CN219736412U - Magnetic encoder, laser radar and vehicle - Google Patents
Magnetic encoder, laser radar and vehicle Download PDFInfo
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- CN219736412U CN219736412U CN202321089785.5U CN202321089785U CN219736412U CN 219736412 U CN219736412 U CN 219736412U CN 202321089785 U CN202321089785 U CN 202321089785U CN 219736412 U CN219736412 U CN 219736412U
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- 230000006698 induction Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000001960 triggered effect Effects 0.000 description 2
- 230000000737 periodic effect Effects 0.000 description 1
- 230000003313 weakening effect Effects 0.000 description 1
Abstract
The utility model provides a magnetic encoder, a laser radar and a vehicle, and relates to the technical field of radars. The magnetic encoder comprises a magnetic wheel and a decoding assembly, the decoding assembly is arranged at intervals with the magnetic wheel, the decoding assembly comprises a circuit board, a first sensor and a second sensor, the circuit board is provided with a first face facing the magnetic wheel and a second face deviating from the magnetic wheel, the first sensor is arranged on the first face, the second sensor is arranged on the second face, and the first sensor and the second sensor are used for detecting magnetic field information of the magnetic wheel. The first sensor and the second sensor may be mutually checked so that the resulting position result is more reliable. In addition, as the first sensor and the second sensor are arranged on different surfaces of the circuit board, the first sensor and the second sensor are not easy to interfere with each other in space, and the first sensor and the second sensor are arranged at the optimal sensing position. The laser radar provided by the utility model comprises the magnetic encoder; the vehicle comprises the laser radar.
Description
Technical Field
The utility model relates to the technical field of radars, in particular to a magnetic encoder, a laser radar and a vehicle.
Background
As a common driving member for outputting torque, the driving motor often needs to detect the rotating position information in practical application. Taking a laser radar as an example, in the laser radar, a driving piece rotates a prism to change the laser direction, so that laser can swing back and forth in one direction, and scanning is further realized. A magnetic encoder is generally used in a laser radar, the magnetic encoder includes a magnetic wheel and a magnetic decoder, the magnetic wheel rotates along with the prism, and the magnetic decoder is used for detecting a magnetic field generated by the magnetic wheel, so as to determine a position of the magnetic wheel in a rotation direction according to the magnetic field, and further determine a position of the prism in the rotation direction. However, existing magnetic encoders typically include only one sensor (e.g., a magnetic encoder chip), which results in less positional information being acquired by the magnetic encoder and less accuracy.
Disclosure of Invention
The object of the present utility model is to provide a magnetic encoder, a laser radar and a vehicle, which have a higher accuracy.
Embodiments of the present utility model are implemented as follows:
in a first aspect, the present utility model provides a magnetic encoder comprising:
a magnetic wheel; and
the decoding assembly is arranged at intervals with the magnetic wheel and comprises a circuit board, a first sensor and a second sensor, the circuit board is provided with a first face facing the magnetic wheel and a second face deviating from the magnetic wheel, the first sensor is arranged on the first face, the second sensor is arranged on the second face, and the first sensor and the second sensor are used for detecting magnetic field information of the magnetic wheel.
In an alternative embodiment, the first sensor is a magnetic encoder chip and the second sensor is a magnetic hall switch.
In an alternative embodiment, the magnetic wheel is a single pair of pole magnets.
In an alternative embodiment, the axis of the magnetic wheel is perpendicular to the circuit board.
In an alternative embodiment, the axis of the magnetic wheel passes through the first sensor and the second sensor evades the axis of the magnetic wheel.
In an alternative embodiment, the projection area of the magnetic wheel on the circuit board covers the first sensor and the second sensor.
In an alternative embodiment, the circuit board is provided with a circuit, the circuit board has a detection area, the second sensor is arranged in the detection area, and other circuits except the circuit connected with the second sensor do not pass through the detection area.
In an alternative embodiment, the first sensor outputs a signal via one of the buses SCI, SPI, etherCAT and BISS and the second sensor latches the output signal in a pulsed manner or level.
