Scanning device

Abstract

The present application provides a scanning device, which relates to the field of laser scanning. The scanning device includes: a housing frame, a scanning mirror and a motor; the housing frame includes a window frame and a window mirror, the window frame is a frustum-shaped frame formed by integral processing, the window frame includes a top surface, a bottom surface and a plurality of side surfaces, a motor through hole is provided on the top surface, a laser through hole is provided on the bottom surface, a window is provided on each side surface, and a window mirror for closing the window is provided on each window; the motor is arranged on the top surface of the window frame; the scanning mirror is arranged in the housing frame, is connected to the rotor of the motor through the motor through hole, and receives incident light through the laser through hole. The window frame formed by integral processing has sufficient rigidity and dimensional accuracy, can ensure the coaxiality of the rotation axis of the scanning mirror and the optical axis of the outgoing light, and improve the scanning accuracy of the scanning device.

Description

Technical Field

[0001] This application relates to the field of laser scanning, and more particularly, to a scanning device. Background Art

[0002] Spatial scanning technology is one of the key technologies of lidar. The scanning device is the core component of lidar. The function of the scanning device is to drive the scanning mirror to deflect or rotate periodically, so as to project the collimated laser onto the ground object target.

[0003] Currently, during the scanning process of the laser scanning device, due to reasons such as the processing and assembly accuracy of the laser scanning device, problems such as inaccurate laser optical paths may occur, resulting in low scanning accuracy. Summary of the Invention

[0004] An embodiment of this application aims to provide a scanning device to solve the problem of low scanning accuracy of the current laser scanning device.

[0005] The technical solution of the embodiment of this application is as follows:

[0006] An embodiment of this application provides a scanning device, which is characterized by including: a housing frame, a scanning mirror, and a motor; the housing frame includes a window frame and a window mirror, the window frame is a frustum-shaped frame formed by integral processing, the window frame includes a top surface, a bottom surface, and a plurality of side surfaces, a motor through-hole is opened on the top surface, a laser through-hole is opened on the bottom surface, a window is opened on each side surface, and each window is provided with the window mirror for closing the window; the motor is arranged on the top surface of the window frame; the scanning mirror is arranged inside the housing frame, connected to the rotor of the motor through the motor through-hole, and receives incident light through the laser through-hole.

[0007] In the above implementation process, the top surface of the window frame is connected to the motor, and the rotor of the motor is connected to the scanning mirror. Therefore, the processing accuracy of the window frame affects whether the outgoing light is coaxial with the scanning mirror, and further affects the scanning accuracy of the scanning device. Using an integrally formed window frame improves the parallelism of the bottom surface and the top surface of the window frame and the unity of the angle formed by the side surface and the bottom surface, that is, improves the processing accuracy of the window frame, makes the outgoing light coaxial with the scanning mirror, ensures the accuracy of the optical path, and further improves the scanning accuracy of the scanning device.

[0008] Optionally, the window frame is a regular frustum-shaped window frame, and the window mirror forms a first preset angle with the horizontal plane to prevent the window mirror from reflecting part of the outgoing light into the laser through-hole.

[0009] In the above implementation process, by adjusting the first preset angle between the window mirror and the horizontal plane, the reflected light that deviates from the original path by a certain angle after being reflected by the window mirror is avoided from interfering with the outgoing light, thereby improving the scanning accuracy of the scanning device.

[0010] Optionally, the remaining frame part between every two adjacent windows of the window frame is a support column, the support column is prismatic, the plane where the incident light and the outgoing light are located is the first plane, and when the outgoing direction of the outgoing light points to the support column, the included angle between the first plane and the side surface of the support column where an edge of the support column is located is the second preset angle.

[0011] In the above implementation process, by adjusting the second preset included angle formed by the first plane and the side surface of the support column where an edge of the support column is located, the interference caused by the light reflected by the support column to the outgoing light is reduced, thereby improving the scanning accuracy of the scanning device.

[0012] Optionally, the surface of the support column is coated with a coating for absorbing the outgoing light of a preset wavelength.

