CN220438543U

CN220438543U - Scanning device for laser radar and laser radar

Info

Publication number: CN220438543U
Application number: CN202322041981.1U
Authority: CN
Inventors: 方亮; 高永丰; 向少卿
Original assignee: Hesai Technology Co Ltd
Current assignee: Hesai Technology Co Ltd
Priority date: 2023-07-31
Filing date: 2023-07-31
Publication date: 2024-02-02
Anticipated expiration: 2033-07-31

Abstract

The utility model provides a laser radar scanning device and a laser radar. The scanning device includes: a mirror configured to reflect the light beam; a drive device, comprising: a stator including a first magnetic assembly; a rotor including a second magnetic assembly and coupled to the mirror to move the mirror to effect scanning of the light beam, wherein the stator is configured to move the rotor from a rest position and the second magnetic assembly is capable of interacting with the first magnetic assembly to return the rotor to the rest position. The scanning device can realize large-angle reciprocating motion under a certain frequency with lower driving power, can be applied to the laser radar to realize large-angle scanning in the horizontal direction or the vertical direction, reduces the driving power, further reduces the power consumption and the heating value generated by the laser radar, and improves the reliability and the service life of the laser radar under the condition of long-time scanning.

Description

Scanning device for laser radar and laser radar

Technical Field

The present utility model relates to the field of lidar, and in particular, to a scanning device for a lidar and a lidar.

Background

Conventional scanners typically utilize a radially magnetized shaft to drive a mirror to rotate by the interaction of magnetic poles between two oppositely-charged windings, and the mirror can oscillate back and forth by changing the direction of the windings' current. The scanner is commonly used in the medical and cosmetic industries, but has also been used in lidar in recent years for slow (less than 15 HZ) small scan angle (less than 25 degrees) scans.

Reciprocating motion with a certain frequency is a common need in scanning lidar. Conventional motors tend to be able to do this, but are limited by the principles and characteristics of the drive, which tend to require higher drive power when increasing the reciprocation frequency (not less than 10 Hz) and increasing the scan angle (greater than 30 degrees).

Because the mechanical model of the conventional motor can be simplified into a second-order system of 'mass-damping', the mechanical transfer function of the conventional motor can be written as:

wherein the moment of inertia J, the damping c, the operating frequency s, the displacement X, the driving force F.

In the case of low damping (typically motors will minimize damping), the gain of the transfer function is inversely proportional to the square of frequency, i.e.: as the operating frequency s increases, the kinetic gain X (s)/F(s) of the conventional motor decreases rapidly, which results in the above-described problems: when the scanner reciprocates, if the reciprocation frequency(s) is increased or the scanning angle (X) is increased, a larger driving force (F) needs to be provided, so that when the scanner is driven by a conventional motor to perform large-angle scanning at a certain frequency, the driving power needs to be increased, which causes a great deal of energy waste and generates a great deal of heat in the laser radar, thereby reducing the reliability and the service life of the laser radar for long-time scanning.

The matters in the background section are only those known to the inventors and do not, of course, represent prior art in the field.

Disclosure of Invention

In view of one or more of the deficiencies of the prior art, the present utility model provides a scanning device for a lidar and a lidar.

According to an aspect of the present utility model, there is provided a scanning apparatus for a lidar, comprising:

a mirror configured to reflect the light beam;

a drive device, comprising:

a stator including a first magnetic assembly;

the rotor comprises a second magnetic component and is connected with the reflecting mirror to drive the reflecting mirror to move so as to realize light beam scanning,

wherein the stator is configured to move the rotor from an equilibrium position and the second magnetic assembly is capable of interacting with the first magnetic assembly to return the rotor to the equilibrium position.

According to an embodiment of the utility model, the rotor further comprises a rotor body part, which is movable around a shaft.

According to an embodiment of the utility model, the stator further comprises a stator body part cooperating with the rotor body part for pivoting the rotor from the equilibrium position.

According to an embodiment of the utility model, the second magnetic assembly is connected to the rotor body portion, and the first magnetic assembly is provided separately from the stator body portion.

According to an embodiment of the utility model, the second magnetic assembly and the mirror are provided on both sides of the rotor body portion, respectively.

According to an embodiment of the utility model, the first magnetic assembly comprises two first magnetic members and the second magnetic assembly comprises at least one second magnetic member.

According to an embodiment of the utility model, the second magnetic assembly comprises two second magnetic members respectively paired with the two first magnetic members to form two restoring assemblies, each second magnetic member and the paired first magnetic member being opposite and opposite poles being of the same polarity to generate a restoring force to restore the rotor to the equilibrium position.

According to an embodiment of the utility model, the two second magnetic elements are symmetrically arranged with respect to a plane of symmetry of the mirror; the two first magnetic elements are arranged symmetrically with respect to a plane of symmetry of the mirror when the rotor is in a balanced position, wherein the plane of symmetry of the mirror is perpendicular to the reflecting surface of the mirror and comprises an axis of the rotor body portion.

According to an embodiment of the utility model, the first magnetic assembly further comprises two yokes surrounding the poles of the two first magnetic pieces, respectively, which are not opposite to the two second magnetic pieces.

According to an embodiment of the utility model, the second magnetic assembly further comprises a support body supporting the two second magnetic members, the support body being connected with the rotor body portion of the rotor, the support body having an opening exposing a pole of the second magnetic member opposite to the first magnetic member.

According to an embodiment of the present utility model, the stator further includes a stator body portion, a bottom plate extending outward from a bottom edge of the stator body portion, and sub-brackets provided on both sides of the bottom plate, the first magnetic assembly being provided on the sub-brackets.

According to an embodiment of the utility model, the stator body comprises a stator support and an electromagnetic assembly arranged on the stator support.

According to an embodiment of the utility model, the electromagnetic assembly includes a core, a coil, and a pair of positioning members.

According to an embodiment of the utility model, the core includes an annular portion and at least one pair of gullets disposed on the annular portion.

According to an embodiment of the present utility model, the positioning member includes an annular groove configured to accommodate the coil, and a projection communicating with the annular groove and extending into the tooth slot.

According to an embodiment of the utility model, the at least one pair of tooth grooves are symmetrically arranged with respect to a plane of symmetry of the mirror when the rotor is in the equilibrium position, and the surface of the positioning member facing away from the core has at least one pair of first notches corresponding to the at least one pair of tooth grooves and a second notch symmetrical with respect to the plane of symmetry of the mirror when the rotor is in the equilibrium position.

According to an embodiment of the utility model, the stator body further comprises a bearing arranged in the hollow of the stator support.

According to an embodiment of the utility model, the stator body further comprises an end cap arranged at the bottom opening of the stator support.

According to an embodiment of the utility model, a magnetic member is attached to the top of the end cap, which extends up into the bearing.

According to an embodiment of the utility model, the top of the end cap is formed with an upwardly open recess, which recess is provided with the magnetic member.

According to an embodiment of the utility model, the stator further comprises a circuit board disposed on the base plate.

According to an embodiment of the utility model, the circuit board comprises a plurality of groups of printed coils and a plurality of capacitors, and each group of printed coils corresponds to each capacitor.

