Laser radar and robot

Abstract

The utility model relates to radar technical field discloses a kind of laser radar and robot, and laser radar includes base, laser transceiver component, driving motor and distance sensor, laser transceiver component is located on the base, for transmitting laser signal and receiving laser signal from the reflection of obstacle;Driving motor is located in the base, the driving motor includes rotor and stator, the rotor sleeve is located in the stator, and can rotate relative to the stator;The laser transceiver component is connected with the rotor;The rotation plane of the rotor is equipped with first detection surface and second detection surface;Distance sensor is located in the base, and it is towards the rotation plane of the rotor;In the rotation process of the rotor, the detection distance of the distance sensor and the first detection surface and the second detection surface is not equal.The utility model aims at solving the technical problem that the detection result is not accurate by using stripe reflection type light encoding mode to detect rotor zero.

Description

Technical Field

[0001] This utility model relates to the field of radar technology, and in particular to a lidar and robot. Background Technology

[0002] In the field of radar technology, lidar includes a laser transceiver assembly and a drive assembly. A drive motor rotates the laser transceiver assembly, enabling 360° scanning to generate a ring-shaped measurement point cloud. Zero-position detection of the rotor is a key technology in radar control, used to determine the initial position of the motor rotor whether stationary or running. Zero-position detection optimizes motor operating parameters, such as current, voltage, and frequency, thereby improving motor efficiency.

[0003] In related technologies, a striped reflective optical coding method is used to achieve rotor zero-position detection. A ring of spaced black stripes is set on the rotor. The black stripes have low light reflectivity, while the silver portions between the black stripes have high light reflectivity. When the rotor rotates to the point where the detection end of the photoelectric sensor faces the silver portions, the photoelectric sensor can receive a light signal; when the rotor rotates to the point where the detection end of the photoelectric sensor faces the black stripes, the photoelectric sensor cannot receive a light signal. The rotor speed can be calculated by the frequency of the generated signal. Thicker black stripes corresponding to the rotor zero position prolong the time the photoelectric sensor's detection end cannot receive a light signal at the zero position, thus allowing the zero-position to be determined.

[0004] In practical applications, the black stripes are relatively small and densely distributed. When contaminated by grease or other substances inside the motor, they can easily alter the reflectivity of the striped areas, leading to inaccurate detection results from the photoelectric sensor. Utility Model Content

[0005] The purpose of this invention is to provide a laser radar and robot to solve the technical problem of inaccurate detection results caused by using striped reflective optical coding to detect rotor zero position.

[0006] To achieve the above objectives, this utility model provides a laser radar, which includes:

[0007] Base;

[0008] A laser transceiver assembly, mounted on the base, is used to transmit laser signals and receive laser signals reflected from obstacles;

[0009] A drive motor is disposed within the base. The drive motor includes a rotor and a stator. The rotor is sleeved on the stator and can rotate relative to the stator. The laser transceiver assembly is connected to the rotor. A first detection surface and a second detection surface are provided on the rotation plane of the rotor.

[0010] A distance sensor is disposed inside the base and faces the rotation plane of the rotor; during the rotation of the rotor, the detection distance between the distance sensor and the first detection surface and the second detection surface is not equal.

[0011] In the lidar of this application, the distance sensor is located on the side of the drive motor away from the laser transceiver assembly;

[0012] The end face of the rotor near the distance sensor forms the first detection surface;

[0013] The rotor has a notch that extends from the first detection surface in a direction away from the distance sensor to form the second detection surface; or

[0014] The rotor is provided with a protrusion that extends from the first detection surface in a direction close to the distance sensor to form the second detection surface.

[0015] In the lidar of this application, the stator is provided with a detection slot, and the position of the detection slot is opposite to the position of the distance sensor;

[0016] The distance sensor includes a photoelectric sensor or an acoustic sensor, and the detection signal emitted by the distance sensor passes through the detection slot and reaches the rotor.

[0017] In the lidar of this application, the lidar further includes a first circuit board, which is disposed in the base and located on the side of the drive motor away from the laser transceiver assembly; the drive motor is electrically connected to the first circuit board.

[0018] The photoelectric sensor or the acoustic sensor is mounted on the first circuit board.

[0019] In the lidar of this application, the lidar further includes a first circuit board, which is disposed in the base and located on the side of the drive motor away from the laser transceiver assembly; the drive motor is electrically connected to the first circuit board.

