Scanning device for laser radar and laser radar

Abstract

The invention provides a scanning device of a laser radar and the laser radar. The scanning apparatus includes: a mirror configured to reflect a light beam; the driving device comprises a stator comprising a first magnetic component; the rotor comprises a second magnetic assembly and is connected with the reflecting mirror so as to drive the reflecting mirror to move to realize light beam scanning, the stator is configured to enable the rotor to move from a balance position, and the second magnetic assembly can interact with the first magnetic assembly so as to enable the rotor to return to the balance position. The scanning device can realize large-angle reciprocating motion under a certain frequency with relatively low driving power, can be applied to a laser radar to realize large-angle scanning in a horizontal direction or a vertical direction, and reduces the driving power so as to reduce power consumption and heat generated by the laser radar; the reliability and the service life of the laser radar under the condition of long-time scanning are improved.

Description

Technical Field

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

[0002] Conventional scanners usually use the interaction force of the magnetic poles between two windings with opposite currents on a radially magnetized shaft to drive the reflector to rotate, and the reflector can be reciprocated by changing the direction of the winding current. This scanner is commonly used in the medical and beauty industries, but in recent years it has also been used in laser radars for slow (less than 15HZ) and small scanning angle (less than 25 degrees) scanning.

[0003] Reciprocating motion with a certain frequency is a common requirement in scanning laser radar. Conventional motors can often achieve this function, but due to the principles and characteristics of the driver, conventional motors often require higher drive power when increasing the reciprocating motion frequency (not less than 10Hz) and increasing the scanning angle (greater than 30 degrees).

[0004] Since the mechanical model of a conventional motor can be simplified to a second-order "mass-damping" system, its mechanical transfer function can be written as:

[0005]

[0006] Among them are the moment of inertia J, damping c, operating frequency s, displacement X, and driving force F.

[0007] Under low damping conditions (generally, motors will try to reduce damping as much as possible), the gain of the transfer function is inversely proportional to the square of the frequency, that is, as the operating frequency s increases, the dynamic gain X(s) / F(s) of the conventional motor will drop rapidly, which leads to the above-mentioned problem: when the scanner is reciprocating, if the reciprocating frequency (s) is increased or the scanning angle (X) is increased, a greater driving force (F) needs to be provided. Therefore, when a conventional motor is used to drive the scanner to perform large-angle scanning at a certain frequency, the driving power needs to be increased, which will result in a large amount of energy waste and generate a lot of heat inside the lidar, thereby reducing the reliability and service life of the lidar for long-term scanning.

[0008] The contents of the background technology section are merely the technologies known to the inventors and do not necessarily represent the prior art in the field. Summary of the invention

[0009] In view of one or more deficiencies in the prior art, the present invention provides a scanning device for laser radar and a laser radar.

[0010] According to one aspect of the present invention, there is provided a scanning device for a laser radar, comprising:

[0011] a reflector configured to reflect the light beam;

[0012] A driving device, comprising:

[0013] a stator including a first magnetic assembly;

[0014] A rotor, which includes a second magnetic component and is connected to the reflector to drive the reflector to move to achieve beam scanning,

[0015] The stator is configured to move the rotor from an equilibrium position, and the second magnetic component is capable of interacting with the first magnetic component to restore the rotor to the equilibrium position.

[0016] According to an embodiment of the present invention, the rotor further comprises a rotor body portion, and the rotor body portion is movable around the axis.

[0017] According to an embodiment of the present invention, the stator further comprises a stator body portion, and the stator body portion cooperates with the rotor body portion to enable the rotor to move around the axis from the equilibrium position.

[0018] According to an embodiment of the present invention, the second magnetic component is connected to the rotor main body, and the first magnetic component is separated from the stator main body.

[0019] According to an embodiment of the present invention, the second magnetic component and the reflector are respectively arranged on both sides of the rotor body.

[0020] According to an embodiment of the present invention, the first magnetic assembly includes two first magnetic members, and the second magnetic assembly includes at least one second magnetic member.

[0021] According to an embodiment of the present invention, the second magnetic component includes two second magnetic members, and the two second magnetic members are respectively paired with the two first magnetic members to form two restoring components. Each second magnetic member is opposite to the paired first magnetic member and has the same polarity of relative magnetic poles to generate a restoring force to restore the rotor to the equilibrium position.

[0022] According to an embodiment of the present invention, the two second magnetic members are symmetrically arranged with respect to the symmetry plane of the reflector; the two first magnetic members are symmetrically arranged with respect to the symmetry plane of the reflector when the rotor is in a balanced position, wherein the symmetry plane of the reflector is perpendicular to the reflecting surface of the reflector and includes the axis of the rotor main body.

[0023] According to an embodiment of the present invention, the first magnetic component further includes two magnetic yokes, and the two magnetic yokes respectively surround the magnetic poles of the two first magnetic members that are not opposite to the two second magnetic members.

[0024] According to an embodiment of the present invention, the second magnetic component also includes a support body supporting the two second magnetic members, the support body is connected to the rotor body of the rotor, and the support body has an opening, and the opening exposes the magnetic pole of the second magnetic member opposite to the first magnetic member.

[0025] According to an embodiment of the present invention, the stator further includes a stator body, a bottom plate extending outward from a bottom edge of the stator body, and sub-brackets arranged on both sides of the bottom plate, and the first magnetic component is arranged on the sub-bracket.

[0026] According to an embodiment of the present invention, the stator main body includes a stator support body and an electromagnetic component arranged on the stator support body.

[0027] According to an embodiment of the present invention, the electromagnetic assembly includes a core, a coil and a pair of positioning members.

[0028] According to an embodiment of the present invention, the core body includes an annular portion and at least one pair of teeth grooves arranged on the annular portion.

[0029] According to an embodiment of the present invention, the positioning member includes an annular groove and a protrusion, the annular groove is configured to accommodate the coil, and the protrusion is communicated with the annular groove and extends into the tooth groove.

[0030] According to an embodiment of the present invention, the at least one pair of teeth are symmetrically arranged with respect to the symmetry plane of the reflector when the rotor is in a balanced position, and the surface of the positioning member away from the core has at least one pair of first notches corresponding to the at least one pair of teeth and a second notch symmetrical with respect to the symmetry plane of the reflector when the rotor is in a balanced position.

[0031] According to an embodiment of the present invention, the stator body further includes a bearing disposed in the hollow portion of the stator support body.

[0032] According to an embodiment of the present invention, the stator body further comprises an end cover arranged at an opening at the bottom of the stator support body.

[0033] According to an embodiment of the present invention, a magnetic member is attached to the top of the end cover, and the magnetic member extends upward into the bearing.

[0034] According to an embodiment of the present invention, a groove opening upward is formed on the top of the end cover, and the magnetic member is disposed in the groove.

[0035] According to an embodiment of the present invention, the stator further comprises a circuit board arranged on the bottom plate.

[0036] According to an embodiment of the present invention, the circuit board includes a plurality of groups of printed coils and a plurality of capacitors, and each group of printed coils corresponds to each capacitor.

[0037] According to an embodiment of the present invention, the rotor further comprises a rotor body, the rotor body comprises a rotor support body, the rotor support body covers the stator body of the stator, and the second magnetic assembly is attached to a side wall of the rotor support body.