According to an embodiment of the utility model, the rotor further comprises a rotor body portion comprising a rotor support covering the stator body portion of the stator, the second magnetic assembly being attached to a side wall of the rotor support.

According to an embodiment of the utility model, the rotor body part further comprises a third magnetic member located at the outer periphery of the electromagnetic assembly in the stator body part and fixed on the rotor support.

According to an embodiment of the utility model, the rotor body part comprises a pair of said third magnetic members, the core in the electromagnetic assembly comprises a pair of tooth slots, the pair of third magnetic members being respectively opposite to the pair of tooth slots when the rotor is in the equilibrium position, the pair of third magnetic members and/or the pair of tooth slots being symmetrically arranged with respect to the plane of symmetry of the mirror.

According to an embodiment of the utility model, the scanning device further comprises a position sensor configured to detect the position of the mirror.

According to an embodiment of the utility model, the rotor support covers printed coils on a circuit board of the stator.

According to an embodiment of the present utility model, an object is formed at the bottom of the rotor support, at least a portion of which is opposite to the printed coil, for detecting the position of the mirror when the rotor moves.

According to an embodiment of the utility model, the first and second parts of the object are opposite to the first and second printed coils, respectively, for detecting the position of the mirror upon movement of the rotor from a change in the relative area of the first part to the first printed coil and a change in the relative area of the second part to the second printed coil.

According to the embodiment of the utility model, the target is made of metal, and ferrite is arranged in the target.

According to an embodiment of the utility model, the object has a recess with a downward opening, in which recess the ferrite is arranged.

According to an embodiment of the utility model, the rotor support comprises a rotating shaft, the rotating shaft extends downwards from the top of the rotor support and is matched with the bearing of the stator main body part, a magnetic part is arranged at the lower part of the rotating shaft, and the magnetic part is matched with the magnetic part in the end cover of the bearing.

According to an embodiment of the present utility model, the upper portion of the rotating shaft is formed with a cylindrical recess opening upward.

According to the embodiment of the utility model, the magnetic piece of the rotating shaft and the magnetic piece in the end cover of the bearing are opposite to each other and are attracted, so that the bearing is pre-tensioned.

According to another aspect of the present utility model, there is provided a lidar comprising a transmitting unit, the scanning device according to any of the preceding embodiments, a receiving unit and a processing unit,

the emitting unit is configured to emit a probe beam, which is reflected via the scanning device into the environment surrounding the lidar;

the receiving unit is configured to receive an echo generated by the probe beam on an obstacle and convert the echo into an electrical signal;

the processing unit is configured to acquire information of the obstacle according to the electric signal.

The scanning device provided by the embodiment of the utility model can be applied to the laser radar to realize large-angle scanning in the horizontal direction or the vertical direction, can realize large-angle reciprocating motion at a certain frequency, and can realize low-power-consumption driving of the motor while resonant motion. In addition, according to the embodiment of the utility model, an eddy current angle measurement scheme is adopted in the position sensor of the scanning device, and the eddy current angle measurement device has the advantages of simple structure and low cost. According to the embodiment of the utility model, the bearing pretightening force is provided by arranging the two magnets which are attracted to each other in the axial direction of the rotating shaft of the scanning device, so that pretightening of the bearing in the scanning device is realized, and the bearing pretightening device has the advantages of small number of parts, compact axial space, convenience in assembly and the like, is beneficial to reducing the height of the scanning device, further reducing the height of the laser radar, and is beneficial to batch production of the laser radar.

Drawings

The accompanying drawings are included to provide a further understanding of the utility model and are incorporated in and constitute a part of this specification, illustrate the utility model and together with the embodiments of the utility model, serve to explain the utility model. In the drawings:

fig. 1 shows a schematic block diagram of a scanning apparatus for a lidar according to an embodiment of the present utility model.

Fig. 2 shows a schematic diagram of a comparison of frequency response curves of a conventional motor and a resonant motor.

Fig. 3 shows a schematic block diagram of a scanning apparatus for a lidar according to another embodiment of the present utility model.

Fig. 4 (a) and 4 (b) show a perspective view and a longitudinal vertical sectional view, respectively, of a stator in a scanning device for a lidar according to an embodiment of the present utility model.

Fig. 5 shows an exploded view of the electromagnetic assembly in the stator body portion of the stator shown in fig. 4 (b).

Fig. 6 shows a schematic diagram of the cooperation of the core and coil of the stator of fig. 3.

Fig. 7 (a), 7 (b), and 7 (c) show perspective, transverse vertical and horizontal sectional views, respectively, of a rotor in a scanning device for a lidar according to an embodiment of the present utility model.

Fig. 8 (a) and 8 (b) show a perspective view and a vertical cross-sectional view, respectively, of a scanning device in which the stator shown in fig. 4 (a) and 4 (b) and the rotor shown in fig. 7 (a), 7 (b) and 7 (c) are assembled.

Fig. 9 shows an illustration of the principle of an eddy current sensor.

FIGS. 10 (a), 10 (b) are schematic diagrams illustrating operation of the position sensor of the scanning device of FIGS. 8 (a), 8 (b), respectively, when the rotor is in and out of equilibrium;

fig. 11 shows a block diagram of a laser radar according to an embodiment of the present utility model.

Detailed Description

Hereinafter, only certain exemplary embodiments are briefly described. As will be recognized by those of skill in the pertinent art, the described embodiments may be modified in various different ways without departing from the spirit or scope of the present utility model. Accordingly, the drawings and description are to be regarded as illustrative in nature and not as restrictive.

In the description of the present utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present utility model. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more of the described features. In the description of the present utility model, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

In the description of the present utility model, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be fixedly connected, detachably connected, or integrally connected, and may be mechanically connected, electrically connected, or may communicate with each other, for example; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.

In the present utility model, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other through additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is less level than the second feature.

The following disclosure provides many different embodiments, or examples, for implementing different features of the utility model. In order to simplify the present disclosure, components and arrangements of specific examples are described below. They are, of course, merely examples and are not intended to limit the utility model. Furthermore, the present utility model may repeat reference numerals and/or letters in the various examples, which are for the purpose of brevity and clarity, and which do not themselves indicate the relationship between the various embodiments and/or arrangements discussed. In addition, the present utility model provides examples of various specific processes and materials, but one of ordinary skill in the art will recognize the application of other processes and/or the use of other materials.

The preferred embodiments of the present utility model will be described below with reference to the accompanying drawings, it being understood that the preferred embodiments described herein are for illustration and explanation of the present utility model only, and are not intended to limit the present utility model.

Embodiments of the present utility model provide a scanning device for a laser radar, the scanning device specifically including a mirror and a driving device, wherein the mirror is configured to reflect a light beam; the driving device includes: a stator including a first magnetic assembly; a rotor including a second magnetic assembly and coupled to the mirror to move the mirror to effect scanning of the light beam, wherein the stator is configured to move the rotor from a rest position and the second magnetic assembly is capable of interacting with the first magnetic assembly to return the rotor to the rest position.

