Laser radar and self-moving device

Abstract

The utility model provides a laser radar and a self-moving device, and relates to the technical field of radars. The laser radar comprises a laser transceiving module, a first driving unit, a second driving unit, a first optical element, a second optical element and a light guide cylinder, the light guide cylinder, the first optical element and the second optical element are distributed on a laser transceiving path of the laser transceiving module, the first driving unit is used for driving the first optical element to rotate, and the second driving unit is used for driving the second optical element to rotate. The second driving unit is used for driving the second optical element to rotate, and the second driving unit is sleeved with the first driving unit. Thus, the first driving unit sleeves the second driving unit, the size of the laser radar in the height direction is reduced, the size of the self-moving device in the height direction is reduced, the self-moving device can enter a lower area, and the workable area of the self-moving device is greatly expanded.

Description

Technical Field

[0001] This application relates to the field of radar technology, and more particularly to a lidar and self-moving device. Background Technology

[0002] LiDAR is a radar system that uses lasers to detect the position, speed, and other characteristics of objects. It is widely used in self-moving devices such as sweepers, drones, and lawnmowers.

[0003] In related technologies, lidar includes a laser transceiver module for emitting lasers and receiving lasers reflected from objects. The large size of the laser transceiver module along its laser transmission and reception path limits its application. Utility Model Content

[0004] This application provides a lidar and a self-moving device to solve the problem of the large size of lidar in the laser transceiver path of the laser transceiver module in the above-mentioned related technologies.

[0005] The first aspect of this application provides a lidar, the lidar comprising:

[0006] A laser transceiver module is used to emit lasers and receive lasers reflected from objects.

[0007] The first driving unit includes a first stator assembly and a first rotor assembly. The first stator assembly is used to drive the first rotor assembly to rotate. The first optical element is provided on the rotation axis of the first rotor assembly, and the first rotor assembly is used to drive the first optical element to rotate.

[0008] The second drive unit is sleeved outside the first drive unit. The second drive unit includes a second stator assembly and a second rotor assembly. The second stator assembly is used to drive the second rotor assembly to rotate. A second optical element is provided on the rotation axis of the second rotor assembly. The second rotor assembly is used to drive the second optical element to rotate.

[0009] Light guide tube;

[0010] The housing has a light-transmitting area, and the first driving unit, the second driving unit, and the light guide tube are disposed inside the housing.

[0011] The first optical element, the second optical element, and the light-transmitting area are distributed along the laser transceiver path of the laser transceiver module.

[0012] The lidar provided in this application embodiment reduces the size of the lidar in the height direction by sleeved the first driving unit outside the second driving unit, thereby reducing the size of the self-moving device in the height direction. This allows the self-moving device to enter lower areas and greatly expands the working area of ​​the self-moving device.

[0013] In one possible implementation, the second rotor assembly, the second stator assembly, the first stator assembly, and the first rotor assembly are nested sequentially from the inside out. This sequential nesting of the second rotor assembly, second stator assembly, first stator assembly, and first rotor assembly from the inside out allows for the horizontal arrangement of the first and second drive units, significantly reducing the size of the lidar in the vertical direction. This, in turn, reduces the size of the self-moving device in the vertical direction, enabling it to access lower-profile areas and greatly expanding its operational range.

[0014] In one possible implementation, the housing is provided with a first light-transmitting hole, which communicates with the light guide tube, and the laser transmission and reception path of the laser transceiver module passes through the first light-transmitting hole. Thus, the first light-transmitting hole allows laser light to pass through, facilitating the laser transceiver module, located outside the housing, to transmit and receive laser light through the light guide tube.

[0015] In one possible implementation, the inner diameter of the first light-transmitting aperture is larger than the inner diameter of the light guide tube, and the light guide tube is at least partially located within the first light-transmitting aperture. This reduces the likelihood of the aperture wall obstructing laser light passing through the light guide tube, allowing for a greater amount of laser light emitted from the laser transceiver module into the environment under test, as well as a greater amount of laser light received by the laser transceiver module after reflection from the object, which is beneficial for lidar detection. Furthermore, on the laser transmission path of the laser transceiver module, the end of the light guide tube facing the laser transceiver module and at least a portion of the first light-transmitting aperture are located at the same position, which helps to reduce the size of the lidar in the height direction.

[0016] In one possible implementation, the light guide tube is rotatably connected within the housing, and the second optical element is disposed within the light guide tube. In this way, the light guide tube can be used to support the second optical element, making its placement more convenient. Since the second optical element is supported by the light guide tube, no separate component is needed to support it, simplifying the structure of the lidar and reducing its size. Furthermore, the second optical element does not occupy separate space in the height direction of the lidar, further reducing its vertical dimensions.

[0017] In one possible implementation, the lidar further includes a bearing assembly, through which the light guide tube is rotatably connected within the housing. This facilitates a stable and smooth rotatable connection between the light guide tube and the housing.

[0018] In one possible implementation, a first limiting ring is provided on the outer wall of the light guide tube. This first limiting ring is used to restrict the installation position of the bearing assembly. This facilitates the limiting of the bearing assembly's installation, achieves the positioning of the bearing assembly, and improves the convenience of installing the bearing assembly.

[0019] In one possible implementation, the bearing assembly includes at least one first bearing, a mounting sleeve is provided within the housing, the mounting sleeve extends away from the laser transceiver module, the light guide tube is at least partially located within the mounting sleeve, the outer ring of the first bearing is fixed to the inner sidewall of the mounting sleeve, and the inner ring of the first bearing is fixed to the outer sidewall of the light guide tube. Thus, the mounting sleeve can provide a large mounting surface, facilitating a more secure connection between the first bearing and the housing, allowing the light guide tube to be securely mounted on the housing via the first bearing.

[0020] In one possible implementation, two first bearings are provided, arranged sequentially along the axial direction of the light guide tube. This improves the stability of the connection between the light guide tube and the housing, preventing the light guide tube from easily tilting relative to the housing.

[0021] In one possible implementation, the inner side of the mounting sleeve is provided with a first bearing mounting groove, and the outer ring of the first bearing is fixed in the first bearing mounting groove. Thus, the first bearing mounting groove can position the first bearing to facilitate its assembly. Furthermore, the first bearing mounting groove can restrict the axial movement of the first bearing within the light guide tube, resulting in better stability after assembly.

[0022] In one possible implementation, the second rotor assembly is provided with a clearance groove, and the mounting sleeve is at least partially located within the clearance groove. Thus, in the height direction of the lidar, the mounting sleeve and at least a portion of the second rotor assembly are located at the same position, which facilitates a further reduction in the height dimension of the lidar.

[0023] In one possible implementation, the second rotor assembly includes a second rotating bracket and a second permanent magnet. The second permanent magnet is disposed on the outer wall of the second rotating bracket facing the second stator assembly, and multiple second permanent magnets are arranged circumferentially. The second stator assembly includes a second mounting frame and a second winding, with the second winding wound on the second mounting frame. Thus, when the second winding is energized, a magnetic field is generated within the second mounting frame. This magnetic field interacts with the second permanent magnet to drive the second rotating bracket to rotate. This arrangement facilitates the second stator assembly driving the second rotor assembly to rotate, thereby causing the second optical element to rotate.

