Scanning device, laser radar and automobile
By setting up a high-precision encoder and polygon reflector in the lidar scanning device, the rotation angle accuracy and measurement accuracy are improved, the problem of insufficient scanner accuracy in the prior art is solved, and the high-precision and miniaturization of lidar are realized and low noise performance.
Patent Information
- Application Number
- CN202310791108.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2023-06-29
- Publication Date
- 2024-12-31
AI Technical Summary
The existing scanner has low rotation angle accuracy, which affects the measurement accuracy and remote measurement capabilities of lidar, limiting the performance development of lidar.
A scanning device is designed, including a stator, a rotor housing, a reflector and an encoder. By setting the code disc of the encoder on the rotor housing, the rotation angle accuracy is improved, and the polygonal shape reflector and bearing assembly are passed. Optimize the structure and reduce the impact of noise and vibration.
It improves the measurement accuracy and overall performance of the lidar, while achieving miniaturization of the device and low noise, which is suitable for the high-precision measurement needs of autonomous vehicles.
Smart Images
Figure CN119224733A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of electronic equipment, and in particular to a scanning device, a laser radar and a car. Background Art
[0002] As the "eyes" of self-driving cars, LiDAR is one of the most important sensors for self-driving cars and is of great significance for ensuring the driving safety of self-driving cars. LiDAR usually includes a scanner, which is used to reflect lasers in different directions to increase the detection range of LiDAR. The existing scanners have low rotation angle accuracy and low control accuracy for reflected light, which directly affects the measurement accuracy and distance measurement capability of LiDAR, becoming the main factor restricting the development of LiDAR performance. Summary of the invention
[0003] The present application provides a scanning device, a laser radar and a car to improve the rotation angle accuracy of a scanner.
[0004] In a first aspect, the present application provides a scanning device, which may include a stator, a rotor, a reflecting part and an encoder. The rotor may include a rotating shaft and a rotor housing, the rotating shaft may be rotatably connected to the stator, the rotor housing may be fixedly connected to the rotating shaft, and the rotor housing and the rotating shaft may rotate relative to the stator. The reflecting part may be fixedly connected to the outer wall of the rotor housing, the reflecting part may rotate with the rotor housing, and the reflecting part may reflect light. The encoder may include a code disc, the code disc may be fixedly connected to the rotor housing, and the code disc may rotate with the rotor housing.
[0005] In the technical solution provided by the present application, the reflecting part rotates together with the rotor housing, and can reflect light to different directions. The code disk is arranged on the rotor housing, and the radial dimension of the code disk can be larger, the resolution of the encoder is higher, and the rotation angle accuracy that can be achieved by the rotor housing is higher, that is, the rotation angle accuracy that can be achieved by the reflecting part is higher, and the control accuracy of the reflected light is higher. When the scanning device with high rotation angle accuracy of the present application is applied to a laser radar, it can improve the measurement accuracy of the laser radar and enhance the overall performance of the laser radar. In addition, the code disk is arranged on the rotor housing. Compared with the code disk arranged on the rotating shaft, the axial dimension of the scanning device along the rotating shaft can be smaller, which can be understood as the height of the scanning device is smaller, so that the scanning device occupies less axial space of the radar, which is conducive to the miniaturization of the laser radar.
[0006] In some possible implementations, the material of the rotor housing may be aluminum, and the material of the rotating shaft may be steel. The rotor housing is fixedly sleeved on the rotating shaft, so that the rotor housing rotates with the rotating shaft, the rotor housing is decoupled from the bearing system of the scanning device, the rotor housing and the rotating shaft may be made of different materials, the impact on the NVH index of the automobile is small, the weight of the rotor housing may be lighter, and the cost may be lower.
[0007] When the rotating shaft is specifically set, the rotating shaft can be rotatably connected to the inside of the stator through a bearing assembly. The bearing assembly can include at least two bearings, and the at least two bearings can be arranged on the rotating shaft at intervals along the axial direction of the rotating shaft; the outer ring of the bearing can be fixedly connected to the stator, and the inner ring of the bearing can be fixedly connected to the rotating shaft. At least two bearings of the bearing assembly are coaxial, and the positioning of the rotating shaft is achieved through at least two coaxially arranged bearings, and the rotating connection between the rotating shaft and the stator is achieved, which can avoid the NVH abnormal noise problem caused by the non-concentricity of the bearing system, and the rotation of the rotor housing is relatively stable, which can meet the high precision requirements of the encoder.
