Rotating support device for lidar, and lidar

Abstract

A rotating support device for a lidar. The rotating support device comprises a housing (1), a central shaft (2), a bearing support member (3), and a drive module (4). The housing (1) has an accommodating cavity. The central shaft (2) is arranged in the accommodating cavity, and the central shaft (2) is fixed relative to the housing (1). The bearing support member (3) is fitted with the central shaft (2) by means of bearings (5). The drive module (4) is used for driving the bearing support member (3) to rotate. The drive module (4) comprises a stator and a rotor. The rotor comprises an electromagnetic component (41), and the electromagnetic component (41) is fixed on an outer side wall of the bearing support member (3). The stator comprises a magnetic component (42), and the magnetic component (42) is arranged on the outer side of the electromagnetic component (41) and fixed relative to the housing (1). The rotating support device has a simple and compact structure, and can reduce the size of a lidar without affecting the performance of the lidar, reduce the number of internal components of the lidar, and save costs, thereby facilitating the assembly and mass production of lidars. Also provided is a lidar.

Description

Rotating support device for laser radar and laser radar

[0001] This application claims priority to the following Chinese patent applications: Chinese patent application filed with the State Intellectual Property Office of China on July 20, 2023, with application number 202310896713X and application name “A Rotating Support Device for Laser Radar and Laser Radar”, and Chinese patent application filed with the State Intellectual Property Office of China on July 20, 2023, with application number 202310896488X and application name “A Detection Device for Laser Radar and Laser Radar”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present disclosure relates to the field of laser radar, and in particular to a rotating support device for laser radar and the laser radar. Background Art

[0003] LiDARs are generally categorized as mechanical rotating LiDARs, forward-facing LiDARs with scanning devices, and solid-state LiDARs. Mechanical rotating LiDARs are those whose transmitter and receiver devices rotate 360°. Mechanical rotating LiDARs scan the surrounding environment by continuously rotating multiple vertically arranged laser emitters horizontally.

[0004] A mechanical rotating laser radar includes a rotating support and a detection device mounted on the support. The detection device includes a transmitter and a receiver. The rotating support drives the detection device to rotate, detecting the laser radar's surroundings. Mechanical rotating laser radars offer advantages such as a 360-degree horizontal field of view.

[0005] However, existing mechanical rotating lidars have several drawbacks, such as an incompact rotating support structure, irrational component layout, large radial gaps between modules on the circuit board, and a large number of axially arranged components. These drawbacks increase the size and cost of the lidar, hindering assembly and mass production.

[0006] Summary of the Invention

[0007] The present disclosure provides a rotating support device and a laser radar for a laser radar, which can make the structure of the laser radar compact and the component arrangement more reasonable without affecting the performance of the laser radar, reduce the radial gap between modules on the circuit board, reduce the number of axially arranged components, and reduce the peripheral size and cost of the laser radar, thereby facilitating the assembly and mass production of the laser radar.

[0008] In a first aspect, an embodiment of the present disclosure provides a rotating support device for a laser radar, comprising a housing, a central axis, a bearing support, and a drive module. The housing has a receiving cavity. The central axis is disposed in the receiving cavity and is fixed relative to the housing. The bearing support is disposed in the receiving cavity and cooperates with the central axis through a bearing so that the bearing support can rotate relative to the central axis. The drive module is disposed in the receiving cavity and is configured to drive the bearing support to rotate. The drive module includes a stator and a rotor. The rotor includes an electromagnetic component, which is fixed to the side wall of the bearing support. The stator includes a magnetic component, which is disposed on the outside of the electromagnetic component and is fixed relative to the housing.

[0009] Optionally, the electromagnetic component is arranged around the bearing support, and the magnetic component is arranged around the electromagnetic component and is radially opposite to the electromagnetic component.

[0010] Optionally, the rotary support device further includes a stator fixing member, which is fixed relative to the housing, and the magnetic component is fixed to the stator fixing member.

[0011] Optionally, the magnetic component is an annular structure, and the stator fixing piece is arranged around the outer circumference of the magnetic component.

[0012] Optionally, the rotation support device further includes a wireless power supply module. The wireless power supply module is configured to supply power to components of the laser radar that rotate with the bearing support.

[0013] Optionally, the wireless power supply module includes a transmitting coil and a receiving coil. The transmitting coil is fixed relative to the housing. The receiving coil and the transmitting coil are arranged axially opposite to each other and are configured to rotate with the bearing support.

[0014] Optionally, the rotation support device further includes a lower circuit board. The lower circuit board is fixed relative to the housing and is disposed around the central axis or the bearing or the bearing support. The transmitting coil is disposed on the lower circuit board so that power is supplied to the transmitting coil via the lower circuit board.

[0015] Optionally, the rotating support device further includes a transmitting coil fixing member. The transmitting coil fixing member is disposed around the outer circumference of the stator fixing member. The transmitting coil fixing member is configured to fix the transmitting coil, and the transmitting coil fixing member is disposed between the stator fixing member and the transmitting coil.

[0016] Optionally, the magnetic component and the transmitting coil fixing member are arranged on a stator fixing member. The stator fixing member is fixedly connected to the housing.

[0017] Optionally, the transmitting coil fixing piece is made of insulating material.

[0018] Optionally, the rotary support device further comprises a rotary support member, the rotary support member is fixed relative to the bearing support member, and the laser radar detection device is mounted on the rotary support member.

[0019] Optionally, the housing includes a bottom and a sidewall disposed around the bottom. The rotating support device further includes a position detection module. The position detection module is configured to detect rotational position information of the detection device. The position detection module includes a code disk and a code reader. The code disk is disposed around the inner surface of the sidewall. The code disk is provided with a code track. The code reader is fixed relative to the rotating support and is disposed radially opposite to the code disk. The code reader rotates with the rotating support to detect the code track on the code disk.

[0020] Optionally, the extending direction of the code channel is parallel to the central axis.

[0021] Optionally, an upper circuit board is provided between the rotating support and the detection device, and the code reader is fixed on the upper circuit board.

[0022] Optionally, a code reader circuit board is provided below the upper circuit board, and the code reader is provided on the code reader circuit board.

[0023] Optionally, the upper circuit board is perpendicular to the central axis, and the code reader circuit board is parallel to the central axis.

[0024] Optionally, the upper circuit board is further provided with a processor which is electrically connected to the code reader to process the rotation position information acquired by the code reader.

[0025] Optionally, the rotary support device further includes an intermediate circuit board and a lower circuit board. The intermediate circuit board is disposed on the rotary support member and located between the upper and lower circuit boards. The intermediate circuit board is disposed around the central axis, bearing, or bearing support member and is capable of supplying power to the upper circuit board and the electromagnetic component.

[0026] Optionally, the rotating support device further includes a wireless power supply module. The receiving coil of the wireless power supply module is also arranged on the rotating support, and the receiving coil and the intermediate circuit board are respectively arranged on both sides of the rotating support.

[0027] Optionally, the gap between the code reader and the code disc is smaller than the axial width of the code disc.

[0028] Optionally, the driving module, the wireless power supply module, and the position detection module are all arranged around the central axis. The driving module, the wireless power supply module, and the position detection module are arranged in sequence in a direction away from the central axis.

[0029] Optionally, a flange is provided on the side wall of the bearing support member extending outward, and the rotating support member is connected to the flange of the bearing support member.

[0030] Optionally, there is a preset distance between the flange and the first end surface of the bearing support member. The rotation support member is arranged between the flange and the first end surface.

[0031] Optionally, the rotating support device also includes an optical communication circuit board, an uplink wireless communication transmitter, a downlink wireless communication receiver, an uplink wireless communication receiver, and a downlink wireless communication transmitter. The optical communication circuit board is arranged on the housing. The uplink wireless communication transmitter and the downlink wireless communication receiver are both arranged on the optical communication circuit board. The uplink wireless communication receiver and the downlink wireless communication transmitter are both arranged on the upper circuit board. The uplink wireless communication transmitter and the uplink wireless communication receiver are configured to perform uplink optical communication, and the uplink optical communication is implemented within the central axis. The downlink wireless communication transmitter and the downlink wireless communication receiver are configured to perform downlink optical communication, and the downlink optical communication is implemented within the central axis.

[0032] Optionally, the bearing includes a first bearing and a second bearing. The first bearing and the second bearing are respectively disposed at opposite ends of the central shaft, and the inner ring of the first bearing and the inner ring of the second bearing are respectively sleeved on opposite ends of the central shaft. The bearing support member includes a first bearing chamber and a second bearing chamber. The outer ring of the first bearing is fixed to the first bearing chamber. The outer ring of the second bearing is fixed to the second bearing chamber.

[0033] Optionally, the electromagnetic component is provided with a first clamping portion, and the bearing support is provided with a second clamping portion, and the first clamping portion is clamped with the second clamping portion.

[0034] In a second aspect, embodiments of the present disclosure provide a laser radar. The laser radar includes the rotating support device described in any embodiment of the first aspect and a detection device. The detection device is disposed on the rotating support device. The rotating support device drives the detection device to rotate to detect the laser radar's surroundings.

[0035] Optionally, the detection device includes a lens barrel, a light emitter, a light receiver, and a driver circuit board. The lens barrel is configured to accommodate a transmitting lens assembly and a receiving lens assembly. The lens barrel is made of plastic. The light emitter is configured to emit detection light. The transmitting lens assembly is located in the optical path of the detection light. The light receiver is configured to receive the echo light after the detection light is reflected by the target object. The receiving lens assembly is located in the optical path of the echo light. Both the light emitter and the light receiver are disposed on the driver circuit board.

[0036] Optionally, the detection device includes a lens barrel. The lens barrel includes a lens barrel body. The lens barrel body includes a transmitting cavity, a receiving cavity, and a first light barrier. The transmitting cavity is formed within the lens barrel body and is configured to accommodate a transmitting lens assembly. The receiving cavity is formed within the lens barrel body and is configured to accommodate a receiving lens assembly. The first light barrier is disposed between the transmitting cavity and the receiving cavity to separate the transmitting cavity from the receiving cavity.

[0037] Optionally, the lens barrel body and the first light-isolating member are integrally formed.

[0038] Optionally, the optical axis of the transmitting lens group is parallel to the optical axis of the receiving lens group.

[0039] Optionally, the lens barrel body is divided into a plurality of lens barrel segments along a direction perpendicular to the driving circuit board. The inner diameters of the lens barrel segments are different to match at least one of the transmitting lens or the receiving lens of different sizes, and the wall thicknesses of the lens barrel segments are the same.

