Scanning device

Abstract

A scanning device comprises: a magnetic device and a support assembly, wherein the support assembly comprises: an outer frame, the outer frame having at least one pair of parallel and linear power edges; the magnetic device comprising at least one magnet group, the magnet group comprising two convex polyhedron magnets corresponding to the power edges, the surfaces of the magnets facing the outer frame being parallel to the power edges; the outer frame being located in the gap between the two magnets, and being located between the upper and lower surfaces of each magnet in a direction perpendicular to the plane of the outer frame. In the present invention, the magnets in the magnetic device do not need to be arranged in a curved shape, and can be used in compact coordination with the outer frame, thereby enabling the use of magnets with regular shapes; and a relatively uniform magnetic field can be obtained without arranging multiple magnets on the same side of the outer frame. Therefore, the scanning device of the present invention is easier to produce, has lower costs, and is less difficult to install.

Description

Technical Field

[0001] The present invention relates to the field of laser detection, and in particular to a scanning device. Background Art

[0002] LiDAR is a commonly used distance-measuring sensor, characterized by long detection range, high resolution, and minimal environmental interference. It is widely used in intelligent robots, drones, and autonomous vehicles. Autonomous driving technology has developed rapidly in recent years, and LiDAR, as its core distance-measuring sensor, has become indispensable.

[0003] In a scanning LiDAR, light is reflected by the reflective surface of the scanning device, forming the scanning beam. For LiDAR systems with long-range detection, the scanning device must have a large optical aperture to receive the echo signal.

[0004] However, as the aperture of the scanning device increases, it will inevitably occupy a larger volume, and in order to make the lidar structure compact, the production cost will increase. Summary of the Invention

[0005] The problem solved by the present invention is to provide a scanning device to reduce the production cost thereof.

[0006] To solve the above problems, the present invention provides a scanning device, comprising: a magnetic device and a support assembly, wherein the magnetic device is used to generate a single directional magnetic field, and the support assembly is used to set a coil and a scanning mirror; wherein the support assembly comprises: an outer frame, wherein the outer frame has at least one pair of mutually parallel power edges, and the power edges are straight edges; the magnetic device comprises at least one magnet group, and the magnet group comprises two convex polyhedral magnets, and the two magnets in the same magnet group are arranged at intervals along a first direction, wherein the first direction is perpendicular to the extension direction of the power edge, and the surface of the magnet facing the outer frame is parallel to the power edge; the outer frame is located in the interval between the two magnets, and in the direction perpendicular to the plane where the outer frame is located, the outer frame is located between the upper and lower surfaces of each of the magnets.

[0007] Optionally, the support assembly further includes: two anchor areas, the two anchor areas being located on both sides of the outer frame along a second direction, the second direction being not orthogonal to the extension direction of the power side; and two first torsion beams, the two first torsion beams respectively connecting different anchor areas and the outer frame.

[0008] Optionally, the two first torsion beams have the same shape.

[0009] Optionally, the first torsion beam is at least one of a serpentine beam, a folded beam or a straight beam.

[0010] Optionally, the support assembly further includes: an inner frame, which is located inside the outer frame; two second torsion beams, which are located on both sides of the inner frame along a third direction to connect the inner frame and the outer frame, and the third direction intersects with the second direction.

[0011] Optionally, the two second torsion beams have the same shape.

[0012] Optionally, the second torsion beam is at least one of a serpentine beam, a folded beam or a straight beam.

[0013] Optionally, the shape of the second torsion beam is different from that of the first torsion beam.

[0014] Optionally, the power edges are connected by at least one connecting edge to reduce the length of the outer frame between the first torsion beam and the second torsion beam.

[0015] Optionally, the connecting edge is a straight edge or a curved edge.

[0016] Optionally, the length of the power side is greater than the length of any of the connecting sides.

[0017] Optionally, along the extension direction of the power side, the length of the magnet is greater than the length of the power side.

[0018] Optionally, in a cross section parallel to the plane where the outer frame is located, a pair of sides of the cross section of the magnet are parallel to the extension direction of the power side.

[0019] Optionally, the cross-section of the magnet is in the shape of a rectangle or a right-angled trapezoid.

[0020] Optionally, the outer frame is in the shape of a polygon.

[0021] Optionally, the outer frame is in the shape of a point-symmetrical polygon.

[0022] Optionally, it also includes: one or more coils.

