A mirror mounting device and a laser radar

Abstract

The application relates to the technical field of laser radars, and discloses a mirror mounting device and a laser radar. The mirror mounting device comprises a mounting bracket, a base and a one-to-one corresponding arrangement of electromagnets and magnetic pieces, the mounting bracket is used for carrying a mirror; the base is provided with a rotating shaft, the mounting bracket can rotate along the rotating shaft; the magnetic pieces are arranged on one side of the base close to the mounting bracket, and the two sides of the rotating shaft are both provided with the magnetic pieces; the electromagnets are arranged on one side of the mounting bracket close to the base; or the electromagnets are arranged on one side of the base close to the mounting bracket, and the two sides of the rotating shaft are both provided with the electromagnets; the magnetic pieces are arranged on one side of the mounting bracket close to the base; the electromagnets can be mutually attracted or repelled with the magnetic pieces, so that the mounting bracket swings relative to the base. The application realizes the uniform swinging of the mounting bracket relative to the base along the rotating shaft through the mutual attraction or repulsion between the electromagnets and the magnetic pieces; the application has good adaptability, a simple structure and low cost.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of laser radar, in particular to a mirror mounting device and a laser radar. BACKGROUND

[0002] The existing laser radar, in order to realize the installation of the mirror, usually adopts the following two schemes: galvanometer motor, adopts multi-turn coil power driving middle shaft to drive the mirror to scan the angle of deflection; however, the galvanometer motor is large in size, the larger the mirror, the larger the motor size, and it is impossible to realize the small size of the radar. Silicon substrate resonant mirror, which utilizes Lorentz force to cause silicon substrate vibration to scan the angle of deflection; however, the silicon substrate resonant mirror is high in frequency, and is sensitive to vibration due to the thin and brittle silicon substrate, and is easily damaged by vibration, and is high in cost. And the above two kinds cannot swing uniformly.

[0003] Therefore, there is an urgent need for a mirror mounting device and a laser radar to solve the above problems. SUMMARY

[0004] Based on the above, the purpose of the present application is to provide a mirror mounting device and a laser radar, which is good in adaptability, low in cost, and can also realize the uniform swing of the mirror.

[0005] In order to achieve the above purpose, the technical scheme adopted by the present application is as follows:

[0006] A mirror mounting device, comprising:

[0007] A mounting bracket for carrying a mirror;

[0008] A base provided with a rotating shaft, the mounting bracket can rotate along the rotating shaft;

[0009] A one-to-one corresponding electromagnetic and magnetic piece, the magnetic piece is arranged on one side of the base close to the mounting bracket, and the rotating shaft is provided with the magnetic piece on both sides, and the electromagnetic is arranged on one side of the mounting bracket close to the base; or the electromagnetic is arranged on one side of the base close to the mounting bracket, and the rotating shaft is provided with the electromagnetic on both sides, and the magnetic piece is arranged on one side of the mounting bracket close to the base;

[0010] The electromagnetic can be attracted or repelled with the magnetic piece to make the mounting bracket swing relative to the base.

[0011] As a preferred scheme of the mirror mounting device, the mirror mounting device further comprises an angle detection assembly arranged at one end of the rotating shaft, for detecting the swing angle of the mounting bracket.

[0012] As a preferred scheme of the mirror mounting device, the angle detecting assembly comprises an angle sensor and a circuit board electrically connected with the angle sensor, the angle sensor is coaxially arranged with the rotating shaft, and the circuit board is arranged on the base.

[0013] As a preferred scheme of the mirror mounting device, the electromagnet comprises a core and a coil wound on the core, and the coil can be selectively energized.

[0014] As a preferred scheme of the mirror mounting device, the swing frequency of the mounting bracket is 5-250 Hz.

[0015] As a preferred scheme of the mirror mounting device, the base is provided with a connecting bolt connected with the electromagnet.

[0016] As a preferred scheme of the mirror mounting device, the distance between the two magnetic members and the rotating shaft is the same.

[0017] As a preferred scheme of the mirror mounting device, the mounting bracket is provided with a mounting groove, and the mirror is arranged in the mounting groove.

[0018] As a preferred scheme of the mirror mounting device, the base is provided with a bearing coaxially arranged with the rotating shaft, and the mounting bracket is connected with the inner ring of the bearing.

[0019] A laser radar comprises a laser device and a mirror, and the mirror is arranged in the mirror mounting device comprising any of the above schemes.