[0038] According to an embodiment of the present invention, the rotor main body further comprises a third magnetic component, which is located at the outer periphery of the electromagnetic assembly in the stator main body and fixed on the rotor support body.

[0039] According to an embodiment of the present invention, the rotor main body includes a pair of the third magnetic parts, the core in the electromagnetic assembly includes a pair of teeth, and when the rotor is in a balanced position, the pair of third magnetic parts are respectively opposite to the pair of teeth, and the pair of third magnetic parts and / or the pair of teeth are symmetrically arranged relative to the symmetry plane of the reflector.

[0040] According to an embodiment of the present invention, the scanning device further comprises a position sensor configured to detect a position of the reflective mirror.

[0041] According to an embodiment of the present invention, the rotor support body covers the printed coil on the circuit board of the stator.

[0042] According to an embodiment of the present invention, a target is formed at the bottom of the rotor support, at least a portion of the target is opposite to the printed coil, and is used to detect the position of the reflector when the rotor moves.

[0043] According to an embodiment of the present invention, the first part and the second part of the target object are respectively opposite to the first printed coil and the second printed coil in the printed coil, and are used to detect the position of the reflector according to the change of the relative area between the first part and the first printed coil and the change of the relative area between the second part and the second printed coil when the rotor moves.

[0044] According to an embodiment of the present invention, the target object is made of metal and ferrite is disposed in the target object.

[0045] According to an embodiment of the present invention, the target has a groove opening downward, and the ferrite is arranged in the groove.

[0046] According to an embodiment of the present invention, the rotor support body includes a rotating shaft, which extends downward from the top of the rotor support body and cooperates with the bearing of the stator body. A magnetic part is provided at the lower part of the rotating shaft, and the magnetic part cooperates with the magnetic part in the end cover of the bearing.

[0047] According to an embodiment of the present invention, a cylindrical groove opening upward is formed on the upper portion of the rotating shaft.

[0048] According to an embodiment of the present invention, the magnetic component of the rotating shaft and the magnetic component in the end cover of the bearing are opposite to each other and attracted to each other, so that the bearing is pre-tightened.

[0049] According to another aspect of the present invention, there is provided a laser radar, comprising a transmitting unit, a scanning device according to any one of the above embodiments, a receiving unit and a processing unit.

[0050] The transmitting unit is configured to transmit a detection beam, and the detection beam is reflected by the scanning device into the environment around the laser radar;

[0051] The receiving unit is configured to receive the echo generated by the detection light beam on the obstacle and convert it into an electrical signal;

[0052] The processing unit is configured to obtain information about the obstacle according to the electrical signal.

[0053] The scanning device according to the embodiment of the present invention can be applied to the laser radar to realize large-angle scanning in the horizontal direction or the vertical direction, and can realize large-angle reciprocating motion at a certain frequency. Its resonant motion can realize low-power drive of the motor. In addition, according to the embodiment of the present invention, an eddy current angle measurement scheme is adopted in the position sensor of the scanning device, which has the advantages of simple structure and low cost. According to the embodiment of the present invention, two mutually attractive magnets are arranged in the axial direction of the rotating shaft of the scanning device to provide a bearing preload force, thereby realizing the preload of the bearing in the scanning device. It has the advantages of a small number of parts, a compact axial space, and convenient assembly, which is conducive to reducing the height of the scanning device, thereby reducing the height of the laser radar, and is conducive to the mass production of the laser radar. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0055] Figure 1 A schematic structural diagram of a scanning device for laser radar according to an embodiment of the present invention is shown.

[0056] Figure 2 A schematic diagram showing the comparison of the frequency response curves of a conventional motor and a resonant motor is shown.

[0057] Figure 3 A schematic structural diagram of a scanning device for laser radar according to another embodiment of the present invention is shown.

[0058] Figure 4(a) , 4(b) A stereoscopic view and a longitudinal vertical cross-sectional view of a stator in a scanning device for a laser radar according to an embodiment of the present invention are respectively shown.

[0059] Figure 5 An exploded view of the electromagnetic assembly in the stator body of the stator shown in FIG. 4( b ) is shown.

[0060] Figure 6 Shows Figure 3 Schematic diagram of the coordination between the stator core and coil shown.

[0061] Figure 7(a) , 7(b) 7(c) respectively show a stereoscopic view, a transverse vertical cross-sectional view and a horizontal cross-sectional view of a rotor in a scanning device for a laser radar according to an embodiment of the present invention.

[0062] Figure 8(a) , 8(b) They are shown respectively Figure 4(a) , 4(b) The stator shown is Figure 7(a) , 7(b) , a stereoscopic view and a longitudinal vertical cross-sectional view of the scanning device assembled on the rotor shown in 7(c).

[0063] Fig. 9 An explanatory diagram showing the principle of an eddy current sensor.

[0064] Figure 10(a) , 10(b) They are shown respectively Figure 8(a) , 8(b) A schematic diagram of the operation of the position sensor in the scanning device when the rotor is in and deviates from the equilibrium position;

[0065] Fig.11 A structural block diagram of a laser radar according to an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0066] In the following, only some exemplary embodiments are briefly described. As those skilled in the art will appreciate, the described embodiments may be modified in various ways without departing from the spirit or scope of the present invention. Therefore, the drawings and descriptions are considered to be exemplary and non-restrictive in nature.

[0067] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0068] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or can communicate with each other; it can be directly connected, or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0069] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply means that the first feature is lower in level than the second feature.

[0070] The disclosure below provides many different embodiments or examples to realize different structures of the present invention. In order to simplify the disclosure of the present invention, the parts and settings of specific examples are described below. Of course, they are only examples, and the purpose is not to limit the present invention. In addition, the present invention can repeat reference numbers and / or reference letters in different examples, and this repetition is for the purpose of simplicity and clarity, which itself does not indicate the relationship between the various embodiments and / or settings discussed. In addition, the present invention provides various specific examples of processes and materials, but those of ordinary skill in the art can be aware of the application of other processes and / or the use of other materials.

[0071] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0072] An embodiment of the present invention provides a scanning device for a laser radar, which specifically includes a reflector and a driving device, wherein the reflector is configured to reflect a light beam; the driving device includes: a stator, which includes a first magnetic component; a rotor, which includes a second magnetic component and is connected to the reflector to drive the reflector to move to achieve light beam scanning, wherein the stator is configured to move the rotor from an equilibrium position, and the second magnetic component can interact with the first magnetic component to return the rotor to the equilibrium position.

[0073] The scanning device in this embodiment can be used in a laser radar to realize large-angle and high-frequency scanning of the laser radar in the horizontal or vertical direction, without significantly increasing the driving power of the scanning device. It can reduce the power consumption and heat generated by the laser radar and improve the reliability and service life of the laser radar during long-term scanning.

[0074] Figure 1 FIG. 2 shows a schematic structural diagram of a scanning device for a laser radar according to an embodiment of the present invention. Figure 1 As shown, the scanning device includes a reflector 1 and a driving device 2, wherein the reflector 1 is used to reflect the light beam, and the reflector 1 is installed on the driving device 2. The driving device 2 drives the reflector 1 to reciprocate within a specific angle range to change the emission angle of the detection light beam emitted by the laser radar to the outside, covering the scanning field of view of the laser radar.