[0023] Optionally, there are multiple coils; the multiple coils are stacked on the outer frame in sequence along a direction perpendicular to the plane where the outer frame is located; or, the multiple coils are surrounded and arranged in sequence in a plane parallel to the outer frame.

[0024] Compared with the prior art, the technical solution of the present invention has the following advantages:

[0025] In the scanning device of the present invention, the outer frame located between two magnets in the same magnet group has at least one pair of parallel, linear power edges, and the surface of the magnet facing the outer frame is parallel to the power edges. Furthermore, in a direction perpendicular to the plane of the outer frame, the outer frame is located between the upper and lower surfaces of each magnet. Therefore, the magnetic device in this technical solution does not need to be configured as a curved shape to achieve compact use with the outer frame, thereby enabling the use of magnets with regular shapes. Moreover, a relatively uniform magnetic field can be achieved without placing multiple magnets on the same side of the outer frame. Therefore, the scanning device of the present invention is easier to produce, less expensive, and less difficult to install.

[0026] In an optional solution of the present invention, the power sides are connected by at least one connecting side. By connecting the power sides via the connecting side to form the outer frame, the length of the outer frame sides other than the power sides can be minimized as needed, thereby effectively reducing the load on the outer frame during vibration. Furthermore, along the extension direction of the power sides, the length of the magnet is greater than that of the power sides, effectively increasing the driving force when the outer frame vibrates. Therefore, the reduced load and increased driving force contribute to improved driving efficiency.

[0027] In an optional solution of the present invention, the length of the power side is greater than the length of any of the connecting sides. By increasing the length of the power side and decreasing the length of the connecting side, the Lorentz force acting on the coil can be increased while reducing the load on the outer frame during torsion. Simultaneously increasing the torque and reducing the load can reduce the difficulty of driving the outer frame and increase the outer frame driving speed and outer frame vibration speed.

[0028] In an optional embodiment of the present invention, the first torsion beam connecting the outer frame and the anchor area can be a serpentine beam or a folded beam, and the second torsion beam connecting the outer frame and the inner frame can also be a serpentine beam or a folded beam. Using a serpentine beam or a folded beam can increase the physical length of the torsion beam, thereby reducing its stiffness and allowing the scanning device to have a larger rotation angle. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a schematic diagram of the top view of the scanning device;

[0030] Figure 2 is a schematic top view of the structure of the first embodiment of the scanning device of the present invention;

[0031] Figure 3 yes Figure 2 A schematic side view of the scanning device embodiment along direction A;

[0032] Figure 4 yes Figure 2 A schematic cross-sectional view of the scanning device embodiment along line A1A2 is shown;

[0033] Figure 5 is a schematic top view of the structure of a second embodiment of a scanning device of the present invention;

[0034] Figure 6 is a schematic top view of the structure of a third embodiment of a scanning device of the present invention;

[0035] Figure 7 is a schematic top view of the structure of a fourth embodiment of a scanning device of the present invention;

[0036] Figure 8 is a schematic top view of the structure of a fifth embodiment of a scanning device of the present invention;

[0037] Figure 9 is a schematic top view of the structure of a sixth embodiment of a scanning device according to the present invention;

[0038] Figure 10 is a schematic top view of the structure of a seventh embodiment of a scanning device according to the present invention;

[0039] Figure 11 yes Figure 10 A schematic cross-sectional view of the scanning device embodiment along line B1B2 is shown;

[0040] Figure 12 is a schematic top view of the structure of an eighth embodiment of a scanning device according to the present invention;

[0041] Figure 13 is a schematic top view of the structure of a ninth embodiment of a scanning device according to the present invention;

[0042] Figure 14 1 is a schematic top view of the scanning device according to the tenth embodiment of the present invention. DETAILED DESCRIPTION

[0043] As can be seen from the background art, the scanning device in the prior art has the problem of excessively high cost. First, the source of the excessively high cost problem is analyzed in combination with the structure of the scanning device in the prior art.

[0044] The outer frame of the support assembly in the existing scanning device is usually circular, oval, square or other patterns, which is difficult to be used compactly with the conventionally shaped magnets. In order to ensure a compact structure and improve the degree of fit, irregularly shaped magnets are usually used so that the surface of the magnet facing the outer frame is adapted to the shape of the outer frame. Therefore, the magnet often has a curved surface (such as Figure 1 As shown in the middle magnet 10, if the magnet is set to be L-shaped and the surface close to the outer frame is a curved surface, the process difficulty of making the outer surface of the magnet curved is relatively high and the yield rate is low.

