Motor rotating device and laser radar comprising same

Abstract

The invention discloses a motor rotating device and a laser radar comprising the same. The motor rotating device comprises a stator assembly which comprises a plurality of stator elements arranged around a rotating shaft, each stator element comprises a magnetic core and a coil wound on the magnetic core, and the stator assembly is fixedly arranged relative to the rotating shaft; the rotor assembly is arranged opposite to the stator assembly and rotates around a rotating shaft relative to the stator assembly, and the rotor assembly comprises rotor magnetic steel arranged opposite to a plurality of stator elements; the angle measuring assembly comprises a magnetic chip which is arranged on the circuit board and used for detecting rotation angle information of the rotor assembly, the circuit board is fixedly arranged relative to the stator assembly, the rotor magnetic steel comprises a first magnetization part and a second magnetization part, and the magnetization direction of the first magnetization part is different from that of the second magnetization part; the first magnetization part is used for providing a magnetic field for rotation of the motor rotation device, and the second magnetization part is used for providing a magnetic field for the magnetic chip to detect rotation angle information.

Description

Technical Field

[0001] The present disclosure relates to the field of photoelectric detection, and more specifically to a motor rotating device and a laser radar including the motor rotating device. Background Art

[0002] Lidar is a detection device that uses laser as a signal wave. Similar to ordinary radar, Lidar achieves measurement by detecting the signal wave bounced off the object, but the difference is that it uses laser as a signal wave. Because laser has high brightness, high coherence, good monochromaticity and directionality, Lidar often has the advantages of accurate measurement and not being easily disturbed.

[0003] Existing LiDARs generally use optical encoders as various angle measurement devices, which have the advantages of high measurement accuracy, high resolution, stable pulse signals, thin and light structure, and low price. However, in the case of pollutants such as dust, dirt, and oil stains, the optical encoder may be affected by optical crosstalk and its performance will deteriorate.

[0004] Recently, laser radars that use magnetic encoders as angle measurement devices have been used. The magnetic encoder usually includes a magnetic encoding ring and a magnetic encoding chip. The magnetic encoding ring rotates with the rotating mechanism of the laser radar, and the magnetic encoding chip is used to detect the magnetic field generated by the magnetic encoding ring, so as to judge the position of the magnetic encoding ring in the rotation direction according to the magnetic field, and then judge the position of the rotating mechanism in the rotation direction. The magnetic encoder is resistant to dirt and has a long service life (not easy to demagnetize). Therefore, when used in the laser radar, it is not affected by dust and oil. It is resistant to impact and vibration, not easy to fail, and has high robustness. Therefore, it is very suitable for applications in harsh environments. However, in the existing laser radars that use magnetic encoders to measure the rotation angle, it is necessary to configure a magnetic encoding ring separately, which leads to high costs and complicated installation procedures. Summary of the invention

[0005] The present disclosure is completed to solve the above-mentioned problems in the prior art, and its purpose is to provide a motor rotating device and a laser radar including the motor rotating device that can reduce costs, simplify structures and reduce assembly processes when using a magnetic encoder to measure the rotation angle.

[0006] According to an exemplary embodiment of the present disclosure, a motor rotating device is provided. The motor rotating device includes: a stator assembly, the stator assembly includes a plurality of stator elements arranged around a rotating shaft, each of the stator elements includes a magnetic core and a coil wound on the magnetic core, and the stator assembly is fixed relative to the rotating shaft; a rotor assembly, the rotor assembly is arranged relative to the stator assembly and rotates relative to the stator assembly around the rotating shaft, the rotor assembly includes a rotor magnet arranged relative to the plurality of stator elements; and an angle measurement assembly, the angle measurement assembly includes a magnetic encoder chip arranged on a circuit board and used to detect the rotation angle information of the rotor assembly, the circuit board is fixed relative to the stator assembly, wherein the rotor magnet includes a first magnetization part and a second magnetization part, the magnetization direction of the first magnetization part is different from the magnetization direction of the second magnetization part, the first magnetization part is used to provide a magnetic field for the rotation of the motor rotating device, and the second magnetization part is used to provide a magnetic field for the magnetic encoder chip to detect the rotation angle information.

[0007] Furthermore, the magnetization direction of the first magnetization portion and the magnetization direction of the second magnetization portion are perpendicular to each other.

[0008] Furthermore, the rotor magnetic steel is in a circular ring shape, and the first magnetized portion and the second magnetized portion are arranged along an extension direction of a circumferential surface of the rotor magnetic steel.

