Laser radar motor, laser radar and vehicle

Abstract

The utility model discloses a laser radar motor, a laser radar and a vehicle. The laser radar motor comprises a stator assembly, a rotor assembly and an encoder. The rotor assembly is rotatably connected to the stator assembly, an installation space is formed between the rotor assembly and the stator assembly, and the encoder is arranged in the installation space. Therefore, the number of matching structures among the internal elements of the encoder is reduced, the accumulated error is further reduced, and the detection precision of the encoder is improved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of electric machines, and particularly relates to a laser radar electric machine, a laser radar and a vehicle. BACKGROUND

[0002] The laser radar is a system for detecting the distance and position, speed and other characteristic information of a target by emitting laser beams. Its working principle is to send laser beams to a target, then compare the received echo reflected from the target with a detection signal, and after appropriate processing by a control center, the relevant information of the target, such as target distance, direction, height, speed, attitude, even shape and other parameters, can be obtained, so as to detect, track and identify the target.

[0003] In the related art, part of the encoder of the mechanical laser radar is located inside the electric machine, and the other part is located on the circuit board outside the electric machine, which results in too many matching structures between the two parts and too large cumulative error, so as to fail to meet the precision requirement of the laser radar. CONTENT OF THE UTILITY MODEL

[0004] The application aims to provide a laser radar electric machine, a laser radar and a vehicle, which can solve the problem of too many matching structures between the two parts of the encoder and too large cumulative error in the prior art.

[0005] In order to solve the above technical problem, the application is implemented as follows:

[0006] In a first aspect, an embodiment of the application provides a laser radar electric machine, comprising: a stator assembly, a rotor assembly and an encoder; the rotor assembly is rotationally connected to the stator assembly, an installation space is formed between the rotor assembly and the stator assembly, and the encoder is arranged in the installation space.

[0007] Optionally, the encoder comprises a code disc and a detection piece, the code disc is fixed on the rotor assembly, the detection piece is fixed on the stator assembly, the code disc and the detection piece are oppositely arranged, and the rotor assembly can rotate relative to the stator assembly to drive the code disc to rotate relative to the detection piece.

[0008] Optionally, the rotor assembly comprises a rotor shell and a rotating shaft, the stator assembly comprises a fixed shaft, the rotating shaft is rotationally connected to the fixed shaft, the rotor shell is connected to the rotating shaft, the rotor shell and the fixed shaft enclose the installation space, the code disc is fixed on the inner wall of the rotor shell, the detection piece is fixed on the fixed shaft, and the code disc and the detection piece are oppositely arranged.

[0009] Optionally, one side of the fixed shaft facing the installation space is provided with a mounting surface, and the detection piece is mounted on the mounting surface.

[0010] Optionally, the stator assembly further comprises a winding, and the rotor assembly further comprises a magnet; the winding and the magnet are arranged in the mounting space, the winding is sleeved on the fixed shaft, and the magnet is fixed on an inner wall of the rotor shell and arranged opposite to the winding.

[0011] Optionally, the fixed shaft is provided with a cavity, and the bearing is arranged in the cavity and fixedly connected with the fixed shaft, and the rotating shaft penetrates through the bearing.

[0012] Optionally, the rotor assembly comprises a rotor shell, and the stator assembly comprises a fixed seat and a rotating shaft; the rotating shaft is mounted on the fixed seat, the rotor shell is rotationally connected with the rotating shaft, one end of the rotor shell towards the fixed seat is provided with a mounting portion, the mounting space is formed between the mounting portion and the fixed seat, the code disc is fixed on the mounting portion, and the detection member is fixed on the fixed seat, and the code disc is arranged opposite to the detection member.

[0013] Optionally, along the radial direction of the rotating shaft, the mounting portion extends from the rotor shell towards a direction away from the rotating shaft.

[0014] Optionally, the stator assembly further comprises a winding, and the rotor assembly further comprises a magnet; the rotor shell, the fixed seat and the rotating shaft form a mounting cavity, the winding and the magnet are arranged in the mounting cavity, the winding is sleeved on the rotating shaft, and the magnet is fixed on an inner wall of the rotor shell and arranged opposite to the winding.

[0015] Optionally, the bearing is mounted on one end of the rotating shaft away from the fixed seat, and the rotor shell is rotationally connected with the rotating shaft.

[0016] Optionally, the lens is mounted on the outer side of the rotor shell.