In a second aspect, the present utility model provides a laser radar, including a driving member, a prism, and a magnetic encoder according to any one of the embodiments of the first aspect, where the driving member is in driving connection with the prism and is used to drive the prism to rotate, a magnetic wheel of the magnetic encoder rotates with the prism, and a rotation axis of the magnetic wheel coincides with a rotation axis of the prism.
In a third aspect, the present utility model provides a vehicle comprising the lidar provided in the second aspect.
The embodiment of the utility model has the beneficial effects that:
the magnetic encoder comprises a magnetic wheel and a decoding assembly, wherein the decoding assembly is arranged at intervals with the magnetic wheel, the decoding assembly comprises a circuit board, a first sensor and a second sensor, the circuit board is provided with a first surface facing the magnetic wheel and a second surface deviating from the magnetic wheel, the first sensor is arranged on the first surface, the second sensor is arranged on the second surface, and the first sensor and the second sensor are used for detecting magnetic field information of the magnetic wheel. Compared with the prior art that only one sensor is used for acquiring the position information of the magnetic wheel, the magnetic field of the magnetic wheel is jointly detected by the first sensor and the second sensor, more position information can be acquired, and the first sensor and the second sensor can be mutually checked, so that the finally obtained position result is more reliable. The first sensor and the second sensor are matched for use, so that the accuracy of the whole magnetic encoder is improved. And because the first sensor and the second sensor are arranged on different surfaces of the circuit board, the first sensor and the second sensor are not easy to interfere with each other in space, the degree of freedom of the arrangement position is higher, and the first sensor and the second sensor are arranged at the optimal induction position.
The laser radar provided by the utility model comprises the magnetic encoder, so that the laser radar has the characteristic of high precision; the vehicle provided by the utility model comprises the laser radar and has higher safety and reliability.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present utility model and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a prior art magnetic encoder;
FIG. 2 is a schematic diagram of a magnetic encoder according to an embodiment of the present utility model at a first viewing angle;
FIG. 3 is a schematic diagram of a magnetic encoder according to an embodiment of the present utility model at a second viewing angle.
010-magnetic encoder; 100-magnetic wheel; 200-a decoding component; 201-a magnetic decoding chip; 210-a circuit board; 211-a first sensor; 212-a second sensor.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present utility model more apparent, the technical solutions of the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model, and it is apparent that the described embodiments are some embodiments of the present utility model, but not all embodiments of the present utility model. The components of the embodiments of the present utility model generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the utility model, as presented in the figures, is not intended to limit the scope of the utility model, as claimed, but is merely representative of selected embodiments of the utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
In the description of the present utility model, it should be noted that, directions or positional relationships indicated by terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., are directions or positional relationships based on those shown in the drawings, or are directions or positional relationships conventionally put in use of the inventive product, are merely for convenience of describing the present utility model and simplifying the description, and are not indicative or implying that the apparatus or element to be referred to must have a specific direction, be constructed and operated in a specific direction, and thus should not be construed as limiting the present utility model. Furthermore, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance.
Furthermore, the terms "horizontal," "vertical," and the like do not denote a requirement that the component be absolutely horizontal or overhang, but rather may be slightly inclined. As "horizontal" merely means that its direction is more horizontal than "vertical", and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
In the description of the present utility model, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present utility model will be understood in specific cases by those of ordinary skill in the art.
Fig. 1 is a schematic diagram of a prior art magnetic encoder 010. As shown in fig. 1, a related art magnetic encoder 010 includes a magnetic wheel 100 and a decoding assembly 200, wherein the decoding assembly 200 includes a circuit board 210 and a magnetic decoding chip 201 disposed on the circuit board 210. The magnetic wheel 100 is adapted to rotate in synchronism with an externally rotatable member, such as the output shaft of a drive, to generate an alternating magnetic field. The magnetic decoding chip 201 is used for detecting the magnetic field of the magnetic wheel 100, and determining the rotation position, speed, etc. of the magnetic wheel 100 according to the strength and variation of the magnetic field, thereby determining the rotation position, speed of the rotating member. The existing magnetic encoder 010 has only one magnetic decoding chip 201 on the circuit board 210, and the amount of positional information of the magnetic wheel 100 obtained is limited, resulting in low accuracy and reliability of the magnetic encoder 010. If multiple sensors are considered to detect the magnetic field, the sensors may interfere with each other in spatial position on the circuit board 210 due to the certain volume of the sensors, and it is difficult to arrange the sensors in a preferable detection position.