The scanning device in the embodiment can be applied to a laser radar, is used for realizing the scanning of the laser radar in a large angle and a high frequency in the horizontal direction or the vertical direction, does not need to greatly improve the driving power of the scanning device, can reduce the power consumption and the heating value generated by the laser radar, and improves the reliability and the service life of long-time scanning of the laser radar.

Fig. 1 shows a schematic block diagram of a scanning apparatus for a lidar according to an embodiment of the present utility model. As shown in fig. 1, the scanning device comprises a reflecting mirror 1 and a driving device 2, wherein the reflecting mirror 1 is used for reflecting light beams, the reflecting mirror 1 is installed on the driving device 2, and the driving device 2 drives the reflecting mirror 1 to reciprocate within a specific angle range so as to change the emergent angle of a detection light beam emitted to the outside by the laser radar and cover the scanning field of view range of the laser radar.

The driving device 2 comprises a stator and a rotor, wherein the rotor is connected with the reflecting mirror 1, and the rotor drives the reflecting mirror 1 to synchronously move in the moving process. In particular, the rotor may be arranged to surround the stator so as to be movable around the stator, or the rotor may be arranged inside the stator. For example, one of the rotor or stator is provided with an energized coil and the other of the rotor or stator is provided with a permanent magnet, and the rotor is driven in motion relative to the stator by controlling the change in current in the energized coil to produce a change in magnetic field.

In the embodiment of fig. 1, the rotor is in an equilibrium position (i.e., the position shown in fig. 1) relative to the stator, and the rotor is capable of oscillating back and forth within a specified angular range on either side of the equilibrium position. As described in detail below.

As shown in fig. 1, the stator in this embodiment further includes a first magnetic component FMA (including two first magnetic elements 2104 and a yoke 2105 in the embodiment of fig. 1, which will be described in detail later), and the rotor includes a second magnetic component SMA (including two second magnetic elements 2203 and a support 2204 in the embodiment of fig. 1, which will be described in detail later), and the first magnetic component FMA and the second magnetic component SMA are capable of interacting with each other, for example, the first magnetic element 2104 and the second magnetic element 2203 repel each other, and are configured to cause the rotor to return to the equilibrium position when the rotor deviates from the equilibrium position by a certain angle, so that the rotor reciprocates around the equilibrium position with a certain frequency and angle range, and in the case that the direction of the probe beam incident on the mirror 1 is fixed, the movement of the mirror 1 can change the transmission direction of the probe beam, and finally the probe beam is emitted toward different probe directions outside the laser radar, so as to cover the field of view range of the laser radar.

The detection light beam is emitted to the outside of the laser radar, an echo is generated after the detection light beam is reflected by an obstacle, a receiving unit of the laser radar can receive the echo and convert the echo into an electric signal, and a processing unit of the laser radar can process the electric signal, so that information of the obstacle is obtained.

In particular, the drive means 2 comprise a stator and a rotor rotatable about an axis, the stator being configured to move the rotor from a rest position, the first magnetic assembly FMA and the second magnetic assembly SMA interacting to return the rotor to the rest position. The driving device 2 may comprise, for example, a 2-pole brushless dc motor as shown in fig. 1. Those skilled in the art will appreciate that pole pairs may be added, such as shown in fig. 3, or any driving configuration that enables the rotor to move from a balanced position relative to the stator.

Taking the motor shown in fig. 1 as an example, the rotor includes a rotor body 22, the rotor body 22 is provided to be movable around a shaft, for example, to reciprocate around the shaft, and the stator includes a stator body 21. Wherein the rotor body portion 22 is provided outside the stator body portion 21 so that the reflecting mirror 1 can be directly coupled to the rotor body portion 22, simplifying the structural design. It will be readily appreciated by those skilled in the art that the rotor body portion 22 may also be provided within the stator body portion 21, for example by an extension structure to connect the mirror 1 to the rotor body portion 22 and move with the rotor body portion 22. The stator body 21 and the rotor body 22 cooperate to enable movement of the rotor from a rest position. In this embodiment, the second magnetic assembly SMA is connected to the rotor main body 22, and the second magnetic assembly SMA interacts with the first magnetic assembly FMA to drive the rotor main body 22 to return to the equilibrium position.

As shown in fig. 1, the stator further includes a coil 2102, the rotor further includes a third magnetic element 2202, the coil 2102 can generate a magnetic field after being energized, the magnetic field is changed by changing the magnitude or direction of the current in the coil 2102, and the third magnetic element 2202 in the rotor is driven to move in the changed magnetic field, so as to drive the rotor to move relative to the stator from the balance position. N and S in fig. 1 represent, for example, polarities of the first magnetic element 2104, the second magnetic element 2203, and the third magnetic element 2202, respectively. When the coil 2102 is energized, for example, when the positive and negative poles of the coil 2102 are in the state shown in fig. 1, the generated magnetic field N-pole points to the second magnetic member 2203 direction, and the rotor receives torque in the clockwise direction; conversely, when the positive and negative poles of coil 2102 are in opposition to that shown in fig. 1, the rotor is subjected to a counterclockwise torque, that is, the stator can move the rotor from the equilibrium position.

In this embodiment, when the rotor moves from the equilibrium position relative to the stator, the first magnetic assembly FMA is kept stationary, the second magnetic assembly SMA moves with the rotor, the distance between the first magnetic assembly FMA and the second magnetic assembly SMA is close to (or far from) each other, and the kinetic potential energy of the rotor is absorbed by the magnetic field between the first magnetic assembly FMA and the second magnetic assembly SMA, forming a spring-like structure, the mechanical model of which can be regarded as a spring element (simply referred to as a magnetic spring in the embodiment of the utility model) within a certain range. When the rotor moves to the limit position, the potential energy accumulation of the magnetic spring reaches the limit, the potential energy is released to enable the rotor to move and turn, the rotor returns to the balance position, and the stroke of the rotor, namely the swing angle range of the rotor relative to the stator can be set by setting parameters such as the magnetic field force between the first magnetic component FMA and the second magnetic component SMA, the distance between the first magnetic component FMA and the second magnetic component SMA and the like, so that the reflector 1 can move in a specific angle range.

According to the foregoing, the driving device 2 in the present embodiment approximates a second-order resonance system. Compared with the conventional motor, the gain of the magnetic spring structure of the driving device 2 in this embodiment (i.e., the rotation angle of the rotor relative to the stator) has a peak value, as shown in fig. 2, wherein the dotted line represents the frequency response curve of the conventional motor, and the solid line represents the frequency response curve of the resonant motor of the magnetic spring structure in this embodiment, as can be seen from fig. 2, in the conventional motor, the gain response linearly decreases with increasing frequency, while the driving device 2 in this embodiment has a resonant frequency point, i.e., the frequency point corresponding to the maximum gain is located at the resonant frequency point, and at the resonant frequency point, the corresponding gain has a peak value. In the present embodiment, a larger movement stroke of the rotor can be realized with a smaller driving power, and a large-angle movement of the reflecting mirror 1 can be realized without greatly increasing the power of the driving device. And the resonance frequency point can be adjusted according to the structural parameters of the driving device 2.

