Scanning device, lidar and scanning method of lidar

Abstract

The application provides a scanning device, a laser radar and a scanning method of the laser radar, wherein the scanning device comprises a support assembly provided with a coil; and a magnetic device comprising at least one pair of magnets arranged around the support assembly and used for generating a magnetic field, wherein the magnetic field at least partially acts on the coil, at least one of the magnets is a combined magnet, the combined magnet comprises an upper magnet, a middle magnet and a lower magnet fixedly connected, the upper magnet and the lower magnet are symmetrically arranged on two sides of the middle magnet, the magnetization directions of the upper magnet and the lower magnet are opposite, and the magnetization directions of the upper magnet and the lower magnet are perpendicular to the magnetization direction of the middle magnet, and the magnetic fields of the upper magnet, the middle magnet and the lower magnet are superposed on one side close to the coil. The scanning device, the laser radar and the scanning method of the laser radar provided by the application can reduce the power consumption of the scanning device and improve the temperature reliability of the scanning device.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of environmental perception, and in particular to a scanning device, a laser radar and a scanning method of the laser radar. BACKGROUND

[0002] The scanning device is a light beam scanning structure, which can be applied to devices such as laser radars and projectors to achieve scanning irradiation of light beams to different angles.

[0003] There are various driving modes for the scanning device, such as electrostatic driving, electromagnetic driving, electrothermal driving and piezoelectric driving. The scanning device driven by electrostatic has the characteristics of high driving voltage, high resonant frequency, small driving force and small scanning range. The scanning device driven by electrothermal has the characteristics of low driving voltage, low resonant frequency, medium driving force and large scanning range. The scanning device driven by piezoelectric has the characteristics of high driving voltage, high resonant frequency, large driving force and small scanning range. The scanning device driven by electromagnetic has the characteristics of low driving voltage, high resonant frequency, large driving force and large scanning range.

[0004] The scanning device of the laser radar needs large driving force to drive a large-aperture scanning mirror to obtain a larger scanning range, so the electromagnetic driving principle is widely used to manufacture large-aperture scanning devices.

[0005] However, electromagnetic driving causes high power consumption, so it is necessary to reduce the power consumption of the scanning device to reduce the working temperature of the scanning device and improve the temperature reliability of the scanning device.

[0006] Therefore, how to reduce the power consumption of the scanning device and improve the temperature reliability of the scanning device has become a technical problem to be solved. SUMMARY

[0007] The present application provides a scanning device, a laser radar and a scanning method of the laser radar to reduce the power consumption of the scanning device and improve the temperature reliability of the scanning device.

[0008] To solve the above problems, the present application provides a scanning device, comprising:

[0009] A support assembly is provided with a coil;

[0010] A magnetic device includes at least one pair of magnets arranged around the support assembly for generating a magnetic field, the magnetic field at least partially acting on the coil, at least one of the magnets being a combined magnet, the combined magnet including an upper magnet, a middle magnet and a lower magnet fixedly connected, the upper magnet and the lower magnet being symmetrically arranged on both sides of the middle magnet, and the magnetization directions of the upper magnet and the lower magnet being opposite and perpendicular to the magnetization direction of the middle magnet, the magnetic fields of the upper magnet, the middle magnet and the lower magnet being superimposed on the side close to the coil.

[0011] Optionally, the combination magnet comprises a first combination magnet, a N-pole of the upper magnet of the first combination magnet is close to the middle magnet of the first combination magnet, a N-pole of the lower magnet of the first combination magnet is close to the middle magnet of the first combination magnet, and a N-pole of the middle magnet of the first combination magnet is close to the coil.

[0012] Optionally, the combination magnet comprises a second combination magnet, a S-pole of the upper magnet of the second combination magnet is close to the middle magnet of the second combination magnet, a S-pole of the lower magnet of the second combination magnet is close to the middle magnet of the second combination magnet, and a S-pole of the middle magnet of the second combination magnet is close to the coil.

[0013] Optionally, the two magnets arranged in pairs are both the combination magnet, the magnetization directions of the upper magnets of the two combination magnets are opposite, the magnetization directions of the lower magnets of the two combination magnets are opposite, the magnetization directions of the middle magnets of the two combination magnets are same, and the magnetic fields of the upper magnets, the middle magnets and the lower magnets of the two combination magnets are superposed on the side close to the coil.

[0014] Optionally, the combination magnet comprises:

[0015] the first combination magnet and the second combination magnet.

[0016] Optionally, the upper magnet, the middle magnet and the lower magnet are fixed by adhesion.

[0017] Optionally, in the cross section parallel to the laminated surface of the upper magnet, the middle magnet and the lower magnet, the shape of the cross section of the combination magnet comprises a rectangle.

[0018] Optionally, in the cross section parallel to the laminated surface of the upper magnet, the middle magnet and the lower magnet, the shape of the cross section of the combination magnet comprises an irregular shape, and the irregular shape comprises an arc edge.

[0019] Optionally, the support assembly comprises an outer frame for arranging the coil, the shape of the outer frame comprises a polygon or an ellipse, and the shape of the side of the combination magnet close to the outer frame matches the shape of the outer frame.

[0020] Optionally, the magnetic device comprises a plurality of pairs of magnets, each pair of the magnets is symmetrical relative to the center of the support assembly, and the plurality of pairs of magnets comprises at least one combination magnet.

