LiDAR, rotating mirror structure and its assembly and adjustment method

Abstract

An embodiment of the present invention provides a lidar, a rotating mirror structure and an alignment method thereof. The rotating mirror structure includes a motor, and a plurality of motor connection holes are formed in an end housing of the motor; a rotating mirror bracket, which is provided with a plurality of bracket connection holes respectively corresponding to the motor connection holes; an elastic member, and an elastic connection hole is formed in the elastic member; a threaded connector, which sequentially passes through the mutually corresponding bracket connection holes, the elastic connection hole and the motor connection holes to connect the rotating mirror bracket, the elastic member and the motor, and after connection, the respective elastic members can elastically deform along the axial direction of the motor. The rotating mirror structure provided by the embodiment of the present invention can improve the installation accuracy of the rotating mirror structure, and further improve the measurement accuracy and the long-distance measurement ability of the lidar.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of environmental perception technology, and in particular to a laser radar, a rotating mirror structure and an assembly method thereof. Background Art

[0002] LiDAR is an important sensor for sensing surrounding information. When detecting the surrounding environment, in one method, a rotating mirror can be used to reflect laser light to detect the space to be detected, and the scanning laser reflected by the space to be detected can be received and processed to obtain the surrounding environment information.

[0003] Therefore, the accuracy of the laser radar's rotating mirror structure, especially the angular accuracy of the rotating mirror, has a direct impact on the laser radar's measurement accuracy and ranging capability. Accurate rotating mirror accuracy has become the main indicator of the performance of this type of laser radar.

[0004] In order to fix the rotating mirror, glue bonding can be used, that is, the reflector is glued to the fixed rotating mirror bracket with glue. This is not only inefficient and unreliable, but also requires the angle to be determined once during production, which has poor accuracy and is difficult to adjust when the angle changes later. In addition, a fixed connection method of a metal rotating mirror can also be used. The metal rotating mirror is a rotating mirror that integrates the reflector and the rotating mirror bracket. The processing accuracy is high, but the processing cost is high, and it is affected by the assembly process. The accuracy of the metal rotating mirror after assembly is still difficult to guarantee.

[0005] Therefore, how to improve the assembly accuracy of the rotating mirror becomes a technical problem that needs to be solved urgently. Summary of the Invention

[0006] The technical problem solved by the embodiments of the present invention is to provide a rotating mirror structure to improve the assembly accuracy of the rotating mirror.

[0007] To solve the above problems, an embodiment of the present invention provides a rotating mirror structure, comprising:

[0008] A motor, wherein the end housing of the motor is provided with a plurality of motor connection holes;

[0009] A rotating mirror bracket is provided with a plurality of bracket connection holes corresponding to the motor connection holes;

[0010] An elastic component, wherein the elastic component is provided with an elastic connecting hole;

[0011] The threaded connector passes through the corresponding bracket connection hole, the elastic connection hole and the motor connection hole in sequence to connect the rotating mirror bracket, the elastic component and the motor, and the elastic components after connection can undergo elastic deformation along the axial direction of the motor.

[0012] Optionally, the elastic member includes a disc spring. A first end of the disc spring contacts the rotating mirror bracket, and a second end thereof contacts the end housing. The end housing is provided with a housing clamping groove, and the second end of the disc spring is clamped and fixed in the housing clamping groove.

[0013] Optionally, a first chamfer is provided at a port of the bracket connection hole that contacts the elastic member.

[0014] Optionally, the elastic member includes a disc spring. A first end of the disc spring contacts the end housing, and a second end thereof contacts the rotating mirror bracket. The rotating mirror bracket is provided with a bracket clamping groove, and an axis of the bracket clamping groove coincides with an axis of the bracket connection hole. The second end of the disc spring is clamped in the bracket clamping groove.

[0015] Optionally, a second chamfer is provided at a port of the motor connection hole that contacts the elastic member.

[0016] Optionally, the rotating mirror bracket includes:

[0017] A top bracket portion provided with the plurality of bracket connection holes;

[0018] A side bracket portion including a plurality of side faces, each of the side faces being fixed to a side face of the top bracket portion, and the plurality of side faces including at least two oppositely arranged mirror faces.

[0019] Optionally, the mirror face includes a mirror connection portion and a mirror which are fixedly connected. The mirror connection portion is fixed to a side face of the top bracket portion, and the mirror is fixed to the mirror connection portion.

