Rotating mirror of laser radar, manufacturing method and manufacturing equipment of rotating mirror and laser radar

Abstract

The invention discloses a rotating mirror of a laser radar, a manufacturing method and manufacturing equipment of the rotating mirror and the laser radar, and the rotating mirror comprises a rotating mirror support which comprises a first bottom wall and a second bottom wall; one surface of the side wall is a mounting surface; the at least one lens is fixed on the mounting surface; the mounting surface comprises a protruding area and an avoiding area, and the protruding area is located between the lens and the avoiding area in the direction perpendicular to the mounting surface; and the area of the convex area is smaller than that of the mounting surface. The lens is fixed on the surface with the concave-convex fluctuation, so that the connection area between the mounting surface and the lens can be effectively reduced, the stress on the lens can be effectively reduced, the improvement of the planeness of the mounted lens is facilitated, and the improvement of the light path precision of the laser radar is facilitated.

Description

Technical Field

[0001] The present disclosure relates to laser detection, and in particular to a rotating mirror of a laser radar, a manufacturing method thereof, a manufacturing device and a laser radar. Background Art

[0002] LiDAR is a commonly used distance measurement sensor with the characteristics of long detection distance, high resolution, and low environmental interference. It is widely used in unmanned driving, intelligent robots, drones and other fields. In recent years, autonomous driving technology has developed rapidly, and LiDAR, as its core sensor for distance perception, has become indispensable.

[0003] In laser radar, a light beam is reflected by a reflective surface of a scanning device, thereby forming a light beam for scanning. One scanning device used in laser radar uses a rotating mirror, and scanning is achieved by rotating the reflective surface of the rotating mirror around a rotation axis.

[0004] The detection light generated by the laser radar is reflected by the reflective surface of the rotating mirror and emitted. Therefore, the posture of the reflective surface of the rotating mirror has an important influence on the emission angle of the detection light. During the manufacturing process of the rotating mirror, how to improve the verticality or flatness of the lens becomes a problem to be solved urgently by technicians in this field. Summary of the invention

[0005] The problem solved by the present disclosure is how to improve the verticality and flatness of the lens of the rotating mirror to improve the optical path accuracy of the laser radar.

[0006] In order to solve the above problems, the present disclosure provides a rotating mirror of a laser radar, comprising:

[0007] A rotating mirror bracket, the rotating mirror bracket comprising: a first bottom wall and a second bottom wall; at least one side wall, the side wall being connected between the first bottom wall and the second bottom wall, and one surface of the side wall being a mounting surface; at least one lens, the lens being fixed on the mounting surface; the lens being used to reflect the detection beam of the laser radar and / or the echo beam of the laser radar; the rotating mirror is driven by a brake to rotate so that the lens reflects the detection beam to different positions of the laser radar field of view and / or reflects the echo beam incident from different positions of the laser radar field of view; the mounting surface comprises a raised area and an avoidance area, and along a direction perpendicular to the mounting surface, the raised area is located between the lens and the avoidance area; the area of ​​the raised area is smaller than the area of ​​the mounting surface.

[0008] Optionally, the lens is fixed to the mounting surface by glue.

[0009] Optionally, the mounting surface has a plurality of raised areas, and the avoidance area is located at least between two of the raised areas.

[0010] Optionally, part of the avoidance area and the lens are connected by glue.

[0011] Optionally, the avoidance area is located between adjacent raised areas.

[0012] Optionally, the raised area is in contact with the lens.

[0013] Optionally, the height difference between the raised area and the avoidance area is less than or equal to 2 mm.

[0014] Optionally, at least part of the raised area is connected to the lens by glue.

[0015] Optionally, the avoidance area is located between adjacent protruding areas, and the avoidance area is also located between the protruding area and the edge of the side wall.

[0016] Optionally, the glue in the avoidance area is separated from the lens.

[0017] Optionally, the height difference between the raised area and the avoidance area is greater than or equal to 0.5 mm.

[0018] Optionally, the side wall further has a weight-reducing opening, and the weight-reducing opening penetrates the side wall along the thickness direction of the side wall.

[0019] Optionally, along the direction of a line connecting the first bottom wall and the second bottom wall, the weight-reducing opening extends from one side of the side wall to the other side.

[0020] Optionally, the weight-reducing opening is located within the avoidance zone.

[0021] Optionally, in a plane parallel to the mounting surface, the glue coating paths formed are parallel to each other.

[0022] Optionally, the first bottom wall has a first positioning hole, and the first positioning hole is located at a position corresponding to the rotation axis of the rotating mirror.

[0023] Optionally, the first bottom wall further has a second positioning hole, and the second positioning hole deviates from a position corresponding to the rotation axis of the rotating mirror.

[0024] Accordingly, the present disclosure also provides a laser radar, comprising:

[0025] A transceiver module, the transceiver module is suitable for emitting a detection beam and receiving an echo beam; a scanning module, the scanning module includes: a rotating mirror, the rotating mirror includes: a rotating mirror bracket, the rotating mirror bracket includes: a first bottom wall and a second bottom wall; at least one side wall, the side wall is connected between the first bottom wall and the second bottom wall, and one surface of the side wall is a mounting surface; at least one lens, the lens is fixedly connected to the rotating mirror bracket through the mounting surface; the mounting surface includes a raised area and an avoidance area, and along the direction perpendicular to the mounting surface, the raised area is located between the lens and the avoidance area; the detection beam emitted by the transceiver module is reflected by the lens and then emitted into the environment, the emitted detection beam is reflected by an object in the environment to form the echo beam, and the echo beam is incident on the transceiver module after being reflected by the lens.

[0026] In addition, the present disclosure also provides a method for manufacturing a rotating mirror for a laser radar, comprising:

[0027] A rotating mirror bracket is provided, wherein the rotating mirror bracket has a mounting surface; the posture of the rotating mirror bracket is adjusted so that the mounting surface is parallel to a horizontal plane; glue is applied to the mounting surface; and a lens is mounted on the mounting surface after glue application.