[0021] To solve the above problems, the application provides a laser radar, comprising:

[0022] A laser emitting device adapted to emit a probe light beam;

[0023] A scanning device as claimed in any one of the preceding embodiments, adapted to receive the probe light beam, reflect it to a space to be probed, and receive and reflect a scanning light beam reflected by the space to be probed;

[0024] A laser receiving device adapted to receive the scanning light beam reflected by the scanning device.

[0025] To solve the above problems, the application further provides a scanning method of a laser radar, wherein the laser radar is as described above, and the scanning method comprises:

[0026] The coil of the laser radar is connected to an alternating current, and is subjected to a force in a magnetic field generated by each pair of magnets including the combined magnet, so as to drive the coil and the outer frame of the support assembly to swing around at least one axis of the support assembly, and reflect the probe light beam and the scanning light beam.

[0027] Compared with the prior art, the technical scheme of the application has the following advantages:

[0028] The scanning device provided by the present application comprises a support assembly and a magnetic device, wherein the support assembly is provided with a coil, the magnetic device comprises at least one pair of magnets, and the magnets are arranged around the support assembly to generate a magnetic field acting on the coil at least partially. When the scanning device is in operation, the coil is electrified, and the electrified coil is subjected to the action of Ampere force in the magnetic field generated by the pair of magnets including the combined magnets, thereby driving the support assembly to swing around at least one axis of the support assembly. At least one of the magnets is a combined magnet, which comprises an upper magnet, a middle magnet and a lower magnet. The upper magnet and the lower magnet are symmetrically arranged relative to the middle magnet, and the magnetization directions of the upper magnet and the lower magnet are opposite to and perpendicular to the magnetization direction of the middle magnet. Therefore, the magnetic fields of the upper magnet, the middle magnet and the lower magnet are superimposed on one side and cancelled on the other side, and the side of the combined magnet on which the magnetic fields are superimposed is close to the coil. Since the magnetic fields on the side of the combined magnet close to the coil are superimposed, the magnetic induction intensity of the magnets acting on the coil can be increased. Since the Ampere force acting on the coil is proportional to the magnetic induction intensity, the current value and the effective length of the coil in the magnetic field, and the effective length of the coil in the magnetic field is a fixed value when the position relationship between the coil and the magnetic field is determined, the current value of the coil can be smaller when the magnetic induction intensity is larger under the condition that the driving force required for swinging the coil is unchanged, and the power consumption of the coil can be smaller when the current value of the coil is smaller. It can be seen that the scanning device provided by the embodiment of the present application can further increase the magnetic induction intensity of the magnetic field under the condition that the magnetic induction intensity of a single magnet reaches the maximum by skillfully arranging the magnets in the combined magnet, thereby further reducing the current value on the basis of meeting the driving force requirement, further reducing the power consumption of the scanning device, reducing the working temperature of the scanning device and improving the temperature reliability of the scanning device.

[0029] In an optional solution, the two magnets arranged in pairs provided by the scanning device of the embodiment of the present application can all be combined magnets. The magnetization directions of the upper magnets of the two combined magnets are opposite, the magnetization directions of the lower magnets of the two combined magnets are opposite, the magnetization directions of the middle magnets of the two combined magnets are the same, and the magnetic fields of the upper magnets, the middle magnets and the lower magnets of the two combined magnets are superimposed on the side close to the coil. In this way, the magnetic induction intensity of one of the two magnets arranged in pairs is superimposed on the N-pole side of the middle magnet, and the magnetic induction intensity of the other one is superimposed on the S-pole side of the middle magnet. The combined magnet of which the magnetic induction intensity is superimposed on the N-pole side of the middle magnet has the N-pole close to the coil, and the combined magnet of which the magnetic induction intensity is superimposed on the S-pole side of the middle magnet has the S-pole close to the coil. The two combined magnets interact with each other to further increase the magnetic induction intensity, thereby further reducing the current value on the basis of meeting the driving force requirement, further reducing the power consumption of the scanning device and the working temperature of the scanning device, and improving the temperature reliability of the scanning device. BRIEF DESCRIPTION OF DRAWINGS

[0030] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the accompanying drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced. Obviously, the accompanying drawings in the following description only need to explain the embodiments of the present application, and for those skilled in the art, other drawings can also be obtained on the premise of not paying creative labor.

[0031] Figure 1 is a structural schematic diagram of a scanning device provided by an embodiment of the present application;

[0032] Figure 2 is Figure 1 is an A-A sectional view of a combination magnet of the scanning device shown in FIG. 1;

[0033] Figure 3 is Figure 1 is a B-B sectional view of a combination magnet of the scanning device shown in FIG. 1;

[0034] Figure 4 is Figure 1 is a top view of a combination magnet of the scanning device shown in FIG. 1;

[0035] Figure 5 is Figure 1 is a magnetic field distribution diagram of an upper magnet of a combination magnet of the scanning device shown in FIG. 1;

[0036] Figure 6 is Figure 1 is a magnetic field distribution diagram of a middle magnet of a combination magnet of the scanning device shown in FIG. 1;

[0037] Figure 7 is Figure 1 is a magnetic field distribution diagram of a lower magnet of a combination magnet of the scanning device shown in FIG. 1;

[0038] Figure 8 is Figure 1 is a magnetic field distribution diagram of a combination magnet of the scanning device shown in FIG. 1;

[0039] Figure 9 is a structural schematic diagram of another scanning device provided by an embodiment of the present application;

[0040] Figure 10 is Figure 9 is a C-C sectional view of another combination magnet of the scanning device shown in FIG. 2;

[0041] Figure 11 is Figure 9 is a D-D sectional view of another combination magnet of the scanning device shown in FIG. 2;

[0042] Figure 12 isFigure 9 a top view of another combined magnet of the scanning device shown in the figure;

[0043] Figure 13 Figure 9 a magnetic field distribution diagram of another combined magnet of the scanning device shown in the figure;

[0044] Figure 14 a structural diagram of another scanning device provided by an embodiment of the present application;

[0045] Figure 15 a structural diagram of another scanning device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0046] As known from the background, the electromagnetic driving scanning device has high power consumption, which causes high working temperature during the working process of the scanning device and low temperature reliability.