[0008] In some possible implementations, the bearing may be made of steel, and the stator may be made of steel. The cost of the stator and the bearing is low, and the stator and the bearing may be made of the same material, so that the thermal expansion coefficient is the same, and the scanning device has less impact on the NVH index of the vehicle.
[0009] When the bearing assembly is specifically arranged, at least two positioning grooves may be arranged at intervals inside the stator along the axial direction of the rotating shaft, and the at least two bearings may be arranged in the at least two positioning grooves respectively. The at least two positioning grooves may respectively limit the relative positions of the at least two bearings and the stator along the axial direction of the rotating shaft, and prevent the bearings from moving along the axial direction of the rotating shaft.
[0010] In some possible implementations, the cross-sectional shape of the rotor housing along the radial direction of the rotating shaft may be a polygon, so as to facilitate the installation of a polygonal reflector.
[0011] Corresponding to the shape of the rotor housing, the cross-sectional shape of the reflective portion along the radial direction of the rotating shaft may be a polygon, so that the emission range can be increased.
[0012] In some possible implementations, the reflective portion may include a lens; the lens may be multiple, the multiple lenses may be arranged around the rotor housing, and the multiple lenses may be connected in sequence; or the lens may be one, the lens may be an integrally formed structure, and the lens may be sleeved on the outer wall of the rotor housing. The reflective portion may be a split structure or an integral structure.
[0013] In some possible implementations, the scanning device may further include a base, the stator may be fixedly connected to the base, the projection of the rotor housing along the axial direction of the rotating shaft may be located within the range of the base; the code disc may be fixedly connected to the rotor housing along the axial direction of the rotating shaft on one side of the base. The base may support the stator and the rotor housing relatively stably.
[0014] In some possible embodiments, the encoder may further include an encoder chip, which may be fixedly connected to the base along the axial direction of the rotating shaft on one side of the rotor housing and arranged corresponding to the code disc, and the encoder chip may convert the angular displacement of the code disc into an electrical signal.
[0015] When the encoder chip is specifically arranged, a circuit board may be fixedly connected to one side of the base along the axial direction of the rotating shaft toward the rotor housing, and the encoder chip may be fixedly connected to the circuit board, and the encoder chip may be electrically connected to the circuit board. The arrangement of the circuit board facilitates the installation of the encoder chip on the base.
[0016] In some possible implementations, the scanning device may further include an electromagnetic component, which can drive the rotor housing to rotate relative to the stator; the electromagnetic component may include a magnet and a stator core with a winding, the stator core may be located inside the magnet, the stator core may be fixedly connected to the stator, the magnet may be fixedly connected to the rotor housing, and when the winding is energized, the magnet may rotate relative to the stator core to drive the rotor housing to rotate relative to the stator. The relative rotation of the rotor housing and the stator is achieved by the electromagnetic component, and the structure is relatively simple and the assembly is relatively convenient.
[0017] In a second aspect, the present application further provides a laser radar, which may include a laser transmitter, a laser receiver, a controller, and a scanning device as in any one of the embodiments of the first aspect. The laser transmitter may emit laser light to detect a target object in space; the scanning device may reflect the laser light in different directions to increase the detection range; the laser receiver may receive the laser light reflected back by the target object; and the controller may perform data processing on the laser transmitter and the laser receiver to obtain information about the target object.
[0018] The laser radar provided in the present application uses a scanning device with high rotation angle accuracy and small size, which makes the laser radar have high measurement accuracy and small size, and is conducive to the development of laser radar towards high precision and miniaturization.
[0019] In a third aspect, the present application further provides a car, which may include a laser radar as described in the second aspect. The laser radar may be arranged at different positions of the car, for example, on the roof or on the side of the front of the car.
