CN114127575A - Lidar - Google Patents
Lidar Download PDFInfo
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- CN114127575A CN114127575A CN202080005436.3A CN202080005436A CN114127575A CN 114127575 A CN114127575 A CN 114127575A CN 202080005436 A CN202080005436 A CN 202080005436A CN 114127575 A CN114127575 A CN 114127575A
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- 238000004891 communication Methods 0.000 claims abstract description 61
- 230000002093 peripheral effect Effects 0.000 claims abstract description 8
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 239000000758 substrate Substances 0.000 claims 3
- 238000004804 winding Methods 0.000 claims 3
- 238000001514 detection method Methods 0.000 description 10
- 230000005540 biological transmission Effects 0.000 description 5
- 239000007787 solid Substances 0.000 description 4
- 230000003287 optical effect Effects 0.000 description 3
- 230000001788 irregular Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000001154 acute effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
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- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
一种激光雷达，其特征在于，包括：基座(200)，包括固定轴(210)，固定轴(210)为空心轴；旋转部(100)，与基座(200)转动连接，配置成可绕固定轴(210)的中心轴线转动，旋转部(100)与固定轴(210)共同限定出空心腔室，激光雷达的激光收发系统固定于旋转部(100)；驱动装置，用于驱动旋转部(100)相对于基座(200)转动，驱动装置包括定子(241)以及与定子(241)耦合的转子(242)，定子(241)套设于固定轴(210)的外周壁，转子(242)绕定子(241)设置，且转子(242)与旋转部(100)连接。该激光雷达的驱动装置、供电部以及通信部可以不设置于同一个轴体上，这样可以减小激光雷达的沿固定轴的轴向的尺寸，进而减小了激光雷达的体积。
A lidar, characterized in that it comprises: a base (200) including a fixed shaft (210), the fixed shaft (210) being a hollow shaft; a rotating part (100), rotatably connected to the base (200), and configured to The rotating part (100) and the fixed shaft (210) jointly define a hollow chamber, and the laser transceiver system of the lidar is fixed on the rotating part (100); the driving device is used for driving The rotating part (100) rotates relative to the base (200), the driving device includes a stator (241) and a rotor (242) coupled with the stator (241), the stator (241) is sleeved on the outer peripheral wall of the fixed shaft (210), The rotor (242) is arranged around the stator (241), and the rotor (242) is connected to the rotating part (100). The driving device, the power supply part and the communication part of the lidar may not be arranged on the same shaft, so that the size of the lidar along the axial direction of the fixed axis can be reduced, thereby reducing the volume of the lidar.
Description
The application relates to the technical field of laser detection, in particular to a laser radar.
The laser radar is a radar system for detecting the position, speed and other characteristic quantities of an object by emitting laser beams, and the working principle of the radar system is that an emitting system firstly emits emergent laser for detection to a detection area, then a receiving system receives reflected laser reflected by the object in the detection area, the reflected laser is compared with the emergent laser, and relevant information of the object, such as parameters of distance, direction, height, speed, attitude, even shape and the like, can be obtained after processing.
At present, a mechanical laser radar includes a base and a rotating portion, and a laser transceiver of the laser radar is mounted on the rotating portion, so that the laser transceiver can rotate relative to the base to increase a detection area. When taking above-mentioned structure, be provided with the axis body that is used for installing drive arrangement, communication device and power supply unit on laser radar's the base, because above-mentioned three part sets up on same axis body, the event makes the length of axis body longer, and then has increased laser radar's the axial size along the axis body, has increased laser radar's volume.
Disclosure of Invention
The application provides a laser radar can reduce laser radar's the axial size along the fixed axle to reduce laser radar's volume.
According to an aspect of the present application, there is provided a lidar comprising:
the base comprises a fixed shaft which is a hollow shaft;
the rotating part is rotatably connected with the base and can rotate around the central axis of the fixed shaft, the rotating part and the fixed shaft jointly define a hollow chamber, and a laser receiving and transmitting system of the laser radar is fixed on the rotating part;
the driving device is used for driving the rotating part to rotate relative to the base and comprises a stator and a rotor coupled with the stator, the outer peripheral wall of the fixed shaft is sleeved with the stator, the rotor is arranged around the stator, and the rotor is connected with the rotating part.
According to some embodiments, the rotating portion includes an annular fixed wall disposed around the fixed shaft, and the rotor is fixed to an inner peripheral wall surface of the annular fixed wall.
