through the center of the motor base and rotatably connected to the inner wall of the fixed cylinder, a stator 604 surrounding the outer periphery of the fixed cylinder, and a rotor 605 coupled to the stator, and the rotor is connected to the inner wall of the rotating sleeve.

[0034] In the above structure, the bottom end of the motor shaft and the fixed cylinder are connected by a bearing, and the top end of the motor shaft is fixed inside the rotating platform of the motor housing. The rotating platform is restricted to rotating only around the motor shaft in the plane by the motor shaft. Through the drive between the rotor and the stator, the rotating sleeve is driven to rotate around the motor shaft, thereby driving the motor housing to rotate horizontally 360°.

[0035] In embodiments 1 and 2, a wireless power transmission unit and a photoelectric encoder are also included; the wireless power transmission unit includes a first wireless power transmission coil 702, a first wireless power transmission housing 701, a second wireless power transmission coil 704, and a second wireless power transmission housing 703; the first wireless power transmission coil and the second wireless power transmission coil are provided in two ways: an upper and lower layout or an inner and outer layout; the photoelectric encoder is also provided in two structural forms.

[0036] The first type, such as Figure 1As shown, in the vertical layout, the motor assembly also includes a motor drive board 606. A first wireless power transmission housing is connected to the motor drive board, which is positioned above the motor base. A second wireless power transmission housing is connected to the lower surface of the rotating platform of the motor housing. Both the first and second wireless power transmission housings are annular and arranged around the motor assembly. The surface wall of the first wireless power transmission housing facing the motor housing has a first annular groove, and a first wireless power transmission coil is disposed in the first annular groove. The surface wall of the second wireless power transmission housing facing the motor base has a second annular groove, and a second wireless power transmission coil is disposed in the second annular groove. The first and second wireless power transmission coils are arranged opposite each other, and through their cooperation, the electrical energy on the motor base is transferred to the motor housing to power the ranging unit on the motor housing.

[0037] The photoelectric encoder includes a code disk support base 801 surrounding the wireless power transmission unit and mounted on the motor drive board, an annular code disk 802 bonded to the upper surface of the code disk support base, and a code disk reader 803 connected to the lower surface of the rotating platform of the motor housing. The code disk reader is electrically connected to the core circuit board, and the trajectory of the code disk reader as the motor housing rotates is located directly above the code disk.

[0038] The second type, such as Figure 2 As shown, in the internal and external layout, the first wireless transmission housing is connected to the inner wall of the code disk support, and the first wireless transmission coil is connected to the inner side wall of the first wireless transmission housing; the second wireless transmission housing is arranged around the outer periphery of the rotating sleeve of the motor housing and abuts against the lower surface of the rotating platform, and the second wireless transmission coil is connected to the outer peripheral wall of the second wireless transmission housing; the first wireless transmission coil is arranged around the second wireless transmission coil, and there is a gap between the first wireless transmission coil and the second wireless transmission coil. Through the cooperation of the two, the electrical energy on the motor base is transferred to the motor housing, and the ranging unit on the motor housing is powered.

[0039] The motor assembly also includes a motor drive board 606. The photoelectric encoder includes a code disk support 801 surrounding the motor assembly and mounted on the motor drive board, an annular code disk 802 bonded to the upper surface of the code disk support, and a code disk reader 803 connected to the lower surface of the core circuit board. The code disk reader is located directly above the code disk as the core circuit board rotates.

[0040] Both the first and second wireless transmission housings are made of materials that can guide magnetic field lines, preventing the magnetic field generated by the wireless transmission coil from overflowing and affecting the transmission efficiency.

[0041] The present invention also provides an apparatus in which a transceiver rotating lidar as described in any of the above descriptions is provided.

[0042] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Those skilled in the art can readily implement the present invention based on the accompanying drawings and the above description. However, any modifications, alterations, or variations made by those skilled in the art without departing from the scope of the present invention, utilizing the disclosed technical content, are equivalent embodiments of the present invention. Furthermore, any modifications, alterations, or variations made to the above embodiments based on the essential technology of the present invention are still within the protection scope of the present invention.

Claims

1. A transceiver rotating lidar, comprising a housing and an optical cover, a drive unit located inside the housing and a ranging unit stacked on top of the drive unit; the optical cover is located on the top of the housing, the lower end of the optical cover is connected to the upper end of the housing, and the ranging unit is located in the inner cavity of the optical cover; Its features are: The ranging unit includes a mirror mount, a laser emitter, a collimating lens, a parabolic mirror, and a photodetector; the mirror mount is fixed to the top of the driving unit and is driven by the driving unit to rotate horizontally 360°; the mirror mount includes a base at the bottom, a parabolic frame in the middle, and a cylindrical structure at the top; the base is horizontally fixed to the top of the driving unit. The bottom of the parabolic frame is fixed to the base. The parabolic mirror is mounted on the parabolic frame, and the parabolic mirror forms a reflection focusing area on one side of the parabolic frame. The photodetector is located in the reflection focusing area. The cylindrical structure and the photodetector are located on the same side of the parabolic mirror. The cylindrical structure is horizontally arranged, and one end of the cylindrical structure is fixed to the parabolic frame and connected to the opposite side of the reflection focusing area of ​​the parabolic frame. The laser emitter and collimating lens are installed inside the cylindrical structure, and the collimating lens is located in the output light path of the probe beam.

