A rotating scanning base and lidar

Abstract

The application provides a rotating scanning base and a laser radar, a transceiving module includes a transmitting optical system for transmitting a laser beam to a measured object and a receiving optical system for receiving a laser echo reflected by the measured object; the rotating scanning base includes a MEMS assembly arranged from top to bottom, and a motor composed of at least a rotor assembly and a stator assembly; the MEMS assembly includes a MEMS module and a MEMS support, the MEMS module is fixed on the rotor assembly through the MEMS support, and is used for deflecting the laser beam transmitted by the transmitting optical system to the measured object to realize the pitch scanning of the measured object, and / or is used for receiving the laser echo reflected by the measured object and deflecting to the receiving optical system; the rotor assembly and the stator assembly work cooperatively to drive the MEMS assembly to rotate, so as to realize the directional scanning of the measured object; the laser radar structure is compact, the overall volume is reduced, and the preparation cost of the laser radar is reduced.

Description

Technical Field

[0001] This application relates to the field of lidar, and more specifically, to a rotating scanning base and lidar. Background Technology

[0002] Existing LiDAR (Light Detection and Ranging) systems consist of a rotating base and a ranging module mounted on the base, comprising multiple transceiver modules. The ranging module can scan at different angles with the rotating base, or it may include a single transceiver module, a rotating base, and a polyhedral prism. However, multiple transceiver modules imply multiple transmission and reception channels, increasing the device's height and hardware costs. The combination of a rotating base and a polyhedral prism results in a bulky device, making it difficult to integrate into a compact platform. Therefore, how to make LiDAR structures compact, reduce its overall size, and lower its manufacturing costs is a pressing technical problem that needs to be solved. Utility Model Content

[0003] This application provides a rotating scanning base and a lidar. The rotating scanning base enables the lidar to have a compact structure, reducing its overall size and manufacturing cost.

[0004] In a first aspect, a rotating scanning base is provided for use with a lidar system including a transceiver module. The transceiver module includes a transmitting optical system for emitting a laser beam toward a test object and a receiving optical system for receiving laser echoes reflected back from the test object. The rotating scanning base includes a MEMS assembly arranged from top to bottom, and a motor consisting of at least a rotor assembly and a stator assembly. The MEMS assembly includes a MEMS module and a MEMS support. The MEMS module is fixed to the rotor assembly via the MEMS support and is used to deflect the transmitting optical system to emit a laser beam toward the test object to achieve pitch scanning of the test object, and / or to receive laser echoes reflected back from the test object and deflect them to the receiving optical system. The rotor assembly and stator assembly cooperate to drive the MEMS assembly to rotate, thereby achieving directional scanning of the test object.

[0005] In the above implementation, the lidar includes an integrated MEMS component and a rotating scanning base structure with a motor. The MEMS component is directly integrated on the motor, and the MEMS module replaces the traditional polyhedral prism or multiple transmitting and receiving channels. This makes the overall structure of the lidar's rotating scanning base reasonable and compact, thereby making the lidar structure compact, reducing the overall size of the lidar, and lowering the manufacturing cost of the lidar.

[0006] In conjunction with the first aspect, in some implementations of the first aspect, a tilting platform is provided on the MEMS support, and the MEMS module is fixed on the tilting platform to deflect the laser beam emitted by the transmitting optical system to the object under test, or to receive the laser echo reflected back by the object under test and deflect it to the receiving optical system.

[0007] In conjunction with the first aspect, in some implementations of the first aspect, the stator assembly includes a stator and a stator support. The stator support includes a hollow shaft column disposed at the center of the stator support. The stator is sleeved and connected to the outside of the hollow shaft column and fixed by the stator support. The rotor assembly includes a rotor and a rotor support. The rotor is sleeved on the outside of the stator and fixed by the rotor support. The rotor support includes a hollow rotating shaft disposed at the center of the rotor support. The hollow rotating shaft extends downward into the hollow shaft column. The hollow rotating shaft is rotatably connected to the hollow shaft column of the stator assembly through a bearing. The rotor assembly and the stator assembly are installed in a continuous manner.

[0008] In the above implementation, the hollow shaft of the rotor assembly is rotatably connected to the hollow shaft of the stator assembly through a bearing, so that the rotor assembly and the stator assembly are installed in a through manner, thereby enabling the rotor assembly and the stator assembly to be rotatably connected, which helps to reduce the volume of the rotating scanning base.

[0009] In conjunction with the first aspect, in some implementations of the first aspect, the MEMS component includes a MEMS control board electrically connected to the MEMS module for controlling the working state of the MEMS module; wherein the MEMS control board is fixed between the rotor support and the MEMS, and the MEMS support, the MEMS control board and the rotor support are installed in a continuous manner from top to bottom, which is beneficial to reducing the volume of the rotating scanning base.

[0010] In conjunction with the first aspect, in some implementations of the first aspect, the rotor support includes a photoelectric read head, which is either reflective or through-beam type. The rotor support is provided with a clearance hole, and the photoelectric read head is fixed on the rotor support and electrically connected to the MEMS control board through the clearance hole. A ring-shaped code disk is provided on the outer side of the stator support in the stator assembly. The ring-shaped code disk includes uniformly distributed code teeth, which are used to cooperate with the photoelectric read head to obtain the rotation speed and rotation angle of the rotor assembly, so that the MEMS control board controls the MEMS module to perform pitch scanning or azimuth scanning on the object under test according to the rotation speed and rotation angle of the rotor assembly.

[0011] In the above implementation, by setting the photoelectric read head on the rotor support and mounting the annular code disk on the stator support, the rotation of the rotor support and the space of the mounting support are fully utilized. This eliminates the need for a separate drive component inside the lidar to drive the rotation of the photoelectric read head or the annular code disk, or for additional large space inside the lidar to accommodate the photoelectric read head and the annular code disk. This helps to reduce the size of the rotating scanning base and lower the manufacturing cost of the lidar.

[0012] In conjunction with the first aspect, in some implementations of the first aspect, the rotor support further includes a downwardly extending first enclosure wall, which forms a first enclosure cavity with the rotor support; the rotor assembly further includes a power transmission assembly consisting of at least a power transmission cable reel and a first magnetic shielding sheet, the power transmission cable reel being disposed at the top of the first enclosure cavity and fixed by the first magnetic shielding sheet having double-sided adhesive backing; the stator assembly further includes a power transmission assembly corresponding to the power transmission assembly, the power transmission assembly including a lower coil support, a lower power transmission cable reel and a second magnetic shielding sheet, the lower coil support coinciding with the central axis of the bearing, the hollow shaft of the rotor support and the hollow shaft column of the stator support, and fixed above the stator, the lower power transmission cable reel being fixedly disposed above the lower coil support and fixed by the second magnetic shielding sheet having double-sided adhesive backing.