[0020] The automobile provided in this application uses a laser radar with high measurement accuracy, small size, and little impact on NVH indicators, and the automobile's autonomous driving performance is relatively ideal. BRIEF DESCRIPTION OF THE DRAWINGS
[0021] Figure 1 A schematic diagram of the exploded structure of the scanning device provided in this application;
[0022] Figure 2 A schematic cross-sectional view of the scanning device provided in this application;
[0023] Figure 3 A schematic diagram of the structure of the scanning device provided in this application;
[0024] Figure 4 Another schematic diagram of the structure of the scanning device provided by the present application;
[0025] Figure 5 A schematic diagram of a portion of the structure of the scanning device provided in this application;
[0026] Figure 6 A schematic diagram of a portion of the structure of the scanning device provided in this application.
[0027] Reference numerals:
[0028] 100-stator; 200-reflection part; 300-rotation shaft; 400-rotor housing;
[0029] 500-code disc; 600-base; 700-encoder chip; 800-circuit board;
[0030] 101-first positioning groove; 102-second positioning groove; 103-circlip; 201-lens;
[0031] 301 - first bearing; 302 - second bearing; 901 - magnet; 902 - stator core. DETAILED DESCRIPTION
[0032] In order to make the purpose, technical scheme and advantages of the present application clearer, the embodiments of the present application will be further described in detail below in conjunction with the accompanying drawings. However, the example implementation can be implemented in various forms and should not be construed as being limited to the implementations set forth herein. The same reference numerals in the figures represent the same or similar structures, and thus their repeated description will be omitted. The words expressing position and direction described in the embodiments of the present application are all described with reference to the accompanying drawings as examples, but changes may be made as needed, and the changes made are all included in the scope of protection of the present application. The drawings of the embodiments of the present application are only used to illustrate the relative position relationship and do not represent the true proportion.
[0033] The following description sets forth specific details to facilitate understanding of the present application, but the embodiments of the present application can be implemented in a variety of other ways different from those described herein, and those skilled in the art can make similar generalizations without violating the connotation of the embodiments of the present application. Therefore, the present application is not limited to the specific implementation methods disclosed below.
[0034] For ease of understanding, the application scenario of the scanning device involved in the present application is first explained. The scanning device provided in the embodiment of the present application can be adapted to a laser radar, and the laser radar can be used in a car as a vehicle-mounted laser radar. In actual application, the laser radar can be set at different positions of the car, for example, on the roof, or on the side of the front of the car. In addition to the scanning device, the laser radar can also include a laser transmitter, a laser receiver and a controller, wherein the laser transmitter can emit a laser to detect a target object in space, the scanning device can reflect the laser in different directions to increase the detection range, the laser receiver can receive the laser reflected back by the target object, and the controller can process the laser transmitter and the laser receiver to obtain information about the target object, such as position, distance and speed information.
[0035] First refer to Figure 1 and Figure 2 , Figure 1 shows a schematic diagram of the exploded structure of the scanning device provided by the present application, Figure 2 The cross-sectional structure diagram of the scanning device provided by the present application is shown. Figure 1 and Figure 2 As shown, the scanning device provided in the embodiment of the present application may include a stator 100, a rotor, a reflection part 200 and an encoder. The rotor may include a rotating shaft 300 and a rotor housing 400. Figure 24 is a cross-sectional view of the scanning device along the axial direction of the rotating shaft 300. The rotating shaft 300 can be rotatably connected to the stator 100, and the rotor housing 400 can be fixedly connected to the rotating shaft 300. The rotating axial direction of the rotor housing 400 can coincide with the axial direction of the rotating shaft 300, and the rotor housing 400 and the rotating shaft 300 can rotate together relative to the stator 100. In a specific implementation, the rotor housing 400 and the rotating shaft 300 can be interference fit or bonded to achieve a fixed connection between the two.
[0036] In a specific implementation, the reflecting portion 200 can be fixedly connected to the outer wall of the rotor housing 400, the reflecting portion 200 can rotate with the rotor housing 400, and the reflecting portion 200 can reflect light. Specifically, the reflecting portion 200 can be bonded to the outer wall of the rotor housing 400 to achieve a fixed connection between the reflecting portion 200 and the rotor housing 400. The encoder may include a code disk 500, and the code disk 500 can be fixedly connected to the rotor housing 400, and the code disk 500 can rotate with the rotor housing 400. Specifically, the code disk 500 can be bonded to the rotor housing 400 to achieve a fixed connection between the code disk 500 and the rotor housing 400. In actual application, the code disk 500 can be set only on the rotor housing 400, and the end of the rotating shaft 300 along its own axial direction (such as Figure 2 The code disk 500 may not be provided at the lower end of the rotating shaft 300.