[0017] In a second aspect, the embodiments of the present application provide a laser radar, comprising the laser radar motor according to any one of the above embodiments.

[0018] In a third aspect, the embodiments of the present application provide a vehicle, comprising the laser radar motor according to any one of the above embodiments or the laser radar according to the above embodiments.

[0019] In the embodiments of the present application, the laser radar motor comprises a stator assembly, a rotor assembly and an encoder; the rotor assembly is rotationally connected with the stator assembly, and the rotor assembly and the stator assembly form a mounting space; and the encoder is arranged in the mounting space. In this way, the number of matching structures between internal elements of the encoder is reduced, thereby reducing cumulative error and improving the detection accuracy of the encoder.

[0020] Additional aspects and advantages of the application will be set forth in part in the description which follows, and in part will become apparent to those having ordinary skill in the art upon examination of the following or can be learned from practice of the application. BRIEF DESCRIPTION OF DRAWINGS

[0021] The above and / or additional aspects and advantages of the present application will become apparent and be readily appreciated from the following description, including the appended drawings, wherein:

[0022] Figure 1 is a cross-sectional view of a lidar according to an embodiment of the present application;

[0023] Figure 2 is an exploded view of a lidar according to an embodiment of the present application;

[0024] Figure 3 is a cross-sectional view of a lidar according to another embodiment of the present application.

[0025] REFERENCE NUMERALS

[0026] 1 - mounting space; 2 - encoder; 3 - rotor assembly; 4 - stator assembly; 5 - mounting surface; 6 - bearing; 7 - cavity; 8 - mounting portion; 9 - mounting cavity; 10 - lens; 11 - circuit board; 12 - wiring harness; 13 - fastener; 14 - elastic member; 15 - mounting hole; 21 - code disc; 22 - detection member; 31 - rotor housing; 32 - rotating shaft; 33 - magnet; 41 - fixed shaft; 42 - winding; 43 - fixing seat; 44 - rotating shaft. DETAILED DESCRIPTION

[0027] Embodiments of the present application will be described in detail below with reference to the drawings, in which like reference numerals refer to like elements throughout. The embodiments described below are examples of implementations of the present application and are not intended to limit the scope of the present application, as defined by the appended claims. Aspects of the present application can be modified many times without departing from the scope of the present application, which is set forth with particularity in the claims.

[0028] The terms "first", "second", etc. in the specification and claims of the present application can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise specified. In addition, "and / or" in the specification and claims means at least one of the connected objects, and the character " / ", in general, means that the front and rear associated objects are in an "or" relationship.

[0029] In the description of the present application, it needs to be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0030] In the description of the present application, it needs to be understood that the terms "mounting", "connection", "connection" should be understood broadly, for example, it can be fixed connection, or detachable connection, or integral connection; it can be mechanical connection, or electrical connection; it can be direct connection, or indirect connection through intermediate medium, or internal communication of two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0031] The laser radar motor, laser radar and vehicle provided by the embodiments of the present application will be described in detail below in combination with the drawings and specific embodiments and their application scenarios.

[0032] As shown in Figures 1 to 3 The laser radar motor according to some embodiments of the present application comprises a stator assembly 4, a rotor assembly 3 and an encoder 2; the rotor assembly 3 is rotationally connected to the stator assembly 4, and an installation space 1 is formed between the rotor assembly 3 and the stator assembly 4, and the encoder 2 is arranged in the installation space 1.

[0033] In the embodiments of the present application, the rotor assembly 3 is rotationally connected to the stator assembly 4, and an installation space 1 is formed between the rotor assembly 3 and the stator assembly 4, and the encoder 2 is arranged in the installation space 1. In this way, the number of matching structures between the internal elements of the encoder 2 is reduced, thereby reducing the cumulative error and improving the detection accuracy of the encoder 2.

[0034] In some embodiments, the encoder 2 is arranged inside the laser radar motor, and by detecting the speed and displacement of the rotor assembly 3 and other information, and cooperating with other structural members, the relevant information of the target object to be detected, such as target distance, orientation, height, speed, attitude, even shape and other parameters, is obtained, so as to detect, track and identify the target object.

[0035] Optionally, the encoder 2 comprises a code disc 21 and a detection piece 22, the code disc 21 is fixed on the rotor assembly 3, the detection piece 22 is fixed on the stator assembly 4, the code disc 21 is oppositely arranged with the detection piece 22, and the rotor assembly 3 can rotate relative to the stator assembly 4 to drive the code disc 21 to rotate relative to the detection piece 22.