[0013] In the above implementation process, a coating for absorbing the outgoing light of a preset wavelength is coated on the surface of the support column to absorb the light of the preset wavelength reflected on the surface of the support column, reduce the interference caused by the light reflected by the support column to the outgoing light, and improve the scanning accuracy of the scanning device.

[0014] Optionally, the scanning device further includes a circuit board, the circuit board is electrically connected to the motor, the largest outer surface area of the circuit board is the first outer surface, the thickness of the circuit board is less than the width of the support column, the central axis of the circuit board parallel to the first outer surface on the horizontal plane is the first central axis, the outgoing direction of the outgoing light points to the support column, and the first central axis is on the first plane.

[0015] In the above implementation process, the thickness of the circuit board is less than the width of the support column, which can ensure that no new reflected light is introduced outside the support column to interfere with the outgoing light, and the central axis of the circuit board parallel to the first outer surface on the horizontal plane is used as the first central axis, and the first central axis is on the first plane, reducing the reflection area of the circuit board to the outgoing light and improving the scanning accuracy of the scanning device.

[0016] Optionally, the outer surface of the circuit board is coated with an absorbing material for absorbing the outgoing light.

[0017] In the above implementation process, a coating is applied on the surface of the circuit board to absorb the outgoing light incident on the circuit board, reduce the interference of the light reflected back by the circuit board on the outgoing light, and improve the scanning accuracy of the scanning device.

[0018] Optionally, an anti-reflection film is provided on the surface of the window mirror to increase the transmittance of the outgoing light through the window mirror.

[0019] In the above implementation process, an anti-reflection film is provided on the window mirror to increase the transmittance of the outgoing light passing through the window mirror and improve the light transmission amount of the outgoing light finally entering the scanning environment.

[0020] Optionally, the bearings in the motor are a pair of angular contact ball bearings or deep groove ball bearings. The bearings in the motor include a bottom bearing and a top bearing. An axial space is reserved above the top bearing, and a buffer is arranged in the axial space to perform constant-pressure preloading on the top bearing.

[0021] In the above implementation process, through the reserved axial space, after the spring is installed, a compression amount will be generated to preload the top bearing, overcoming the problem of the deviation of the outgoing light path caused by the shaft swing caused by the internal clearance of the bearing.

[0022] Optionally, the scanning device further includes a scanning mirror. The scanning mirror includes a working surface and a mounting surface. The working surface forms a third preset angle with the outgoing light. The mounting surface is connected to the rotor of the motor through a rotor connecting seat. The rotor connecting seat is coaxial with the rotor. After the scanning mirror is installed, the distance from the bottom bearing of the motor is a first preset distance.

[0023] In the above implementation process, the working surface of the scanning mirror forms a third preset angle with the outgoing light to ensure that the outgoing light enters the scanning environment horizontally; the rotor connecting seat is coaxial with the rotor to prevent the rotor from deforming under the action of a huge centrifugal force during high-speed rotation; after the scanning mirror is installed, the distance from the bottom bearing of the motor is a first preset distance, shortening the force arm of the load to reduce the bending moment and prevent the motor rotor from bending and deforming.

[0024] Optionally, the scanning device further includes an encoder provided on the motor. The encoder is electrically connected to the motor, and the scanning mirror is rigidly connected to the encoder.

[0025] In the above implementation process, the encoder is used to obtain the current phase angle information of the scanning mirror. Rigidly connecting the scanning mirror to the encoder improves the connection strength between the scanning mirror and the encoder. Description of the Drawings

[0026] To more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings required for use in the embodiments of the present application. It should be understood that the following drawings only show certain embodiments of the present application, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, without creative efforts, other related drawings can also be obtained based on these drawings.

[0027] It should be noted that similar reference numerals and letters denote similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0028] Figure 1 Schematic diagram of a scanning device provided for an embodiment of the present application.

[0029] Figure 2 Schematic diagram of a housing frame provided for an embodiment of the present application.

[0030] Figure 3 Schematic diagram of a support column provided for an embodiment of the present application.

[0031] Figure 4 Schematic diagram of the placement of a circuit board provided for an embodiment of the present application.

[0032] Figure 5 Schematic diagram of the connection between a rotor connecting seat and a scanning mirror provided for an embodiment of the present application.