2. The transceiver integrated rotating lidar according to claim 1, characterized in that: The cylindrical structure is located on the plane of symmetry of the parabolic mirror. The parabolic mirror is divided into three sections: left, middle, and right. The left and right sections of the parabolic mirror are symmetrically arranged, and the middle section is located directly below the cylindrical structure.

3. The transceiver integrated rotating lidar according to claim 1, characterized in that: It also includes a core circuit board and a transmitting circuit board; the core circuit board is located between the drive unit and the mirror mount, and is clamped and fixed by the two; the photodetector is mounted on the core circuit board and is electrically connected to the core circuit board; the transmitting circuit board is fixed on the opposite side of the parabolic frame reflection focusing area, and the laser emitter is mounted on the upper part of the transmitting circuit board.

4. The transceiver integrated rotating lidar according to claim 3, characterized in that: A high-voltage circuit board is provided on the side of the mirror base. The high-voltage circuit board and the transmitting circuit board are fixed on the same side of the mirror base, and the high-voltage circuit board is farther away from the parabolic mirror than the transmitting circuit board.

5. The transceiver integrated rotating lidar according to claim 1, characterized in that: The base and the parabolic frame are integrally formed.

6. The transceiver integrated rotating lidar according to claim 1, characterized in that: The drive unit includes a motor base, a motor housing, and a motor assembly. The motor housing is located above the motor base, and the two together form the drive cavity. The motor assembly is located inside the drive cavity, connected between the motor base and the motor housing, and drives the motor housing to rotate horizontally 360°. The mirror mount is fixed on the motor housing.

7. The transceiver integrated rotating lidar according to claim 6, characterized in that: The motor base includes a base plate and a fixed cylinder extending axially from the center of the base plate; the motor housing includes a rotating platform and a rotating sleeve connected to the lower surface of the rotating platform, and the mirror mount is fixed on the rotating platform; the motor assembly includes a motor shaft passing through the center of the motor base and rotatably connected to the inner wall of the fixed cylinder, a stator surrounding the outer periphery of the fixed cylinder, and a rotor coupled to the stator, and the rotor is connected to the inner wall of the rotating sleeve.

8. The transceiver integrated rotating lidar according to claim 7, characterized in that: It also includes a wireless power transmission unit and a photoelectric encoder; The wireless transmission unit includes a first wireless transmission coil, a first wireless transmission housing, a second wireless transmission coil, and a second wireless transmission housing; The motor assembly also includes a motor drive board, a first wireless power transmission housing connected to the motor drive board, the motor drive board being located above the motor base, and a second wireless power transmission housing connected to the lower surface of the rotating platform of the motor housing. Both the first and second wireless power transmission housings are annular and arranged around the motor assembly. The first wireless power transmission housing has a first annular groove on the surface wall facing the motor housing, and the first wireless power transmission coil is disposed in the first annular groove; the second wireless power transmission housing has a second annular groove on the surface wall facing the motor base, and the second wireless power transmission coil is disposed in the second annular groove; the first wireless power transmission coil and the second wireless power transmission coil are arranged opposite to each other, and through their cooperation, the electrical energy on the motor base is transferred to the motor housing, so as to supply power to the ranging unit on the motor housing; The photoelectric encoder includes a code disk support base surrounding the wireless power transmission unit and mounted on the motor drive board, an annular code disk bonded to the upper surface of the code disk support base, and a code disk reader head connected to the lower surface of the rotating platform of the motor housing. The code disk reader head is electrically connected to the core circuit board, and the trajectory of the code disk reader head as the motor housing rotates is located directly above the code disk.

9. The transceiver integrated rotating lidar according to claim 7, characterized in that: It also includes a wireless power transmission unit and a photoelectric encoder; The motor assembly also includes a motor drive board. The photoelectric encoder includes a code disk support seat surrounding the motor assembly and mounted on the motor drive board, an annular code disk bonded to the upper surface of the code disk support seat, and a code disk reader connected to the lower surface of the core circuit board. The code disk reader is located directly above the code disk as the core circuit board rotates. The wireless transmission unit includes a first wireless transmission coil, a first wireless transmission housing, a second wireless transmission coil, and a second wireless transmission housing; The first wireless transmission housing is connected to the inner wall of the code disk support base, and the first wireless transmission coil is connected to the inner side wall of the first wireless transmission housing; the second wireless transmission housing is arranged around the outer periphery of the rotating sleeve of the motor housing and abuts against the lower surface of the rotating platform, and the second wireless transmission coil is connected to the outer peripheral wall of the second wireless transmission housing; the first wireless transmission coil is arranged around the second wireless transmission coil, and there is a gap between the first wireless transmission coil and the second wireless transmission coil. Through the cooperation of the two, the electrical energy on the motor base is transferred to the motor housing, and the ranging unit on the motor housing is powered.

10. An apparatus, characterized in that: The device is equipped with a transceiver rotating lidar as described in any one of claims 1-9.

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