CN113391291A - Laser radar rotary reflection device and laser radar - Google Patents
Laser radar rotary reflection device and laser radar Download PDFInfo
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- CN113391291A CN113391291A CN202110542078.6A CN202110542078A CN113391291A CN 113391291 A CN113391291 A CN 113391291A CN 202110542078 A CN202110542078 A CN 202110542078A CN 113391291 A CN113391291 A CN 113391291A
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- 238000004804 winding Methods 0.000 claims description 57
- 238000003825 pressing Methods 0.000 claims description 40
- 125000006850 spacer group Chemical group 0.000 claims description 9
- 230000001678 irradiating effect Effects 0.000 claims description 2
- 238000001514 detection method Methods 0.000 abstract description 9
- 238000000034 method Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 238000003466 welding Methods 0.000 description 2
- 230000004308 accommodation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 229920001296 polysiloxane Polymers 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 239000007787 solid Substances 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
- 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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- 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
- G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
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- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The application discloses rotatory reflect meter of laser radar, the device includes: a polygonal reflector forming an accommodating space; the rotor assembly is arranged in the accommodating space and is fixed on the inner wall of the polyhedral reflector; the stator assembly comprises a stator shaft, the stator shaft is partially arranged in the accommodating space, and the central axis of the stator shaft is the same as that of the polyhedral reflector; the supporting component is used for supporting the stator shaft; wherein the rotor assembly rotates about the stator shaft such that the polygonal mirror rotates about a central axis of the stator shaft. Therefore, the laser radar rotary reflecting device provided by the application has the advantages that the stator shaft is the same as the central shaft of the polygonal reflector, the polygonal reflector can rotate around the central shaft of the stator shaft, and the detection precision is improved.
Description
Technical Field
The application relates to the technical field of laser radars, in particular to a laser radar rotary reflection device and a laser radar.
Background
Lidar (light laser Detection and ranging) is a short for laser Detection and ranging system, and is a radar using a laser emitting assembly as a radiation source. In the process of detection through the laser radar, the laser radar irradiates an object with a transmitting beam emitted by the laser transmitting assembly to cause scattering, and a part of the beam forms a receiving beam to be received by the laser receiving assembly of the laser radar. According to the light beam received by the laser receiving assembly, information such as the distance from the laser radar to the object and the specific shape of the object can be obtained.
Can use polyhedron speculum and motor in the laser radar, polyhedron speculum is used for the reflection and sends the beam or receives the light beam, drives polyhedron speculum through the motor and rotates so that polyhedron speculum reflects. At present, in the process of fixing the polygonal mirror and the motor, a fixing mode that the polygonal mirror is directly fixed with the motor is generally adopted. Based on the fixing mode, due to the existence of machining tolerance and assembly tolerance, the coaxiality of the central shaft of the polygonal reflector and the stator shaft of the motor is poor, and the detection precision of the laser radar is low during scanning detection.
Disclosure of Invention
The application provides a rotatory reflect meter of laser radar and laser radar to improve the axiality of the center pin of polyhedron speculum and motor stator axle, in order to improve the detection precision.
This application first aspect provides a laser radar rotary reflection device, the device includes: a polygonal reflector forming an accommodating space; the rotor assembly is arranged in the accommodating space and is fixed on the inner wall of the polyhedral reflector; the stator assembly comprises a stator shaft, at least part of the stator shaft is arranged in the accommodating space, and the central axis of the stator shaft and the central axis of the polyhedral reflector are coaxially arranged; the supporting component is used for supporting the stator shaft; wherein the rotor assembly rotates about the stator shaft such that the polygonal mirror rotates about a central axis of the stator shaft.
Optionally, the rotor assembly comprises: the magnetic part is fixedly arranged on the inner wall of the polyhedral reflecting mirror; the stator assembly further includes: the winding seat is fixedly arranged on the stator shaft; the coil winding is arranged on the winding seat so as to realize the fixation of the coil winding; when the coil winding is electrified, the magnetic part drives the polyhedral reflector to rotate.