[0033] Figure 6 Schematic diagram of the overall assembly of a rotating body provided for an embodiment of the present application.

[0034] Icon: 10 - Scanning device; 101 - Housing frame; 1011 - Window frame; 1012 - Window mirror; 102 - Scanning mirror; 103 - Motor; 1031 - Bearing; 1031A - Top bearing; 1031B - Bottom bearing; 1032 - Front shaft sleeve; 1033 - Rear shaft sleeve; 1034 - Motor magnet; 1035 - Motor rotor; 104 - Support column; 105 - Circuit board; 106 - Rotor connecting seat; 107 - Encoder; 108 - Nut; 109 - Stopper. Detailed implementation manners

[0035] The following will describe the technical solutions in the embodiments of the present application in conjunction with the drawings in the embodiments of the present application.

[0036] In the description of the present application, it should be noted that the terms "first", "second", etc. are only used for distinguishing descriptions and cannot be understood as indicating or implying relative importance.

[0037] In the description of the present application, it should also be noted that unless otherwise clearly specified and defined, the terms "arranged", "connected", and "coupled" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0038] Other features and advantages of the present application will be described in the subsequent specification, and partly become obvious from the specification, or be understood by implementing the embodiments of the present application. The objectives and other advantages of the present application can be achieved and obtained through the structures specifically pointed out in the written specification and the accompanying drawings.

[0039] Please refer to Figure 1 , Figure 1 which is a schematic diagram of a scanning device provided by an embodiment of the present application.

[0040] A scanning device 10 provided by an embodiment of the present application includes a housing frame 101, a scanning mirror 102, and a motor 103. The housing frame 101 includes a window frame 1011 and a window mirror 1012. The window frame 1011 is a frustum-shaped frame formed by integral processing. The window frame 1011 includes a top surface, a bottom surface, and a plurality of side surfaces. A motor through-hole is provided on the top surface, a laser through-hole is provided on the bottom surface, and a window is provided on each side surface. A window mirror 1012 for closing the window is provided on each window. The motor 103 is arranged on the top surface of the window frame 1011. The scanning mirror 102 is arranged inside the housing frame 101, connected to the motor rotor 1035 through the motor through-hole, and receives incident light through the laser through-hole.

[0041] The motor 103 is placed outside the housing frame 101. The motor rotor 1035 has no central hole, so the motor 103 is a conventional DC motor. The weight of the motor 103 is lighter than that of the existing hollow motor arranged inside the housing frame 101, and the power consumption and cost are both lower than those of the existing hollow motor.

[0042] In the actual processing process, there are many difficulties in the manufacturing process of the integral window frame 1011. Since the position accuracy requirements for the connection parts between the top surface and the bottom surface of the window frame 1011 are high, and in order to reduce the reflection area of the outgoing light, the widths of the four struts 104 of the window frame 1011 are very small. For example, the width of the strut 104 is 2.1 mm. Therefore, the accuracy requirements in the processing process are very high. Otherwise, problems such as poor dimensional accuracy and position accuracy, and even part deformation may occur, thus affecting the accuracy of the outgoing light path.

[0043] Optionally, the window frame 1011 can be processed as follows: First, process the top surface and the bottom surface, and use each other as a reference to repeatedly process to ensure parallelism; use the top surface and the bottom surface as a reference to process the connecting part between the top surface and the bottom surface at one time. The connecting part can be a stop for flange connection, a threaded through hole for threaded connection, etc., to ensure the coaxiality of the connecting part between the top surface and the bottom surface; the four inclined side surfaces of the window frame 1011 are processed last. During processing, use a tooling to straighten the angles of the side surfaces of the window frame 1011, make the side surfaces of the window frame 1011 face the machine tool spindle, and at the same time, the tooling can fix the top surface and the bottom surface of the window frame 1011.

[0044] Since the top surface of the window frame 1011 is connected to the motor 103 and the motor rotor 1035 is connected to the scanning mirror 102, the processing accuracy of the window frame 1011 affects whether the emitted light can be coaxial with the scanning mirror 102, and thus affects the scanning accuracy of the scanning device 10. Using the integrally formed window frame 1011 improves the parallelism of the bottom surface and the top surface of the window frame and the unity of the angle formed by the side surface and the bottom surface, that is, improves the processing accuracy of the window frame 1011, makes the emitted light coaxial with the scanning mirror 102, ensures the accuracy of the optical path, and thus improves the scanning accuracy of the scanning device 10.

