CN220896382U - Motor rotating device and laser radar comprising same - Google Patents

Abstract

Disclosed is a motor rotating device and a laser radar including the same. The motor rotating device includes: a stator assembly including a plurality of stator elements disposed around the rotation shaft, each stator element including a magnetic core and a coil wound around the magnetic core, the stator assembly being fixedly disposed with respect to the rotation shaft; a rotor assembly disposed opposite the stator assembly and rotating about a rotational axis relative to the stator assembly, the rotor assembly including rotor magnet steels disposed opposite the plurality of stator elements; and the angle measurement assembly comprises a magnetic encoding chip which is arranged on the circuit board and used for detecting the rotation angle information of the rotor assembly, and the circuit board is fixedly arranged relative to the stator assembly, wherein the rotor magnetic steel comprises a first magnetization part and a second magnetization part, the magnetization direction of the first magnetization part is different from that of the second magnetization part, the first magnetization part is used for providing a magnetic field for the rotation of the motor rotation device, and the second magnetization part is used for providing a magnetic field for the magnetic encoding chip to detect the rotation angle information.

Description

Motor rotating device and laser radar comprising same

Technical Field

The present disclosure relates to the field of photoelectric detection, and more particularly, to a motor rotation device and a lidar including the same.

Background

Lidar is a type of detection device that uses laser light as a signal wave. Similar to ordinary radars, lidar performs measurement by detecting a signal wave that is bounced back by an object, except that it uses laser light as the signal wave. Because laser has high brightness, high coherence and good monochromaticity and directivity, the laser radar has the advantages of accurate measurement, difficult disturbance and the like.

The existing laser radar generally adopts an optical encoder as various angle measuring devices, and has the advantages of high measuring precision, high resolution, stable pulse signals, light and thin structure, low price and the like. However, in the case of encountering contaminants such as dust, dirt, and oil stains, the optical encoder may be affected by optical crosstalk, and its performance may be deteriorated.

Recently, a lidar employing a magnetic encoder as an angle measuring device has been used. The magnetic encoder generally includes a magnetic encoder ring and a magnetic encoder chip, the magnetic encoder ring rotates along with a rotation mechanism of the laser radar, and the magnetic encoder chip is used for detecting a magnetic field generated by the magnetic encoder ring, so as to determine a position of the magnetic encoder ring in a rotation direction according to the magnetic field, and further determine a position of the rotation mechanism in the rotation direction. The magnetic encoder is dirt-resistant, long in service life (not easy to demagnetize), and is not influenced by dust and oil dirt when being used in a laser radar, impact-resistant, vibration-resistant, not easy to fail, high in robustness, and therefore very suitable for application in severe environments. However, in the conventional lidar for measuring the rotation angle by using the magnetic encoder, the magnetic encoder ring needs to be separately arranged, which results in high cost and complicated installation process.

Disclosure of utility model

The present disclosure has been made to solve the above-mentioned problems occurring in the prior art, and an object thereof is to provide a motor rotating apparatus and a laser radar including the same, which can reduce cost, simplify a structure, and reduce an assembly process when a magnetic encoder is used to measure a rotation angle.

According to an exemplary embodiment of the present disclosure, there is provided a motor rotating apparatus. The motor rotating device includes: a stator assembly including a plurality of stator elements disposed about a rotational axis, each of the stator elements including a magnetic core and a coil wound on the magnetic core, the stator assembly being fixedly disposed relative to the rotational axis; a rotor assembly disposed opposite the stator assembly and rotatable about the rotational axis relative to the stator assembly, the rotor assembly including rotor magnet steel disposed opposite the plurality of stator elements; and the angle measurement assembly comprises a magnetic encoding chip which is arranged on a circuit board and used for detecting the rotation angle information of the rotor assembly, and the circuit board is fixedly arranged relative to the stator assembly, wherein the rotor magnetic steel comprises a first magnetization part and a second magnetization part, the magnetization direction of the first magnetization part is different from that of the second magnetization part, the first magnetization part is used for providing a magnetic field for the rotation of the motor rotation device, and the second magnetization part is used for providing a magnetic field for the magnetic encoding chip to detect the rotation angle information.