[0040] Optionally, the lens barrel body includes an emission port, a receiving port, a mounting portion, and a second light barrier. The emission port is located in the optical path of the detection light and downstream of the emission cavity. The receiving port is located in the optical path of the return light and upstream of the return cavity. The mounting portion is located between the emission port and the receiving port. The second light barrier is mounted to the exterior of the lens barrel body via the mounting portion to separate the detection light and the return light outside the lens barrel body.

[0041] Optionally, the lens barrel is made of fiber-reinforced polyphenylene sulfide (PPS) plastic.

[0042] Optionally, the lens barrel is made of glass fiber reinforced PPS plastic, wherein the glass fiber content in the glass fiber reinforced PPS plastic is 40%.

[0043] Optionally, the detection device further comprises a heat sink, which is disposed at an end of the lens barrel and configured to dissipate heat from at least one of the drive circuit board and the lens barrel.

[0044] Optionally, the driving circuit board is arranged between the lens barrel and the heat sink.

[0045] Optionally, the heat sink includes a heat dissipation fin group, which is connected to at least one of the driving circuit board and the lens barrel.

[0046] Optionally, the detection device further includes a base, and the lens barrel is mounted on the base.

[0047] Optionally, the optical axis of the emitting lens group and the optical axis of the receiving lens group in the lens barrel are arranged to be tilted relative to the base.

[0048] Optionally, the vertical field of view of the detection device is greater than or equal to 105°.

[0049] Optionally, the lens barrel includes a lens barrel body and a support body. The lens barrel body is tilted relative to the base. The support body is integrally formed with the lens barrel body and connected to the base. The support body is disposed on both sides of the lens barrel body and is configured to support the lens barrel body, the drive circuit board, and the heat sink.

[0050] Optionally, the support body is provided with reinforcing ribs, which are integrally formed with the support body.

[0051] Optionally, a channel is provided on the lens barrel body. An inlet end of the channel is communicated with the exterior of the lens barrel body. An outlet end of the channel is communicated with at least one of the transmitting lens or the receiving lens in the lens barrel body to guide the adhesive into the connection between the lens and the lens barrel body.

[0052] Optionally, the cross-sectional area of ​​the inlet end of the channel is larger than the cross-sectional area of ​​the interior of the channel.

[0053] Optionally, the lens barrel includes a first positioning portion and a second positioning portion. The first positioning portion is configured to position the lens barrel with at least one of the driving circuit board or the heat sink. The second positioning portion is configured to position the lens barrel with the base.

[0054] Optionally, an upper circuit board is disposed on a side of the base away from the lens barrel. The upper circuit board has an electrical connector. The base is provided with a hole. The electrical connector passes through the hole and is electrically connected to the upper circuit board.

[0055] Optionally, the light emitter is a vertical cavity surface emitting laser (VCSEL), and the light receiver is a single photon detector.

[0056] The rotating support device for laser radar and the laser radar provided by the embodiments of the present disclosure have at least the following beneficial effects.

[0057] In some embodiments, the rotary support device provided by the embodiments of the present disclosure sets the electromagnetic component on the rotor and sets the magnetic component on the stator. Thus, when the rotor is energized, a magnetic field is generated, and the interaction between this magnetic field and the magnetic field of the stator's magnetic component drives the rotor and the bearing support to rotate. In addition, in this structure, the electromagnetic component is directly fixed to the side wall of the bearing support and rotates with the bearing support. Therefore, the gap between the electromagnetic component and the bearing support can be eliminated, and the peripheral size of the rotary support device can also be reduced. Thus, without affecting the performance of the laser radar, the structure of the laser radar can be made more compact, and the peripheral size of the laser radar can be reduced, which is beneficial to the assembly and mass production of the laser radar.

[0058] In some embodiments, the rotary support device provided by the present disclosure includes a transmitting coil fixture to secure the transmitting coil. The transmitting coil fixture surrounds the outer circumference of the stator fixture and is positioned between the stator fixture and the transmitting coil. This structure eliminates a circuit board for powering the transmitting coil, thereby reducing the number of axially arranged components and the height of the LiDAR.

[0059] In some embodiments of the rotary support device provided by the present disclosure, the code disk of the position detection module is disposed around the inner surface of the sidewall of the housing. The code reader of the position detection module is fixed relative to the rotary support and radially opposed to the code disk. The code reader rotates with the rotary support to detect the code track on the code disk. This converts the space occupied by the code track surface of the code disk from radial space to axial space, further reducing the peripheral dimensions of the rotary support device.

[0060] In some embodiments of the rotary support device provided by the present disclosure, the upper circuit board includes a processor. The processor is electrically connected to the barcode reader to process the rotational position information acquired by the barcode reader. Thus, the processor on the upper circuit board can directly process the position information detected by the position detection module. This reduces the number of components on the lower circuit board, its size, and manufacturing costs, thereby reducing the peripheral dimensions of the lidar.

[0061] In some embodiments of the rotary support device provided by the present disclosure, a flange is provided extending outward from the sidewall of the bearing support member, with a predetermined spacing between the flange and the first end surface of the bearing support member. The rotary support member is disposed between the flange and the first end surface. This reduces the axial space occupied by the rotary support member.

[0062] In some embodiments, the laser radar provided by the embodiments of the present disclosure may employ the rotary support device of any of the aforementioned embodiments. This reduces the peripheral dimensions of the rotary support device, thereby reducing the peripheral dimensions of the laser radar. Without compromising the performance of the laser radar, the laser radar can be made more compact, with a more rational arrangement of components, and with reduced radial clearances between modules on the circuit board. This also reduces the number of axially arranged components in the laser radar, reducing the peripheral dimensions and cost of the laser radar, thereby facilitating its assembly and mass production.

[0063] In some embodiments, in the detection device included in the laser radar provided by the embodiments of the present disclosure, the light transmitter and the light receiver can be both arranged on the same driver circuit board (for example, a structure in which the transmitter and the receiver share the same board). In the structure in which the transmitter and the receiver share the same board, the lens barrel can adopt an integrated transmitter-receiver design (for example, the transmitting lens barrel and the receiving lens barrel are combined into the same lens barrel). The integrated lens barrel can be installed in conjunction with the light transmitter and the light receiver on the same board without installation and adjustment, thereby facilitating mass production. In addition, the lens barrel is made of plastic, which can reduce the weight of the lens barrel, reduce processing costs, improve production efficiency, and improve product dimensional consistency.

[0064] In some embodiments, the detection device included in the laser radar provided by the embodiments of the present disclosure comprises a first light barrier integrally formed with the lens barrel body. This simplifies the production and assembly process, improves production efficiency, and facilitates mass production of the laser radar. Furthermore, the integrated structure offers greater strength and durability, improving the reliability of the laser radar during prolonged rotation and extending its service life.

[0065] In some embodiments, in the detection device included in the laser radar provided by the embodiments of the present disclosure, the lens barrel body is divided into multiple lens barrel segments along a direction perpendicular to the driver circuit board. The inner diameter of each lens barrel segment is different to match at least one of the transmitting lens or receiving lens of different sizes. The wall thickness of each lens barrel segment is the same, thereby ensuring consistent strength of the lens barrel body at all locations in the direction perpendicular to the driver circuit board, avoiding local deformation of the lens barrel body. When the lens barrel structure is made of plastic, it can be realized through an injection molding process, which has low production costs, good product consistency, and is easy to mass produce.

[0066] In some embodiments, the lens barrel of the detection device included in the laser radar provided by the embodiments of the present disclosure is made of fiber-reinforced PPS plastic. Compared to ordinary PPS plastic, fiber-reinforced PPS plastic can improve the corresponding material properties according to actual needs, thereby providing the lens barrel with higher mechanical strength, better insulation, and corrosion and high temperature resistance.

[0067] In some embodiments, the detection device included in the laser radar provided by the embodiments of the present disclosure employs the detection device of any of the aforementioned embodiments. This can reduce the weight of the laser radar, reduce the pressure on the rotating support device that supports the detection device, improve the rotational stability of the rotating support device, and enhance the reliability and service life of the laser radar. Furthermore, this can reduce the cost of the laser radar, improve the production efficiency of the laser radar, and facilitate the mass production of the laser radar. BRIEF DESCRIPTION OF THE DRAWINGS

[0068] In order to more clearly illustrate the technical solutions in the embodiments of this specification, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of this specification. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0069] FIG1 shows a cross-sectional view of a rotation support device provided in some embodiments of the present disclosure;

[0070] FIG2 shows an exploded view of a rotary support device provided in some embodiments of the present disclosure;

[0071] FIG3 shows an exploded view of portion A in FIG2 provided by the present disclosure;

[0072] FIG4 is a schematic structural diagram showing the cooperation between the bearing support and the electromagnetic component in the rotation support device provided in some embodiments of the present disclosure;

[0073] FIG5 is a schematic structural diagram showing a rotation support device provided in some embodiments of the present disclosure when a driving module and a wireless power supply module are not installed;

[0074] FIG6 shows a schematic diagram of a position detection module in a rotation support device provided in some embodiments of the present disclosure;

[0075] FIG7 shows a schematic structural diagram of a detection device in a laser radar provided in some embodiments of the present disclosure;

[0076] FIG8 is a schematic diagram showing the structure of an upper circuit board in a laser radar provided in some embodiments of the present disclosure;

[0077] FIG9 shows a schematic structural diagram of a laser radar provided in some embodiments of the present disclosure;

[0078] FIG10 shows a schematic structural diagram of a detection device provided in some embodiments of the present disclosure;

[0079] FIG11 is a schematic diagram showing the external structure of a detection device provided in some embodiments of the present disclosure;

[0080] FIG12 is a schematic diagram showing the external structure of a lens barrel in a detection device provided in some embodiments of the present disclosure;

[0081] FIG13 shows a cross-sectional view of a detection device provided in some embodiments of the present disclosure;

[0082] FIG14 shows an enlarged view of portion B of FIG13 provided by the present disclosure;

[0083] FIG15 shows an exploded view of a base and a control circuit board in a detection device provided in some embodiments of the present disclosure; and

[0084] FIG16 shows an exploded view of a detection device provided in some embodiments of the present disclosure. DETAILED DESCRIPTION

[0085] The following description provides specific application scenarios and requirements for this specification, with the goal of enabling those skilled in the art to make and use the contents of this specification. Various modifications to the disclosed embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other embodiments and applications without departing from the spirit and scope of this specification. Therefore, this specification is not limited to the embodiments shown, but is intended to be accorded the broadest scope consistent with the claims.