[0045] In order to solve the technical problem, the present invention provides a scanning device, comprising: a magnetic device and a support assembly, wherein the magnetic device is used to generate a single directional magnetic field, and the support assembly is used to set a coil and a scanning mirror; wherein the support assembly comprises: an outer frame, wherein the outer frame has at least one pair of mutually parallel power edges, and the power edges are straight edges; the magnetic device comprises at least one magnet group, and the magnet group comprises two convex polyhedral magnets, and the two magnets in the magnet group are arranged at intervals along a first direction, wherein the first direction is perpendicular to the extension direction of the power edges, and the surface of the magnet facing the outer frame is parallel to the power edges; the outer frame is located in the interval between the two magnets, and in the direction perpendicular to the plane where the outer frame is located, the outer frame is located between the upper and lower surfaces of each of the magnets.

[0046] The magnetic device of the present invention can be used compactly with the outer frame without requiring a curved magnet, thus enabling the use of regularly shaped magnets. Furthermore, a relatively uniform magnetic field can be achieved without requiring multiple magnets to be positioned on the same side of the outer frame. Consequently, the scanning device of the present invention is easier to manufacture, less expensive, and less difficult to install.

[0047] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0048] refer to Figures 2 to 4 , shows a schematic structural diagram of an embodiment of a scanning device of the present invention; wherein Figure 2 is a schematic top view of the structure of an embodiment of the scanning device; Figure 3 yes Figure 2 A schematic side view of the scanning device embodiment along direction A; Figure 4 yes Figure 2 The schematic cross-sectional structure diagram of the scanning device embodiment along line A1A2 is shown.

[0049] The scanning device includes: a magnetic device (not marked in the figure) and a support assembly (not marked in the figure), the magnetic device is used to generate a single directional magnetic field, and the support assembly is used to set a coil and a scanning mirror.

[0050] In which, the support assembly includes: an outer frame 110, the outer frame 110 has at least one pair of mutually parallel power edges 111a and 111b, and the power edges 111a and 111b are straight edges; the magnetic device includes at least one magnet group, the magnet group includes two convex polyhedral magnets 121a and 121b, and the two magnets 121a and 121b in the same magnet group are arranged at intervals along a first direction m, wherein the first direction m is perpendicular to the extension direction n of the power edges 111a and 111b, and the surfaces of the magnets 121a and 121b facing the outer frame 110 are parallel to the power edges 111a and 111b.

[0051] The outer frame 110 is located in the interval between the two magnets 121a and 121b. In the direction z perpendicular to the plane where the outer frame 110 is located, the outer frame 110 is located between the upper and lower surfaces of each of the magnets 121a and 121b.

[0052] The outer frame 110, located between two magnets 121a and 121b in the same magnet group, has at least one pair of parallel, linear power edges 111a and 111b, and the surfaces of the magnets 121a and 121b facing the outer frame 110 are parallel to the power edges 111a and 111b. Furthermore, in a direction z perpendicular to the plane of the outer frame 110, the outer frame 110 is located between the upper and lower surfaces of each magnet 121a and 121b. Therefore, the magnetic devices 121a and 121b do not need to be curved to achieve compact use with the outer frame 110, thereby enabling the use of magnets 121a and 121b with regular shapes. Furthermore, a relatively uniform magnetic field can be achieved without the need to arrange multiple magnets 121a and 121b on the same side of the outer frame 110. Therefore, the scanning device of the present invention is easier to produce, less expensive, and less difficult to install.

[0053] The support assembly is suitable for arranging the coil 120 and the scanning mirror 130. Specifically, the outer frame 110 in the support assembly is used to fix the coil 120, thereby providing a torque in one direction for the vibration of the scanning mirror.

[0054] A pair of power sides 111a and 111b of the outer frame 110 correspond to the magnets 121a and 121b respectively. The power sides 111a and 111b are straight lines, that is, the power sides 111a and 111b are long strips.

[0055] In some embodiments of the present invention, the power edges 111a and 111b are connected via at least one connecting edge 117a, 117b, and 117c. Figure 2As shown, the portion of outer frame 110 not corresponding to magnets 121a and 121b is configured as multiple straight connecting edges 117a, 117b, and 117c, so that the portion of outer frame 110 between first torsion beam 113b and second torsion beam 115a is configured as three straight connecting edges. Specifically, the shape of outer frame 110 is preferably a regular octagon.