Further, the magnetization direction of the first magnetization portion is perpendicular to the magnetization direction of the second magnetization portion.

Further, the rotor magnetic steel is annular, and the first magnetization part and the second magnetization part are arranged along the extending direction of the peripheral surface of the rotor magnetic steel.

Further, the length of the first magnetization part in the circumferential surface extending direction of the rotor magnetic steel is matched with the size of the stator assembly.

Further, the length of the second magnetization portion in the circumferential surface extending direction of the rotor magnetic steel is 1.5mm or more.

Further, the magnetic braid chip is disposed at a position close to an end of the second magnetization portion.

Further, the position of the magnetic encoding chip is determined according to the magnetizing intensity and the magnetic pole pair number of the second magnetizing part.

Further, the position of the magnetically encoded chip is configured such that the magnetic field strength experienced by the magnetically encoded chip is substantially evenly distributed as the rotor assembly rotates.

Further, the distance between the magnetic braiding chip and the second magnetization part in the extending direction of the peripheral surface of the rotor magnetic steel is configured so that the magnetic field intensity received by the magnetic braiding chip is near the central value of the working range.

Further, a gap distance between an end of the second magnetization portion away from the first magnetization portion and the magnetic braid chip is configured to be 1-3mm.

Further, the magnetic poles of the first magnetization portion and the second magnetization portion are arranged in correspondence or offset in the circumferential direction.

Further, the number of pole pairs of the first magnetization portion and the second magnetization portion is the same.

Further, the number of the magnetic pole pairs of the first magnetization part and the second magnetization part is 6-300, and the rotating speed of the rotor assembly is 200-3600rpm.

Further, the magnetic encoding chip adopts a magnetic encoding chip with a magnetic resistance effect.

According to other exemplary embodiments of the present disclosure, there is also provided a lidar. The laser radar includes: the transmitting module is used for transmitting a detection light signal, and the detection light signal is reflected by the target object to generate an echo light signal; a receiving module configured to receive and process the echo optical signal; a rotation module which rotates around a rotation axis and is used for projecting the detection light signals to different positions in the environment and/or receiving echo light signals returned from different positions in the environment during rotation; and the motor rotating device is used for driving the rotation module to rotate and detecting the rotation angle information of the rotation module.

Further, the rotation module comprises a scanning assembly, and the scanning assembly comprises a reflecting mirror, wherein the reflecting mirror is used for reflecting the detection light signals emitted by the emission module to different positions in the environment and/or receiving echo light signals returned from different positions in the environment during rotation of the rotation module, and reflecting the echo light signals to the receiving module.

Further, the transmitting module and/or the receiving module is/are provided on the rotating module, and during the rotation of the rotating module, the transmitting module and/or the receiving module rotates around the rotation axis.

According to the motor rotating device and the laser radar comprising the same, the rotor magnetic steel comprises the first magnetization part and the second magnetization part, the magnetization direction of the first magnetization part is different from that of the second magnetization part, the first magnetization part is used for providing a magnetic field for the rotation of the motor rotating device, the second magnetization part is used for providing a magnetic field for detecting rotation angle information of the magnetic encoding chip, so that a part of the rotor magnetic steel is used as a magnetic encoding ring, the magnetic encoding ring is not required to be arranged for angle measurement independently, the original rotor magnetic steel in the laser radar is relied on, high-precision angle detection can be realized on the basis of not adding additional components, the low-cost and high-precision angle measurement is realized under the condition that the internal space of the laser radar is narrow and compact, the number of components is small, the structure is simple, the assembly flow is reduced, and the mass production of the laser radar is facilitated.