[0024] In one possible implementation, the second rotating bracket is fixed to the light guide tube, and the second rotating bracket drives the light guide tube to rotate. In this way, the second rotating bracket can be rotatably connected to the housing via the light guide tube, eliminating the need for a separate component to rotatably connect the second rotating bracket to the housing, thus simplifying the structure of the lidar and reducing its size. Furthermore, the second rotating bracket can drive the light guide tube to rotate the second optical element disposed within the light guide tube, facilitating the driving of the second optical element.

[0025] In one possible implementation, the outer wall of the light guide tube is provided with a first limiting ring and a second limiting ring, and an assembly area for assembling the second rotating bracket is formed between the first limiting ring and the second limiting ring. Thus, the first limiting ring and the second limiting ring can restrict the axial movement of the second rotating bracket in the light guide tube, resulting in better stability of the connection between the second rotating bracket and the light guide tube.

[0026] In one possible implementation, the second rotating bracket is provided with a clearance groove, within which the first limiting ring is located. Thus, in the height direction of the lidar, at least a portion of the mounting sleeve and the second rotating bracket are at the same height, which facilitates further reduction of the lidar's dimensions in the height direction.

[0027] In one possible implementation, the first rotor assembly includes a first rotating bracket and a first permanent magnet. The first rotating bracket is rotatably connected within the housing, and the first permanent magnet is disposed on the inner sidewall of the first rotating bracket facing the first stator assembly. Multiple first permanent magnets are arranged circumferentially. The first stator assembly includes a first mounting bracket and a first winding, with the first winding wound around the first mounting bracket. Thus, when the first winding is energized, a magnetic field is generated within the first mounting bracket. This magnetic field interacts with the first permanent magnet to drive the first rotating bracket to rotate. This arrangement facilitates the first stator assembly driving the first rotor assembly to rotate, thereby causing the first optical element to rotate.

[0028] In one possible implementation, at least one second bearing is provided between the first rotating bracket and the light guide tube. The outer ring of the second bearing is fixed to the first rotating bracket, and the inner ring of the second bearing is fixed to the light guide tube. The first rotating bracket is rotatably connected to the light guide tube via the second bearing. This allows for a relatively stable and smooth rotational connection between the light guide tube and the first rotating bracket via the second bearing. Furthermore, since the first rotating bracket is rotatably connected within the housing via the light guide tube, there is no need for a separate component to rotatably connect the second rotating bracket to the housing, which simplifies the structure of the lidar and helps reduce its size.

[0029] In one possible implementation, a second limiting ring is provided on the outer wall of the light guide tube. This second limiting ring is used to restrict the installation position of the second bearing. This facilitates the limiting of the installation of the second bearing, achieves the positioning of the second bearing, and improves the convenience of installing the bearing assembly.

[0030] In one possible implementation, the first rotating bracket is provided with a second light-transmitting hole. At least a portion of the end of the light guide tube away from the laser transceiver module is located within the second light-transmitting hole. The outer ring of the second bearing is fixed to the inner wall of the second light-transmitting hole, and the inner ring of the second bearing is fixed to the light guide tube. In this way, the laser can pass through the second light-transmitting hole through the first rotating bracket, facilitating laser transmission and reception by the laser transceiver module. Furthermore, along the laser transmission and reception path of the laser transceiver module, the end of the light guide tube away from the laser transceiver module and at least a portion of the second light-transmitting hole are at the same height, which helps to reduce the size of the lidar in the height direction.

[0031] In one possible implementation, a second bearing mounting groove is provided on the inner wall of the second light-transmitting hole, and the outer ring of the second bearing is fixed within the second bearing mounting groove. In this way, the second bearing mounting groove can position the second bearing to facilitate its assembly. Furthermore, the second bearing mounting groove can restrict the axial movement of the second bearing within the light guide tube, resulting in better stability after assembly.

[0032] In one possible implementation, a fixing groove is provided on the inner wall of the second light-transmitting hole, and the first optical element is fixed in the fixing groove. This facilitates the fixing of the first optical element on the first rotating bracket, and the fixing groove restricts the movement of the first optical element, making it less likely for the first optical element to detach from the first rotating bracket under centrifugal force, thus ensuring a more stable fixation between the first optical element and the first rotating bracket.

[0033] In one possible implementation, the end of the light guide tube away from the laser transceiver module is located on the side of the first optical element facing the laser transceiver module, and there is a gap between the end of the light guide tube away from the laser transceiver module and the sidewall of the first optical element facing the laser transceiver module. In this way, the rotation of the light guide tube and the first optical element is less likely to affect each other, facilitating independent rotation of the light guide tube and the first optical element.

[0034] In one possible implementation, a partition is provided between the inner side of the first stator assembly and the outer side of the second stator assembly. This partition isolates the magnetic fields generated by the first and second stator assemblies, making it less likely for the first stator assembly to affect the rotation of the second rotor assembly, and vice versa. This ensures that, with the first drive unit fitted over the second drive unit, the driving of the first and second drive units does not easily interfere with each other.

[0035] In one possible implementation, the partition layer has a first groove on its side facing the first stator assembly, with the inner side of the first stator assembly fixed within the first groove. The partition layer also has a second groove on its side facing the second stator assembly, with the outer side of the second stator assembly fixed within the second groove. Thus, the first groove can position the first stator assembly for assembly, and the second groove can position the second stator assembly for assembly.

[0036] In one possible implementation, the rotational speed of the first driving unit is N1, and the rotational speed of the second driving unit is N2, where N1 is greater than or less than N2. This improves the scanning range and accuracy of the lidar, resulting in a larger and denser point cloud.

[0037] In one possible implementation, the driving direction of the first driving unit is a first direction, and the driving direction of the second driving unit is a second direction. The first and second directions may be the same, or opposite. This allows for more flexible scanning of the lidar, as the scanning range and accuracy can be adjusted by changing the driving directions and rotation speeds of the first and second driving units. When the first and second directions are opposite, the range of direction variation of the laser emitted from the lidar can be larger. When the first and second directions are the same, the accuracy of the direction variation of the laser emitted from the lidar can be higher.

[0038] In one possible implementation, the housing has a first opening and a second opening, the first opening corresponding to the first rotor assembly and the second opening corresponding to the second rotor assembly, and each of the first and second openings is equipped with a Hall sensor unit. Thus, the Hall sensor unit located in the first opening can monitor the position information of the first rotor assembly in real time, and the Hall sensor unit located in the second opening can monitor the position information of the second rotor assembly in real time. Based on this information, the rotation direction of the first and second drive units is controlled.