According to some embodiments, the rotating portion includes a rotating shaft having a central axis coinciding with a central axis of the stationary shaft, the rotating shaft being disposed in the hollow chamber and being rotatably coupled to the inner circumferential wall of the stationary shaft.
According to some embodiments, the lidar further comprises:
the communication part comprises a first communication piece and a second communication piece in communication connection with the first communication piece, the first communication piece and the second communication piece are both arranged in the hollow cavity, the first communication piece is connected to the base, and the second communication piece is connected to the rotating part.
According to some embodiments, the rotating shaft is a hollow shaft, and the second communication member is disposed inside the rotating shaft, and the first communication member is disposed inside and coupled with the fixed shaft.
According to some embodiments, the inner circumferential wall of the stationary shaft is provided with a connecting flange extending in the direction of the central axis of the hollow shaft, the connecting flange comprising a first abutment wall facing the rotating part and a second abutment wall facing away from the rotating part;
the rotating shaft sleeve is provided with a first bearing and a second bearing, the outer ring of the first bearing is abutted against the first abutting wall, and the outer ring of the second bearing is abutted against the second abutting wall.
According to some embodiments, the base comprises a bottom shell and a base plate, the fixed shaft is fixed on the base plate, the base plate is detachably mounted on the bottom shell, and the first communication member is fixed on the inner wall surface of the fixed shaft;
the rotating part includes the loading board, and the rotation axis is fixed in the loading board, and the loading board includes towards the inside first inner wall of rotation axis, and the second communication is fixed in first inner wall.
According to some embodiments, the lidar further comprises:
the power supply module comprises a power supply coil and a power receiving coil coupled with the power supply coil, the power supply coil is connected to the base and arranged around the fixing shaft, the power receiving coil is connected to the rotating portion and arranged around the fixing shaft, and the power supply coil and the power receiving coil are arranged oppositely.
According to some embodiments, the power supply coil and the power receiving coil are both arranged around the fixed shaft.
According to some embodiments, the lidar further comprises a shielding assembly comprising:
the first shielding part is connected to the base, the first shielding part is annular and is arranged around the fixed shaft, a first annular groove arranged around the fixed shaft is formed in the surface wall of the first shielding part facing the rotating part, and the power supply coil is arranged in the first annular groove;
the second shielding part is connected to the rotating part, is annular and arranges around the fixed axle, and the surface wall of the base towards the second shielding part is provided with the second ring channel of arranging around the fixed axle, and receiving coil sets up in the second ring channel.
The application provides a laser radar, including base and rotating part. The base includes the fixed axle, and the rotating part rotates with the base to be connected, and the configuration can rotate around the central axis of fixed axle. This application has left out the solid axis body of being connected with the base among the prior art, and has adopted the fixed axle on the base to install drive arrangement as replacing, because the fixed axle is the hollow shaft, and hollow shaft and rotating part inject hollow cavity jointly, so can not establish parts such as communication portion, power supply portion with the cover on the periphery wall of fixed axle, and laser radar's communication portion and power supply portion can set up in hollow cavity. Compare in prior art promptly, laser radar's drive arrangement, power supply portion and communication portion can not set up on same axis body in this application, can reduce laser radar's the axial size along the fixed axle like this, and then reduced laser radar's volume.
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a perspective view of a rotary part and a base of a laser radar according to an embodiment of the present disclosure after assembly;
FIG. 2 is an exploded view of a cross-sectional view of a base and a rotating portion in one embodiment of the present application;
FIG. 3 is an exploded view of the base and the rotating portion according to an embodiment of the present application;
FIG. 4 is a cross-sectional view of a base and a rotating portion according to an embodiment of the present application;
FIG. 5 is an exploded view of a stationary shaft, a first bearing, a second bearing, and a rotating shaft in one embodiment of the present application;
fig. 6 is a partially enlarged schematic view of fig. 4.
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The laser radar is a radar system for detecting the position, speed and other characteristic quantities of an object by emitting laser beams, and the working principle of the radar system is that an emitting system firstly emits emergent laser for detection to a detection area, then a receiving system receives reflected laser reflected by the object in the detection area, the reflected laser is compared with the emergent laser, and relevant information of the object, such as parameters of distance, direction, height, speed, attitude, even shape and the like, can be obtained after processing.