[0075] The driving device 2 includes a stator and a rotor, wherein the rotor is connected to the reflector 1, and during the movement of the rotor, the reflector 1 is driven to move synchronously. Specifically, the rotor can be arranged to surround the stator so as to move around the stator, or the rotor can be arranged inside the stator. For example, one of the rotor or the stator is provided with an energized coil, and the other of the rotor or the stator is provided with a permanent magnet, and the magnetic field is changed by controlling the change of the current in the energized coil, thereby driving the rotor to move relative to the stator.

[0076] exist Figure 1 In the embodiment, the rotor is in a balanced position relative to the stator (i.e. Figure 1 The rotor can swing back and forth within a specific angle range on both sides of the equilibrium position.

[0077] like Figure 1 As shown, the stator in this embodiment also includes a first magnetic component FMA ( Figure 1 The embodiment includes two first magnetic members 2104 and a yoke 2105, which are described in detail below), and the rotor includes a second magnetic component SMA ( Figure 1 The embodiment includes two second magnetic parts 2203 and a support body 2204, which are described in detail below. The first magnetic component FMA and the second magnetic component SMA can interact with each other. For example, the first magnetic part 2104 and the second magnetic part 2203 repel each other. When the rotor deviates from the equilibrium position by a certain angle, the rotor is prompted to return to the equilibrium position, and then the rotor drives the reflector 1 to reciprocate around the equilibrium position at a specific frequency and angle range. When the direction of the detection light beam incident on the reflector 1 is fixed, the movement of the reflector 1 can change the transmission direction of the detection light beam, and finally the detection light beam is emitted toward different detection directions outside the laser radar to cover the field of view of the laser radar.

[0078] The detection beam is emitted to the outside of the laser radar and produces an echo after being reflected by the obstacle. The receiving unit of the laser radar can receive the echo and convert it into an electrical signal. Then the processing unit of the laser radar can process the electrical signal to obtain information about the obstacle.

[0079] Specifically, the drive device 2 includes a stator and a rotor that can rotate around an axis, the stator is configured to move the rotor from a balanced position, and the first magnetic component FMA and the second magnetic component SMA interact with each other to restore the rotor to a balanced position. The drive device 2 may include, for example, Figure 1 The 2-pole brushless DC motor shown. Those skilled in the art will appreciate that the number of pole pairs can be increased, for example Figure 3 As shown, or any driving structure that can move the rotor relative to the stator from a balanced position.

[0080] by Figure 1 Take the motor shown in as an example, wherein the rotor includes a rotor body 22, and the rotor body 22 is configured to be able to move around an axis, for example, to swing back and forth around an axis, and correspondingly, the stator includes a stator body 21. The rotor body 22 is arranged outside the stator body 21, so that the reflector 1 can be directly connected to the rotor body 22, simplifying the structural design. It is easy for those skilled in the art to understand that the rotor body 22 can also be arranged in the stator body 21, for example, by an extension structure to connect the reflector 1 to the rotor body 22, and move with the rotor body 22. The stator body 21 and the rotor body 22 cooperate with each other so that the rotor can move from a balanced position. In this embodiment, the second magnetic component SMA is connected to the rotor body 22, and the second magnetic component SMA interacts with the first magnetic component FMA to drive the rotor body 22 to return to the balanced position.

[0081] like Figure 1 As shown, the stator also includes a coil 2102, and the rotor also includes a third magnetic component 2202. The coil 2102 can generate a magnetic field when energized. The magnetic field changes by changing the magnitude or direction of the current in the coil 2102. The third magnetic component 2202 in the rotor is driven to move in the changing magnetic field, thereby driving the rotor to move relative to the stator from the equilibrium position. Figure 1 N and S in the figure represent the polarity of the first magnetic member 2104, the second magnetic member 2203, and the third magnetic member 2202, respectively. When the coil 2102 is energized, for example, when the positive and negative poles of the coil 2102 are in Figure 1 In the state shown, the N pole of the generated magnetic field points to the direction of the second magnetic member 2203, and the rotor is subjected to a clockwise torque; on the contrary, when the positive and negative poles of the coil 2102 are in the same Figure 1 When the direction is opposite to that shown, the rotor is subjected to a counterclockwise torque, that is, the stator can cause the rotor to move away from the equilibrium position.

[0082] In this embodiment, when the rotor moves from the equilibrium position relative to the stator, the position of the first magnetic component FMA remains fixed, the second magnetic component SMA moves with the rotor, the distance between the first magnetic component FMA and the second magnetic component SMA approaches (or moves away from) each other, and the motion potential energy of the rotor is absorbed by the magnetic field between the first magnetic component FMA and the second magnetic component SMA, forming a spring-like structure, whose mechanical model can be regarded as a spring element (referred to as a magnetic spring in the embodiment of the present invention) within a certain range. When the rotor moves to the extreme position, the potential energy accumulation of the magnetic spring reaches a limit, and the release of the potential energy can cause the rotor to turn and return to the equilibrium position. By setting the magnetic field force between the first magnetic component FMA and the second magnetic component SMA, the distance between them and other parameters, the stroke of the rotor, that is, the swing angle range of the rotor relative to the stator can be set, so that the reflector 1 can move within a specific angle range.

[0083] According to the above, the drive device 2 in this embodiment is approximately a second-order resonant system. Compared with conventional motors, the gain of the magnetic spring structure of the drive device 2 in this embodiment (i.e., the rotation angle of the rotor relative to the stator) has a peak value, such as Figure 2 As shown, the dotted line represents the frequency response curve of the conventional motor, and the solid line represents the frequency response curve of the resonant motor with the magnetic spring structure in this embodiment. Figure 2 It can be seen that in conventional motors, as the frequency increases, the gain response decreases linearly, and the drive device 2 in this embodiment has a resonant frequency, that is, the frequency point corresponding to the maximum gain is located at the resonant frequency, and at the resonant frequency, its corresponding gain has a peak value. In this embodiment, a larger rotor movement stroke can be achieved with a smaller driving power, and a large angle movement of the reflector 1 can be achieved without significantly increasing the power of the drive device. The resonant frequency can be adjusted according to the structural parameters of the drive device 2.

[0084] When designing the structure of the drive device 2, the resonant frequency is set to the operating frequency, for example, 10 Hz. The required stiffness coefficient needs to be calculated based on the operating frequency f0 and the moment of inertia J of the load, where the moment of inertia J depends on the reflector 1.

[0085] K=J(2πf0) 2 ,

[0086] The stiffness coefficient K represents the stiffness of the spring (equivalent to the magnetic spring in this embodiment) in the second-order resonant system, and the actual stiffness coefficient k of the magnetic spring is designed to be the required stiffness coefficient K.