[0086] The terms used herein are for the purpose of describing specific example embodiments only and are not intended to be limiting. For example, as used herein, the singular forms "a," "an," and "the" may also include the plural forms unless the context clearly indicates otherwise. When used in this specification, the terms "comprise," "include," and / or "contain" are intended to refer to the presence of the associated integers, steps, operations, elements, and / or components, but do not preclude the presence of one or more other features, integers, steps, operations, elements, components, and / or groups or the addition of other features, integers, steps, operations, elements, components, and / or groups in the system / method.

[0087] In this disclosure, terms such as "upper," "lower," "left," "right," "front," "back," "top," "bottom," "inner," "outer," "vertical," "horizontal," "transverse," and "longitudinal" indicate positions or locations based on the positions or locations shown in the accompanying drawings. These terms are primarily intended to better describe this disclosure and its embodiments and are not intended to limit the devices, elements, or components indicated to having a specific orientation, or to being constructed or operated in a specific orientation.

[0088] Furthermore, some of the above terms may be used to express other meanings besides indicating a position or location. For example, the term "on" may also be used to express a dependency or connection in certain circumstances. Those skilled in the art will understand the specific meanings of these terms in this disclosure based on the specific circumstances.

[0089] Furthermore, the terms "installed," "disposed," "provided with," "connected," and "connected" should be interpreted broadly. For example, they can refer to fixed connections, removable connections, or integral structures; mechanical connections or electrical connections; direct connections, indirect connections through an intermediary, or internal communication between two devices, elements, or components. Those skilled in the art will understand the specific meanings of these terms in this disclosure based on specific circumstances.

[0090] These and other features of this specification, as well as the operation and function of the associated elements of the structure, and the economical assembly and manufacture of the components, can be significantly improved with consideration of the following description. Reference is made to the accompanying drawings, all of which form a part of this specification. However, it should be expressly understood that the drawings are for illustration and description purposes only and are not intended to limit the scope of this specification. It should also be understood that the drawings are not drawn to scale.

[0091] In order to solve the problems of the conventional rotating support device having a non-compact structure, irrational arrangement of internal components, large radial gaps between modules on the circuit board, and a large number of axially arranged components, which increases the peripheral size and cost of the laser radar and thus affects the assembly and mass production of the laser radar, the present disclosure provides a rotating support device for the laser radar. The rotating support device includes a housing, a central axis, a bearing support, and a drive module. The housing has a receiving cavity. The central axis is disposed in the receiving cavity and is fixed relative to the housing. The bearing support is disposed in the receiving cavity and cooperates with the central axis through a bearing so that the bearing support can rotate relative to the central axis. The drive module is disposed in the receiving cavity and is configured to drive the bearing support to rotate. The drive module includes a stator and a rotor. The rotor includes an electromagnetic component. The electromagnetic component is fixed to the outer wall of the bearing support. The stator includes a magnetic component. The magnetic component is disposed outside the electromagnetic component and is fixed relative to the housing.

[0092] The rotating support device provided by the embodiment of the present disclosure sets the electromagnetic component on the rotor and sets the magnetic component on the stator. Thus, when the rotor is energized, a magnetic field is generated, and the magnetic field interacts with the magnetic field of the stator to drive the rotor and the bearing support to rotate. Moreover, in this structure, the electromagnetic component is directly fixed to the side wall of the bearing support and rotates with the bearing support, so the gap between the electromagnetic component and the bearing support can be eliminated, and the peripheral size of the rotating support device can also be reduced. Thus, without affecting the performance of the laser radar, the structure of the laser radar can be made more compact, and the peripheral size of the laser radar can be reduced, which is beneficial to the assembly and mass production of the laser radar. The present disclosure is described in detail below through specific embodiments:

[0093] As shown in Figures 1 and 2, the present disclosure provides some examples of rotating support devices for laser radar. The rotating support device includes a central shaft 2, with a bearing 5 sleeved on the outer periphery of the central shaft 2, and a bearing support 3 sleeved on the outer periphery of the bearing 5. The bearing 5 includes a first bearing 51 and a second bearing 52, which are respectively arranged at both ends of the central shaft 2. The inner ring of the first bearing 51 and the inner ring of the second bearing 52 are both sleeved on the central shaft 2 and have a clearance fit with the central shaft 2. Correspondingly, the bearing support 3 includes a first bearing chamber and a second bearing chamber. The first bearing chamber and the second bearing chamber refer to the spaces within the bearing support 3 for accommodating the bearing 5. For example, the outer ring of the first bearing 51 has an interference fit with the first bearing chamber, and the outer ring of the second bearing 52 has an interference fit with the second bearing chamber, so that the outer rings of the bearings and the bearing support 3 can rotate synchronously relative to the central shaft 2.

[0094] In some embodiments, when assembling the bearing support 3, the assembly process is as follows: First, the outer rings of the first bearing 51 and the second bearing 52 are respectively fixed to the first bearing chamber and the second bearing chamber of the bearing support 3 through an interference fit. Then, the bearing support 3 with the first bearing 51 and the second bearing 52 is integrally sleeved on the central shaft 2, so that the inner rings of the first bearing 51 and the second bearing 52 are clearance-fitted with the central shaft 2, and the central shaft 2 axially connects and supports the second bearing 52, thereby enabling the central shaft 2 to axially support the bearing support 3 with the first bearing 51 and the second bearing 52. Finally, the inner ring of the first bearing 51 is locked using a locking member 21, such as a retaining spring, to prevent the bearing 5 and the bearing support 3 from moving axially along the central shaft 2.

[0095] As shown in Figure 1, a drive module 4 is installed outside the bearing support 3. The drive module 4 includes a stator and a rotor. The rotor includes an electromagnetic component 41. The stator includes a magnetic component 42. The electromagnetic component 41 is fixed to the side wall of the bearing support 3, while the magnetic component 42 is located outside the electromagnetic component 41 and fixed relative to the housing 1. A laser radar detection device (not shown) is fixed relative to the bearing support 3 and driven by the drive module 4 to rotate the bearing support 3. This allows the bearing support 3 to drive the detection device to rotate 360° horizontally, thereby achieving 360° laser radar detection. The drive module 4 places the electromagnetic component 41 on the rotor and the magnetic component 42 on the stator. When energized, the electromagnetic component 41 generates a magnetic field, which, through interaction with the magnetic field of the magnetic component 42, drives the rotor and the bearing support 3 to rotate. Because the electromagnetic component 41 in this structure is directly fixed to the side wall of the bearing support 3 and rotates with the bearing support 3, the gap between the electromagnetic component 41 and the bearing support 3 can be eliminated, and the outer dimensions of the rotating support device can be reduced. Therefore, without affecting the performance of the laser radar, the structure of the laser radar can be made more compact and the peripheral size of the laser radar can be reduced, which is conducive to the assembly and mass production of the laser radar.

[0096] In some embodiments, the electromagnetic component 41 can be configured as an annular structure and disposed around the bearing support 3. The axial height of the electromagnetic component 41 can be substantially equal to the height of the second bearing 52. The magnetic component 42 can also be configured as an annular structure and disposed around the electromagnetic component 41. The magnetic component 42 and the electromagnetic component 41 are radially opposed to each other to ensure electromagnetic induction between them. To further reduce the peripheral dimensions of the rotary support device, the portion of the outer wall of the bearing support 3 where the electromagnetic component 41 is disposed can be configured as a radially recessed portion toward the central axis. This allows the electromagnetic component 41 and the magnetic component 42 to be positioned close to the central axis 2, further reducing the peripheral dimensions of the rotary support device. Furthermore, the recessed portion toward the central axis formed on the outer wall of the bearing support 3 creates a stepped portion on the outer wall of the bearing support 3. During installation, the end face of the electromagnetic component 41 can be positioned against the stepped portion to achieve axial positioning of the electromagnetic component 41.

[0097] When securing the electromagnetic component 41 to the outer wall of the bearing support 3, various securing methods can be used, such as bonding, threading, clamping, welding, and the like. When a clamping method is used, as shown in FIG4 , a first clamping portion 411 can be provided on the electromagnetic component 41, and a second clamping portion 31 can be provided on the bearing support 3. The first clamping portion 411 and the second clamping portion 31 are clamped together to prevent relative rotation between the electromagnetic component 41 and the bearing support 3. In some embodiments, the first clamping portion 411 can be a boss, and the corresponding second clamping portion 31 can be a slot; alternatively, the first clamping portion 411 can be a slot, and the corresponding second clamping portion 31 can be a boss.

[0098] When securing the magnetic component 42, a stator fixture 43 can be used. For example, the stator fixture 43 can be first secured to the housing 1, and then the magnetic component 42 can be secured to the stator fixture 43. As shown in Figures 1 and 3, the stator fixture 43 can be an annular bracket that surrounds the outer circumference of the magnetic component 42 and is fixedly connected to the magnetic component 42. For example, the annular bracket can be formed with a positioning step on the side facing the central axis 2, and the magnetic component 42 can be secured to the positioning step. For example, the fixing can be achieved by bonding, clamping, threading, welding, or other methods.

[0099] In some embodiments, the electromagnetic component 41 may be an annular electromagnet comprising an iron core and a coil winding wound around the core. The magnetic component 42 may be an annular permanent magnet having a sinusoidal magnetic field inside.

[0100] Since the electromagnetic component 41 rotates, the wireless power supply module 6 can be used to supply power to the electromagnetic component 41. In addition to supplying power to the electromagnetic component 41, the wireless power supply module 6 can also supply power to other components that rotate with the bearing support 3 and require power, such as the circuit board disposed on the bearing support 3 and the components in the detection device that require power.

[0101] In some embodiments, wireless power supply can be achieved using the principle of electromagnetic induction. As shown in Figures 1 and 3, a wireless power supply module 6 can be positioned outside the drive module 4. The wireless power supply module 6 includes a transmitting coil 61 and a receiving coil 62. The transmitting coil 61 is fixed relative to the housing 1, while the receiving coil 62 is axially opposed to the transmitting coil 61 and can rotate with the bearing support 3. For example, during installation, the transmitting coil 61, the drive module 4, and the second bearing 52 can be positioned at substantially similar axial heights. The transmitting coil 61 can be positioned outside the stator fixture 43, and the receiving coil 62 and the first bearing 51 can also be positioned at substantially similar axial heights, thereby maintaining the axial height. The receiving coil 62 can also be positioned above the transmitting coil 61 at intervals. Thus, when powering, the transmitting coil 61 can be electrically connected to an external power source to supply power to the transmitting coil 61. AC current flows into the transmitting coil 61, generating a changing magnetic field around the transmitting coil 61. This changing magnetic field induces a current in the receiving coil 62 for use by the electromagnetic component 41 and other components, thereby achieving wireless power supply to the electromagnetic component 41 and other components.