At present, a mechanical laser radar includes a base and a rotating portion, and a laser transceiver of the laser radar is mounted on the rotating portion, so that the laser transceiver can rotate relative to the base to increase a detection area. The laser radar is also provided with a driving device for driving the rotating part to rotate relative to the base, a power supply part for supplying power to the rotating part and a communication part for realizing data transmission between the rotating part and the base. In the prior art, the driving device, the power supply portion and the communication portion are all sleeved on the shaft body of the base, so that the length of the shaft body is large, and the axial size of the laser radar along the shaft body is large.
In order to solve the above-described problem, the present embodiment provides a laser radar that can have a smaller height dimension (with reference to the orientation in which the fixed shaft of the laser radar is vertically arranged). It should be noted that, for convenience of description, the following orientation definitions regarding the lidar are all referred to with respect to the orientation in which the fixed shaft of the lidar is vertically arranged.
As shown in fig. 1 to 6, the laser radar 10 in the present embodiment includes a laser transceiver system, a base 200, a rotating portion 100, and a driving device.
The base 200 includes a base plate 220 and a fixing shaft 210. In particular, the stationary shaft 210 in this embodiment is a hollow shaft, i.e., the interior of the stationary shaft 210 has an interior bore extending axially along itself. Specifically, the fixing shaft 210 may be completely hollow or partially hollow (when the fixing shaft 210 is partially hollow, an inner hole extends out of at least one end of the fixing shaft 210), and when the fixing shaft 210 is completely hollow, the fixing shaft 210 is tubular; when the stationary shaft 210 is partially hollow, the stationary shaft 210 may be tubular at one end and solid at the other end. The axis of the internal bore within the stationary shaft 210 may or may not coincide with the central axis of the stationary shaft 210 (i.e., the internal bore may be eccentrically disposed). Meanwhile, a section of the inner hole in the axial direction perpendicular to the fixing shaft 210 may be a regular shape or an irregular shape. When the inner hole is in a regular shape, the inner hole may be a cylindrical hole, a prismatic hole, or the like.
The fixing shaft 210 is fixed to other parts of the base 200, in this embodiment, the fixing shaft 210 is fixed to the base plate 220 of the base 200, and the end of the fixing shaft 210 facing away from the base is hollow whether the fixing shaft 210 is completely hollow or partially hollow. When the fixing shaft 210 is fixed on the base plate 220, the central axis of the fixing shaft 210 may be perpendicular to the base plate 220 or may intersect the base plate 220 at an acute angle, and preferably, in this embodiment, as shown in fig. 4, the central axis of the fixing shaft 210 is perpendicular to the base plate 220.
The rotary unit 100 of the laser radar 10 is rotatably connected to the base 200 and is arranged to be rotatable around the central axis of the fixed shaft 210. Specifically, the rotating portion 100 may be directly rotatably coupled to the fixed shaft 210, or may be rotatably coupled to another portion of the base 200. As shown in fig. 4, in the present embodiment, the rotating portion 100 is rotatably connected to the fixed shaft 210, that is, a fixed member such as a bearing is connected between the rotating portion 100 and the fixed shaft 210, so that the rotating portion 100 is mounted on the fixed shaft 210 and can rotate relative to the fixed shaft 210. Of course, in another embodiment, the rotating part 100 may not be connected to the fixed shaft 210, but may be fixed to other parts of the base 200 by bearings. In this embodiment, as shown in fig. 4, the rotating portion 100 and the fixed shaft 210 together define a hollow chamber, that is, the hollow portions of the rotating portion 100 and the fixed shaft 210 define a hollow chamber.
The laser transmitter/receiver system of the laser radar 10 is fixed to the rotary unit 100 and is rotatable relative to the base 200 with the rotary unit 100. This enables the laser transceiver system to have a larger detection range. How and where the laser transceiver system is mounted on the rotating portion 100 is well known in the art, and will not be described herein.
In order to realize the relative rotation of the rotary part 100 and the base 200, the laser radar 10 further includes a driving device for driving the rotary part 100 to rotate relative to the base 200. Specifically, the driving device includes a stator 241 and a rotor 242 disposed around the stator 241, and the stator 241 is coupled with the rotor 242 such that the rotor 242 can rotate around the stator 241. The stator 241 is disposed around the fixed shaft 210, and the rotor 242 is coupled to the rotating part 100. When the driving device is energized, the rotor 242 rotates with respect to the stator 241, thereby rotating the rotating part 100 with respect to the base 200.