[0020] Optionally, the plurality of bracket connection holes include a first bracket connection hole, a second bracket connection hole, and a third bracket connection hole. The plurality of elastic members include a first elastic member, a second elastic member, and a third elastic member. The threaded connectors include a first threaded connector, a second threaded connector, and a third threaded connector. The first threaded connector sequentially passes through the first bracket connection hole, an elastic connection hole of the first elastic member, and the motor connection hole. The second threaded connector sequentially passes through the second bracket connection hole, an elastic connection hole of the second elastic member, and the motor connection hole. The third threaded connector sequentially passes through the third bracket connection hole, an elastic connection hole of the third elastic member, and the motor connection hole to connect the rotating mirror bracket, each of the elastic members, and the motor.

[0021] Optionally, a first plane formed by an axis of the first bracket connection hole and an axis of the second bracket connection hole is parallel to a plane of the mirror surface with respect to an intersection line formed with a second plane perpendicular to the axis.

[0022] Optionally, by adjusting the third threaded connection member, the mirror surfaces of the relatively arranged mirror surfaces can be rotationally symmetric with respect to the motor shaft.

[0023] Optionally, by adjusting the third threaded connection member, the mirror surfaces of the relatively arranged mirror surfaces can be parallel to the axis of the motor shaft.

[0024] Optionally, the axis of the third bracket connection hole and the axis of the motor shaft form a third plane, and the third plane is perpendicular to the first plane and the second plane.

[0025] Optionally, a plurality of the bracket connection holes are arranged around the axis of the motor.

[0026] Optionally, the threaded connection member includes an Allen bolt, and the motor connection hole includes a threaded hole.

[0027] Optionally, the top bracket portion is provided with a motor shaft avoidance hole, and a part of the motor shaft of the motor is located in the motor shaft avoidance hole.

[0028] Optionally, the top bracket portion is further provided with a threaded connection member avoidance groove.

[0029] To solve the above problems, an embodiment of the present invention further provides a lidar, including:

[0030] A laser emission device adapted to emit detection laser;

[0031] A rotating mirror structure as described in any one of the foregoing embodiments, adapted to receive the emitted detection laser and reflect it into the space to be detected, or receive the scanning laser reflected by the space to be detected and reflect it;

[0032] A laser receiving device adapted to receive the scanning laser reflected by the rotating mirror structure. ]>

[0033] To solve the above problems, an embodiment of the present invention further provides an alignment method for a rotating mirror structure, where the rotating mirror structure includes the rotating mirror structure as described in any one of the foregoing embodiments, including:

[0034] Respectively pass each of the threaded connection members through the corresponding bracket connection holes, the elastic connection holes, and the motor connection holes, and tighten each of the threaded connection members;

[0035] Adjust the tightening degree of at least one threaded connection member until the difference in the pitch angles of the two mirror surfaces of the rotating mirror bracket satisfies a predetermined angle range.

[0036] Compared with the prior art, the technical solution of the embodiment of the present invention has the following advantages:

[0037] The rotating mirror structure provided by the embodiment of the present invention includes a motor, a rotating mirror bracket, an elastic component, and a threaded connector. Among them, a plurality of motor connection holes are provided in the end housing of the motor; a plurality of bracket connection holes corresponding to the motor connection holes are provided in the rotating mirror bracket; an elastic connection hole is provided in the elastic component; the threaded connector sequentially passes through the corresponding bracket connection hole, the elastic connection hole, and the motor connection hole to connect the rotating mirror bracket, the elastic component, and the motor, and each of the connected elastic components can elastically deform along the axis direction of the motor. In this way, in the rotating mirror structure provided by the embodiment of the present invention, since an elastic component is provided between the rotating mirror bracket and the end housing of the motor, when assembling and adjusting the rotating mirror structure, first use the threaded connector to pass through the bracket connection hole, the elastic connection hole, and the bracket connection hole to preliminarily connect the rotating mirror bracket, the elastic component, and the motor, and then adjust the tightening degree of the threaded connector. During the adjustment process, continuously determine the pitch angles of the two mirror surfaces of the rotating mirror bracket until the difference between the pitch angles of the two mirror surfaces meets the predetermined angle range. It can be seen that in the process of assembling and adjusting the rotating mirror structure provided by the embodiment of the present invention, by continuously adjusting the threaded connector, the position and inclination state of the mirror surface can both meet the target requirements, thereby improving the installation accuracy of the rotating mirror structure, and further improving the measurement accuracy and ranging ability of the lidar.