[0102] In some embodiments, in addition to the above electromagnetic induction wireless power supply method, the wireless power supply module 6 can also use other principles for wireless power supply, which will not be described in detail here.

[0103] As shown in Figures 1, 2, and 3, power can be supplied to the transmitting coil 61 via a lower circuit board 11 fixed relative to the housing 1. The lower circuit board 11 can be configured as an annular structure and disposed around the central axis 2, the bearing 5, or the bearing support 3. For example, the stator fixture 43 is disposed on and fixedly connected to the bottom of the housing 1, and the lower circuit board 11 is disposed on the stator fixture 43, thereby achieving relative fixation between the lower circuit board 11 and the housing 1. The lower circuit board 11 is electrically connected to an external power source, so that power is directly supplied to the transmitting coil 61 through the lower circuit board 11. This structure eliminates one circuit board in the axial direction that supplies power to the transmitting coil 61, thereby reducing the height of the lidar.

[0104] In addition to supplying power to the transmitting coil 61, the lower circuit board 11 can also supply power to other electrical components fixed relative to the housing 1. For example, the lower circuit board 11 can also supply power to the optical communication circuit board 12. The lower circuit board 11 is disposed around the central shaft 2, the bearing 5, or the bearing support 3.

[0105] To secure the transmitting coil 61, a transmitting coil fixture 63 may be provided, as shown in Figures 1, 3, and 5. For example, the transmitting coil fixture 63 may be provided in an annular structure and disposed around the outer circumference of the stator fixture 43. The transmitting coil 61 is disposed around the outer circumference of the transmitting coil fixture 63. The transmitting coil fixture 63 may be secured to the outer circumference of the stator fixture 43, and the transmitting coil 61 may be secured to the outer circumference of the transmitting coil fixture 63, i.e., disposed on the side away from the stator fixture 43.

[0106] In addition, in order to save components, the transmitting coil 61 can also be directly fixed to the outside of the stator fixing member 43. Thus, the stator fixing member 43 is used to fix the transmitting coil 61 through the transmitting coil fixing member 63 and directly fix the magnetic component 42, which can further reduce the outer size of the rotating support device.

[0107] When securing the transmitting coil fixture 63, the magnetic component 42 and the transmitting coil fixture 63 can both be placed on the stator fixture 43, which can then be secured to the bottom of the housing 1, and the lower circuit board 11 secured to the stator fixture 43, thereby achieving relative fixation of the transmitting coil 61, the transmitting coil fixture 63, the magnetic component 42, the stator fixture 43, the lower circuit board 11, and the housing 1. Because circuit boards are generally not very strong, to increase connection strength, the stator fixture 43 can be passed through the lower circuit board 11 and fixedly connected to the bottom of the housing 1. For example, bonding, threading, clamping, welding, or the like can be employed for this connection.

[0108] To prevent interference between the transmitting coil 61 and the magnetic component 42, the transmitting coil fixture 63 can be made of an insulating material. This effectively isolates the transmitting coil 61 from the magnetic component 42, preventing electromagnetic interference between the transmitting coil 61 and the magnetic component 42. For example, the transmitting coil fixture 63 can be made of plastic.

[0109] As shown in Figures 1, 2, and 9, in order to install and position the laser radar detection device 100, a rotating support member 7 can be provided on the bearing support member 3. The laser radar detection device 100 is installed on the rotating support member 7 so that the bearing support member 3 can drive the rotating support member 7 and the detection device 100 to rotate synchronously when rotating. For example, the rotating support member 7 can adopt a circular rotating bracket structure and be arranged around the bearing support member 3. The rotating support member 7 can be located above the driving module 4 and the wireless power supply module 6, and the axial height of the rotating support member 7 is substantially close to that of the first bearing 51.

[0110] In order to facilitate the connection between the bearing support 3 and the rotating support 7, a flange 32 can be provided on the side wall of the bearing support 3 to extend outward. The rotating support 7 is then connected to the flange 32. As shown in Figure 2, the flange 32 includes an annular protrusion 321 protruding outward from the outer wall of the bearing support 3 and a plurality of protrusions 322 protruding outward from the annular protrusion 321. The plurality of protrusions 322 can be used to set connection holes, which are connected to the rotating support 7 through the connection holes. The position of the above-mentioned flange 32 can be set at the end of the bearing support 3 in the axial direction. At this time, there is a preset distance between the flange 32 and the first end face of the bearing support 3 (i.e., the upper end face of the bearing support 3 in Figure 1). The rotating support 7 is arranged between the flange 32 and the first end face, and the rotating support 7 is supported in the axial direction by the flange 32, thereby saving the axial space occupied by the rotating support 7.

[0111] As shown in Figure 1 , the receiving coil 62 can be fixed to the edge of the lower surface of the rotating support 7. A recessed structure can be provided on the lower surface of the rotating support 7, so that at least a portion of the receiving coil 62 is embedded within the recessed structure, thereby further reducing the height of the rotating support device. Furthermore, the step formed by the recessed structure can also radially limit the receiving coil 62, preventing it from moving radially and ensuring that the receiving coil 62 and the transmitting coil 61 remain aligned in the axial direction.

[0112] In order to detect the rotation information of the detection device 100, in order to accurately control the motor speed and rotation angle. As shown in Figure 6, a position detection module 8 can be set. The position detection module 8 includes a code disk 81 and a code reader 82. During installation, one of the code disk 81 and the code reader 82 can be fixed relative to the housing 1, and the other can be fixed relative to the rotor, and the code disk 81 and the code reader 82 are relatively set, so that when the rotor rotates, the code reader 82 can read the information of the code track on the code disk 81, thereby accurately controlling the motor speed and rotation angle. For example, when setting, the surface of the code disk 81 with the code track can be perpendicular to the central axis 2 or parallel to the central axis 2. When the surface of the code disk 81 with the code track is perpendicular to the central axis 2, since the surface of the code disk 81 with the code track needs to reserve a certain width, it will occupy a certain radial space, making the radial outer dimension of the rotating support device larger. Therefore, to conserve radial space, as shown in Figures 5 and 6 , a code disk 81 can be positioned around the inner surface of the sidewall of the housing 1, with the surface of the code disk 81 having the code tracks facing the central axis 2. The code tracks on the code disk 81 can be arranged so that they extend parallel to the central axis 2. A code reader 82 is fixed relative to the rotating support 7 and positioned radially opposite the code disk 81. As the code reader 82 rotates with the rotating support 7, it detects the code tracks on the code disk 81. This converts the space occupied by the surface of the code disk 81 having the code tracks from radial space to axial space, thereby reducing the peripheral dimensions of the rotating support device.

[0113] When the code reader 82 is fixed, it can be mounted on the upper circuit board 71. The upper circuit board 71 is positioned between the rotating support 7 and the detection device 100 and rotates with the rotating support 7. The upper circuit board 71 also includes a processor, which is electrically connected to the code reader 82 to process the rotational position information acquired by the code reader 82 and is capable of receiving and processing detection signals from the detection device 100. For example, as shown in Figure 6, a code reader circuit board 83 is positioned below the upper circuit board 71, with the code reader 82 mounted on the circuit board 83. The upper circuit board 71 can be positioned perpendicular to the central axis 2 to facilitate connection to the detection device 100. The circuit board 83 can also be positioned parallel to the central axis 2. For example, the upper end of the circuit board 83 can be connected to the upper circuit board 71. For example, conductive holes can be provided on the edge of the circuit board 83, and the circuit board 83 can be soldered to the upper circuit board 71 through the conductive holes. The conductive holes can be circular, semicircular, or other shaped. A code reader 82 is mounted on the outer side of the code reader circuit board 83, with its reading end facing radially outward toward the code disk 81. The processor on the upper circuit board 71 processes the position information detected by the position detection module. This reduces the number of components, the overall size, and the manufacturing cost of the lower circuit board, further reducing the overall size of the LiDAR.

[0114] When setting the gap between the code reader 82 and the code disk 81, the gap can be made as small as possible while still meeting the minimum reading distance requirement. For example, the gap can be set to be smaller than the axial width of the code disk 81. This minimizes the radial space occupied by the position detection module 8.

[0115] As shown in FIG1 , the rotary support device further includes an intermediate circuit board 72, which is disposed on the rotary support member 7 and located between the upper circuit board 71 and the lower circuit board 11. The intermediate circuit board 72 surrounds the central axis 2, the bearing 5, or the bearing support member 3. The receiving coil 62 of the wireless power supply module 6 is also disposed on the rotary support member 7, with the receiving coil 62 and the intermediate circuit board 72 disposed on either side of the rotary support member 7. The receiving coil 62 of the wireless power supply module 6 can supply power to the intermediate circuit board 72. The intermediate circuit board 72 is configured to supply power to the upper circuit board 71 and the electromagnetic component 41, while the upper circuit board 71 is configured to supply power to the detection device 100. For example, as shown in FIG1 and FIG2 , when installing the intermediate circuit board 72, a recess 73 can be provided on the upper surface of the rotary support member 7, and the intermediate circuit board 72 can be disposed within the recess 73 to reduce the radial space occupied by the intermediate circuit board 72 and effectively protect the intermediate circuit board 72. Furthermore, as shown in FIG2 , one or more positioning pins 74 are disposed within the recess 73. A clearance opening 721 is provided on the intermediate circuit board 72 at positions corresponding to the positioning pins 74 to allow the positioning pins 74 to pass through. Similarly, as shown in FIG8 , a clearance opening 721 is also provided on the upper circuit board 71 at positions corresponding to the positioning pins 74 to allow the positioning pins 74 to pass through and connect with the detection device 100. The provision of the positioning pins 74 prevents the intermediate circuit board 72 and the upper circuit board 71 from rotating relative to the rotating support 7 while also directly securing the detection device 100 to the rotating support 7.