[0028] Optionally, in the step of providing a rotating mirror bracket, the rotating mirror bracket is fixed on a table top of an assembly turntable; in the step of adjusting the posture of the rotating mirror bracket, the direction of the table top of the assembly turntable is adjusted to adjust the posture of the rotating mirror bracket.

[0029] Optionally, the assembly turntable has a first rotating shaft, which is parallel to the table top of the assembly turntable; in the step of adjusting the direction of the table top of the assembly turntable, the assembly turntable is rotated around the first rotating shaft to adjust the direction of the table top of the assembly turntable.

[0030] Optionally, in the step of applying glue on the installation surface, glue is applied on the installation surface along glue application paths that are parallel to each other.

[0031] In addition, the present disclosure also provides a manufacturing device for a rotating mirror for a laser radar, comprising:

[0032] An assembly turntable, the assembly turntable is suitable for fixing the rotating mirror bracket of the rotating mirror, the assembly turntable has a first rotating shaft, and the first rotating shaft is parallel to the table surface of the assembly turntable; a gluing module, the gluing module is suitable for dispensing glue on the installation surface of the rotating mirror bracket.

[0033] Optionally, the assembly turntable further has a second rotation axis, and the second rotation axis is perpendicular to the table surface of the assembly turntable.

[0034] Compared with the prior art, the technical solution disclosed in the present invention has the following advantages:

[0035] In the technical solution disclosed in the present invention, the mounting surface includes a raised area and an avoidance area. In the direction perpendicular to the mounting surface, the raised area is located between the lens and the avoidance area, that is, the raised area and the avoidance area are not in the same plane, and the mounting surface is a surface with convex and concave surfaces. Fixing the lens on the surface with convex and concave surfaces can effectively reduce the connected area between the mounting surface and the lens, can effectively reduce the stress on the lens, and is conducive to improving the flatness of the lens after installation, and is conducive to improving the accuracy of the laser radar optical path.

[0036] In the optional solution disclosed in the present invention, the lens is fixed to the mounting surface by glue. The lens is fixed to the mounting surface with convex and concave surfaces by glue. On the mounting surface, the glue has enough flow space, which can effectively reduce the contact area between the glue and the lens, and can effectively reduce the influence of the stress generated during the curing process of the glue on the flatness of the lens, which is conducive to improving the flatness of the lens after installation and improving the accuracy of the laser radar optical path.

[0037] In the optional solution disclosed herein, the glue application paths formed in the plane parallel to the mounting surface are parallel to each other. The use of parallel glue application paths to form glue can effectively improve the uniformity of glue thickness, which is beneficial to improving the verticality of the lens and the accuracy of the laser radar optical path. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the prior art descriptions. Obviously, the drawings described below are only embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without creative work. The drawings are used to provide a further understanding of the present disclosure and constitute a part of the specification. They are used together with the embodiments of the present disclosure to explain the present disclosure and do not constitute a limitation on the present disclosure. In the drawings:

[0039] Figure 1 It is a schematic diagram of the three-dimensional structure of a rotating mirror used in a laser radar;

[0040] Figure 2 yes Figure 1 The schematic diagram of the top view structure of the rotating mirror for laser radar shown;

[0041] Figure 3 It is a schematic diagram of the exploded structure of an embodiment of a rotating mirror of a laser radar disclosed in the present invention;

[0042] Figure 4 yes Figure 3 A schematic diagram of a top view of the rotating mirror embodiment of the laser radar shown, with the first bottom wall pointing toward the second bottom wall;

[0043] Figure 5 yes Figure 3 A schematic diagram of the structure of the rotating mirror embodiment of the laser radar shown in the top view along a direction perpendicular to the mounting surface;

[0044] Figure 6 It is a schematic diagram of a top view of another embodiment of a rotating mirror of the laser radar disclosed in the present invention, with the first bottom wall pointing toward the second bottom wall;

[0045] Figure 7 yes Figure 6 A schematic diagram of the structure of the rotating mirror embodiment of the laser radar shown in the top view along a direction perpendicular to the mounting surface;

[0046] Figure 8 is a functional block diagram of an embodiment of the laser radar disclosed herein;

[0047] Fig. 9 It is a flow chart of an embodiment of a method for manufacturing a rotating mirror for a laser radar disclosed in the present invention;

[0048] Fig.10 and Fig.11 yes Fig. 9 The side view structural schematic diagram of each step in the embodiment of the manufacturing method of the rotating mirror for laser radar is shown. DETAILED DESCRIPTION

[0049] 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 disclosure. Therefore, the drawings and descriptions are considered to be exemplary and non-restrictive in nature.

[0050] In the description of the present disclosure, 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, and are only for the convenience of describing the present disclosure 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 a limitation on the present disclosure. In addition, the terms "first" and "second" are used only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present disclosure, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0051] In the description of the present disclosure, 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 disclosure can be understood according to specific circumstances.

[0052] In the present disclosure, unless otherwise expressly 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 indicates 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 below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0053] The disclosure below provides many different embodiments or examples to realize different structures of the present disclosure. In order to simplify the disclosure of the present disclosure, 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 disclosure. In addition, the present disclosure can repeat reference numbers and / or reference letters in different examples, and this repetition is for the purpose of simplicity and clarity, and does not itself indicate the relationship between the various embodiments and / or settings discussed. In addition, the present disclosure 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.

[0054] As can be seen from the background technology, the rotating mirror used in the laser radar in the prior art has the problem of poor flatness and verticality. Now, combined with a rotating mirror used in a laser radar and its manufacturing method, the reasons for the poor flatness and verticality are analyzed:

[0055] refer to Figure 1 to Figure 2 , shows a schematic diagram of the structure of a rotating mirror for laser radar. Figure 1 is a schematic diagram of the three-dimensional structure of the rotating mirror; Figure 2 yes Figure 1 The top view structural diagram of the rotating mirror for laser radar is shown.

[0056] The rotating mirror comprises: a rotating mirror bracket and a lens 12 fixedly connected to the rotating mirror bracket. The rotating mirror bracket comprises two bottom walls 11a parallel to each other and a side wall 11b connected between the two bottom walls 11a, and the lens 12 is fixed to the mounting surface (not shown in the figure) of the side wall 11b by glue.