[0045] As an implementation manner, the material of the window frame 1011 can be a material with relatively high rigidity, such as aluminum, steel, nickel, or other alloys and composite materials.

[0046] Optionally, the window frame 1011 is a regular frustum-shaped frame, and the window mirror 1012 forms a first preset angle with the horizontal plane to prevent the window mirror 1012 from reflecting part of the emitted light to the laser through hole.

[0047] In the prior art, there is a case where a ring-shaped glass is used as the window mirror 1012. Due to the existence of the window frame 1011, the window mirror 1012 is simplified to multiple plane mirrors, and the window mirror 1012 is fixed on the side surface of the window frame 1011 by bonding or other means. The coating process difficulty and assembly process difficulty of the plane-shaped window mirror are greatly reduced, thereby significantly reducing its manufacturing cost. And when the window mirror 1012 needs to be maintained or replaced, only the damaged window mirror 1012 needs to be removed and replaced separately. The replacement process will not cause a change in the positional relationship of the entire scanning device 10 of the system, avoiding the complicated assembly and adjustment process, simplifying the maintenance process, and reducing the possibility of affecting the optical path accuracy of the scanning device 10 during the maintenance process.

[0048] Please refer to Figure 1 and Figure 2 , Figure 2Schematic diagram of a housing frame provided by an embodiment of the present application. The top and bottom surfaces of the window frame 1011 can be regular polygons such as equilateral triangles, squares, regular pentagons, etc. By designing the different relative sizes of the top and bottom surfaces, the window mirror 1012 can be at a first preset angle with the horizontal plane. For example, the first preset angle can be calculated according to the optical path between the system transmitter and the window mirror. The first preset angle can be any angle other than an obtuse angle, as long as it is ensured that the part of the outgoing light passing through the laser through-hole and reflected back to the scanning device by the scanning mirror 102 will not pass through the laser through-hole, so as to avoid the reflected light that deviates from the original path by a certain angle on the window mirror 1012 from interfering with the outgoing light, thereby improving the scanning accuracy of the scanning device 10.

[0049] Optionally, an antireflection film is provided on the surface of the window mirror 1012 to improve the transmittance of the outgoing light through the window mirror 1012. When an optical element is coated with a film, without considering other factors such as the absorption and scattering of the film, the reflected light and the transmitted light still satisfy the law of conservation of energy with the incident light. The function of coating is to redistribute the energy of the reflected light and the transmitted light. For the antireflection film, the result of the distribution is that the energy of the reflected light decreases and the energy of the transmitted light increases. It can be seen that the function of the antireflection film is to redistribute the energy of the reflected light and the transmitted light on the surface of the optical element, and the result of the distribution is that the energy of the transmitted light increases and the energy of the reflected light decreases. By providing an antireflection film on the surface of the window mirror 1012, the energy of the outgoing light transmitted through the window mirror 1012 into the scanning environment is increased, and the utilization rate of the outgoing light is improved.

[0050] Optionally, the remaining frame part between every two adjacent windows of the window frame 1011 is a pillar 104. The pillar 104 is prism-shaped. The plane where the outgoing light and the reflected light passing through the window mirror 1012 are located is the first plane. When the outgoing direction of the outgoing light points to the pillar 104, the included angle between the first plane and the side surface of the pillar where an edge of the pillar is located is the second preset angle.

[0051] See Figure 1 and Figure 3 , Figure 3 Schematic diagram of a pillar provided by an embodiment of the present application.

[0052] The existence of the pillar 104 will, on the one hand, cause the reflected light reflected by the scanning mirror 102 to be blocked when it reaches the pillar 104, and the energy of the outgoing light that can enter the scanning environment near the pillar 104 will be weakened, thereby reducing the ability to perform ranging, etc. using the scanning device 10. On the other hand, the outgoing light reflected by the pillar 104 will deviate from the original path of the outgoing light, and this part of the deviated light will interfere with the original path of the outgoing light, reducing the scanning accuracy of the scanning device 10.