In order to improve at least one of the disadvantages of the related art, an embodiment of the present utility model provides a magnetic encoder, which improves the accuracy and reliability of the magnetic encoder by providing a first sensor and a second sensor to detect the magnetic field of a magnetic wheel together, and reduces the difficulty of arrangement of the sensors by providing the first sensor and the second sensor on different sides of a circuit board.
FIG. 2 is a schematic diagram of a magnetic encoder 010 at a first view angle according to an embodiment of the present utility model; FIG. 3 is a schematic diagram of a magnetic encoder 010 at a second view angle according to an embodiment of the present utility model. As shown in fig. 2 and 3, the magnetic encoder 010 according to the embodiment of the present utility model includes a magnetic wheel 100 and a decoding assembly 200, and the magnetic wheel 100 is spaced apart from the decoding assembly 200. The magnetic wheel 100 is adapted to be coupled to an external rotatable component, and the decoding assembly 200 is adapted to detect the rotational position and rotational speed of the magnetic wheel 100 by detecting the magnetic field generated by the magnetic wheel 100, thereby determining the rotational position and rotational speed of the component to which the magnetic wheel 100 is coupled.
In the embodiment of the present utility model, the decoding assembly 200 includes a circuit board 210, a first sensor 211 and a second sensor 212, the circuit board 210 has a first surface facing the magnetic wheel 100 and a second surface facing away from the magnetic wheel 100, the first sensor 211 is disposed on the first surface, the second sensor 212 is disposed on the second surface, and the first sensor 211 and the second sensor 212 are used for detecting magnetic field information of the magnetic wheel 100.
The magnetic field of the magnetic wheel 100 is jointly detected by the first sensor 211 and the second sensor 212, so that more position information is obtained, and the position information obtained by the first sensor 211 and the second sensor 212 can be mutually verified and checked, so that high reliability is realized.
Further, the magnetic field signal is commonly acquired by the first sensor 211 and the second sensor 212, and there is a possibility that the accuracy of the magnetic encoder 010 is improved. For example, if the accuracy of the first sensor 211 and the second sensor 212 is 12 bits, the accuracy may be raised to 13 bits when the first sensor 211 and the second sensor 212 are used simultaneously.
In this embodiment, the first sensor 211 is a magnetic encoder chip, and may specifically be a high-resolution magnetic encoder chip; the second sensor 212 is a magnetic hall switch. Further, the first sensor 211 may continuously detect the periodic magnetic field change caused by the rotating magnetic wheel 100, so as to determine the rotated angle, i.e. the relative position, of the magnetic wheel 100; while the second sensor 212, by selecting a magnetic hall switch, can be triggered when the magnetic wheel 100 rotates to the zero position, thereby outputting a zero signal, and thus the output signal from the second sensor 212 can be used to determine when the magnetic wheel 100 is in the zero position. By using the first sensor 211 and the second sensor 212 in combination, the rotational position of the magnetic wheel 100 can be accurately obtained.
Since the magnetic hall switch can output a pulse signal, when it detects that the magnetic field strength is greater than the set threshold value, a signal is output. It is therefore necessary to select the detection threshold of the second sensor 212 at a reasonable value, and to set the relative position of the second sensor 212 and the magnetic wheel 100 reasonably, so that the second sensor 212 can be triggered to output a pulse signal when the magnetic wheel 100 rotates to the zero position to be set.
In this embodiment, the magnetic wheel 100 is a single pair of pole magnets. That is, the magnetic wheel 100 includes one N pole and one S pole. The N and S poles are half of the magnetic wheel 100, respectively, and are all half circles.
Further, the axis of the magnetic wheel 100 is perpendicular to the circuit board 210. By setting the axis of the magnetic wheel 100 to be perpendicular to the circuit board 210, the end face of the magnetic wheel 100 can be opposite to the circuit board 210, so that the first sensor 211 and the second sensor 212 can detect stronger magnetic field intensity, and further, the detection accuracy can be better ensured.