[0039] In one possible implementation, the laser transceiver module includes a transmitter and a receiver, with the second optical element and the first optical element arranged sequentially from near to far along the laser emission direction of the transmitter. Thus, the laser emitted by the transmitter passes sequentially through the second and first optical elements before reaching the target object. The laser is reflected from the surface of the target object, and the reflected laser passes sequentially through the first and second optical elements before being received by the receiver, thereby realizing the laser transmission path design of the laser transceiver module.

[0040] In one possible implementation, the second optical element has a first surface and a second surface. The first surface is used to receive the laser emitted by the transmitter, and the second surface is used to refract the laser emitted by the transmitter. The first optical element is used to reflect or refract the laser from the second surface onto the target object. This facilitates the alteration of the laser emission direction by arranging the first and second optical elements sequentially from near to far along the laser emission direction of the transmitter, thereby enabling the lidar to have a larger scanning range and higher scanning accuracy.

[0041] A second aspect of this application provides a self-moving device, which includes a self-moving device body and a lidar as described in any of the above embodiments, wherein the lidar is disposed on the self-moving device body. Attached Figure Description

[0042] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0043] Figure 1 An explosion diagram of a lidar provided in an embodiment of this application;

[0044] Figure 2 A cross-sectional schematic diagram of a lidar provided for an embodiment of this application;

[0045] Figure 3 A schematic diagram of a fixed bracket for a lidar provided in an embodiment of this application;

[0046] Figure 4 A schematic diagram of a second rotating bracket for a lidar provided in an embodiment of this application;

[0047] Figure 5 A schematic diagram of a first rotating bracket for a lidar provided in an embodiment of this application;

[0048] Figure 6 This is a schematic diagram of a light guide tube for a lidar provided in an embodiment of this application.

[0049] Explanation of reference numerals in the attached figures:

[0050] 100. First drive unit; 110. First stator assembly; 111. First mounting bracket; 112. First winding; 120. First rotor assembly; 121. First rotating bracket; 1211. Second light-transmitting hole; 1212. Second bearing mounting slot; 1213. Fixing slot; 122. First permanent magnet;

[0051] 200, Second drive unit; 210, Second stator assembly; 211, Second mounting bracket; 212, Second winding; 220, Second rotor assembly; 221, Second rotating bracket; 2211, Relief slot; 222, Second permanent magnet;

[0052] 310. First optical element; 320. Second optical element; 321. First surface; 322. Second surface;

[0053] 400. Light guide tube; 410. First limiting ring; 420. Second limiting ring;

[0054] 500. Housing; 510. Outer cover; 511. Light-transmitting area; 520. Fixing bracket; 521. First light-transmitting hole; 522. Mounting sleeve; 523. First bearing mounting groove; 524. Partition; 525. First groove; 526. Second groove; 527. First opening; 528. Second opening;

[0055] 600. Bearing assembly; 610. First bearing;

[0056] 700, Second Bearing;

[0057] 800, Hall effect sensor unit;

[0058] 900. Circuit board assembly. Detailed Implementation

[0059] The terminology used in the implementation section of this application is only for explaining specific embodiments of this application and is not intended to limit this application. The implementation of the embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0060] This application provides a self-moving device, which may include, but is not limited to, automatically moving devices such as sweepers, drones, and lawnmowers.

[0061] In this embodiment of the application, the self-moving device includes a self-moving device body and a lidar disposed on the self-moving device body. The lidar is used to detect the distance information of the target object in the working environment of the self-moving device, and the self-moving device executes the corresponding work plan based on the data information detected by the lidar.

[0062] Figure 1 This is an explosion diagram of a lidar provided in an embodiment of this application. Figure 2 This is a cross-sectional schematic diagram of a lidar provided in an embodiment of this application.

[0063] See Figure 1 , Figure 2 In this embodiment of the application, the lidar includes a laser transceiver module, a first driving unit 100, a second driving unit 200, a light guide tube 400, and a housing 500.

[0064] The laser transceiver module is used to emit laser light and receive laser light reflected from objects. The laser transceiver module is located outside the housing 500. The light guide tube 400 is a tubular structure that extends through both ends. The light guide tube 400 is located inside the housing 500 and corresponds to the laser transceiver module. The laser transmission and reception path of the laser transceiver module passes through the light guide tube 400.

[0065] The laser transceiver module includes a transmitter and a receiver, wherein the transmitter and receiver correspond to the light guide tube 400. The transmitter is used to emit laser light, and the receiver is used to receive laser light reflected from an object. The laser light emitted by the transmitter and the laser light received by the receiver form a laser transceiver path.

[0066] The first drive unit 100 includes a first stator assembly 110 and a first rotor assembly 120. The first stator assembly 110 is fixedly disposed within the housing 500, and the first rotor assembly 120 is rotatably connected within the housing 500. The first stator assembly 110 drives the first rotor assembly 120 to rotate. A first optical element 310 is disposed on the rotation axis of the first rotor assembly 120, and the first rotor assembly 120 drives the first optical element 310 to rotate.

[0067] The second drive unit 200 includes a second stator assembly 210 and a second rotor assembly 220. The second stator assembly 210 is fixedly disposed within the housing 500, and the second rotor assembly 220 is rotatably connected within the housing 500. The second stator assembly 210 drives the second rotor assembly 220 to rotate. A second optical element 320 is disposed on the rotation axis of the second rotor assembly 220, and the second rotor assembly 220 drives the second optical element 320 to rotate.

[0068] The housing 500 has a light-transmitting area 511. The first optical element 310, the second optical element 320, and the light-transmitting area 511 are distributed on the laser transceiver path of the laser transceiver module. Furthermore, the first optical element 310, the second optical element 320, and the light-transmitting area 511 are located inside or outside the end of the light guide tube 400 away from the laser emitting module. Among them, the second optical element 320 and the first optical element 310 are arranged sequentially from near to far along the laser emission direction of the transmitter.

[0069] In this way, the laser emitted by the transmitter, guided by the light guide tube 400, passes through the second optical element 320, the first optical element 310, and the light-transmitting area 511 before reaching the target object. The laser is reflected from the surface of the target object, and part of the reflected laser passes through the light-transmitting area 511, the first optical element 310, and the second optical element 320 before reaching the light guide tube 400. Guided by the light guide tube 400, the laser is then directed to the receiver. By calculating the time difference between the laser's emission from the transmitter and its reception by the receiver, the distance information of the target object can be calculated, thus enabling distance detection of the target object.

[0070] In the relevant prior art, the first driving unit and the second driving unit are arranged sequentially along the height direction. This arrangement makes the size of the lidar in the height direction large, which prevents the self-moving device from entering low-lying areas, thus limiting the working area of ​​the self-moving device.

[0071] Based on this, in the embodiments of this application, the first drive unit 100 is sleeved outside the second drive unit 200. Specifically, the second rotor assembly 220, the second stator assembly 210, the first stator assembly 110, and the first rotor assembly 120 are sleeved from the inside out.