In the embodiment, a solid shaft body connected to the base in the prior art is omitted, the fixing shaft 210 on the base 200 is used as a substitute for installing the driving device, and since the fixing shaft 210 is a hollow shaft and the rotating portion 100 together define a hollow cavity, the communication portion and the power supply module of the laser radar 10 can be disposed in the hollow cavity without sleeving the communication portion and the power supply module on the outer peripheral wall of the fixing shaft 210. Compare promptly in prior art, laser radar 10's drive arrangement, power module and communication portion in this application can not set up on same axis body, can reduce laser radar 10's the axial size along fixed axle 210 like this, and then reduced laser radar 10's volume.
The rotor 242 of the driving device may be connected to the rotating portion 100 by any structure, and it is only necessary that the rotor 242 rotates relative to the stator 241 to drive the rotating portion 100 to rotate together. In this embodiment, the rotary part 100 further includes an annular fixed wall 120, the annular fixed wall 120 is disposed around the fixed shaft 210, and the rotor 242 is coupled to an inner circumferential wall surface of the annular fixed wall 120. Specifically, the rotor 242 may be tightly fitted with the annular fixing wall 120, so that the connection between the rotor 242 and the annular fixing wall 120 may be more stable and the torque transmission may be more reliable.
In one embodiment, the stator 241 and the rotor 242 may be two complete parts that are already packaged, and only need to be separately installed. In another embodiment, the stator 241 and the rotor 242 may be wound coils, and the stator 241 is disposed around the fixed shaft 210 and is integrated with the fixed shaft 210 (i.e. it can be seen that the fixed shaft 210 and the wound coils together form the stator 241 of the driving device). Similarly, the rotor 242 may be mounted on the annular stationary wall 120 and formed integrally with the annular stationary wall 120 (i.e., the wound coil and the annular stationary wall 120 together form the rotor 242 of the driving device).
The lidar 10 in this embodiment may further include a communication unit (not shown in the figure), where the communication unit includes a first communication component and a second communication component communicatively connected to the first communication component, and both the first communication component and the second communication component are disposed in the hollow chamber. It should be noted that when the rotating part 100 is in close proximity to the end of the stationary shaft 210 facing away from the base plate 220, the hollow chamber may be considered as an internal bore of the stationary shaft 210. However, when the rotating part 100 has a gap with an end of the fixing shaft 210 facing away from the base plate 220, the inner hole of the fixing shaft 210 may be considered as only a part of the hollow chamber. Because the communication part arranged in the hollow chamber can better fix the axial space of the shaft 210, the size of the laser radar 10 along the axial direction of the shaft 210 is reduced, and the vertical height of the laser radar 10 is reduced.
The communication part can be any device capable of realizing communication between two components generating relative rotation, for example, the communication part can be a magnetic ring component or an optical communication component. In this embodiment, the communication unit is an optical communication module, and of the first communication piece and the second communication piece of the optical communication piece, the first communication piece is connected to the base 200, and the second communication piece is connected to the rotating unit 100. When the rotation part 100 rotates relative to the base 200, data transmission between the first communication piece and the second communication piece enables signal transmission between the rotation part 100 and the base 200.
The rotation part 100 is mounted on the base 200 and is supported by the base 200. When the fixing shaft 210 of the base 200 is vertically arranged, the rotation part 100 may be installed above the base 200 and an upward supporting force is provided to the rotation part 100 by the base 200. The rotating part 100 may be connected to the base 200 in various ways, and in this embodiment, the rotating part 100 includes a rotating shaft 110, a central axis of the rotating shaft 110 coincides with a central axis of the fixed shaft 210, and the rotating shaft 110 is disposed in the hollow chamber and is rotatably connected to an inner peripheral wall of the fixed shaft 210. That is, the fixed shaft 210 provides an upward supporting force to the rotary shaft 110, thereby supporting the rotary unit 100 as a whole. Since the rotating shaft 110 is disposed in the fixed shaft 210, the coupling member between the fixed shaft 210 and the rotating shaft 110 is also disposed in the hollow of the fixed shaft 210, thereby further utilizing the inner space of the fixed shaft 210.