[0047] In order to reduce the power consumption of the scanning device, an embodiment of the present application provides a scanning device, which comprises:

[0048] a support assembly, provided with a coil;

[0049] a magnetic device, comprising at least one pair of magnets, arranged around the support assembly, for generating a magnetic field, the magnetic field acting on the coil at least partially, at least one of the magnets being a combined magnet, the combined magnet comprising an upper magnet, a middle magnet and a lower magnet fixedly connected, the upper magnet and the lower magnet being symmetrically arranged on two sides of the middle magnet, and the magnetization directions of the upper magnet and the lower magnet being opposite and perpendicular to the magnetization direction of the middle magnet, the magnetic fields of the upper magnet, the middle magnet and the lower magnet being superimposed on the side close to the coil.

[0050] In this way, when the scanning device works, the coil of the scanning device is electrified, and the electrified coil is subjected to the action of the Ampere force in the magnetic field generated by the pair of magnets including the combined magnet, so as to drive the support assembly to swing around at least one axis of the support assembly. Since the magnetic fields on the side close to the coil of the combined magnet are superimposed on each other, the magnetic induction intensity of the magnet acting on the coil can be increased. Since the Ampere force acting on the coil is proportional to the magnetic induction intensity, the current value and the effective length of the coil in the magnetic field, and the effective length of the coil in the magnetic field is a determined value when the positional relationship between the coil and the magnetic field is determined, the current value of the coil can be smaller when the magnetic induction intensity is larger, and the power consumption of the coil can be smaller when the current value of the coil is smaller.

[0051] ​It can be seen that the scanning device provided by the embodiment of the present application can further increase the magnetic induction intensity of the magnetic field under the condition that the magnetic induction intensity of a single magnet reaches the maximum by skillfully arranging the magnets in the combined magnet, so that the current value can be further reduced on the basis of meeting the driving force requirement, and the power consumption of the scanning device can be reduced, the working temperature of the scanning device can be reduced, and the temperature reliability of the scanning device can be improved.

[0052] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0053] It should be noted that the indicated orientation or position relationship involved in the present specification is based on the orientation or position relationship shown in the drawings, and is only for the convenience of description and simplification of description, and does not indicate or imply that the device must have a specific orientation or be constructed in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0054] Please refer to Figure 1 , Figure 1 FIG. 1 is a structural schematic diagram of a scanning device provided by an embodiment of the present application.

[0055] As shown in Figure 1 , the scanning device provided by the embodiment of the present application comprises a support assembly 2 and a magnetic device 1, wherein:

[0056] The outer frame 21 of the support assembly 2 is provided with a coil (not shown in the figure);

[0057] The magnetic device 1 comprises at least one pair of magnets, which can specifically be two magnets (such as the magnet 11 and the magnet 12 shown in the figure) as shown in Figure 1 , and are arranged around the support assembly 2 to generate a magnetic field, and the magnetic field at least partially acts on the coil.

[0058] At least one of the magnets is a combined magnet,

[0059] and the combined magnet comprises a fixedly connected upper magnet, a middle magnet and a lower magnet, the upper magnet and the lower magnet are symmetrically arranged on the two sides of the middle magnet, the magnetization directions of the upper magnet and the lower magnet are opposite, and are perpendicular to the magnetization direction of the middle magnet, and the magnetic fields of the upper magnet, the middle magnet and the lower magnet are superposed on the side close to the coil.

[0060] Specifically, as shown in Figure 1As shown, the outer frame 21 of the support assembly 2 can be elliptical, and an inner frame, which can be circular, is fixed inside to fix the reflector support assembly 2. The support assembly 2 also includes mutually perpendicular torsion beams (such as...). Figure 1 The longitudinal beams located inside the outer frame 21 and the transverse beams located outside the outer frame 21 are shown in the diagram, and the coil is fixed on the outer frame 21 of the support assembly 2.

[0061] Two magnets with opposite magnetic properties (magnet 11 and magnet 12 in the figure) are respectively disposed on the outer side of the outer frame 21 of the support assembly 2, and are symmetrical with respect to the reflector fixed to the inner frame of the support assembly 2, generating a magnetic field in a fixed direction, for example, as shown in the figure. Figure 1 The magnetic field points from magnet 11 to magnet 12, and the direction of the magnetic field forms a certain angle with the two torsion beams.

[0062] Therefore, during operation, current flows through the coil, and the current causes the coil to be subjected to a magnetic field force. Since the coil is a ring, the direction of the current in the coil near magnet 11 is opposite to the direction of the current in the coil near coil 12 relative to the direction of the magnetic field. According to the left-hand rule, the directions of the forces acting on the coil near magnet 11 and the coil near coil 12 are also opposite. The two work together to generate a torque that drives the outer frame 21 to rotate. The rotation of the outer frame 21 further drives the inner frame to rotate, thus realizing the rotation of the reflector.

