Laser radar outer rotor motor with rotating speed monitoring and laser radar

Abstract

The application discloses a laser radar outer rotor motor with rotating speed monitoring and a laser radar. The outer rotor motor comprises a motor shaft; a shell comprises an upper shell and a bottom shell arranged at two ends of the motor shaft respectively; a rotor assembly comprises a rotor yoke fixed to an outer ring of a bearing, an optical reflector fixed to the periphery of the rotor yoke, and a light shielding ring sleeved on one end of the motor shaft close to the upper shell, and a sampling site is arranged on the light shielding ring; a rotating speed sampling device is arranged on the upper shell and corresponds to the light shielding ring; a plurality of speed measuring devices are arranged on the bottom shell and correspond to the bottom end of the rotor yoke, and the speed measuring devices are circuit-connected with the rotating speed sampling device and form a double closed-loop control system; when the sampling site turns to the rotating speed sampling device, the rotating speed sampling device collects the motor rotating speed signal once, and controls and adjusts the motor rotating speed through the double closed-loop control system. Through reasonable structural design, the motor rotating speed is monitored and controlled and adjusted, the stability of the motor rotating speed is improved, and the stability of laser radar point cloud imaging is ensured.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of laser radar, in particular to a laser radar outer rotor motor with rotation speed monitoring and a laser radar with the same. BACKGROUND

[0002] Laser radar is a radar system that uses laser beams to detect the position and speed of a target. Its working principle is to emit a detection signal (laser beam) to the target, then compare the received signal (target echo) reflected from the target with the emitted signal, and after appropriate processing, the relevant information of the target such as target distance, direction, height, speed, attitude, and even shape parameters can be obtained, so as to detect, track and identify the target.

[0003] The laser radar mainly includes a shell, a motor and an optical mirror. In the prior art, an inner rotor motor is usually used to separate two key components by a transmission member. Since the more the transmission chain is, the greater the optical cumulative error is, that is, the optical measurement accuracy of the inner rotor motor is greatly reduced, which affects the use experience. Meanwhile, the inner rotor motor has a prism between bearings, which has a large volume and is not easy to control the reflected laser to the driving direction of the vehicle.

[0004] The optical mirror of the outer rotor motor is fixed on the rotor and rotates with the rotor, so the stability of the rotation speed of the motor has a great influence on the stability of the laser radar point cloud imaging. In the prior art, a speed-current double closed-loop control system is usually used to adjust and control the rotation speed of the motor. However, since the laser radar motor has a compact structure, how to design the double closed-loop control system becomes a difficulty. SUMMARY

[0005] In view of the above technical problems, the present application aims to provide a laser radar outer rotor motor with rotation speed monitoring and a laser radar. Through reasonable structural design, the rotation speed data of the motor is collected once, the rotation speed of the motor is understood in real time, the rotation speed of the motor is adjusted, the control of the motor is facilitated, the stability of the rotation speed of the motor is improved, and the stability of the laser radar point cloud imaging is ensured.

[0006] The technical scheme of the present application is as follows:

[0007] One of the purposes of the present application is to provide a laser radar outer rotor motor with rotation speed monitoring, which comprises:

[0008] A motor shaft, a bearing is sleeved on the motor shaft;

[0009] A shell comprising an upper shell and a bottom shell arranged at both ends of the motor shaft, respectively;

[0010] A rotor assembly comprises a rotor yoke fixed to a bearing outer ring, an optical mirror fixed to a periphery of the rotor yoke, and a light shielding ring sleeved on an end of the motor shaft close to the upper shell, the light shielding ring being provided with a sampling site;

[0011] A rotation speed sampling device is arranged on the upper shell and corresponds to the light shielding ring;

[0012] A plurality of speed measuring devices are arranged on the bottom shell and correspond to a bottom end of the rotor yoke, and are connected to the rotation speed sampling device and form a double closed-loop control system;

[0013] When the sampling site is turned to the rotation speed sampling device, the rotation speed sampling device collects a motor rotation speed signal once, and controls and adjusts the motor rotation speed through the double closed-loop control system.