Optionally, the magnetic part is arranged in an annular shape, the annular outer wall of the magnetic part is fixedly arranged with the inner wall of the polyhedral reflector, an accommodating space is formed by the annular inner wall of the magnetic part, and the coil winding is arranged in the accommodating space.
Optionally, the stator assembly further includes a winding seat pressing ring, the stator shaft has a first step surface, the winding seat has a second step surface and a third step surface, the winding seat pressing ring is disposed opposite to the first step surface, and the winding seat pressing ring is configured to abut against the second step surface, so that the third step surface abuts against the first step surface, and the winding seat is fixed.
Optionally, the stator assembly further includes a bearing, the stator shaft is disposed in the bearing and fixed to an inner ring of the bearing, and an outer ring of the bearing is fixed to an inner wall of the polygonal reflector.
Optionally, the stator assembly further includes a spacer ring, the bearing includes a first bearing and a second bearing, and the first bearing, the spacer ring and the second bearing are arranged in contact with each other along an axial direction of the stator shaft.
Optionally, the rotor assembly comprises an outer bearing pressing ring, the outer bearing pressing ring is fixed on the inner wall of the polyhedral reflector, and the outer bearing pressing ring is used for abutting against a bearing outer ring of the bearing; the stator assembly further comprises a bearing inner pressing ring, the bearing inner pressing ring is arranged on the stator shaft, and the bearing inner pressing ring is used for abutting against a bearing inner ring of the bearing.
Optionally, the stator shaft has a fourth step surface, and the bearing inner pressing ring and the bearing outer pressing ring are used for abutting against the second bearing, so that the first bearing is abutted against the fourth step surface through the spacer ring.
Optionally, the support assembly includes a first support arm and a second support arm that are arranged oppositely, the first end of the stator shaft is fixedly arranged on the first support arm, and the second end of the stator shaft is fixedly arranged on the second support arm.
The second aspect of the present application provides a laser radar including: a laser emitting device for emitting a first laser beam for irradiating an object to be detected; the laser receiving device is used for receiving a second laser beam, and the second laser beam is the laser beam reflected by the detected object by the first laser beam; the lidar rotary reflection device according to any of the above claims, configured to reflect the first laser beam so that the first laser beam irradiates the detected object, and further configured to reflect the second laser beam so that the laser receiving device receives the second laser beam.
The application at least has the beneficial effects that: the application provides a rotatory reflect meter of laser radar's stator axle is the same with the center pin of polyhedron speculum, can realize that the polyhedron speculum is rotatory around the center pin of stator axle, improves and surveys the precision.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic structural view of a lidar rotary reflection apparatus of the present application;
FIG. 2 is a top view of the lidar rotary reflective device of FIG. 1;
FIG. 3 is a cross-sectional view of a mirror of the lidar rotary reflective device of the present application taken along line A-A;
FIG. 4 is a cross-sectional view of the lidar rotary reflective device of the present application taken along line A-A;
FIG. 5 is a schematic three-dimensional view of a lidar rotary mirror assembly of the present application;
FIG. 6 is a schematic diagram of another three-dimensional structure of a lidar rotary reflective device of the present application;
FIG. 7 is a schematic structural view of a stator shaft of the lidar rotary reflective apparatus of the present application;
fig. 8 is another schematic structural view of the stator shaft of the lidar rotary reflection apparatus of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The terms "first", "second" and "third" in this application are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any indication of the number of technical features indicated. Thus, a feature defined as "first," "second," or "third" may explicitly or implicitly include at least one of the feature. In the description of the present application, "a plurality" means at least two, e.g., two, three, etc., unless explicitly specifically defined otherwise. All directional indications (such as up, down, left, right, front, and rear … …) in the embodiments of the present application are only used to explain the relative positional relationship between the components, the movement, and the like in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indication is changed accordingly. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those skilled in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments without conflict.