[0053] As an implementation manner, Figure 3 The direction indicated by the arrow in Figure 3 is the emission direction of the emitted light. The second preset angle can be set to 45°. In this embodiment, the reflected light that reaches the two sides where the prism 1 is located after being reflected by the scanning mirror 102 and then enters the inside of the accommodation frame 101 will not interfere with the emitted light in the original path. And when the second preset angle is set to 45 degrees, the shielding area of the pillar 104 for the emitted light is the smallest.

[0054] Optionally, when processing the pillar 104, the lower the surface roughness of the pillar 104, the higher the energy of the emitted light reflected by the pillar 104 into the scanning environment, and the interference degree of the pillar 104 on the emitted light is further reduced. An absorption coating is coated on the surface of the pillar 104 for absorbing the emitted light irradiated on the surface of the pillar 104. The pillar 104 can also be colored to reduce the reflectivity of the pillar 104 for the emitted light. Exemplarily, the absorption coating can be composed of a composite metal oxide without free electrons as the aggregate, supplemented with non-toxic binders, solvents, rust inhibitors, suspensions, activators, etc. This absorption coating can better absorb the laser.

[0055] Optionally, the scanning device 10 further includes a circuit board 105. The circuit board 105 is electrically connected to the motor 103. The largest outer surface area of the circuit board 105 is the first outer surface. The thickness of the circuit board 105 is less than the width of the pillar 104. The central axis of the circuit board 105 parallel to the first outer surface on the horizontal plane is the first central axis. The emitted light direction points to the pillar, and the first central axis is on the first plane. Please refer to Figure 4 , Figure 4 which is a schematic diagram of the placement of a circuit board provided by an embodiment of the present application.

[0056] The top surface of the window frame 1011 is provided with a motor through hole. The top surface of the window frame 1011 is connected to the motor 103 through the motor through hole. The connection method can be flange connection. This flange is named the upper flange. The bottom of the window frame 1011 is connected to other components outside the scanning device, such as a ranging component. The connection method can also be flange connection. The flange connected to the bottom surface of the window frame 1011 is named the lower flange.

[0057] A circuit board with a rectangular cross-sectional shape passes through the upper and lower flanges. The circuit board 105 is used to provide power signals and control signals to the motor 103 to ensure that the motor rotates at a certain speed. The thickness of the circuit board 105 is less than the width of the support pillar 104, which can avoid increasing the area blocking the emitted light outside the support pillar 104. The central axis of the circuit board 105 parallel to the first outer surface on the horizontal plane is the first central axis. The first central axis is on the first plane. After the emitted light is reflected by the circuit board 105, it is reflected into the accommodation frame 101 in the same way as passing through the support pillar 104, without interfering with the emitted light in the original path.

[0058] Taking the top and bottom surfaces of the window frame 1011 as rectangles as an example, when the central axis of the first outer surface of the circuit board 105 coincides with the first plane formed by the emitted light and the reflected light after being reflected by the scanning mirror 102, that is, when the central axis of the first outer surface of the circuit board 105 coincides with any diagonal of the top surface of the window frame 1011, the reflection area of the circuit board 105 is reduced, and the influence of the circuit board 105 on the optical path is reduced. Since the width of the support pillar 104 is very small, which can be 2.1 mm as mentioned above, and the thickness of the circuit board 105 is less than the width of the support pillar 104, the field of view blocking of the support pillar 104 and the circuit board 105 on the scanning device 10 can be ignored, and the field of view angle of the scanning device 10 is close to 360°.

[0059] As another implementation manner, the circuit board 105 can be replaced by a flat flexible cable or a cable arranged in a rectangle.

[0060] Furthermore, the circuit board 105 can be other prisms except for a cuboid. At this time, the straight line connecting any vertex of the circuit board 105 and the center of the circumscribed circle of the bottom surface of the circuit board 105 is located in the first plane. This setting can ensure that the area blocking the emitted light by the circuit board 105 is the smallest.