[0116] To enable uplink and downlink optical communications for the lidar, as shown in Figure 1, the housing 1 is also provided with an optical communication circuit board 12. This circuit board is equipped with an uplink wireless communication transmitter and a downlink wireless communication receiver, while the upper circuit board 71 is equipped with an uplink wireless communication receiver and a downlink wireless communication transmitter. The uplink wireless communication transmitter and receiver are used for uplink optical communications. Correspondingly, the downlink wireless communication transmitter and receiver are used for downlink optical communications. For example, the optical communication circuit board 12 can be positioned below the lower circuit board 11 and within a recess at the bottom of the housing, with the recess opening facing upward. The central axis 2 is positioned above the recess and shields the recess opening. This effectively protects the optical communication circuit board 12 and eliminates the need for additional axial space, thereby reducing the height of the rotating support device. Furthermore, both uplink and downlink optical communications can be conducted within the central axis 2. This allows both uplink and downlink optical communications to be achieved while shielding external interference, ensuring signal quality.

[0117] In some embodiments, as shown in Figures 1, 2, and 3, the lower circuit board 11 and the middle circuit board 72 have central holes and are arranged around the central axis 2, the bearing 5, or the bearing support 3. The rotating support 7, the receiving coil 62, and the transmitting coil 61 are arranged sequentially from top to bottom between the lower circuit board 11 and the middle circuit board 72. Furthermore, the transmitting coil 61, the transmitting coil fixture 63, the stator fixture 43, the magnetic component 42, and the electromagnetic component 41 are arranged sequentially from the outside to the inside at the same height. The upper circuit board 71 and the optical communication circuit board 12 are respectively arranged above and below the central axis, and neither of them has a central hole.

[0118] In summary, the radial arrangement of the various components of the rotary support device is as follows: the drive module 4, wireless power supply module 6, and position detection module 8 are all arranged around the central axis 2, and the drive module 4, wireless power supply module 6, and position detection module 8 are arranged sequentially in a direction away from the central axis 2. The axial arrangement of the various components is as follows: the upper circuit board 71, the middle circuit board 72, the rotary support member 7, the wireless power supply module 6 (and the drive module 4), the lower circuit board 11, and the optical communication circuit board 12 are arranged sequentially from top to bottom along the axial direction.

[0119] The rotary support device also includes a housing 1 having a receiving cavity, within which the various components of the rotary support device can be disposed. Specifically, the code wheel 81, stator fixture 43, central shaft 2, and optical communication circuit board 12 can be directly fixed to the housing, while other components do not need to be directly connected to the housing.

[0120] In some embodiments, the intermediate circuit board 72, rotating support 7, magnetic component 42, electromagnetic component 41, stator fixture 43, transmitting coil 61, receiving coil 62, transmitting coil fixture 63, and lower circuit board 11 can all be configured as an annular structure; the upper circuit board 71 and optical communication circuit board 12 can both be configured as a circular structure, with the centers of the annular and circular structures both located axially along the central axis 2. This makes the overall structure more symmetrical and compact, and the rotating components more stable during rotation. Furthermore, the housing 1 can be configured as a cylindrical structure, occupying less space and facilitating installation in vehicles and other equipment.

[0121] This disclosure provides some examples of laser radars. As shown in Figures 7, 8, 9, and 10, the laser radar includes a detection device 100 and a rotating support device 200 of any of the above embodiments. The detection device 100 is disposed on the rotating support device 200. The rotating support device drives the detection device to rotate 360° to detect the surroundings of the laser radar. For example, the detection device can be disposed on the rotating support member 7 of the rotating support device, and the rotating support member 7 and the detection device 100 can be driven to rotate by the driving module 4 of the rotating support device.

[0122] The detection device 100 may include a lens barrel 91, a light emitter 92, a light receiver 93, and a driving circuit board 94. The upper circuit board 71 of the rotation support device 200 may be disposed at the bottom of the detection device 100, and the upper circuit board 71 may be electrically connected to the middle circuit board 72 and the driving circuit board 94 of the detection device 100, respectively.

[0123] Both the light emitter 92 and the light receiver 93 are mounted on a driver circuit board 94. The driver circuit board 94 is fixed to one side of the lens barrel 91. For example, along the optical path of the detection light L1, the lens barrel 1 is located downstream of the driver circuit board 94; or along the optical path of the echo light L2, the lens barrel 91 is located upstream of the driver circuit board 94. The light emitter 92 is used to transmit the detection light L1, and the light receiver 93 is used to receive the echo light L2 after the detection light L1 is reflected by the target object. The lens barrel 91 is made of plastic and contains a transmitting lens group 95 and a receiving lens group 96. The transmitting lens group 95 is located in the optical path of the detection light L1, and the receiving lens group 96 is located in the optical path of the echo light L2.

[0124] This disclosure provides examples of detection devices 100 for laser radar (LiDAR), in which both the optical transmitter 92 and the optical receiver 93 are mounted on the same driver circuit board 94. The optical transmitter 92 is used to transmit detection light L1, which is then shaped (collimated) by a transmitting lens group 95 to detect targets in the laser radar's external environment. The targets reflect the detection light, forming echo light L2. This echo light L2 is shaped (converged) by a receiving lens group 96 and received by the optical receiver 93. The above structure utilizes a common transmitter-receiver board, meaning that the optical transmitter and optical receiver are mounted on the same driver circuit board. This driver circuit board is equipped with driver circuits for driving the optical transmitter to emit detection light and the optical receiver to receive echo light. In this common transmitter-receiver board structure, the lens barrel can adopt an integrated transmitter-receiver design (for example, the transmitting lens barrel and the receiving lens barrel are combined into a single lens barrel). This integrated lens barrel, when installed with the common transmitter-receiver board's optical transmitter and receiver, eliminates the need for assembly and adjustment, facilitating mass production. In addition, the lens barrel is made of plastic, which can reduce the weight of the lens barrel, reduce processing costs, improve production efficiency, and improve product dimensional consistency.

[0125] The structure of the lens barrel 91 is shown in Figures 10, 11 and 12, and includes a lens barrel body 911, an emitting cavity 912 formed in the lens barrel body 911, a receiving cavity 913 and a first light barrier 914. The emitting cavity 912 is used to accommodate the emitting lens group 95, and the receiving cavity 913 is used to accommodate the receiving lens group 96. The first light barrier 914 is arranged between the emitting cavity 912 and the receiving cavity 913 to separate the emitting cavity 912 and the receiving cavity 913 to avoid mutual interference between the detection light and the echo light, thereby affecting the detection results obtained by the detection device 100, such as the distance and position of the target object. Therefore, the use of the integrated lens barrel 91 fixes the relative positions of the transmitting lens group 95 and the receiving lens group 96. Compared with the solution of using separate transmitting lens barrels and receiving lens barrels, in which the transmitting lens group 95 and the receiving lens group 96 are respectively arranged in the transmitting lens barrel and the receiving lens barrel, the use of the integrated lens barrel 91 facilitates assembly and debugging, and avoids the assembly of multiple parts when assembling the lens barrel 1, thereby simplifying the assembly process of the lens barrel 1, improving production and assembly efficiency, and facilitating mass production.

[0126] The first light barrier 914 can be integrally molded with the lens barrel body 911. The first light barrier 914 can be made of the same plastic as the lens barrel body 911 and can be integrally molded using an injection molding process. This simplifies the production and assembly process. Furthermore, the integrally molded structure offers greater strength and durability, thereby improving the reliability of the LiDAR during long-term rotation and extending its service life.

[0127] In the above-mentioned design where the light emitter 92 and the light receiver 93 share a driver circuit board 94, the light emitter 92 can use a vertical cavity surface emitting laser (VCSEL). The light receiver 93 can use a single photon detector, such as a silicon photomultiplier (SiPM) or a single photon avalanche diode (SPAD).

[0128] Since the photon detection efficiency (PDE) of the single-photon detector used in the laser radar is significantly improved, the laser's luminous power does not need to be very high, resulting in a reduction in the VCSEL luminous power, thereby reducing the power consumption of the light emitter 92 and the light receiver 93. Therefore, the heat dissipation requirements for the light emitter and the light receiver are not high, and it is not necessary to rely on the metal lens barrel 91 for heat dissipation, so that the lens barrel 91 can be made of plastic material, which reduces the weight of the lens barrel 91, reduces processing costs, improves production efficiency, and improves product dimensional consistency.

[0129] Since the VCSEL emits detection light in a direction perpendicular to the driver circuit board 94, and the single-photon detector receives echo light in a direction perpendicular to the driver circuit board 94, the optical path of the detection light emitted by the optical transmitter 92 is parallel to the optical path of the echo light received by the optical receiver 93, and the optical axis of the corresponding transmitting lens group 95 is parallel to the optical axis of the receiving lens group 96. As a result, the transmitting cavity 912 and the receiving cavity 913 in the lens barrel body 911 can be arranged in a direction perpendicular to the driver circuit board 94, which can save the space occupied by the transmitting cavity 912 and the receiving cavity 913. In addition, since the transmitting light path of the optical transmitter 92 and the receiving light path of the optical receiver 93 are both perpendicular to the driver circuit board 94, and no beam deflecting elements (such as reflectors) are provided outside the lens barrel 91, the optical paths of the detection light L1 and the echo light L2 are transmitted in a straight line within the laser radar without being deflected.

[0130] In some embodiments, the above-mentioned transmitting lens group 95 may include one transmitting lens or multiple transmitting lenses. When it includes multiple transmitting lenses, the multiple transmitting lenses are arranged in sequence along the optical path of the detection light L1, and the outer diameters of each transmitting lens are different; similarly, the above-mentioned receiving lens group 96 may include one receiving lens or multiple receiving lenses. When it includes multiple receiving lenses, the multiple receiving lenses are arranged in sequence along the optical path of the echo light, and the outer diameters of each receiving lens are different.

[0131] As shown in Figures 11 and 13, the lens barrel body 911 can be divided into multiple lens barrel sections (911a, 911b, 911c, 911d) along a direction perpendicular to the drive circuit board 94. The inner diameters of each lens barrel section are different to match lenses of different sizes (transmitting lenses or receiving lenses). As shown in Figure 13, the sizes of the transmitting lenses in the transmitting lens group 95 are different, and the outer diameters of each transmitting lens along the transmission direction of the detection light L1 are reduced in sequence. Correspondingly, the sizes of the receiving lenses in the receiving lens group 96 are different, and the outer diameters of each receiving lens along the transmission direction of the echo light L2 are increased in sequence. At this time, if the outer diameters of the lens barrel sections are the same, the wall thicknesses of the lens barrel sections will be unequal, resulting in inconsistent strength of the lens barrel body 911 at various locations in the direction perpendicular to the drive circuit board 94, and the lens barrel sections with thinner wall thickness are prone to deformation. Therefore, the outer diameter of each lens barrel segment can be set to match its inner diameter, that is, the outer diameter of the lens barrel segment with a larger inner diameter is also larger, and the outer diameter of the lens barrel segment with a smaller inner diameter is also smaller. As a result, the wall thickness of each lens barrel segment is approximately equal, thereby ensuring that the strength of the lens barrel body 911 is consistent at all locations in the direction perpendicular to the drive circuit board 94, and avoiding local deformation of the lens barrel body 911. In some embodiments, the above-mentioned stepped lens barrel structure can be achieved through an injection molding process when a plastic material is used, while a metal lens barrel requires machining to form, which is difficult to achieve, has high costs, and has poor dimensional consistency of the product, which is not conducive to mass production.