In the case of designing the structure of the driving device 2, it is necessary to set the resonance frequency point to an operating frequency, for example, 10Hz, and to set the resonance frequency point to f according to the operating frequency ₀ The moment of inertia J of the load, wherein the moment of inertia J depends on the mirror 1, is calculated to obtain the required stiffness coefficient

K＝J(2πf ₀ ) ² ，

Where the stiffness coefficient K represents the stiffness of a spring (equivalent to a magnetic spring in this embodiment) in the second-order resonance system, and the actual stiffness coefficient K of the magnetic spring is designed to be the required stiffness coefficient K.

In a specific embodiment of the utility model, the actual stiffness coefficient K of the magnetic spring can be calculated as follows:

K＝n*k0(x,s(magnet))

where n represents the logarithm of the magnetic spring, k0 represents the stiffness function provided by the individual magnetic springs, x represents the gap, s represents the geometric parameter of the magnet, where the smaller the gap x, the greater the stiffness function k0 of the individual magnetic springs. The stiffness coefficient K is used in the driving device 2 of the magnetic spring structure in the present embodiment to characterize the amount of force that needs to be applied to generate a unit displacement of a load, so that the smaller the stiffness coefficient K, the softer the magnetic spring, the smaller the driving force that needs to be applied, and the power consumption can be reduced. And the stiffness coefficient K of the magnetic spring also influences the movement stroke of the rotor relative to the stator, and under the condition that the driving force is unchanged, the larger the stiffness coefficient K is, the smaller the movement stroke of the rotor relative to the stator is.

According to a preferred embodiment of the present utility model, both the first magnetic assembly FMA and the second magnetic assembly SMA may be configured to include a plurality of magnets (two first magnetic members 2104 and one or two second magnetic members 2203 are shown in fig. 1), and the plurality of magnetic members cooperate in pairs, i.e., one magnetic member in the first magnetic assembly FMA cooperates with one magnetic member in the second magnetic assembly SMA to collectively form a magnetic spring structure. A plurality of pairs of magnetic springs may be provided in the driving device 2, the specific arrangement of the first magnetic assembly FMA and the second magnetic assembly SMA being described in the following embodiments. Of course, in other embodiments of the present utility model, it is also possible to provide that two magnetic elements in the first magnetic assembly FMA correspond to one magnetic element in the second magnetic assembly SMA, for example, two magnetic elements in the first magnetic assembly FMA correspond to two magnetic poles of one magnetic element in the second magnetic assembly SMA, respectively.

As shown in fig. 1, the second magnetic assembly SMA and the reflecting mirror 1 are disposed on both sides of the rotor main body 22, respectively, and preferably the second magnetic assembly SMA and the reflecting mirror 1 are symmetrically disposed on both sides of the rotor main body 22 in the radial direction. The radial direction of the rotor main body portion 22 indicates the radial direction in which the rotor main body portion 22 rotates with respect to the stator main body portion 21, and does not restrict the rotor main body portion 22 from having a circular cross section.

In the preferred embodiment of the present utility model, the first magnetic assembly FMA is provided separately from the stator main body portion 21 and provided at both sides of the rotor main body portion 22, for example, as shown in fig. 1, the first magnetic assembly FMA includes two first magnetic pieces 2104, and the two first magnetic pieces 2104 are provided at both sides of the rotor main body portion 22, respectively. The second magnetic assembly SMA includes at least one second magnetic element 2203, and in one embodiment of the utility model, the second magnetic assembly SMA includes one second magnetic element 2203, as also shown in the pole profile of fig. 1, with the S pole in the second magnetic element 2203 facing the right side (right side in fig. 1) of the first magnetic element 2104 and the N pole in the second magnetic element 2203 facing the left side (left side in fig. 1) of the first magnetic element 2104.

Preferably, as shown in fig. 1, the second magnetic assembly SMA comprises two second magnetic elements 2203, corresponding to the two first magnetic elements 2104, respectively. One of the first magnetic element 2104 and one of the second magnetic elements 2203 are formed as one restoring element, and the first magnetic element FMA and the second magnetic element SMA in this embodiment together form two restoring elements. Wherein in a restoring assembly, the second magnetic element 2203 is opposite to the first magnetic element 2104 which is matched with the second magnetic element, and the polarities are the same, so that a repulsive magnetic field is generated between the first magnetic element 2104 and the second magnetic element 2203, and the first magnetic element 2104 pushes the second magnetic element 2203 to move in a far direction.

Further, in the preferred embodiment of the present utility model, the two second magnetic members 2203 are symmetrically arranged with respect to the symmetry plane of the mirror 1. The two first magnetic elements 2104 are symmetrically arranged with respect to the plane of symmetry of the mirror 1 when the rotor is in the equilibrium position (the plane perpendicular to the plane of the paper in which the dashed line 3 shown in fig. 1 lies), the plane of symmetry of the mirror 1 being perpendicular to the reflecting surface of the mirror 1 and containing the axis of the rotor body portion 22. Wherein the mirror 1, the first magnetic element 2104 and the second magnetic element 2203 are symmetrically arranged, when the rotor is at the balance position, the magnetic forces of the first magnetic element 2104 and the second magnetic element 2203 are ensured to be the same, the structural design is simplified, and the structural stability of the driving device 2 is maintained.

In this embodiment, two restoring assemblies formed by the two first magnetic elements 2104 and the two second magnetic elements 2203 are respectively disposed on two sides of the rotor, and are bilaterally symmetrical, so that the two restoring assemblies can be equivalently regarded as two mechanical springs, so as to be convenient for analyzing stress. The two ends of the mechanical spring are respectively connected to the rotor main body 22, when the rotor main body 22 moves relative to the stator, the mechanical spring on one side of the movement direction is compressed, and the mechanical spring on the other side is stretched, which is equivalent to storing the movement potential energy of the rotor main body 22 in the mechanical spring, and the rotor main body 22 is urged to return to the balance position under the combined action of the mechanical springs on the two sides. That is, the two restoring members formed by the two first magnetic members 2104 and the two second magnetic members 2203 are two magnetic springs, and the magnitude of the elastic force of the magnetic springs does not satisfy hooke's law, but the restoring members (magnetic springs) in the present embodiment are not identical to the mechanical springs when analyzing the direction of the magnetic force received by the rotor main body 22 and the trend of the change of the magnitude of the magnetic force.

According to a preferred embodiment of the present utility model, the first magnetic assembly FMA further comprises two yokes 2105, the two yokes 2105 enclosing the magnetic poles of the two first magnetic elements 2104, respectively, which are not opposite to the second magnetic element 2203, such as shown in fig. 1, the yoke 2105 on the left enclosing the S-pole of the first magnetic element 2104 on the left side, and the yoke 2105 on the right enclosing the N-pole of the first magnetic element 2104 on the right side. The magnetic yoke 2105 does not generate a magnetic field, but can transmit the magnetic field, for example, the magnetic yoke is made of a material with higher magnetic permeability, can limit magnetic leakage, prevent the magnetic poles which do not play a role in the restoring assembly in the first magnetic element 2104 from influencing the whole magnetic field environment of the driving device 2, improve the freedom of the setting position of the first magnetic assembly FMA, and can be provided with more first magnetic elements 2104 around the rotor on the basis of the freedom, so as to form more restoring assemblies, and the flexibility of structural design is higher.