[0072] In this way, the second rotor assembly 220, the second stator assembly 210, the first stator assembly 110, and the first rotor assembly 120, which are nested from the inside out, realize the horizontal arrangement of the first drive unit 100 and the second drive unit 200. Compared with the arrangement of the first drive unit and the second drive unit along the height direction in the prior art, the size of the lidar in the height direction can be greatly reduced, thereby reducing the size of the self-moving device in the height direction. The self-moving device can enter a lower area and greatly expand the working area of ​​the self-moving device.

[0073] Figure 5 A schematic diagram of a first rotating bracket for a lidar provided in an embodiment of this application.

[0074] In one embodiment, the first rotor assembly 120 includes a first rotating bracket 121 and a first permanent magnet 122. The first rotating bracket 121 is rotatably connected within the housing 500, and the first permanent magnet 122 is fixed to the inner sidewall of the first rotating bracket 121 facing the first stator assembly 110. Multiple first permanent magnets 122 are spaced apart circumferentially. The first stator assembly 110 includes a first mounting bracket 111 and a first winding 112. The first mounting bracket 111 is fixedly disposed within the housing 500, and the first winding 112 is wound around the first mounting bracket 111.

[0075] Figure 4 A schematic diagram of a second rotating bracket for a lidar provided in an embodiment of this application.

[0076] In one embodiment, the second rotor assembly 220 includes a second rotating bracket 221 and a second permanent magnet 222. The second permanent magnet 222 is fixed to the second rotating bracket 221 facing the outer wall of the second stator assembly 210, and multiple second permanent magnets 222 are spaced apart along the circumference. The second stator assembly 210 includes a second mounting bracket 211 and a second winding 212. The second mounting bracket 211 is fixedly disposed within the housing 500, and the second winding 212 is wound around the second mounting bracket 211.

[0077] In one embodiment, the lidar further includes a circuit board assembly 900 disposed on the housing 500, with a first winding 112 and a second winding 212 electrically connected to the circuit board assembly 900.

[0078] In this way, the circuit board assembly 900 can easily supply power to the first winding 112 and / or the second winding 212. When the circuit board assembly 900 supplies power to the first winding 112, a rotating magnetic field is generated inside the first mounting bracket 111. This magnetic field interacts with the first permanent magnet 122, causing the first rotating support 121 to rotate under torque. When the circuit board assembly 900 supplies power to the second winding 212, a rotating magnetic field is generated inside the second mounting bracket 211. This magnetic field interacts with the second permanent magnet 22, causing the second rotating support 221 to rotate under torque.

[0079] It should be noted that the first rotating bracket 121 and the second rotating bracket 221 can be started simultaneously or not simultaneously. How to control the opening and closing of the first rotating bracket 121 and the second rotating bracket 221 through the circuit board assembly 900 is a conventional technical means of brushless motors in the prior art, and will not be elaborated here.

[0080] Figure 3This is a schematic diagram of a fixed bracket for a lidar provided in an embodiment of this application.

[0081] See Figure 2 and Figure 3 In one embodiment, a partition 524 is provided between the inner side of the first stator assembly 110 and the outer side of the second stator assembly 210.

[0082] The partition 524 is used to isolate the magnetic fields generated by the first stator assembly 110 and the second stator assembly 210. In this way, the first stator assembly 110 is less likely to affect the rotation of the second rotor assembly 220, and the second stator assembly 210 is less likely to affect the rotation of the first rotor assembly 120. This makes it easier for the first drive unit 100 and the second drive unit 200 to drive each other less likely to interfere with each other, since the first drive unit 100 is sleeved outside the second drive unit 200.

[0083] For example, the housing 500 includes a fixed bracket 520 and an outer cover 510, with the outer cover 510 connected to the fixed bracket 520. The first drive unit 100, the second drive unit 200, the light guide tube 400, the first optical element 310, and the second optical element 320 are disposed within the space formed by the outer cover 510 and the fixed bracket 520.

[0084] For example, the outer cover 510 and the fixed bracket 520 can be detachably connected, such as by snap-fit ​​connection, magnetic connection, bolt connection, etc.; the outer cover 510 and the fixed bracket 520 can also be fixedly connected, such as by welding, adhesive bonding, etc. Therefore, as long as the connection between the outer cover 510 and the fixed bracket 520 can be achieved, there are no restrictions.

[0085] The partition 524 is disposed within the space formed by the outer cover 510 and the fixed bracket 520, and the partition 524 is disposed on the fixed bracket 520. One end of the partition 524 is connected to the fixed bracket 520, and the other end extends towards the outer cover 510. For example, the partition 524 and the fixed bracket 520 can be fixedly connected, such as by welding, gluing, or integral molding; the partition 524 and the fixed bracket 520 can also be detachably connected, such as by snap-fit ​​connection, magnetic connection, or bolt connection.

[0086] The first stator assembly 110 can be fixedly connected to the partition 524 to be fixedly disposed within the housing 500 via the partition 524. The second stator assembly 210 can be fixedly connected to the partition 524 to be fixedly disposed within the housing 500 via the partition 524. Specifically, the first mounting bracket 111 can be fixedly connected to the partition 524, and the second mounting bracket 211 can be fixedly connected to the partition 524.

[0087] In one embodiment, the partition 524 has a first groove 525 on its side facing the first stator assembly 110, and the inner side of the first stator assembly 110 is fixed in the first groove 525. Specifically, the inner side of the first mounting bracket 111 is fixed in the first groove 525. The partition 524 has a second groove 526 on its side facing the second stator assembly 210, and the outer side of the second stator assembly 210 is fixed in the second groove 526. Specifically, the outer side of the second mounting bracket 211 is fixed in the second groove 526.

[0088] For example, the first mounting bracket 111 can be fixedly connected to the partition 524 by means of bonding, snap-fitting, interference fit, etc., and the second mounting bracket 211 can be fixedly connected to the partition 524 by means of bonding, snap-fitting, interference fit, etc.

[0089] In this way, the first slot 525 can position the first stator assembly 110 for easy assembly, and the second slot 526 can position the second stator assembly 210 for easy assembly. Furthermore, the arrangement of the first slot 525 and the second slot 526 reduces the distance between the first mounting bracket 111 and the second mounting bracket 211, thereby reducing the horizontal size of the lidar. This allows the lidar to be installed in a smaller space, increasing the installation space for other components of the self-moving device. This provides more possibilities for adding functions to the self-moving device and improves its intelligence and integration.

[0090] For example, a first groove 525 extends through the end of the partition 524 away from the fixed bracket 520 to facilitate the assembly of the first stator assembly 110 onto the partition 524. A second groove 526 extends through the end of the partition 524 away from the fixed bracket 520 to facilitate the assembly of the second stator assembly 210 onto the partition 524.

[0091] See Figure 2 A first optical element 310 is provided on the rotation axis of the first rotor assembly 120, and a second optical element 320 is provided on the rotation axis of the second rotor assembly 220.