[0013] In the above embodiments, magnetic shielding sheets are respectively provided on the opposite sides of the up-pass wire reel of the up-pass component and the down-pass wire reel of the down-pass component, which can isolate the interference of other structural components on the up-pass wire reel and the down-pass wire reel, thereby effectively improving the power transmission efficiency of the up-pass wire reel and the down-pass wire reel and reducing the ineffective heat dissipation of the rotating scanning base.

[0014] In conjunction with the first aspect, in some implementations of the first aspect, the motor further includes a motor control board for controlling the cooperative operation between the rotor assembly and the stator assembly; the stator support is fixed to the motor control board, and the stator support includes an upwardly extending second enclosure wall, which forms a second enclosure cavity with the stator support; a hollow shaft column at the center of the stator support is disposed at the center of the second enclosure cavity and extends upward; the diameter of the upwardly extending hollow shaft column in the stator support is larger than the diameter of the downwardly extending hollow shaft in the rotor support, so that the hollow shaft column of the stator support and the hollow shaft of the rotor support are connected through bearings, which can realize the rotational connection between the stator assembly and the rotor assembly, thereby helping to reduce the volume of the rotary scanning base.

[0015] In conjunction with the first aspect, in some implementations of the first aspect, the hollow shaft of the stator support is provided with a protruding limiting platform, the bearing includes an upper bearing and a lower bearing, which are respectively fixed on opposite sides of the limiting platform in the vertical direction, and the hollow shaft of the rotor support is rotatably connected to the upper bearing and the lower bearing respectively.

[0016] In the above implementation, this embodiment can improve the rotational stability between the stator assembly and the rotor assembly by setting an upper bearing and a lower bearing.

[0017] In conjunction with the first aspect, in some implementations of the first aspect, a wireless optical communication module is provided on the MEMS control board and the motor control board respectively, and the hollow structure of the hollow shaft at the center of the rotor assembly corresponds to the area of ​​the MEMS control board and the motor control board, so as to enable bidirectional wireless communication between the MEMS control board and the motor control board.

[0018] In the above implementation, wireless optical communication modules are set on the MEMS control board and the motor control board respectively. This enables bidirectional wireless communication between the MEMS control board and the motor control board by utilizing the hollow structure inside the hollow shaft in the rotor assembly. This facilitates real-time control of the MEMS module and the motor, thereby enabling precise switching between different scanning modes.

[0019] In conjunction with the first aspect, in some implementations of the first aspect, the MEMS component includes a MEMS protective cover, which is disposed around the outside of the MEMS support. The MEMS protective cover is used to protect the various components of the MEMS component and ensure the stability of the MEMS component's operation.

[0020] In conjunction with the first aspect, in some implementations of the first aspect, the MEMS protective cover is a hollow cylindrical shell, which is fixed to the MEMS support through a counterweight column to protect the MEMS module set on the inclined platform of the MEMS support.

[0021] In the above implementation, a counterweight column is fixed to the MEMS support through the tube, so that the MEMS protective cover is more stably fixed to the MEMS support, thereby better protecting the various components of the MEMS module and ensuring the stability of the MEMS module operation.

[0022] In a second aspect, a lidar is provided, including a transceiver module and a rotating scanning base according to the first aspect and any implementation thereof, wherein: the transceiver module includes a transmitting optical system and a receiving optical system, the transmitting optical system being used to transmit a laser beam toward a target object, and the receiving optical system being used to receive laser echoes reflected back from the target object; the rotating scanning base is used to deflect the laser beam toward the target object to achieve pitch scanning and azimuth scanning of the target object; and is also used to receive laser echoes reflected back from the target object and deflect them toward the receiving optical system. Attached Figure Description

[0023] Figure 1 This is a schematic structural block diagram of the lidar provided in the embodiments of this application.

[0024] Figure 2This is a schematic block diagram of the circuit structure of the lidar provided in the embodiments of this application.

[0025] Figure 3 This is a schematic diagram of the structure of the lidar provided in the embodiment of this application.

[0026] Figure 4 This is another structural schematic diagram of the lidar provided in the embodiments of this application.

[0027] Figure 5 This is another structural schematic diagram of the lidar provided in the embodiments of this application.

[0028] Figure 6 This is another structural schematic diagram of the lidar provided in the embodiments of this application.

[0029] Figure 7 This is a schematic diagram of the scanning range of the lidar provided in the embodiments of this application.

[0030] Figure 8 This is a schematic diagram of the scanning trajectory of the lidar provided in the embodiments of this application. Detailed Implementation

[0031] The technical solutions in this application will now be described with reference to the accompanying drawings.

[0032] In the description of the embodiments in this application, unless otherwise stated, " / " means "or", for example, A / B can mean A or B; "and / or" in this document is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. In this application, "at least one" means one or more, and "more" means two or more.

[0033] The use of prefixes such as "first" and "second" in this application embodiment is solely for distinguishing different descriptive objects and does not limit the position, order, priority, quantity, or content of the described objects. The use of ordinal numbers and other prefixes to distinguish descriptive objects in this application embodiment does not constitute a limitation on the described objects. The description of the described objects is found in the claims or the context of the embodiments, and the use of such prefixes should not constitute unnecessary restrictions.

[0034] To keep the drawings concise, the figures in this application only schematically show the parts related to the corresponding embodiments, and they do not represent the actual structure of the product. In addition, to make the drawings concise and easy to understand, some figures only schematically show some structures or components, and there may actually be more or fewer identical or similar structures or components.

[0035] In some related technologies, the rotating base of rotating lidar often suffers from problems such as large device size, high hardware cost, and difficulty in integrating the bulky device into a compact platform. Based on this, this application proposes a rotating scanning base and lidar that enables a compact structure for the rotating lidar, reducing its overall size and manufacturing cost.

[0036] Figure 1 A schematic structural block diagram of a lidar provided in an embodiment of this application. In some embodiments, such as Figure 1 As shown, the lidar provided in this application embodiment may include a transceiver module 1, a rotating scanning base 2, and a main board 3 arranged from top to bottom; wherein, the transceiver module 1 includes a transmitting optical system 10 for emitting a laser beam toward the object under test and a receiving optical system 11 for receiving the laser echo reflected back by the object under test; the rotating scanning base 2 is used to deflect the laser beam emitted by the transmitting optical system 10 toward the object under test, and to receive the laser echo reflected back by the object under test and deflect it to the receiving optical system 11; the main board 3 is used to control the transceiver module 1 to obtain time data of the laser beam from emission to reception, and to perform distance resolution on the time data to obtain the point cloud data of the object under test.

[0037] Through the above-described embodiments, the coordinated operation of the various components of the lidar provided in this application can achieve a scanning range of at least 270° in the azimuth direction and 60° in the elevation direction, while maintaining low complexity and power consumption. The following is a brief introduction to each module in the lidar.