According to an embodiment of the present utility model, the second magnetic assembly SMA further includes a support body 2204, where the support body 2204 is used to support and fix the second magnetic pieces 2203, for example, a mounting structure of the second magnetic pieces 2203 is provided on the support body 2204, which corresponds to the number of the second magnetic pieces 2203. Taking the two second magnetic pieces 2203 shown in fig. 1 as an example, the two second magnetic pieces 2203 are respectively mounted at positions corresponding to the first magnetic pieces 2104. Specifically, the support body 2204 is integrally formed with the rotor body 22. The support body 2204 is provided with an opening, a part of the second magnetic member 2203 is provided in the opening, and a magnetic pole corresponding to the first magnetic member 2104 in the second magnetic member 2203 leaks out from the position of the opening. The second magnetic member 2203 is mounted at the opening of the support body 2204 in various manners such as adhesion, clamping, and plugging.

Fig. 4 (a) and 4 (b) show a specific structure of a stator in a preferred embodiment according to the present utility model, and the structure of the stator will be described with reference to fig. 4 (a) and 4 (b).

As shown in fig. 4 (a), the stator further includes a stator body portion 21, a bottom plate 2112 and a sub-bracket 2113, the bottom plate 2112 extending outwardly from a bottom edge of the stator body portion 21, for example, the stator body portion 21 is provided on the bottom plate 2112, and preferably, an axial direction of the stator body portion 21 is perpendicular to an extending direction of the bottom plate 2112. A circuit board, for example, a control part of the integrated driving device 2, etc., may be further disposed on the bottom plate 2112, and specifically, a plurality of sets of printed circuits and a plurality of capacitors may be disposed on the circuit board, and the plurality of sets of printed circuits and the plurality of capacitors correspond to each other.

The sub-mount 2113 is provided on the base plate 2112, and the sub-mount 2113 is used to mount and secure a first magnetic assembly FMA, such as in the previous embodiments, which includes two first magnetic elements 2104 each mounted on the base plate 2112 by the sub-mount 2113, and likewise, if the first magnetic elements 2104 have a yoke 2105 mated therewith, the yoke 2105 is also mounted on the base plate 2112 by the sub-mount 2113. The sub-mount 2113 is used to secure the first magnetic assembly FMA, together forming part of the stator.

As shown in fig. 4 (b), the stator main body 21 specifically includes a stator support 2106 and an electromagnetic assembly 211, wherein the electromagnetic assembly 211 is provided on the stator support 2106, for example, at the outer periphery, and the present embodiment provides a specific implementation in which the electromagnetic assembly 211 is provided in the stator to serve as a driving source for driving the rotor to move from the equilibrium position, and the rotor is driven to move relative to the stator by the magnetic field variation of the electromagnetic assembly 211.

According to an embodiment of the present utility model, wherein electromagnetic assembly 211 includes a core 2101, a coil 2102 and a positioning member 2107, core 2101 is, for example, a core. As shown in fig. 1 and 5, the core 2101 includes an annular portion, and a pair of slots 2103 are provided on the core 2101, the slots 2103 being provided in correspondence with the coils 2102. The core 2101 may be provided in other structures, such as a plurality of slots 2103 provided in the circumferential direction of the core 2101 as shown in fig. 3. The notched portions in the slots 2103 also cooperate with the third magnetic element 2202 in the rotor body portion 22 to reduce the resistance to movement of the rotor body portion 22 relative to the stator. For example, as shown in fig. 1, the rotor main body 22 is provided with a third magnetic element 2202, such as a tile-shaped magnet, and the tooth slots 2103 are provided with notches at positions corresponding to the reduced structure of part of the core 2101, the core 2101 is made of a magnetic conductive material, the tile-shaped magnet has greater attraction to the part of the core 2101 where the notches are not provided, and as shown in fig. 1, the tooth slots 2103 are positioned corresponding to the center position of the tile-shaped magnet (when the rotor is positioned at the balance position), the pair of third magnetic elements 2202 are respectively opposite to the pair of tooth slots 2103 of the core 2101 in the electromagnetic assembly, and the pair of third magnetic elements 2202 are symmetrically arranged relative to the symmetry plane of the reflector 1, so that the rotor can be promoted to move in a direction deviating from the balance position, and the power requirement can be further reduced.

Wherein the positioning elements 2107 of the electromagnetic assembly 211 are used to secure the coil 2102 for engagement with the slots 2103 and may also be used to interact with the stator support 2106. In a preferred embodiment of the present utility model, the positioning members 2107 are provided in pairs, and as shown in fig. 5, the positioning members 2107 are provided above (on the side facing away from the base plate 2112) and below (on the side near the base plate 2112) the core 2101, respectively.

Specifically, the positioning member 2107 includes an annular groove 21071 and a projecting portion 21072, the annular groove 21071 is used for accommodating the coil 2102, the projecting portion 21072 is communicated with the annular groove 21071 and extends into the tooth slot 2103, the coil 2102 extends to the upper side and the lower side of the tooth slot 2103 from the communication position of the annular groove 21071 and the projecting portion 21072, the positioning members 2107 arranged above and below the core 2101 are basically identical in structure, the coil 2102 is arranged in a zigzag structure, and the coil is arranged in the annular groove 21071 in the upper and the lower positioning members 2107.

As shown in fig. 5, the surface of the positioning member 2107 remote from the core 2101 has a pair of first notches 21073 corresponding to the pair of tooth slots 2103 and a pair of second notches 21074 symmetrical with respect to the plane of symmetry of the mirror when the rotor is in the equilibrium position, facilitating the formation of the coil 2102 in the annular groove 21071. Preferably, the slots 2103 on the core 2101 are symmetrically arranged with respect to the symmetry plane of the reflector 1 when the rotor is in the equilibrium position, and correspondingly, the first notch 21073 and the second notch 21074 in the positioning element 2107 are symmetrically arranged, so that eccentricity is avoided, and driving power loss is caused.

Providing a plurality of slots 2103 (greater than 2) on the core 2101 shown in fig. 3 can reduce power consumption as the slots 2103 provided on the core 2101 shown in fig. 5. Specifically, fig. 6 shows the structure of the electromagnetic assembly 211 in the scanning device shown in fig. 3, wherein a plurality of slots 2103 are provided on the circumference of the core 2101, and preferably, the plurality of slots 2103 are uniformly arranged to form a uniform magnetic field, so as to avoid the eccentric condition when the rotor moves relative to the stator. With each coil 2102 disposed between a slot 2103 and an adjacent slot 2103, a portion of the coil 2102 is embedded within the slot 2103. Similarly, the third magnetic element 2202 is disposed on the rotor main body 22, and in this embodiment, a plurality of slots 2103 are disposed in the circumferential direction of the core 2101, preferably, as shown in fig. 3, the third magnetic element 2202 in the rotor main body 22 may be a ring magnet, and the driving device 2 in this embodiment may be a three-phase motor as shown in fig. 3.