[0092] In one embodiment, the light guide tube 400 is rotatably connected within the housing 500. For example, the light guide tube 400 is rotatably connected to the fixed bracket 520, and the axis of the light guide tube 400 is collinear with the rotation axis of the second rotor assembly 220. The second optical element 320 is disposed within the light guide tube 400 and is positioned on the rotation axis of the second rotor assembly 220 via the light guide tube 400.

[0093] A first light-transmitting hole 521 is provided on the side of the housing 500 facing the laser transceiver module. The first light-transmitting hole 521 communicates with the light guide tube 400, and the laser transceiver path of the laser transceiver module passes through the first light-transmitting hole 521. For example, the first light-transmitting hole 521 is provided on the fixed bracket 520, and the first light-transmitting hole 521 penetrates the fixed bracket 520 in the height direction.

[0094] In one embodiment, the inner diameter of the first light-transmitting hole 521 is larger than the outer diameter of the light guide tube 400, and the end of the light guide tube 400 facing the laser transceiver module is at least partially located inside the first light-transmitting hole 521.

[0095] In this way, the second optical element 320 is assembled on the rotation axis of the second rotor assembly 220 via the light guide tube 400, making the placement of the second optical element 320 more convenient. Furthermore, after the second optical element 320 is assembled via the light guide tube 400, no additional components are needed for assembling the second optical element 320, simplifying the structure of the lidar and reducing its size. Moreover, in the laser transceiver path of the laser transceiver module, the second optical element 320, placed within the light guide tube 400, utilizes the height space of the light guide tube 400, eliminating the need for additional height and reducing the size of the lidar in the height direction.

[0096] In one embodiment, the laser transceiver module is connected to the side of the fixed bracket 520 away from the outer cover 510. For example, the circuit board assembly 900 is disposed on the fixed bracket 520, and the circuit board assembly 900 and the laser transceiver module are located on the same side of the fixed bracket 520. The circuit board assembly 900 may be disposed between the fixed bracket 520 and the laser transceiver module.

[0097] In one embodiment, the transmitter and receiver on the laser transceiver module are directly opposite the first light-transmitting hole 521. Specifically, the transmitter and receiver on the laser transceiver module are directly opposite the light guide tube 400. The light guide tube 400 has a light-focusing effect, allowing the laser emitted by the transmitter to be guided outward through the light guide tube 400, and the laser reflected from the target object can also be guided by the light guide tube 400 and received by the receiver.

[0098] In one embodiment, the lidar further includes a bearing assembly 600, through which the light guide tube 400 is rotatably connected to the housing 500, so as to achieve a stable and smooth rotatable connection between the light guide tube 400 and the housing 500.

[0099] For example, the light guide tube 400 is rotatably connected to the fixed bracket 520 via the bearing assembly 600.

[0100] See Figure 2 , Figure 3In one embodiment, a mounting sleeve 522 is provided inside the housing 500. One end of the mounting sleeve 522 is connected to the fixed bracket 520, and the other end extends away from the laser transceiver module. For example, the mounting sleeve 522 and the fixed bracket 520 can be fixedly connected, such as by welding, gluing, or integral molding. Alternatively, the mounting sleeve 522 and the fixed bracket 520 can be detachably connected, such as by snap-fit ​​connection, magnetic connection, or bolt connection.

[0101] The bearing assembly 600 includes at least one first bearing 610. The end of the light guide tube 400 facing the laser transceiver module is at least partially located within the mounting sleeve 522. The outer ring of the first bearing 610 is fixed to the inner sidewall of the mounting sleeve 522, and the inner ring of the first bearing 610 is fixed to the outer sidewall of the light guide tube 400.

[0102] In this way, the mounting sleeve 522 can provide a larger mounting surface, which facilitates a more stable connection between the first bearing 610 and the housing 500, and allows the light guide tube 400 to be more stably assembled on the housing 500 through the first bearing 610.

[0103] In one embodiment, two first bearings 610 are provided, and the two first bearings 610 are arranged sequentially along the axial direction of the light guide tube 400. The inner rings of the two first bearings 610 are respectively fixed to the outer side wall of the light guide tube 400, and the outer rings of the two first bearings 610 are respectively fixed to the inner side wall of the mounting sleeve 522.

[0104] In this way, the two first bearings 610 work together to improve the connection stability between the light guide tube 400 and the housing 500, and the light guide tube 400 is less likely to deviate relative to the housing 500.

[0105] In one embodiment, a first bearing mounting groove 523 is provided on the inner sidewall of the mounting sleeve 522, and the outer ring of the first bearing 610 is fixed in the first bearing mounting groove 523.

[0106] In this way, the first bearing mounting groove 523 can position the first bearing 610 to facilitate its assembly. Furthermore, the first bearing mounting groove 523 can restrict the axial movement of the first bearing 610 within the light guide tube 400, resulting in better stability after assembly. Simultaneously, the first bearing mounting groove 523 provides horizontal clearance for the installation of the first bearing 610, thereby reducing the overall horizontal dimensions of the mounting sleeve 522 and the first bearing 610, and further reducing the horizontal dimensions of the lidar.

[0107] In one embodiment, the second rotating bracket 221 is fixed to the light guide tube 400, and the second rotating bracket 221 drives the light guide tube 400 to rotate. For example, the second rotating bracket 221 has a mounting hole through which the light guide tube 400 passes. The axis of the mounting hole is collinear with the rotation axis of the second rotating bracket 221. The second rotating bracket 221 is assembled onto the light guide tube 400 through the mounting hole. The inner wall of the mounting hole is fitted to the outer wall of the light guide tube 400. The inner wall of the mounting hole and the outer wall of the light guide tube 400 can be fixedly connected by means of bonding, welding, interference fit, etc.

[0108] The rotation axis of the second rotating bracket 221 is collinear with the axis of the light guide tube 400. The second rotating bracket 221 is used to drive the light guide tube 400 to rotate. Through the rotational connection between the light guide tube 400 and the mounting sleeve 522, the second rotating bracket 221 is rotatably connected to the fixed bracket 520 through the light guide tube 400.

[0109] In this way, the second rotating bracket 221 can be rotatably connected to the housing 500 via the light guide tube 400, eliminating the need for additional components to rotatably connect the second rotating bracket 221 to the housing 500. This simplifies the structure of the lidar and helps reduce its size. Furthermore, the second rotating bracket 221 can drive the light guide tube 400 to rotate the second optical element 320 housed within it, thus facilitating the driving of the second optical element 320.

[0110] The second optical element 320 is fixed inside the light guide tube 400, and is positioned on the rotation axis of the second rotor assembly 220 via the light guide tube 400. The second optical element 320 and the light guide tube 400 can be fixed together by means of adhesive bonding, interference fit, or other methods. In this way, as the light guide tube 400 rotates, the second optical element 320 can rotate along with the light guide tube 400.

[0111] See Figure 2 and Figure 4 In one embodiment, the second rotating bracket 221 has a relief groove 2211 on the side facing the mounting sleeve 522, and the end of the mounting sleeve 522 away from the laser transceiver module is at least partially located in the relief groove 2211.