[0038] In an alternative solution, in the rotating mirror structure provided by the embodiment of the present invention, the elastic component includes a disc spring. The first end of the disc spring contacts the rotating mirror bracket, and the second end contacts the end housing of the motor. Moreover, a housing slot is provided in the end housing, and the second end of the disc spring is clamped in the housing slot. The disc spring can bear a large load in a small space, and the required space is small, which is suitable for installation between the rotating mirror bracket and the end housing. And the second end of the disc spring is clamped in the housing slot, which can have good stability on the basis of meeting the deformation adjustment requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained according to the provided drawings.

[0040] Figure 1 It is an exploded view of the structure of the rotating mirror structure provided by the embodiment of the present invention;

[0041] Figure 2 It is a schematic assembly structure diagram of the rotating mirror structure provided by an embodiment of the present invention;

[0042] Figure 3 Schematic structural diagram of the rotating mirror support of the rotating mirror structure provided by an embodiment of the present invention;

[0043] Figure 4 Schematic structural diagram of the mirror surface of the rotating mirror structure provided by an embodiment of the present invention;

[0044] Figure 5 Schematic structural diagram of the elastic component of the rotating mirror structure provided by an embodiment of the present invention;

[0045] Figure 6 Top view of the rotating mirror structure provided by an embodiment of the present invention;

[0046] Figure 7 is Figure 6 O - O sectional view of

[0047] Figure 8 is Figure 6 N - N sectional view of

[0048] Figure 9 Flow chart of the alignment method of the rotating mirror structure provided by an embodiment of the present invention.

[0049] Among them, the numbers of each component are shown in the following table.

[0050] 1 motor 11 end housing 2 rotating mirror bracket 21 bracket connection hole 3 elastic component 31 elastic connection hole 22 top bracket part 23 side bracket part 231 mirror surface part 2311 mirror surface connection part 2312 mirror 221 motor shaft avoidance hole 222 threaded connector avoidance groove 4 threaded connector 211 first bracket connection hole 212 second bracket connection hole 213 third bracket connection hole 41 first threaded connector 42 second threaded connector 43 third threaded connector Detailed implementation manners

[0051] As can be seen from the background art, the alignment accuracy of the rotating mirror of the rotating mirror structure of the lidar is relatively low.

[0052] To improve the alignment accuracy of the rotating mirror of the rotating mirror structure of the lidar, an embodiment of the present invention provides a rotating mirror structure, including:

[0053] A motor, and a plurality of motor connection holes are provided in the end housing of the motor;

[0054] A rotating mirror support, and a plurality of support connection holes respectively corresponding to the motor connection holes are provided;

[0055] An elastic component, and an elastic connection hole is provided in the elastic component;

[0056] Threaded connectors sequentially pass through the corresponding support connection holes, the elastic connection holes and the motor connection holes to connect the rotating mirror support, the elastic component and the motor, and after connection, each of the elastic components can elastically deform along the axis direction of the motor.

[0057] Thus, in the galvanometer structure provided by the embodiment of the present invention, since an elastic member is provided between the galvanometer bracket and the end housing of the motor, when assembling and adjusting the galvanometer structure, first, a threaded connector is passed through the bracket connection hole, the elastic connection hole, and the motor connection hole to preliminarily connect the galvanometer bracket, the elastic member, and the motor. Then, the tightening degree of the threaded connector is adjusted. During the adjustment process, the pitch angles of the two mirror surfaces of the galvanometer bracket are continuously determined until the difference between the pitch angles of the two mirror surfaces meets the predetermined angle range.

[0058] It can be seen that in the process of assembling and adjusting the galvanometer structure provided by the embodiment of the present invention, by continuously adjusting the threaded connector, the position and inclination state of the mirror surface can both meet the target requirements, thereby improving the installation accuracy of the galvanometer structure, and further improving the measurement accuracy and ranging ability of the lidar.

[0059] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0060] It should be noted that the directions or positional relationships indicated in this specification are based on the directions or positional relationships shown in the accompanying drawings, which are only for convenience of description and simplification of description, rather than indicating or implying that the device referred to must have a specific direction and be constructed in a specific direction. Therefore, it should not be construed as a limitation to the present invention.