[0020] The mirror mounting device has the following advantages:

[0021] The mounting bracket is arranged to mount the mirror, when the mounting bracket swings relative to the base about the rotating shaft, the mirror on the mounting bracket also swings to reflect the laser emitted by the laser device, one of the electromagnet and the magnetic member is arranged on the mounting bracket and the other is arranged on the base, when the electromagnet and the magnetic member attract or repel each other, the mounting bracket swings relative to the base along the rotating shaft, the electromagnet and the magnetic member are arranged on both sides of the rotating shaft, the magnetic direction, size and frequency of the electromagnet can be adjusted, so that the attractive force or repulsive force between the electromagnet and the magnetic member can be adjusted to realize uniform swing of the mirror, and the mirror mounting device has the advantages of good adaptability, simple structure and low cost. BRIEF DESCRIPTION OF DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments of the present application will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and all other drawings obtained by those skilled in the art based on the embodiments of the present application without creative effort fall within the scope of the present application.

[0023] Figure 1 Fig. 1 is a schematic view of a mirror mounting device provided in the first embodiment of the present application;

[0024] Figure 2 Fig. 2 is a sectional view of the mirror mounting device provided in the first embodiment of the present application in the A-A direction; Figure 1

[0025] Figure 3 Fig. 3 is a sectional view of the mirror mounting device provided in the first embodiment of the present application in the B-B direction. Figure 1

[0026]

[0027] 100, mirror;

[0028] 1, mounting bracket;

[0029] 2, base; 21, connecting bolt; 22, bearing;

[0030] 3, electromagnet; 31, core; 32, coil;

[0031] 4, magnetic member;

[0032] 5, angle detection assembly; 51, angle sensor; 52, circuit board. DETAILED DESCRIPTION

[0033] In order to make the technical problems solved by the present application, the technical solutions adopted and the technical effects achieved more clear, the technical solutions of the embodiments of the present application will be further described in detail below with reference to the drawings. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative effort fall within the scope of the present application.

[0034] Embodiment one

[0035] As Figures 1-3 ​​​As shown, the embodiment provides a mirror mounting device for a laser radar, which comprises a mounting bracket 1 for carrying a mirror 100, a base 2, and a one-to-one corresponding arrangement of electromagnets 3 and magnetic pieces 4. The base 2 is provided with a rotating shaft, and the mounting bracket 1 can rotate along the rotating shaft. The electromagnets 3 are arranged on the side of the base 2 close to the mounting bracket 1, and the two sides of the rotating shaft are both provided with electromagnets 3. The magnetic pieces 4 are arranged on the side of the mounting bracket 1 close to the base 2. The electromagnets 3 and the magnetic pieces 4 can be mutually attracted or repelled, so as to swing the mounting bracket 1 relative to the base 2.

[0036] The mounting bracket 1 is arranged to realize the mounting of the mirror 100. Compared with the silicon substrate in the background art, the mirror 100 has the advantages of low cost and not easy to be damaged.

[0037] When the mounting bracket 1 swings along the rotating shaft relative to the base 2, the mirror 100 on the mounting bracket 1 is also swung, so as to realize the reflection of the laser emitted by the laser device. The one-to-one corresponding arrangement of the electromagnets 3 and the magnetic pieces 4 can realize the swinging of the mounting bracket 1 along the rotating shaft relative to the base 2 when the electromagnets 3 and the magnetic pieces 4 are mutually attracted or repelled. Compared with the mounting structure of the galvanometer motor in the prior art, the embodiment does not need to arrange the galvanometer motor, so it does not need to consider the size of the mirror 100. It can not only adapt to the swinging of the mirror 100 with a large size, but also adapt to the swinging of the mirror 100 with a small size, thereby improving the versatility of the mirror mounting device.

[0038] In addition, the two sides of the rotating shaft are both provided with electromagnets 3 or magnetic pieces 4. Since the magnetic direction, size and frequency of the electromagnets 3 are adjustable, the attractive force or repulsive force between the electromagnets 3 and the magnetic pieces 4 is adjustable, so as to realize the uniform swinging of the mirror 100.

[0039] In summary, the mirror mounting device also has the advantages of low cost, good versatility, and uniform swinging.

[0040] It can be understood that the two sides of the rotating shaft are both provided with electromagnets 3. The two sides are limited so that the two electromagnets 3 can be repelled or attracted with the magnetic pieces 4, so as to swing the mounting bracket 1 relative to the base 2. Those skilled in the art can arrange the two electromagnets 3 at any position on the two sides of the rotating shaft to realize the above-mentioned swinging function.