[0061] Optionally, an absorption material for absorbing reflected light is coated on the outer surface of the circuit board 105. The absorption coating has the same material and effect as the coating on the surface of the support pillar 104 mentioned above, and will not be elaborated here.

[0062] Please continue to refer to Figure 1 Optionally, the bearings in the motor 103 are a pair of angular contact ball bearings or deep groove ball bearings. The bearing 1031 includes a top bearing 1031A and a bottom bearing 1031B. An axial space is reserved above the top bearing 1031A, and a buffer member, such as a spring, is arranged in the axial space. At the same time, while mainly bearing radial forces, the above two types of bearings can both bear a certain axial force, which is convenient for cooperating with the buffer member to perform constant-pressure preloading on the top bearing 1031A.

[0063] Before installing the spring, measure the actual size of the axial space and use an adjusting washer to make up for the axial dimension, so that the spring generates an appropriate compression amount after installation, and then the bearing generates an appropriate preload. Similarly, a wave washer can be used instead of the spring to achieve the same effect. The number of wave crests of the wave washer should be no less than three, so that the bearing 1031 is evenly preloaded within one circle, thereby overcoming the shaft swing caused by the internal clearance (i.e., play) of the bearing and reducing the deviation between the actual path and the original path of the outgoing light caused by the shaft swing, and improving the scanning accuracy of the scanning device 10.

[0064] Optionally, the scanning mirror 102 includes a working surface and a mounting surface. The working surface forms a third preset angle with the outgoing light. The mounting surface is connected to the motor rotor 1035 of the motor 103 through a rotor connecting seat. The rotor connecting seat 106 is coaxial with the motor rotor 1035. After the scanning mirror 102 is installed, the distance from the bottom bearing 1031B of the motor 103 is a first preset distance.

[0065] Generally, the third preset angle can be set to 45°. In this case, the incident light emitted from the laser through hole is reflected by the working surface of the scanning mirror 102 and horizontally shoots towards the window mirror 1012. In this case, the paths of the incident light and the outgoing light are relatively simple.

[0066] After the scanning mirror 102 is installed, the distance from the bottom bearing 1031B of the motor is a first preset distance. The shorter the first preset distance, the shorter the force arm of the load, and the more resistant it is to the bending deformation generated when the motor 103 rotates at high speed. The first preset distance can be designed according to the size of the scanning device 10 during actual production.

[0067] As another implementation manner, to resist the bending deformation of the motor 103 during high-speed rotation, the motor rotor 1035 is made of 1Cr17Ni2 stainless steel with high elastic modulus and good fatigue characteristics. Compared with conventional materials, 1Cr17Ni2 stainless steel has less deformation and better stability under the same bending moment. In addition, the shaft diameter of the motor rotor 1035 is appropriately increased. For example, the diameter of the motor rotor 1035 is increased to 7 mm, and the limit speed of the motor rotor 1035 is as high as 12000 rpm.

[0068] As another implementation manner, the scanning mirror 102 is made of lightweight aluminum alloy material, and a lightweight design is carried out on the redundant parts in the structure. After weight reduction, the scanning mirror 102 is evaluated for the deformation amount of its working surface at the limit speed through motion simulation, and the deflection of the optical path caused by the deformation amount should be negligible.

[0069] Since the working surface of the scanning mirror 102 is at an angle of 45° with the horizontal plane, this center-asymmetric structure causes the center of mass of the scanning mirror 102 to shift during the high-speed rotation of the motor rotor 1035, thereby generating a centrifugal force that deforms the motor rotor 1035. The rotor connecting seat 106 balances the asymmetry of the scanning mirror 102. Please refer to Figure 5 , Figure 5 which is a schematic connection diagram of a rotor connecting seat and a scanning mirror provided by an embodiment of the present application. The rotor connecting seat 106 moves the overall center of mass of the scanning mirror 102 and the rotor connecting seat 106 to the rotation axis of the motor rotor 1035. The rotor connecting seat 106 is made of lightweight aluminum alloy, and the presence of the rotor connecting seat 106 reduces the deformation amount of the motor rotor 1035.