This application provides a rotatory reflect meter 10 of laser radar at first to improve polyhedron speculum and motor stator axle axiality, and then improve the detection precision. The lidar rotary reflection device 10 described below may be used in a multiline lidar to reflect a transmitting laser beam and a receiving laser beam of the multiline lidar.
Referring to fig. 1, 2 and 3, fig. 1 is a schematic structural diagram of a lidar rotary reflection apparatus 10 of the present application, fig. 2 is a top view of the lidar rotary reflection apparatus 10 of fig. 1, and fig. 3 is a cross-sectional view of a reflector 11 of the lidar rotary reflection apparatus 10 of the present application on a section line a-a.
As shown in fig. 1 to 3, the lidar rotating reflection apparatus 10 includes a polygonal mirror 11, and the polygonal mirror 11 is formed with an accommodation space S.
The polygonal mirror 11 is provided with a reflecting surface 111, the reflecting surface 111 is used for reflecting laser beams, and the number of the reflecting surfaces 111 is more than or equal to three. In some specific embodiments, the polygonal mirror 11 may be disposed in a square, in which case the polygonal mirror 11 has four reflecting surfaces 111, the four reflecting surfaces 111 are four side surfaces of the polygonal mirror 11 disposed in a square, and all the four side surfaces are parallel to the central axis of the polygonal mirror 11. Of course, in other embodiments, the polygonal mirror 11 may be provided in other shapes, and the number of the reflection surfaces 111 is not limited to four. For example, the polygonal mirror 11 is a cylinder having a regular triangle cross section, the number of the reflection surfaces 111 is three, the polygonal mirror 11 is a cylinder having a regular hexagon cross section, and the number of the reflection surfaces is six, but the invention is not limited thereto.
The accommodating space S is a space that is disposed inside the polygonal reflector 11 and can accommodate other structures, and the accommodating space S may be formed by removing a partial structure of a polygonal solid polygonal reflector. In some specific embodiments, the accommodating space S extends along a direction of a central axis Q of the polygonal mirror 11, and the accommodating space S may penetrate through two opposite sides of the polygonal mirror 11, where the two opposite sides may be two sides of the polygonal mirror 11 where the reflecting surface 111 is not disposed.
Referring to fig. 4, 5 and 6, fig. 4 is a cross-sectional view of the lidar rotary reflection apparatus 10 of the present application on a sectional line a-a, fig. 5 is a schematic three-dimensional structure of the lidar rotary reflection apparatus 10 of the present application, and fig. 6 is a schematic three-dimensional structure of the lidar rotary reflection apparatus 10 of the present application. Fig. 5 does not show the polygonal mirror 11, and fig. 6 does not show the polygonal mirror 11 and the magnetic member 121.
As shown in fig. 4, the laser radar rotary reflection apparatus 10 further includes a rotor assembly 12 and a stator assembly 13, the rotor assembly 12 is disposed in the accommodating space S, and the rotor assembly 12 is fixed on the inner wall of the polygonal reflector 11. Specifically, the inner wall of the polygonal mirror 11 is the inner wall of the polygonal mirror 11 in the accommodating space S, and the rotor assembly 12 may be fixed to the inner wall of the polygonal mirror 11 by bonding, snapping, welding, or the like.
The stator assembly 13 includes a stator shaft 131, at least a portion of the stator shaft 131 is disposed in the accommodating space S, the stator shaft 131 has a central axis, and the central axis of the stator shaft 131 is disposed coaxially with the central axis Q of the polygonal mirror 11. In some specific embodiments, the stator shaft 131 is partially disposed in the accommodating space S, and may be a middle portion of the stator shaft 131 disposed in the accommodating space S, that is, a portion between two ends of the stator shaft 131 is disposed in the accommodating space S, and two ends of the stator shaft 131 extend out of the accommodating space S.