[0014] Optionally, the motor further comprises a circuit board, the circuit board comprising:

[0015] A first part is arranged on the bottom shell, and the speed measuring devices are arranged on the first part;

[0016] A second part is fixed to the upper shell, and the rotation speed sampling device is arranged at a bottom of the second part;

[0017] A third part is connected between the first part and the second part.

[0018] Optionally, the speed measuring devices are position sensors, and the number of the position sensors is three and the position sensors are arranged on the first part in a circumferential direction.

[0019] Optionally, an upper end surface of the bottom shell is provided with a first recess recessed downward, and the first part is fixed in the first recess.

[0020] Optionally, the rotation speed sampling device is an encoder.

[0021] Optionally, an upper surface of the upper shell is provided with a second recess recessed downward, the second part is fixed in the second recess, and the second recess is provided with a through hole for the rotation speed sampling device to extend to a lower surface of the upper shell.

[0022] Optionally, an outer edge of the bottom shell is further provided with a ring wall structure extending upward, the ring wall structure has a gap with the optical mirror, the second part is located outside the ring wall structure, and the ring wall structure is provided with an avoiding hole for the second part to pass through at a connection position of the ring wall structure and the bottom shell.

[0023] Optionally, the ring wall structure is a non-closed ring.

[0024] Optionally, the sampling site is a notch extending in an axial direction of the light shielding ring.

[0025] Another object of the present application is to provide a laser radar comprising the laser radar outer rotor motor with rotation speed monitoring according to any one of the preceding items.

[0026] Compared with the prior art, the present application has the following advantages:

[0027] The laser radar outer rotor motor with rotation speed monitoring of the present application, through the reasonable structural design, the double closed-loop control structure composed of the rotation speed sampling device and the speed measuring device collects the rotation speed data of the motor once, realizes the real-time understanding of the rotation speed of the motor, adjusts the rotation speed of the motor, facilitates the control of the motor, improves the stability of the rotation speed of the motor, and ensures the stability of the point cloud imaging of the laser radar. BRIEF DESCRIPTION OF DRAWINGS

[0028] The present application will be further described below in combination with the drawings and embodiments:

[0029] Figure 1 It is a cross-sectional structure schematic view of the laser radar outer rotor motor with rotation speed monitoring of the present application;

[0030] Figure 2 It is a three-dimensional structure schematic view of the laser radar outer rotor motor with rotation speed monitoring of the present application;

[0031] Figure 3 It is a top view structure schematic view of the bottom shell and the ring wall of the laser radar outer rotor motor with rotation speed monitoring of the present application;

[0032] Figure 4 It is a top view structure schematic view of the upper shell of the laser radar outer rotor motor with rotation speed monitoring of the present application;

[0033] Figure 5 It is a structure schematic view of the circuit board of the laser radar outer rotor motor with rotation speed monitoring of the present application;

[0034] Figure 6 It is a structure schematic view of the light shielding ring of the laser radar outer rotor motor with rotation speed monitoring of the present application.

[0035] Wherein: 1, motor shaft; 2, rotor assembly; 21, rotor yoke; 22, optical mirror; 23, light shielding ring; 231, notch; 3, upper shell; 31, second groove; 32, through hole; 4, bottom shell; 41, ring wall; 411, avoiding hole; 42, first groove; 5, bearing; 6, circuit board; 61, first part; 62, second part; 63, third part; 7, rotation speed sampling device; 8, speed measuring device; 9, stator assembly; 10, magnetic steel. DETAILED DESCRIPTION

[0036] The objects, technical solutions and advantages of the present application will become more apparent after a reading of the following detailed description together with the attached drawings. It should be understood that these descriptions are only exemplary and are not intended to limit the scope of the present application. In addition, in the following description, the description of well-known structures and techniques has been omitted to avoid unnecessarily obscuring the concept of the present application.