[0063] When alternating current is applied to the coil, the direction of the force acting on the coil near magnet 11 and the coil near coil 12 will change when the current direction changes. The rotation direction of the support component will also change, thereby driving the reflector to swing and achieve periodic scanning.

[0064] It is easy to understand that the scanning device is used to reflect the light beam to scan the external environment with detection capabilities. Therefore, the scanning device also includes components such as a power interface and a circuit board. Since these other components may not be necessary for understanding the disclosure of the embodiments of the present invention, the embodiments of the present invention will not describe them one by one.

[0065] It should be noted that the terms "upper magnet," "middle magnet," and "lower magnet" used in this article are determined for the convenience of describing the relative positional relationship of the various magnet units in a combined magnet, referring to the placement of another magnet unit between two magnet units. However, this should not constitute a limitation on the combined magnet. Specifically, it refers to arranging the combined magnet according to... Figure 2The relative position when the state is placed, and when the placement state of the combination magnet is changed, the name of the magnet can be changed accordingly, such as: also called left magnet, middle magnet, right magnet, or called front magnet, middle magnet, rear magnet. Of course, when the combination magnet is in a tilted position, it may not be directly named by orientation, but the combination magnet still includes three magnet units, and the specific position relationship of the three magnet units is that one magnet unit is arranged in the middle of the other two magnet units. As long as the magnet is arranged according to the relative position relationship described herein, it falls within the scope claimed by the present application.

[0066] For the orientation magnet, it can be magnetized in one direction to saturation, and the magnetization direction described herein is the direction in which the S pole of the magnet points to the N pole after magnetization.

[0067] In addition, the fixed connection mode of the upper magnet, the middle magnet and the lower magnet of the combination magnet is not limited, as long as the fixed connection of the three can be realized, in a specific embodiment, the fixed connection of the three can be realized by adhesive fixation, so that the fixed requirement can be realized simply and conveniently, and the cost of fixed connection is reduced. Specifically, an adhesive with strong adhesion, rapid adhesion and other characteristics such as epoxy glue, acrylic resin AB glue, polyurethane acrylic resin, magnet structure glue, HY-303 glue, etc. can be selected to shorten the adhesion time and ensure the adhesion strength.

[0068] On the other hand, the magnetic fields of the upper magnet, the middle magnet and the lower magnet are superimposed on the side close to the coil, which means that the relative position relationship of the upper magnet, the middle magnet and the lower magnet affects the combination magnet on one side, and the magnetic fields of the upper magnet, the middle magnet and the lower magnet are superimposed on the other side. When the combination magnet is set, the side of the combination magnet where the magnetic fields of the upper magnet, the middle magnet and the lower magnet are superimposed is close to the coil, and the side where the magnetic fields of the upper magnet, the middle magnet and the lower magnet are superimposed is far away from the coil.

[0069] Specifically, please continue to refer to Figure 1 The reason why the above-mentioned combination magnet can reduce the power consumption of the coil can be known according to the following analysis:

[0070] When the scanning device is working, the coil of the scanning device is energized, and the energized coil is affected by the Ampere force F in the magnetic field generated by the pair of magnets including the combination magnet. According to the Ampere force F formula:

[0071] F=BIL

[0072] Where: F - Ampere force;

[0073] B - magnetic induction intensity;

[0074] I - current;

[0075] L--length of the coil in the magnetic field

[0076] It can be seen that the force F is proportional to the magnetic induction B, the current value I and the length L of the coil in the magnetic field. When the coil and the magnet are fixed, the length L of the coil in the magnetic field is a certain value, and the setting of the combined magnet can increase the magnetic induction B acting on the coil. Thus, in the case that the force F required to drive the coil to swing is unchanged, the magnetic induction B is increased, and the current value I passing through the coil can be reduced.

[0077] Further, according to the power consumption expression of the coil:

[0078] P = 0.5 * I 2 *|Z|

[0079] Wherein: Z--coil impedance, for a certain coil, Z is a constant value;

[0080] I—current

[0081] It can be seen that the power consumption P of the coil is positively related to the square of the current value I. When the current value I is reduced, the power consumption of the coil can be reduced.

[0082] Therefore, when the scanning device works, the coil of the scanning device is energized, and the energized coil is subjected to the action of the Ampere force F in the magnetic field generated by the pair of magnets including the combined magnet, thereby driving the support assembly 2 to swing around at least one axis of the support assembly. Since the magnetic fields on the side close to the coil of the combined magnet are superimposed on each other, the magnetic induction acting on the coil by the magnet can be increased. Since the Ampere force F acting on the coil is proportional to the magnetic induction B, the current value I and the length L of the coil in the magnetic field, and when the positional relationship between the coil and the magnetic field is determined, the length L of the coil in the magnetic field is a certain value, therefore, in the case that the force F required to drive the coil to swing is unchanged, the greater the magnetic induction B, the smaller the current value I of the coil, and the smaller the current value I of the coil, the smaller the power consumption P of the coil.

[0083] It can be seen that the scanning device provided by the embodiment of the present application can further increase the magnetic induction by skillfully setting each magnet in the combined magnet under the condition that the magnetic induction of a single magnet reaches the maximum, so as to further reduce the current value on the basis of meeting the driving force requirement, thereby reducing the power consumption of the scanning device, reducing the working temperature of the scanning device and improving the temperature reliability of the scanning device.