[0057] like Figure 1 and Figure 2 As shown, the mounting surface of the side wall is a flat plane, and the flow space of the glue between the lens 12 and the mounting surface is limited. As the glue overflows on the mounting surface, the contact area between the glue and the lens is large, and the stress generated during the curing process of the glue is applied to the lens, causing the lens to deform and the flatness of the lens to deteriorate.

[0058] Moreover, during the manufacturing process of the rotating mirror, the rotating mirror bracket is always placed vertically on the work station carrier, that is, the rotating mirror bracket is arranged on the work station carrier in a posture that the bottom wall is parallel to the table of the work station carrier. Therefore, during the gluing process, the mounting surface intersects with the table. The work station carrier is arranged horizontally, that is, the table is parallel to the horizontal plane. Therefore, during the gluing process, the mounting surface intersects with the horizontal plane, for example, the mounting surface is perpendicular to the horizontal plane.

[0059] After applying glue on the mounting surface that intersects the horizontal plane, gravity will affect the uniformity of the glue thickness; the stress generated after curing of glues of different thicknesses will also be different, so the deterioration of the uniformity of the glue thickness will also affect the flatness of the lens.

[0060] In order to solve the technical problem, the present disclosure provides a rotating mirror of a laser radar, comprising:

[0061] A rotating mirror bracket, the rotating mirror bracket comprising: a first bottom wall and a second bottom wall; at least one side wall, the side wall being connected between the first bottom wall and the second bottom wall, and one surface of the side wall being a mounting surface; at least one lens, the lens being fixed on the mounting surface; the lens being used to reflect the detection beam of the laser radar and / or the echo beam of the laser radar; the rotating mirror is driven by a brake to rotate so that the lens reflects the detection beam to different positions of the laser radar field of view and / or reflects the echo beam incident from different positions of the laser radar field of view; the mounting surface comprises a raised area and an avoidance area, and along a direction perpendicular to the mounting surface, the raised area is located between the lens and the avoidance area; the area of ​​the raised area is smaller than the area of ​​the mounting surface.

[0062] In the disclosed technical solution, the mounting surface includes a raised area and an avoidance area. In the direction perpendicular to the mounting surface, the raised area is located between the lens and the avoidance area, that is, the raised area and the avoidance area are not in the same plane, and the mounting surface is a surface with convex and concave shapes. Fixing the lens on the surface with convex and concave shapes can effectively reduce the connected area between the mounting surface and the lens, can effectively reduce the stress on the lens, is conducive to improving the flatness of the lens after installation, and is conducive to improving the accuracy of the laser radar optical path.

[0063] In order to make the above-mentioned objects, features and advantages of the present disclosure more obvious and easy to understand, the specific embodiments of the present disclosure are described in detail below with reference to the accompanying drawings.

[0064] refer to Figure 3 , showing a schematic diagram of the exploded structure of an embodiment of a rotating mirror of the laser radar disclosed in the present invention.

[0065] The rotating mirror comprises: a rotating mirror bracket 110, wherein the rotating mirror bracket 110 comprises: a first bottom wall 111 and a second bottom wall 112; at least one side wall 113, wherein the side wall 113 is connected between the first bottom wall 111 and the second bottom wall 112, and one surface of the side wall 113 is a mounting surface 113a; at least one lens 120, wherein the lens 120 is fixed on the mounting surface 113a; the lens 120 is used to reflect the detection beam of the laser radar and / or reflect the echo beam of the laser radar; The rotating mirror 100 rotates under the drive of the brake so that the lens 120 reflects the detection light beam to different positions of the laser radar field of view and / or reflects the echo light beam incident from different positions of the laser radar field of view; the mounting surface 113a includes a raised area 114a and an avoidance area 114b, and along the direction perpendicular to the mounting surface 113a, the raised area 114a is located between the lens 120 and the avoidance area 114b; the area of ​​the raised area 114a is smaller than the area of ​​the mounting surface 113a.

[0066] Fixing the lens on a surface with uneven surfaces can effectively reduce the connected area between the mounting surface and the lens, can effectively reduce the stress on the lens, is beneficial to improving the flatness of the lens after installation, and is beneficial to improving the accuracy of the laser radar optical path.

[0067] The technical solution of the rotating mirror embodiment of the laser radar is described in detail below with reference to the accompanying drawings.

[0068] The rotating mirror support 110 is suitable for providing mechanical support, wherein the first bottom wall 111 is used to provide a support surface during the manufacturing process, and the second bottom wall 112 is used to provide a mounting surface.

[0069] In some embodiments, the rotating mirror support 110 is a prism-shaped hollow shell, the first bottom wall 111 and the second bottom wall 112 are parallel to each other and are two bottom surfaces of the prism respectively. The rotating axis of the rotating mirror is parallel to the generatrix of the prism-shaped hollow shell, that is, the first bottom wall 111 and the second bottom wall 112 are perpendicular to the rotating axis of the rotating mirror.

[0070] like Figure 3 In some specific embodiments shown, the rotating mirror bracket 110 is a hollow shell of a regular triangular prism, the first bottom wall 111 and the second bottom wall 112 are regular triangles of equal size, and the rotating axis of the rotating shaft passes through the geometric center of the first bottom wall 111 and the second bottom wall 112.

[0071] Combination Figure 4 , showing Figure 3 A schematic diagram of the structure of the rotating mirror embodiment of the laser radar viewed from above along the first bottom wall pointing toward the second bottom wall.

[0072] In some embodiments of the present disclosure, the first bottom wall 111 has a first positioning hole 111a, and the first positioning hole 111a is located at a position corresponding to the rotation axis of the rotating mirror 100. The first positioning hole 111a is used to determine the relative position relationship between the rotating mirror bracket 110 and the assembly turntable during the manufacturing process. Specifically, the first bottom wall 111 is an equilateral triangle, and the first positioning hole 111a is located at the geometric center of the first bottom wall 111.