Further, the projection area of the magnetic wheel 100 on the circuit board 210 covers the first sensor 211 and the second sensor 212. It should be understood that the projection area of the magnetic wheel 100 on the circuit board 210 refers to an area where the magnetic wheel 100 is projected on the circuit board 210 in a direction perpendicular to the circuit board 210. The first sensor 211 and the second sensor 212 are disposed within the projection area, so that the first sensor 211 and the second sensor 212 can be opposite to the magnetic wheel 100, and the magnetic field of the magnetic wheel 100 can be better detected.
Optionally, the axis of the magnetic wheel 100 passes through the first sensor 211 and the second sensor 212 is clear of the axis of the magnetic wheel 100. The axis of the magnetic wheel 100 passing through the first sensor 211 means that the magnetic wheel 100 is opposite to the first sensor 211, and when the first sensor 211 is a magnetic encoder chip, it is arranged opposite to the magnetic wheel 100 to be better able to detect magnetic field changes (it collects continuous magnetic field intensity changes); in the case where the second sensor 212 is a magnetic hall switch, the second sensor 212 is deviated from the center position of the magnetic wheel 100, which is more beneficial for accurately detecting the zero position of the magnetic wheel 100.
In the present embodiment, the circuit board 210 is provided with a circuit, the circuit board 210 has a detection area, the second sensor 212 is disposed in the detection area, and other circuits except the circuit connected to the second sensor 212 do not pass through the detection area. By bypassing the other lines except the line connected to the second sensor 212 around the detection area, it is possible to avoid electromagnetic interference from the other lines to the second sensor 212, thereby ensuring the stability of the operation of the second sensor 212. It should be understood that the circuit board 210 may be a circuit disposed on a surface, or may be a circuit embedded in the circuit board 210. In order to enable the second sensor 212 on the second side to better detect the magnetic field, shielding and weakening of the magnetic field by the circuit board 210 may be minimized by material selection or structural design.
The magnetic encoder 010 of the present embodiment can provide different indication modes of the electrical signal, for example, the first sensor 211 outputs a signal through one of the bus SCI, SPI, etherCAT and the BISS, and the second sensor 212 latches the output signal through a pulse mode or a level, so as to satisfy different application scenarios.
It should be understood that in this embodiment, the first sensor 211 and the second sensor 212 respectively use a magnetic encoder chip and a magnetic hall switch, and in alternative other embodiments, the first sensor 211 and the second sensor 212 may also use the same sensor, for example, all use magnetic encoder chips, and also perform mutual calibration, so as to improve reliability. In this embodiment, the magnetic wheel 100 employs a single pair of pole magnets, and in alternative embodiments, a multi-pair pole magnetic assembly may be employed. In the present embodiment, both the first sensor 211 and the second sensor 212 are disposed in the projection area of the magnetic wheel 100 on the circuit board 210, and in alternative other embodiments, the second sensor 212 (magnetic hall switch) may be disposed at the edge of the projection area of the magnetic wheel 100, or even outside the projection area.
The embodiment of the present utility model also provides a laser radar (not shown in the figure), which comprises a driving member, a prism, and the magnetic encoder 010 of the above embodiment, wherein the driving member is in transmission connection with the prism and is used for driving the prism to rotate, the magnetic wheel 100 of the magnetic encoder 010 rotates along with the prism, and the rotation axis of the magnetic wheel 100 coincides with the rotation axis of the prism. Optionally, the driving piece is a motor, and it includes stator, rotor and the output shaft that connects in the rotor, and the output shaft is connected with the prism transmission. The magnetic wheel 100 may be coaxially connected to the output shaft or may be connected to the prism; the decoding assembly 200 remains stationary relative to the stator of the drive. The magnetic encoder 010 can accurately detect the rotation position and rotation speed of the prism, thereby being beneficial to the laser radar to perform scanning detection better.
The embodiment of the utility model also provides a vehicle (not shown in the figure) comprising the laser radar provided in the second aspect. The vehicle can be a car, SUV, MPV, bus, rail vehicle or engineering vehicle. By using the laser radar, the safety level of the vehicle is improved.