[0036] In the embodiment of the present application, the code disc 21 is fixed on the rotor assembly 3, the detection piece 22 is fixed on the stator assembly 4, the code disc 21 is oppositely arranged with the detection piece 22, and the rotor assembly 3 can rotate relative to the stator assembly 4 to drive the code disc 21 to rotate relative to the detection piece 22. In this way, the detection piece 22 can rotate relative to the code disc 21, so that the detection piece 22 detects the linear velocity, angular velocity and other information on the code disc 21.

[0037] Specifically, the code disc 21 is a sensor for measuring angular displacement, and has an annular code track with regular holes distributed thereon; the detection piece 22 can give relatively accurate angle information according to the periodic change of the transmission / non-transmission area on the code track area, and then measure the angular velocity and angular displacement of the code disc 21.

[0038] Optionally, as shown in Figures 1 to 2 The rotor assembly 3 comprises a rotor shell 31 and a rotating shaft 32, the stator assembly 4 comprises a fixed shaft 41, the rotating shaft 32 is rotationally connected to the fixed shaft 41, the rotor shell 31 is connected to the rotating shaft 32, the rotor shell 31 and the fixed shaft 41 enclose to form the installation space 1, the code disc 21 is fixed on the inner wall of the rotor shell 31, and the detection piece 22 is fixed on the fixed shaft 41, and the code disc 21 is oppositely arranged with the detection piece 22.

[0039] In the embodiment of the present application, the rotating shaft 32 is rotationally connected to the fixed shaft 41, the rotor shell 31 is connected to the rotating shaft 32, the code disc 21 is fixed on the inner wall of the rotor shell 31, and the detection piece 22 is fixed on the fixed shaft 41. In this way, the rotor shell 31 can rotate relative to the fixed shaft 41 through the rotating shaft 32, and then drive the code disc 21 to rotate relative to the detection piece 22, so that the detection piece 22 detects the angular velocity on the rotor shell 31. At the same time, since the detection piece 22 and the code disc 21 are arranged in the installation space 1, it is beneficial to improve the space utilization of the installation space 1, thereby reducing the volume of the laser radar motor.

[0040] In some embodiments, the encoder 2 can be a contact encoder or an optical encoder. For example, when the encoder 2 is an optical encoder, the code disc 21 is a grating code disc, and the detection member 22 is a photoelectric detection member. The grating code disc is fixedly arranged on the inner wall of the rotor shell 31 to rotate with the rotor shell 31, and the photoelectric detection member detects the gratings on the grating code disc to detect the angular displacement of the rotor shell 31 in real time. Specifically, the grating code disc is coaxially arranged with the rotor shell 31, and the photoelectric detection member is fixed on the fixed shaft 41. When the rotor shell 31 rotates relative to the fixed shaft 41, the grating code disc rotates relative to the photoelectric detection member. During the rotation, the photoelectric detection member detects different gratings on the grating code disc, so as to detect the angular displacement of the rotor shell 31 and achieve the effect of detecting the motor speed.

[0041] In other embodiments, the laser radar motor further includes a circuit board 11 and a wire harness 12. The detection member 22 is electrically connected to the circuit board 11, one end of the wire harness 12 is connected to the circuit board 11, and the other end is electrically connected to the general controller of the laser radar motor. In this way, the detection member 22 can send the angular displacement of the rotor shell 31 to the general controller of the laser radar motor through the circuit board 11, and the general controller of the laser radar motor can adjust according to the angular displacement of the rotor shell 31.

[0042] Optionally, as shown in Figures 1 to 2 The fixed shaft 41 is provided with a mounting surface 5 on the side facing the mounting space 1, and the detection member 22 is mounted on the mounting surface 5.

[0043] In the embodiments of the present application, the mounting surface 5 is arranged on the side of the fixed shaft 41 facing the mounting space 1, and the detection member 22 is mounted on the mounting surface 5, so as to facilitate the assembly between the detection member 22 and the fixed shaft 41.

[0044] In some embodiments, one end of the fixed shaft 41 is provided with a mounting hole 15, and the mounting hole 15 is used for mounting and fixing with other structures of the laser radar.