Further, the lidar rotary reflection apparatus 10 may include a support member 14, wherein at least one end of the stator shaft 131 is disposed on the support member 14, and the support member 14 is configured to support the stator shaft 131. In some embodiments, both ends of the stator shaft 131 are disposed on the supporting member 14, and the polygonal mirror 11 is disposed between both ends of the stator shaft 131 and supported by the supporting member 14.
More specifically, the support assembly 14 includes a first support arm 141 and a second support arm 142 disposed opposite to each other and spaced apart from each other, a first end of the stator shaft 131 is fixedly disposed on the first support arm 141, and a second end of the stator shaft 131 is fixedly disposed on the second support arm 142. The first support arm 141 may be provided with a first receiving groove, the first end of the stator shaft 131 may be fixed in the first receiving groove, the second support arm 142 is provided with a second receiving groove, and the second end of the stator shaft 131 may be fixed in the second receiving groove. The support assembly 14 may further include a support base, and the first support arm 141 and the second support arm 142 are disposed on the support base opposite to each other.
Wherein the rotor assembly 12 can rotate around the stator shaft 131 so that the polygonal mirror 11 rotates around the central axis of the stator shaft 131. Since the center axis of the stator shaft 131 is the same as the center axis Q of the polygonal mirror 11, the polygonal mirror 11 rotates about the center axis of the stator shaft 131, that is, the polygonal mirror 11 rotates about its own center axis Q.
It will be appreciated that when the rotor assembly 12 rotates about the stator shaft 131, the rotor assembly 12 rotates the polygonal mirror 11 about its central axis Q.
In conclusion, the laser radar rotary reflecting device 10 provided by the present application can drive the polygonal reflector 11 to rotate around the stator shaft 131 through the rotor assembly 12, and when the polygonal reflector 11 rotates around the central shaft of the stator shaft 131, the polygonal reflector 11 also rotates around the central shaft Q of the polygonal reflector. Therefore, the laser radar rotary reflecting device 10 provided by the application can avoid the reflection error caused by the fact that the polygonal reflector 11 does not rotate around the central axis thereof, and can improve the detection precision of the laser radar.
The lidar rotary reflection apparatus 10 will be described in further detail with reference to the accompanying drawings.
Referring to fig. 4 and 5, in some embodiments, the rotor assembly 12 may include a magnetic member 121, and the magnetic member 121 is fixedly disposed on an inner wall of the polygonal mirror 11. The magnetic member 121 may be an electromagnet or a permanent magnet, and is configured to provide a magnetic field, and the magnetic member 121 may be fixed to the inner wall of the polygonal reflector 11 by bonding, fastening, welding, or the like.
Specifically, the magnetic members 121 may be disposed in a ring shape, in which the number of the magnetic members 121 is one, the ring-shaped outer wall of the magnetic member 121 is fixedly disposed with the inner wall of the polygonal reflector 11, and the ring-shaped inner wall of the magnetic member 121 forms an accommodating space. Of course, in some embodiments, the number of the magnetic members 121 may also be multiple, multiple magnetic members 121 may be disposed at intervals on the inner wall of the polygonal reflector 11, the arrangement shape of the multiple magnetic members 121 is ring-shaped, and multiple magnetic members 121 may also form one accommodating space.
More specifically, referring to fig. 6, the winding seat 132 includes a first portion 1321 and a second portion 1322 disposed along the axial direction of the stator shaft 131, the first portion 1321 is disposed in the accommodating space, the coil winding 133 is disposed in the first portion 1321, and the second portion 1322 is disposed outside the accommodating space.
Referring to fig. 5, optionally, the second portion 1322 of the winding seat 132 is disposed in contact with the magnetic member 121, and a height of the second portion 1322 in the radial direction of the stator shaft 131 is equal to a height of the magnetic member 121 in the radial direction of the stator shaft 131. It should be noted that the magnetic member 121 may be disposed in contact with the inner wall of the polygonal mirror 11, but the second portion 1322 is disposed at a distance from the inner wall of the polygonal mirror 11 to prevent the second portion 1322 from obstructing the rotation of the polygonal mirror 11.