[0038] Optionally, the lidar also includes a transceiver control board 4. Under the control of the main board 3, the transceiver control board 4 is used to drive the transmitting optical system 10 of the transceiver module 1 to emit a laser beam, and to amplify and process the laser echo received by the receiving optical system 11 of the transceiver module 1.

[0039] In some specific embodiments, the transceiver control board 4 may include a laser emitting board 40 and a detection and receiving board 41. The laser emitting board 40 is located at the beginning of the emitting optical path of the emitting optical system 10 and is electrically connected to the emitting optical system 10. Under the control of the main board 3, the laser emitting board 40 drives the emitting optical system 10 to emit a laser beam. The detection and receiving board 41 is located at the end of the receiving optical path of the receiving optical system 11 and is electrically connected to the receiving optical system 11. Under the control of the main board 3, the detection and receiving board 41 amplifies and processes the laser echo received by the receiving optical system 11.

[0040] In the above embodiment, the transceiver control board 4 is controlled by the motherboard 3, enabling the transmitting optical system 10 in the transceiver module 1 to emit a laser beam at a predetermined time and power under the control of the motherboard 3, and enabling the receiving optical system 11 in the transceiver module 1 to receive the reflected laser echo, thereby achieving accurate measurement of the object under test. Furthermore, placing the laser emitting board 40 close to the transmitting optical system 10 optimizes the integrated layout and allows for more precise control of the laser beam emission parameters; placing the detection receiving board 41 close to the receiving optical system 11 allows for more accurate reception and processing of the reflected laser echo, reducing measurement deviations caused by signal transmission errors and optical system alignment errors.

[0041] Furthermore, regarding the spatial structure of the lidar system, the transceiver control board 4 can be positioned at the location of the transceiver module 1, reducing the number of external lines connecting the transceiver control board 4 and the transceiver module 1. Compared to separating the transceiver control board 4 from the transceiver module 1, this arrangement reduces electromagnetic interference between lines and improves the stability of the entire lidar system.

[0042] Figure 2 This is a schematic block diagram of the circuit structure of a lidar provided in an embodiment of this application. Figure 2 As shown, the lidar may also include a power interface board 5, which is used to connect to a power source and is electrically connected to the transceiver control board 4 and the main board 3 respectively. The power interface board 5 provides power to the transceiver control board 4 under the control of the main board 3. The electrical connections between the power interface board 5 and the main board 3 and other modules of the main board 3, as well as between modules, can be achieved through flexible printed circuit board (FPC) cables.

[0043] Optionally, the power interface board 5 can be located at the detection and receiving board 41 of the transceiver control board 4. The detection and receiving board 41 is electrically connected to the power interface board 5, and the laser emitting board 40 of the transceiver control board 4 is electrically connected to the detection and receiving board 41, so that the laser emitting board 40 provides power to the laser emitter of the transmitting optical system 10 through the detection and receiving board 41.

[0044] Through the above implementation method, the power interface board 5 can supply power to the detection receiver board 41, and the detection receiver board 41 can transmit power to the laser emitter board 40 through the FPC cable. This achieves the effect of the power interface board 5 indirectly providing power to the laser emitter through the detection receiver board 41 without adding extra circuit wiring. It is easier to distribute the wiring between the power interface board 5 and the detection receiver board 41, reducing the structural complexity of the lidar and avoiding excessively long wiring from affecting the setting of other components.

[0045] Furthermore, during the operation of a lidar system, a significant amount of heat is typically generated, with the laser emitting board 40 and the laser emitter experiencing particularly severe heat generation. Therefore, optionally, the laser emitting board 40 can be a circuit board based on Rogers substrate; alternatively, a thermally conductive copper sheet can be provided on the laser emitting board 40. The high thermal conductivity of copper allows it to dissipate the heat generated by the lidar, reducing the temperature of the laser emitting board 40 or the detector / receiver board 41; the good thermal conductivity of metal increases the effective heat dissipation volume, rapidly dissipating heat. It should be understood that the above embodiments can be used individually or in any combination.

[0046] Continue to refer to Figure 2 The motherboard 3 includes a control processor 30 and a microprocessor 31. The microprocessor 31 can control the LiDAR and communicate bidirectionally with the host computer. Specifically, the microprocessor 31 can receive operating parameter instructions from the host computer and transmit them to other modules, and can also feed back data generated by other modules to the host computer. This bidirectional communication can be implemented based on protocols such as User Datagram Protocol (UDP). Optionally, the microprocessor 31 in the motherboard 3 can be a microcontroller unit (MCU).

[0047] During the bidirectional communication between the microprocessor 31 and the host computer, the host computer can adjust the operating parameters of the lidar, such as emission power, pulse frequency, and scanning angle, according to the actual measurement environment and application requirements, enabling the lidar to adapt to complex and ever-changing scenarios. Furthermore, through data feedback, the host computer can also acquire the lidar's operating status parameters for analysis and processing, or further adjust the lidar parameters. The microprocessor 31 can also perform distance calibration, intensity / reflectivity calibration, and other distance resolution processing on the timing data acquired from the control processor 30, generating point cloud data such as distance, intensity / reflectivity.

[0048] The control processor 30 in the motherboard 3 is typically used to acquire timing data from the lidar. In some implementations, the control processor 30 may be a field-programmable gate array (FPGA), which includes a transmission timing control module 301 and a time-to-digital converter module 302. The transmission timing control module 301 can transmit a firing signal to the laser transmitter 40 in the transceiver control board 4; the time-to-digital converter module 302 can generate timing data to be sent to the microprocessor 31, and the timing data may include information such as the pulse intensity and flight time of the laser beam.

[0049] For example, the emission timing control module 301 transmits a firing signal to the laser emitting board 40. After receiving the firing signal, the laser emitting board 40 controls the emission optical system 10 to generate a high-frequency, high-power, nanosecond-level light pulse signal and emits it to the object under test. At the same time, it sends a start signal to the time digital conversion module 302. The object under test reflects the light pulse signal to form a laser echo, which is received by the receiving optical system 11, so that the detection receiving board 41 generates a stop signal and transmits it to the time digital conversion module 302. The time digital conversion module 302 transmits the start signal and stop signal to the microprocessor 31 for distance resolution processing.

[0050] In the above process, the transmission timing control module 301 can work in conjunction with the transceiver control board 4 to drive the transceiver module 1 to transmit and receive laser pulses, and complete the time-to-digital conversion processing through the control processor 30. This avoids the use of application-specific integrated circuit (ASIC) time-to-digital converter (TDC) chips, and can ensure high point frequencies above 100 kHz, thereby reducing costs and simplifying the internal structure of the lidar system.