[0041] As an alternative to the mirror mounting device, to achieve the installation of the mirror 100, the mounting bracket 1 is provided with a mounting groove, and the mirror 100 is placed in the mounting groove. By providing the mounting bracket 1 with a mounting groove, on the one hand, the mirror 100 and the mounting bracket 1 can be accurately positioned, and on the other hand, the stability of the mirror 100 during swinging can be ensured, and the change of the mirror position during swinging can be avoided to affect the accuracy.

[0042] To achieve the rotational connection between the mounting bracket 1 and the base 2, the base 2 is provided with bearings 22 coaxially arranged with the rotating shaft, and the mounting bracket 1 is connected with the inner ring of the bearings 22. The bearings 22 are provided with two, respectively located at both ends of the rotating shaft, so that the swinging of the mounting bracket 1 relative to the base 2 is more stable and smooth.

[0043] Specifically, the electromagnet 3 includes a core 31 and a coil 32 wound on the core 31, and the coil 32 can be selectively energized. By energizing the coil 32, the electromagnet 3 generates a magnetic pole, and by the attractive force or repulsive force between the magnetic pole and the magnetic member 4, the driving of the mounting bracket 1 is achieved.

[0044] It is worth noting that the polarity and size of the magnetic pole can be adjusted by changing the size, direction and frequency of the current on the coil 32, and thus the swinging frequency of the mirror 100 is adjusted to better control the uniformity of the swinging of the mounting bracket 1. Exemplarily, the repulsive force can be generated between the corresponding electromagnet 3 and the magnetic member 4. As shown in Figure 2 When the current is controlled to make the repulsive force between the left electromagnet 3 and the magnetic member 4 greater than the repulsive force between the right electromagnet 3 and the magnetic member 4, the mounting bracket 1 can rotate clockwise; when the current is controlled to make the repulsive force between the left electromagnet 3 and the magnetic member 4 less than the repulsive force between the right electromagnet 3 and the magnetic member 4, the mounting bracket 1 can rotate counterclockwise.

[0045] Alternatively, the swinging frequency of the mounting bracket 1 is 5HZ-250HZ. The mirror 100 at this swinging frequency can cooperate with the laser device to meet the scanning in most use scenarios. Secondly, the relatively low swinging frequency effectively avoids the problem that the mirror is easily damaged in a high-frequency swinging environment. Those skilled in the art can set the swinging frequency of the mounting bracket 1 according to actual needs, which is not limited here.

[0046] In this embodiment, the distance between the two magnetic members 4 and the rotating shaft is the same, and since the electromagnet 3 and the magnetic member 4 are arranged one by one, when the same parameter current is passed through the two electromagnets 3, the force acting on the corresponding magnetic member 4 is the same, which is convenient for subsequent adjustment of the swinging angle of the mounting bracket 1.

[0047] Optionally, to realize the connection between the electromagnet 3 and the base 2, the base 2 is provided with a connecting bolt 21, and the connecting bolt 21 is connected with the electromagnet 3. Specifically, the iron core 31 is provided with a threaded hole, and the connecting bolt 21 is screwed into the threaded hole of the iron core 31 after being arranged on the base 2, so as to facilitate the disassembly and replacement of the electromagnet 3. Exemplarily, the magnetic member 4 can be mounted on the base 2 by adhesion or threaded connection.

[0048] As an optional solution of the mirror mounting device, the mirror mounting device further comprises an angle detection assembly 5 arranged at one end of the rotating shaft and used for detecting the swing angle of the mounting bracket 1. It is worth noting that the angle detection assembly 5 is in communication connection with the electromagnet 3, and the swing angle of the mounting bracket 1 is detected in real time, and the parameters of the current entering the coil 32 are controlled accordingly, so as to more timely and accurately control the uniformity of the swing of the mounting bracket 1.

[0049] Further, the angle detection assembly 5 comprises an angle sensor 51 and a circuit board 52 in electrical connection with the angle sensor 51. The angle sensor 51 is arranged coaxially with the rotating shaft, and the circuit board 52 is arranged on the base 2, so as to ensure that the swing parameters of the mounting bracket 1 detected by the angle sensor 51 are more accurate. The circuit board 52 is in communication connection with the electromagnet 3, and on one hand, the swing parameters of the mounting bracket 1 detected by the angle sensor 51 are acquired, and on the other hand, the parameters of the current entering the coil 32 are controlled in real time according to the parameters.

[0050] The embodiment also discloses a laser radar comprising a laser device and a mirror 100, and the mirror 100 is arranged on the mirror mounting device according to any one of the above solutions.