It will be appreciated that energization of the coil windings 133 causes the magnetic member 121 to rotate, and the magnetic member 121 rotates the polygonal mirror 11 relative to the stator shaft 131. Specifically, when the coil winding 133 is energized, the coil winding 133 generates a relative force with the magnetic member 121 in the magnetic field generated by the magnetic member 121, so that the coil winding 133 and the stator shaft 131 rotate relatively. It should be understood that, since the coil winding 133 is indirectly fixed to the stator shaft 131, the coil winding 133 does not move relative to the ground, and when the coil winding 133 and the stator shaft 131 rotate relatively, the magnetic member 121 drives the polygonal mirror 11 to rotate relative to the ground.
Referring to fig. 7 in conjunction with fig. 4, fig. 7 is a schematic structural diagram of a stator shaft 131 of the lidar rotary reflection apparatus 10 according to the present application.
Specifically, the stator assembly 13 further includes a winding seat clamping ring 134, the stator shaft 131 has a first step surface 1311, the winding seat 132 has a second step surface 1323 and a third step surface 1324, the winding seat clamping ring 134 and the first step surface 1311 are disposed opposite to each other in the axial direction of the stator shaft 131, and the winding seat clamping ring 134 is configured to press against the second step surface 1323, so that the third step surface 1324 presses against the first step surface 1311, so as to fix the winding seat 132.
The stator shaft 131 is provided with a first thread 1312, the winding seat pressing ring 134 may be a metal pressing ring and is provided with an internal thread, and the winding seat pressing ring 134 is engaged with the first thread 1312 through the internal thread thereof to be screwed on the stator shaft 131. In some embodiments, a silicone gasket may be disposed between the winding base pressing ring 134 and the winding base 132 to achieve flexible contact between the winding base pressing ring 134 and the winding base 132. It should be understood that the degree of tightness of the pressing of the winding seat clamping ring 134 against the winding seat 132 can be adjusted by adjusting the screwing amount of the winding seat clamping ring 134 in the first thread 1312.
Referring to fig. 4-6, the stator assembly 13 further includes a bearing 135, the stator shaft 131 is disposed through the bearing 135 and fixed to a bearing inner ring of the bearing 135, and a bearing outer ring of the bearing 135 is fixed to an inner wall of the polygonal reflector 11.
It should be understood that the bearing inner ring and the bearing outer ring are arranged at intervals along the radial direction of the bearing, a sliding body is arranged between the bearing inner ring and the bearing outer ring, and relative sliding is realized between the bearing inner ring and the bearing outer ring through the sliding body. Since the bearing outer race is fixedly provided with the inner wall of the polygonal mirror 11 and the bearing inner race is fixed with the stator shaft 131, the polygonal mirror 11 can be rotated with respect to the stator shaft 131 by the sliding body of the bearing.
In some embodiments, the stator assembly 13 further includes a spacer 136, and the bearing 135 includes a first bearing 1351 and a second bearing 1352, the first bearing 1351, the spacer 136, and the second bearing 1352 being disposed in contact along an axial direction of the stator shaft 131. The first bearing 1351 and the second bearing 1352 are arranged to enable the stator shaft 131 to be fixed more firmly, and the structural stability of the lidar rotating reflection device 10 is enhanced.
Specifically, referring to fig. 4-6, the rotor assembly 12 includes a bearing outer clamping ring 122 and a bearing inner clamping ring 123. The bearing outer pressing ring 122 is fixed on the inner wall of the polygonal reflector 11, the bearing outer pressing ring 122 is used for pressing against the bearing outer ring of the bearing 135, the bearing inner pressing ring 123 is arranged on the stator shaft 131, and the bearing inner pressing ring 123 is used for pressing against the bearing inner ring of the bearing 135. By the arrangement of the bearing inner clamping ring 123 and the bearing outer clamping ring 122, the bearing 135 is fixed more firmly in the axial direction of the stator shaft 131, and the bearing 135 is prevented from moving in the radial direction of the stator shaft 131.