[0070] In addition to balancing the center of gravity of the scanning mirror 102, another function of the rotor connecting seat 106 is to mount the scanning mirror 102 on the motor rotor 1035 so that the motor rotor 1035 and the scanning mirror 102 are coaxial. The top of the rotor connecting seat 106 provides a connecting structure to cooperate and center with the connecting structure on the mounting surface of the scanning mirror 102 to achieve the coaxial effect.

[0071] Exemplarily, a conical hole is provided in the upper part of the rotor connecting seat 106, and the conical hole is used to cooperate with the conical section on the motor rotor 1035. During the manufacturing process of the rotor connecting seat 106, the conical hole on the rotor connecting seat 106 and the connecting structure on the mounting surface of the rotor connecting seat 106, such as the stop, are machined using the same reference to ensure the coaxiality of the conical hole on the rotor connecting seat 106 and the connecting structure on the mounting surface of the rotor connecting seat 106.

[0072] Exemplarily, during the assembly process of the rotor connecting seat 106 and the scanning mirror 102, after the rotor connecting seat 106 and the scanning mirror 102 are centered, three screws are used to install the two into a component. Before installation, the nut 108 and the gasket component must be placed in the hollow area inside the stop 109 on the mounting surface of the rotor connecting seat 106. After the component is centered with the conical section of the motor rotor 1035, a special tooling is used to lock the nut 108 onto the thread at the end of the motor rotor 1035. The thread direction of the nut is opposite to the rotation direction of the motor rotor 1035 during operation, so that the motor 103 has a tendency to tighten the nut 108 during each startup and acceleration process, avoiding the loosening of the nut 108. When the motor stops working, the motor rotor 1035 freely decelerates until it stops.

[0073] As an implementation manner, before the overall assembly of the scanning device 10, all the rotating bodies such as the scanning mirror 102, the motor 103, and the rotor connecting seat 106 are first installed, and all the installed rotating bodies are adjusted on a dynamic balancing instrument. The dynamic balancing process is to reduce the load of the motor rotor 1035 on the bearing 1031, control deformation, and reduce vibration and noise. Refer to Figure 6 , Figure 6 The schematic diagram of the overall assembly of a rotating body provided by the embodiment of the present application. During the dynamic balancing adjustment process, since a certain amount of material is reserved on the two parts of the front shaft sleeve 1032 and the rear shaft sleeve 1033, the dynamic balancing can be adjusted by removing the material. The front shaft sleeve 1032 and the rear shaft sleeve 1033 are installed on the motor magnet 1034. The diameters of the front shaft sleeve 1032 and the rear shaft sleeve 1033 are slightly larger than that of the motor magnet 1034. During the dynamic balancing adjustment process, the diameters of the front shaft sleeve 1032 and the rear shaft sleeve 1033 can be cut to adjust the dynamic balance. Compared with the adjustment method of adding weight, the method of removing weight can remove any weight of material at any phase, so as to achieve a higher balance quality level.

[0074] Please continue to refer to Figure 1 , the scanning device 10 further includes an encoder 107 provided on the motor 103. The encoder 107 is electrically connected to the motor 103, and the scanning mirror 102 is rigidly connected to the encoder 107.

[0075] The encoder 107 is used to obtain the current phase angle information of the scanning mirror 102. Rigidly connecting the scanning mirror 102 and the encoder 107 can improve the connection strength between the scanning mirror 102 and the encoder 107.

[0076] Rigid connection is a pipeline connection method in which a heat shrinkable tube (tape) made of cross-linked material is heated by a flame, so that the hot melt adhesive on the inner surface of the heat shrinkable tube (tape) is bonded to the outer surface of the pipe, and the heat shrinkable tube (tape) cools and solidifies to form a constant tightening force. Rigidly connecting the scanning mirror 102 and the encoder 107 can resist the torque generated during the rotation of the scanning mirror, avoid inaccurate reflection light paths caused by deformation of the scanning mirror 102 during scanning, and improve the scanning accuracy of the scanning device 10.