[0037] Embodiment:

[0038] Referring to Figures 1 to 6The embodiment of the application discloses an outer rotor motor with rotating speed monitoring for a laser radar, which comprises a motor shaft 1, a shell, a bearing 5, a rotor assembly 2, a circuit board 6, a speed measuring device 8, a rotating speed sampling device 7, a magnetic steel 10 and a stator assembly 9. The shell comprises an upper shell 3 and a bottom shell 4, and the upper shell 3 and the bottom shell 4 are arranged at two ends of the shaft respectively. Specifically, the upper shell 3 is fixed on the upper end of the shaft by screws, and the lower end of the shaft is fixed by being pressed into the bottom shell 4 through interference fit. The bearing 5 is arranged on the upper end of the shaft close to the upper shell 3, and an O-ring is arranged on the shaft at a position corresponding to the bearing 5, and the bearing 5 is fixed by being closely combined with the O-ring. The rotor assembly 2 comprises a rotor yoke 21, an optical mirror 22 and a light shielding ring 23. The rotor yoke 21 is arranged on the outer periphery of the bearing 5, and the outer periphery of the rotor yoke 21 is two-layer stepped. The optical mirror 22 is fixed on the outer periphery of the rotor yoke 21 and overlaps the stepped surface of the lower layer of the rotor yoke 21. The light shielding ring 23 is arranged on the end of the motor shaft 1 close to the upper shell 3 and overlaps and presses against the rotor yoke 21 and the optical mirror 22, and a sampling position is arranged on the light shielding ring 23. The magnetic steel 10 is arranged on the inner wall of the end of the rotor yoke 21 close to the bottom shell 4. The stator assembly 9 is arranged on the end of the motor shaft 1 close to the bottom shell 4 and is located on the inner side of the magnetic steel 10. The circuit board 6 is arranged on the shell. The speed measuring device 8 is arranged on the bottom shell 4 and corresponds to the bottom end of the rotor yoke 21, and the rotating speed sampling device 7 is arranged on the upper shell 3 and corresponds to the light shielding ring 23. The speed measuring device 8 and the rotating speed sampling device 7 are electrically connected and form a double closed-loop control system. When the sampling position reaches the rotating speed sampling device 7, the rotating speed sampling device 7 collects the motor rotating speed signal once, and controls and adjusts the motor rotating speed through the double closed-loop control system. The circuit and working principle of the double closed-loop control system are not described and limited in detail, and are the working principle and circuit structure of the existing conventional speed-current double closed-loop control system. Due to the compactness of the structure of the laser radar motor, the design of the double closed-loop control system becomes a difficulty, and the rotating speed sampling device 7 and the speed measuring device 8 are reasonably designed, one of which is arranged on the bottom shell 4 and the other is arranged on the upper shell 3, the rotating speed sampling device 7 is designed by utilizing the gap between the bottom shell 4 and the bottom end of the rotor yoke 21, and the speed measuring device 8 is arranged by utilizing the gap between the upper shell 3 and the light shielding ring 23, the two are electrically connected to form a double closed-loop speed control system, the motor rotating speed is monitored and controlled in real time, and the stability of the motor rotating speed is greatly improved, and the stability of the laser radar point cloud imaging is ensured. The speed measuring device 8 and the rotating speed sampling device 7 do not occupy the space outside the original laser radar motor, the structure is reasonably designed, the design and installation difficulty of the speed measuring device of the existing laser radar motor are solved.