[0061] Please refer to Figures 1 - 4 , Figure 1 which is an exploded view of the structure of the galvanometer structure provided by an embodiment of the present invention; Figure 2 which is a schematic assembly structure diagram of the galvanometer structure provided by an embodiment of the present invention; Figure 3 which is a schematic structure diagram of the galvanometer bracket of the galvanometer structure provided by an embodiment of the present invention; Figure 4 which is a schematic structure diagram of the mirror surface of the galvanometer structure provided by an embodiment of the present invention; Figure 5 which is a schematic structure diagram of the elastic member of the galvanometer structure provided by an embodiment of the present invention.

[0062] As Figures 1 - 3 shown, the galvanometer structure provided by the embodiment of the present invention includes a motor 1, a galvanometer bracket 2 (shown in Figure 2 ), an elastic member 3, and a threaded connector 4. Among them, a plurality of motor connection holes (not shown in the figure) are provided in the end housing 11 of the motor 1; the galvanometer bracket 2 is provided with a plurality of bracket connection holes 21 corresponding to the motor connection holes respectively (shown in Figure 3In the middle); The elastic member 3 is installed between the end housing 11 of the motor 1 and the rotating mirror bracket 2, and is provided with an elastic connection hole 31; The threaded connector 3 sequentially passes through the corresponding bracket connection hole 21, the elastic connection hole 31, and the motor connection hole to connect the rotating mirror bracket 2, the elastic member 3, and the motor 1, and each of the connected elastic members 3 can elastically deform along the axis direction of the motor 1.

[0063] It is easy to understand that the end housing 11 of the motor 1 refers to the housing at the end connected to the rotating mirror bracket 2. As shown in the figure, it is the upper end housing; The end housing 11 is provided with a plurality of motor connection holes, which means that 2, 3, or even more motor connection holes can be provided; The bracket connection hole 21 corresponds to the motor connection hole, which includes both the number of bracket connection holes 21 being equal to the number of motor connection holes and their positions corresponding to each other, and the number of bracket connection holes 21 being greater than the number of motor connection holes, but each motor connection hole corresponds to a bracket connection hole 21.

[0064] Please continue to refer to Figure 1 and Figure 2 , In a specific embodiment, the rotating mirror bracket 2 may include: a top bracket portion 22 and a side bracket portion 23, wherein the bracket connection hole 21 is provided in the top bracket portion 22, and the side bracket portion 23 includes a plurality of side faces, and each side face is fixed to the side of the top bracket portion 22. The plurality of side wall portions include at least two opposite mirror faces 231 (shown in Figure 1 In the figure). Thus, the top bracket portion 22 is connected to the end housing 11 of the motor 1, and the mirror face 231 is located on the side face fixed to the side of the top bracket portion 22. By adjusting the connection between the top bracket portion 22 and the end housing 11, the state of the mirror face 231 can be changed to achieve the adjustment of the pitch angle of the mirror surface 2312 (shown in Figure 1 In the figure).

[0065] Among them, the mirror face 231 includes a mirror surface connection portion 2311 and a mirror surface 2312 fixedly connected. Among them, the mirror surface 2312 includes a metal mirror surface or a mirror surface of other materials. Among them, the mirror surface connection portion 2311 is fixed to the side of the top bracket portion 22, and the mirror surface 2312 is fixed to the mirror surface connection portion 2311.

[0066] It is easy to understand that the mirror surface 2312 described herein is the planar portion in the rotating mirror structure for realizing the light reflection function. When the mirror face 231 is integrally formed, the mirror surface 2312 is integrally formed as a metal surface when forming the rotating mirror bracket 2. When the mirror face 231 is not integrally formed, the mirror surface connection portion is a metal structure formed together when forming the rotating mirror bracket 2, and the mirror surface 2312 is a separately fixed reflector.

[0067] Further, in order to reduce the overall weight of the rotating mirror structure and avoid interference between components, in a specific embodiment, as Figure 3 shown, the top bracket portion 22 is further provided with a motor shaft avoidance hole 221, and a part of the motor shaft of the motor 1 is located in the motor shaft avoidance hole 221. In this way, the size of the rotating mirror structure can be reduced in the axial direction of the motor, and interference between components will not be caused due to too small size.

[0068] In addition, the top bracket portion 22 may also be provided with a threaded connector avoidance groove 222 (shown in Figure 2 ), so as to facilitate the installation and adjustment of the threaded connector 4.