[0045] In yet other embodiments, as shown in Figure 1 The fixed shaft 41 is provided with a step, the circuit board 11 is mounted on the step and coaxially arranged with the fixed shaft 41, and the detection member 22 is arranged on the circuit board 11. Further, as shown in Figure 2 A protrusion is arranged on the side wall of the fixed shaft 41, and a recess is arranged at the corresponding position of the circuit board 11. In this way, the circuit board 11 can be mounted and fixed by cooperating with the protrusion of the fixed shaft 41 through the recess.

[0046] Optionally, as shown in Figures 1 to 2As shown, the stator assembly 4 further comprises a winding 42, and the rotor assembly 3 further comprises a magnet 33; the winding 42 and the magnet 33 are both arranged in the mounting space 1, the winding 42 is sleeved on the fixed shaft 41, and the magnet 33 is fixed on the inner wall of the rotor shell 31, and the magnet 33 is arranged opposite to the winding 42.

[0047] In the embodiment of the present application, the winding 42 is sleeved on the fixed shaft 41, and the magnet 33 is fixed on the inner wall of the rotor shell 31, and the magnet 33 is arranged opposite to the winding 42. In this way, under the condition that the winding 42 is electrified, the magnet 33 can rotate relative to the winding 42, thereby driving the rotor shell 31 to rotate relative to the fixed shaft 41.

[0048] In some embodiments, as shown in the drawings, Figure 1 The winding 42 is annularly arranged on the outer periphery of the fixed shaft 41 and is fixed to the fixed shaft 41 by glue, the circuit board 11 is electrically connected to the winding 42 to electrify the winding 42 to generate a magnetic field, and the magnet 33 rotates in the magnetic field.

[0049] Optionally, as shown in the drawings, Figures 1 to 2 The fixed shaft 41 is provided with a cavity 7, the bearing 6 is arranged in the cavity 7 and is fixedly connected to the fixed shaft 41, and the rotating shaft 32 penetrates through the bearing 6.

[0050] In the embodiment of the present application, the bearing 6 is arranged in the cavity 7 and is fixedly connected to the fixed shaft 41, and the rotating shaft 32 penetrates through the bearing 6. In this way, the rotating connection between the fixed shaft 41 and the rotor shell 31 is facilitated.

[0051] It should be noted that the specific number of bearings 6 is not limited. For example, the bearings 6 can be two, and the two bearings 6 are spaced apart along the axial direction of the fixed shaft 41.

[0052] Optionally, as shown in the drawings, Figure 3 The rotor assembly 3 comprises a rotor shell 31, and the stator assembly 4 comprises a fixed seat 43 and a rotating shaft 44; the rotating shaft 44 is mounted on the fixed seat 43, the rotor shell 31 is rotationally connected to the rotating shaft 44, one end of the rotor shell 31 towards the fixed seat 43 is provided with a mounting portion 8, the mounting space 1 is formed between the mounting portion 8 and the fixed seat 43, the code disc 21 is fixed on the mounting portion 8, the detection piece 22 is fixed on the fixed seat 43, and the code disc 21 is arranged opposite to the detection piece 22.

[0053] In the embodiment of the present application, the rotating shaft 44 is installed on the fixing seat 43, the rotor shell 31 is rotationally connected to the rotating shaft 44, one end of the rotor shell 31 towards the fixing seat 43 is provided with a mounting portion 8, the code disc 21 is fixed on the mounting portion 8, and the detection member 22 is fixed on the fixing seat 43. In this way, the rotor shell 31 can rotate relative to the fixed shaft 41, and further drives the code disc 21 to rotate relative to the detection member 22, so that the detection member 22 detects the angular velocity on the code disc 21. Meanwhile, the mounting portion 8 is provided at the one end of the rotor shell 31 towards the fixing seat 43, so that the size of the mounting portion can be flexibly adjusted according to requirements, and further different sizes of the code disc 21 can be selected and installed on the mounting portion.

[0054] Alternatively, as shown in Figure 3 , the mounting portion 8 extends from the rotor shell 31 towards the direction away from the rotating shaft 44 along the radial direction of the rotating shaft 44.

[0055] In the embodiment of the present application, the mounting portion 8 extends from the rotor shell 31 towards the direction away from the rotating shaft 44, so that the size of the mounting portion 8 is increased along the radial direction of the rotating shaft 44, and further a larger size of the code disc 21 can be installed, thereby improving the detection accuracy.

[0056] It should be noted that the larger the size of the code disc 21 is, the higher the detection accuracy is; and the smaller the size of the code disc 21 is, the lower the detection accuracy is.