[0056] In some embodiments of the present invention, the outer frame 110 is in the shape of a polygon. Specifically, the outer frame is in the shape of a point-symmetrical polygon. A pair of parallel power sides are centrally symmetrical about the symmetry center of the outer frame 110.

[0057] like Figure 2 As shown, in this embodiment, the shape of the outer frame 110 is an octagon. Compared with the elliptical outer frame, the use of the octagonal outer frame 110 can reduce the distortion of the scan pattern and improve the scanning performance. In addition, in other embodiments of the present invention, the shape of the outer frame can also be other shapes, such as a diamond (such as Figure 5 (as shown in the outer frame 210 of the scanning device embodiment) or a square.

[0058] like Figure 2 As shown, in some embodiments of the present invention, the support assembly further includes: two anchor areas 112a and 112b, the two anchor areas 112a and 112b are located on both sides of the outer frame 110 along the second direction x, and the second direction x is not orthogonal to the extension direction n of the power edges 111a and 111b (i.e., oblique); two first torsion beams 113a and 113b, the two first torsion beams 113a and 113b respectively connecting different anchor areas 112a and 112b and the outer frame 110.

[0059] The anchoring areas 112a and 112b are connected to the outer frame 110 and can be secured to the housing of the scanning device via fasteners. In this embodiment, the first torsion beams 113a and 113b, respectively connecting the anchoring areas 112a and 112b to the outer frame 110, serve as slow axes, enabling the outer frame 110 to vibrate about the direction in which the first torsion beams 113a and 113b extend. The direction in which the first torsion beams 113a and 113b extend refers to the direction from one end of the first torsion beams 113a and 113b to the other.

[0060] In some embodiments of the present invention, the two first torsion beams 113a and 113b have the same shape. This ensures that the two first torsion beams 113a and 113b can provide a balanced torque for the vibration of the outer frame 110.

[0061] Specifically, such as Figure 2As shown, in this embodiment, the shape of the first torsion beams 113a and 113b is a straight beam. In other embodiments of the present invention, the shape of the first torsion beam can also be a non-linear beam, such as a serpentine beam or a folded beam (such as Figure 6 (As shown in the first torsion beams 313a and 313b of the scanning device embodiment in FIG. 3 ). Setting the first torsion axis as a non-linear beam can extend the actual length of the first torsion beam to reduce the stiffness of the torsion beam, thereby allowing the scanning mirror to obtain a larger rotation angle.

[0062] Continue to refer Figure 2 In some embodiments of the present invention, the support assembly further includes: an inner frame 114, which is located inside the outer frame 110; two second torsion beams 115a and 115b, which are located on both sides of the inner frame 114 along a third direction y to connect the inner frame 114 and the outer frame 110, and the third direction y intersects with the second direction x.

[0063] The inner frame 114 is used to mount a scanning mirror 130 and a coil (not shown) for reflecting a light beam. In this embodiment, the second torsion beams 115a and 115b connecting the inner frame 114 and the outer frame 110 serve as fast axes, enabling the inner frame 114 to vibrate about the direction in which the second torsion beams 115a and 115b extend. The direction in which the second torsion beams 115a and 115b extend refers to the direction from one end of the second torsion beams 115a and 115b to the other.

[0064] like Figure 4 As shown, the scanning mirror 130 is arranged on the inner frame 114 of the support assembly and overlaps with the inner frame 114. The material of the scanning mirror 130 can be glass or metal. When the material of the scanning mirror 130 is metal, the metal surface can be polished to serve as a mirror surface; when the material of the scanning mirror 130 is glass, quartz, sapphire, silicon carbide or other materials, the surface of the scanning mirror can be coated to serve as a mirror surface. This arrangement enables the production of large-sized scanning mirrors. For example, the size of the scanning mirror 130 can be within the range of 10 mm to 20 mm, or even greater than 20 mm. The scanning mirror 130 can be fixed to the inner frame 114 by welding, bonding or other fixing methods, thereby enabling low-cost and large-scale production of scanning devices.

[0065] It should be noted that the scanning mirror can be integrally manufactured on the inner frame in an integrated manner, and can be assembled on the inner frame as an independent component.