Drawings

The disclosure may be better understood by describing exemplary embodiments thereof in conjunction with the accompanying drawings, in which:

Fig. 1 is a schematic view showing a basic structure of a motor rotating apparatus according to an exemplary embodiment of the present disclosure;

Fig. 2 is a perspective view showing one example of the structure of rotor magnetic steel;

fig. 3 is a perspective view showing another example of the structure of rotor magnetic steel;

Fig. 4 is a top view of a rotor magnet steel according to an exemplary embodiment of the present disclosure;

FIG. 5 is a schematic diagram showing the set position of the magnetically encoded chip;

fig. 6 is a diagram showing a lidar including a motor rotation device according to an exemplary embodiment of the present disclosure;

FIG. 7 is a diagram illustrating other lidars including motor rotation devices according to exemplary embodiments of the present disclosure; and

Fig. 8 is a diagram showing other lidar including a motor rotation device according to an exemplary embodiment of the present disclosure.

Detailed Description

In the following, specific embodiments of the present disclosure will be described, and it should be noted that in the course of the detailed description of these embodiments, it is not possible in the present specification to describe all features of an actual embodiment in detail for the sake of brevity. It should be appreciated that in the actual implementation of any of the implementations, as in any engineering or design project, numerous implementation-specific decisions must be made to achieve the developers' specific goals, such as compliance with system-related and business-related constraints, which may vary from one implementation to another. Moreover, it should be appreciated that while such a development effort might be complex and lengthy, it would nevertheless be a routine undertaking of design, fabrication, or manufacture for those of ordinary skill having the benefit of this disclosure, and thus should not be construed as having the benefit of this disclosure.

Unless defined otherwise, technical or scientific terms used in the claims and specification should be given the ordinary meaning as understood by one of ordinary skill in the art to which this disclosure belongs. The terms "first," "second," and the like in the description and in the claims, do not denote any order, quantity, or importance, but rather are used to distinguish one element from another. The terms "a" or "an" and the like do not denote a limitation of quantity, but rather denote the presence of at least one. The word "comprising" or "comprises", and the like, is intended to mean that elements or items that are immediately preceding the word "comprising" or "comprising", are included in the word "comprising" or "comprising", and equivalents thereof, without excluding other elements or items. The terms "connected" or "connected," and the like, are not limited to physical or mechanical connections, nor to direct or indirect connections.

In this disclosure, unless expressly stated or limited otherwise, a first feature being "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 by way of 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 under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.

In the present disclosure, all embodiments and preferred embodiments mentioned herein may be combined with each other to form new technical solutions, if not specifically stated. In the present disclosure, all technical features mentioned herein as well as preferred features may be combined with each other to form new technical solutions, if not specifically stated.

In the description of the embodiments of the present disclosure, the term "and/or" is merely an association relationship describing an association object, and indicates that three relationships may exist, for example, a and/or B may indicate: a exists alone, A and B exist together, and B exists alone. In addition, the character "/" herein generally indicates that the front and rear associated objects are an "or" relationship.

Embodiments of the present disclosure are described below with reference to the accompanying drawings, it being understood that the embodiments described herein are for purposes of illustration and explanation only and are not intended to limit the present disclosure.

To reduce cost, simplify the structure, and reduce assembly processes when using a magnetic encoder to measure rotation angle, the present disclosure provides a motor rotation device 100. Fig. 1 is a schematic diagram showing a basic structure of a motor rotating apparatus 100 according to an exemplary embodiment of the present disclosure.

As shown in fig. 1, a motor rotation device 100 according to a preferred embodiment of the present disclosure includes a stator assembly 110, a rotor assembly 120, and an angle measurement assembly 130.

Wherein the stator assembly 110 includes a plurality of stator elements (not shown) disposed about a rotational axis 150. Each stator element includes a magnetic core and a coil wound around the magnetic core, and the stator assembly 110 is fixedly disposed with respect to the rotation shaft 150.