[0087] In a specific embodiment of the invention, the actual stiffness coefficient K of the magnetic spring can be calculated according to the following formula:

[0088] K=n*k0(x,s(magnet))

[0089] Where n represents the logarithm of the magnetic spring, k0 represents the stiffness function provided by a single magnetic spring, x represents the gap, and s represents the geometric parameters of the magnet, wherein the smaller the gap x, the larger the stiffness function k0 of a single magnetic spring. The stiffness coefficient K is used in the driving device 2 of the magnetic spring structure in this embodiment to characterize the magnitude of the force required to cause the load to produce a unit displacement. Therefore, the smaller the stiffness coefficient K, the "softer" the magnetic spring, the smaller the driving force required to be applied, and the lower the power consumption. In addition, the stiffness coefficient K of the magnetic spring will also affect the stroke of the rotor relative to the stator. When the driving force remains unchanged, the larger the stiffness coefficient K, the smaller the stroke of the rotor relative to the stator.

[0090] According to a preferred embodiment of the present invention, the first magnetic assembly FMA and the second magnetic assembly SMA can be configured to include a plurality of magnets ( Figure 1 Two first magnetic parts 2104 and one or two second magnetic parts 2203 are shown in the figure, and the multiple magnetic parts cooperate in pairs, that is, a magnetic part in the first magnetic component FMA cooperates with a magnetic part in the second magnetic component SMA to form a magnetic spring structure. Multiple pairs of magnetic springs can be set in the drive device 2, and the specific settings of the first magnetic component FMA and the second magnetic component SMA are described in subsequent embodiments. Of course, in other embodiments of the present invention, it can also be arranged that two magnetic parts in the first magnetic component FMA correspond to a magnetic part in the second magnetic component SMA, for example, the two magnetic parts in the first magnetic component FMA correspond to the two magnetic poles of a magnetic part in the second magnetic component SMA respectively.

[0091] like Figure 1 As shown, the second magnetic assembly SMA and the reflector 1 are respectively arranged on both sides of the rotor body 22, and preferably, the second magnetic assembly SMA and the reflector 1 are symmetrically arranged on both sides of the radial direction of the rotor body 22. The radial direction of the rotor body 22 refers to the radial direction in which the rotor body 22 rotates relative to the stator body 21, and does not limit the rotor body 22 to have a circular cross-section.

[0092] In a preferred embodiment of the present invention, the first magnetic assembly FMA is separated from the stator body 21 and arranged on both sides of the rotor body 22, for example Figure 1 As shown, the first magnetic assembly FMA includes two first magnetic members 2104, and the two first magnetic members 2104 are respectively arranged on both sides of the rotor body 22. The second magnetic assembly SMA includes at least one second magnetic member 2203. In one embodiment of the present invention, the second magnetic assembly SMA includes one second magnetic member 2203. Figure 1 As shown in the magnetic pole distribution in FIG. 1 , the S pole in the second magnetic member 2203 faces the right side ( Figure 1 The first magnetic member 2104 in the right side of the figure, and the N pole in the second magnetic member 2203 faces the left side ( Figure 1 The first magnetic member 2104 is on the left side of the figure.

[0093] Preferably, Figure 1 As shown in , the second magnetic component SMA includes two second magnetic members 2203, which correspond to the two first magnetic members 2104 respectively. One of the first magnetic members 2104 and the second magnetic member 2203 constitutes a recovery component. In this embodiment, the first magnetic component FMA and the second magnetic component SMA together form two recovery components. In one recovery component, the second magnetic member 2203 and the first magnetic member 2104 matched therewith are opposite and have the same polarity, so that a repulsive magnetic field is generated between the first magnetic member 2104 and the second magnetic member 2203, and the first magnetic member 2104 pushes the second magnetic member 2203 to move away.

[0094] Further, in a preferred embodiment of the present invention, the two second magnetic members 2203 are symmetrically arranged relative to the symmetry plane of the reflector 1. The two first magnetic members 2104 are symmetrically arranged relative to the symmetry plane of the reflector 1 when the rotor is in a balanced position ( Figure 1 The reflector 1 and the first magnetic member 2104 and the second magnetic member 2203 are symmetrically arranged. When the rotor is in a balanced position, the magnetic field forces of the first magnetic member 2104 and the second magnetic member 2203 are equal, which simplifies the structural design and helps maintain the structural stability of the drive device 2.

[0095] The two return assemblies composed of the two first magnetic members 2104 and the two second magnetic members 2203 in this embodiment are respectively arranged on both sides of the rotor and are symmetrical. The two return assemblies can be regarded as two mechanical springs, so as to analyze the force. The two ends of the mechanical spring are respectively connected to the rotor main body 22. When the rotor main body 22 moves relative to the stator, the mechanical spring on one side of the movement direction is compressed and the mechanical spring on the other side is stretched, which is equivalent to storing the motion potential energy of the rotor main body 22 in the mechanical spring. Under the joint action of the mechanical springs on both sides, the rotor main body 22 is prompted to return to the equilibrium position. That is, the two return assemblies composed of the two first magnetic members 2104 and the two second magnetic members 2203 are two magnetic springs. Although the elastic force of the magnetic spring does not satisfy Hooke's law, when analyzing the direction of the magnetic force on the rotor main body 22 and the changing trend of the magnetic force, the return assembly (magnetic spring) in this embodiment is no different from the mechanical spring.

[0096] According to a preferred embodiment of the present invention, the first magnetic assembly FMA further includes two magnetic yokes 2105, and the two magnetic yokes 2105 respectively surround the magnetic poles of the two first magnetic members 2104 that are not opposite to the second magnetic member 2203, for example Figure 1 As shown in the figure, the yoke 2105 on the left side surrounds the S pole of the first magnetic member 2104 on the left side, and the yoke 2105 on the right side surrounds the N pole of the first magnetic member 2104 on the right side. The yoke 2105 itself does not generate a magnetic field, but can transmit a magnetic field. For example, it is made of a material with a relatively high magnetic permeability, which can limit magnetic leakage and prevent the magnetic poles in the first magnetic member 2104 that do not play a role in the recovery assembly from affecting the overall magnetic field environment of the drive device 2, thereby improving the degree of freedom of the setting position of the first magnetic assembly FMA, and on this basis, more first magnetic members 2104 can be arranged around the rotor to form more recovery assemblies, and the structural design is more flexible.

[0097] According to a specific embodiment of the present invention, the second magnetic assembly SMA further includes a support body 2204, which is used to support and fix the second magnetic member 2203. For example, a mounting structure of the second magnetic member 2203 is provided on the support body 2204, and the number of the second magnetic members 2203 corresponds to that of the second magnetic members 2203. Figure 1 Take the two second magnetic members 2203 shown in as an example, wherein the two second magnetic members 2203 are respectively installed at positions corresponding to the first magnetic member 2104. Specifically, the support body 2204 is connected to the rotor body 22, for example, it is integrally formed. An opening is provided on the support body 2204, a part of the second magnetic member 2203 is provided in the opening, and the magnetic pole corresponding to the first magnetic member 2104 in the second magnetic member 2203 is leaked from the position of the opening. The second magnetic member 2203 is installed at the opening position of the support body 2204, and can be installed in a variety of ways such as pasting, snapping, plugging, etc.

[0098] FIG. 4( a ) and FIG. 4( b ) show the specific structure of a stator according to a preferred embodiment of the present invention. The structure of the stator will be described below in conjunction with FIG. 4( a ) and FIG. 4( b ).