[0132] In order to ensure the stability of optical performance, an adhesive can be used to bond the lens L (comprising the transmitting lens group 95 and the receiving lens group 96) and the lens barrel body 911. The structure of the lens barrel 91 is shown in Figures 13 and 14. A channel 9111 is provided on the sidewall of the lens barrel body 911. The inlet end 9111a of the channel 9111 is communicated with the outside of the lens barrel body 911, and the outlet end 9111b of the channel 9111 is communicated with the lens in the lens barrel body 911, so as to guide the adhesive to enter the connection between the lens L and the lens barrel body 911. When installing the lens L, the lens can first be placed in a preset installation position in the lens barrel body 911. The installation position can be positioned by adopting a step structure 9112 formed on the inner wall of the lens barrel body 911. After the lens L is placed, by introducing the adhesive into the channel 9111 and squeezing the adhesive into the contact portion between the lens L and the lens barrel body 911, the lens L can be bonded in the lens barrel body 911.

[0133] To facilitate the entry of adhesive into the inlet end 9111a of the channel 9111, as shown in Figures 13 and 14, the cross-sectional area of ​​the inlet end 9111a of the channel 9111 can be set to be larger than the cross-sectional area of ​​the interior of the channel 9111. For example, when the channel 9111 is a circular through hole, the diameter of the inlet end 9111a of the channel is larger than the inner diameter of the channel 9111. This provides a larger accommodation space at the inlet end 9111a, making it easier for adhesive to enter the channel 9111, thereby providing more operating space, improving work efficiency, and preventing adhesive overflow that would affect the appearance.

[0134] As shown in Figures 11 and 13, the lens barrel body 911 further includes an emission port 9113 and a receiving port 9114. The emission port 9113 is located downstream of the emission cavity 912 along the optical path of the detection light so that the detection light is emitted from the emission cavity 912. The receiving port 9114 is located upstream of the receiving cavity 913 along the optical path of the echo light so that the echo light enters the receiving cavity 913. In order to prevent the detection light and the echo light from interfering with each other at the emission port 9113 and the receiving port 9114, a mounting portion may be provided on the end surface of the lens barrel body 911 where the emission port 9113 and the receiving port 9114 are provided. The mounting portion is located between the emission port 9113 and the receiving port 9114. A second light barrier 9115 is provided at the mounting portion to separate the detection light outside the emission port 9113 from the echo light outside the receiving port 9114, thereby preventing the detection light and the echo light from interfering with each other. The second light isolation member 9115 may be a light isolation plate, and the light isolation plate may be arranged perpendicular to the end surface of the lens barrel body 911 .

[0135] In some embodiments, the lens barrel 91 can be made of fiber-reinforced polyphenylene sulfide (PPS) plastic. Compared to conventional PPS plastic, fiber-reinforced PPS plastic can improve the material's properties as needed. For example, glass fiber-reinforced PPS plastic, mineral fiber-reinforced PPS plastic, or carbon fiber-reinforced PPS plastic can be used. Glass fiber-reinforced PPS plastic is made by adding glass fiber to PPS plastic. Glass fiber has advantages such as high mechanical strength, good insulation properties, corrosion resistance, and high temperature resistance, thus imparting the aforementioned properties to the PPS plastic. For example, the added glass fiber content can be 40% by mass, thereby making the various parameters of the glass fiber-reinforced PPS plastic more suitable for manufacturing the lens barrel 1.

[0136] In order to achieve a better heat dissipation effect, as shown in Figures 13 and 15, a heat sink 97 can be provided at the end of the lens barrel 91. The heat sink 97 can be heat-conductingly connected to the drive circuit board 94 to dissipate heat from the drive circuit board 94; it can also be heat-conductingly connected to the lens barrel 91 to dissipate heat from the lens barrel 91; it can also be heat-conductingly connected to the drive circuit board 94 and the lens barrel 91 at the same time to dissipate heat from the lens barrel 91 and the drive circuit board 94 at the same time. When dissipating heat from the lens barrel 91 and the drive circuit board 94 at the same time, as shown in Figures 12 and 13, the drive circuit board 94 can be provided between the lens barrel 91 and the heat sink 97, and the first positioning portion 916 of the lens barrel 91 can be passed through the drive circuit board 94 and connected to the heat sink 97 to achieve positioning and fixed connection between the lens barrel 91, the drive circuit board 994 and the heat sink 7, so that the heat dissipation of the drive circuit board 94 and the lens barrel 91 can be simultaneously performed through the heat sink 97.

[0137] For example, as shown in FIG13 , the structure of the heat sink 97 may include a base 971 and a heat sink fin assembly 972 . The heat sink fin assembly 972 is composed of a plurality of parallel heat sink fins. The heat sink fins are all sheet-like structures and perpendicular to the base 971 . The plurality of heat sink fins are arranged in a direction parallel to the base 971 . A gap exists between adjacent heat sink fins, thereby increasing the contact area between the heat sink 97 and the air, thereby improving the heat conduction efficiency between the heat sink 97 and the air. The heights of the plurality of heat sink fins on the base 971 may be the same or different. In the embodiment shown in FIG13 , the heights of the plurality of heat sink fins on the base 971 gradually decrease from the middle to the sides. This reduces mutual obstruction between the heat sink fins, facilitates sufficient contact between the external air and the heat sink fins, and improves heat dissipation efficiency.

[0138] As shown in Figures 13, 15, and 16, a base 98 can be provided at the bottom of the lens barrel 91 to facilitate securing the detection device 100. The base 98 is used to connect the detection device 100 to the rotating support device of the laser radar, so that the rotating support device can drive the detection device 100 to rotate. To increase the vertical field of view of the laser radar, the optical axes of the transmitting lens group 95 and the receiving lens group 96 in the lens barrel 91 are tilted relative to the base 98. That is, the transmitting cavity 912 and the receiving cavity 913 are tilted relative to the base 98. This allows the detection device 100 to be moved away from the base 98 in the vertical field of view, thereby increasing the detection range of the detection device 100 in the vertical field of view. For example, when the tilt angles of the optical axes of the transmitting lens group 95 and the receiving lens group 96 are set, the vertical field of view angle of the detection device 100 can be greater than or equal to 105°.

[0139] There are many ways to connect the lens barrel 91 and the base 98. For example, the lens barrel body 911 that is tilted can be directly connected to the base 98 at an angle. In addition, in another connection method, as shown in Figures 11 and 12, support bodies 915 can be provided on both sides of the lens barrel body 911, wherein the lens barrel body 911 is tilted relative to the base 98, and the support bodies 915 are integrally formed with the lens barrel body 911 and vertically connected to the base 98. The support bodies 915 are used to support the lens barrel body 911, the drive circuit board 94 and the heat sink 97. At this time, the lens barrel body 911 is still tilted, but due to the presence of the support bodies 915, the support bodies 915 are provided in a direction perpendicular to the base 98 and are located on both sides of the lens barrel body 911. Therefore, the tilted lens barrel body 911 can be connected to the base 98 in a direction perpendicular to the base 98, so that the contact area when the lens barrel 91 and the base 98 are connected is larger and the connection is more stable.

[0140] In some embodiments, the support body 915 can be implemented by a plate-shaped, columnar or block-shaped structure. As shown in Figure 12, when the support body 915 adopts a plate-shaped structure, in order to prevent the support body 915 from deforming, a reinforcing rib 9151 can be provided on the side of the support body 915, and the bottom of the reinforcing rib 9151 abuts against the base 98, thereby making the connection between the support body 915 and the base 98 more stable and preventing the support body 915 from deforming.

[0141] In some embodiments, the lens barrel body 911, the support body 915, and the reinforcing ribs 9151 can all be made of plastic when integrally formed, and can be integrally formed using an injection molding process, which can simplify the production and assembly process.

[0142] In order to realize the positioning of the lens barrel 91 and the drive circuit board 94, and the positioning between the lens barrel 91 and the heat sink 97, a first positioning portion 916 can be provided between the lens barrel 91 and the drive circuit board 94, and between the lens barrel 91 and the heat sink 97, so as to realize the positioning of the lens barrel 91 and the drive circuit board 94, and the positioning between the lens barrel 91 and the heat sink 97 by the first positioning portion 916. There are many ways to realize the first positioning portion 916. For example, a positioning protrusion can be provided at the end of the lens barrel body 911, and positioning holes can be provided on the drive circuit board 94 and the heat sink 97, and the positioning protrusion can be penetrated in the positioning holes to realize positioning. In addition, a through hole for penetrating a screw can also be provided at the end of the lens barrel body 911, and threaded holes can be provided on the drive circuit board 94 and the heat sink 97, and then a screw can be passed through the through hole and threadedly connected with the threaded hole to realize the positioning connection between the lens barrel 91 and the drive circuit board 94, and the positioning connection between the lens barrel 91 and the heat sink 97.

[0143] In addition, as shown in Figure 12, in order to realize the positioning of lens barrel 91 and base 98, second locating portion 917 can be set between lens barrel 91 and base 98, realize the positioning of lens barrel 91 and base 98 by second locating portion 917. The implementation mode of second locating portion 917 also can have multiple, for example, can be provided with locating projection at the bottom of support body 915, on base 98, locating hole is set, or on base 98, locating projection is set, on the bottom of support body 915, locating hole is set, locating projection is penetrated in the locating hole and realizes positioning. In addition, also can be provided with the through hole that is used to penetrate screw at the bottom of support body 915, and on base 98, threaded hole is set, then screw is passed through the through hole and is threadedly connected with threaded hole, to realize the positioning connection of lens barrel 91 and base 98.