In summary, the magnetic encoder provided by the utility model comprises a magnetic wheel and a decoding assembly, wherein the decoding assembly is arranged at intervals with the magnetic wheel, the decoding assembly comprises a circuit board, a first sensor and a second sensor, the circuit board is provided with a first surface facing the magnetic wheel and a second surface facing away from the magnetic wheel, the first sensor is arranged on the first surface, the second sensor is arranged on the second surface, and the first sensor and the second sensor are used for detecting magnetic field information of the magnetic wheel. Compared with the prior art that only one sensor is used for acquiring the position information of the magnetic wheel, the magnetic field of the magnetic wheel is jointly detected by the first sensor and the second sensor, more position information can be acquired, and the first sensor and the second sensor can be mutually checked, so that the finally obtained position result is more reliable. The first sensor and the second sensor are matched for use, so that the accuracy of the whole magnetic encoder is improved. And because the first sensor and the second sensor are arranged on different surfaces of the circuit board, the first sensor and the second sensor are not easy to interfere with each other in space, the degree of freedom of the arrangement position is higher, and the first sensor and the second sensor are arranged at the optimal induction position.
The laser radar provided by the utility model comprises the magnetic encoder, so that the laser radar has the characteristic of high precision; the vehicle provided by the utility model comprises the laser radar and has higher safety and reliability.
The above description is only of the preferred embodiments of the present utility model and is not intended to limit the present utility model, but various modifications and variations can be made to the present utility model by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model should be included in the protection scope of the present utility model.
Claims (10)
1. A magnetic encoder, comprising:
a magnetic wheel; and
the decoding assembly is arranged at intervals with the magnetic wheel and comprises a circuit board, a first sensor and a second sensor, the circuit board faces the first face of the magnetic wheel and faces away from the second face of the magnetic wheel, the first sensor is arranged on the first face, the second sensor is arranged on the second face, and the first sensor and the second sensor are used for detecting magnetic field information of the magnetic wheel.
2. The magnetic encoder of claim 1, wherein the first sensor is a magnetic encoder chip and the second sensor is a magnetic hall switch.
3. A magnetic encoder according to claim 1 or 2, wherein the magnetic wheel is a single pair of pole magnets.
4. A magnetic encoder according to claim 1 or 2, wherein the axis of the magnetic wheel is perpendicular to the circuit board.
5. The magnetic encoder of claim 4, wherein the axis of the magnetic wheel passes through the first sensor and the second sensor is clear of the axis of the magnetic wheel.
6. The magnetic encoder of claim 5, wherein a projected area of the magnetic wheel on the circuit board covers the first sensor and the second sensor.
7. A magnetic encoder according to claim 1 or 2, wherein the circuit board is provided with wiring, the circuit board having a detection area, the second sensor being provided in the detection area, other wiring than the wiring connected to the second sensor not passing through the detection area.
8. The magnetic encoder of claim 1, wherein the first sensor outputs a signal via one of bus SCI, SPI, etherCAT and BISS and the second sensor latches the output signal via a pulse or level.
9. A lidar comprising a drive member, a prism and a magnetic encoder according to any of claims 1 to 8, wherein the drive member is in driving connection with the prism and is adapted to drive the prism in rotation, wherein the magnetic wheel of the magnetic encoder rotates with the prism, and wherein the axis of rotation of the magnetic wheel coincides with the axis of rotation of the prism.
10. A vehicle comprising the lidar of claim 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321089785.5U CN219736412U (en) | 2023-05-08 | 2023-05-08 | Magnetic encoder, laser radar and vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321089785.5U CN219736412U (en) | 2023-05-08 | 2023-05-08 | Magnetic encoder, laser radar and vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219736412U true CN219736412U (en) | 2023-09-22 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321089785.5U Active CN219736412U (en) | 2023-05-08 | 2023-05-08 | Magnetic encoder, laser radar and vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219736412U (en) |
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2023
- 2023-05-08 CN CN202321089785.5U patent/CN219736412U/en active Active
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