[0020] The distance sensor includes a first detection element and a second detection element. The first detection element is disposed on the first circuit board, and the second detection element is disposed on the first detection surface and the second detection surface. The first detection element is used to transmit the detection signal, and the second detection element is used to receive the detection signal transmitted by the first detection element.

[0021] In the lidar of this application, the first detection element includes one of a positive electrode and a negative electrode, and the second detection element includes the other of a positive electrode and a negative electrode.

[0022] Alternatively, the first detection element may include one of a magnetic element and a Hall sensor, and the second detection element may include the other of a magnetic element and a Hall sensor;

[0023] Alternatively, the first detection element may include one of a magnetic element and a conductive element, and the second detection element may include the other of a magnetic element and a conductive element.

[0024] In the lidar of this application, a magnetic encoder is provided on the first circuit board;

[0025] The lidar also includes a magnetic ring mounted on the rotor. During the rotation of the rotor, the magnetic ring generates a periodically changing magnetic field, which is detected by the magnetic encoder.

[0026] In the lidar of this application, the lidar further includes a mounting bracket, which is connected to the rotor, and the laser transceiver assembly is disposed on the mounting bracket.

[0027] In the lidar of this application, the lidar also includes a housing, which is mounted on the base to form a receiving space; the laser transceiver assembly is disposed within the receiving space.

[0028] In the lidar of this application, the drive motor includes a bearing, the rotor is fixed to the inner ring of the bearing, and the stator is fixed to the outer ring of the bearing.

[0029] In the lidar of this application, the lidar further includes a second circuit board, which is disposed between the laser transceiver component and the drive motor, and the laser transceiver component is electrically connected to the second circuit board.

[0030] In the lidar of this application, the lidar further includes a wireless charging ring, which is sleeved on the outer periphery of the rotor and electrically connected to the first circuit board and the second circuit board, so as to realize the first circuit board to supply power to the second circuit board.

[0031] Secondly, this application also provides a robot, including a robot body and the lidar, wherein the lidar is disposed on the robot body.

[0032] This utility model provides a laser radar, the advantages of which are:

[0033] The lidar system includes a base, a laser transceiver assembly, a drive motor, and a distance sensor. The drive motor comprises a rotor and a stator. A first detection surface and a second detection surface are respectively positioned on the rotor's rotation plane. The detection distances between the distance sensor and the first and second detection surfaces are unequal. As the rotor rotates, the distance sensor continuously monitors the distance between itself and the rotor's rotation plane. When the distance sensor detects the first distance, the first detection surface of the rotor faces the sensor; when it detects the second distance, the second detection surface faces the sensor. By pre-setting either the first or second detection surface as the corresponding surface for the rotor's zero position, the rotor is determined to be at the zero position when the distance sensor detects either the first or second distance. Based on distance-based rotor zero-position detection, the reflectivity is unaffected by contaminants such as grease inside the motor, thus improving the accuracy of rotor zero-position detection. Attached Figure Description

[0034] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments 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.

[0035] Figure 1 A schematic diagram of the structure of the lidar provided in the embodiment of this utility model;

[0036] Figure 2 An exploded view of the lidar provided in this embodiment of the utility model;

[0037] Figure 3 A cross-sectional schematic diagram of a lidar provided for an embodiment of this utility model;

[0038] Figure 4 An exploded view of the drive motor provided in an embodiment of this utility model.

[0039] The markings in the image are as follows:

[0040] 10. Base; 20. Laser transceiver assembly; 30. Drive motor; 31. Rotor; 32. Stator; 33. Notch; 34. Detection slot; 35. Bearing; 36. Magnetic ring; 37. End cap; 40. Distance sensor; 50. First circuit board; 51. Magnetic encoder; 60. Mounting bracket; 70. Cover; 80. Second circuit board; 90. Wireless charging ring; 100. LiDAR. Detailed Implementation

[0041] The specific embodiments of this utility model will be described in further detail below with reference to the accompanying drawings and examples. The following examples are used to illustrate this utility model, but are not intended to limit its scope.