More specifically, the inner wall of the polygonal reflector 11 is provided with an internal thread, the outer portion of the bearing outer pressing ring 122 is provided with an external thread, and the bearing outer pressing ring 122 is screwed on the polygonal reflector 11 through the external thread to press against the bearing outer ring of the bearing 135. Wherein, the bearing outer pressing ring 122 presses against the outer ring of the second bearing 1352, and the tightness of the bearing outer pressing ring 122 pressing against the second bearing 1352 can be adjusted by adjusting the screwing amount of the threads.
Referring to fig. 8, fig. 8 is another schematic structural diagram of the stator shaft 131 of the lidar rotary reflection apparatus 10 according to the present application.
Specifically, the stator shaft 131 is provided with a second thread 1314, and the inner bearing pressing ring 123 is screwed on the stator shaft 131 through the second thread 1314 to press against the inner bearing ring of the second bearing 1352. The stator shaft 131 has a fourth step surface 1313, and the bearing inner retainer 123 and the bearing outer retainer 122 are configured to press against the second bearing 1352 to press the first bearing 1351 against the fourth step surface 1313 via the spacer 136. Through the arrangement of the fourth step surface 1313, the first bearing 1351 and the second bearing 1352 are pressed against the fourth step surface 1313, so that the first bearing 1351 and the second bearing 1352 can be fixed more firmly through the self-structure of the stator shaft 131, and the stability of the whole structure is enhanced.
A second aspect of the present application provides a lidar comprising a lidar transmitting device, a lidar receiving device, and a lidar rotating reflective device 10 as defined in any one of the preceding claims.
Specifically, the laser emitting device is configured to emit a first laser beam, the first laser beam is configured to irradiate the detected object, and the laser receiving device is configured to receive a second laser beam, where the second laser beam is a laser beam reflected by the detected object from the first laser beam. The laser radar rotary reflection device 10 is configured to reflect the first laser beam so that the first laser beam irradiates on the detected object, and is further configured to reflect the second laser beam so that the laser receiving device receives the second laser beam.
Further, the laser radar further includes a processing device, and the processing device may acquire information related to the first laser beam and information related to the second laser beam, and acquire information of the detected object, such as distance information, shape information, and the like, according to the information related to the first laser beam, the information related to the second laser beam, and a corresponding information acquisition manner.
The above embodiments are merely examples and are not intended to limit the scope of the present disclosure, and all modifications, equivalents, and flow charts using the contents of the specification and drawings of the present disclosure or those directly or indirectly applied to other related technical fields are intended to be included in the scope of the present disclosure.
Claims (10)
1. A lidar rotary reflective device, the device comprising:
a polygonal reflector forming an accommodating space;
the rotor assembly is arranged in the accommodating space and is fixed on the inner wall of the polyhedral reflector;
the stator assembly comprises a stator shaft, at least part of the stator shaft is arranged in the accommodating space, and the central axis of the stator shaft and the central axis of the polyhedral reflector are coaxially arranged;
the supporting component is arranged at least one end of the stator shaft and used for supporting the stator shaft;
wherein the rotor assembly rotates about the stator shaft such that the polygonal mirror rotates about a central axis of the stator shaft.
2. The apparatus of claim 1,
the rotor assembly includes:
the magnetic part is fixedly arranged on the inner wall of the polyhedral reflecting mirror;
the stator assembly further includes:
the winding seat is fixedly arranged on the stator shaft;
the coil winding is arranged on the winding seat so as to realize the fixation of the coil winding;
when the coil winding is electrified, the magnetic part drives the polyhedral reflector to rotate.