[0037] In the scanning device provided in the present application, the reflecting part 200 rotates together with the rotor housing 400 to reflect light (such as laser) in different directions. The code disk 500 is fixedly connected to the rotor housing 400. The radial dimension of the code disk 500 can be larger, the resolution of the encoder is higher, and the rotor housing 400 can achieve a higher rotation angle accuracy, that is, the reflecting part 200 can achieve a higher rotation angle accuracy, and the control accuracy of the reflected light is higher.
[0038] In specific settings, the encoder can be a photoelectric, magnetoelectric or contact brush encoder. Taking the photoelectric encoder as an example, the radial size of the code disk 500 can be larger, the code disk 500 can have more pairs of magnetic poles (a pair of magnetic poles includes an N pole and an S pole), and the resolution of the encoder is higher.
[0039] When the scanning device with high rotation angle accuracy of the present application is applied to a laser radar, the measurement accuracy of the laser radar can be improved and the overall performance of the laser radar can be enhanced. Moreover, the code disc 500 is fixedly connected to the rotor housing 400. Compared with the code disc 500 being fixedly connected to the rotating shaft 300, the axial dimension of the scanning device along the rotating shaft 300 can be smaller, which can be understood as the height of the scanning device is smaller, so that the scanning device occupies less axial space of the radar, which is conducive to the miniaturization of the laser radar.
[0040] In addition, the rotor housing 400 is fixedly sleeved on the rotating shaft 300, and the rotating shaft 300 supports the rotor housing 400. The design of the rotor housing 400 can be decoupled from the bearing system of the scanning device. When the laser radar is applied to the automobile, even if the rotor housing 400 and the rotating shaft 300 are made of materials with different coefficients of thermal expansion (CTE), the impact on the noise, vibration and acoustic roughness (NVH) indicators of the automobile is small, that is, the impact of the rotor housing 400 on the NVH indicators of the automobile can be reduced, thereby reducing the impact of the scanning device on the NVH indicators of the automobile. In specific implementation, the material of the rotor housing 400 can be aluminum, and the rotor housing 400 is light in weight and low in cost. The material of the rotating shaft 300 can be steel.
[0041] In addition, the reflecting part 200 is directly fixed on the rotor shell 400, the installation tolerance of the reflecting part 200 is small, and the assembly accuracy of the reflecting part 200 and the rotor shell 400 is high, which can improve the optical accuracy of the scanning device, and the radial dimension of the scanning device along the rotating shaft 300 can be small, which can realize the miniaturization and lightweight of the scanning device, and can reduce the radial space occupied by the scanning device to the radar, which is conducive to the miniaturization of the radar.
[0042] As a possible implementation, the stator 100 can be similar to a hollow cylindrical structure, and the rotating shaft 300 can be rotatably connected inside the stator 100 through a bearing assembly to realize the rotational connection between the rotating shaft 300 and the stator 100. The bearing assembly can include at least two bearings, and at least two bearings can be sleeved on the rotating shaft 300 along the axial direction of the rotating shaft 300, that is, at least two bearings are coaxial, or at least two bearings are concentric. By at least two coaxially arranged bearings, the positioning of the rotating shaft 300 is realized, and the rotational connection between the rotating shaft 300 and the stator 100 is realized, which can avoid the NVH abnormal sound problem caused by the non-concentricity of the bearing system, and the rotation of the rotor housing 400 is relatively stable, which can meet the high precision requirements of the encoder. Specifically, for each bearing, the outer ring of the bearing can be fixedly connected to the stator 100, and the inner ring of the bearing can be fixedly connected to the rotating shaft 300.