[0112] In this way, at least a portion of the mounting sleeve 522 and the second rotating bracket 221 are located in the same position in the height direction of the lidar, which is beneficial to further reduce the size of the lidar in the height direction.

[0113] Figure 5 This is a schematic diagram of a first rotating bracket for a lidar provided in an embodiment of this application.

[0114] See Figure 2 and Figure 5In one embodiment, the light guide tube 400 can be used to support the first rotating bracket 121, which is rotatably connected to the housing 500 via the light guide tube 400.

[0115] The first rotating bracket 121 is provided with a second light-transmitting hole 1211, and at least part of the end of the light guide tube 400 away from the laser transceiver module is located within the second light-transmitting hole 1211. At least one second bearing 700 is provided between the first rotating bracket 121 and the light guide tube 400. The outer ring of the second bearing 700 is fixed to the first rotating bracket 121, and the inner ring of the second bearing 700 is fixed to the outer side wall of the light guide tube 400. The first rotating bracket 121 is rotatably connected to the light guide tube 400 via the second bearing 700. Specifically, the second bearing 700 is located within the second light-transmitting hole 1211, with its outer ring fixed to the inner side wall of the second light-transmitting hole 1211 and its inner ring fixed to the outer side wall of the light guide tube 400. For example, the outer ring of the second bearing 700 can be fixed to the inner wall of the second light-transmitting hole 1211 by means of adhesive bonding, interference fit, etc., and the inner ring of the second bearing 700 can be fixed to the outer wall of the light guide tube 400 by means of adhesive bonding, interference fit, etc.

[0116] In this way, the first rotating bracket 121 is rotatably connected to the light guide tube 400 via the second bearing 700, thereby realizing the rotatable connection of the first rotating bracket 121 within the housing 500. Furthermore, the end of the light guide tube 400 away from the laser transceiver module and the second light-passing hole 1211 have an overlapping portion in the height direction of the lidar, which helps to reduce the size of the lidar in the height direction.

[0117] In one embodiment, the axis of the light guide tube 400, the axis of the second light-transmitting hole 1211, and the axis of rotation of the first rotating bracket 121 are collinear. This arrangement ensures that the axis of rotation of the first rotating bracket 121 and the axis of rotation of the second rotating bracket 221 are collinear, thereby enabling the rotation of both the first rotating bracket 121 and the second rotating bracket 221 to be rotatably connected within the housing 500 by the support of the light guide tube 400.

[0118] In one embodiment, a second bearing mounting groove 1212 is provided on the inner sidewall of the second light-transmitting hole 1211, and the outer ring of the second bearing 700 is fixed in the second bearing mounting groove 1212. In this way, the second bearing mounting groove 1212 can position the second bearing 700 to facilitate its assembly. Furthermore, the second bearing mounting groove 1212 can restrict the axial movement of the second bearing 700 within the light guide tube 400, resulting in better stability of the second bearing 700 after assembly.

[0119] See Figure 2In one embodiment, a fixing groove 1213 is provided on the inner sidewall of the second light-transmitting hole 1211. The fixing groove 1213 is located at the opening of the second light-transmitting hole 1211 away from the laser transceiver module. The first optical element 310 is fixed in the fixing groove 1213. For example, the first optical element 310 and the fixing groove 1213 can be fixed by means of gluing, interference fit, etc.

[0120] This facilitates the fixing of the first optical element 310 on the first rotating bracket 121. During the rotation of the first rotating bracket 121, the first optical element 310 can rotate along with the rotation of the first rotating bracket 121.

[0121] In one embodiment, the end of the light guide tube 400 away from the laser transceiver module is located on the side of the first optical element 310 facing the laser transceiver module, and there is a gap between the end of the light guide tube 400 away from the laser transceiver module and the sidewall of the first optical element 310 facing the laser transceiver module. In this way, the rotation of the light guide tube 400 and the first optical element 310 is less likely to affect each other, and it is convenient for the independent rotation of the light guide tube 400 and the first optical element 310.

[0122] Figure 6 This is a schematic diagram of a light guide tube for a lidar provided in an embodiment of this application.

[0123] See Figure 2 and Figure 6 In one embodiment, the outer wall of the light guide tube 400 is provided with a first limiting ring 410. The side of the first limiting ring 410 facing the laser emitting module is used to limit the installation position of the first bearing 610. When the first bearing 610 is installed, the side of the first limiting ring 410 facing the laser emitting module abuts against the first bearing 610.

[0124] In this way, after the first bearing 610 is installed on the light guide tube 400, it is convenient to assemble the light guide tube 400 with the first bearing 610 into the mounting sleeve 522, thereby facilitating the assembly of the first bearing 610 into the first bearing mounting groove 523 and the assembly of the light guide tube 400 with the first bearing 610 onto the fixed bracket 520.

[0125] In one embodiment, the outer wall of the light guide tube 400 is provided with a second limiting ring 420. The side of the second limiting ring 420 away from the laser emitting module is used to limit the installation position of the second bearing 700. When the second bearing 700 is installed, the side of the second limiting ring 420 away from the laser emitting module abuts against the second bearing 700.

[0126] Thus, after the second bearing 700 is installed on the light guide tube 400, it is convenient to assemble the first rotating bracket 121 onto the light guide tube 400 with the second bearing 700, thereby facilitating the assembly of the second bearing 700 into the second bearing mounting groove 1212, and making it easier to assemble the first rotating bracket 121 onto the light guide tube 400 with the second bearing 700.

[0127] In one embodiment, a first limiting ring and a second limiting ring are provided on the outer wall of the light guide tube 400, with the second limiting ring located on the side of the first limiting ring away from the laser transceiver module. The first limiting ring 410 is the first limiting ring, and the second limiting ring 420 is the second limiting ring. An assembly area for assembling the second rotating bracket 221 is formed between the first and second limiting rings. Exemplarily, the first limiting ring abuts against the side of the second rotating bracket 221 facing the laser transceiver module, and the second limiting ring abuts against the side of the second rotating bracket 221 away from the laser transceiver module.

[0128] In this way, the first limiting ring 410 and the second limiting ring 420 can restrict the axial movement of the second rotating bracket 221 in the light guide tube 400, so that the connection between the second rotating bracket 221 and the light guide tube 400 is more stable.

[0129] In one embodiment, the first limiting ring is located within the relief groove 2211, which further improves the compactness of the lidar mechanism and thus further reduces the overall size of the lidar.

[0130] When the lidar is working, the transmitter of the laser transceiver module emits a laser beam. Guided by the light guide tube 400, the emitted laser beam first passes through the second optical element 320, and then through the first optical element 310. During this process, the first stator assembly 110 drives the first mounting bracket 111 to rotate, which in turn drives the first optical element 310 to rotate. The second stator assembly 210 drives the second mounting bracket 211 to rotate, which in turn drives the light guide tube 400 to rotate, which in turn drives the second optical element 320 to rotate. The rotating first and second optical elements 310 and 320 can emit the laser beam from multiple angles, thereby improving the lidar's measurement range in three-dimensional space.