The rotor assembly 120 is disposed opposite the stator assembly 110 and rotates about a rotational axis 150 relative to the stator assembly 110. The rotor assembly 120 includes rotor magnet steel 121 disposed opposite a plurality of stator elements. The rotor assembly may further include a rotor core (not shown), and the rotor magnetic steel 121 may be embedded in the rotor core, or may be attached to an inner surface or an outer surface of the rotor core. The material of the rotor magnetic steel can be neodymium-iron-boron, ferrite or samarium-cobalt.

In fig. 1, the stator assembly 110 and the rotor assembly 120 are disposed in radially opposite directions, i.e., the rotor assembly 120 is disposed around the stator assembly 110, but in other embodiments the stator assembly 110 may be disposed around the rotor assembly 120. However, the present disclosure is not limited thereto, and the rotor assembly and the stator assembly may be disposed opposite to each other in the axial direction.

The angle measuring assembly 130 includes a magnetic encoding chip 132 disposed on a circuit board 131 for detecting rotation angle information of the rotor assembly. The circuit board 131 is fixedly disposed with respect to the stator assembly 110.

The motor rotation device 100 may further include a motor housing 140. The motor housing 140 may be disposed outside the stator assembly 110 and the rotor assembly 120 to protect the stator assembly 110 and the rotor assembly 120.

In the present disclosure, the rotor magnetic steel 121 includes a first magnetized portion 1211 and a second magnetized portion 1212. The magnetization direction of the first magnetization portion 1211 is different from the magnetization direction of the second magnetization portion 1212. The first magnetization portion 1211 is for providing a magnetic field for rotation of the motor rotating apparatus 100, and the second magnetization portion 1212 is for providing a magnetic field for detecting rotation angle information of the magnetic braid 132.

Specifically, the first magnetization unit 1211 of the rotor magnetic steel 121 is magnetized in a first direction by a magnetizing device, and then the second magnetization unit 1212 of the rotor magnetic steel 121 is magnetized in a direction different from the first direction by a magnetizing device.

Among them, it is preferable that the magnetization direction of the first magnetization portion 1211 and the magnetization direction of the second magnetization portion 1212 are perpendicular to each other. For example, in fig. 1, the first magnetized portion 1211 is magnetized in the radial direction r, and the second magnetized portion 1211 is magnetized in the axial direction z (the direction in which the rotation shaft 150 extends).

The specific structure of the rotor magnetic steel 121 will be described with reference to fig. 2 to 4. Fig. 2 is an exemplary perspective view illustrating a rotor magnet steel structure, fig. 3 is another exemplary perspective view illustrating a rotor magnet steel structure, and fig. 4 is a schematic view illustrating a rotor magnet steel according to an exemplary embodiment of the present disclosure in a top view.

As shown in fig. 2 and 3, the rotor magnetic steel 121 is annular, wherein the first magnetization portion 1211 and the second magnetization portion 1212 are disposed along the circumferential surface extending direction of the rotor magnetic steel 121.

Wherein the first magnetized portion 1211 has a length L1 in the circumferential extension direction of the rotor magnetic steel 121, L1 may be matched to the size of the stator assembly 110. The length L1 is required to enable the first magnetized portion 1211 to generate a sufficient magnetic field to maintain high-speed rotation of the motor rotating apparatus 100.

In addition, the second magnetization portion 1212 has a length L2 in the circumferential surface extending direction of the rotor magnetic steel 121. The length L2 needs to enable the second magnetization 1212 to generate a sufficient magnetic field to maintain the detection function of the magnetic braid 132, and L2 may be 1.5mm or more, for example, 1.5mm, 1.8mm, 2mm, 2.3mm, or the like.

In the rotor magnetic steel 121, the first magnetization portion 1211 and the second magnetization portion 1212 each alternately have N-pole and S-pole poles arranged in the circumferential direction (simply referred to as the circumferential direction). Adjacent N-pole and S-pole poles may be referred to as a pole pair.

The number of pole pairs of the first magnetization portion 1211 and the second magnetization portion 1212 may be different or the same. When the number of pole pairs is the same, it is preferable that the two magnetized portions interfere less with each other.