[0144] To achieve positioning between the lens barrel 91 and the base 98, as shown in Figures 12 and 15, the second positioning portion 917 can adopt the positioning protrusion shown in Figure 12. The base 98 is provided with a first positioning recess 981, and the second positioning portion 917 is passed through the first positioning recess 981 to achieve positioning between the lens barrel 91 and the base 98. In addition, as shown in Figure 15, the base 98 and the upper circuit board 71 can be mated and connected. For example, a screw hole column 982 can be provided on the base 98, and a first screw 993 can be provided on the upper circuit board 71. The base 98 and the upper circuit board 71 are fixedly connected through the threaded engagement between the first screw 993 and the screw hole column 982.

[0145] In some embodiments, the positioning pin 74 is connected to the detection device 100 after passing through the avoidance opening 721. For example, after passing through the avoidance opening 721, the positioning pin 74 can then be sequentially passed through the holes in the base 98 and the lens barrel 91. As shown in Figure 16, the interior of the positioning pin 74 can be provided with a threaded hole. The second screw 99 and the positioning pin 74 can be threadedly engaged to securely connect the rotating support 7, the upper circuit board 71, the base 98, and the lens barrel 91. This prevents the intermediate circuit board 72 and the upper circuit board 71 from rotating relative to the rotating support 7, while also directly securing the detection device 100 to the rotating support 7.

[0146] In some embodiments, since the lens barrel 91 is made of plastic, the first positioning portion 916 and the second positioning portion 917 provided on the lens barrel 1 in the above embodiment can be integrally injection molded with the plastic lens barrel 91, thereby reducing the number of parts and improving production efficiency.

[0147] In some embodiments, the upper circuit board 71 can be electrically connected to the driver circuit board 94 to process the detection signals received by the driver circuit board 94. For example, as shown in Figures 13, 15, and 16, the upper circuit board 71 can be placed on the side of the base 98 away from the lens barrel 91. A hole is provided in the base 98, and the driver circuit board 94 is electrically connected to the upper circuit board 71 via an electrical connector 991 inserted through the hole. Because the lens barrel 91 is tilted relative to the base 98, the driver circuit board 94 is also tilted relative to the base 98. The electrical connector 991 can be implemented using a transmission line, a circuit board, or a flexible cable. Using a flexible cable integrates multiple circuits into a neat structure. The flexible cable can be passed through the base 98 and bent before being electrically connected to the upper circuit board 71. In this case, the electrical connector 991 is positioned between the base 98 and the upper circuit board 71, and parallel to the base 98, thereby saving space and reducing the overall size of the lidar.

[0148] In some examples of laser radars provided in the embodiments of this disclosure, the rotary support device described in any of the above embodiments can be employed. This can reduce the peripheral dimensions of the rotary support device, thereby reducing the peripheral dimensions of the laser radar without affecting its performance, thereby facilitating the assembly and mass production of the laser radar.

[0149] In some examples of laser radars provided in the embodiments of this disclosure, the detection device 100 described in any of the above embodiments can be employed. This can reduce the weight of the laser radar, reduce the pressure on the rotating support device 200, and improve the rotational stability of the rotating support device 200. It can also reduce the cost of the laser radar, improve the production efficiency of the laser radar, and facilitate the mass production of laser radars.

[0150] The laser radar may also include a window. The window is provided on the housing 1 and is configured to transmit detection light to the exterior of the laser radar and to transmit return light into the interior of the laser radar. The window is fixedly connected to the housing 1, thereby accommodating various components within the laser radar through the fixed connection between the housing 1 and the window. These components may include the detection device 100 and other components of the rotating support device 200 other than the housing 1.

[0151] The foregoing description of this specification describes specific embodiments. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be performed in an order different from that described in the embodiments and still achieve the desired results. Furthermore, the processes depicted in the accompanying drawings do not necessarily require the particular order or sequential order shown to achieve the desired results. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0152] In summary, after reading this detailed disclosure, those skilled in the art will appreciate that the foregoing detailed disclosure is presented by way of example only and is not intended to be limiting. Although not expressly provided herein, those skilled in the art will appreciate that this specification encompasses various reasonable changes, improvements, and modifications to the embodiments. Such changes, improvements, and modifications are intended to be suggested by this specification and are within the spirit and scope of the exemplary embodiments herein.

[0153] Furthermore, certain terms in this specification have been used to describe embodiments of this specification. For example, “one embodiment,” “an embodiment,” and / or “some embodiments” mean that a particular feature, structure, or characteristic described in connection with that embodiment may be included in at least one embodiment of this specification. Therefore, it is emphasized and should be understood that two or more references to “an embodiment,” “one embodiment,” or “an alternative embodiment” in various parts of this specification do not necessarily refer to the same embodiment. Furthermore, particular features, structures, or characteristics may be appropriately combined in one or more embodiments of this specification.

[0154] It should be understood that in the foregoing descriptions of the embodiments of this specification, to facilitate understanding of a feature and to simplify this specification, various features are combined in a single embodiment, figure, or description thereof. However, this does not necessarily mean that these features are combined. When reading this specification, those skilled in the art may extract some of the features and understand them as separate embodiments. In other words, the embodiments of this specification can also be understood as the integration of multiple sub-embodiments. This also applies when each sub-embodiment contains fewer than all the features of a single previously disclosed embodiment.

[0155] Each patent, patent publication, patent publication, and other materials, such as articles, books, specifications, publications, documents, articles, etc., cited herein is hereby incorporated by reference in its entirety for all purposes, except for any prosecution document history related thereto, any equivalent that may be inconsistent or conflicting with this document, or any equivalent prosecution document history that may have a limiting effect on the broadest scope of the claims now or hereafter associated with this document. For example, if there is any inconsistency or conflict between the descriptions, definitions, and / or usage of terms associated with any incorporated material and the terminology, descriptions, definitions, and / or usage associated with this document, the terminology in this document shall control.

[0156] The terms "or" and "and / or" in this disclosure are used to describe the relationship between associated objects, which indicates non-exclusive inclusion. For example, "A and / or B" and "A or B" can both include: "A alone", "B alone", or "A and B", where "A" and "B" can include a single object or multiple objects. For another example, "A, B and / or C", "A, B or C" and "A, B and C" can both include: "A alone", "B alone", "C alone", "A and B", "A and C", "B and C", or "A, B and C", where "A", "B" and "C" can include a single object or multiple objects. In addition, " / " in this disclosure is used to indicate the "or" relationship between the preceding and following associated objects. In this disclosure, "at least one of A or B" and "one or more of A and B" have the same meaning as "A or B" above, and "one or more of A, B and C" and "at least one of A, B or C" have the same meaning as "A, B or C" above. "One or more of A, B and C" have the same meaning as "A, B or C" above.

[0157] It should also be noted that the content of the background technology section is only information known to the inventor personally, and does not mean that the above information has entered the public domain before the disclosure date of this disclosure, nor does it mean that it can become the prior art of this disclosure.

[0158] Finally, it should be understood that the disclosed embodiments disclosed herein are illustrative of the principles of the embodiments of this specification. Other modified embodiments are also within the scope of this specification. Therefore, the embodiments disclosed in this specification are merely illustrative and not limiting. Those skilled in the art can adopt alternative configurations based on the embodiments in this specification to implement the disclosures in this specification. Therefore, the embodiments of this specification are not limited to the embodiments precisely described in the disclosure.

Claims

1. A rotating support device (200) for a laser radar, characterized in that: include: A housing (1) having a receiving cavity; A central axis (2) is disposed in the accommodating cavity and is fixed relative to the outer shell (1); A bearing support (3) is disposed in the accommodating cavity and cooperates with the central shaft (2) via a bearing (5) so that the bearing support (3) can rotate relative to the central shaft (2); and A drive module (4) is disposed in the accommodating cavity and is configured to drive the bearing support (3) to rotate. The drive module (4) comprises a stator and a rotor. The rotor comprises an electromagnetic component (41). The electromagnetic component (41) is fixed to the outer wall of the bearing support (3). The stator comprises a magnetic component (42). The magnetic component (42) is disposed on the outer side of the electromagnetic component (41) and is fixed relative to the housing (1).

2. The rotary support device (200) according to claim 1, characterized in that: The electromagnetic component (41) is arranged around the bearing support (3), and the magnetic component (42) is arranged around the electromagnetic component (41) and is radially opposite to the electromagnetic component (41).

3. The rotary support device (200) according to claim 1 or 2, characterized in that: The rotating support device also includes: The stator fixing member (43) is fixed relative to the housing (1), and the magnetic component (42) is fixed on the stator fixing member (43).

4. The rotary support device (200) according to claim 3, characterized in that: The magnetic component (42) is an annular structure, and the stator fixing member (43) is arranged around the outer peripheral surface of the magnetic component (42).

5. The rotary support device (200) according to any one of claims 1 to 4, characterized in that: The rotating support device further comprises a wireless power supply module (6), wherein the wireless power supply module (6) is configured to supply power to a component of the laser radar that rotates with the bearing support (3).

6. The rotary support device (200) according to claim 5, characterized in that: The wireless power supply module (6) comprises: a transmitting coil (61) fixed relative to the housing (1); and The receiving coil (62) is arranged axially opposite to the transmitting coil (61) and is configured to rotate with the bearing support (3).

7. The rotary support device (200) according to claim 6, characterized in that: The rotating support device (200) further comprises a lower circuit board (11), wherein the lower circuit board (11) is fixed relative to the housing (1), and the lower circuit board (11) is arranged around the central axis (2) or the bearing (5) or the bearing support (3), and the transmitting coil (61) is arranged on the lower circuit board (11) so as to supply power to the transmitting coil (61) through the lower circuit board (11).

8. The rotary support device (200) according to claim 7, characterized in that: The rotating support device (200) further comprises: A transmitting coil fixing member (63) is arranged around the outer circumference of the stator fixing member (43), the transmitting coil fixing member (63) is configured to fix the transmitting coil (61), and the transmitting coil fixing member (63) is arranged between the stator fixing member (43) and the transmitting coil (61).

9. The rotary support device (200) according to claim 8, characterized in that: The magnetic component (42) and the transmitting coil fixing member (63) are arranged on the stator fixing member (43), and the stator fixing member (43) is fixedly connected to the housing (1).

10. The rotary support device (200) according to claim 8 or 9, characterized in that: The transmitting coil fixing part (63) is made of insulating material.

11. The rotary support device (200) according to any one of claims 1 to 10, characterized in that: The rotating support device also includes: The rotating support member (7) is fixed relative to the bearing support member (3), and the laser radar detection device (100) is installed on the rotating support member (7).