[0084] In order to facilitate the description of the specific structure of the combined magnet and the interaction of the magnetic fields of the upper magnet, the middle magnet and the lower magnet, the two specific setting modes will be described respectively:

[0085] Please refer toFigures 2-4 , Figure 2 yes Figure 1 A cross-sectional view (AA) of a combined magnet in the scanning device shown; Figure 3 yes Figure 1 A BB cross-sectional view of a combined magnet of the scanning device shown; Figure 4 This is a top view of a combination of magnets in the scanning device shown in Figure 1.

[0086] As shown in the figure, in one specific embodiment, the combined magnet includes a first combined magnet 11, the N pole of the upper magnet 111 of the first combined magnet 11 is close to the middle magnet 112 of the first combined magnet 11, the N pole of the lower magnet 113 of the first combined magnet 11 is close to the middle magnet 112 of the first combined magnet 11, and the N pole of the middle magnet 112 of the first combined magnet 11 is close to the coil.

[0087] When the combined magnets have the following characteristics Figures 2-4 In the structure of the first combined magnet 11 shown, the S pole of the upper magnet 111 is located above the N pole, the S pole of the lower magnet 113 is located below the N pole, and the S pole and N pole of the middle magnet 112 are arranged opposite each other on the same plane. When the first combined magnet 11 is installed in the scanning device, the N pole of the middle magnet 112 is brought close to the coil provided on the support device 2.

[0088] Please refer to Figures 5-8 , Figure 5 yes Figure 1 A schematic diagram of the magnetic field distribution of the upper magnet of a combined magnet in the scanning device shown. Figure 6 yes Figure 1 A schematic diagram of the magnetic field distribution of the central magnet in a combination magnet of the scanning device shown. Figure 7 yes Figure 1 A schematic diagram of the magnetic field distribution of the lower magnet in a combination magnet of the scanning device shown. Figure 8 yes Figure 1 A schematic diagram of the magnetic field distribution of a combination magnet in the scanning device shown.

[0089] It is easy to understand that when the combined magnets have the structure of the first combined magnet 11, the upper magnet 111 has Figure 5 The structure shown has a magnetic field pointing from the N pole to the S pole, forming a structure like... Figure 5 The direction of the magnetic field is shown; the middle magnet 112 has Figure 6 The structure shown has a magnetic field direction from the N pole to the S pole, forming the magnetic field direction shown in Figure 6; the lower magnet 113 has Figure 7 The structure shown has a magnetic field pointing from the N pole to the S pole, forming a structure like... Figure 7The magnetic field directions are shown; the upper magnet 111, the middle magnet 112 and the lower magnet 113 are combined and fixedly connected to obtain the first combined magnet 11. The magnetic fields of the right side (N-pole side) of the upper magnet 111, the middle magnet 112 and the lower magnet 113 are superimposed on each other, so that the magnetic field is enhanced, and the magnetic fields of the left side (S-pole side) are cancelled out, so that the magnetic field is weakened. Therefore, the magnetic field of the first combined magnet 11 is as shown in Figure 8 Therefore, the right side (N-pole) of the first combined magnet 11 is close to the coil, i.e., the N-pole of the middle magnet 112 of the first combined magnet 11 is close to the coil.

[0090] In this case, it is easy to understand that if the first combined magnet 11 is included in the pair of magnets, the S-pole of the other magnet 13 needs to be close to the coil.

[0091] Thus, the scanning device provided by the embodiment of the present application can increase the magnetic induction intensity of the magnetic field formed by the pair of magnets including the first combined magnet in which the first combined magnet is arranged and the relative position relationship between the first combined magnet and the coil, can reduce the current value passing through the coil under the condition of ensuring the driving force required for the swing of the coil, and further can reduce the power consumption of the scanning device, reduce the working temperature of the scanning device, and improve the temperature reliability of the scanning device.

[0092] In another specific embodiment, please refer to Figures 9-12 , Figure 9 is a structural schematic diagram of another scanning device provided by the embodiment of the present application; Figure 10 is Figure 9 is a C-C sectional view of another combined magnet of the scanning device shown in Figure 11 is Figure 9 is a D-D sectional view of another combined magnet of the scanning device shown in Figure 12 is Figure 9 is a top view of another combined magnet of the scanning device shown in

[0093] As shown in Figure 9 In another specific embodiment, the combined magnet can include a second combined magnet 13, the S-pole of the upper magnet 131 of the second combined magnet 13 is close to the middle magnet 132 of the second combined magnet 13, the S-pole of the lower magnet 133 of the second combined magnet 13 is close to the middle magnet 132 of the second combined magnet 13, and the S-pole of the middle magnet 132 of the second combined magnet 13 is close to the coil.

[0094] That is, when the second combined magnet 13 is arranged according to Figure 10When the second combination magnet 13 is arranged in the above-mentioned manner, the S pole of the upper magnet 131 of the second combination magnet 13 is arranged below the N pole, the S pole of the lower magnet 133 of the second combination magnet 13 is arranged above the N pole, the S pole and the N pole of the middle magnet 132 of the second combination magnet 13 are arranged oppositely in the same plane, and the second combination magnet 13 is installed behind the scanning device, the S pole is close to the coil.

[0095] Please refer to Figure 13 , Figure 13 is Figure 9 the scanning device shown in another combination magnet field distribution diagram.