[0066] In some embodiments of the present invention, the mirror surface of the scanning mirror 130 may be circular, and the shape of the inner frame 114 may be circular to match the shape of the scanning mirror 130. However, in other embodiments of the present invention, the shape of the scanning mirror may also be square, rectangular, triangular, elliptical, or other polygonal; and the shape of the inner frame may also be square, rectangular, triangular, elliptical, diamond-shaped, or other shapes to match the mirror surface of the scanning mirror.

[0067] In some embodiments of the present invention, the two second torsion beams 115a and 115b have the same shape to ensure that the two second torsion beams 115a and 115b can provide a phase-balanced torque for the vibration of the inner frame 114. Specifically, Figure 2 As shown, in this embodiment, the second torsion beams 115a and 115b are in the shape of straight beams. In other embodiments of the present invention, the second torsion beams may also be in the shape of non-straight beams, such as serpentine beams (e.g. Figure 6 The second torsion beams 315a and 315b of the scanning device embodiment and Figure 7 The second torsion beams 415a and 415b of the scanning device embodiment are shown) or folded beams (such as Figure 8 (As shown in the second torsion beams 515a and 515b of the scanning device embodiment in FIG. 3 ). Setting the first torsion axis as a non-linear beam can extend the actual length of the first torsion beam to reduce the stiffness of the torsion beam, thereby allowing the scanning mirror to obtain a larger rotation angle.

[0068] It should be noted that in this embodiment, the shapes of the second torsion beams 115a and 115b are identical to those of the first torsion beams 115a and 115b, both being linear beams. In other embodiments of the present invention, the shapes of the second torsion beams are different from those of the first torsion beams. That is, the two second torsion beams have the same shape, and the two first torsion beams have the same shape, but the second torsion beams have a different shape from the first torsion beams.

[0069] Continue to refer Figure 2 The magnetic device includes at least one magnet group, which includes two magnets 121a and 121b for generating a single-directional magnetic field. The magnet is in the shape of a convex polyhedron.

[0070] The magnets 121a and 121b are generally permanent magnets. The two magnets 121a and 121b of the same magnet group are located on both sides m of the outer frame 110 along the first direction, and have opposite magnetic pole directions in the direction z perpendicular to the plane of the outer frame 110 and in the direction parallel to the plane of the outer frame 110. Therefore, the two magnets 121a and 121b of the same magnet group can generate a single-directional magnetic field in the plane of the outer frame 110.

[0071] The magnets 121a and 121b correspond to the power sides 111a and 111b of the outer frame 110, respectively. Specifically, the magnets 121a and 121b are disposed outside the power sides 111a and 111b, respectively. That is, the directions of the power sides 111a and 111b pointing toward the magnets 121a and 121b are consistent with the directions from inside the outer frame to outside the outer frame, respectively.

[0072] The surfaces of the magnets 121a and 121b facing the outer frame are parallel to the power edges 111a and 111b. Therefore, in a cross section parallel to the plane of the outer frame 110, the sides of the magnets 121a and 121b close to the outer frame 110 are parallel to the extension direction n of the power edges 111a and 111b.

[0073] In addition, in some embodiments of the present invention, in a cross section parallel to the plane where the outer frame 110 is located, a pair of sides of the cross section of the magnets 121a and 121b are parallel to the extending direction of the power sides 111a and 111b. Figure 2 As shown, in this embodiment, the cross-section of the magnets 121a and 121b is rectangular.

[0074] It should be noted that in order to make the housing of the scanning device smaller and the structure more compact, Figure 9 As shown in the magnets 621a and 621b of the embodiment of the scanning device, the cross-section of the magnets 121a and 121b can also be set to a right-angled trapezoidal shape.

[0075] like Figure 2 As shown, the magnets 121a and 121b are arranged at diagonal corners of the octagonal outer frame 110 and close to the two power edges 111a and 111b of the outer frame 110. The magnets 121a and 121b are arranged at an angle of 45 degrees (as shown in FIG. Figure 2 As shown in , the magnets 121a and 121b are distributed along the m direction, forming a 45° angle with the x direction, the extension direction of the first torsion beams 113a and 113b. It should be noted that in other embodiments of the present invention, the magnets may be distributed at other angles depending on the shape of the outer frame. In other embodiments of the present invention, the magnets may also be symmetrically arranged at relative positions on the outer frame based on the positions of the first torsion beam and the second torsion beam.