[0039] As Figure 5As shown, the circuit board 6 comprises three parts, respectively, a first part 61 arranged on the bottom shell 4, a second part 62 arranged on the upper shell 3 and a third part 63 connecting the first part 61 and the second part 62 and located outside the ring wall 41 of the outer periphery of the rotor yoke 21. The rotational speed sampling device 7 is arranged on the upper shell 3, and the rotational speed measuring device 8 is arranged on the bottom shell 4. More specifically, as shown in Figure 3 As shown, a first recess 42 is formed on the left upper surface of the bottom shell 4, and the first part 61 is clamped in the first recess 42. As shown in Figure 4 As shown, a second recess 31 is formed on the left upper surface of the upper shell 3, and the second part 62 is fixed in the second recess 31 by screws or other fasteners. Correspondingly, a connecting hole is formed on the second recess 31 for connecting the screws or other fasteners. In order to facilitate the rotational speed sampling device 7 to correspond to the sampling point on the light shielding ring 23 below the upper shell 3 to sample the rotational speed of the light shielding ring 23, a through hole 32 is formed on the second recess 31 to pass through the upper shell 3, and the rotational speed sampling device 7 is fixed at the bottom of the second part 62 and extends into the through hole 32 to the bottom surface of the upper shell 3 and suspends directly above the light shielding ring 23. More specifically, as shown in Figure 5 As shown, the rotational speed sampling device 7 is in inverted U-shaped structure, and the two side walls of the inverted U-shaped structure correspond to the inner and outer circumferential walls of the light shielding ring 23, that is, the light shielding ring 23 is located between the two side walls of the U-shaped structure. When the sampling point on the light shielding ring 23 reaches the middle of the two side walls of the rotational speed sampling device 7 as the rotor yoke 21 rotates, the rotational speed sampling device 7 samples the rotational speed once. Preferably, the rotational speed sampling device 7 in the embodiment is a conventional encoder on the market, and its working principle and specific structure are not described and limited in detail. As shown in Figure 6 As shown, the sampling site is a notch 231 formed on the light shielding ring 23 and extending from top to bottom along the axial direction of the light shielding ring 23, and the bottom of the notch 231 does not extend to the bottom circumferential surface of the light shielding ring 23.

[0040] For the rotational speed measuring device 8, it is a conventional position sensor on the market, and in the embodiment, it is preferably a Hall sensor, and its specific structure and working principle are not described and limited in detail, which is prior art. As shown in Figure 5 As shown, the number of Hall sensors in the embodiment is three, and the three Hall sensors are arranged on the first part 61 in a circumferential direction, that is, the three Hall sensors fall on the projection of the lower circumferential surface of the rotor yoke 21 on the bottom shell 4.

[0041] According to the preferred embodiment of the embodiment, in order to prevent the second part 62 of the circuit board 6 from scratching the rotor assembly 2, as shown in Figures 1 to 3As shown, the optical mirror 22 is further provided with a protective ring wall 41, a gap is reserved between the inner wall of the protective ring wall 41 and the outer wall of the optical mirror 22, the bottom of the protective ring wall 41 is connected with the outer periphery of the bottom shell 4, and the second part 62 is located outside the protective ring wall 41, that is, the ring wall 41 and the bottom shell 4 form a U-shaped structure with an open top. In order to make the second part 62 extend to the outside of the ring wall 41, an avoiding hole 411 is formed on the second part 62 or the connection between the second part 62 and the ring wall 41, and the second part 62 extends to the outside of the ring wall 41 through the avoiding hole 411. Preferably, the ring wall 41 and the bottom shell 4 are integrally formed. As shown in the figure, Figure 3 As shown, the inner wall of the ring wall 41 is in a reverse tapered structure gradually close to the optical mirror 22 from top to bottom. The cradle structure not only prevents the circuit board 6 from being scratched by the rotor assembly 2, but also protects the optical mirror 22 from being damaged by collision. More preferably, the inner wall surface of the ring wall 41 is an arc surface. Optionally, the ring wall 41 is not a closed ring. As shown in the figure, Figure 3 As shown, the front of the ring wall 41 is provided with an opening.

[0042] As shown in the figure, Figure 1 and Figure 6 As shown, the optical mirror 22 is further provided with a protective ring wall 41, a gap is reserved between the inner wall of the protective ring wall 41 and the outer wall of the optical mirror 22, the bottom of the protective ring wall 41 is connected with the outer periphery of the bottom shell 4, and the second part 62 is located outside the protective ring wall 41, that is, the ring wall 41 and the bottom shell 4 form a U-shaped structure with an open top. In order to make the second part 62 extend to the outside of the ring wall 41, an avoiding hole 411 is formed on the second part 62 or the connection between the second part 62 and the ring wall 41, and the second part 62 extends to the outside of the ring wall 41 through the avoiding hole 411. Preferably, the ring wall 41 and the bottom shell 4 are integrally formed. As shown in the figure,

[0043] As shown in the figure,

[0044] The embodiment of the present application also provides a laser radar comprising the laser radar outer rotor motor with rotation speed monitoring. The other structures of the laser radar except the motor are not described and limited, which are the conventional structures. Since the outer rotor motor is used, the beneficial effects of the outer rotor motor are achieved.