[0069] The threaded connector avoidance grooves 222 may be symmetrically arranged to ensure the symmetry of the structure of the top bracket portion 22 and improve the rotation stability. In other embodiments, they may also be asymmetrically arranged.

[0070] Specifically, the number of the elastic members 3 can be set as required, for example: 1, the same as the number of motor connection holes, or an integer between 1 and the number of motor connection holes. When the number of the elastic members 3 is 1, the number of the elastic connection holes 31 formed on the 1 elastic member 3 is at least the same as the number of motor connection holes, and the positions correspond; when the number of the elastic members 3 is the same as the number of motor connection holes, each elastic member 3 is respectively provided with an elastic connection hole 31; when the number of the elastic members 3 is an integer between 1 and the number of motor connection holes, the sum of the number of the elastic connection holes 31 formed on all the elastic members 3 is the same as the number of motor connection holes, and one elastic member 3 is provided with at least one elastic connection hole 31; of course, the elastic members 3 can be various members that meet the requirements of elastic deformation, such as spiral springs, elastic gaskets, etc.

[0071] In a specific embodiment, as Figure 1 and Figure 5 shown, the elastic member 3 provided by the embodiment of the present invention may include a disc spring. The number of the disc springs is the same as the number of motor connection holes, and each disc spring is provided with an elastic connection hole.

[0072] Since one end of the disc spring has a larger arc dimension and the other end has a smaller arc dimension, in this embodiment, the end with the smaller arc dimension is taken as the first end portion, and the end with the larger arc dimension is taken as the second end portion.

[0073] When setting, it can be as Figure 1As shown, the first end of the disc spring can be in contact with the rotating mirror bracket 2, and the second end can be in contact with the end housing 11. The end housing 11 is provided with a housing clamping groove 111, and the second end of the disc spring is clamped and fixed in the housing clamping groove 111, that is, the end with a larger arc dimension is clamped and fixed in the housing clamping groove 111.

[0074] Certainly, as an alternative embodiment, during installation, the first end of the disc spring can also be in contact with the end housing 11, and the second end can be in contact with the rotating mirror bracket 2. At this time, the rotating mirror bracket 2 is provided with a bracket clamping groove, and the axis of the bracket clamping groove coincides with the axis of the bracket connection hole 21. The second end of the disc spring is clamped in the bracket clamping groove, that is, the end with a larger arc dimension is clamped and fixed in the bracket clamping groove.

[0075] In this way, the disc spring can bear a great load in a small space, and the required space is small. It is suitable for installation between the rotating mirror bracket 2 and the end housing 11. Moreover, the second end of the disc spring is clamped in the housing clamping groove 111 or the bracket clamping groove, which can have better stability on the basis of meeting the requirements of deformation adjustment.

[0076] Certainly, further, in order to protect the disc spring, when the first end of the disc spring with a smaller arc dimension is in contact with the rotating mirror bracket 2, the bracket connection hole 21 is provided with a first chamfer at the port in contact with the elastic component, so as to avoid the bracket connection hole 21 cutting the disc spring during use and causing damage to the disc spring.

[0077] Similarly, when the first end of the disc spring with a smaller arc dimension is in contact with the end housing 11 of the motor 1, the motor connection hole is provided with a second chamfer at the port in contact with the elastic component, which can avoid the cutting damage to the disc spring caused by the motor connection hole during use.

[0078] In another embodiment, in order to reduce costs, the elastic component can be a helical spring. In order to fix the helical spring, a bracket clamping groove can be opened on the rotating mirror bracket 2 and a housing clamping groove can also be opened on the end housing 11.

[0079] In addition, the threaded connector 4 can be various forms of connectors that can realize the connection of the rotating mirror bracket 2, the elastic component 3 and the motor 1.

[0080] Specifically, in order to facilitate the installation and adjustment of the rotating mirror structure, the motor connection hole is a threaded hole, and the threaded connector 4 can be a connector that can be matched with the threaded hole, such as a screw rod, a bolt, etc. The threaded connector 4 can be easily adjusted by using an adjustment device for connection adjustment, thereby reducing the installation and adjustment difficulty.

[0081] Optionally, the threaded connecting member 4 may include a hexagon bolt, especially an internal hexagon bolt. The notch of the internal hexagon bolt is relatively deep, and it is relatively easy to adjust the connection position by using the adjusting device. Moreover, the motor connection hole is a threaded hole, which can reduce the required connecting components and the connection difficulty on the basis of meeting the assembly and adjustment requirements.