[0096] When the combination magnet has the structure of the second combination magnet 13, the direction of the external magnetic field of each magnet is from the N pole to the S pole.

[0097] After the upper magnet 131, the middle magnet 132 and the lower magnet 133 are combined to obtain the second combination magnet 13, the magnetic field of the left side (the side of the S pole) of the upper magnet 131, the middle magnet 132 and the lower magnet 133 is superimposed on each other, so that the magnetic field is enhanced, and the magnetic field of the right side (the side of the N pole) is cancelled, so that the magnetic field is weakened, and thus the magnetic field of the second combination magnet 13 is as shown in Figure 13 Therefore, the left side (the S pole) of the combination magnet 13 is arranged close to the coil, that is, the S pole of the middle magnet 132 of the second combination magnet 13 is arranged close to the coil.

[0098] In this case, if the second combination magnet is included in the pair of magnets arranged, the arrangement of the other magnet needs to ensure that the N pole is close to the coil.

[0099] It can be seen that the scanning device provided by the embodiment of the present application can increase the magnetic induction intensity of the magnetic field formed by the pair of magnets including the second combination magnet 13 due to the arrangement of the second combination magnet 13 and the relative position relationship between the second combination magnet 13 and the coil, can reduce the current value passing through the coil under the condition of ensuring the driving force required for the swing of the coil, and can further reduce the power consumption of the scanning device, reduce the working temperature of the scanning device, and improve the temperature reliability of the scanning device

[0100] Therefore, in the embodiments provided by the present application, when one combination magnet is arranged, the combination magnet having the structure as shown in Figures 2-8 may be arranged, and the combination magnet having the structure as shown in Figures 10-13 may also be arranged.

[0101] Of course, in another embodiment, the two magnets arranged in pairs can each be a combination magnet, the magnetization directions of the upper magnets of the two combination magnets are opposite, the magnetization directions of the lower magnets of the two combination magnets are opposite, the magnetization directions of the middle magnets of the two combination magnets are the same, and the magnetic fields of the upper magnets, the middle magnets and the lower magnets of the two combination magnets are superimposed on the side close to the coil.

[0102] When the magnetization directions of the upper magnets of the two combination magnets are opposite, the magnetization directions of the lower magnets are also opposite, and the magnetization directions of the middle magnets of the combination magnets are the same, then the sides where the magnetic fields of the two combination magnets are superimposed are the N pole and the S pole of the middle magnet respectively, and the sides where the magnetic fields are superimposed are arranged close to the coil respectively.

[0103] In this way, the two magnets arranged in pairs, one of which superimposes the magnetic induction intensity on the N pole side of the middle magnet, and the other superimposes the magnetic induction intensity on the S pole side of the middle magnet, and the combination magnet whose magnetic induction intensity is superimposed on the N pole side of the middle magnet has the N pole of the middle magnet close to the coil, and the combination magnet whose magnetic induction intensity is superimposed on the S pole side of the middle magnet has the S pole of the middle magnet close to the coil, the two combination magnets interact, which can further increase the magnetic induction intensity, so that the current value can be further reduced on the basis of meeting the driving force requirement, thereby reducing the power consumption of the scanning device, reducing the working temperature of the scanning device, and improving the temperature reliability of the scanning device.

[0104] Specifically, in combination with Figures 1-13 In one embodiment, when the two magnets arranged in pairs are each a combination magnet, the combination magnet can include a first combination magnet 11 as shown in Figure 1 and a second combination magnet 13 as shown in Figure 9 , wherein:

[0105] The first combination magnet 11 has the N pole of the upper magnet 111 close to the middle magnet 112, the N pole of the lower magnet 113 close to the middle magnet 112, and the N pole of the middle magnet 112 close to the coil;

[0106] The second combination magnet 13 has the S pole of the upper magnet 131 close to the middle magnet 132, the S pole of the lower magnet 133 close to the middle magnet 132, and the S pole of the middle magnet 132 close to the coil.

[0107] According to Figures 2-8As shown in the description of the first combined magnet, on the N-pole side of the middle magnet 112 of the first combined magnet 11, the magnetic fields of the upper magnet 111, the middle magnet 112 and the lower magnet 113 of the first combined magnet 11 are superimposed on each other, thus making the N-pole of the middle magnet 112 of the first combined magnet 11 close to the coil, and the magnetic induction intensity of the magnetic field where the coil is located can be increased. Figures 10-13 As shown in the description of the second combined magnet, on the S-pole side of the middle magnet 132 of the second combined magnet 13, the magnetic fields of the upper magnet 131, the middle magnet 132 and the lower magnet 133 of the second combined magnet 13 are superimposed on each other, thus making the S-pole of the middle magnet 132 of the second combined magnet 13 close to the coil, and the magnetic induction intensity of the magnetic field where the coil is located can be increased.

[0108] When the two magnets arranged in pairs can both increase the magnetic induction intensity of the magnetic field where the coil is located, further increase of the magnetic induction intensity of the magnetic field where the coil is located can be realized, so as to further reduce the current value on the basis of meeting the requirement of driving force, and then the power consumption of the scanning device can be reduced, the working temperature of the scanning device can be reduced, and the temperature reliability of the scanning device can be improved.

[0109] In a specific embodiment, as shown in Figure 4 and Figure 12 shown, on the cross section parallel to the laminated surface of the upper magnet, the middle magnet and the lower magnet, the shape of the cross section of the combined magnet can include a rectangle, so as to reduce the processing difficulty of the combined magnet and reduce the cost.