[0073] like Figure 3 and Figure 4 As shown, in some embodiments, the first bottom wall 111 further has a second positioning hole 111b, and the second positioning hole 111b deviates from a position corresponding to the rotation axis of the rotating mirror 100. The second positioning hole 111b cooperates with the first positioning hole 111b to determine the posture of the rotating mirror bracket 110 on the assembly turntable during the manufacturing process.

[0074] In some embodiments of the present disclosure, the first bottom wall 111 has a plurality of second positioning holes 111b, and the plurality of second positioning holes 111b are evenly distributed along the circumference of the rotation axis of the rotating mirror 100. The plurality of second positioning holes 111 that deviate from the rotation axis of the rotating mirror 100 are evenly distributed along the circumference of the rotation axis of the rotating mirror 100, which can effectively ensure the stability of the rotation of the rotating mirror 100.

[0075] Specific as Figure 3 and Figure 4 As shown, the first bottom wall 111 is an equilateral triangle, and has three second positioning holes 111 b on the first bottom wall 111. The second positioning holes 111 b are located between the first positioning holes 111 a and the vertices of the first bottom wall 111.

[0076] It should be noted that, in some embodiments of the present disclosure, the first bottom wall 111 also has a weight-reducing hole 111c, and the weight-reducing hole 111c is used to reduce the weight of the rotating mirror bracket 110 to control the weight and energy consumption of the laser radar.

[0077] Continue to refer Figure 3 The side wall 113 is used to provide mechanical support for the lens 120. The mounting surface 113a is used to provide a fitting surface for the side wall 113.

[0078] The side wall 113 is connected between the first bottom wall 111 and the second bottom wall 112. In some embodiments, the rotating mirror support 110 is a prism-shaped hollow shell, and the side wall 113 is a side surface of the prism. The rotating axis of the rotating mirror is parallel to the generatrix of the prism-shaped hollow shell, that is, the side wall 113 is parallel to the rotating axis of the rotating mirror.

[0079] like Figure 3 In some specific embodiments shown, the rotating mirror bracket 110 is a regular triangular prism hollow shell, the side wall 113 is rectangular or square, and is perpendicular to the first bottom wall 111 and the second bottom wall 112 respectively; the rotating mirror bracket 110 has three side walls 113, which are respectively connected between the corresponding sides of the first bottom wall 111 and the second bottom wall 112. In other embodiments of the present disclosure, the number of side walls of the rotating mirror bracket 110 can also be other numbers, for example, the number of side walls in the rotating mirror bracket 110 can be 2, 4, 5, 6, etc.

[0080] like Figure 3 As shown, the plurality of side walls 113 and the first bottom wall 111 and the second bottom wall 112 cooperate with each other to form a prismatic hollow shell, wherein the side wall 113 has an inner surface facing the inner space of the prismatic hollow shell and an outer surface facing away from the inner space of the prismatic hollow shell, wherein the outer surface constitutes the mounting surface 113, and the lens 120 is fixed to the mounting surface 113. The number of mounting surfaces and lenses can correspond to the number of side walls, for example, if the number of side walls is 2, the number of mounting surfaces and the number of lenses can also be 2 respectively. It can be understood that the rotating mirror bracket can also include other side walls that are not used to mount lenses, and the present disclosure does not limit this.

[0081] Combination Figure 5 , showing Figure 3 A schematic diagram of the structure of the rotating mirror embodiment of the laser radar viewed from above along a direction perpendicular to the mounting surface.

[0082] The raised area 114 a and the avoiding area 114 b are used to form a concave-convex shape to control the contact area between the mounting surface 113 a and the lens 120 .

[0083] In some embodiments of the present disclosure, the mounting surface 113 a has a plurality of raised areas 114 a , the plurality of raised areas 114 a of the mounting surface 113 a are separated from each other, and the avoidance area 114 b is located at least between two of the raised areas 114 a .

[0084] In some embodiments of the present disclosure, the avoidance area 114b is located between adjacent raised areas 114a. In some specific embodiments, multiple raised areas 114a are separately distributed in the mounting surface 113a along the first direction X, for example, one raised area is located at one side edge of the mounting surface 113a along the first direction X, and another raised area is located at the other side edge of the mounting surface 113a along the first direction X; or multiple raised areas are located at non-edge positions of the mounting surface 113a along the first direction X. At least one raised area can be arranged close to one side edge of the mounting surface 113a to provide overall support for the lens and reduce the risk of lens warping. At least some of the multiple raised areas can be symmetrically distributed in the mounting surface 113a to provide balanced support for the lens and further improve the flatness of the lens installation. The avoidance area 114b is located between two adjacent protrusions 114a, wherein the first direction X is a direction perpendicular to the line between the first bottom wall 111 and the second bottom wall 112.

[0085] Each of the raised areas 114a may extend from one side edge of the mounting surface 113a to the other side edge. Specifically, the raised area 114a extends from one side edge of the mounting surface 113a to the other side edge along a second direction Y, wherein the second direction Y is perpendicular to the first direction X, that is, the second direction Y is the direction of a line connecting the first bottom wall and the second bottom wall.

[0086] like Figures 3 to 5 As shown, the mounting surface 113a has two raised areas 114a. Along the first direction X, each raised area 114a extends from a side edge of the mounting surface 113a to the center of the mounting surface 113a, and the avoidance area 114b is located between two adjacent raised areas 114a along the first direction X.

[0087] It should be noted that in some other embodiments of the present disclosure, a plurality of the raised areas 114a are discretely distributed along the second direction Y in the mounting surface 113a, for example, one raised area is located at one side edge of the mounting surface 113a along the second direction Y, and another raised area is located at the other side edge of the mounting surface 113a along the second direction Y; or a plurality of raised areas are located at non-edge positions of the mounting surface 113a along the second direction Y. Each of the raised areas extends from one side edge of the mounting surface to the other side edge along the first direction X. The avoidance area is located between two adjacent raised areas.

[0088] In some embodiments of the present disclosure, the avoidance area 114b extends from one side of the mounting surface 113a to the other side. The avoidance area 114b extends along the second direction Y and passes through the mounting surface 113, that is, along the second direction Y, one end of the avoidance area 114b is connected to the first bottom wall 111, and the other end of the avoidance area 114b is connected to the second bottom wall 112. In some other embodiments of the present disclosure, the avoidance area may also extend along the first direction and pass through the mounting surface. In other embodiments of the present disclosure, the avoidance area may also be located in the middle of the raised area, that is, the raised area surrounds the avoidance area, for example, the raised area is not only located on both sides of the avoidance area along the first direction, but also on both sides of the avoidance area along the second direction.