[0051] Continue to refer to Figure 2 The rotating scanning base 2 of the lidar proposed in this application includes a MEMS component 24 and a motor. The MEMS component 24 is used to receive the laser beam emitted by the emitting optical system 10 and deflect the laser beam to the object under test for elevation scanning. The motor is used to drive the MEMS component 24 to rotate and deflect the laser beam for azimuth scanning, thereby realizing two-dimensional scanning of the object under test. Among them, elevation scanning refers to scanning in the vertical direction of the rotating scanning base 2; azimuth scanning refers to scanning in the horizontal direction of the rotating scanning base 2.

[0052] During the scanning process of the rotating scanning base 2 of the lidar, the motor is used to provide support for the MEMS component 24 and drive the MEMS component 24 to rotate in the horizontal direction, so that the MEMS component 24 can horizontally deflect the laser beam emitted by the emitting optical system 10 to the object under test, so as to realize the azimuth scanning of the object under test.

[0053] Optionally, the pitch-angle scanning field of view of the MEMS module 240 can be 0° to 60°, meaning that the rotating scanning base 2 of the lidar can cover and scan the object under test in the vertical direction within an angle range of 0° to 60°. This field of view determines the range of the object under test that the lidar can detect within a vertical plane. It should be understood that the pitch-angle scanning field of view for the object under test can be 0°, 4°, 10°, 18°, 26°, 30°, 40°, 50°, 60°, or any value within the range of 0° to 60°, or exceeding 60°; this application does not impose any limitation on this.

[0054] Optionally, the motor drives the MEMS component 24 to deflect the laser beam in the azimuth direction to the scanning field of view of the object under test. The angle range is 0° to 270°, that is, the rotating scanning base 2 of the lidar can cover and scan the object under test in the horizontal direction within the angle range of 0° to 270°. This field of view determines the range of the object under test that the lidar can detect in a horizontal plane. It should be understood that the angle of the azimuth scanning field of view of the object under test can be 0°, 10°, 40°, 80°, 100°, 120°, 160°, 180°, 200°, 240°, 270°, or any value within the range of 0° to 270°, or even exceed 270°. This application does not impose any limitation on this.

[0055] In the above embodiments, the MEMS module 240 uses a motor to drive the MEMS component 24 to deflect in the horizontal direction, which can reduce the structural complexity of the lidar while achieving a larger scanning field of view in the azimuth direction of the object under test.

[0056] The following section will provide a detailed introduction to the various components of a lidar system, using a schematic diagram as an example.

[0057] Figure 3 This is a schematic diagram of the structure of a lidar provided in an embodiment of this application. (In conjunction with...) Figure 2 and Figure 3 As shown, the rotating scanning base 2 includes a MEMS component 24 arranged from top to bottom, and a motor including a rotor component 20 and a stator component 21. The MEMS component 24 includes a MEMS module 240 and a MEMS bracket 241. The MEMS component 24 is fixed to the rotor component 20 by adhesive. The MEMS module 240 is fixed to the MEMS bracket 241. It is used to deflect and emit a laser beam towards the object under test (DUT) to achieve pitch scanning of the DUT, and / or to receive the laser echo reflected back from the DUT and deflect it to the receiving optical system 11. The rotor component 20 and the stator component 21 in the motor work together to drive the MEMS component 24 to rotate, so as to achieve directional scanning of the DUT.

[0058] Compared to existing designs that separate and individually set MEMS components 24 and motors, which complicate the structure and optical design of the lidar, resulting in a larger size and increased design cost, the lidar provided by the above method includes an integrated rotating scanning base 2 with MEMS components 24 and motors. That is, the MEMS components 24 are directly integrated on the motor, and MEMS modules 240 are used to replace traditional polyhedral prisms or multiple transmitting and receiving channels. This makes the overall structure of the rotating scanning base 2 of the lidar more reasonable and compact, thereby making the lidar structure more compact, reducing the overall size of the lidar, and lowering the manufacturing cost of the lidar.

[0059] In some embodiments, the MEMS support 241 is provided with an inclined platform, and the MEMS module 240 is fixedly bonded to the inclined platform with adhesive to deflect the laser beam emitted by the transmitting optical system 10 to the object under test or to receive the laser echo reflected back by the object under test and deflect it to the receiving optical system 11.

[0060] In this embodiment, the MEMS module 240 is preferably a micro-electro-mechanical system (MEMS), which includes a fast-axis torsion beam, a slow-axis torsion beam, and a MEMS galvanometer. When the laser beam is incident on the MEMS galvanometer, the MEMS galvanometer reflects the laser beam to the object under test and rotates the fast-axis torsion beam or the slow-axis torsion beam to make the laser beam perform pitch scanning on the object under test.

[0061] It should be understood that whether the fast-axis torsion beam is rotated or the slow-axis torsion beam is rotated depends on the pitch orientation of the torsion beam of the deflection element. In this embodiment, the MEMS mirror can be controlled to deflect in the pitch direction by rotating the torsion beam alone. Correspondingly, the deflection of the MEMS mirror in the azimuth direction can be achieved by a motor rather than the torsion beam. In this embodiment, by using a MEMS mirror, high-speed, precise and efficient scanning control capabilities can be achieved, thereby improving the reliability of the rotating scanning base 2.

[0062] In some embodiments, the MEMS galvanometer can reflect and deflect the laser beam or laser echo. The size of the MEMS galvanometer is larger than the size of the laser beam or laser echo. The size of the laser beam or laser echo refers to the spot size of the laser beam or laser echo on the MEMS galvanometer, and the size of the MEMS galvanometer refers to the size of the reflective plane of the MEMS galvanometer. By setting the size of the laser beam or laser echo to be smaller than the size of the MEMS galvanometer, energy loss can be avoided, scanning accuracy and scanning distance can be improved, and the scanning efficiency of the rotating scanning base 2 can be increased.

[0063] Figure 4 This is another structural schematic diagram of the lidar provided in an embodiment of this application. Combined with... Figure 2 and Figure 4 As shown, the MEMS component 24 may further include a MEMS control board 242 electrically connected to the MEMS module 240, for controlling the pitch deflection angle of the MEMS module 240, and / or for controlling the deflection frequency of the MEMS module 240. Specifically, the control process of the MEMS control board 242 on the MEMS module 240 may be as follows: the MEMS control board 242 transmits a drive signal to the MEMS module 240 to drive the MEMS module 240 to perform pitch deflection; wherein, the MEMS control board 242 uses the deflection angle of the MEMS module 240 obtained by synchronous sampling as a feedback signal to modulate the deflection amplitude of the MEMS module 240 in reverse.