[0043] In the specific implementation, taking the bearing assembly including two bearings as an example, for the convenience of description, the two bearings are respectively referred to as the first bearing 301 and the second bearing 302, and the first bearing 301 and the second bearing 302 are sleeved on the rotating shaft 300 along the axial direction of the rotating shaft 300. The outer ring of the first bearing 301 is fixedly connected to the stator 100, and the inner ring of the first bearing 301 is fixedly connected to the rotating shaft 300, so as to realize the positioning of the rotating shaft 300 and the rotation connection between the rotating shaft 300 and the stator 100. Similarly, the outer ring of the second bearing 302 is fixedly connected to the stator 100, and the inner ring of the second bearing 302 is fixedly connected to the rotating shaft 300, so as to realize the positioning of the rotating shaft 300 and the rotation connection between the rotating shaft 300 and the stator 100.
[0044] In a specific implementation, the material of the bearing can be steel, and the material of the stator 100 can also be steel. The material of the stator 100 and the bearing can be the same, so that the thermal expansion coefficient is the same, the scanning device has a small impact on the NVH index of the car, and the cost of the stator 100 and the bearing is low. Specifically, the material of the outer ring and the inner ring of the bearing can both be steel.
[0045] As a possible implementation, at least two positioning grooves are arranged inside the stator 100 along the axial direction of the rotating shaft 300, and at least two bearings are arranged in the at least two positioning grooves respectively. In specific implementation, the number of positioning grooves can be the same as the number of bearings. For example, when the bearing assembly includes two bearings, such as when the bearing assembly includes a first bearing 301 and a second bearing 302, the number of positioning grooves can be two. For the convenience of description, the two positioning grooves are respectively referred to as the first positioning groove 101 and the second positioning groove 102. The first bearing 301 and the second bearing 302 can be fixedly connected in the first positioning groove 101 and the second positioning groove 102 respectively. Specifically, the outer ring of the first bearing 301 and the outer ring of the second bearing 302 can be fixedly connected in the first positioning groove 101 and the second positioning groove 102 respectively. The first positioning groove 101 can limit the relative position of the first bearing 301 and the stator 100 along the axial direction of the rotating shaft 300, and prevent the first bearing 301 from moving along the axial direction of the rotating shaft 300. Similarly, the second positioning groove 102 can limit the relative position of the second bearing 302 and the stator 100 along the axial direction of the rotating shaft 300 , thereby preventing the second bearing 302 from moving along the axial direction of the rotating shaft 300 .
[0046] In actual configuration, a retaining spring 103 may be fixedly connected to the rotating shaft 300, and the retaining spring 103 may limit the relative position of the bearing assembly and the rotating shaft 300 along the axial direction of the rotating shaft 300, and prevent the bearing of the bearing assembly from moving along the axial direction of the rotating shaft 300. Specifically, the inner ring of the bearing may abut against the retaining spring 103, and the relative position of the bearing and the rotating shaft 300 may be limited. Alternatively, the retaining spring 103 may be fixedly connected to the stator 100 at the same time, and the inner ring and the outer ring of the bearing may abut against the retaining spring 103 at the same time. The number of retaining springs 103 may be multiple, and may be the same as the number of bearings of the bearing assembly. The number of retaining springs 103 may also be one, and limit the relative position of a certain bearing of the bearing assembly and the rotating shaft 300, such as limiting the relative position of the outermost bearing in the bearing assembly and the rotating shaft 300.
[0047] Figure 3 shows a schematic structural diagram of a scanning device provided by the present application, Figure 4 Another schematic diagram of the structure of the scanning device provided by the present application is shown. Figure 3 As shown, the cross-sectional shape of the rotor housing 400 along the radial direction of the rotating shaft 300 may be a polygon, which can be understood as the cross-sectional shape of the rotor housing 400 may be a polygon. Corresponding to the shape of the rotor housing 400, the cross-sectional shape of the reflector 200 along the radial direction of the rotating shaft 300 may be a polygon. In a specific implementation, the reflector 200 may include a lens 201, and the rotor housing 400 may also be called a lens frame.
[0048] In a specific implementation, the reflector 200 may be a split structure. Specifically, the reflector 200 may include a plurality of lenses 201. During actual assembly, the plurality of lenses 201 may be arranged around the rotor housing 400. The plurality of lenses 201 may be fixedly connected to the outer wall of the rotor housing 400, and the plurality of lenses 201 may be connected in sequence to form a polygonal structure. Figure 4 As shown, in another specific implementation, the reflecting part 200 can be an integrated structure. Specifically, the reflecting part 200 can include a lens 201. The lens 201 can be an integrated structure. More specifically, the lens 201 can be an integrated polygonal structure. During actual assembly, the lens 201 is fixedly mounted on the outer wall of the rotor housing 400.