[0042] In the description of this utility model, it should be noted that the terms "upper", "lower", "front", "rear", "inner", "outer" and other terms used in this utility model to indicate the orientation or positional relationship are based on the positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device and components referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0043] In the description of this utility model, it should be understood that the terms "first," "second," etc., are used to describe various information, but this information should not be limited to these terms. These terms are only used to distinguish information of the same type from each other. For example, without departing from the scope of this utility model, "first" information can also be referred to as "second" information, and similarly, "second" information can also be referred to as "first" information.

[0044] like Figures 1 to 3 As shown, this utility model embodiment provides a lidar 100, which includes a base 10, a laser transceiver assembly 20, a drive motor 30, and a distance sensor 40. The laser transceiver assembly 20 is disposed on the base 10 and is used to emit laser signals and receive laser signals reflected from obstacles. The drive motor 30 is disposed inside the base 10 and includes a rotor 31 and a stator 32. The rotor 31 is sleeved on the stator 32 and can rotate relative to the stator 32. The laser transceiver assembly 20 is connected to the rotor 31. A first detection surface and a second detection surface are provided on the rotation plane of the rotor 31. The distance sensor 40 is disposed inside the base 10 and faces the rotation plane of the rotor 31. During the rotation of the rotor 31, the detection distance between the distance sensor 40 and the first detection surface and the second detection surface are not equal.

[0045] In this embodiment, the base 10 serves as the support structure for the lidar 100. The laser transceiver assembly 20 is mounted on the base 10, and the drive motor 30 is located within the base 10 to drive the laser transceiver assembly 20 to rotate. The laser transceiver assembly 20 includes a transmitting module and a receiving module. The transmitting module transmits laser signals, which propagate to the external environment and are reflected back after being reflected by obstacles. The receiving module receives the laser signals reflected from obstacles and converts them into electrical signals for further processing.

[0046] The drive motor 30 includes a rotor 31 and a stator 32. The rotor 31 is sleeved on the outer periphery of the stator 32, or it can be sleeved inside the stator 32; this embodiment does not impose a specific limitation. The rotor 31 rotates relative to the stator 32, and drives the laser transceiver assembly 20 to rotate together to achieve laser scanning.

[0047] Based on the above technical solution, a first detection surface and a second detection surface are respectively set on the rotation plane of the rotor 31, and the detection distances between the distance sensor 40 and the first and second detection surfaces are not equal. The detection distance between the distance sensor 40 and the first detection surface is the first distance, and the detection distance between the distance sensor 40 and the second detection surface is the second distance. When the rotor 31 is rotating, the distance sensor 40 detects the distance between itself and the rotation plane of the rotor 31 in real time. When the distance sensor 40 detects the first distance, the first detection surface of the rotor 31 faces the distance sensor 40; when the second distance is detected, the second detection surface of the rotor 31 faces the distance sensor 40. By pre-setting the second detection surface (or the first detection surface) as the corresponding surface of the zero position of the rotor 31, when the distance sensor 40 detects a distance of the second distance (or the first distance), it is determined that the rotor 31 is at the zero position.

[0048] This embodiment detects the zero position of rotor 31 based on distance rather than stripe reflectivity, thus avoiding the influence of contamination such as grease inside the motor on reflectivity. Even if there is contamination on the surface of rotor 31, it does not affect the distance measurement between distance sensor 40 and the detection surface. The zero position of rotor 31 is detected by the distance difference between distance sensor 40 and different detection surfaces on rotor 31, improving detection accuracy.

[0049] In some embodiments, such as Figures 2 to 4 As shown, the distance sensor 40 is located on the side of the drive motor 30 away from the laser transceiver assembly 20; the end face of the rotor 31 near the distance sensor 40 forms a first detection surface; the rotor 31 is provided with a notch 33, which extends from the first detection surface in the direction away from the distance sensor 40 to form a second detection surface.

[0050] Specifically, the laser transceiver assembly 20, the drive motor 30, and the distance sensor 40 are arranged sequentially along the height direction of the base 10. The end face of the rotor 31 facing the distance sensor 40 (i.e., the end face of the rotor 31 body) forms a first detection surface. A notch 33 extends from the first detection surface in a direction away from the distance sensor 40, and the end face of the notch 33 away from the distance sensor 40 forms a second detection surface. The first detection surface and the second detection surface form a height difference along the height direction of the base 10. The detection distance from the distance sensor 40 to the second detection surface (i.e., the second distance) is greater than the detection distance to the first detection surface (i.e., the first distance). By detecting the different distances between the distance sensor 40 and the first and second detection surfaces, the position of the rotor 31 can be determined, thereby determining the zero position of the rotor 31.