As shown in the top view of fig. 4, an example in which the number of pairs of magnetic poles of the first magnetization portion 1211 and the second magnetization portion 1212 is 8 is shown.

Of course, the number of the magnetic pole pairs of the first magnetization portion and the second magnetization portion is not limited to 8 pairs, and may be set to 6-300, and accordingly, the rotational speed of the rotor assembly 120 may reach 200-3600rpm.

Further, as shown in fig. 2, the magnetic poles of the first magnetization portion 1211 and the second magnetization portion 1212 may be correspondingly arranged, i.e., aligned, in the circumferential direction. Of course, as shown in fig. 3, the magnetic poles of the first magnetization portion 1211 and the second magnetization portion 1212 may be arranged so as to be shifted in the circumferential direction. In the case where the first magnetization portion 1211 and the second magnetization portion 1212 are provided so as to correspond to each other in magnetic poles, the two magnetization portions are preferably less likely to interfere with each other.

The installation position of the magnetic core plate 132 will be described below with reference to fig. 5. Fig. 5 is a schematic diagram showing the arrangement position of the magnetic braid chip.

The magnetic core 132 is disposed near the end of the second magnetization portion 1212. As shown in fig. 5, the magnetic core plate 132 is disposed at a position below the end portion near the second magnetization portion 1212.

When the rotor assembly 120 rotates after magnetizing the second magnetization unit 1211, the end of the second magnetization unit 1212 transmits a changing magnetic field signal to the magnetic encoder 132 of the angle measuring assembly 130, and the magnetic encoder 132 of the angle measuring assembly 130 receives the alternating of the magnetic field intensity from the circumferential surface of the second magnetization unit 1212 from weak to strong and from strong to weak, and further converts the received magnetic field signal on the circumferential surface of the second magnetization unit 1212 into an electrical signal, and detects the rotation angle information of the second magnetization unit 1211 from the electrical signal. Since the second magnetized portion 1211 and the first magnetized portion 1211 integrally constitute the rotor assembly, rotation angle information of the rotor assembly can be determined.

The specific arrangement position of the magnetic core plate 132 may be determined according to the magnetizing intensity and the number of magnetic pole pairs of the second magnetizing portion 1212.

According to a preferred embodiment of the present disclosure, the position of the magnetic braid 132 is configured such that the magnetic field strength experienced by the magnetic braid 132 is substantially uniformly distributed as the rotor assembly 120 rotates. For example, the magnetic field strength experienced by the magnetic braid 132 may be uniformly distributed in the radial direction as the rotor assembly 120 rotates.

As shown in fig. 5, the distance d between the magnetic braid 132 and the center (origin) of the rotation shaft 150 in the radial direction (x-direction) may be configured to be 10-15mm.

Further, it is preferable that the distance between the magnetic core plate 132 and the second magnetization portion 1212 in the circumferential surface extending direction of the rotor magnetic steel 121 is arranged such that the magnetic field intensity to which the magnetic core plate 132 is subjected is in the vicinity of the center value of the operating range thereof. If the distance is too long, the magnetic field signal on the circumferential surface of the second magnetization portion 1212 is excessively attenuated when transmitted to the magnetic encoder 132, and the alternation thereof cannot be accurately detected, thereby affecting the detection accuracy.

As shown in fig. 5, a gap distance between an end of the second magnetization portion 1212 distant from the first magnetization portion 1211 and the magnetic braid 132, that is, a distance g in the circumferential surface extending direction (z direction) of the rotor magnetic steel 121 may be configured to be 1 to 3mm.

In the present disclosure, the magnetic encoding chip 132 may employ a magnetic encoding chip of a magneto-resistance effect. The detection accuracy of the magnetic encoding chip 132 can reach + -0.2 degrees in the full temperature range.

In addition, the magnetic encoding chip 132 may detect the rotation angle information by hardware, software, or a combination of hardware and software according to circumstances, which is not particularly limited.