[0077] In summary, an embodiment of the present application provides a scanning device, including: a housing frame, a scanning mirror, and a motor; the housing frame includes a window frame and a window mirror, the window frame is a frustum-shaped frame formed by integral processing, the window frame includes a top surface, a bottom surface, and a plurality of side surfaces, a motor through-hole is provided on the top surface, a laser through-hole is provided on the bottom surface, a window is provided on each side surface, and a window mirror for closing the window is provided on each window; the motor is arranged on the top surface of the window frame; the scanning mirror is arranged in the housing frame, connected to the rotor of the motor through the motor through-hole, and receives incident light through the laser through-hole.

[0078] In the above implementation process, the top surface of the window frame is connected to the motor, and the rotor of the motor is connected to the scanning mirror. Therefore, the processing accuracy of the window frame affects whether the emitted light is coaxial with the scanning mirror, and further affects the scanning accuracy of the scanning device. The use of an integrally formed window frame improves the parallelism of the bottom surface and the top surface of the window frame and the uniformity of the angle formed by the side surface and the bottom surface, that is, improves the processing accuracy of the window frame, makes the emitted light coaxial with the scanning mirror, ensures the accuracy of the optical path, and further improves the scanning accuracy of the scanning device.

[0079] The above are only the preferred embodiments of the present application and are not used to limit the present application. For those skilled in the art, the present application can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

[0080] It should be noted that in this text, the term "including", "comprising" or any other variant thereof is intended to cover a non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device. In this text, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations.

Claims

1. A scanning device, characterized in that, Comprising: A housing frame, a scanning mirror, and a motor; The housing frame includes a window frame and a window mirror. The window frame is a frustum-shaped frame formed by integral machining. The window frame includes a top surface, a bottom surface, and multiple side surfaces. A motor through-hole is provided on the top surface, a laser through-hole is provided on the bottom surface, a window is provided on each side surface, and a window mirror for closing the window is provided on each window; The motor is arranged on the top surface of the window frame; The scanning mirror is arranged inside the housing frame, connected to the rotor of the motor through the motor through-hole, and receives incident light through the laser through-hole; Wherein, the remaining frame part between every two adjacent windows of the window frame is a pillar. The pillar is prism-shaped. The plane where the incident light and the outgoing light are located is the first plane. When the outgoing direction of the outgoing light points to the pillar, the included angle between the first plane and the side surface of the pillar where an edge of the pillar is located is a second preset angle; The second preset angle is set to 45°; Wherein, the scanning device further includes a circuit board. The circuit board is electrically connected to the motor. The largest outer surface area of the circuit board is the first outer surface. The thickness of the circuit board is less than the width of the pillar. The central axis of the circuit board parallel to the first outer surface on the horizontal plane is the first central axis. When the outgoing direction of the outgoing light points to the pillar, the first central axis is on the first plane.

2. The scanning device according to claim 1, characterized in that The window frame is a regular frustum-shaped frame. The window mirror forms a first preset angle with the horizontal plane to prevent the window mirror from reflecting part of the outgoing light to the laser through-hole.

3. The scanning device according to claim 2, characterized in that, The surface of the pillar is coated with a coating for absorbing the outgoing light of a preset wavelength.

4. The scanning device according to claim 1, characterized in that, The outer surface of the circuit board is coated with an absorbing material for absorbing the outgoing light.

5. The scanning device according to claim 1, characterized in that, An antireflection film is provided on the surface of the window mirror to improve the transmittance of the outgoing light through the window mirror.

6. The scanning device according to claim 1, characterized in that The bearing in the motor is a pair of angular contact ball bearings or deep groove ball bearings. The bearing in the motor includes a bottom bearing and a top bearing. An axial space is reserved above the top bearing, and a buffer is arranged in the axial space for constant-pressure preloading of the top bearing.

7. The scanning device according to claim 6, wherein, The scanning device further includes a scanning mirror. The scanning mirror includes a working surface and a mounting surface. The working surface forms a third preset angle with the outgoing light. The mounting surface is connected to the rotor of the motor through a rotor connecting seat. The rotor connecting seat is coaxial with the rotor. The distance between the scanning mirror and the bottom bearing of the motor after installation is a first preset distance.

8. The scanning device according to claim 1, wherein The scanning device further includes an encoder arranged on the motor. The encoder is electrically connected to the motor. The scanning mirror is rigidly connected to the encoder.

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