[0099] As shown in Fig. 4(a), the stator further comprises a stator body 21, a bottom plate 2112 and a sub-bracket 2113. The bottom plate 2112 extends outward from the bottom edge of the stator body 21. For example, the stator body 21 is arranged on the bottom plate 2112. Preferably, the axial direction of the stator body 21 is perpendicular to the extension direction of the bottom plate 2112. A circuit board may also be arranged on the bottom plate 2112, such as a control component of the integrated drive device 2. Specifically, a plurality of printed circuits and a plurality of capacitors may be arranged on the circuit board, and the plurality of printed circuits and the plurality of capacitors correspond to each other.

[0100] The sub-bracket 2113 is disposed on the bottom plate 2112, and the sub-bracket 2113 is used to install and fix the first magnetic assembly FMA. For example, in the aforementioned embodiment, the first magnetic assembly FMA includes two first magnetic members 2104, which are respectively installed on the bottom plate 2112 through the sub-bracket 2113. Similarly, if the first magnetic member 2104 has a yoke 2105 matched therewith, the yoke 2105 is also installed on the bottom plate 2112 through the sub-bracket 2113. The sub-bracket 2113 is used to fix the first magnetic assembly FMA, which together constitute a part of the stator.

[0101] As shown in FIG. 4( b ), the stator body 21 specifically includes a stator support body 2106 and an electromagnetic component 211, wherein the electromagnetic component 211 is disposed on the stator support body 2106 , for example, on the outer periphery. This embodiment provides a specific implementation situation, in which the electromagnetic component 211 is disposed in the stator to serve as a driving source for driving the rotor to move from a balanced position, and the rotor is driven to move relative to the stator through changes in the magnetic field of the electromagnetic component 211 .

[0102] According to a specific embodiment of the present invention, the electromagnetic assembly 211 includes a core 2101, a coil 2102 and a positioning member 2107, and the core 2101 is, for example, an iron core. Figure 1 and 5 As shown, the core 2101 includes an annular portion, and a pair of tooth slots 2103 are arranged on the core 2101, and the tooth slots 2103 are arranged corresponding to the coil 2102. The core 2101 can also be arranged in other structures, such as Figure 3 As shown in FIG, a plurality of tooth slots 2103 are arranged in the circumferential direction of the core 2101. The notched portion in the tooth slot 2103 can also cooperate with the third magnetic member 2202 in the rotor body 22 to reduce the movement resistance of the rotor body 22 relative to the stator. Figure 1 As shown in , a third magnetic member 2202, such as a tile-shaped magnet, is provided in the rotor body 22. A notch is provided at the position of the tooth slot 2103, which is equivalent to reducing the structure of part of the core 2101. The core 2101 is a magnetic conductive material. The tile-shaped magnet has a greater attraction with the part of the core 2101 that does not have a notch. Figure 1 As shown in the figure, the position of the tooth groove 2103 is set to correspond to the center position of the tile magnet (when the rotor is in the equilibrium position), a pair of third magnetic parts 2202 are respectively opposite to a pair of tooth grooves 2103 of the core 2101 in the electromagnetic assembly, and the pair of third magnetic parts 2202 are symmetrically arranged relative to the symmetry plane of the reflector 1, which can promote the movement of the rotor in the direction deviating from the equilibrium position, thereby further reducing the power requirement.

[0103] The positioning member 2107 in the electromagnetic assembly 211 is used to fix the coil 2102 to cooperate with the tooth slot 2103, and can also be used to cooperate with the stator support 2106. In a preferred embodiment of the present invention, the positioning members 2107 are arranged in pairs, such as Figure 5 As shown, positioning members 2107 are respectively provided on the upper side (the side away from the bottom plate 2112 ) and the lower side (the side close to the bottom plate 2112 ) of the core 2101 .

[0104] Specifically, the positioning member 2107 includes an annular groove 21071 and a protrusion 21072. The annular groove 21071 is used to accommodate the coil 2102. The protrusion 21072 is connected to the annular groove 21071 and extends into the tooth groove 2103. The coil 2102 extends from the connection position between the annular groove 21071 and the protrusion 21072 to the upper and lower sides of the tooth groove 2103. The positioning members 2107 arranged above and below the core body 2101 have basically the same structure. The coil 2102 is arranged in a U-shaped structure and is arranged in the annular grooves 21071 in the upper and lower positioning members 2107.

[0105] like Figure 5 As shown, the surface of the positioning member 2107 away from the core 2101 has a pair of first notches 21073 corresponding to the pair of tooth slots 2103 and a pair of second notches 21074 symmetrical with respect to the symmetric plane of the reflector when the rotor is in a balanced position, so as to facilitate the formation of the coil 2102 in the annular groove 21071. Preferably, the tooth slots 2103 on the core 2101 are symmetrically arranged with respect to the symmetric plane of the reflector 1 when the rotor is in a balanced position, and correspondingly, the first notch 21073 and the second notch 21074 in the positioning member 2107 are also symmetrically arranged to avoid eccentricity and drive power loss.

[0106] Figure 3 The core 2101 shown in FIG. 1 is provided with a plurality of tooth grooves 2103 (greater than 2) and Figure 5 The core 2101 shown in FIG. 2 is provided with tooth grooves 2103 to reduce power. Specifically, Figure 6 Shows Figure 3 The structure of the electromagnetic component 211 in the scanning device shown in the figure, wherein a plurality of tooth slots 2103 are arranged in the circumferential direction of the core 2101. Preferably, the plurality of tooth slots 2103 are evenly arranged to form a uniform magnetic field to avoid eccentricity when the rotor moves relative to the stator. Each coil 2102 is arranged between a tooth slot 2103 and an adjacent tooth slot 2103, and a portion of the coil 2102 is embedded in the tooth slot 2103. Similarly, a third magnetic member 2202 is arranged on the rotor body 22. In this embodiment, a plurality of tooth slots 2103 are arranged in the circumferential direction of the core 2101. Preferably, as Figure 3As shown, the third magnetic member 2202 in the rotor body 22 may be a ring magnet. The driving device 2 in this embodiment may be as follows: Figure 3 Three-phase motor shown.

[0107] In an embodiment of the present invention, the rotor further comprises a rotor body 22, the rotor body 22 comprises a rotor support 2201 and a third magnetic member 2202, the third magnetic member 2202 is fixedly disposed on the rotor support 2201, for example, as shown in FIG. 7(a) and FIG. 7(b), a groove or a through groove is disposed on the rotor support 2201 so that the third magnetic member 2202 can be embedded in the rotor support 2201. Figure 1 and 8(b) As shown, the rotor is arranged at the periphery of the stator, for example, the rotor support body 2201 covers the outside of the stator body 21 of the stator, wherein the second magnetic component SMA can be attached to the side wall of the rotor support body 2201, for example, the support body 2204 is arranged on the side of the rotor support body 2201. The third magnetic member 2202 can be arranged to surround the periphery of the electromagnetic component 211 in the stator. According to the aforementioned embodiment, the structure and number of the third magnetic member 2202 are preferably arranged to match the electromagnetic component 211 in the stator, for example, a tile-shaped magnet or a ring magnet.