The connection part between the fixed shaft 210 and the rotating shaft 110 may be a bearing, and particularly, may be a deep groove ball bearing. The number of bearings between the fixed shaft 210 and the rotating shaft 110 may be determined according to actual conditions, and in the present embodiment, two bearings, i.e., a first bearing 271 and a second bearing 272, are disposed between the fixed shaft 210 and the rotating shaft 110. The inner rings of the first bearing 271 and the second bearing 272 are both sleeved outside the rotating shaft 110, and the outer rings of the first bearing 271 and the second bearing 272 are both connected to the inner wall surface of the fixed shaft 210 and are tightly fitted with the inner wall surface of the fixed shaft 210.
In one embodiment, in order to enhance the fixing effect on the rotating shaft 110, the inner circumferential wall of the fixing shaft 210 may be provided with a connecting flange 211, the connecting flange 211 extends toward the central axis of the hollow shaft, and the connecting flange 211 includes a first abutting wall facing the rotating portion 100 and a second abutting wall facing away from the rotating portion 100. The connection flange 211 serves as a bearing shoulder of the first bearing 271 and the second bearing 272 to limit the degree of freedom of the first bearing 271 and the second bearing 272 in the direction of the central axis of the fixed shaft 210. The shape of the connecting flange 211 is preferably circular, which allows it to provide a greater supporting force.
Specifically, the inner ring of the first bearing 271 is sleeved outside the rotating shaft 110, and the outer ring abuts against the first abutting wall of the connecting flange 211. In this way, the connection flange 211 can give the first bearing 271 a bearing force in a direction directed from the base 200 to the rotary part 100. When the rotating portion 100 is disposed above the base 200, the coupling structure of the connecting flange 211 and the first bearing 271 can effectively bear the rotating portion 100. The inner ring of the second bearing 272 is sleeved outside the rotating shaft 110, and the outer ring abuts against the second abutting wall of the connecting flange 211. In this way, when the rotation part 100 is disposed below the base 200, the fitting structure of the connection flange 211 and the second bearing 272 can effectively carry the base 200.
Due to the presence of the connecting flange 211, it is difficult to mount the second bearing 272 from the end of the fixed shaft 210 near the rotating part 100. Therefore, in order to facilitate the installation of the second bearing 272, as shown in fig. 2, in an embodiment, the base 200 may further include a base plate 220 and a bottom case 230, the fixing shaft 210 is installed on the base plate 220, and the base plate 220 and the bottom case 230 are detachably installed. In particular, the base plate 220 has a mounting hole, the fixing shaft 210 is in a completely hollow state, and an end of the fixing shaft facing away from the rotating portion 100 is disposed through the mounting hole, so that when the second bearing 272 needs to be mounted, the second bearing 272 can be mounted by the end of the fixing shaft 210 facing away from the rotating portion 100.
When the rotation shaft 110 is disposed in the fixed shaft 210, the height space of the laser radar 10 occupied by the rotation shaft 110 can be reduced, but the rotation shaft 110 also occupies the internal space of the fixed shaft 210, which makes it inconvenient to dispose the communication unit. In order to solve the above problem, in an embodiment, the rotating shaft 110 may also be a hollow shaft, and the second communication member is disposed inside the rotating shaft 110, and the first communication member is disposed inside the fixed shaft 210. In this way, the rotary shaft 110 can support the entire rotary unit 100, and the height of the laser radar 10 can be further reduced without affecting the arrangement of the communication unit.
Similarly, the rotating shaft 110 may be completely hollow or partially hollow (when the rotating shaft 110 is partially hollow, an inner hole extends at least out of the end of the rotating shaft 110 close to the fixed shaft 210), and when the rotating shaft 110 is completely hollow, the rotating shaft 110 is tubular; when the rotating shaft 110 is partially hollow, the rotating shaft 110 may have a tubular shape at one end and a solid shape at the other end. The axis of the internal bore in the rotating shaft 110 may or may not coincide with the central axis of the rotating shaft 110 (i.e., the internal bore may be eccentrically disposed). Meanwhile, a section of the inner hole in the axial direction perpendicular to the rotation axis 110 may be a regular shape or an irregular shape. When the inner hole is in a regular shape, the inner hole may be a cylindrical hole, a prismatic hole, or the like.
Since the rotating part 100 is provided with a laser transceiver and other electric devices, it is necessary to guide electric energy to the rotating part 100 through the base 200, but since the rotating part 100 is rotated as a whole with respect to the base 200, it is difficult to conduct electricity by a conventional wire connection. In this embodiment, as shown in fig. 2, the laser radar 10 further includes a power supply module. The power supply module includes a power supply coil 252 and a power receiving coil 251 coupled to the power supply coil 252, the power supply coil 252 is connected to the base 200 and disposed around the fixing shaft 210, the power receiving coil 251 is connected to the rotating portion 100 and disposed around the fixing shaft 210, and the power supply coil 252 and the power receiving coil 251 are disposed opposite to each other.