[0045] It should be understood that the above specific embodiments of the present application are only used for illustrative or explanatory purposes of the principles of the present application, and do not constitute a limitation of the present application. Therefore, any modification, equivalent replacement, improvement, etc. made without departing from the spirit and scope of the present application shall be included in the protection scope of the present application. In addition, the appended claims of the present application are intended to cover all changes and modifications falling within the scope and boundary of the appended claims, or the equivalent forms of such scope and boundary.

Claims

1. A laser radar outer rotor motor with rotation speed monitoring, characterized in that, The motor shaft (1) is sleeved with a bearing (5); The shell includes an upper shell (3) and a bottom shell (4) arranged at both ends of the motor shaft (1) respectively; The rotor assembly (2) includes a rotor yoke (21) fixed to the outer ring of the bearing (5), an optical mirror (22) fixed to the periphery of the rotor yoke (21), and a light shielding ring (23) sleeved on the end of the motor shaft (1) close to the upper shell (3), and the light shielding ring (23) is provided with a sampling position; The rotational speed sampling device (7) is arranged on the upper shell (3) and corresponds to the light shielding ring (23); A plurality of speed measuring devices (8) are arranged on the bottom shell (4) and correspond to the bottom end of the rotor yoke (21), which are circuit-connected with the rotational speed sampling device (7) and constitute a double closed-loop control system; And The circuit board (6) includes: A first part (61) arranged on the bottom shell (4), and the speed measuring device (8) is arranged on the first part (61); A second part (62) fixed to the upper shell (3), and the rotational speed sampling device (7) is arranged at the bottom of the second part (62); A third part (63) connected between the first part (61) and the second part (62); When the sampling position turns to the rotational speed sampling device (7), the rotational speed sampling device (7) collects the motor rotational speed signal once, and controls and adjusts the motor rotational speed through the double closed-loop control system. The speed measuring device (8) is a position sensor, and the number is three and is arranged on the first part (61) in a circumferential direction.

2. The laser radar outer rotor motor with rotation speed monitoring according to claim 1, characterized in that The upper end surface of the bottom shell (4) is provided with a first recess (42) concave downward, and the first part (61) is fixed in the first recess (42).

3. The laser radar outer rotor motor with rotation speed monitoring according to claim 1 or 2, characterized in that The rotational speed sampling device (7) is an encoder.

4. The laser radar outer rotor motor with rotation speed monitoring according to claim 1, characterized in that, The upper surface of the upper shell (3) is provided with a second recess (31) concave downward, the second part (62) is fixed in the second recess (31), and the second recess (31) is provided with a through hole (32) for the rotational speed sampling device (7) to extend to the lower surface of the upper shell (3).

5. The laser radar outer rotor motor with rotation speed monitoring according to claim 1 or 4, characterized in that, The outer edge of the bottom shell (4) is further provided with an annular wall (41) structure extending upward, the annular wall (41) structure has a gap with the optical mirror (22), the second part (62) is located outside the annular wall (41) structure, and the annular wall (41) structure is provided with an avoiding hole (411) for the second part (62) to pass through at the connection with the bottom shell (4).

6. The laser radar outer rotor motor with rotation speed monitoring according to claim 1, characterized in that, The annular wall (41) structure is not a closed ring.

7. The laser radar outer rotor motor with rotation speed monitoring according to claim 6, characterized in that The sampling position is a notch (231) extending in the axial direction arranged on the light shielding ring (23).

8. The laser radar outer rotor motor with rotation speed monitoring according to claim 1, characterized in that, The laser radar outer rotor motor with rotational speed monitoring of any one of claims 1-8.

9. A lidar, comprising: ​

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