According to the motor rotating device, the rotor magnetic steel comprises the first magnetization part and the second magnetization part, the magnetization direction of the first magnetization part is different from that of the second magnetization part, the first magnetization part is used for providing a magnetic field for the rotation of the motor rotating device, and the second magnetization part is used for providing a magnetic field for detecting rotation angle information of the magnetic coding chip, so that a part of the rotor magnetic steel can be used as a magnetic coding ring, the magnetic coding ring does not need to be independently arranged for angle measurement, the original rotor magnetic steel in the motor rotating device is relied on, and high-precision angle detection can be realized on the basis of not adding additional components. Under the condition that the internal space of a product (such as a laser radar) is narrow and compact, the angle measurement with low cost and high precision is realized, meanwhile, the number of components is small, the structure is simple, the assembly flow is reduced, and the mass production of the product (such as the laser radar) is facilitated.

In addition, since only the rotor magnet steel is required to be mounted without considering the mounting position of the magnetic encoder ring, the mounting process can be simplified.

The motor rotating device can be applied to various application scenes, and can be applied to a laser radar as one application scene. For a better understanding and implementation by those skilled in the art, the present specification also provides a corresponding lidar, which is described in detail below by way of specific embodiments with reference to the accompanying drawings.

According to an exemplary embodiment of the present disclosure, there is also provided a lidar 200. As shown in fig. 6, the lidar 200 includes a transmitting module, a receiving module (not shown), a rotating module, and the motor rotating device described above. Lidar 200 may be a rotating mirror lidar.

The transmitting module is used for transmitting a detection light signal, and the detection light signal is reflected by the target object to generate an echo light signal.

The receiving module is configured to receive and process the echo optical signal.

The rotation module may include a scanning assembly, which may be a turning mirror 210 provided with a mirror. The turning mirror 210 is rotated about the rotation axis 211 for projecting the probe light signal to different positions in the environment during rotation of the rotation module and/or receiving the echo light signal returned from different positions in the environment and reflecting the echo light signal to the receiving module.

The motor rotating device is used for driving the rotation of the rotating module and detecting the rotation angle information of the rotating module.

Specifically, as shown in fig. 6, the stator assembly 110 and the rotor assembly in the motor rotating apparatus 100 are disposed to be opposed to each other in the radial direction, that is, the rotor assembly is disposed around the stator assembly 110. The rotor assembly is connected to the rotary mirror 210, for example, by a bearing sleeve or the like, and after the rotor assembly rotates, the rotary mirror 210 can be driven to rotate by the bearing sleeve or the like.

In the rotor assembly, the first magnetization portion 1211 of the rotor magnetic steel 121 may be magnetized in a radial direction for providing a magnetic field for rotation of the motor rotating device, and the second magnetization portion 1212 may be magnetized in an axial direction for providing a magnetic field for detecting rotation angle information of the magnetic encoder chip 132.

As shown in fig. 6, the lidar 200 may further have a fixed base 212 fixedly connected to the rotation shaft 211. The magnetic encoding chip 132 of the angle measuring assembly in the motor rotating device may be fixedly disposed on the fixing base 212.

According to an exemplary embodiment of the present disclosure, there is also provided a lidar 300. As shown in fig. 7, the lidar 300 includes a transmitting module 310, a receiving module 320, a rotating module 330, and the motor rotating device described above. Lidar 300 may be a mechanical lidar.

The transmitting module 310 is configured to transmit a detection light signal, and the detection light signal is reflected by the target object to generate an echo light signal.

The receiving module 320 is configured to receive and process the echo optical signal.

The rotation module 330 rotates about a rotation axis 331 for projecting the probe light signals to different locations in the environment during rotation and/or receiving echo light signals returned from different locations in the environment. The transmitting module 310 and/or the receiving module 320 are disposed on the rotating module 330, and during the rotation of the rotating module 330, the transmitting module 310 and/or the receiving module 320 are driven by the rotating module 330 to rotate around the rotation axis 331.