The power supply coil 252 and the power receiving coil 251 cooperate to transfer the power on the base 200 to the rotary base. During power supply, an alternating current may be generated in the power supply coil 252, so that a changing magnetic field is generated in the power supply coil 252, and the changing magnetic field causes a current to be generated in the power receiving coil 251, and the generated current is modulated, so that power can be supplied to the laser transmission and reception system on the rotating portion 100.
The number and arrangement positions of the power supply coils 252 and the power receiving coils 251 may be determined according to specific requirements. In one embodiment, the number of the power supply coil 252 may be plural, and the plural power supply coils 252 are arranged around the fixed shaft 210 (the fixed shaft 210 is located outside the power supply coil 252). The number of the power receiving coils 251 may be plural, and each power receiving coil 251 is disposed around the rotation axis 110 (the rotation axis 110 is located outside the power supplying coil 252), so that when the rotation section 100 rotates relative to the base 200, a part of the power supplying coil 252 and the power receiving coil 251 can be always disposed at an interval relative to each other, that is, electric energy can be transmitted by the power supplying coil 252 and the power receiving coil 251 disposed relative to each other. Of course, in the above embodiment, the larger the number of the power supply coils 252 and the power receiving coils 251, the smaller the influence of the rotation action of the rotating part 100 on the power transmission. And the magnetic field generated by the power supply coil 252 in the above-described embodiment has less influence on other parts in the base 200.
In the above embodiments, on the one hand, the number of the power coils 252 and the power coils 251 is large, and the cost is high. On the other hand, it is also difficult to arrange each power supply coil 252 to be exactly opposite to each power receiving coil 251 during the rotation of the rotating section 100. In order to solve the above problem, in the present embodiment, as shown in fig. 4, the power supply module includes only one power supply coil 252 and one power receiving coil 251, and both the power supply coil 252 and the power receiving coil 251 are disposed around the fixed shaft 210 (the central axis of the fixed shaft 210 passes through the inside of the power supply coil 252 and the power receiving coil 251). In this way, the power supply coil 252 and the power receiving coil 251 can be disposed just opposite to each other regardless of the rotation of the rotating portion 100 with respect to the base 200, and the power supply efficiency is improved.
When the number of the power supply coil 252 and the power receiving coil 251 is one, a driving device may be provided inside the power supply coil 252 and the power receiving coil 251 in order to increase the diameter of the coils, and the power supply efficiency may be improved when the diameters of the power supply coil 252 and the power receiving coil 251 are increased. Meanwhile, the power supply coil 252 and the power receiving coil 251 are not arranged on the same axis as the driving device, so that the vertical space of the laser radar 10 is not occupied, and the vertical size of the laser radar 10 is reduced compared with the structure in the prior art.
In order to solve the above problem, in the present embodiment, as shown in fig. 4, the laser radar 10 may further include a shielding assembly, where the shielding assembly includes a first shielding member 261 and a second shielding member 262, and the magnetic field generated by the power supply coil 252 affects the power equipment when the power supply coil 252 and the power receiving coil 251 have a driving device or other power equipment therein. The first shield 261 is coupled to the base 200, the first shield 261 is annular and disposed around the fixed shaft 210, a surface wall of the first shield 261 facing the rotating part 100 is provided with a first annular groove disposed around the fixed shaft 210, and the power supply coil 252 is disposed in the first annular groove. The second shield 262 is coupled to the rotating portion 100, the second shield 262 is annular and disposed around the fixed shaft 210, a surface wall of the second shield 262 facing the base 200 is provided with a second annular groove disposed around the fixed shaft 210, and the power receiving coil 251 is disposed in the second annular groove. The first shield 261 and the second shield 262 are made of a material capable of shielding the magnetic induction lines, so that the magnetic field generated by the power supply coil 252 does not overflow to affect the internal power equipment.