[0108] Specifically, as shown in FIG8(a) and FIG8(b), and combined with Figure 4(a) , 4(b) and Figure 7(a) , 7(b) , 7(c), the rotor support 2201 is configured to at least cover the stator support 2106, the core 2101, the coil 2102, the positioning member 2107, the bearing 2108, and the end cover 2109, that is, the rotor support 2201 covers the stator body 21. The third magnetic member 2202 shown in FIG. 7(b) is at least located at the periphery of the core 2101, the coil 2102, and the positioning member 2107, that is, the third magnetic member 2202 is located at the periphery of the electromagnetic assembly 211 in the stator body, forming an outer rotor structure, which can drive the rotor to move relative to the stator through the electromagnetic assembly 211, that is, deviate from the equilibrium position.

[0109] The present invention includes a specific embodiment in which the stator and the rotor cooperate with each other, as shown in FIG. 7( b ), and in combination with FIG. 4( b ), the stator main body 21 also includes a bearing 2108 disposed in the hollow portion of the stator support 2106, wherein the bearing 2108 is used to fix the rotating shaft 2207 of the rotor main body 22. In this embodiment, the stator main body 21 is fixedly disposed, the stator support 2106 has a hollow portion inside, and the rotating shaft 2207 of the rotor main body 22 can be inserted into the hollow portion inside the stator support 2106, and cooperate with the bearing 2108 to realize the movement of the rotor around the rotating shaft 2207. Preferably, the bearings 2108 can be disposed on both the upper and lower portions of the stator support 2106 to prevent the rotating shaft 2207 from deviating from the axis during movement.

[0110] According to a preferred embodiment of the present invention, an open end cap 2109 is provided at the bottom of the stator support body 2106. The end cap 2109 is used to cooperate with the bearing 2108 to fix the rotating shaft 2207 of the rotor main body 22. After the rotating shaft 2207 is inserted into the hollow part inside the stator support body 2106, the end cap 2109 provides a pre-tightening force to fix the rotating shaft 2207 relative to the bearing 2108, limit the axial movement of the rotating shaft 2207, and prevent the rotating shaft 2207 from being separated from the hollow part inside the stator support body 2106, so that the rotating shaft 2207 can rotate while preventing the rotating shaft 2207 from axial movement. The end cap 2109 is fixed on the lower bearing 2108, for example.

[0111] Preferably, a magnetic member 2110 is attached to the top of the end cover 2109, and the end cover 2109 and the magnetic member 2110 therein extend upward into the bearing 2108, for example, extend into the bearing 2108 arranged at the lower part of the stator support body 2106. Specifically, the end cover 2109 can be arranged as a cylindrical structure with an opening on the top surface, and the opening is not limited to only one side being open, and the end cover 2109 can also be arranged as a structure with a hollow side. A groove 2111 opening upward is formed at the top of the end cover 2109, and the magnetic member 2110 is fixed in the groove 2111, for example, by gluing or clamping. Correspondingly, a magnetic member 2208 is also arranged at the end of the rotating shaft 2207 (see Figure 7 (b)), and the magnetic member 2110 and the magnetic member 2208 attract each other, and the movement of the rotating shaft 2207 in the axial direction is limited by magnetic force to achieve pre-tightening.

[0112] Figure 7(a) , 7(b) 7(c) respectively show a stereoscopic view, a transverse vertical cross-sectional view and a horizontal cross-sectional view of a rotor in a scanning device for a laser radar according to an embodiment of the present invention. Figure 7(a) , 7(b) , 7(c) and Figure 1 , 3 The same reference numerals denote Figure 1 ,3 The same or similar parts and the same or similar descriptions are not repeated here. It should be noted that for the sake of brevity, Figure 7(a) , 7(b) 7(c) may not fully indicate Figure 1 , 3 The same or similar parts are given reference numerals.

[0113] Specifically, as shown in FIG. 7( b ), the rotor support 2201 includes a rotating shaft 2207, for example, the rotating shaft 2207 is arranged at a position close to the center of the rotor support 2201, and the rotating shaft 2207 preferably extends downward from the top of the rotor support 2201, and is used to cooperate with the bearing 2108 arranged in the stator main body. A magnetic member 2208 is arranged at the lower part of the rotating shaft 2207, and is fixed to the magnetic member 2110 by magnetic attraction. More specifically, a groove opening downward is arranged at the lower part of the rotating shaft 2207, and the magnetic member 2208 is arranged in the groove opening downward, for example, by pasting or clamping. The magnetic member 2208 is, for example, a magnet, in particular a cylindrical magnet, which matches the shape of the groove opening downward in the rotating shaft 2207. The upper part of the rotating shaft 2207 can also be formed with a cylindrical groove 2209 opening upward, which can further reduce the mass of the rotor support 2201, reduce the inertia of the rotor support 2201, and thus reduce the power consumption of the rotor swing.

[0114] In this embodiment, two mutually attractive magnetic parts are used to provide a preload force between the rotor and the stator in the drive device. In terms of assembly, it is only necessary to install the end cover 2109 provided with the magnetic part 2110 near the inner ring of the bearing 2108, and the end cover 2109 is naturally attracted to the magnetic part 2208 under the action of the magnetic force to complete the assembly. The assembly process is simple and quick. In addition, the magnetic preload solution in this embodiment has a small number of parts and a higher axial space utilization rate, which is conducive to reducing the overall height of the scanning device. And the height of the laser radar.

[0115] As shown in Fig. 7(a) and Fig. 7(b), the reflector 1 is connected to the rotor support 2201. Preferably, the reflector 1 is arranged tangentially to the rotation direction of the rotor support 2201, and the reflector 1 is arranged so that its symmetry plane passes through the rotation axis of the rotor support 2201. The third magnetic member 2202 can be fixed on the inner wall of the rotor support 2201, and the third magnetic member 2202 can be arranged to cover most of the area of ​​the rotor support 2201 in the axial direction.

[0116] According to a preferred embodiment of the present invention, the scanning device also includes a position sensor, which is used to detect the position of the reflector 1. In this embodiment, the reflector 1 is driven to move by the driving device 2, so the position sensor can be set as an angle sensor to detect the rotation angle of the reflector 1 and the rotor.

[0117] The present invention also provides a scanning device with a position sensor, wherein a printed coil (such as the printed coils 91 and 92 in FIG. 10 (a) and FIG. 10 (b)) is provided on the bottom plate 2112 of the stator, the printed coil is integrated on a circuit board fixed on the bottom plate 2112, and the rotor support 2201 covers the printed coil on the circuit board. Specifically, as shown in FIG. 7 (b) and FIG. 7 (c), a target 2205 is formed at the bottom of the rotor support 2201, and the target 2205 can be directly connected to the reflector 1, and the angle of rotation of the target 2205 can represent the rotation angle of the reflector 1. The target 2205 can also be arranged to have a gap between it and the reflector 1, and the reflector 1 is directly connected to the outer side of the rotor support 2201. The target 2205 can be designed to be roughly annular, and the position close to the reflector 1 can be arranged as a straight line segment to avoid the reflector 1. The target 2205 can be an extension of the rotor support 2201 outward in the circumferential direction, similar to a skirt structure.