In the embodiment of the present utility model, the rotor further includes a rotor main body 22, the rotor main body 22 includes a rotor support 2201 and a third magnetic member 2202, the third magnetic member 2202 is fixedly disposed on the rotor support 2201, for example, as shown in fig. 7 (a) and fig. 7 (b), and a groove or through slot is disposed on the rotor support 2201 so that the third magnetic member 2202 can be embedded in the rotor support 2201. As shown in fig. 1 and 8 (b), the rotor is disposed at the periphery of the stator, for example, the rotor support 2201 covers the outside of the stator main body portion 21 of the stator, wherein the second magnetic assembly SMA may be attached to a side wall of the rotor support 2201, for example, the support 2204 is disposed on a side surface of the rotor support 2201. The third magnetic element 2202 may be disposed around the periphery of the electromagnetic assembly 211 in the stator. According to the previous embodiments, the third magnetic element 2202 is preferably configured and arranged to cooperate with the electromagnetic assembly 211 in the stator, such as a tile magnet or a ring magnet.

Specifically, as shown in fig. 8 (a) and 8 (b), and in combination with fig. 4 (a), 4 (b) and 7 (a), 7 (b), 7 (c), the rotor support 2201 is provided so as to cover at least the stator support 2106, the core 2101, the coil 2102, the positioning member 2107, the bearing 2108, and the end cap 2109, that is, the rotor support 2201 covers the stator main body 21. The third magnetic element 2202 shown in fig. 7 (b) is located at least on the outer periphery of the core 2101, the coil 2102 and the positioning element 2107, that is, the third magnetic element 2202 is located on the outer periphery of the electromagnetic assembly 211 in the main body of the stator, and is configured to form an outer rotor, and the rotor can be driven to move relative to the stator, that is, deviate from the equilibrium position, by the electromagnetic assembly 211.

The present utility model includes a specific embodiment in which the stator and the rotor are fitted to each other, as shown in fig. 7 (b), and in conjunction with fig. 4 (b), the stator main body portion 21 further includes a bearing 2108 provided in the hollow portion of the stator support body 2106, wherein the bearing 2108 is used to fix the rotation shaft 2207 of the rotor main body portion 22. In this embodiment, the stator main body 21 is fixedly disposed, the stator support 2106 has a hollow portion therein, and the rotating shaft 2207 of the rotor main body 22 can be inserted into the hollow portion of the stator support 2106 to cooperate with the bearing 2108, so as to realize the movement of the rotor around the rotating shaft 2207. Preferably, bearings 2108 may be provided at both upper and lower portions of the stator support 2106 to prevent the shaft 2207 from being off-axis during movement.

According to the preferred embodiment of the present utility model, the bottom of the stator support 2106 is provided with an open end cap 2109, the end cap 2109 is used for fixing the rotating shaft 2207 of the rotor main body 22 in cooperation with the bearing 2108, after the rotating shaft 2207 is inserted into the hollow part inside the stator support 2106, the end cap 2109 provides a pretightening force to fix the rotating shaft 2207 relative to the bearing 2108, so that the axial movement of the rotating shaft 2207 is limited, the rotating shaft 2207 is prevented from being separated from the hollow part inside the stator support 2106, and the rotating shaft 2207 is prevented from moving axially while the rotating shaft 2207 can rotate. The end cap 2109 is fixed, for example, to the lower bearing 2108.

Preferably, magnetic elements 2110 are attached to the top of end cap 2109, with end cap 2109 and magnetic elements 2110 therein extending up into bearings 2108, for example into bearings 2108 disposed on the lower portion of stator support 2106. Specifically, the end cap 2109 may be configured as a cylindrical structure with an open top surface, the opening is not limited to be open at one side, and the end cap 2109 may be configured as a hollow structure with a hollow side surface. An upwardly opening recess 2111 is formed in the top of the end cap 2109 and the magnetic member 2110 is secured within the recess 2111, for example, by adhesive or snap fit. Accordingly, a magnetic member 2208 (see fig. 7 (b)) is also provided at the end of the rotation shaft 2207, and the magnetic member 2110 and the magnetic member 2208 attract each other, and the movement of the rotation shaft 2207 in the axial direction is restricted by the magnetic force, so that the pretension is achieved.

Fig. 7 (a), 7 (b), and 7 (c) show perspective, transverse vertical and horizontal sectional views, respectively, of a rotor in a scanning device for a lidar according to an embodiment of the present utility model. The same reference numerals as in fig. 1 and 3 in fig. 7 (a), 7 (b) and 7 (c) denote the same or similar components as in fig. 1 and 3, and the same or similar description is not repeated here. It should be noted that for brevity, fig. 7 (a), 7 (b), 7 (c) do not necessarily fully depict the same or similar reference numerals as the components of fig. 1, 3.

Specifically, as shown in fig. 7 (b), the rotor support 2201 includes a rotation shaft 2207, for example, the rotation shaft 2207 is provided in the rotor support 2201 at a position near the center, and the rotation shaft 2207 preferably extends downward from the top of the rotor support 2201 for cooperation with a bearing 2108 provided in the stator main body. A magnetic member 2208 is provided at the lower part of the rotation shaft 2207, and magnetically fixed to the magnetic member 2110. More specifically, the lower portion of the rotating shaft 2207 is provided with a recess that is opened downward, and the magnetic member 2208 is disposed in the recess that is opened downward, for example, by being fixed by adhesive or by being clamped. The magnetic member 2208 is, for example, a magnet, particularly a cylindrical magnet, that is in a form-fit with a downwardly opening recess in the shaft 2207. The upper portion of the rotating shaft 2207 may further be formed with a cylindrical recess 2209 that is opened upwards, so that the mass of the rotor support 2201 can be further reduced, the inertia of the rotor support 2201 can be reduced, and further the power consumption of rotor swing can be reduced.

In this embodiment, the preload between the rotor and stator in the drive is provided by two magnetic elements that are attracted to each other. In assembly, only the end cover 2109 provided with the magnetic part 2110 is required to be installed near the inner ring of the bearing 2108, and the end cover 2109 naturally attracts the magnetic part 2208 under the action of magnetic force to complete assembly, so that the assembly process is simple and quick. In addition, the number of parts of the magnetic pre-tightening scheme in the embodiment is small, the axial space utilization rate is higher, and the whole height of the scanning device is reduced. And (3) laser radar height.

As shown in fig. 7 (a) and 7 (b), the mirror 1 is connected to the rotor support 2201, preferably, the mirror 1 is disposed along a tangential direction of the rotation direction of the rotor support 2201, and the mirror 1 is disposed with its symmetry plane passing through the rotation axis of the rotor support 2201. The third magnetic member 2202 may be fixed to an inner wall of the rotor support body 2201, and the third magnetic member 2202 may be disposed to cover a large area in the axial direction of the rotor support body 2201.

According to a preferred embodiment of the utility model, the scanning device further comprises a position sensor for detecting the position of the mirror 1, which in this embodiment is driven in motion by the drive means 2, whereby the position sensor may be provided with an angle sensor for detecting the angle of rotation of the mirror 1 as well as the rotor.