The same or similar reference numerals in the drawings of the present embodiment correspond to the same or similar components; in the description of the present application, it is to be understood that if there is an orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", etc. based on the orientation or positional relationship shown in the drawings, it is only for convenience of description and simplification of description, but it is not intended to indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore, the terms describing the positional relationship in the drawings are only for illustrative purposes and are not to be construed as limitations of the present patent, and specific meanings of the above terms may be understood by those skilled in the art according to specific situations.
The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (10)
- A lidar, comprising:the base comprises a fixed shaft, and the fixed shaft is a hollow shaft;the rotating part is rotatably connected with the base and configured to rotate around the central axis of the fixed shaft, the rotating part and the fixed shaft jointly define a hollow chamber, and a laser receiving and transmitting system of the laser radar is fixed on the rotating part;the driving device is used for driving the rotating part to rotate relative to the base, the driving device comprises a stator and a rotor coupled with the stator, the stator is sleeved on the outer peripheral wall of the fixed shaft, the rotor is wound on the stator, and the rotor is connected with the rotating part.
- Lidar according to claim 1,the rotating part includes annular fixed wall, annular fixed wall is around the fixed axle sets up, the rotor is fixed in the inner peripheral wall surface of annular fixed wall.
- Lidar according to claim 1,the rotating part includes the rotation axis, the central axis of rotation axis with the central axis coincidence of fixed axle, the rotation axis set up in hollow cavity, and with the internal perisporium of fixed axle rotates and is connected.
- The lidar of claim 3, further comprising:the communication part comprises a first communication piece and a second communication piece in communication connection with the first communication piece, the first communication piece and the second communication piece are arranged in the hollow cavity, the first communication piece is connected to the base, and the second communication piece is connected to the rotating part.
- Lidar according to claim 4,the rotating shaft is a hollow shaft, the second communication piece is arranged inside the rotating shaft, and the first communication piece is arranged inside the fixed shaft and connected with the fixed shaft.
- Lidar according to claim 3,the inner peripheral wall of the fixed shaft is provided with a connecting flange, the connecting flange extends towards the central axis direction of the hollow shaft, and the connecting flange comprises a first abutting wall facing the rotating part and a second abutting wall deviating from the rotating part;the rotary shaft sleeve is provided with a first bearing and a second bearing, the outer ring of the first bearing is abutted to the first abutting wall, and the outer ring of the second bearing is abutted to the second abutting wall.
- Lidar according to claim 6,the base comprises a bottom shell and a substrate, the fixed shaft is fixed on the substrate, the substrate is detachably mounted on the bottom shell, and the first communication piece is fixed on the inner wall surface of the fixed shaft;the rotating part comprises a bearing plate, the rotating shaft is fixed on the bearing plate, the bearing plate comprises a first inner wall facing the inside of the rotating shaft, and the second communication piece is fixed on the first inner wall.
- The lidar of claim 1, further comprising:the power supply module, including power supply coil and with the power receiving coil of power supply coil coupling, power supply coil connect in the base duplex winding the fixed axle sets up, power receiving coil connect in the rotating part duplex winding the fixed axle sets up, power supply coil with power receiving coil sets up relatively.
- Lidar according to claim 8,the power supply coil and the power receiving coil are both arranged around the fixed shaft.
- The lidar of claim 9, further comprising a shielding assembly, the shielding assembly comprising:the first shielding part is connected to the base, the first shielding part is annular and is arranged around the fixed shaft, a first annular groove arranged around the fixed shaft is formed in the surface wall of the first shielding part facing the rotating part, and the power supply coil is arranged in the first annular groove;the second shielding piece, connect in the rotating part, the second shielding piece is the annular and winds the fixed axle is arranged, the second shielding piece towards the table wall of base is provided with the winding the second ring channel that the fixed axle was arranged, receive electric coil set up in the second ring channel.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2020/083365 WO2021196230A1 (en) | 2020-04-03 | 2020-04-03 | Laser radar |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114127575A true CN114127575A (en) | 2022-03-01 |
Family
ID=77927936
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202080005436.3A Pending CN114127575A (en) | 2020-04-03 | 2020-04-03 | Lidar |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN114127575A (en) |
| WO (1) | WO2021196230A1 (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115629395B (en) * | 2022-11-10 | 2023-05-05 | 合肥学院 | Portable lidar wind measuring device |
| CN116405066B (en) * | 2023-03-28 | 2024-07-16 | 深圳市小孔技术有限公司 | Power supply communication multiplexing circuit and laser radar |
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|---|---|
| WO2021196230A1 (en) | 2021-10-07 |
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