[0089] Specific as Figures 3 to 5 In some embodiments shown, two adjacent raised areas 114a and the avoidance area 114b therebetween form a groove structure, which extends along the second direction Y and passes through the mounting surface 113a. In other embodiments of the present disclosure, the groove structure extends along the first direction X and passes through the mounting surface.

[0090] In some embodiments of the present disclosure, the side wall 113 further has a weight-reducing opening 114c, and the weight-reducing opening 114c penetrates the side wall 113 along the thickness direction of the side wall 113. The weight-reducing opening 114c is suitable for reducing the weight of the rotating mirror bracket 110, so as to reduce the load of the rotating mirror rotation and reduce the energy consumption of the laser radar. Specifically, the weight-reducing opening 114c is located within the range of the avoidance area 114b.

[0091] In some embodiments, the avoidance zone 114b extends along the second direction Y, and the weight-reducing opening 114c may also extend along the second direction Y. Along the second direction Y, the weight-reducing opening 114c extends from the second bottom wall 112 to the first bottom wall 111, and the dimension of the weight-reducing opening 114c extending from the second bottom wall 112 to the first bottom wall 111 may be smaller than or equal to the dimension of the side wall extending from the second bottom wall 112 to the first bottom wall 111. The area of ​​the weight-reducing opening 114c may be smaller than the area of ​​the avoidance zone 114b. The weight-reducing opening 114c may be close to the second bottom wall 112 (e.g. Figures 3 to 5 As shown), or near the first bottom wall 111, or located in other areas of the avoidance area 114b of the side wall, which is not limited in the present disclosure.

[0092] It should be noted that, in other embodiments of the present disclosure, each of the raised areas and each of the avoidance areas may extend along the first direction, and the weight-reducing opening may also be located within the avoidance area and pass through a portion of the avoidance area along the second direction.

[0093] Continue to refer Figure 3 The lens 120 of the rotating mirror 100 is used to provide a reflecting surface of the rotating mirror 100 .

[0094] Specifically, the rotating mirror 100 is applied to a laser radar, that is, the reflective surface of the lens 120 reflects the detection beam of the laser radar and / or reflects the echo beam of the laser radar; the rotating mirror 100 rotates under the drive of the brake, so that the lens 120 reflects the detection beam to different positions of the laser radar field of view and / or reflects the echo beam incident from different positions of the laser radar field of view.

[0095] The lens 120 has two opposite surfaces, one of which is a reflection surface and the other is a bonding surface. The bonding surface faces the rotating mirror bracket 110 and is relatively bonded to the mounting surface 113 a of the side wall 113 .

[0096] The mounting surface 113a includes a raised area 114a and an avoidance area 114b, that is, the mounting surface 113a is an undulating surface, not a flat surface. The lens 120 is fixed on the undulating mounting surface 113a, the contact area between the lens 120 and the mounting surface 113a is small, the stress on the lens 120 is smaller, the lens 120 is less likely to deform, and the lens 120 can even avoid deformation. The flatness of the lens 120 is higher, and the optical path accuracy of the laser radar using the rotating mirror 100 is higher.

[0097] In some embodiments of the present disclosure, the lens 120 is fixed to the mounting surface 113a by glue. The mounting surface 113a is an undulating surface, and on such a mounting surface 113a, the glue has enough flow space, which can effectively reduce the contact area between the glue and the lens 120, and can effectively reduce the influence of the stress generated during the curing process of the glue on the flatness of the lens 120, which is conducive to improving the flatness of the lens 120 after installation, and is conducive to improving the accuracy of the laser radar optical path.

[0098] In some embodiments of the present disclosure, the glue for fixing the lens 120 is applied on the avoidance area 114a, that is, part of the avoidance area 114b and the lens 120 are connected by glue, that is, the glue is located between part of the avoidance area 114b and part of the fitting surface.

[0099] In some embodiments of the present disclosure, the glue is only applied to the avoidance area 114 a , that is, the glue is only located between the avoidance area 114 b and the fitting surface, that is, the raised area 114 a is in contact with the lens 120 .

[0100] In some specific embodiments, the height difference between the raised area 114a and the avoidance area 114b is less than or equal to 2 mm, that is, the groove depth of the groove structure is less than or equal to 2 mm. Limiting the height difference between the raised area 114a and the avoidance area 114b to control the thickness of the glue between the lens 120 and the mounting surface 113a can improve the stability of the rotating mirror, reduce the stress on the lens after the glue is cured, and improve the flatness of the lens 120.

[0101] In addition, in some embodiments, in a plane parallel to the mounting surface 113a, the glue application paths 125 formed by the glue are parallel to each other. Specifically, the glue application path 125 is divided into multiple sections, and the multiple sections of the glue application paths are parallel to each other. The glue application path 125 has a higher degree of symmetry, and the contact area between the glue formed by the glue application path 125 and the lens 120 has a higher degree of symmetry, the stress on the lens 120 is more evenly distributed, and the flatness of the lens 120 is higher.

[0102] Specifically, Figure 5 As shown, the glue coating path 125 is divided into two parallel sections and symmetrically distributed on the avoidance area 114b, that is, the avoidance area 114b and the raised area 114a are distributed in parallel and both extend along the second direction Y. The glue coating path 125 is a type II that is symmetrical left to right and up to down, and the two sections of the glue coating path 125 are located on both sides of the center line of the avoidance area 114b.

[0103] refer to Figure 6, shows a schematic diagram of the top view structure of another embodiment of the rotating mirror of the laser radar disclosed in the present invention, along the first bottom wall pointing to the second bottom wall.

[0104] The same as the above embodiment, the present disclosure will not repeat it here. Figure 6 In some of the embodiments shown, in the mounting surface 213a of the side wall 213, at least a portion of the raised area 214a is connected to the lens 220 by glue.