[0057] Alternatively, as shown in Figure 3 , the stator assembly 4 further includes a winding 42, and the rotor assembly 3 further includes a magnet 33; the rotor shell 31, the fixing seat 43 and the rotating shaft 44 enclose to form a mounting cavity 9, the winding 42 and the magnet 33 are arranged in the mounting cavity 9, the winding 42 is sleeved on the rotating shaft 44, the magnet 33 is fixed on the inner wall of the rotor shell 31, and the magnet 33 is arranged opposite to the winding 42.

[0058] In the embodiment of the present application, the winding 42 and the magnet 33 are arranged in the mounting cavity 9, the winding 42 is sleeved on the rotating shaft 44, the magnet 33 is fixed on the inner wall of the rotor shell 31, and the magnet 33 is arranged opposite to the winding 42. In this way, the magnet 33 can rotate relative to the winding 42 in the case that the winding 42 is electrified, and further drives the rotor shell 31 to rotate relative to the fixing seat 43.

[0059] In some embodiments, as shown in Figure 3 , the winding 42 is annularly arranged on the outer periphery of the rotating shaft 44 and is fixed on the rotating shaft 44 by glue, the circuit board 11 is electrically connected with the winding 42 to electrify the winding 42 to generate a magnetic field, and further the magnet 33 rotates in the magnetic field.

[0060] Alternatively, as shown in Figure 3As shown, the laser radar motor further comprises a bearing 6; the bearing 6 is installed at one end of the rotating shaft 44 away from the fixed seat 43, and the rotor shell 31 is rotationally connected to the rotating shaft 44.

[0061] In the embodiment of the present application, the bearing 6 is installed at one end of the rotating shaft 44 away from the fixed seat 43, and the rotor shell 31 is rotationally connected to the rotating shaft 44. In this way, the rotational connection between the rotor shell 31 and the rotating shaft 44 is facilitated.

[0062] In some embodiments, as shown in Figure 3 As shown, since the bearing 6 is installed at one end of the rotating shaft 44 away from the fixed seat 43, the winding 42 can be installed at one end of the rotating shaft 44 close to the fixed seat 43, and since the circuit board 11 is installed on the fixed seat 43, the line between the winding 42 and the circuit board 11 is short, which is conducive to cost saving.

[0063] In yet some embodiments, as shown in Figure 3 As shown, a boss is arranged on the inner wall of the rotor shell 31, and the bearing 6 can be fixed on the boss. It should be noted that the specific number of the bearing 6 is not limited. For example, the bearing 6 can be two, and the two bearings 6 are spaced apart along the axial direction of the rotating shaft 44.

[0064] Optionally, the laser radar motor further comprises a fastener 13 and an elastic member 14; the fastener 13 is installed at one end of the rotating shaft 44 away from the fixed seat 43, and the elastic member 14 is arranged between the fastener 13 and the bearing 6.

[0065] In the embodiment of the present application, the fastener 13 is installed at one end of the rotating shaft 44 away from the fixed seat 43, and the elastic member 14 is arranged between the fastener 13 and the bearing 6. In this way, the elastic force of the elastic member 14 can be used to pre-press the bearing 6, so as to form a certain limiting action on the bearing 6 in the axial direction, thereby avoiding the movement of the bearing 6 in the axial direction.

[0066] It should be noted that the elastic member 14 can be a metal spring or a rubber element with elasticity, and the present application is not limited herein.

[0067] In the prior art, the lens 10 needs to be installed on the rotor shell 31 through a lens holder, which results in a long tolerance size chain between the lens 10 and the rotor shell 31, and finally results in an excessively large optical cumulative error, which cannot meet the high-precision optical use requirement.

[0068] Optionally, as shown in Figures 1 to 3 As shown, the laser radar motor further comprises a lens 10; the lens 10 is installed on the outer side of the rotor shell 31.

[0069] In the embodiments of the present application, the lens 10 is directly mounted on the outer side of the rotor shell 31, so that the tolerance size chain between the lens 10 and the rotor shell 31 is reduced, thereby reducing the assembly error. Moreover, since the lens support structure is omitted, material is saved and cost is reduced.

[0070] In some embodiments, the specific shape of the lens 10 is not limited. For example, it can be a regular polyhedron or an irregular polyhedron.

[0071] In a second aspect, the embodiments of the present application provide a laser radar, comprising the laser radar motor according to any one of the above embodiments.