[0051] In this embodiment, the distance sensor 40 is placed on the side of the drive motor 30 away from the laser transceiver assembly 20 to avoid spatial interference between the distance sensor 40 and the laser transceiver assembly 20. The laser transceiver assembly 20 requires a certain space and angle range when transmitting and receiving laser signals. Placing the distance sensor 40 on the opposite side ensures that the laser transceiver assembly 20 and the distance sensor 40 do not interfere with each other.

[0052] In some embodiments, the distance sensor 40 is disposed on the side of the drive motor 30 away from the laser transceiver assembly 20; the end face of the rotor 31 near the distance sensor 40 forms a first detection surface; the rotor 31 is provided with a protrusion (not shown in the figure), which extends from the first detection surface in the direction near the distance sensor 40 to form a second detection surface.

[0053] Specifically, unlike the notch 33, in this embodiment, a protrusion is formed extending from the first detection surface in the direction close to the distance sensor 40. The end face of the protrusion away from the distance sensor 40 is the second detection surface. The detection distance from the distance sensor 40 to the second detection surface (i.e., the second distance) is less than the detection distance to the first detection surface (i.e., the first distance). By detecting the different distances between the distance sensor 40 and the first and second detection surfaces, the position of the rotor 31 can be determined, and thus the zero position of the rotor 31 can be determined.

[0054] In some embodiments, such as Figure 4 As shown, the stator 32 is provided with a detection slot 34, the position of the detection slot 34 is opposite to the position of the distance sensor 40; the distance sensor 40 includes a photoelectric sensor, and the detection signal emitted by the photoelectric sensor passes through the detection slot 34 and reaches the rotor 31.

[0055] Specifically, the distance sensor 40 includes a photoelectric sensor, which has advantages such as fast response speed, high accuracy, and strong anti-interference ability. It is understood that since light signals cannot be blocked by obstacles, otherwise reflection will occur, a detection slot 34 is provided on the stator 32 to allow the light signal to pass through and reach the first or second detection surface on the rotor 31. When the rotor 31 rotates relative to the stator 32, the photoelectric sensor determines the zero position of the rotor 31 by detecting the time difference of the light signal reflected by the first or second detection surface.

[0056] For example, the rotor 31 has a notch 33 that extends from the first detection surface in a direction away from the photoelectric sensor to form a second detection surface. When the rotor 31 is in a non-zero position, the notch 33 is not located on the detection path of the photoelectric sensor, and the photoelectric sensor emits a light signal to the rotor 31. The time difference between the light signal's emission and its reflection back from the first detection surface of the rotor 31 is t1. When the rotor 31 is in a zero position, the notch 33 is located on the detection path of the photoelectric sensor, and the photoelectric sensor emits a light signal to the notch 33 (or the second detection surface). The time difference between the light signal's emission and its reflection back from the notch 33 (or the second detection surface) is t2. Since the light signal is reflected over a longer distance at the notch 33, t2 is greater than t1. This allows the determination of whether the rotor 31 is in a zero position. This detection method has high stability and can ensure the zero-position detection accuracy of the rotor 31.

[0057] In some embodiments, the stator 32 is provided with a detection slot 34, the position of the detection slot 34 being opposite to the position of the distance sensor 40; the distance sensor 40 includes an acoustic sensor, and the detection signal emitted by the acoustic sensor passes through the detection slot 34 and reaches the rotor 31.

[0058] Specifically, the distance sensor 40 includes an acoustic wave sensor, which is relatively inexpensive. It is understood that since acoustic wave signals cannot propagate without obstruction (otherwise reflection), a detection slot 34 is provided on the stator 32 to allow the acoustic wave signal to pass through and reach the first or second detection surface. When the rotor 31 rotates relative to the stator 32, the acoustic wave sensor determines the zero position of the rotor 31 by detecting the time difference between the acoustic wave signals reflected from the first or second detection surface.