The motor rotating means is used to drive the rotation of the rotation module 330 and detect the rotation angle information of the rotation module 330.

Specifically, as shown in fig. 7, in the motor rotating device, the rotor assembly and the stator assembly may be disposed to be axially opposed to each other. Specifically, the stator assembly 110 and the rotor magnet steel 121 of the rotor assembly may be disposed opposite to each other in the axial direction (i.e., disposed opposite to each other up and down).

In this structure, the first magnetized portion 1211 of the rotor magnetic steel 121 is magnetized in the axial direction, and the second magnetized portion 1212 is magnetized in the radial direction. In particular implementations, the location of the magnetic braid 132 may be set as the case may be. For example, the circuit board 131 is fixed to the stator assembly 110 at a position shown in fig. 7, and the magnetic core plate 132 is disposed on the circuit board 131 at a position close to an end of the second magnetization portion 1212.

There is also provided a lidar 400 according to an example embodiment of the present disclosure. As shown in fig. 8, the lidar 400 is different from the lidar 300 shown in fig. 7 in that the stator assembly 110 and the rotor magnetic steel 121 of the rotor assembly in the motor rotation device are disposed to be opposed to each other in the radial direction (i.e., disposed to be opposed to each other inside and outside).

In this structure, the first magnetized portion 1211 of the rotor magnetic steel 121 is magnetized in the radial direction, and the second magnetized portion 1212 is magnetized in the axial direction. In particular implementations, the location of the magnetic braid 132 may be set as the case may be. For example, the circuit board 131 is fixed to the stator assembly 110 at a position shown in fig. 8, and the magnetic core plate 132 is disposed on the circuit board 131 at a position close to an end of the second magnetization portion 1212.

According to the laser radar comprising the motor rotating device, the rotor magnetic steel comprises the first magnetization part and the second magnetization part, the magnetization direction of the first magnetization part is different from that of the second magnetization part, the first magnetization part is used for providing a magnetic field for the rotation of the motor rotating device, and the second magnetization part is used for providing a magnetic field for detecting rotation angle information of the magnetic coding chip, so that a part of the rotor magnetic steel can be used as a magnetic coding ring without separately setting the magnetic coding ring for angle measurement, and the high-precision angle detection can be realized on the basis of not adding additional components by depending on the original rotor magnetic steel in the motor rotating device. Under the condition that the internal space of the laser radar is narrow and compact, the angle measurement with low cost and high precision is realized, meanwhile, the number of components is small, the structure is simple, the assembly flow is reduced, and the mass production of the laser radar is facilitated.

It is to be understood that the above description is intended to be illustrative, and not restrictive. For example, the above-described embodiments (and/or aspects thereof) may be used in combination with one another. In addition, many modifications may be made to adapt a particular situation or material to the teachings of the various embodiments of the disclosure without departing from the scope thereof. While the dimensions and types of materials described herein are used to define the parameters of the various embodiments of the disclosure, the various embodiments are not meant to be limiting and are exemplary embodiments. Many other embodiments will be apparent to those of skill in the art upon reading the above description. The scope of the various embodiments of the disclosure should, therefore, be determined with reference to the appended claims, along with the full scope of equivalents to which such claims are entitled.

Claims (17)

1. A motor rotating apparatus, comprising:

A stator assembly including a plurality of stator elements disposed about a rotational axis, each of the stator elements including a magnetic core and a coil wound on the magnetic core, the stator assembly being fixedly disposed relative to the rotational axis;

A rotor assembly disposed opposite the stator assembly and rotatable about the rotational axis relative to the stator assembly, the rotor assembly including rotor magnet steel disposed opposite the plurality of stator elements; and

The angle measuring assembly comprises a magnetic encoding chip which is arranged on a circuit board and used for detecting the rotation angle information of the rotor assembly, the circuit board is fixedly arranged relative to the stator assembly,

Wherein the rotor magnetic steel comprises a first magnetization part and a second magnetization part, the magnetization direction of the first magnetization part is different from that of the second magnetization part,

The first magnetization section is configured to provide a magnetic field for rotation of the motor rotation device,

The second magnetization part is used for providing a magnetic field for the magnetic encoding chip to detect the rotation angle information.