[0064] In one embodiment, the MEMS control board 242 includes a deflection drive circuit and a deflection processor. Specifically, the deflection processor generates a transmission drive signal to the deflection drive circuit to drive the MEMS module 240 to vibrate at high frequency. The transmission drive signal can be a pulse width modulation (PWM) signal. Furthermore, the deflection processor can also adjust the deflection amplitude of the MEMS module 240 based on the proportional integral differentiation (PID) algorithm by using the sampled angle signal of the MEMS module 240 as a feedback signal, so as to realize closed-loop control of the pitch scanning angle range of the MEMS module 240, which can more flexibly realize different scanning modes of the lidar.

[0065] The above-described implementation can reduce interference in the control process, making the pitch scanning range more accurate and stable, and improving the reliability of the rotating scanning base 2.

[0066] In some embodiments, such as Figure 4 As shown, the stator assembly 21 in the motor includes a stator 210 and a stator bracket 211. The stator bracket 211 includes a hollow shaft column 2110 disposed at the center of the stator bracket 211. The stator 210 is sleeved on the hollow shaft column 2110 connected to the center of the stator bracket 211 and fixed by the stator bracket 211.

[0067] The rotor assembly 20 in the motor includes a rotor 201 and a rotor support 202. The rotor 201 is sleeved on the outside of the stator 210 and fixed by the rotor support 202. The rotor support 202 includes a hollow shaft 2020 located at the center of the rotor support 202. The hollow shaft 2020 extends downward into the hollow shaft column 2110 at the center of the stator support 211 and is rotatably connected to the hollow shaft column 2110 at the center of the stator support 211 through a bearing 22.

[0068] Through the above implementation method, the hollow shaft 2020 of the rotor assembly 20 is rotatably connected to the hollow shaft column 2110 of the stator assembly 21 through the bearing 22, so that the rotor assembly 20 and the stator assembly 21 are installed in a through manner, thereby enabling the rotor assembly 20 and the stator assembly 21 to be rotatably connected, which is beneficial to reducing the volume of the rotating scanning base 2.

[0069] Furthermore, the motor also includes a wave spring (not shown in the figure) for applying a preload to the bearing 22 to achieve limiting and fixing between the rotor assembly 20 and the stator assembly 21, thereby effectively reducing operating noise.

[0070] In some embodiments, the stator support 211 and the rotor support 202 are metal supports. The metal supports have good thermal conductivity and can effectively absorb the heat generated inside the rotor assembly 20 and the stator assembly 21, and exchange heat with the surrounding environment to effectively dissipate the heat.

[0071] To achieve miniaturization of the rotating scanning base 2, the MEMS control board 242 is fixed between the rotor support 202 and the MEMS support 241. The MEMS support 241, the MEMS control board 242 and the rotor support 202 are installed from top to bottom and fixed by screws. There is no need to configure additional space for the MEMS control board 242, which helps to reduce the size of the rotating scanning base 2.

[0072] Optionally, the MEMS control board 242 is a circular circuit board, with the center of the MEMS control board 242 located on the central axis of the rotor assembly 20 and the stator assembly 21. This design allows the weight of the MEMS control board 242 to be evenly distributed around the central axis during the rotation of the rotatable components in the lidar, achieving a good dynamic balance effect. Even at high speeds, this balanced dynamic balance can reduce centrifugal force caused by an unstable center of gravity and reduce mechanical wear.

[0073] Furthermore, the motor also includes a motor control board 23 for controlling the cooperative operation between the rotor assembly 20 and the stator assembly 21. Thus, as... Figure 4As shown, the spatial order of the rotating scanning base 2 structure from top to bottom is as follows: MEMS module 240, MEMS support 241, MEMS control board 242, rotor assembly 20, stator assembly 21, and motor control board 23. The MEMS control board 242 is positioned close to the MEMS module 240 to control the pitch angle and / or deflection frequency of the MEMS module 240. The motor control board 23 is positioned close to the rotor assembly 20 and stator assembly 21 to control the rotation frequency of the rotor assembly 20 in the motor. Based on this, the MEMS control board 242 and motor control board 23 can respectively control the MEMS module 240 and rotor assembly 20 to modulate the scanning light field formed by the laser beam in the area of ​​the object under test, thereby enabling different scanning modes for the object under test.

[0074] This embodiment can adjust the scanning field of view of the laser beam deflected to the object under test by rotating the scanning base 2, and realize two-dimensional scanning of pitch and direction only by MEMS component 24 and motor. While improving the horizontal field of view of the lidar, it reduces the structural complexity and light adjustment difficulty of the lidar, and can switch different scanning modes according to different usage scenarios.

[0075] Reference Figures 2 to 4 The MEMS control board 242 and the motor control board 23 also include a wireless optical communication module, which is located in the area of ​​the MEMS control board 242 and the motor control board 23 corresponding to the hollow structure of the hollow shaft 2020 in the rotor assembly 20. This enables bidirectional wireless communication between the MEMS control board 242 and the motor control board 23 by utilizing the internal hollow structure of the hollow shaft 2020 in the rotor assembly 20, facilitating real-time control of the motor and the MEMS module 240, and thereby achieving precise switching between different scanning modes.

[0076] As an example and not a limitation, the wireless optical communication module in the motor control board 23 can achieve bidirectional communication between the hollow area of ​​the hollow shaft 2020 of the rotor assembly 20 and the top-rotating MEMS control board 242; wherein, the downlink optical communication can obtain the scanning angle feedback data of the MEMS module 240, and the uplink optical communication can upload commands to control the vertical scanning angle of the MEMS module 240.

[0077] In conjunction with the lidar in the above embodiments, such as Figure 4As shown, the lidar proposed in this application may further include a MEMS protective cover 243 for protecting the various components of the MEMS assembly 24. Preferably, the MEMS protective cover 243 is a hollow cylindrical shell, arranged around the MEMS support 241, and fixed to the MEMS support 241 through a counterweight column 244, so that the MEMS protective cover 243 is more stably fixed to the MEMS support 241, thereby better protecting the various components of the MEMS assembly 24 and providing stability for the operation of the MEMS assembly 24.

[0078] Optionally, the top and bottom of the MEMS protective cover 243 are equipped with counterweight columns 244 to better protect the MEMS module 240 set on the inclined platform of the MEMS support 241, so that the MEMS module 240 can more stably deflect the laser beam emitted by the transmitting optical system 10 to the object under test or receive the laser echo reflected back by the object under test and deflect it to the receiving optical system 11, thus ensuring the dynamic balance performance of the MEMS component 24.

[0079] Figure 5 This is another structural schematic diagram of the lidar provided in the embodiments of this application. For example... Figure 5 As shown, the rotor assembly 20 in the motor includes a rotor 201, a power transmission assembly 203, and a rotor support 202; the rotor support 202 includes a downwardly extending first enclosure wall 2021, which forms a first enclosure cavity with the rotor support 202; the rotor assembly 20 includes a power transmission assembly 203 consisting of at least a power transmission cable reel 2030 and a first magnetic shielding sheet 2031, the power transmission cable reel 2030 being disposed at the top of the first enclosure cavity and fixed by the first magnetic shielding sheet 2031 with double-sided adhesive backing.