[0059] For example, the rotor 31 has a protrusion that extends from the first detection surface along the direction close to the acoustic sensor, forming a second detection surface. When the rotor 31 is in a non-zero position, the protrusion is not located on the detection path of the acoustic sensor, and the acoustic sensor emits an acoustic signal to the rotor 31. The time difference between the emission of the acoustic signal and its reflection back from the first detection surface of the rotor 31 is t1. When the rotor 31 is in a zero position, the protrusion is located on the detection path of the acoustic sensor, and the acoustic sensor emits an acoustic signal to the protrusion (or the second detection surface). The time difference between the emission of the acoustic signal and its reflection back from the protrusion (or the second detection surface) is t2. Since the acoustic signal is reflected over a shorter distance at the protrusion, t2 is less than t1, thus determining whether the rotor 31 is in a zero position.

[0060] In some embodiments, such as Figures 2 to 4As shown, the lidar 100 also includes a first circuit board 50, which is disposed in the base 10 and located on the side of the drive motor 30 away from the laser transceiver assembly 20; the drive motor 30 is electrically connected to the first circuit board 50; and a photoelectric sensor or an acoustic sensor is disposed on the first circuit board 50.

[0061] Specifically, the drive motor 30 is electrically connected to the first circuit board 50, which is used to control the drive motor 30, i.e., the rotation of the rotor 31 relative to the stator 32. A photoelectric sensor or an acoustic sensor is integrated on the first circuit board 50. The detection signals collected by the photoelectric sensor or the acoustic sensor are processed by the processor of the first circuit board 50 to calculate the different distances between the distance sensor 40 and the first detection surface and the second detection surface.

[0062] In some embodiments, the lidar 100 further includes a first circuit board 50, which is disposed within the base 10 and located on the side of the drive motor 30 away from the laser transceiver assembly 20; the drive motor 30 is electrically connected to the first circuit board 50; the distance sensor 40 includes a first detection element and a second detection element, the first detection element is disposed on the first circuit board 50, and the second detection element is disposed on a first detection surface and a second detection surface; the first detection element is used to transmit a detection signal, and the second detection element is used to receive the detection signal transmitted by the first detection element.

[0063] Specifically, the first circuit board 50 has a processor inside, a first detection element on the first circuit board 50, and a second detection element on both the first and second detection surfaces. The first detection element emits a detection signal, and the second detection element receives the detection signal emitted by the first detection element, thereby calculating the distance between the second detection element and the first detection element.

[0064] During the rotation of rotor 31, when the second detection element on the first detection surface is directly opposite the first detection element, the distance between the second detection element and the first detection element is the first distance; when the second detection element on the second detection surface is directly opposite the first detection element, the distance between the second detection element and the first detection element is the second distance. Since the second distance and the first distance are not equal, it is determined that rotor 31 is in the zero position.

[0065] In some embodiments, the first detection element includes one of a positive electrode and a negative electrode, and the second detection element includes the other of a positive electrode and a negative electrode.

[0066] Specifically, this embodiment detects distance based on the working principle of a capacitive displacement sensor. During the rotation of the rotor 31, when the positive and negative electrodes are directly opposite each other, the capacitance value between the positive and negative electrodes is detected, and the distance between the second and first detection elements is detected based on the capacitance value.

[0067] In some embodiments, the first detection element includes one of a magnetic element and a Hall sensor, and the second detection element includes the other of a magnetic element and a Hall sensor.

[0068] Specifically, this embodiment detects distance based on the Hall effect of the Hall sensor. When a magnetic field (magnetic element) acts on the Hall sensor, a potential difference is generated on both sides of the Hall sensor. The potential difference is related to the strength of the magnetic field. The distance between the second detection element and the first detection element is detected by measuring the potential difference.

[0069] In some embodiments, the first detection element includes one of a magnetic element and a conductive element, and the second detection element includes the other of a magnetic element and a conductive element.

[0070] Specifically, this embodiment detects distance based on the principle of electromagnetic induction. When a conductive component moves within a magnetic field generated by a magnetic component, or when the magnetic field generated by the magnetic component changes within the conductive component, the magnetic flux of the conductive component changes, generating an induced electromotive force (EMF). The distance between the second and first detection components is detected by measuring this induced EMF.

[0071] In some embodiments, the first detection element is a laser emitter and the second detection element is a laser receiver. The distance between the second detection element and the first detection element is detected by calculating the time difference between the laser emission and the reception of the reflected light.

[0072] In some embodiments, such as Figure 3 and Figure 4 As shown, a magnetic encoder 51 is provided on the first circuit board 50; the lidar 100 also includes a magnetic ring 36, which is mounted on the rotor 31. During the rotation of the rotor 31, the magnetic ring 36 generates a periodically changing magnetic field, and the magnetic encoder 51 detects the periodically changing magnetic field.