[0082] Of course, as an alternative, the motor connection hole may also be a non-threaded hole, and the threaded connecting member 4 may adopt the form of a bolt or a screw combined with a nut to achieve the assembly and adjustment of the rotating mirror structure.

[0083] In this way, when performing the assembly and adjustment of the rotating mirror structure, first pass the threaded connecting member 4 through the bracket connection hole 21, the elastic connection hole 31 and the motor connection hole to preliminarily connect the rotating mirror bracket 2, the elastic member 3 and the motor 1, and then adjust the tightening degree of the threaded connecting member 4. During the adjustment process, continuously determine the pitching angle of the mirror surface 2312 of the two opposite mirror surfaces 231 of the rotating mirror bracket 2 until the difference in the pitching angles of the two mirror surfaces 2312 meets the predetermined angle range.

[0084] It can be seen that for the rotating mirror structure provided by the embodiment of the present invention, during the assembly and adjustment process, by continuously adjusting the threaded connecting member 4, the position and inclination state of the mirror surface 2312 of the mirror surface portion 231 can both meet the target requirements, thereby improving the installation accuracy of the rotating mirror structure and further improving the measurement accuracy and ranging ability of the lidar.

[0085] Please continue to refer to Figure 1 and Figure 3 , in order to ensure the connection stability and reduce the assembly and adjustment difficulty at the same time, for the rotating mirror structure provided by the embodiment of the present invention, the plurality of bracket connection holes 21 include a first bracket connection hole 211, a second bracket connection hole 212 and a third bracket connection hole 213, the plurality of elastic members 3 include a first elastic member, a second elastic member and a third elastic member, the threaded connecting member includes a first threaded connecting member 41, a second threaded connecting member 42 and a third threaded connecting member 43, the first threaded connecting member 41 sequentially passes through the first bracket connection hole 211, the elastic connection hole 31 of the first elastic member and the motor connection hole, the second threaded connecting member 42 sequentially passes through the second bracket connection hole 212, the elastic connection hole 31 of the second elastic member and the motor connection hole, and the third threaded connecting member 43 sequentially passes through the third bracket connection hole 213, the elastic connection hole 31 of the third elastic member and the motor connection hole to connect the rotating mirror bracket 2, each elastic member 3 and the motor 1.

[0086] When assembling and adjusting the rotating mirror structure, the first threaded connector 41, the second threaded connector 42, and the third threaded connector 43 are sequentially tightened with a predetermined torque, and then, according to the pitch angles of the two relatively arranged mirrors 2312, the tightening degree of at least one of the first threaded connector 41, the second threaded connector 42, and the third threaded connector 43 is adjusted until the assembly and adjustment requirements are met.

[0087] Please refer to Figures 6 - 8 , Figure 6 which is a top view of the rotating mirror structure provided by an embodiment of the present invention, Figure 7 and is Figure 6 the O - O cross - sectional view of Figure 8 and is Figure 6 the N - N cross - sectional view of

[0088] As Figure 6 and Figure 7 shown, in a specific embodiment, the intersection line formed by the first plane constituted by the axes of the first bracket connection hole 211 and the second bracket connection hole 212 and the second plane perpendicular to the axis is parallel to the plane of the mirror 2312.

[0089] In this way, when the first threaded connector 41, the second threaded connector 42, and the third threaded connector 43 complete the preliminary connection of the rotating mirror bracket 2, each of the elastic members 3, and the motor 1, by adjusting one of the first threaded connector 41 and the second threaded connector 42, the pitch angle of one of the two relatively arranged mirrors 2312 can be determined, and then by adjusting the third threaded connector 43, the pitch angle of the other mirror of the two mirrors 2312 can be adjusted, so that the pitch angles of the two relatively arranged mirrors of the rotating mirror structure can be adjusted very simply.

[0090] Specifically, in one embodiment, by adjusting the third threaded connector 43, the mirrors 2312 of the relatively arranged mirror surfaces 231 are rotationally symmetric with respect to the motor shaft. The mirrors 2312 of the relatively arranged mirror surfaces 231 are not necessarily parallel, but have the same angle with the motor shaft, so as to satisfy that the difference in pitch angles is within a predetermined range.

[0091] In another embodiment, by adjusting the third threaded connector 43, the mirrors 2312 of the relatively arranged mirror surfaces 231 are all parallel to the axis of the motor shaft, so as to satisfy that the difference in pitch angles is close to 0.