2. The motor rotating apparatus according to claim 1, wherein,

The magnetization direction of the first magnetization part is perpendicular to the magnetization direction of the second magnetization part.

3. The motor rotating apparatus according to claim 1 or 2, wherein,

The rotor magnetic steel is annular, and the first magnetization part and the second magnetization part are arranged along the extending direction of the peripheral surface of the rotor magnetic steel.

4. The motor rotating apparatus according to claim 3, wherein,

The length of the first magnetization part in the peripheral surface extending direction of the rotor magnetic steel is matched with the size of the stator assembly.

5. The motor rotating apparatus according to claim 3, wherein,

The length of the second magnetization part in the peripheral surface extending direction of the rotor magnetic steel is more than 1.5 mm.

6. The motor rotating apparatus according to claim 1, wherein,

The magnetic encoding chip is arranged at a position close to the end part of the second magnetization part.

7. The motor rotating apparatus according to claim 6, wherein,

The position of the magnetic braiding chip is determined according to the magnetizing intensity and the magnetic pole pair number of the second magnetizing part.

8. The motor rotating apparatus according to claim 7, wherein,

The position of the magnetically encoded chip is configured such that the magnetic field strength experienced by the magnetically encoded chip is substantially evenly distributed as the rotor assembly rotates.

9. The motor rotating apparatus according to claim 7, wherein,

The distance between the magnetic braiding chip and the second magnetizing part in the peripheral surface extending direction of the rotor magnetic steel is configured to enable the magnetic field intensity received by the magnetic braiding chip to be near the central value of the working range of the magnetic braiding chip.

10. The motor rotating apparatus according to claim 6, wherein,

The gap distance between the end of the second magnetization part far away from the first magnetization part and the magnetic braiding chip is configured to be 1-3mm.

11. The motor rotating apparatus according to claim 1 or 2, wherein,

The magnetic poles of the first magnetization part and the second magnetization part are correspondingly arranged or staggered in the circumferential direction.

12. The motor rotating apparatus according to claim 1 or 2, wherein,

The number of pole pairs of the first magnetization part and the second magnetization part is the same.

13. The motor rotating apparatus according to claim 1 or 2, wherein,

The number of the magnetic pole pairs of the first magnetization part and the second magnetization part is 6-300, and the rotating speed of the rotor assembly is 200-3600rpm.

14. The motor rotating apparatus according to claim 1 or 2, wherein,

The magnetic braiding chip adopts a magnetic braiding chip with a magnetic resistance effect.

15. A lidar, comprising:

The transmitting module is used for transmitting a detection light signal, and the detection light signal is reflected by the target object to generate an echo light signal;

a receiving module configured to receive and process the echo optical signal;

A rotation module which rotates around a rotation axis and is used for projecting the detection light signals to different positions in the environment and/or receiving echo light signals returned from different positions in the environment during rotation; and

The motor rotating apparatus according to any one of claims 1 to 14, configured to drive rotation of the rotating module, and detect rotation angle information of the rotating module.

16. The lidar of claim 15, wherein the laser radar is configured to,

The rotating module comprises a scanning assembly, and the scanning assembly comprises a reflecting mirror which is used for reflecting the detection light signals emitted by the emitting module to different positions in the environment and/or receiving echo light signals returned from different positions in the environment in the rotating process of the rotating module and reflecting the echo light signals to the receiving module.

17. The lidar of claim 15, wherein the laser radar is configured to,

The transmitting module and/or the receiving module are/is arranged on the rotating module, and the transmitting module and/or the receiving module rotate around the rotating shaft in the rotating process of the rotating module.