[0118] At least a portion of the target 2205 is opposite to the printed coil (eg, the printed coils 91 and 92 in FIGS. 10( a ) and 10 ( b )), that is, the target 2205 at least partially overlaps with the printed coil.

[0119] As shown in FIG. 7( b) and FIG. 7( c), a ferrite 2206 is disposed in a part of the target 2205. Specifically, for example, the target 2205 is made of metal and has a groove at the bottom, and the ferrite 2206 can be embedded in the groove for fixing. The ferrite 2206 can cooperate with the printed coil to detect the rotation angle of the rotor body 22 and the reflector 1.

[0120] Fig. 9 shows the principle of the position sensor, Fig. 9 The coil in the circuit is connected in parallel with the capacitor to form an LC resonant circuit. The coil with sinusoidal alternating current will generate eddy currents at the surface of the triangular metal target. The eddy currents and the coils have mutual inductance, thus changing the equivalent inductance of the LC circuit. The essence of this is that the area of ​​overlap between the coil and the metal target directly facing it changes, rather than requiring a triangular structure to trigger it.

[0121] When the metal target moves to the right, the area facing the coil increases. Correspondingly, the eddy current increases, the mutual inductance increases, and the equivalent inductance of the LC circuit decreases.

[0122] Resonant Frequency of LC Circuit

[0123]

[0124] The resonant frequency of the LC circuit can be used to characterize the overlap range of the metal target and the coil, so by measuring the f sensor, the position change information of the target object can be obtained.

[0125] Based on this principle, by Figure 4(a) , 4(b) The stator shown is Figure 7(a) , 7(b) , 7(c) are assembled, and the printed coil on the circuit board in the bottom plate 2112 and the corresponding capacitor on the circuit board form an LC resonant circuit. The rotor support 2201 covers the printed coil on the circuit board, and specifically, for example, the target 2205 at the bottom of the rotor support 2201, at least a part of the target 2205 is opposite to the printed coil, that is, the target 2205 and the printed coil at least partially overlap. When the rotor moves, the area directly facing the target 2205 and the printed coil changes, resulting in a change in mutual inductance, thereby changing the equivalent inductance of the LC circuit. Based on the above sensor principle, the position of the reflector 1 can be detected, thereby forming a position sensor.

[0126] According to a specific embodiment of the present invention, FIG. 10( a ) and FIG. 10( b ) respectively show Figure 8(a) , 8(b) Schematic diagram of the operation of the position sensor in the scanning device when the rotor is in and out of equilibrium position. Figure 1 - The same reference numerals as in FIG8 denote Figure 1 - The same or similar parts as those in FIG8 are not repeated here. It should be noted that, for the sake of brevity, FIG10(a) and FIG10(b) may not completely mark the same parts as those in FIG8. Figure 1 - Reference numerals for the same or similar components as in Figure 8.

[0127] As shown in FIG. 10( a ), a first printed coil 91 and a second printed coil 92 are provided on the circuit board of the bottom plate 2112 . The first printed coil 91 and the second printed coil 92 respectively form two LC resonant circuits with a first capacitor 93 and a second capacitor 94 on the circuit board. The target object 2205 can be set as a nearly annular tray made of metal material. The ferrite 2206 is set in the target object 2205 and is respectively set on both sides of the symmetry plane of the reflector. The shapes of the two ferrites 2206 match the first printed coil 91 and the second printed coil 92 respectively. When the target object 2205 moves from the position shown in Figure 10(a) to the position shown in Figure 10(b), the position of the first printed coil 91 is fixed. Due to the obstruction of the ferrite 2206, the facing area between the first printed coil 91 and the target object 2205 is reduced, the mutual inductance is weakened, the equivalent inductance of the LC circuit is increased, and the resonant frequency of the LC resonant circuit corresponding to the first printed coil 91 is reduced. The value of the resonant frequency is related to the rotation angle and movement direction of the target object. The rotation angle of the target object 2205 relative to the stator can be calculated based on the value of the resonant frequency.

[0128] Furthermore, the ferrite 2206 is magnetically conductive but not electrically conductive, and the facing area between the first printed coil 91 and the ferrite 2206 in FIG. 10( b ) is increased, so that the equivalent inductance of the LC circuit is further increased and the resonant frequency is further reduced, thereby improving the sensitivity of the goniometer, that is, with the same rotation angle input, a larger frequency signal change can be output.

[0129] As the target object 2205 rotates, the area of ​​the target object 2205 facing the first printed coil 91 and the second printed coil 92 changes simultaneously. Accordingly, the resonant frequencies of the LC circuit formed by the first printed coil 91 and the first capacitor 93 and the LC circuit formed by the second printed coil 92 and the second capacitor 94 also change. By detecting the resonant frequencies of the two LC circuits, the differential method can be used to further improve the detection sensitivity of the position sensor and enhance the ability to resist common mode interference. Preferably, the first printed coil 91 and the second printed coil 92 can be designed symmetrically.

[0130] The position sensor used in this embodiment utilizes the eddy current resonance principle, which has the advantages of simple structure and low cost. The sensitivity of angle detection can be further improved by using the target object 2205 and the ferrite 2206 therein and setting up two sets of resonant circuits.

[0131] like Fig.11 As shown, an embodiment of the present invention further provides a laser radar 100, comprising the scanning device 110 described in any of the aforementioned embodiments.

[0132] According to an embodiment of the present invention, the laser radar specifically includes a transmitting unit 120, a receiving unit 130 and a processing unit 140, wherein the transmitting unit 120 is configured to transmit a detection beam, specifically, the transmitting unit 120 may be a fixedly arranged laser or a laser array, and the detection beam is fixed in the direction emitted from the transmitting unit 120, specifically, the laser may be a VCSEL or an EEL. The receiving unit 130 may include a detector or a detector array, and the detector may be an APD, a single photon detector, such as a SiPM and a SPAD array.

[0133] In the transmitting unit 120 and the receiving unit 130, the laser array and the detector array can be a linear array or a planar array, wherein the lasers and the detectors can be arranged in a one-to-one correspondence, or can be arranged so that multiple lasers correspond to one of the detectors (such as a SPAD planar array), or multiple detectors correspond to one of the lasers (such as a detection beam emitted by a laser is homogenized to form a linear light source emitting a line spot).

[0134] The detection beam is reflected by the reflector in the scanning device 110 to the environment around the laser radar 100. The reflector in the scanning device 110 is driven by the driving device 2 to reciprocate at a fixed frequency and stroke, and the detection beam is emitted from the laser radar 100 at different emission angles to cover the field of view of the laser radar 100. The receiving unit 130 is configured to receive the echo generated by the detection beam on the obstacle and convert it into an electrical signal. Fig.11 As shown, the echo is reflected by the reflector in the scanning device 110 and then received by the receiving unit 130. The processing unit 140 is configured to obtain information about the obstacle, such as the distance and reflectivity of the obstacle, according to the electrical signal obtained by the receiving unit 130. The distance of the obstacle relative to the laser radar can be obtained by detecting the flight time of the emission time and the reception time of the light beam, and the scanning angle can be obtained by measuring the angle of the reflector in the scanning device 110.