[0105] In some specific embodiments, the avoidance area 214b is located between adjacent protruding areas 214a, and the avoidance area 214b is also located between the protruding area 214a and the edge of the side wall 213. Figure 6 As shown, the avoidance area 214b and the raised area 214a form a boss structure.

[0106] In some embodiments, the plurality of raised areas 214a are separately arranged along the first direction X, and each of the raised areas 214a has one avoidance area 214b on both sides along the first direction X, that is, the plurality of avoidance areas 214b and the plurality of raised areas 214a are distributed alternately. Figure 7 As shown, the two raised areas 214a are separately arranged along the first direction X; the three avoidance areas 214b and the two raised areas 214a are distributed at intervals.

[0107] It should be noted that the plurality of raised areas 214a may be parallel to each other, that is, the plurality of raised structures may be parallel to each other. Figure 7 As shown, the two raised areas 214a may be parallel to each other, and the three avoidance areas 214b may also be parallel to each other.

[0108] In addition, each of the raised areas 214a may extend along the second direction Y and extend from one side of the mounting surface 213a to the other side, penetrating the mounting surface 213a, and each of the avoidance areas 214b may also extend along the second direction Y and penetrating the mounting surface 213a.

[0109] It should also be noted that if Figure 7 As shown, a weight-reducing opening 214c is provided in the avoidance area 214b between adjacent raised areas 214a. The weight-reducing opening 214c can extend from the second bottom wall 212 to the first bottom wall (not shown) and pass through a partial width of the side wall 213 along the second direction Y.

[0110] The glue for fixing the lens 120 is applied to the raised area 214a. During the process of bonding the lens 220, excess glue will overflow from the raised area 214a and flow to the avoidance area 214. The glue in the avoidance area 214b is separated from the lens 220, and only the glue in the raised area 214a is in contact with the lens 220. The area of ​​the glue in contact with the lens 220 is limited to the area of ​​the raised area 214a, so that the magnitude of the stress on the lens 220 can be effectively controlled, which is beneficial to suppressing or even eliminating the deformation of the lens 220 and improving the flatness of the lens 220.

[0111] Specifically, the height difference between the raised area 214a and the avoidance area 214b is greater than or equal to 0.5 mm, that is, the raised height of the boss structure is greater than or equal to 0.5 mm. In order to maintain a certain height difference between the raised area 214a and the avoidance area 214b, the glue overflowing to the avoidance area 214b can be prevented from contacting the lens 220.

[0112] Correspondingly, the present disclosure also provides a laser radar.

[0113] refer to Figure 8 The laser radar includes: a transceiver module 310, which is suitable for transmitting a detection beam and receiving an echo beam; a scanning module 320, combined with Figure 3 The scanning module 320 includes: a rotating mirror 100, the rotating mirror 100 includes: a rotating mirror bracket 110, the rotating mirror bracket 110 includes: a first bottom wall 111 and a second bottom wall 112; at least one side wall 113, the side wall 113 is connected between the first bottom wall 111 and the second bottom wall 112, and one surface of the side wall 113 is a mounting surface 113a; at least one lens 120, the lens 120 is fixedly connected to the rotating mirror bracket 110 through the mounting surface 113a ; The mounting surface 113a includes a raised area 114a and an avoidance area 114b, and along the direction perpendicular to the mounting surface 113a, the raised area 114a is located between the lens 120 and the avoidance area 114b; the detection light beam emitted by the transceiver module 310 is reflected by the lens 120 and then emitted into the environment, and the emitted detection light beam is reflected by objects in the environment to form the echo light beam, and the echo light beam is reflected by the lens 120 and then incident on the transceiver module 310.

[0114] In some specific embodiments, the rotating mirror in the scanning module 320 is the rotating mirror 100 of the present disclosure, and the specific technical solution of the rotating mirror 400 refers to the specific embodiment of the rotating mirror of the aforementioned laser radar, which will not be described in detail in the present disclosure.

[0115] refer to Fig. 9, showing a flow chart of an embodiment of a method for manufacturing a rotating mirror for a laser radar disclosed in the present invention.

[0116] Combination Figures 3 to 5 The manufacturing method includes: executing step S410, providing a rotating mirror bracket 110, wherein the rotating mirror bracket 110 has a mounting surface 113a; executing step S420, adjusting the posture of the rotating mirror bracket 110 so that the mounting surface 113a is parallel to a horizontal plane; executing step S430, applying glue on the mounting surface 113a; and executing step S440, installing the lens 120 on the mounting surface 113a after applying glue.

[0117] Moreover, in the manufacturing method, before dispensing glue on the mounting surface 113a, the posture of the rotating mirror 120 bracket is adjusted to make the mounting surface 113a parallel to the horizontal plane, that is, dispensing glue on the mounting surface 113a in a horizontal state, which can effectively avoid the influence of gravity on the thickness of the glue, prevent the glue from flowing under the action of its own gravity, effectively avoid inconsistent glue amounts at different positions on the gluing path, effectively ensure the uniformity of the glue thickness, and effectively improve the verticality of the lens bonding.

[0118] like Fig. 9 and Fig.10 As shown, in some embodiments of the present disclosure, step S410 is executed, in the step of providing a rotating mirror bracket 110, the rotating mirror bracket 110 is fixed on the table top of the assembly turntable 510; step S420 is executed, in the step of adjusting the posture of the rotating mirror bracket 110, the direction of the table top of the assembly turntable is adjusted to adjust the posture of the rotating mirror bracket 110.

[0119] In some specific embodiments, step S410 is executed to fix the rotating mirror bracket 110 on the table top of the assembly turntable 510, and the table top of the assembly turntable 510 is horizontally arranged, that is, the table top of the assembly turntable 510 is parallel to the horizontal plane, and the rotating mirror bracket 110 is vertically fixed on the table top of the assembly turntable 510.

[0120] like Figure 3 As shown, the rotating mirror bracket 110 is a prismatic hollow shell, and the rotating mirror bracket 110 is vertically fixed on the table top of the assembly turntable 510, that is, the generatrix of the prism is perpendicular to the table top of the assembly turntable 510, that is, the rotating axis of the rotating mirror is perpendicular to the table top of the assembly turntable 510.