[0049] Figure 5 shows a partial structural schematic diagram of the scanning device provided by the present application, Figure 6 1 shows a partial structural schematic diagram of the scanning device provided in the present application. As a possible implementation, the scanning device may further include a base 600, and the stator 100 may be fixedly connected to the base 600. In specific implementation, Figure 5As shown, the stator 100 and the base 600 can be integrally formed. Alternatively, a positioning hole can be provided on the base 600, and the stator 100 can be pressed into the positioning hole by interference fit to achieve a fixed connection between the stator 100 and the base 600; the stator 100 can also be installed in the positioning hole by a shrink fit process to achieve a fixed connection between the stator 100 and the base 600. Figure 2 As shown, the projection of the rotor housing 400 along the axial direction of the rotating shaft 300 can be located within the range of the base 600. The base 600 can support the stator 100 and the rotor housing 400 relatively stably.
[0050] In the specific implementation, Figure 6 As shown, the code disc 500 of the encoder can be fixedly connected to the side of the rotor housing 400 along the axial direction of the rotating shaft 300 facing the base 600. The encoder can also include an encoder chip 700, which can be fixedly connected to the stator 100 and arranged corresponding to the code disc 500. The encoder chip 700 can sense the change of the magnetic pole of the code disc 500. When the magnetic pole of the code disc 500 changes, the level of the encoder chip 700 changes, and the encoder chip 700 can convert the angular displacement of the code disc 500 into an electrical signal. In actual application, the scanning device can also include a scanning controller, and the encoder chip 700 can be electrically connected to the scanning controller, and the scanning controller can control the rotation angle of the rotor housing 400 according to the electrical signal fed back by the encoder.
[0051] During specific assembly, the encoder chip 700 can be fixedly connected to the base 600 along the axial direction of the rotating shaft 300 toward the side of the rotor housing 400 and is arranged corresponding to the code disk 500. The positions of the encoder chip 700 and the code disk 500 correspond to each other in the axial direction of the rotating shaft 300 and also correspond to each other in the radial direction of the rotating shaft 300. The number of encoder chips 700 can be one or more. When one encoder chip 700 is used, the cost of the encoder can be reduced without affecting the resolution of the encoder. When multiple encoder chips 700 are used together, the encoder chips 700 can be calibrated with each other to improve the accuracy of the encoder.
[0052] In the specific implementation, combined with Figure 5 and Figure 6 As shown, a circuit board 800 may be fixedly connected to one side of the base 600 along the axial direction of the rotating shaft 300 facing the rotor housing 400. The encoder chip 700 may be fixedly connected to the circuit board 800. Specifically, the encoder chip 700 may be fixedly connected to one side of the circuit board 800 along the axial direction of the rotating shaft 300 facing the rotor housing 400. The encoder chip 700 may be electrically connected to the circuit board 800. The scanning controller may also be fixedly connected to the circuit board 800, and the encoder chip 700 and the scanning controller may be electrically connected through the circuit on the circuit board 800.
[0053] Refer again Figure 1 and Figure 2 As a possible implementation, the scanning device may further include an electromagnetic assembly, which may drive the rotor housing 400 to rotate relative to the stator 100. The electromagnetic assembly may include a magnet 901 and a stator core 902 provided with a winding, the magnet 901 may be an annular structure, and the stator core 902 may be located inside the magnet 901. During actual assembly, the magnet 901 may be fixedly connected to the rotor housing 400, and the stator core 902 may be fixedly connected to the stator 100. When the winding is energized, the magnet 901 rotates relative to the stator core 902, thereby driving the rotor housing 400 to rotate relative to the stator 100. Specifically, the winding may be powered by the circuit board 800, and the scanning controller may control the winding to be energized according to the electrical signal fed back by the encoder, so as to control the rotation of the rotor housing 400 and the rotation angle of the rotor housing 400.