[0135] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A scanning device for laser radar, characterized in that: include: a reflector configured to reflect the light beam; A driving device, comprising: a stator including a first magnetic assembly; A rotor, which includes a second magnetic component and is connected to the reflector to drive the reflector to move to achieve beam scanning, The stator is configured to move the rotor from an equilibrium position, and the second magnetic component is capable of interacting with the first magnetic component to restore the rotor to the equilibrium position.

2. The scanning device according to claim 1, characterized in that: The rotor further includes a rotor body portion, and the rotor body portion is movable around the axis.

3. The scanning device according to claim 2, characterized in that: The stator further includes a stator body portion, and the stator body portion cooperates with the rotor body portion to enable the rotor to move around the axis from the equilibrium position.

4. The scanning device according to claim 3, characterized in that: The second magnetic component is connected to the rotor main body, and the first magnetic component is separated from the stator main body.

5. The scanning device according to claim 4, characterized in that: The second magnetic component and the reflector are respectively arranged on two sides of the rotor body.

6. The scanning device according to any one of claims 1 to 5, characterized in that: The first magnetic assembly includes two first magnetic components, and the second magnetic assembly includes at least one second magnetic component.

7. The scanning device according to claim 6, characterized in that: The second magnetic component includes two second magnetic members, which are respectively paired with the two first magnetic members to form two restoring components. Each second magnetic member is opposite to the paired first magnetic member and has the same polarity of relative magnetic poles to generate a restoring force to restore the rotor to the equilibrium position.

8. The scanning device according to claim 7, characterized in that: The two second magnetic members are symmetrically arranged relative to the symmetry plane of the reflector; the two first magnetic members are symmetrically arranged relative to the symmetry plane of the reflector when the rotor is in a balanced position, wherein the symmetry plane of the reflector is perpendicular to the reflecting surface of the reflector and includes the axis of the rotor main body.

9. The scanning device according to claim 7, characterized in that: The first magnetic component further includes two magnetic yokes, and the two magnetic yokes respectively surround the magnetic poles of the two first magnetic members that are not opposite to the two second magnetic members.

10. The scanning device according to claim 7, characterized in that: The second magnetic assembly further includes a support body supporting the two second magnetic members, the support body being connected to a rotor body of the rotor, and the support body having an opening, wherein the opening exposes a magnetic pole of the second magnetic member opposite to the first magnetic member.

11. The scanning device according to claim 1, characterized in that: The stator further comprises a stator body, a bottom plate extending outward from the bottom edge of the stator body, and sub-brackets arranged on both sides of the bottom plate, and the first magnetic component is arranged on the sub-brackets.

12. The scanning device according to claim 11, characterized in that: The stator main body includes a stator support body and an electromagnetic component arranged on the stator support body.

13. The scanning device according to claim 12, characterized in that: The electromagnetic assembly includes a core, a coil and a pair of positioning members.

14. The scanning device according to claim 13, characterized in that: The core body includes an annular portion and at least one pair of teeth and grooves disposed on the annular portion.

15. The scanning device according to claim 14, characterized in that: The positioning member includes an annular groove and a protrusion, wherein the annular groove is configured to accommodate the coil, and the protrusion is communicated with the annular groove and extends into the tooth groove.

16. The scanning device according to claim 15, characterized in that: The at least one pair of teeth are symmetrically arranged relative to the symmetry plane of the reflector when the rotor is in a balanced position, and the surface of the positioning member away from the core has at least one pair of first notches corresponding to the at least one pair of teeth and a second notch symmetrically arranged relative to the symmetry plane of the reflector when the rotor is in a balanced position.

17. The scanning device according to claim 12, characterized in that: The stator body also includes a bearing disposed in the hollow portion of the stator support body.

18. The scanning device according to claim 17, characterized in that: The stator body also includes an end cover arranged at the bottom opening of the stator support body.

19. The scanning device according to claim 18, characterized in that: A magnetic member is attached to the top of the end cover, and the magnetic member extends upward into the bearing.

20. The scanning device according to claim 19, characterized in that A groove opening upward is formed on the top of the end cover, and the magnetic piece is arranged in the groove.

21. The scanning device according to claim 11, characterized in that The stator further includes a circuit board disposed on the bottom plate.

22. The scanning device according to claim 21, characterized in that The circuit board includes a plurality of groups of printed coils and a plurality of capacitors, and each group of printed coils corresponds to each capacitor.

23. The scanning device according to claim 1, characterized in that The rotor further includes a rotor body portion including a rotor support body, the rotor support body covering the stator body portion of the stator, and the second magnetic assembly is attached to a side wall of the rotor support body.

24. The scanning device according to claim 23, characterized in that The rotor main body also includes a third magnetic component, which is located at the outer periphery of the electromagnetic assembly in the stator main body and fixed on the rotor support body.

25. The scanning device according to claim 24, characterized in that The rotor main body includes a pair of third magnetic parts, and the core in the electromagnetic component includes a pair of teeth. When the rotor is in a balanced position, the pair of third magnetic parts are respectively opposite to the pair of teeth. The pair of third magnetic parts and / or the pair of teeth are symmetrically arranged relative to the symmetry plane of the reflector.

26. The scanning device according to claim 23, characterized in that The scanning device also includes a position sensor configured to detect a position of the mirror.

27. The scanning device according to claim 26, characterized in that The rotor support body covers the printed coils on the circuit board of the stator.

28. The scanning device according to claim 27, characterized in that A target is formed at the bottom of the rotor support, at least a portion of which is opposite to the printed coil and is used to detect the position of the reflector when the rotor moves.

29. The scanning device according to claim 28, characterized in that The first part and the second part of the target object are respectively opposite to the first printed coil and the second printed coil in the printed coil, and are used to detect the position of the reflector according to the change of the relative area between the first part and the first printed coil and the change of the relative area between the second part and the second printed coil when the rotor moves.

30. The scanning device according to claim 28 or 29, characterized in that The target object is made of metal and is provided with ferrite.

31. The scanning device according to claim 30, characterized in that The target has a groove opening downward, and the ferrite is arranged in the groove.

32. The scanning device according to claim 23, characterized in that The rotor support body includes a rotating shaft, which extends downward from the top of the rotor support body and cooperates with the bearing of the stator body. A magnetic part is arranged at the lower part of the rotating shaft, and the magnetic part cooperates with the magnetic part in the end cover of the bearing.

33. The scanning device according to claim 32, characterized in that A cylindrical groove opening upward is formed on the upper portion of the rotating shaft.

34. The scanning device according to claim 32, characterized in that The magnetic part of the rotating shaft and the magnetic part in the end cover of the bearing are opposite to each other and attracted to each other, so that the bearing is pre-tightened.

35. A laser radar, characterized in that: include: A transmitting unit, a scanning device, a receiving unit and a processing unit as claimed in any one of claims 1 to 34, The transmitting unit is configured to transmit a detection beam, and the detection beam is reflected by the scanning device into the environment around the laser radar; The receiving unit is configured to receive the echo generated by the detection light beam on the obstacle and convert it into an electrical signal; The processing unit is configured to obtain information about the obstacle according to the electrical signal.

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