[0121] In some specific embodiments, the assembly turntable 510 has a first rotating axis 511, and the first rotating axis 511 is parallel to the table top of the assembly turntable 510; in the step of adjusting the table top direction of the assembly turntable 510, the assembly turntable 510 is rotated around the first rotating axis 511 to adjust the table top direction of the assembly turntable 510.

[0122] like Fig.11 As shown, after fixing the rotating mirror bracket 110, the assembly turntable 510 is rotated 90° around the first rotation axis 511, so that the table surface of the assembly turntable 510 is perpendicular to the horizontal plane, and the installation surface 113a is horizontally arranged, that is, the installation surface 113a is parallel to the horizontal plane.

[0123] After adjusting the posture of the rotating mirror bracket 110 and the mounting surface 113a being parallel to the mounting surface 113a and being parallel to the horizontal plane, in some specific embodiments, step S430 is performed, and in the step of applying glue on the mounting surface 113a, glue is applied on the mounting surface 113a along mutually parallel glue application paths.

[0124] like Figures 3 to 5 In some of the embodiments shown, the raised area 114a and the avoidance area 114b extend respectively along the second direction Y, wherein the second direction Y is the direction of the line between the first bottom wall 111 and the second bottom wall 112; therefore, in the step of applying glue on the mounting surface 113a along mutually parallel glue paths, the glue path 125 is located in the avoidance area 114b, and the glue path 125 is divided into multiple sections, each section of the glue path 125 extends along the second direction Y, and the multiple sections of the glue path 125 are parallel to each other.

[0125] It should be noted that if Figure 3 In some of the embodiments shown, the rotating mirror bracket 110 has multiple side walls 113 to fix multiple lenses 120; the step of adjusting the posture of the rotating mirror bracket 110 includes: performing a first adjustment on the posture of the rotating mirror bracket 110 to make the second bottom surface 112 perpendicular to the horizontal plane; after the second bottom surface 112 is perpendicular to the horizontal plane, performing a second adjustment on the posture of the rotating mirror bracket 110 to make one of the mounting surfaces 113a parallel to the horizontal plane; after one of the mounting surfaces 113a is parallel to the horizontal plane, applying glue on the mounting surface parallel to the horizontal plane; then performing a second adjustment again to make another mounting surface 113a parallel to the horizontal plane, and applying glue again on the mounting surface parallel to the horizontal plane; performing the second adjustment and gluing steps multiple times until gluing is achieved on all mounting surfaces 113a.

[0126] Specifically, the assembly state also has a first rotating shaft 512, and the first rotating shaft 512 is perpendicular to the table top of the assembly turntable; in the step of performing a second adjustment on the posture of the rotating mirror bracket 110, the assembly turntable is rotated along the first rotating shaft 512 so that different mounting surfaces 113a can be glued in a state parallel to the horizontal plane.

[0127] It should also be noted that if Figure 6 and Figure 7 In some of the embodiments shown, the raised area 214a and the avoidance area 214b extend respectively along the second direction Y; the multiple raised areas 214a for coating glue are parallel to each other, so in the step of dispensing glue on the mounting surface 213a along parallel glue coating paths, the glue coating path position 225 is located in the raised area 214a, and the glue coating path 225 is divided into multiple sections, each section of the glue coating path 225 extends along the second direction Y, and the multiple sections of the glue coating path 225 are parallel to each other.

[0128] refer to Fig.10 , showing a schematic structural diagram of an embodiment of a manufacturing device for a rotating mirror for a laser radar disclosed in the present invention.

[0129] The manufacturing equipment includes: an assembly turntable 510, which is suitable for fixing the rotating mirror bracket 110 of the rotating mirror 100, and the assembly turntable 510 has a first rotating axis 511, and the first rotating axis 511 is parallel to the table surface of the assembly turntable 511; a gluing module (not shown in the figure), which is suitable for applying glue on the mounting surface 113a of the rotating mirror bracket 110.

[0130] In some embodiments of the present disclosure, the manufacturing method of the rotating mirror for the laser radar of the present disclosure uses the manufacturing equipment of the present disclosure. Therefore, the specific technical scheme of the embodiment of the manufacturing equipment refers to the aforementioned manufacturing method embodiment, and the present disclosure will not repeat it here.

[0131] It should be noted that if Figure 3 As shown, the first bottom wall 111 of the rotating mirror bracket 100 has a first positioning hole 111a and a second positioning hole 111b, so the table top has a protruding first positioning column and a second positioning column, the first positioning column corresponds to the first positioning hole 111a, and the second positioning column corresponds to the second positioning hole 111b. The first positioning column and the second positioning column pass through the first positioning hole 111a and the second positioning hole 111b respectively to determine the position of the rotating mirror bracket 100 on the table top. The number of the second positioning column can be one or more, and at least one of the second positioning holes 111b is passed through.

[0132] In some embodiments of the present disclosure, the assembly state 511 further has a second rotation axis 512, and the second rotation axis 512 is perpendicular to the table surface of the assembly turntable.

[0133] In summary, the mounting surface includes a raised area and an avoidance area. In the direction perpendicular to the mounting surface, the raised area is located between the lens and the avoidance area, that is, the raised area and the avoidance area are not in the same plane, and the mounting surface is a surface with convex and concave surfaces. Fixing the lens on the convex and concave surface can effectively reduce the connection area between the mounting surface and the lens, can effectively reduce the stress on the lens, and is conducive to improving the flatness of the lens after installation, and is conducive to improving the accuracy of the laser radar optical path.

[0134] Moreover, the lens is fixed to the mounting surface by glue. The lens is fixed to the mounting surface with convex and concave surfaces by glue. On the mounting surface, the glue has enough flow space, which can effectively reduce the contact area between the glue and the lens, and can effectively reduce the influence of the stress generated during the curing process of the glue on the flatness of the lens, which is conducive to improving the flatness of the lens after installation and the accuracy of the laser radar optical path.