[0110] In another specific embodiment, please refer to Figure 14 , Figure 14 is a structural schematic diagram of another scanning device provided by the embodiment of the present application.

[0111] As shown in Figure 14 , the combined magnet can also have other structures, on the cross section parallel to the laminated surface of the upper magnet, the middle magnet and the lower magnet, the shape of the cross section of the combined magnet includes an irregular shape, and the irregular shape includes an arc edge.

[0112] Since the shape of the outer frame 21 of the coil supported by the support assembly is mostly polygonal or elliptical, the shape of the combined magnet on the cross section parallel to the laminated surface of the upper magnet, the middle magnet and the lower magnet is provided with an arc edge, so as to increase the effective length of the coil in the combined magnet, and thus the current value can be further reduced.

[0113] Specifically, the support assembly 2 comprises an outer frame 21 for setting the coil, the shape of the outer frame 21 comprises a polygon or an ellipse, and the shape of the combined magnet near the side of the outer frame 21 matches the shape of the outer frame 21, so that the effective length of the coil in the combined magnet can be further increased.

[0114] Of course, in other embodiments, please refer to Figure 15 , Figure 15 is a schematic structural view of another scanning device of the present application.

[0115] As Figure 15 shown, the magnetic device 1 can further comprise a plurality of pairs of magnets, each pair of the magnets is symmetric with respect to the center of the support assembly 2, and of course, the plurality of pairs of magnets comprises at least one combined magnet.

[0116] For example: one of the pair of magnets can be a combined magnet; both of the pair of magnets can be combined magnets, and both of the magnets in the other pair of magnets can be ordinary magnets.

[0117] Figure 15 Two pairs of magnets are shown, one pair of magnets is arranged on both sides of the arc-shaped side of the outer frame 21, and the second pair of magnets is arranged at both ends of the second shaft of the outer frame 21. The outer frame 21 is deflected around the first shaft (the outer horizontal shaft) due to the Ampere force of the two pairs of magnets, and the second shaft (the inner vertical shaft) fixedly connected with the outer frame 21 is deflected together with the outer frame 21, thereby driving the internal fixed scanning mirror to deflect. Because the coil is fixed to the outer frame 21, the outer frame 21 is heavy and the deflection speed is slow, and the second pair of magnets arranged at both ends of the second shaft can further increase the driving force of the deflection of the outer frame 21.

[0118] The magnetic induction intensity of the plurality of pairs of magnets can be the same or different, in specific calculation, based on the formula F=BIL, the equivalent length of the coil can be calculated according to the position of each pair of magnets, the required torque can be calculated according to the required deflection frequency, and the required Ampere force F, then based on the current value I that can meet the power consumption requirement, the magnetic induction intensity B value of each pair of magnets can be determined, so that by limiting the current value I and improving the magnetic induction intensity B of the magnet, the required Ampere force is guaranteed, and lower power consumption is guaranteed; or by increasing the magnetic induction intensity B that can be provided, a smaller current value I is obtained to meet the need of reducing power consumption P.

[0119] In this way, on the basis of increasing the magnetic field intensity by using the combined magnet, the magnetic field intensity can be further increased by the plurality of pairs of magnets to further reduce the current and reduce the power consumption, and at the same time, each pair of magnets is symmetric with respect to the center of the support assembly 2, which can ensure the consistency of the direction of the force acting on the coil.

[0120] It is easy to understand that in an embodiment, the magnets described herein can be permanent magnets, by magnetizing in its magnetization direction, the magnetic induction B of the magnet does not change during use; in another embodiment, the magnets described herein can also be soft magnets, that is, the magnet can generate a magnetic field by energizing both ends of the magnet, and the magnetic field disappears when the power is off. In this case, alternating current can also be applied to the magnet, and the coil is energized with direct current. Of course, it is easy to understand that when the combined magnet is a soft magnet, the three magnets forming the combined magnet need to be energized at both ends respectively, and the energizing direction needs to meet the requirements of the magnetic poles of the magnets.

[0121] To solve the foregoing problems, the embodiments of the present application also provide a laser radar, comprising:

[0122] A laser emitting device adapted to emit a probe light beam;

[0123] A scanning device as described in any of the foregoing embodiments, adapted to receive the probe light beam, reflect to a space to be probed, and receive and reflect the scanning light beam reflected by the space to be probed;

[0124] A laser receiving device adapted to receive the scanning light beam reflected by the scanning device.

[0125] The laser radar provided by the embodiments of the present application can further increase the magnetic induction intensity under the condition that the magnetic induction intensity of a single magnet reaches the maximum, can further reduce the current value on the basis of meeting the driving force requirement, and can further reduce the power consumption of the scanning device, reduce the working temperature of the scanning device, improve the temperature reliability of the scanning device, and improve the temperature reliability of the laser radar.

[0126] To solve the foregoing problems, the embodiments of the present application also provide a scanning method of a laser radar, the laser radar being the laser radar described in any of the foregoing embodiments, and the scanning method comprising:

[0127] The coil of the laser radar is energized with alternating current, is subjected to a driving force in the magnetic field generated by each pair of magnets comprising the combined magnet, drives the coil and the outer frame 21 of the support assembly to oscillate around at least one axis of the support assembly, and reflects the probe light beam and the scanning light beam.