[0054] It is understood that the various numbers involved in the embodiments of the present application are only for the convenience of description and are not used to limit the scope of the embodiments of the present application. The size of the sequence number of the above-mentioned processes does not mean the order of execution, and the execution order of each process should be determined by its function and internal logic.
[0055] The above are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by any technician familiar with the technical field within the technical scope disclosed in the present application should be covered within the protection scope of the present application.
Claims
1. A scanning device, characterized in that: It includes a stator, a rotor, a reflector and an encoder; The rotor comprises a rotating shaft and a rotor housing, wherein the rotating shaft is rotatably connected to the stator, the rotor housing is fixedly connected to the rotating shaft, and the rotor housing and the rotating shaft rotate together relative to the stator; The reflecting part is fixedly connected to the outer wall of the rotor housing, the reflecting part rotates with the rotor housing, and the reflecting part is used to reflect light; The encoder comprises a code disc, which is fixedly connected to the rotor housing and rotates with the rotor housing.
2. The scanning device according to claim 1, characterized in that The material of the rotor housing is aluminum, and the material of the rotating shaft is steel.
3. The scanning device according to claim 1, characterized in that: The rotating shaft is rotatably connected to the inside of the stator via a bearing assembly; The bearing assembly includes at least two bearings, and the at least two bearings are arranged on the rotating shaft at intervals along the axial direction of the rotating shaft; the outer ring of the bearing is fixedly connected to the stator, and the inner ring of the bearing is fixedly connected to the rotating shaft.
4. The scanning device according to claim 3, characterized in that: The material of the bearing is steel, and the material of the stator is steel.
5. The scanning device according to claim 3 or 4, characterized in that: At least two positioning grooves are arranged inside the stator at intervals along the axial direction of the rotating shaft, and the at least two bearings are respectively arranged in the at least two positioning grooves.
6. The scanning device according to any one of claims 1 to 5, characterized in that: The cross-sectional shape of the rotor housing along the radial direction of the rotating shaft is a polygon.
7. The scanning device according to claim 6, characterized in that: The cross-sectional shape of the reflecting portion along the radial direction of the rotating shaft is a polygon.
8. The scanning device according to claim 7, characterized in that: The reflecting part includes a lens; There are multiple lenses, and the multiple lenses are arranged around the rotor shell, and the multiple lenses are connected in sequence; or, the lenses are an integrally formed structure, and the lenses are sleeved on the outer wall of the rotor shell.
9. The scanning device according to any one of claims 1 to 8, characterized in that: It also includes a base, the stator is fixedly connected to the base, and the projection of the rotor housing along the axial direction of the rotating shaft is located within the range of the base; The code disc is fixedly connected to the rotor housing on one side thereof facing the base along the axial direction of the rotating shaft.
10. The scanning device according to claim 9, characterized in that: The encoder further comprises an encoder chip, which is fixedly connected to the base along the axial direction of the rotating shaft on one side of the rotor housing and arranged corresponding to the code disc, and is used for converting the angular displacement of the code disc into an electrical signal.
11. The scanning device according to claim 10, characterized in that: A circuit board is fixedly connected to the base along the axial direction of the rotating shaft on one side of the rotor housing, and the encoder chip is fixedly connected to the circuit board, and the encoder chip is electrically connected to the circuit board.
12. The scanning device according to any one of claims 1 to 11, characterized in that: Also included is an electromagnetic assembly, the electromagnetic assembly is used to drive the rotor housing to rotate relative to the stator; The electromagnetic assembly includes a magnet and a stator core with a winding, the stator core is located inside the magnet, the stator core is fixedly connected to the stator, and the magnet is fixedly connected to the rotor housing. When the winding is energized, the magnet rotates relative to the stator core to drive the rotor housing to rotate relative to the stator.
13. A laser radar, characterized in that: It comprises a laser transmitter, a laser receiver, a controller and a scanning device as claimed in any one of claims 1 to 12; The laser transmitter is used to emit laser to detect target objects in space; The scanning device is used to reflect the laser light in different directions to increase the detection range; The laser receiver is used to receive the laser reflected by the target object; The controller is used for performing data processing on the laser transmitter and the laser receiver to obtain information of the target object.
14. A car, characterized in that: Comprising a laser radar as described in claim 13.