The present utility model also provides a scanning device with a position sensor in which printed coils (e.g., printed coils 91 and 92 in fig. 10 (a) and 10 (b)) are provided on a base plate 2112 of a stator, the printed coils being integrated on a circuit board fixed on the base plate 2112, and a rotor support 2201 covers the printed coils on the circuit board. Specifically, as shown in fig. 7 (b) and 7 (c), a target object 2205 is formed at the bottom of the rotor support 2201, the target object 2205 may be directly connected to the mirror 1, and the rotation angle of the target object 2205 may be the rotation angle of the mirror 1. The target 2205 may be disposed with a space from the mirror 1, and the mirror 1 may be directly connected to the outside of the rotor support 2201. The target 2205 may be generally annular in design and may be disposed in a straight line segment near the mirror 1 to avoid the mirror 1. The target 2205 may be a circumferentially outward extension of the rotor support 2201, resembling a skirt structure.

At least a portion of the target 2205 is opposite a printed coil (e.g., printed coils 91 and 92 in fig. 10 (a) and 10 (b)), i.e., the target 2205 at least partially coincides with the printed coil.

As shown in fig. 7 (b) and fig. 7 (c), ferrite 2206 is disposed in a partial area of the target 2205, specifically, for example, the target 2205 is made of metal, and a groove is disposed at the bottom, and the ferrite 2206 can be embedded in the groove for fixing. The ferrite 2206 can be interworked with a printed coil for detecting the angle of rotation of the rotor main body portion 22 and the mirror 1.

Fig. 9 shows the principle of the position sensor, the coil in fig. 9 is connected with a capacitor in parallel to form an LC resonant circuit, and the coil to which sinusoidal alternating current is applied generates eddy currents at the surface of the triangular metal object, and the eddy currents and the coil are mutually inductive, so that the equivalent inductance of the LC resonant circuit is changed. The essence is that the area of the coil, which coincides with the metal object opposite to the coil, changes, and a triangular structure is not needed for triggering.

When the metal object translates to the right, the facing area of the metal object and the coil is increased, correspondingly, the eddy current is increased, the mutual inductance is enhanced, and the equivalent inductance of the LC circuit is reduced.

Resonant frequency of LC circuit

The resonant frequency of the LC circuit can be used to characterize the overlap range of the metal object and the coil, so by measuring f of the LC circuit _sensor The position change information of the target object can be obtained.

On the basis of this principle, by assembling the stator shown in fig. 4 (a), 4 (b) with the rotor shown in fig. 7 (a), 7 (b), 7 (c), the LC resonance circuit is formed by the printed coil on the circuit board in the base plate 2112 and the corresponding capacitor on the circuit board. The rotor support 2201 covers the printed coil on the circuit board, specifically, for example, the target object 2205 at the bottom of the rotor support 2201, and at least a part of the target object 2205 is opposite to the printed coil, that is, the target object 2205 at least partially coincides with the printed coil. When the rotor moves, the facing area of the target 2205 and the printed coil changes, so that the mutual inductance changes, and the equivalent inductance of the LC circuit changes, and the position of the reflecting mirror 1 can be detected based on the sensor principle, so that a position sensor is formed.

Fig. 10 (a) and 10 (b) illustrate schematic operation of the position sensor in the scanning device of fig. 8 (a), 8 (b), respectively, when the rotor is in and out of the equilibrium position, according to an embodiment of the present utility model. The same reference numerals as in fig. 1 to 8 in fig. 10 (a) and 10 (b) denote the same or similar components as in fig. 1 to 8, and the same or similar description is not repeated here. It should be noted that for brevity, fig. 10 (a) and 10 (b) do not necessarily fully depict the same or similar reference numerals as the components of fig. 1-8.

As shown in fig. 10 (a), a first printed coil 91 and a second printed coil 92 are provided on a circuit board of the base plate 2112, and the first printed coil 91 and the second printed coil 92 respectively form two LC resonance circuits with a first capacitor 93 and a second capacitor 94 on the circuit board. The object 2205 may be provided as an approximately annular tray made of metal, the ferrite 2206 is provided in the object 2205, the ferrite 2206 is respectively provided at both sides of a symmetry plane of the reflector, and the shapes of the two ferrite 2206 are respectively matched with the first printed coil 91 and the second printed coil 92, when the object 2205 moves from the position shown in fig. 10 (a) to the position shown in fig. 10 (b), the first printed coil 91 is fixed in position, the facing area of the first printed coil 91 and the object 2205 is reduced due to shielding of the ferrite 2206, mutual inductance is weakened, the LC circuit equivalent inductance is increased, the resonance frequency of the LC resonant circuit corresponding to the first printed coil 91 is reduced, the value of the resonance frequency is related to the rotation angle and the movement direction of the object, and the rotation angle of the object 2205 relative to the stator can be calculated according to the value of the resonance frequency.

Further, the ferrite 2206 is magnetically non-conductive, and the opposite area of the first printed coil 91 and the ferrite 2206 in fig. 10 (b) is increased, so that the equivalent inductance of the LC circuit is further increased, and the resonant frequency is further reduced, so that the sensitivity of the goniometer is improved, that is, the same rotation angle input can output larger frequency signal variation.

Along with the rotation of the target object 2205, the facing areas of the target object 2205 and the first printed coil 91 and the second printed coil 92 are changed simultaneously, and accordingly, the resonant frequencies of the LC circuit formed by the first printed coil 91 and the first capacitor 93 and the LC circuit formed by the second printed coil 92 and the second capacitor 94 are also changed, and by detecting the resonant frequencies of the two LC circuits, the detection sensitivity of the position sensor can be further improved and the capability of resisting common mode interference can be enhanced by adopting a differential method. Preferably, the first printed coil 91 and the second printed coil 92 may be symmetrically designed.

The position sensor in this embodiment uses the eddy current resonance principle, which has the advantages of simple structure and low cost, and can further improve the sensitivity of angle detection by the target 2205, the ferrite 2206 therein, and the scheme of setting two sets of resonance circuits.

As shown in fig. 11, an embodiment of the present utility model further provides a laser radar 100, including the scanning device 110 according to any of the foregoing embodiments.

According to an embodiment of the present utility model, the lidar specifically includes a transmitting unit 120, a receiving unit 130, and a processing unit 140, where the transmitting unit 120 is configured to transmit a probe beam, specifically, the transmitting unit 120 may be a fixedly arranged laser or a laser array, and the probe beam is fixed by a direction of emergence in the transmitting unit 120, specifically, the laser may be a VCSEL or an EEL. The receiving unit 130 may include a detector or detector array, which may be an APD, single photon detector, such as SiPM and SPAD arrays.

In the transmitting unit 120 and the receiving unit 130, the laser arrays and the detector arrays may be linear arrays or planar arrays, where the lasers and the detectors may be arranged in a one-to-one correspondence manner, or may be arranged such that a plurality of lasers correspond to one of the detectors (for example, a SPAD planar array), or a plurality of detectors correspond to one of the lasers (for example, after the probe light beams emitted by the lasers are homogenized, a linear light source emits a linear light spot).