[0073] Specifically, the magnetic ring 36 is mounted on the rotor 31 and rotates synchronously with the rotor 31, generating periodic changes in the magnetic field. A magnetic encoder 51 is installed on the first circuit board 50. The magnetic encoder 51 detects the periodic changes in the direction or intensity of the magnetic field generated by the magnetic ring 36 and provides real-time feedback on the position of the rotor 31, thereby achieving precise angular control of the rotor 31.

[0074] In some embodiments, such as Figure 2 and Figure 3 As shown, the lidar 100 also includes a mounting bracket 60, which is connected to the rotor 31, and the laser transceiver assembly 20 is mounted on the mounting bracket 60.

[0075] Specifically, the laser transceiver 20 is mounted on the mounting bracket 60. When the lidar 100 is running, the mounting bracket 60 rotates with the rotor 31 around the central axis of the base 10, and the laser transceiver 20 rotates with the mounting bracket 60, thereby realizing laser scanning.

[0076] In some embodiments, such as Figures 1 to 3 As shown, the lidar 100 also includes a housing 70, which is mounted on the base 10 to form a receiving space; the laser transceiver assembly 20 is disposed within the receiving space.

[0077] Specifically, the housing 70 is a radar window, which is the window through which the lidar 100 transmits and receives laser beams, and the laser beams can propagate through the housing 70.

[0078] For example, the housing 70 is made of silicone or glass, and the laser beam can propagate through the silicone or glass.

[0079] In some embodiments, such as Figure 3 and Figure 4 As shown, the drive motor 30 includes a bearing 35. The drive motor 30 adopts an external rotor structure, with the rotor 31 sleeved on the outer periphery of the stator 32. The stator 32 (winding coils) is inside and fixed to the outer ring of the bearing 35; the rotor 31 (permanent magnet) is outside and fixed to the inner ring of the bearing 35. The bearing 35 can position the rotor 31, keeping the rotor 31 in an axial position during rotation, reducing vibration and noise during motor operation.

[0080] In some embodiments, such as Figure 2 and Figure 3 As shown, the lidar 100 also includes a second circuit board 80, which is located between the laser transceiver assembly 20 and the drive motor 30, and the laser transceiver assembly 20 is electrically connected to the second circuit board 80.

[0081] Specifically, in the height direction of the base 10, the second circuit board 80 is mounted on top of the drive motor 30, and the first circuit board 50 is mounted on the bottom of the drive motor 30, utilizing the internal space of the lidar 100 to reduce the overall structural volume. The second circuit board 80 is used for signal processing of the laser transceiver assembly 20, converting the analog signals (sound wave signals or light signals) collected by the laser transceiver assembly 20 into digital signals for transmission.

[0082] In some embodiments, such as Figure 4 As shown, the lidar 100 also includes a wireless charging ring 90, which is sleeved on the outer periphery of the rotor 31 and electrically connected to the first circuit board 50 and the second circuit board 80 to enable the first circuit board 50 to supply power to the second circuit board 80.

[0083] Specifically, the first circuit board 50 and the second circuit board 80 can transmit signals through the signal transceivers (not shown in the figure) at both ends of the rotor 31, and the first circuit board 50 can also supply power to the second circuit board 80 through the wireless charging ring 90 on the outside of the rotor 31.

[0084] In some embodiments, such as Figure 4 As shown, the drive motor 30 also includes an end cover 37, which is located on the top of the rotor 31 and connected to the inner ring of the bearing 35 along with the rotor 31 to cover the bearing 35.

[0085] Secondly, embodiments of this application also provide a robot, including a robot body and a lidar 100, wherein the lidar 100 is disposed on the robot body.

[0086] Specifically, the robot body integrates components such as a power system, a control system, and a communication module to support the robot's movement control and information interaction with the outside world. Among them, the LiDAR 100 can be installed on the upper or front of the robot body to scan the surrounding environment in real time, generate high-precision three-dimensional point cloud data, and accurately measure the distance and motion status of surrounding objects.

[0087] For example, the robot is a lawnmower. The lawnmower uses the high-precision detection capability of the aforementioned LiDAR 100 to achieve autonomous navigation, intelligent obstacle avoidance, and efficient mowing, thereby improving the accuracy and safety of mowing operations.