12. The rotary support device (200) according to claim 11, characterized in that: The housing (1) comprises a bottom and a side wall arranged around the bottom, and the rotation support device further comprises a position detection module (8) configured to detect the rotation position information of the detection device (100), and the position detection module (8) comprises: A code disc (81) is disposed around the inner surface of the side wall, and the code disc (81) is provided with a code track; and The code reader (82) is fixed relative to the rotating support (7) and is arranged radially opposite to the code disk (81). The code reader (82) rotates with the rotating support (7) to detect the code track on the code disk (81).

13. The rotary support device (200) according to claim 12, characterized in that: The extending direction of the code channel is parallel to the central axis (2).

14. The rotary support device (200) according to claim 12 or 13, characterized in that: An upper circuit board (71) is provided between the rotating support member (7) and the detection device (100), and the code reader (82) is fixed on the upper circuit board (71).

15. The rotary support device (200) according to claim 14, characterized in that: A code reader circuit board (83) is provided below the upper circuit board (71), and the code reader (82) is arranged on the code reader circuit board (83).

16. The rotary support device (200) according to claim 15, characterized in that: The upper circuit board (71) is perpendicular to the central axis (2), and the code reader circuit board (82) is parallel to the central axis (2).

17. The rotary support device (200) according to claim 15 or 16, characterized in that: The upper circuit board (71) is also provided with a processor, and the processor is electrically connected to the code reader (82) to process the rotation position information acquired by the code reader (82).

18. The rotary support device (200) according to any one of claims 14 to 17, characterized in that: The rotary support device further comprises an intermediate circuit board (72) and a lower circuit board (11); the intermediate circuit board (72) is arranged on the rotary support member (7) and is located between the upper circuit board (71) and the lower circuit board (11); the intermediate circuit board (72) is arranged around the central axis (2) or the bearing (5) or the bearing support member (3); and the intermediate circuit board (72) is capable of supplying power to the upper circuit board (71) and the electromagnetic component (41).

19. The rotary support device (200) according to claim 18, characterized in that: The rotating support device further comprises a wireless power supply module (6), a receiving coil of the wireless power supply module (6) being arranged on the rotating support member (7), and the receiving coil and the intermediate circuit board (72) being arranged on both sides of the rotating support member (7) respectively.

20. The rotary support device (200) according to any one of claims 12 to 19, characterized in that: The gap between the code reader (82) and the code disc (81) is smaller than the width of the code disc (81) along the axial direction.

21. The rotary support device (200) according to any one of claims 12 to 20, characterized in that: The driving module (4), the wireless power supply module (6) and the position detection module (8) are all arranged around the central axis (2), and the driving module (4), the wireless power supply module (6) and the position detection module (8) are arranged in sequence in a direction away from the central axis (2).

22. The rotary support device (200) according to any one of claims 11 to 21, characterized in that: A flange (32) is provided on the side wall of the bearing support (3) extending outward, and the rotating support (7) is connected to the flange (32) of the bearing support (3).

23. The rotary support device (200) according to claim 22, characterized in that: There is a preset distance between the flange (32) and the first end surface of the bearing support member (3), and the rotating support member (7) is arranged between the flange (32) and the first end surface.

24. The rotary support device (200) according to any one of claims 1 to 23, characterized in that: The rotating support device also includes: An optical communication circuit board (12) is arranged on the housing (1); An uplink wireless communication transmitter and a downlink wireless communication receiver are both arranged on the optical communication circuit board; An uplink wireless communication receiver and a downlink wireless communication transmitter are both arranged on an upper circuit board (71); and The uplink wireless communication transmitter and the uplink wireless communication receiver are configured to perform uplink optical communication, and the uplink optical communication is implemented within the central axis (2); The downlink wireless communication transmitter and the downlink wireless communication receiver are configured to perform downlink optical communication, and the downlink optical communication is implemented within the central axis (2).

25. The rotary support device (200) according to any one of claims 1 to 24, characterized in that: The bearing (5) comprises a first bearing (51) and a second bearing (52), wherein the first bearing (51) and the second bearing (52) are respectively arranged at two ends of the central shaft (2), and the inner ring of the first bearing (51) and the inner ring of the second bearing (52) are respectively sleeved at two ends of the central shaft (2); and The bearing support (3) comprises a first bearing chamber and a second bearing chamber, the outer ring of the first bearing (51) is fixed to the first bearing chamber, and the outer ring of the second bearing (52) is fixed to the second bearing chamber.

26. The rotary support device (200) according to any one of claims 1 to 25, characterized in that: The electromagnetic component (41) is provided with a first clamping portion (411), and the bearing support (3) is provided with a second clamping portion (31), and the first clamping portion (411) is clamped with the second clamping portion (31).

27. A laser radar, characterized in that: include: The rotating support device (200) according to any one of claims 1 to 26; The detection device (100) is arranged on the rotating support device (200), and the rotating support device (200) drives the detection device (100) to rotate so as to detect the surroundings of the laser radar.

28. The laser radar according to claim 27, characterized in that: The detection device (100) comprises: A lens barrel (91) configured to accommodate a transmitting lens group (95) and a receiving lens group (96), wherein the lens barrel (91) is made of plastic; A light emitter (92) configured to emit detection light, wherein the emission lens group (95) is located on the optical path of the detection light; an optical receiver (93) configured to receive echo light after the detection light is reflected by a target object, wherein the receiving lens group (96) is located on the optical path of the echo light; and A driving circuit board (94), wherein the light transmitter (92) and the light receiver (93) are both arranged on the driving circuit board (94).

29. The laser radar according to claim 28, characterized in that: The detection device (100) comprises: the lens barrel (91) comprises: The lens barrel body (911) comprises: An emission cavity (912) is formed in the lens barrel body (911) and is configured to accommodate the emission lens group (95); and A receiving cavity (913) is formed in the lens barrel body (911) and is configured to accommodate the receiving lens group (96); and A first light-isolating member (914) is disposed between the emitting cavity (912) and the receiving cavity (913) to separate the emitting cavity (912) and the receiving cavity (913).

30. The laser radar according to claim 29, characterized in that: The lens barrel body (911) and the first light isolation member (914) are integrally formed.

31. The laser radar according to claim 30, characterized in that: The optical axis of the transmitting lens group (95) is parallel to the optical axis of the receiving lens group (96).

32. The laser radar according to any one of claims 29 to 31, characterized in that: The lens barrel body (911) is divided into a plurality of lens barrel sections along a direction perpendicular to the driving circuit board (94), each of the lens barrel sections having a different inner diameter to match at least one of a transmitting lens or a receiving lens of different sizes, and each of the lens barrel sections having the same wall thickness.

33. The laser radar according to any one of claims 29 to 32, characterized in that: The lens barrel body (911) comprises: An emission port (9113) located on the optical path of the detection light and downstream of the emission cavity (912); A receiving port (9114) located on the optical path of the echo light and upstream of the receiving cavity (913); A mounting portion, located between the emission port (9113) and the receiving port (9113); and The second light isolation member (9115) is installed on the outside of the lens barrel body (911) through the installation portion to isolate the detection light and the echo light outside the lens barrel body (911).

34. The laser radar according to any one of claims 28 to 33, characterized in that: The lens barrel (91) is made of fiber-reinforced polyphenylene sulfide (PPS) plastic.

35. The laser radar according to claim 34, characterized in that: The lens barrel (91) is made of glass fiber reinforced PPS plastic, and the glass fiber content in the glass fiber reinforced PPS plastic is 40%.

36. The laser radar according to any one of claims 28 to 35, characterized in that The detection device (100) further comprises a heat sink (97), wherein the heat sink (97) is arranged at the end of the lens barrel (91), and the heat sink (97) is configured to dissipate heat for at least one of the drive circuit board (94) or the lens barrel (91).

37. The laser radar according to claim 36, characterized in that: The driving circuit board (94) is arranged between the lens barrel (91) and the heat sink (97).

38. The laser radar according to claim 37, characterized in that: The heat sink (97) comprises a heat dissipation fin group (972), and the heat dissipation fin group (972) is connected to at least one of the driving circuit board (94) or the lens barrel (91).

39. The laser radar according to any one of claims 28 to 38, characterized in that: The detection device (100) further comprises a base (98), and the lens barrel (91) is mounted on the base (98).

40. The laser radar according to claim 39, characterized in that: The optical axis of the transmitting lens group (95) and the optical axis of the receiving lens group (96) in the lens barrel (91) are arranged to be inclined relative to the base (98).

41. The laser radar according to claim 40, characterized in that The vertical viewing angle of the detection device (100) is greater than or equal to 105°.

42. The laser radar according to claim 40 or 41, characterized in that: The lens barrel (91) comprises: The lens barrel body (911) is tilted relative to the base (98); and A support body (915) is formed integrally with the lens barrel body (911) and is connected to the base (98). The support body (915) is arranged on both sides of the lens barrel body (911). The support body (915) is configured to support the lens barrel body (911), the driving circuit board (94) and the heat sink (97).

43. The laser radar according to claim 42, characterized in that The support body (915) is provided with a reinforcing rib (9151), and the reinforcing rib (9151) and the support body (915) are integrally formed.

44. The laser radar according to claim 42 or 43, characterized in that: The lens barrel body (911) is provided with a channel (9111), the inlet end (9111a) of the channel is connected to the outside of the lens barrel body (911), and the outlet end (9111b) of the channel is connected to at least one of the transmitting lens or the receiving lens in the lens barrel body (911) to guide the adhesive into the connection between the lens and the lens barrel body (911).

45. The laser radar according to claim 44, characterized in that The cross-sectional area of ​​the inlet end (9111a) of the channel is larger than the cross-sectional area of ​​the interior of the channel.

46. ​​The laser radar according to any one of claims 39 to 45, characterized in that The lens barrel (91) comprises: A first positioning portion (916) configured to position the lens barrel (91) and at least one of the drive circuit board (94) and the heat sink (97); and The second positioning portion (917) is configured to position the lens barrel (91) and the base (98).

47. The laser radar according to any one of claims 39 to 46, characterized in that The upper circuit board (71) is arranged on a side of the base (98) away from the lens barrel (91), the driving circuit board (94) has an electrical connector (991), a hole is provided on the base (98), and the electrical connector (991) passes through the hole and is electrically connected to the upper circuit board (71).

48. The laser radar according to any one of claims 28 to 47, characterized in that The light emitter (92) is a vertical cavity surface emitting laser (VCSEL), and the light receiver (93) is a single photon detector.

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