[0072] In the embodiments of the present application, the rotor assembly 3 is rotatably connected to the stator assembly 4, and the mounting space 1 is formed between the rotor assembly 3 and the stator assembly 4, and the encoder 2 is arranged in the mounting space 1. In this way, the number of matching structures between the internal elements of the encoder 2 is reduced, thereby reducing the cumulative error and improving the detection accuracy of the encoder 2.

[0073] In a third aspect, the embodiments of the present application provide a vehicle, comprising the laser radar motor according to any one of the above embodiments or the laser radar according to the above embodiments.

[0074] In the embodiments of the present application, the rotor assembly 3 is rotatably connected to the stator assembly 4, and the mounting space 1 is formed between the rotor assembly 3 and the stator assembly 4, and the encoder 2 is arranged in the mounting space 1. In this way, the number of matching structures between the internal elements of the encoder 2 is reduced, thereby reducing the cumulative error and improving the detection accuracy of the encoder 2.

[0075] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "exemplary embodiment", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the exemplary description of the above terms does not necessarily mean the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0076] Although the embodiments of the present application have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, replacements and variations can be made to the embodiments without departing from the principles and purposes of the present application, and the scope of the present application is defined by the claims and their equivalents.

Claims

1. A lidar motor, characterized in that, include: Stator assembly, rotor assembly, and encoder; The rotor assembly is rotatably connected to the stator assembly, and an installation space is formed between the rotor assembly and the stator assembly. The encoder is disposed within the installation space. The encoder includes a code disk and a detection element; the code disk is fixed on the rotor assembly, the detection element is fixed on the stator assembly, the code disk and the detection element are arranged opposite to each other, and the rotor assembly can rotate relative to the stator assembly to drive the code disk to rotate relative to the detection element.

2. The lidar motor of claim 1, wherein, The rotor assembly includes a rotor housing and a rotating shaft; the stator assembly includes a fixed shaft. The rotating shaft is rotatably connected to the fixed shaft, the rotor housing is connected to the rotating shaft, and the rotor housing and the fixed shaft enclose the installation space. The code disk is fixed to the inner wall of the rotor housing, the detection element is fixed to the fixed shaft, and the code disk and the detection element are arranged opposite to each other.

3. The lidar motor of claim 2, wherein, The fixed shaft has a mounting surface on the side facing the mounting space, and the detection component is mounted on the mounting surface.

4. The lidar motor of claim 3, wherein, The stator assembly further includes a winding, and the rotor assembly further includes a magnet; both the winding and the magnet are disposed within the mounting space, the winding is sleeved on the fixed shaft, and the magnet is fixed to the inner wall of the rotor housing, with the magnet and the winding being arranged opposite to each other.

5. The lidar motor of claim 4, wherein, It also includes a bearing; the fixed shaft has a cavity, the bearing is located in the cavity and is fixedly connected to the fixed shaft, and the rotating shaft passes through the bearing.

6. The lidar motor of claim 1, wherein, The rotor assembly includes a rotor housing, and the stator assembly includes a mounting base and a rotating shaft; The rotating shaft is mounted on the fixed base, the rotor housing is rotatably connected to the rotating shaft, the end of the rotor housing facing the fixed base is provided with a mounting part, the mounting part and the fixed base form the mounting space, the code disk is fixed on the mounting part, the detection element is fixed on the fixed base, and the code disk and the detection element are arranged opposite to each other.

7. The lidar motor of claim 6, wherein, Along the radial direction of the rotating shaft, the mounting portion extends from the rotor housing in a direction away from the rotating shaft.

8. The lidar motor of claim 7, wherein, The stator assembly further includes windings, and the rotor assembly further includes magnets; The rotor housing, the fixed base, and the rotating shaft form an installation cavity. The winding and the magnet are disposed in the installation cavity. The winding is sleeved on the rotating shaft. The magnet is fixed to the inner wall of the rotor housing. The magnet and the winding are arranged opposite to each other.

9. The lidar engine of claim 7, wherein, It also includes a bearing; the bearing is installed at the end of the rotating shaft away from the fixed base, and the rotor housing is rotatably connected to the rotating shaft.

10. The laser radar motor of any of claims 2-8, wherein, It also includes a lens; the lens is mounted on the outside of the rotor housing.

11. A lidar, comprising: Includes a lidar motor as described in any one of claims 1-10 above.

12. A vehicle characterized by comprising: Includes a lidar motor as described in any one of claims 1-10 above, or a lidar as described in claim 11 above.

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