[0080] Optionally, the rotor support 202 includes a hollow rotating shaft 2020 disposed at the center of the rotor support 202. The hollow rotating shaft 2020 at the center of the rotor support 202 can be integrally formed with the rotor support 202 by in-mold injection molding. The hollow rotating shaft 2020 is provided with a flange structure, which can effectively reduce the destructive force caused by the rotation of the rotor 201.

[0081] The rotor assembly 20 also includes a magnetic retaining ring 204, which is integrally formed with the first enclosure wall 2021 in the first enclosure cavity by in-mold injection molding. The rotor 201 is placed inside the magnetic retaining ring 204, which can effectively prevent the rotor 201 from leaking magnetism.

[0082] Figure 6 This is another structural schematic diagram of the lidar provided in the embodiments of this application. For example... Figure 6As shown, the stator assembly 21 in the motor is fixed on the motor control board 23. The stator assembly 21 includes a stator 210 and a stator support 211. The stator support 211 includes an upwardly extending second enclosure wall 2111, which forms a second enclosure cavity with the stator support 211. A hollow shaft 2110 at the center of the stator support 211 is located at the center of the second enclosure cavity and extends upward. The stator 210 is sleeved on the outer peripheral wall of the hollow shaft 2110 at the center of the stator support 211. Furthermore, the outer peripheral wall of the second enclosure wall 2111 also includes an upwardly extending side wall 2112 for fixing the transceiver module 1 and improving the stability of the transceiver module 1.

[0083] In some embodiments, the diameter of the hollow shaft column 2110 extending upward in the stator support 211 is larger than that of the hollow rotating shaft 2020 extending downward in the rotor support 202, so that the hollow shaft column 2110 in the stator support 211 and the hollow rotating shaft 2020 in the rotor support 202 are connected through the bearing 22, thereby realizing the rotational connection between the stator assembly 21 and the rotor assembly 20, which helps to reduce the volume of the rotating scanning base 2.

[0084] In some embodiments, the hollow shaft column 2110 at the center of the stator support 211 has a transversely protruding limiting platform 21101 inside. The bearing 22 includes an upper bearing 220 and a lower bearing 221, which are respectively fixed on opposite sides of the limiting platform 21101 in the vertical direction. The hollow rotating shaft 2020 in the rotor support 202 is rotatably connected to the upper bearing 220 and the lower bearing 221.

[0085] Specifically, both the upper bearing 220 and the lower bearing 221 are ball bearings. The upper bearing 220 and the lower bearing 221 are respectively aligned with the central axes of the hollow shaft 2020 and the hollow shaft column 2110 in the rotor support 202. The outer rings of the upper bearing 220 and the lower bearing 221 are respectively fixed on the limiting platform 21101 of the hollow shaft column 2110 in the center of the stator support 211. The hollow shaft 2020 on the rotor support 202 is rotatably connected to the inner rings of the upper bearing 220 and the lower bearing 221, so that the inner rings and balls of the upper bearing 220 and the lower bearing 221 rotate with the hollow shaft 2020 of the rotor support 202, thereby realizing the rotational connection between the stator assembly 21 and the rotor assembly 20.

[0086] In the above embodiments, this application can improve the rotational stability between the stator assembly 21 and the rotor assembly 20 by setting the upper bearing 220 and the lower bearing 221. The upper bearing 220 and the lower bearing 221 are both ball bearings, and they coincide with the central axis of the hollow rotating shaft 2020 on the rotor support 202 and the hollow shaft column 2110 on the stator support 211, respectively. This can make the hollow rotating shaft on the rotor support 202 bear force evenly, thereby reducing the shaking of the rotor support 202 and further ensuring the rotational stability of the rotating scanning base 2.

[0087] In some embodiments, the stator assembly 21 further includes a lower power transmission assembly 213 corresponding to the power transmission assembly 203 in the rotor assembly 20. The lower power transmission assembly 213 includes a lower coil support 2130, a lower power transmission wire reel 2131, and a second magnetic shielding sheet 2132. The lower coil support coincides with the central axis of the upper bearing 220 and the lower bearing 221, the hollow shaft 2020 in the rotor support 202, and the hollow shaft column 2110, and is fixed above the stator 210. The lower power transmission wire reel 2131 is disposed above the lower coil support 2130 and is fixed by the second magnetic shielding sheet 2132 with double-sided adhesive backing.

[0088] In the above embodiments, magnetic shielding sheets are respectively provided on the opposite sides of the up-to-up power cable reel 2030 of the up-to-up power assembly 203 and the down-to-down power cable reel 2131 of the down-to-down power assembly 213. These sheets can isolate the interference of other structural components on the up-to-up power cable reel 2030 and the down-to-down power cable reel 2131, thereby effectively improving the power transmission efficiency of the up-to-up power cable reel 2030 and the down-to-down power cable reel 2131 and reducing the ineffective heat dissipation of the rotating scanning base 2.

[0089] In some embodiments, the motor control board 23 and the MEMS control board 242 achieve wireless power transmission through the up-load wire coil in the rotor assembly 20 and the down-load wire coil 2131 in the stator assembly 21. Specifically, the up-load wire coil 2030 in the rotor assembly 20 is a wireless power receiving coil, and the down-load wire coil 2131 in the stator assembly 21 is a wireless power transmitting coil. The motor control board 23 is connected to the wireless power receiving coil, and the MEMS control board 242 is connected to the wireless power transmitting coil. The motor control board 23 provides power to the MEMS control board 242 through electromagnetic induction between the wireless power transmitting coil and the wireless power receiving coil, so that the MEMS control board 242 can drive the MEMS module 240 in the rotating scanning base 2.

[0090] By setting up wireless power transmission and receiving coils, power transmission between the MEMS control board 242 and the motor control board 23 can be achieved without affecting the orientation rotation of the MEMS control board 242. This reduces wiring layout, meets the orientation rotation requirements of the MEMS control board 242, improves the internal integration of the MEMS module 240, and reduces complexity.

[0091] Furthermore, the motor control board 23 in the rotating scanning base is directly or indirectly electrically connected to the power interface board 5 in the lidar to obtain power supply, energizing the wireless power transmission coil on the motor control board 23 to generate a magnetic field. The wireless power transmission receiving coil on the MEMS control board 242 is located within the range of this magnetic field. Changes in the magnetic field can provide power to the MEMS control board 242, realizing wireless power transmission to the MEMS control board 242. Preferably, the motor in this application can be a DC brushless motor, which can realize changes in the magnetic field through electronic commutation and current control. After powering the motor control board 23 and the MEMS control board 242, the motor control board 23 drives the rotor assembly 20 in the motor to rotate, causing the MEMS control board 242 and the MEMS assembly 24 to rotate horizontally under the drive of the rotor assembly 20. At the same time, the MEMS module 240 in the MEMS assembly 24 deflects in the pitch direction, thereby realizing two-dimensional scanning of the lidar in the azimuth and pitch directions.