[0051] Embodiment two

[0052] The difference between the embodiment and the embodiment one is that the magnetic member 4 is arranged on the side of the base 2 close to the mounting bracket 1, and the magnetic member 4 is arranged on both sides of the rotating shaft, and the electromagnet 3 is arranged on the side of the mounting bracket 1 close to the base 2. Through the above arrangement, the swing of the mounting bracket 1 relative to the base 2 can also be realized.

[0053] It is to be understood that the above only describes the preferred embodiments of the present application and the technical principles applied. Those skilled in the art will understand that the present application is not limited to the specific embodiments described herein, and those skilled in the art can make various obvious changes, readjustments and substitutions without departing from the scope of the present application. Therefore, although the present application has been described in detail through the above embodiments, the present application is not limited to the above embodiments, and can include more other equivalent embodiments without departing from the concept of the present application, and the scope of the present application is determined by the appended claims.

[0054] In the description of the application, it is necessary to point out that, unless otherwise explicitly specified and limited, "on" or "under" of the first feature to the second feature can include the first feature and the second feature directly contact, but also can include the first feature and the second feature is not directly contact but contact through another feature between them. Moreover, "on", "above" and "above" of the first feature to the second feature includes the first feature above and obliquely above the second feature, or just indicates that the horizontal height of the first feature is higher than the second feature. "Under", "below" and "below" of the first feature to the second feature includes the first feature below and obliquely below the second feature, or just indicates that the horizontal height of the first feature is less than the second feature.

[0055] In the description of the application, it is necessary to point out that, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting" should be understood broadly, for example, can be fixedly connected, can also be detachably connected, or integrally connected; can be mechanically connected, can also be electrically connected; can be directly connected, can also be indirectly connected through an intermediate medium, can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the application can be understood according to the specific circumstances.

Claims

1. A mirror mounting device, characterized by, The application relates to a mirror mounting device. The mounting bracket (1) is used for bearing a mirror (100); a base (2) is provided with a rotating shaft, and the mounting bracket (1) can rotate along the rotating shaft; an electromagnet (3) and a magnetic piece (4) are arranged in one-to-one correspondence; the magnetic piece (4) is arranged on the side of the base (2) close to the mounting bracket (1), and the magnetic pieces (4) are arranged on the two sides of the rotating shaft; the electromagnet (3) is arranged on the side of the mounting bracket (1) close to the base (2); or the electromagnet (3) is arranged on the side of the base (2) close to the mounting bracket (1), and the electromagnets (3) are arranged on the two sides of the rotating shaft; the magnetic piece (4) is arranged on the side of the mounting bracket (1) close to the base (2); the electromagnet (3) and the magnetic piece (4) can be mutually attracted or repelled, so that the mounting bracket (1) swings relative to the base (2); the magnetic direction, size and frequency of the electromagnet (3) can be adjusted; the distance between the two magnetic pieces (4) and the rotating shaft is the same. The mirror mounting device further comprises an angle detection assembly (5) arranged at one end of the rotating shaft and used for detecting the swing angle of the mounting bracket (1). The angle detection assembly (5) comprises an angle sensor (51) and a circuit board (52) electrically connected with the angle sensor (51); the angle sensor (51) is coaxially arranged with the rotating shaft; and the circuit board (52) is arranged on the base (2). The electromagnet (3) comprises an iron core (31) and a coil (32) wound on the iron core (31); and the coil (32) can be selectively electrified. The swing frequency of the mounting bracket (1) is 5-250 Hz.

2. The mirror mounting device of claim 1, wherein The base (2) is provided with a connecting bolt (21) connected with the electromagnet (3).

3. The mirror mounting device of claim 2, wherein The mounting bracket (1) is provided with a mounting groove, and the mirror (100) is arranged in the mounting groove.

4. The mirror mounting device according to any one of claims 1 to 3, characterized in that The base (2) is provided with a bearing (22) coaxially arranged with the rotating shaft, and the mounting bracket (1) is connected with the inner ring of the bearing (22).

5. The mirror mounting device of claim 4, wherein The application further relates to a laser device and a mirror (100), and the mirror (100) is arranged in the mirror mounting device according to any one of claims 1-8.

6. The mirror mounting device of claim 1, 2, 3, or 5, wherein, ​ 7. The mirror mounting device of claim 1, 2, 3, or 5, wherein, ​ 8. The mirror mounting device of claim 1, 2, 3, or 5, wherein, ​ 9. A lidar, comprising: ​

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