The probe beam is reflected to the surrounding environment of the laser radar 100 by the reflecting mirror in the scanning device 110, the reflecting mirror in the scanning device 110 is driven by the driving device 2 to reciprocate with a fixed frequency and stroke, and the probe beam is emitted from the laser radar 100 at different emitting angles so as to cover the field of view of the laser radar 100. The receiving unit 130 is configured to receive echoes generated by the probe beam on an obstacle and convert the echoes into an electrical signal. As shown in fig. 11, the echo is reflected by a mirror in the scanning device 110 and then received by the receiving unit 130. The processing unit 140 is configured to acquire information of the obstacle, such as a distance and reflectivity of the obstacle, and the like, from the electric signal acquired by the receiving unit 130. The distance of the obstacle relative to the lidar may be obtained by detecting the time of flight of the time of emission and the time of reception of the beam, and the scan angle may be obtained by measuring the angle of a mirror in the scanning device 110.

Finally, it should be noted that: the foregoing description is only a preferred embodiment of the present utility model, and the present utility model is not limited thereto, but it is to be understood that modifications and equivalents of some of the technical features described in the foregoing embodiments may be made by those skilled in the art, although the present utility model has been described in detail with reference to the foregoing embodiments. 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

1. A scanning device for a lidar, comprising:

a mirror configured to reflect the light beam;

a drive device, comprising:

a stator including a first magnetic assembly;

2. The scanning device of claim 1, wherein the rotor further comprises a rotor body portion, the rotor body portion being movable about an axis.

3. A scanning device as claimed in claim 2, wherein the stator further comprises a stator body portion which cooperates with the rotor body portion to cause the rotor to move about the axis from the equilibrium position.

4. A scanning device as claimed in claim 3, characterized in that the second magnetic assembly is connected to the rotor body part and the first magnetic assembly is arranged separately from the stator body part.

5. The scanning device of claim 4, wherein said second magnetic assembly and said mirror are disposed on either side of said rotor body portion.

6. The scanning device of any of claims 1-5, wherein said first magnetic assembly comprises two first magnetic elements and said second magnetic assembly comprises at least one second magnetic element.

7. The scanning device of claim 6, wherein said second magnetic assembly comprises two second magnetic members respectively mated with said two first magnetic members to form two return assemblies, each second magnetic member and mated first magnetic member being opposite and opposite poles being the same polarity to produce a return force to return said rotor to said equilibrium position.

8. A scanning device according to claim 7, characterized in that said two second magnetic elements are arranged symmetrically with respect to the plane of symmetry of said mirror; the two first magnetic elements are arranged symmetrically with respect to a plane of symmetry of the mirror when the rotor is in a balanced position, wherein the plane of symmetry of the mirror is perpendicular to the reflecting surface of the mirror and comprises an axis of the rotor body portion.

9. The scanning device of claim 7, wherein said first magnetic assembly further comprises two yokes respectively surrounding poles of said two first magnetic pieces that are not opposite said two second magnetic pieces.

10. The scanning device of claim 7, wherein said second magnetic assembly further comprises a support body supporting said two second magnetic members, said support body being coupled to a rotor body portion of said rotor, said support body having an opening exposing a pole of said second magnetic member opposite said first magnetic member.

11. The scanning device of claim 1, wherein the stator further comprises a stator body portion, a bottom plate extending outwardly from a bottom edge of the stator body portion, and sub-mounts disposed on both sides of the bottom plate, the first magnetic assembly being disposed on the sub-mounts.

12. The scanning device of claim 11, wherein the stator body portion includes a stator support and an electromagnetic assembly disposed on the stator support.

13. The scanning device of claim 12, wherein the electromagnetic assembly comprises a core, a coil, and a pair of positioning members.

14. The scanning device of claim 13, wherein the core comprises an annular portion and at least one pair of gullets disposed on the annular portion.

15. The scanning device of claim 14, wherein the positioning member includes an annular groove configured to receive the coil and a projection in communication with the annular groove and extending into the slot.

16. The scanning device of claim 15, wherein said at least one pair of tooth slots are symmetrically disposed with respect to a plane of symmetry of said mirror when said rotor is in a balanced position, and wherein a surface of said positioning member remote from said core has at least one pair of first notches corresponding to said at least one pair of tooth slots and a second notch symmetrical with respect to a plane of symmetry of said mirror when said rotor is in a balanced position.

17. The scanning device of claim 12, wherein the stator body portion further comprises a bearing disposed within the hollow portion of the stator support.

18. The scanning device of claim 17, wherein said stator body further comprises an end cap disposed at a bottom opening of said stator support.

19. The scanning device of claim 18, wherein a magnetic member is attached to a top of the end cap, the magnetic member extending up into the bearing.

20. The scanning device of claim 19, wherein a top portion of said end cap is formed with an upwardly opening recess, said recess providing said magnetic member.

21. The scanning device of claim 11, wherein said stator further comprises a circuit board disposed on said base plate.

22. The scanning device of claim 21, wherein the circuit board includes a plurality of sets of printed coils and a plurality of capacitors, each set of printed coils corresponding to a respective capacitor.

23. The scanning device of claim 1, wherein the rotor further comprises a rotor body portion including a rotor support covering a stator body portion of the stator, the second magnetic assembly being attached to a sidewall of the rotor support.

24. The scanning device of claim 23, wherein the rotor body portion further comprises a third magnetic member located at an outer periphery of the electromagnetic assembly in the stator body portion and secured to the rotor support.

25. A scanning device according to claim 24, wherein the rotor body portion comprises a pair of said third magnetic elements, the core in the electromagnetic assembly comprising a pair of slots, the pair of third magnetic elements being respectively opposite the pair of slots when the rotor is in the equilibrium position, the pair of third magnetic elements and/or the pair of slots being symmetrically arranged with respect to the plane of symmetry of the mirror.

26. The scanning device of claim 23, further comprising a position sensor configured to detect a position of the mirror.

27. The scanning device of claim 26, wherein said rotor support covers printed coils on a circuit board of said stator.

28. A scanning device according to claim 27, wherein a target is formed at the bottom of the rotor support, at least a portion of the target being opposite the printed coil for detecting the position of the mirror as the rotor moves.

29. The scanning device of claim 28, wherein the first and second portions of the object are respectively opposite first and second ones of the printed coils for detecting a position of the mirror upon movement of the rotor based on a change in relative area of the first portion to the first printed coil and a change in relative area of the second portion to the second printed coil.

30. A scanning device according to claim 28 or 29, wherein the target is of metal material and ferrite is provided in the target.

31. The scanning device of claim 30, wherein said target has a recess opening downwardly, ferrite being disposed in said recess.

32. A scanning device according to claim 23, wherein the rotor support comprises a shaft extending downwardly from the top of the rotor support for engagement with the bearing of the stator body, the lower portion of the shaft being provided with a magnetic element which engages with a magnetic element in the end cap of the bearing.

33. The scanning device of claim 32, wherein an upper portion of the rotating shaft is formed with a cylindrical recess opened upward.

34. The scanning device of claim 32, wherein the magnetic element of the shaft and the magnetic element in the end cap of the bearing are opposite and attracted to each other to pretension the bearing.

35. A lidar, comprising: a transmitting unit, a scanning device according to any of claims 1-34, a receiving unit and a processing unit,