[0092] Reference Figures 4 to 6 As shown, the rotor assembly 20 also includes a photoelectric read head 205, which can be a reflective or through-beam type. The rotor support 202 is provided with a clearance hole. The photoelectric read head 205 is fixed to one side of the rotor support 202 and electrically connected to the MEMS control board 242 through the clearance hole. The stator support 211 in the stator assembly 21 is provided with a corresponding annular code disk 214 on the outer side. The annular code disk 214 includes uniformly distributed code teeth, which are used to cooperate with the photoelectric read head 205 to obtain the rotation speed and rotation angle of the rotor assembly 20, so that the MEMS control board 242 controls the MEMS module 240 in reverse according to the rotation speed and rotation angle of the rotor assembly 20, thereby realizing the scanning of different modes of the object under test.

[0093] In the above embodiments, by setting the photoelectric read head 205 on the rotor support 202 and mounting the annular code disk 214 on the stator support 211, the rotational flexibility of the rotor support 202 and the space of the mounting bracket are fully utilized. This eliminates the need for a separate drive component inside the lidar to drive the rotation of the photoelectric read head 205 or the annular code disk 214, or for additional space inside the lidar to accommodate the photoelectric read head 205 and the annular code disk 214. This helps to reduce the volume of the rotating scanning base 2 and lower the manufacturing cost of the lidar.

[0094] Optionally, the stator support 211, the annular code disk 214, and the code teeth of the annular code disk 214 are integrally injection molded, which can eliminate the connection structure between the annular code disk 214 and the stator support 211, simplify the structure of the rotating scanning base 2, and reduce the size of the lidar.

[0095] In some embodiments, such as Figure 2 and Figure 6As shown, the motor in the rotating scanning base 2 is fixed to the main board 3 of the LiDAR, and the motor control board 23 in the motor is electrically connected to the main board 3. The main board 3 is used to send control commands to the MEMS control board 242 and the motor control board 23 to control the working state of the MEMS module 240 and the rotor assembly 20 and stator assembly 21 in the motor. Specifically, the main board 3 sends a first control command to the motor control board 23 to control the working state of the rotor assembly 20 and stator assembly 21 in the motor; by sending a second control command to the motor control board 23, the motor control board 23 sends commands to the MEMS control board 242 via wireless communication to control the MEMS module 240, thereby realizing different scanning modes.

[0096] For example, the motherboard 3 can transmit operating status parameters such as the motor's rotation speed and the vertical scanning field of view (FOV) of the MEMS module 240 to the MEMS control board 242, and then use the MEMS control board 242 to perform reverse control on the MEMS module 240. Furthermore, it can also acquire real-time rotation angle data of the motor in the rotating scanning base 2 and the angle of the MEMS module 240, and transmit this data to the host computer for analysis and processing. It should be understood that the control process of the motor by the motor control board 23 and the control process of the MEMS control board 242 on the MEMS module 240 can be referred to the above content, and will not be repeated here.

[0097] The above implementation simplifies the internal wiring structure of the lidar, providing greater flexibility for the compact structure of the lidar.

[0098] Furthermore, the LiDAR, based on the rotating scanning base 2 provided in the above embodiments, can achieve different scanning modes. In some embodiments, the scanning mode includes a variable pitch scanning mode; wherein, under the control of the motherboard 3, the MEMS control board 242 drives the MEMS module 240 in the MEMS assembly 24 to vibrate, and controls its vibration amplitude to change the pitch deflection angle of the MEMS module 240, that is, to change the pitch field of view (FOV), thereby realizing flexible and variable control of the pitch scanning field of view angle of the object under test to adapt to the needs of different scanning scenarios. Figure 7 This is a schematic diagram of the scanning range of a lidar provided in an embodiment of this application. For example, as shown... Figure 7 The three variable pitch scanning field of view angles shown can be: 30° (0°~30°), 40° (-5°~35°), and 60° (-15°~45°).

[0099] With a fixed deflection frequency of 240° in the MEMS module, the larger the pitch scanning field of view, the wider the pitch angle coverage of the scanned space, but the lower the pitch scanning angular resolution. Conversely, reducing the pitch scanning field of view will proportionally increase the pitch scanning angular resolution.

[0100] For example, when the pitch scanning field of view is 30°, the pitch scanning angular resolution is doubled compared to when the pitch scanning field of view is 60°. Users can flexibly adjust the pitch scanning field of view according to their needs for the pitch scanning field of view and the pitch scanning angular resolution of the LiDAR scanning scene.

[0101] In other embodiments, the scanning mode may also include a repeating scan mode. Figure 8 This is a schematic diagram of the scanning trajectory of the lidar provided in the embodiments of this application, as shown below. Figure 8 As shown in (a), the MEMS control board 242 controls the MEMS module 240 to tilt at a first deflection frequency, and the motor control board 23 controls the rotor assembly 20 in the motor to rotate in the azimuth direction at a first rotation frequency. The first deflection frequency is greater than the first rotation frequency and is a positive integer multiple of the first rotation frequency, so as to realize the scanning of the object under test using a repetitive scanning mode.

[0102] When the deflection frequency of the MEMS module 240 is modulated by the MEMS control board 242 to be higher than the rotation frequency of the rotor assembly 20 in the motor, and the deflection frequency of the MEMS module 240 is a positive integer multiple of the rotation frequency of the rotor assembly 20 in the motor, a repetitive scanning mode is achieved. The point cloud obtained by the repetitive scanning mode is relatively sparse, which is suitable for scanning in high-speed motion scenarios and can reduce power consumption in scenarios where point cloud angle repeatability is required.

[0103] In some other embodiments, the scanning mode may also include an encrypted scanning mode, such as... Figure 8 As shown in (b), the first deflection frequency is a non-positive integer multiple of the first rotation frequency, so as to scan the object under test using an encrypted scanning mode; or, in the encrypted scanning mode, the MEMS control board 242 controls the MEMS module 240 to tilt at a second deflection frequency or a third deflection frequency, and the motor control board 23 controls the rotor assembly 20 in the motor to rotate in the azimuth direction at a second rotation frequency. The second deflection frequency is less than the second rotation frequency, the third deflection frequency is higher than the second rotation frequency, and both the second and third deflection frequencies are non-integer multiples of the second rotation frequency, so as to achieve the encrypted scanning mode for scanning the object under test.