[0076] Since the power sides 111a and 111b are straight, the magnets 121a and 121b have regular shapes, i.e., non-curved shapes. The magnets 121a and 121b are easy to manufacture and have low costs.

[0077] Continue to refer Figures 2 to 4 , the scanning device also includes: one or more coils 120.

[0078] Because the outer frame 110 is located in the unidirectional magnetic field generated by the magnetic device, when a driving current is input to the coil 120, the coil 120 is subjected to the Lorentz force in the magnetic field. Since the coil 120 is fixed to the outer frame 110, the outer frame 110 vibrates with the direction in which the first torsion beams 113a and 113b extend as the axis. Furthermore, the outer frame 110 is connected to the inner frame 114 via the second torsion beams 115a and 115b, and the scanning mirror 130 is fixed to the inner frame 114. Therefore, when the outer frame 110 vibrates, the outer frame 110 can drive the inner frame 114 via the second torsion beams 115a and 115b, causing the scanning mirror 130 to vibrate with the direction in which the first torsion beams 113a and 113b extend as the axis.

[0079] On the other hand, the inner frame 114 is also provided with a coil 120, which vibrates in a manner similar to that of the outer frame 110. When a driving current is applied to the coil on the inner frame, the inner frame 114 also vibrates about the direction in which the second torsion beams 115a and 115b extend due to the Lorentz force exerted on the coil, thereby causing the reflector 130 to vibrate about the direction in which the second torsion beams 115a and 115b extend.

[0080] It should be noted that, since the outer frame 110 has a large mass, the vibration frequency of the outer frame 110 is relatively low; while the inner frame can still maintain a relatively high frequency, there is a large frequency difference between the vibration of the reflector 130 with the extension direction of the first torsion beams 113a and 113b as the axis and the vibration of the second torsion beams 115a and 115b as the axis, thereby enabling the scanning device to achieve scanning.

[0081] It should also be noted that to ensure that the outer frame 110 and the inner frame 114 are not disturbed by the unidirectional magnetic field generated by the magnetic device, the support assembly is made of a non-magnetic metal, such as copper. Furthermore, to ensure that the outer frame 110 and the inner frame 114 vibrate back and forth, the driving current is an alternating current.

[0082] In addition, if Figure 3 and Figure 4As shown, the number of coils 120 is two, and they are stacked on the upper and lower surfaces of the outer frame 110 in the direction z perpendicular to the plane of the outer frame 110, and overlap with the outer frame 110. In other embodiments of the present invention, the number of coils can also be 3, 4, 5, or more, and the multiple coils can also be stacked on the outer frame in sequence. Moreover, the number of coils set on the upper and lower surfaces of the outer frame can also be unequal. For example, N coils are stacked in sequence on one surface of the outer frame, and M coils are stacked in sequence on the other surface, where N and M are both integers greater than or equal to 1.

[0083] However, the method of stacking the coils on the outer frame in a direction perpendicular to the plane where the outer frame is located is only an example. In other embodiments of the present invention, the coils can also be stacked left and right in a plane parallel to the outer frame. In other words, the multiple coils can also be arranged in sequence. Therefore, the coils no longer overlap with the outer frame. (For example, Figure 10 and Figure 11 The arrangement of the coil 720 and the outer frame 710 of the scanning device embodiment is shown as follows, wherein Figure 11 yes Figure 10 Schematic diagram of the cross-sectional structure of the scanning device embodiment along line B1B2 shown in FIG).

[0084] In the aforementioned embodiments, the outer frame is in the shape of a regular polygon. However, this is only an example. In other embodiments of the present invention, the outer frame may also be in the shape of an irregular polygon.

[0085] refer to Figure 12 , shows a schematic diagram of the top view of another embodiment of the scanning device of the present invention.

[0086] The present embodiment is similar to the above embodiment, and the present invention will not repeat it here. The present embodiment is different from the above embodiment in that, in the present embodiment, the outer frame 810 is an irregular polygon.

[0087] like Figure 12 As shown, in some embodiments of the present invention, along the extension direction n of the power edges 811a and 811b, the length of the magnets 821a and 821b is greater than the length of the power edges 811a and 811b. The scanning device vibrates based on the Lorentz force exerted on the energized coil in a magnetic field. According to the Lorentz force formula F = BIL, where B is the magnetic field intensity, I is the current in the energized coil, and L is the length of the energized coil in the magnetic field, it can be seen that the greater the length of the power edge corresponding to the magnet, the greater the Lorentz force exerted on the outer frame, and the greater the torsional force distributed to each torsion beam. Therefore, by maximizing the length of the power edges 811a and 811b, the Lorentz force exerted on the outer frame 810 can be effectively increased.