[0128] The scanning method of the laser radar provided by the embodiments of the present application can generate a magnetic field after the coil of the laser radar obtains alternating current, and can interact with the magnetic field generated by each pair of magnets comprising the combined magnet which has been set in advance, to generate a driving force, drive the coil and the outer frame of the support assembly to oscillate around at least one axis of the support assembly, reflect the probe light beam and the scanning light beam, and realize scanning of the environment to be probed.

[0129] The scanning method of the laser radar provided by the embodiment of the application can increase the magnetic induction intensity by skillfully arranging each magnet in the combined magnet, the coil only needs to obtain a smaller current to obtain the driving force meeting the driving force requirement, thereby the required current value can be reduced, and the power consumption of the scanning device in the scanning process can be reduced, the working temperature of the scanning device is reduced, and the temperature reliability of the scanning device is improved.

[0130] Although the embodiments of the application are disclosed as above, the application is not limited to this. Any person skilled in the art can make various changes and modifications without departing from the spirit and scope of the application, and the protection scope of the application should be subject to the scope defined by the claims.

Claims

1. A scanning device, characterized by The application relates to a magnetic device, comprising: a support assembly provided with a coil; magnetic means comprising at least one pair of magnets arranged around the support assembly for generating a magnetic field, the magnetic field acting at least partially on the coil, at least one of the magnets being a combined magnet; the combined magnet comprising an upper magnet, a middle magnet and a lower magnet fixedly connected, the upper magnet and the lower magnet being symmetrically arranged on the two sides of the middle magnet, the magnetization directions of the upper magnet and the lower magnet being opposite and perpendicular to the magnetization direction of the middle magnet; and the magnetization directions of the upper magnet and the lower magnet being parallel to the direction in which the upper magnet points to the lower magnet, the polarity of the magnetic pole on the side of the middle magnet close to the coil being the same as the polarity of the magnetic pole on the side of the upper magnet and the lower magnet close to the middle magnet, the magnetic fields of the upper magnet, the middle magnet and the lower magnet being superimposed on the side close to the coil.

2. The scanning device of claim 1, wherein, The combined magnet comprises a first combined magnet, the N-pole of the upper magnet of the first combined magnet being close to the middle magnet of the first combined magnet, the N-pole of the lower magnet of the first combined magnet being close to the middle magnet of the first combined magnet, and the N-pole of the middle magnet of the first combined magnet being close to the coil.

3. The scanning device of claim 1, wherein, The combined magnet comprises a second combined magnet, the S-pole of the upper magnet of the second combined magnet being close to the middle magnet of the second combined magnet, the S-pole of the lower magnet of the second combined magnet being close to the middle magnet of the second combined magnet, and the S-pole of the middle magnet of the second combined magnet being close to the coil.

4. The scanning device of claim 1, wherein, The two magnets arranged in pairs are both the combined magnets, the magnetization directions of the upper magnets of the two combined magnets are opposite, the magnetization directions of the lower magnets of the two combined magnets are opposite, the magnetization directions of the middle magnets of the two combined magnets are the same, and the magnetic fields of the upper magnets, the middle magnets and the lower magnets of the two combined magnets are superimposed on the side close to the coil.

5. The scanning device of claim 4, wherein, The combined magnet comprises: a first combined magnet, the N-pole of the upper magnet of the first combined magnet being close to the middle magnet of the first combined magnet, the N-pole of the lower magnet of the first combined magnet being close to the middle magnet of the first combined magnet, and the N-pole of the middle magnet of the first combined magnet being close to the coil; and a second combined magnet, the S-pole of the upper magnet of the second combined magnet being close to the middle magnet of the second combined magnet, the S-pole of the lower magnet of the second combined magnet being close to the middle magnet of the second combined magnet, and the S-pole of the middle magnet of the second combined magnet being close to the coil. The upper magnet, the middle magnet and the lower magnet are fixedly bonded.

6. The scanning device of any one of claims 1-5, wherein, In the cross section parallel to the laminated surface of the upper magnet, the middle magnet and the lower magnet, the shape of the cross section of the combined magnet comprises a rectangle.

7. A scanning device according to any one of claims 1-5, characterized in that In the cross section parallel to the laminated surface of the upper magnet, the middle magnet and the lower magnet, the shape of the cross section of the combined magnet comprises an irregular shape, and the irregular shape comprises an arc edge.

8. The scanning device of any one of claims 1-5, wherein, ​ 9. The scanning device of claim 8, wherein, The support assembly comprises an outer frame for arranging the coil, the shape of the outer frame comprises a polygon or an ellipse, the shape of the side of the combination magnet near the outer frame matches the shape of the outer frame.

10. The scanning device of any one of claims 1-5, wherein, The magnetic device comprises a plurality of pairs of magnets, each pair of the magnets is symmetrical relative to the center of the support assembly, and the plurality of pairs of magnets comprises at least one combination magnet.

11. A lidar, comprising: Comprise: Laser emitting device, adapted to emit a probe light beam; The scanning device according to any one of claims 1-10, adapted to receive the probe light beam, reflect to the space to be detected, and receive the scanning light beam reflected by the space to be detected and reflect; Laser receiving device, adapted to receive the scanning light beam reflected by the scanning device.

12. A scanning method of a laser radar, characterized by, The laser radar is the laser radar according to claim 11, and the scanning method comprises: The coil of the laser radar is connected to alternating current, is subjected to force in the magnetic field generated by each pair of magnets including the combination magnet, drives the coil and the outer frame of the support assembly to swing around at least one axis of the support assembly, and reflects the probe light beam and the scanning light beam.

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