[0092] Please refer to Figure 6 and Figure 8, in one embodiment, the axis of the third bracket connection hole 213 and the axis of the motor shaft form a third plane, and the third plane is perpendicular to the first plane and the second plane. Thereby, the difficulty in the adjustment process of the third threaded connector 43 can be further reduced. Of course, in other embodiments, the third bracket connection hole 213 can also be at other positions, as long as the adjustment of the pitch angle of the mirror surface can be achieved.

[0093] As Figure 6 shown, in order to improve the effectiveness of the adjustment of the pitch angle of the mirror surface, a plurality of the bracket connection holes 21 can be arranged around the axis of the motor 1.

[0094] Of course, the plurality of the bracket connection holes 21 can be arranged around the axis of the motor 1 either evenly or unevenly.

[0095] To solve the foregoing problems, an embodiment of the present invention further provides a lidar, including: a laser emitting device, a rotating mirror structure as described in the foregoing embodiments, and a laser receiving device, wherein the laser emitting device is adapted to emit detection laser; the rotating mirror structure is adapted to receive the emitted detection laser and reflect it to the space to be detected, or receive the scanning laser reflected from the space to be detected and reflect it; the laser receiving device is adapted to receive the scanning laser reflected by the rotating mirror structure.

[0096] It can be seen that for the lidar provided by the embodiment of the present invention, during the installation and adjustment process of the rotating mirror structure, by continuously adjusting the threaded connectors, the position and inclination state of the mirror surface portion 231 can both meet the target requirements, thereby improving the installation accuracy of the rotating mirror structure, and further improving the measurement accuracy and ranging ability of the lidar.

[0097] To solve the foregoing problems, an embodiment of the present invention further provides a method for installing and adjusting a rotating mirror structure, which refers to Figure 9 , Figure 9 is a schematic flowchart of a method for installing and adjusting a rotating mirror structure provided by an embodiment of the present invention.

[0098] As Figure 9 shown, for the method for installing and adjusting a rotating mirror structure provided by an embodiment of the present invention, the rotating mirror structure includes the rotating mirror structure as described in any of the foregoing embodiments, and the installation and adjustment method includes:

[0099] Step S1: Pass each of the threaded connectors 4 through the corresponding bracket connection holes 21, elastic connection holes 31, and motor connection holes respectively, and tighten each of the threaded connectors 4;

[0100] During the tightening process, the tightening of each threaded connector 4 can be first carried out using a torque wrench. In order to ensure the balance of the tightening of each threaded connector 4, it can be tightened with a predetermined torque. For example, the following torques can be sequentially used for tightening: 0.1 N·m, 0.2 N·m, 0.3 N·m, 0.25 N·m, and so on.

[0101] Step S2: Adjust the tightening degree of at least one threaded connector 4 until the pitch angle difference between the two mirrors of the rotating mirror bracket 2 meets a predetermined angle range.

[0102] During the adjustment process, according to the positions of the respective bracket connection holes 21 and the pitch angle difference of the opposite mirrors after preliminary tightening, the threaded connectors 4 that need to be adjusted are determined so that the pitch angle difference between the two mirrors of the rotating mirror bracket 2 meets the predetermined angle range.

[0103] It can be seen that the alignment method of the rotating mirror structure provided by the embodiments of the present invention can adjust the tightening degree of the threaded connectors 4 continuously, so that the position and tilt state of the mirror surface 2312 both meet the target requirements, thereby improving the installation accuracy of the rotating mirror structure, and further improving the measurement accuracy and ranging ability of the lidar.

[0104] Although the embodiments of the present invention are 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 protection scope of the present invention should be determined by the scope defined by the claims.