[0135] In addition, in a plane parallel to the mounting surface, the glue application paths are parallel to each other. Using parallel glue application paths to form glue can effectively improve the uniformity of glue thickness, which is beneficial to improving the verticality of the lens and the accuracy of the laser radar optical path.

[0136] Although the disclosure is disclosed as above, the disclosure is not limited thereto. Any person skilled in the art can make various changes and modifications without departing from the spirit and scope of the disclosure, so the protection scope of the disclosure should be based on the scope defined by the claims.

Claims

1. A rotating mirror of a laser radar, characterized in that: include: A rotating mirror bracket, the rotating mirror bracket comprising: a first bottom wall and a second bottom wall; at least one side wall, the side wall is connected between the first bottom wall and the second bottom wall, and one surface of the side wall is a mounting surface; At least one mirror, the mirror is fixed on the mounting surface; the mirror is used to reflect the detection beam of the laser radar and / or reflect the echo beam of the laser radar; the rotating mirror rotates under the drive of the brake, so that the mirror reflects the detection beam to different positions of the laser radar field of view and / or reflects the echo beam incident from different positions of the laser radar field of view; The mounting surface comprises a raised area and an avoidance area, and along a direction perpendicular to the mounting surface, the raised area is located between the lens and the avoidance area; The area of ​​the raised region is smaller than the area of ​​the mounting surface.

2. The rotating mirror according to claim 1, characterized in that: The lens is fixed on the mounting surface by glue.

3. The rotating mirror according to claim 1, characterized in that: The mounting surface has a plurality of the raised areas, and the avoidance area is located at least between two of the raised areas.

4. The rotating mirror according to any one of claims 1 to 3, characterized in that Part of the avoidance area and the lens are connected by glue.

5. The rotating mirror according to claim 4, characterized in that: The avoidance area is located between adjacent protruding areas.

6. The rotating mirror according to claim 4, characterized in that: The raised area is in contact with the lens.

7. The rotating mirror according to claim 4, characterized in that: A height difference between the raised area and the avoidance area is less than or equal to 2 mm.

8. The rotating mirror according to any one of claims 1 to 3, characterized in that: At least part of the raised area is connected to the lens by glue.

9. The rotating mirror according to claim 8, characterized in that: The avoidance area is located between adjacent protruding areas, and the avoidance area is also located between the protruding area and the edge of the side wall.

10. The rotating mirror according to claim 8, characterized in that: The glue in the avoidance area is separated from the lens.

11. The rotating mirror according to claim 8, characterized in that: A height difference between the raised area and the avoidance area is greater than or equal to 0.5 mm.

12. The rotating mirror according to claim 1, characterized in that: The side wall also has a weight-reducing opening, and the weight-reducing opening penetrates the side wall along the thickness direction of the side wall.

13. The rotating mirror according to claim 12, characterized in that: Along the direction of a line connecting the first bottom wall and the second bottom wall, the weight-reducing opening extends from one side of the side wall to the other side.

14. The rotating mirror according to claim 12, characterized in that: The weight-reducing opening is located within the range of the avoidance zone.

15. The rotating mirror according to claim 2, characterized in that: In a plane parallel to the mounting surface, the glue coating paths formed by the glue are parallel to each other.

16. The rotating mirror according to claim 1, characterized in that: The first bottom wall has a first positioning hole, and the first positioning hole is located at a position corresponding to the rotation axis of the rotating mirror.

17. The rotating mirror according to claim 16, characterized in that: The first bottom wall also has a second positioning hole, and the second positioning hole deviates from a position corresponding to the rotation axis of the rotating mirror.

18. A laser radar, characterized in that: include: a transceiver module, the transceiver module being adapted to transmit a probe beam and receive an echo beam; A scanning module, the scanning module comprising: a rotating mirror, the rotating mirror comprising: a rotating mirror bracket, the rotating mirror bracket comprising: a first bottom wall and a second bottom wall; at least one side wall, the side wall is connected between the first bottom wall and the second bottom wall, and one surface of the side wall is a mounting surface; at least one lens, the lens is fixedly connected to the rotating mirror bracket through the mounting surface; the mounting surface comprises a raised area and an avoidance area, and along a direction perpendicular to the mounting surface, the raised area is located between the lens and the avoidance area; The detection beam emitted by the transceiver module is reflected by the lens and then emitted into the environment. The emitted detection beam is reflected by an object in the environment to form the echo beam. The echo beam is reflected by the lens and then incident on the transceiver module.

19. A method for manufacturing a rotating mirror for laser radar, characterized in that: include: Providing a rotating mirror support, the rotating mirror support having a mounting surface; Adjusting the posture of the rotating mirror bracket so that the mounting surface is parallel to the horizontal plane; Dispensing glue on the mounting surface; Install the lens on the mounting surface after glue application.

20. The manufacturing method according to claim 19, characterized in that: In the step of providing a rotating mirror bracket, the rotating mirror bracket is fixed on the table surface of the assembly turntable; In the step of adjusting the posture of the rotating mirror bracket, the direction of the table surface of the assembly turntable is adjusted to adjust the posture of the rotating mirror bracket.

21. The manufacturing method according to claim 20, characterized in that: The assembly turntable has a first rotation axis, and the first rotation axis is parallel to the table surface of the assembly turntable; In the step of adjusting the direction of the table surface of the assembly turntable, the assembly turntable is rotated around the first rotation axis to adjust the direction of the table surface of the assembly turntable.

22. The manufacturing method according to claim 19, characterized in that: In the step of applying glue on the mounting surface, glue is applied on the mounting surface along glue application paths that are parallel to each other.

23. A manufacturing device for a rotating mirror for laser radar, characterized in that: include: An assembly turntable, the assembly turntable is suitable for fixing a rotating mirror bracket of the rotating mirror, the assembly turntable has a first rotating shaft, and the first rotating shaft is parallel to the table surface of the assembly turntable; A glue coating module, wherein the glue coating module is suitable for dispensing glue on the mounting surface of the rotating mirror bracket.

24. The manufacturing equipment according to claim 23, characterized in that The assembly turntable also has a second rotation axis, and the second rotation axis is perpendicular to the table surface of the assembly turntable.

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