[0088] On the other hand, in some embodiments of the present invention, the power edges 811a and 811b are connected by at least one connecting edge 817a, 817b, 817c, and 817d. The connecting edges 817a, 817b, 817c, and 817d connecting the power edges 811a and 811b in the outer frame 810 act as a load for the outer frame to vibrate. Given a constant Lorentz force on the outer frame, the smaller the load, the more susceptible the outer frame is to vibration. Therefore, by rationally arranging the connecting edges 817a, 817b, 817c, and 817d, the length of the outer frame 810 between the first torsion beam 813b and the second torsion beam 815a can be reduced, thereby achieving the effect of reducing the vibration load on the outer frame.

[0089] In this embodiment, the connecting edges 817a, 817b, 817c and 817d are straight edges. In other embodiments of the present invention, the connecting edges may also be curved edges. Specifically, Figure 12 As shown, the portion of the outer frame 810 that does not correspond to the magnets 821a and 821b is configured as a plurality of straight connecting edges 817a, 817b, 817c, and 817d, that is, the portion of the outer frame 810 between the first torsion beam 813b and the second torsion beam 815a is configured as four straight connecting edges. The connecting edges 817a, 817b, 817c, and 817d are loads for the vibration of the outer frame 810. Therefore, the length and shape of the connecting edges 817a, 817b, 817c, and 817d can be reasonably set to reduce the length of the outer frame between the first torsion beam 813b and the second torsion beam 815a. Figure 5 In the embodiment of the scanning device shown, the shape of the outer frame 210 is set to be a diamond, which can reduce the length of the connecting edge as much as possible to reduce the vibration load of the outer frame 210.

[0090] It should be noted that in order to maximize the driving force of the outer frame 810 and minimize the load of the vibration of the outer frame 810, in some embodiments of the present invention, the length of the power edges 811a and 811b is greater than the length of any of the connecting edges 817a, 817b, 817c and 817d.

[0091] In addition, the method of increasing the driving force of the outer frame 810 and reducing the vibration load of the outer frame 810 by setting the outer frame 817 to an irregular polygon is only an example. In other embodiments of the present invention, the outer frame can also be set to a reasonable regular polygon to achieve this purpose. Figure 13In the illustrated embodiment of the scanning device, the outer frame 910 is octagonal in shape and is axisymmetric about the extension directions of the first torsion beams 913a and 913b and the extension directions of the second torsion beams 915a and 915b, respectively. Furthermore, the power sides 911a and 911b of the octagonal outer frame 910 are extended to increase driving force. Therefore, the shape of the outer frame 817 can be considered a rhombus with the top corners truncated along the diagonal perpendicular lines.

[0092] In addition, the driving force of the outer frame vibration can be increased not only by extending the length of the power side, but also by increasing the number of magnet groups in the magnetic device to increase the magnetic field strength and the number of power sides. Figure 14 As shown, the magnetic device of the scanning device includes two magnet groups: a first magnet group including magnets 1021a and 1021b, and a second magnet group including magnets 1022a and 1022b. Therefore, the sides of the outer frame facing magnets 1021a and 1021b in the first magnet group are first power sides 1011a and 1011b, and the sides of the outer frame facing magnets 1022a and 1022b in the second magnet group are second power sides 1012a and 1012b. The presence of two power sides inevitably increases the driving force for the vibration of the outer frame 1010. Furthermore, as the number of power sides increases, the length of the outer frame between the power sides decreases, thereby reducing the load on the outer frame vibration. Furthermore, according to the calculation formula for the Lorentz force, it can be seen that as the magnetic field strength increases, the current required to generate the same driving force decreases. Therefore, by increasing the magnetic field strength to increase the driving force, the current in the coil can also be reduced, thereby reducing energy consumption.