3. The apparatus of claim 2,
the magnetic part is in an annular arrangement, the annular outer wall of the magnetic part is fixedly arranged on the inner wall of the polyhedral reflector, an accommodating space is formed in the annular inner wall of the magnetic part, and the coil winding is arranged in the accommodating space.
4. The apparatus of claim 2,
the stator assembly further comprises a winding seat pressing ring, the stator shaft is provided with a first step surface, the winding seat is provided with a second step surface and a third step surface, the winding seat pressing ring is opposite to the first step surface, and the winding seat pressing ring is used for abutting against the second step surface, so that the third step surface abuts against the first step surface to fix the winding seat.
5. The apparatus of claim 1,
the stator assembly further comprises a bearing, the stator shaft is arranged on the bearing and fixed with the inner ring of the bearing, and the outer ring of the bearing and the inner wall of the polyhedral reflector are fixedly arranged.
6. The apparatus of claim 5,
stator module still includes the spacer ring, the bearing includes first bearing and second bearing, first bearing the spacer ring reaches the second bearing is followed the axial contact setting of stator axle.
7. The apparatus of claim 5,
the rotor assembly comprises a bearing outer pressing ring, the bearing outer pressing ring is fixed on the inner wall of the polyhedral reflecting mirror, and the bearing outer pressing ring is used for abutting against a bearing outer ring of the bearing;
the stator assembly further comprises a bearing inner pressing ring, the bearing inner pressing ring is arranged on the stator shaft, and the bearing inner pressing ring is used for abutting against a bearing inner ring of the bearing.
8. The apparatus of claim 7,
the stator shaft is provided with a fourth step surface, and the bearing inner pressing ring and the bearing outer pressing ring are used for abutting against the second bearing so as to abut against the first bearing on the fourth step surface through the spacer ring.
9. The apparatus of claim 1,
the supporting component comprises a first supporting arm and a second supporting arm which are arranged oppositely, the first end of the stator shaft is fixedly arranged on the first supporting arm, and the second end of the stator shaft is fixedly arranged on the second supporting arm.
10. A lidar, characterized in that the lidar comprises:
a laser emitting device for emitting a first laser beam for irradiating an object to be detected;
the laser receiving device is used for receiving a second laser beam, and the second laser beam is the laser beam reflected by the detected object from the first laser beam;
the lidar rotary reflection device according to any of claims 1 to 9, configured to reflect the first laser beam so that the first laser beam is irradiated to the object to be detected, and further configured to reflect the second laser beam so that the laser receiving device receives the second laser beam.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110542078.6A CN113391291A (en) | 2021-05-18 | 2021-05-18 | Laser radar rotary reflection device and laser radar |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110542078.6A CN113391291A (en) | 2021-05-18 | 2021-05-18 | Laser radar rotary reflection device and laser radar |
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| CN113391291A true CN113391291A (en) | 2021-09-14 |
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| CN202110542078.6A Pending CN113391291A (en) | 2021-05-18 | 2021-05-18 | Laser radar rotary reflection device and laser radar |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114460560A (en) * | 2021-12-24 | 2022-05-10 | 宁波永新光学股份有限公司 | Surface mount type multi-surface rotating mirror scanning system and manufacturing method thereof |
| DE102022211026A1 (en) | 2022-10-18 | 2024-04-18 | Robert Bosch Gesellschaft mit beschränkter Haftung | Rotating mirror unit for a LIDAR sensor, LIDAR sensor and method for constructing a rotating mirror unit |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114460560A (en) * | 2021-12-24 | 2022-05-10 | 宁波永新光学股份有限公司 | Surface mount type multi-surface rotating mirror scanning system and manufacturing method thereof |
| DE102022211026A1 (en) | 2022-10-18 | 2024-04-18 | Robert Bosch Gesellschaft mit beschränkter Haftung | Rotating mirror unit for a LIDAR sensor, LIDAR sensor and method for constructing a rotating mirror unit |
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Application publication date: 20210914 |