[0088] It should be understood that the term "and / or" as used in this specification and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes such combinations. It should be noted that, herein, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0089] The sequence numbers of the above-described embodiments of this utility model are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments. The above descriptions are merely specific embodiments of this utility model, but the protection scope of this utility model is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this utility model, and these modifications or substitutions should all be covered within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the scope of the claims.

Claims

1. A lidar, characterized in that, include: Base; A laser transceiver assembly, mounted on the base, is used to transmit laser signals and receive laser signals reflected from obstacles; A drive motor is disposed within the base. The drive motor includes a rotor and a stator. The rotor is sleeved on the stator and can rotate relative to the stator. The laser transceiver assembly is connected to the rotor. A first detection surface and a second detection surface are provided on the rotation plane of the rotor. A distance sensor is disposed inside the base and faces the rotation plane of the rotor; during the rotation of the rotor, the detection distance between the distance sensor and the first detection surface and the second detection surface is not equal.

2. The lidar according to claim 1, characterized in that, The distance sensor is located on the side of the drive motor away from the laser transceiver assembly; The end face of the rotor near the distance sensor forms the first detection surface; The rotor has a notch that extends from the first detection surface in a direction away from the distance sensor to form the second detection surface; or The rotor is provided with a protrusion that extends from the first detection surface in a direction close to the distance sensor to form the second detection surface.

3. The lidar according to claim 2, characterized in that, The stator is provided with a detection slot, and the position of the detection slot is opposite to the position of the distance sensor. The distance sensor includes a photoelectric sensor or an acoustic sensor, and the detection signal emitted by the distance sensor passes through the detection slot and reaches the rotor.

4. The lidar according to claim 3, characterized in that, The lidar also includes a first circuit board, which is disposed inside the base and located on the side of the drive motor away from the laser transceiver assembly; the drive motor is electrically connected to the first circuit board. The photoelectric sensor or the acoustic sensor is mounted on the first circuit board.

5. The lidar according to claim 2, characterized in that, The lidar also includes a first circuit board, which is disposed inside the base and located on the side of the drive motor away from the laser transceiver assembly; the drive motor is electrically connected to the first circuit board. The distance sensor includes a first detection element and a second detection element. The first detection element is disposed on the first circuit board, and the second detection element is disposed on the first detection surface and the second detection surface. The first detection element is used to transmit a detection signal, and the second detection element is used to receive the detection signal transmitted by the first detection element.

6. The lidar according to claim 5, characterized in that, The first detection element includes one of a positive electrode and a negative electrode, and the second detection element includes the other of a positive electrode and a negative electrode; Alternatively, the first detection element may include one of a magnetic element and a Hall sensor, and the second detection element may include the other of a magnetic element and a Hall sensor; Alternatively, the first detection element may include one of a magnetic element and a conductive element, and the second detection element may include the other of a magnetic element and a conductive element.

7. The lidar according to claim 4 or 5, characterized in that, The first circuit board is equipped with a magnetic encoder; The lidar also includes a magnetic ring mounted on the rotor. During the rotation of the rotor, the magnetic ring generates a periodically changing magnetic field, which is detected by the magnetic encoder.

8. The lidar according to claim 1, characterized in that, The lidar also includes a mounting bracket, which is connected to the rotor, and the laser transceiver assembly is mounted on the mounting bracket.

9. The lidar according to claim 1, characterized in that, The lidar also includes a housing, which is mounted on the base to form a receiving space; the laser transceiver assembly is disposed within the receiving space.

10. The lidar according to claim 4, characterized in that, The drive motor includes a bearing, the rotor is fixed to the inner ring of the bearing, and the stator is fixed to the outer ring of the bearing.

11. The lidar according to claim 10, characterized in that, The lidar also includes a second circuit board, which is disposed between the laser transceiver assembly and the drive motor, and the laser transceiver assembly is electrically connected to the second circuit board.

12. The lidar according to claim 11, characterized in that, The lidar also includes a wireless charging ring, which is sleeved on the outer periphery of the rotor and electrically connected to the first circuit board and the second circuit board, so as to enable the first circuit board to supply power to the second circuit board.

13. A robot, characterized in that, It includes a robot body and a lidar as described in any one of claims 1 to 12, wherein the lidar is disposed on the robot body.

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