[0093] In summary, the outer frame between two magnets in the same magnet group has at least one pair of parallel, linear power edges, and the surface of the magnet facing the outer frame is parallel to the power edges. Furthermore, in a direction perpendicular to the plane of the outer frame, the outer frame is located between the upper and lower surfaces of each magnet. Therefore, the magnetic device in this technical solution does not need to be curved to achieve compact use with the outer frame, allowing the use of magnets with regular shapes. Furthermore, a relatively uniform magnetic field can be achieved without the need to place multiple magnets on the same side of the outer frame. Therefore, the scanning device of the present invention is easier to produce, less expensive, and less difficult to install. Furthermore, in an optional embodiment of the present invention, the power edges are connected by at least one connecting edge. By connecting the power edges to form the outer frame via a connecting edge, the length of the outer frame sides other than the power edges can be minimized as needed, thereby effectively reducing the load on the outer frame vibration. Furthermore, along the extension direction of the power edges, the length of the magnet is greater than that of the power edges, effectively increasing the driving force for the outer frame vibration. Therefore, the reduced load and increased driving force contribute to improved driving efficiency and lower magnet cost.

[0094] Although the present invention is disclosed as above, the present invention is not limited thereto. Any person skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the scope of protection of the present invention should be based on the scope defined by the claims.

Claims

1. A scanning device, applied to laser radar, characterized in that: include: A magnetic device and a support assembly, wherein the magnetic device is used to generate a single directional magnetic field, and the support assembly is used to set a coil and a scanning mirror; wherein, The support assembly comprises: An outer frame, the outer frame having at least one pair of parallel power edges, the power edges being straight lines; The magnetic device includes at least one magnet group, the magnet group includes two convex polyhedral magnets, and the pair of power edges respectively correspond to the two magnets of the magnet group; The two magnets in the same magnet group are spaced apart along a first direction and located on both sides of the outer frame along the first direction, wherein the first direction is perpendicular to the extension direction of the power side; The surface of the magnet facing the outer frame is parallel to the corresponding power edge; The outer frame is located in the interval between the two magnets. In a direction perpendicular to the plane where the outer frame is located, the outer frame is located between the upper and lower surfaces of each of the magnets.

2. The scanning device according to claim 1, wherein The support assembly further comprises: two anchor areas, the two anchor areas being located on both sides of the outer frame along a second direction, the second direction being non-orthogonal to an extension direction of the power side; Two first torsion beams, wherein the two first torsion beams respectively connect different anchor areas and the outer frame.

3. The scanning device according to claim 2, wherein: The two first torsion beams have the same shape.

4. The scanning device according to claim 3, wherein: The first torsion beam is at least one of a serpentine beam, a folded beam or a straight beam.

5. The scanning device according to claim 2, wherein: The support assembly further comprises: an inner frame, the inner frame being located inside the outer frame; Two second torsion beams are located on both sides of the inner frame along a third direction to connect the inner frame and the outer frame, and the third direction intersects with the second direction.

6. The scanning device according to claim 5, wherein: The two second torsion beams have the same shape.

7. The scanning device according to claim 6, wherein: The second torsion beam is at least one of a serpentine beam, a folded beam or a straight beam.

8. The scanning device according to claim 5, wherein: The second torsion beam has a shape different from that of the first torsion beam.

9. The scanning device according to claim 5, wherein: The power edges are connected by at least one connecting edge to reduce the length of the outer frame between the first torsion beam and the second torsion beam.

10. The scanning device according to claim 9, wherein: The connecting edge is a straight edge or a curved edge.

11. The scanning device according to claim 9, wherein The length of the power side is greater than the length of any of the connecting sides.

12. The scanning device according to any one of claims 1 or 9 to 11, wherein: Along the extension direction of the power side, the length of the magnet is greater than the length of the power side.

13. The scanning device according to claim 1, wherein: In a cross section parallel to the plane where the outer frame is located, a pair of sides of the cross section of the magnet are both parallel to the extending direction of the power side.

14. The scanning device according to claim 13, wherein: The cross section of the magnet is in the shape of a rectangle or a right-angled trapezoid.

15. The scanning device according to claim 1, wherein The outer frame is in the shape of a polygon.

16. The scanning device according to claim 15, wherein: The outer frame is in the shape of a point-symmetrical polygon.

17. The scanning device according to claim 1, wherein: Also includes: One or more coils.

18. The scanning device according to claim 17, wherein: The number of the coils is multiple; The plurality of coils are stacked sequentially on the outer frame in a direction perpendicular to the plane where the outer frame is located; Alternatively, the multiple coils are arranged in sequence in a plane parallel to the outer frame.

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