[0131] In one embodiment, the rotational speed of the first driving unit 100 is N1, and the rotational speed of the second driving unit 200 is N2, where N1 is greater than N2 or N1 is less than N2. That is, the rotational speeds of the first driving unit 100 and the second driving unit 200 are different. This helps to improve the accuracy of lidar scanning, resulting in a denser point cloud.

[0132] It should be noted that the rotational speed of the first drive unit 100 refers to the rotational speed of the first rotor assembly 120, and the rotational speed of the second drive unit 200 refers to the rotational speed of the second rotor assembly 220.

[0133] In one embodiment, the driving direction of the first driving unit 100 is a first direction, and the driving direction of the second driving unit 200 is a second direction. The first direction and the second direction are the same, or the first direction and the second direction are opposite. It should be noted that the driving direction of the first driving unit 100 refers to the rotation direction of the first rotor assembly 120, and the driving direction of the second driving unit 200 refers to the rotation direction of the second rotor assembly 220.

[0134] In this way, the scanning of the lidar is more flexible, and the scanning range and accuracy can be adjusted by changing the driving direction and speed of the first drive unit 100 and the second drive unit 200. It should be noted that how the circuit board assembly 900 controls the direction and speed of the first rotating bracket 121 and the second rotating bracket 221 is a conventional technique for brushless motors in the prior art, and will not be elaborated here.

[0135] In one embodiment, the housing 500 is provided with a first opening 527 and a second opening 528. The first opening 527 corresponds to the first rotor assembly 120, and the second opening 528 corresponds to the second rotor assembly 220. Hall sensor units 800 are respectively provided in the first opening 527 and the second opening 528.

[0136] For example, a first opening 527 and a second opening 528 are respectively formed on a fixed bracket 520, and the first opening 527 and the second opening 528 respectively penetrate the fixed bracket 520 along the height direction of the lidar. The Hall sensor unit 800 can be disposed on the circuit board assembly 900 and electrically connected to the circuit board assembly 900. The detection end of the Hall sensor unit 800 located in the first opening 527 is directly opposite the first rotor assembly 120, and the detection end of the Hall sensor unit 800 located in the second opening 528 is directly opposite the second rotor assembly 220.

[0137] In this way, the Hall sensor unit 800 located in the first opening 527 can monitor the position information of the first rotor assembly 120 in real time, and the Hall sensor unit 800 located in the second opening 528 can monitor the position information of the second rotor assembly 220 in real time. The circuit board assembly 900 can control the energizing sequence and current direction of the first winding 112 and the second winding 212 according to this information, thereby realizing the control of the rotation direction of the first drive unit 100 and the second drive unit 200.

[0138] In one embodiment, the light-transmitting area 511 is made of a light-transmitting material and is located on the outer cover 510. The light-transmitting area 511 is a hemispherical structure that protrudes from the side of the outer cover 510 away from the fixed support 520, and the interior of the light-transmitting area 511 is a cavity of the hemispherical shape.

[0139] The projection surface of the light-transmitting area 511 in the height direction covers the projection surfaces of the first optical element 310 and the second optical element 320 in the height direction. This arrangement allows the light-transmitting area 511 to fully receive the laser light from the first optical element 310 and the second optical element 320. Furthermore, the light-transmitting area 511 adopts a spherical structure. This structure can disperse the emitted laser light from the first optical element 310 and the second optical element 320, enabling the laser to detect a wider range. Simultaneously, it can focus the reflected laser light from the target object, improving the reception rate of the reflected laser light, thereby increasing the measurement range and accuracy of the lidar.

[0140] The second optical element 320, the first optical element 310, and the light-transmitting area 511 are arranged sequentially from near to far along the laser emission direction of the transmitter, with the second optical element 320 located inside the light guide tube 400. With this arrangement, the laser emitted by the transmitter is first guided by the light guide tube 400, then sequentially passes through the second optical element 320, the first optical element 310, and the light-transmitting area 511 before reaching the target object. The laser is reflected from the surface of the target object, and the reflected laser then sequentially passes through the light-transmitting area 511, the first optical element 310, and the second optical element 320 before being received by the receiver through the light guide tube 400.

[0141] The combined action of the rotating first optical element 310 and the second optical element 320 can change the direction of the laser beam incident into the environment to be detected, thereby enabling scanning of the environment to be detected.

[0142] For example, the first optical element 310 can be a prism, such as a triangular prism or a trapezoidal prism. The second optical element 320 can also be a prism, such as a triangular prism or a trapezoidal prism.

[0143] In one embodiment, the second optical element 320 has a first surface 321 and a second surface 322. The first surface 321 is used to receive laser light emitted from the transmitter; exemplarily, the first surface 321 is a refractive surface. After the laser light emitted from the reflector reaches the first surface 321, it is refracted and enters the second optical element 320. After propagating within the second optical element 320, the laser light reaches the second surface 322, which is used to refract the laser light from the first surface 321. After being refracted by the second surface 321, the laser light reaches the first optical element 310, which is used to reflect or refract the laser light from the second surface 322 to the target object.

[0144] When the first optical element 310 is used to reflect laser light from the second surface 322 to the target object, the first optical element 310 has a reflective surface, and the laser beam from the second surface 322 is reflected to the target object after reaching the reflective surface; when the first optical element 310 is used to refract laser light from the second surface 322 to the target object, the first optical element 310 has a third surface and a fourth surface, the third surface is used to receive laser light from the second surface, and the fourth surface is used to refract laser light to the target object.

[0145] When the first optical element 310 has a reflective surface, the reflected laser light from the surface of the target object first passes through this reflective surface, which reflects the laser light so that it reaches the first optical element. The reflected laser light then passes through the second surface 322 and the first surface 321 in sequence before being received by the receiver. When the first optical element 310 has a third surface and a fourth surface, the reflected laser light from the surface of the target object first passes through the fourth surface and reaches the third surface. The third surface refracts the reflected laser light again, and the refracted laser light then passes through the second surface 322 and the first surface 321 in sequence before being received by the receiver.

[0146] This facilitates the alteration of the laser emission direction by the first optical element 310 and the second optical element 320, which are arranged sequentially from near to far along the laser emission direction of the transmitter, so that the lidar has a larger scanning range and higher scanning accuracy.

[0147] In the description of the embodiments of this application, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, an indirect connection through an intermediate medium, or the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this application according to the specific circumstances.