[0104] When the deflection frequency of the MEMS module 240 is modulated by the MEMS control board 242 to be higher or lower than the rotation frequency of the rotor assembly 20 in the motor, and the deflection frequency of the MEMS module 240 is a non-integer multiple of the rotation frequency of the rotor assembly 20 in the motor, the point cloud angle resolution of the scanning scene is encrypted. The point cloud obtained by the encrypted scanning mode is relatively dense and is suitable for scanning low-speed or stationary scenes to obtain more refined scanning results.

[0105] In the embodiments of this application, the terms "first," "second," and various numerical designations (e.g., "1," "2," etc.) are merely for ease of description and are not intended to limit the scope of the embodiments of this application. The order of the process numbers above does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application. It should be understood that the objects described in this way can be interchanged where appropriate so as to describe solutions other than those in the embodiments of this application.

[0106] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing embodiments, and will not be repeated here.

[0107] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A rotating scanning base, characterized in that, A lidar system including a transceiver module, the transceiver module comprising a transmitting optical system for emitting a laser beam toward a target object and a receiving optical system for receiving the laser echo reflected back from the target object; wherein: The rotating scanning base includes a MEMS component arranged from top to bottom and a motor composed of at least a rotor component and a stator component; The MEMS component includes a MEMS module and a MEMS bracket. The MEMS module is fixed on the rotor assembly through the MEMS bracket and is used to deflect the laser beam emitted by the emitting optical system to the object under test to achieve pitch scanning of the object under test, and / or to receive the laser echo reflected back by the object under test and deflect it to the receiving optical system. The rotor assembly and the stator assembly work together to drive the MEMS assembly to rotate, thereby enabling directional scanning of the object under test.

2. The rotating scanning base according to claim 1, characterized in that, The MEMS support is equipped with an inclined platform, and the MEMS module is fixed on the inclined platform to deflect the laser beam emitted by the emitting optical system to the object under test, or to receive the laser echo reflected back by the object under test and deflect it to the receiving optical system.

3. The rotating scanning base according to claim 1 or 2, characterized in that, The stator assembly includes a stator and a stator bracket. The stator bracket includes a hollow shaft column disposed at the center of the stator bracket. The stator is sleeved and connected to the outside of the hollow shaft column and fixed by the stator bracket. The rotor assembly includes a rotor and a rotor support. The rotor is sleeved on the outside of the stator and fixed by the rotor support. The rotor support includes a hollow shaft disposed at the center of the rotor support, and the hollow shaft extends downward into the hollow shaft column. The hollow shaft is rotatably connected to the hollow shaft column of the stator assembly via a bearing, and the rotor assembly is installed through the stator assembly.

4. The rotating scanning base according to claim 3, characterized in that, The MEMS component includes a MEMS control board electrically connected to the MEMS module for controlling the working state of the MEMS module; wherein the MEMS control board is fixed between the rotor support and the MEMS support, and the MEMS support, the MEMS control board and the rotor support are installed from top to bottom.

5. The rotating scanning base according to claim 4, characterized in that, The rotor support includes a photoelectric read head, which is either reflective or through-beam. The rotor support is provided with a clearance hole. The photoelectric read head is fixed on the rotor support and electrically connected to the MEMS control board through the clearance hole. The stator assembly has an annular code disk on the outer side of the stator support. The annular code disk includes uniformly distributed code teeth, which are used to cooperate with the photoelectric read head to obtain the rotation speed and rotation angle of the rotor assembly. This allows the MEMS control board to control the MEMS module to perform the pitch scan or the orientation scan on the object under test according to the rotation speed and rotation angle of the rotor assembly.

6. The rotating scanning base according to claim 3, characterized in that, The rotor support also includes a downwardly extending first enclosure wall, which forms a first enclosure cavity with the rotor support; The rotor assembly also includes a power transmission assembly consisting of at least a power transmission cable reel and a first magnetic shielding sheet. The power transmission cable reel is disposed at the top of the first enclosed cavity and is fixed by the first magnetic shielding sheet which has double-sided adhesive backing. The stator assembly also includes a lower power transmission assembly corresponding to the power transmission assembly. The lower power transmission assembly includes a lower coil support, a lower power transmission wire reel, and a second magnetic shielding sheet. The lower coil support coincides with the central axis of the bearing, the hollow shaft of the rotor support, and the hollow shaft column of the stator support, and is fixed above the stator. The lower power transmission wire reel is fixedly disposed above the lower coil support and is fixed by the second magnetic shielding sheet with double-sided adhesive backing.

7. The rotating scanning base according to claim 4, characterized in that, The motor also includes a motor control board for controlling the cooperative operation between the rotor assembly and the stator assembly; The stator support is fixed to the motor control board. The stator support includes an upwardly extending second enclosure wall. The second enclosure wall and the stator support form a second enclosure cavity. The hollow shaft of the stator support is located at the center of the second enclosure cavity and extends upward. The diameter of the hollow shaft extending upward in the stator support is greater than the diameter of the hollow shaft extending downward in the rotor support, such that the hollow shaft of the stator support and the hollow shaft of the rotor support are connected through the bearing.

8. The rotating scanning base according to claim 7, characterized in that, The stator support has a protruding limiting platform inside the hollow shaft column. The bearing includes an upper bearing and a lower bearing, which are respectively fixed on opposite sides of the limiting platform in the vertical direction. The hollow shaft of the rotor support is rotatably connected to the upper bearing and the lower bearing.

9. The rotating scanning base according to claim 7 or 8, characterized in that, The MEMS control board and the motor control board are respectively provided with wireless optical communication modules. The hollow structure of the hollow shaft located at the center of the rotor assembly corresponds to the area of ​​the MEMS control board and the motor control board, so that the MEMS control board and the motor control board can communicate wirelessly in both directions.

10. The rotating scanning base according to claim 1, characterized in that, The MEMS assembly includes a MEMS protective cover, which is disposed around the outside of the MEMS support and is used to protect the various components of the MEMS assembly.

11. The rotating scanning base according to claim 10, characterized in that, The MEMS protective cover is a hollow cylindrical shell, which is fixed to the MEMS bracket through a counterweight column to protect the MEMS module set on the inclined platform of the MEMS bracket.

12. A lidar, characterized in that, Includes a transceiver module and a rotating scanning base according to any one of claims 1-11, wherein: The transceiver module includes a transmitting optical system and a receiving optical system. The transmitting optical system is used to emit a laser beam toward the object under test, and the receiving optical system is used to receive the laser echo reflected back by the object under test. The rotating scanning base is used to deflect the laser beam to the object under test to achieve pitch scanning and orientation scanning of the object under test; it is also used to receive the laser echo reflected back by the object under test and deflect it to the receiving optical system.

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