Claims

1. A rotating mirror structure, characterized in that, Comprising: A motor, wherein a plurality of motor connection holes are provided in an end housing of the motor; A rotating mirror bracket, comprising: A top bracket portion, in which a plurality of bracket connection holes respectively corresponding to the motor connection holes are provided, including a first bracket connection hole, a second bracket connection hole and a third bracket connection hole; A side bracket portion, which is spaced from a side wall of the motor, the side bracket portion includes a plurality of side faces, and each of the side faces is fixed to a side face of the top bracket portion, wherein a plurality of the side faces include two oppositely arranged mirror faces; the mirror face includes a mirror connection portion and a mirror which are fixedly connected; Wherein, the mirror is fixed to the mirror connection portion; and a first plane formed by an axis of the first bracket connection hole and an axis of the second bracket connection hole is parallel to a plane of the mirror with respect to an intersection line formed with a second plane perpendicular to the axis; An elastic member, in which an elastic connection hole is provided; A threaded connection member, which sequentially passes through the mutually corresponding bracket connection holes, the elastic connection hole and the motor connection hole to connect the rotating mirror bracket, the elastic member and the motor, and after connection, each of the elastic members can elastically deform along an axis direction of a motor shaft of the motor with the adjustment of the tightening degree of the threaded connection member, so as to change a position and an inclination state of the mirror face.

2. The rotating mirror structure according to claim 1, characterized in that, The elastic member includes a disc spring, a first end of the disc spring contacts the rotating mirror bracket, a second end of the disc spring contacts the end housing, a housing clamping groove is provided in the end housing, and the second end of the disc spring is clamped and fixed in the housing clamping groove.

3. The rotating mirror structure according to claim 2, wherein, A first chamfer is provided at a port of the bracket connection hole in contact with the elastic member.

4. The rotating mirror structure according to claim 1, wherein The elastic member includes a disc spring, a first end of the disc spring contacts the end housing, a second end of the disc spring contacts the rotating mirror bracket, a bracket clamping groove is provided in the rotating mirror bracket, an axis of the bracket clamping groove coincides with an axis of the bracket connection hole, and the second end of the disc spring is clamped in the bracket clamping groove.

5. The rotating mirror structure according to claim 4, wherein A second chamfer is provided at a port of the motor connection hole in contact with the elastic member.

6. The rotating mirror structure according to claim 1, wherein The rotating mirror structure includes: a plurality of the elastic members include a first elastic member, a second elastic member and a third elastic member, the threaded connection members include a first threaded connection member, a second threaded connection member and a third threaded connection member, the first threaded connection member sequentially passes through the first bracket connection hole, the elastic connection hole of the first elastic member and the motor connection hole, the second threaded connection member sequentially passes through the second bracket connection hole, the elastic connection hole of the second elastic member and the motor connection hole, the third threaded connection member sequentially passes through the third bracket connection hole, the elastic connection hole of the third elastic member and the motor connection hole, and the threaded connection members connect the rotating mirror bracket, each of the elastic members and the motor.

7. The rotating mirror structure according to claim 6, wherein By adjusting the third threaded connection member, it is possible to achieve that the mirrors of the oppositely arranged mirror faces are rotationally symmetric with respect to the motor shaft.

8. The rotating mirror structure according to claim 7, characterized in that, By adjusting the third threaded connection member, it is possible to achieve that the mirrors of the oppositely arranged mirror faces are both parallel to an axis of the motor shaft.

9. The rotating mirror structure according to claim 1, characterized in that, The axis of the third bracket connection hole and the axis of the motor shaft form a third plane, and the third plane is perpendicular to the first plane and the second plane.

10. The rotating mirror structure according to claim 7, characterized in that, A plurality of the bracket connection holes are arranged around the axis of the motor.

11. The rotating mirror structure according to claim 1, characterized in that, The threaded connection member includes an internal hexagonal bolt, and the motor connection hole includes a threaded hole.

12. The rotating mirror structure according to claim 1, wherein The top bracket portion is provided with a motor shaft avoidance hole, and a part of the motor shaft of the motor is located in the motor shaft avoidance hole.

13. The rotating mirror structure according to claim 1, wherein, The top bracket portion is further provided with a threaded connection member avoidance groove.

14. A lidar, characterized in that, Comprising: A laser emitting device adapted to emit detection laser; The rotating mirror structure according to any one of claims 1-13, adapted to receive the emitted detection laser and reflect it to the space to be detected, or receive the scanning laser reflected by the space to be detected and reflect it; a laser receiving device adapted to receive the scanning laser reflected by the rotating mirror structure.

15. An alignment method for a rotating mirror structure, characterized in that The rotating mirror structure includes the rotating mirror structure according to any one of claims 1-13, including: Pass each of the threaded connection members through the corresponding bracket connection hole, the elastic connection hole, and the motor connection hole respectively, and tighten each threaded connection member; Adjust the tightening degree of at least one threaded connection member until the pitch angle difference between the two mirror surfaces of the rotating mirror bracket satisfies a predetermined angle range.

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