[0148] The terms "first," "second," "third," "fourth," etc. (if present) in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0149] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the embodiments of this application, and are not intended to limit them. Although the embodiments of this application have been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A lidar, characterized in that, include: A laser transceiver module is used to emit lasers and receive lasers reflected from objects. The first driving unit includes a first stator assembly and a first rotor assembly. The first stator assembly is used to drive the first rotor assembly to rotate. A first optical element is provided on the rotation axis of the first rotor assembly, and the first rotor assembly is used to drive the first optical element to rotate. The second drive unit is sleeved outside the first drive unit. The second drive unit includes a second stator assembly and a second rotor assembly. The second stator assembly is used to drive the second rotor assembly to rotate. A second optical element is provided on the rotation axis of the second rotor assembly. The second rotor assembly is used to drive the second optical element to rotate. Light guide tube; The housing has a light-transmitting area, and the first driving unit, the second driving unit, and the light guide tube are disposed inside the housing. The first optical element, the second optical element, and the light-transmitting area are distributed along the laser transceiver path of the laser transceiver module.

2. The lidar according to claim 1, characterized in that, The second rotor assembly, the second stator assembly, the first stator assembly, and the first rotor assembly are nested sequentially from the inside out.

3. The lidar according to claim 1, characterized in that, The housing is provided with a first light-transmitting hole, which communicates with the light guide tube, and the laser transceiver path of the laser transceiver module passes through the first light-transmitting hole.

4. The lidar according to claim 3, characterized in that, The inner diameter of the first light-transmitting hole is larger than the inner diameter of the light guide tube, and the light guide tube is at least partially located inside the first light-transmitting hole.

5. The lidar according to claim 1, characterized in that, The light guide tube is rotatably connected inside the housing, and the second optical element is disposed inside the light guide tube.

6. The lidar according to claim 5, characterized in that, The lidar also includes a bearing assembly, and the light guide tube is rotatably connected to the housing through the bearing assembly.

7. The lidar according to claim 6, characterized in that, The outer wall of the light guide tube is provided with a first limiting ring, which is used to limit the installation position of the bearing assembly.

8. The lidar according to claim 6, characterized in that, The bearing assembly includes at least one first bearing, and a mounting sleeve is provided inside the housing. The light guide tube is at least partially located inside the mounting sleeve. The outer ring of the first bearing is fixed to the inner side wall of the mounting sleeve, and the inner ring of the first bearing is fixed to the outer side wall of the light guide tube.

9. The lidar according to claim 8, characterized in that, There are two first bearings, which are arranged sequentially along the axial direction of the light guide tube.

10. The lidar according to claim 8, characterized in that, The inner side of the mounting sleeve is provided with a first bearing mounting groove, and the outer ring of the first bearing is fixed in the first bearing mounting groove.

11. The lidar according to claim 8, characterized in that, The second rotor assembly is provided with a clearance groove, and the mounting sleeve is at least partially located within the clearance groove.

12. The lidar according to claim 1, characterized in that, The second rotor assembly includes a second rotating bracket and a second permanent magnet. The second permanent magnet is disposed on the outer wall of the second rotating bracket facing the second stator assembly, and multiple second permanent magnets are provided along the circumferential direction. The second stator assembly includes a second mounting bracket and a second winding, the second winding being wound on the second mounting bracket.

13. The lidar according to claim 12, characterized in that, The second rotating bracket is fixed to the light guide tube, and the second rotating bracket drives the light guide tube to rotate.

14. The lidar according to claim 13, characterized in that, The outer wall of the light guide tube is provided with a first limiting ring and a second limiting ring, and an assembly area for assembling the second rotating bracket is formed between the first limiting ring and the second limiting ring.

15. The lidar according to claim 14, characterized in that, The second rotor assembly is provided with a clearance groove, and the first limiting ring is located in the clearance groove.

16. The lidar according to claim 1, characterized in that, The first rotor assembly includes a first rotating bracket and a first permanent magnet. The first rotating bracket is rotatably connected inside the housing. The first permanent magnet is disposed on the inner sidewall of the first rotating bracket facing the first stator assembly. Multiple first permanent magnets are provided along the circumference. The first stator assembly includes a first mounting bracket and a first winding. The first winding is wound on the first mounting bracket.

17. The lidar according to claim 16, characterized in that, At least one second bearing is provided between the first rotating bracket and the light guide tube. The outer ring of the second bearing is fixed to the first rotating bracket, and the inner ring of the second bearing is fixed to the light guide tube. The first rotating bracket is rotatably connected to the light guide tube through the second bearing.

18. The lidar according to claim 17, characterized in that, The outer wall of the light guide tube is provided with a second limiting ring, which is used to limit the installation position of the second bearing.

19. The lidar according to claim 17, characterized in that, The first rotating bracket is provided with a second light-transmitting hole. At least part of the end of the light guide tube away from the laser transceiver module is located in the second light-transmitting hole. The outer ring of the second bearing is fixed to the inner wall of the second light-transmitting hole, and the inner ring of the second bearing is fixed to the light guide tube.

20. The lidar according to claim 19, characterized in that, The inner wall of the second light-transmitting hole is provided with a second bearing mounting groove, and the outer ring of the second bearing is fixed in the second bearing mounting groove.

21. The lidar according to claim 19, characterized in that, A fixing groove is provided on the inner wall of the second light-transmitting hole, and the first optical element is fixed in the fixing groove.

22. The lidar according to claim 19, characterized in that, The end of the light guide tube away from the laser transceiver module is located on the side of the first optical element facing the laser transceiver module, and there is a gap between the end of the light guide tube away from the laser transceiver module and the side wall of the first optical element facing the laser transceiver module.

23. The lidar according to claim 2, characterized in that, A partition is provided between the inner side of the first stator assembly and the outer side of the second stator assembly.

24. The lidar according to claim 23, characterized in that, The partition layer has a first groove on the side facing the first stator assembly, and the inner side of the first stator assembly is fixed in the first groove. The partition layer has a second groove on the side facing the second stator assembly, and the outer side of the second stator assembly is fixed in the second groove.

25. The lidar according to claim 1, characterized in that, The rotational speed of the first drive unit is N1, and the rotational speed of the second drive unit is N2, wherein N1 is greater than N2, or N1 is less than N2.

26. The lidar according to claim 1, characterized in that, The driving direction of the first driving unit is a first direction, and the driving direction of the second driving unit is a second direction. The first direction and the second direction are the same, or the first direction and the second direction are opposite.

27. The lidar according to claim 1, characterized in that, The housing has a first opening and a second opening. The first opening corresponds to the first rotor assembly, and the second opening corresponds to the second rotor assembly. Hall effect sensing units are respectively provided in the first opening and the second opening.

28. The lidar according to claim 1, characterized in that, The laser transceiver module includes a transmitter and a receiver, with the second optical element and the first optical element arranged sequentially from near to far along the laser emission direction of the transmitter.

29. The lidar according to claim 28, characterized in that, The second optical element has a first surface and a second surface, the first surface being used to receive laser light emitted by the transmitter and the second surface being used to refract laser light emitted by the transmitter; the first optical element is used to reflect or refract laser light from the second surface onto a target object.

30. A self-moving device, characterized in that, It includes a self-moving device body and a lidar as described in any one of claims 1-29, wherein the lidar is disposed on the self-moving device body.

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