[0009] Furthermore, the length of the first magnetized portion in the extension direction of the circumferential surface of the rotor magnetic steel matches the size of the stator assembly.

[0010] Furthermore, a length of the second magnetized portion in a direction in which the circumferential surface of the rotor magnetic steel extends is greater than 1.5 mm.

[0011] Furthermore, the magnetic encoding core is arranged at a position close to an end of the second magnetized portion.

[0012] Furthermore, the position of the magnetic encoding core piece is determined according to the magnetization intensity and the number of magnetic pole pairs of the second magnetized portion.

[0013] Further, the position of the magnetic encoding core sheet is configured so that the magnetic field strength to which the magnetic encoding core sheet is subjected is substantially evenly distributed when the rotor assembly rotates.

[0014] Furthermore, the distance between the magnetic engraving core piece and the second magnetized portion in the circumferential extension direction of the rotor magnetic steel is configured so that the magnetic field intensity received by the magnetic engraving core piece is close to the center value of its working range.

[0015] Furthermore, a gap distance between an end of the second magnetization portion away from the first magnetization portion and the magnetic encoding core piece is configured to be 1-3 mm.

[0016] Furthermore, the magnetic poles of the first magnetized portion and the magnetic poles of the second magnetized portion are arranged correspondingly or staggered in the circumferential direction.

[0017] Furthermore, the first magnetized portion and the second magnetized portion have the same number of magnetic pole pairs.

[0018] Furthermore, the number of magnetic pole pairs of the first magnetization part and the second magnetization part is 6-300, and the rotation speed of the rotor assembly is 200-3600 rpm.

[0019] Furthermore, the magnetic encoding chip adopts a magnetic encoding chip with magnetoresistance effect.

[0020] According to other exemplary embodiments of the present disclosure, a laser radar is also provided. The laser radar includes: a transmitting module, which is used to transmit a detection light signal, and the detection light signal generates an echo light signal after being reflected by a target object; a receiving module, which is configured to receive and process the echo light signal; a rotating module, which rotates around a rotation axis, and is used to project the detection light signal to different positions in the environment during the rotation process, and / or receive the echo light signals returned from different positions in the environment; and the above-mentioned motor rotating device, which is used to drive the rotation of the rotating module and detect the rotation angle information of the rotating module.

[0021] Furthermore, the rotating module includes a scanning component, and the scanning component includes a reflector, which is used to reflect the detection light signal emitted by the transmitting module to different positions in the environment during the rotation of the rotating module, and / or receive echo light signals returned from different positions in the environment, and reflect the echo light signal to the receiving module.

[0022] Further, the transmitting module and / or the receiving module is arranged on the rotating module, and during the rotation of the rotating module, the transmitting module and / or the receiving module rotates around the rotating axis.

[0023] According to the motor rotating device and the laser radar including the motor rotating device involved in the present disclosure, by making the rotor magnet include a first magnetization part and a second magnetization part, the magnetization direction of the first magnetization part is different from the magnetization direction of the second magnetization part, the first magnetization part is used to provide a magnetic field for the rotation of the motor rotating device, and the second magnetization part is used to provide a magnetic field for the magnetic encoding chip to detect the rotation angle information, so that a part of the rotor magnet is also used as a magnetic encoding ring, and there is no need to set a magnetic encoding ring separately for angle measurement. Relying on the original rotor magnet in the laser radar, high-precision angle detection can be achieved without adding additional components. In the case of a small and compact internal space of the laser radar, low-cost and high-precision angle measurement is achieved. At the same time, the number of components is small, the structure is streamlined, and the assembly process is reduced, which is conducive to the mass production of the laser radar. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The present disclosure may be better understood by describing exemplary embodiments of the present disclosure in conjunction with the accompanying drawings, in which:

[0025] Figure 1 A schematic diagram showing a basic structure of a motor rotating device according to an exemplary embodiment of the present disclosure;

[0026] Figure 2 is a perspective view showing an example of the structure of a rotor magnetic steel;

[0027] Figure 3 is a perspective view showing another example of the structure of the rotor magnetic steel;

[0028] Figure 4 This is a diagram obtained when looking down at the rotor magnetic steel involved in the exemplary embodiment of the present disclosure;

[0029] Figure 5 A schematic diagram showing the location of the magnetic encoding chip;

[0030] Figure 6 A diagram showing a laser radar including a motor rotating device according to an exemplary embodiment of the present disclosure;

[0031] Figure 7 A diagram showing other laser radars including a motor rotating device according to an exemplary embodiment of the present disclosure; and

[0032] Figure 8 A diagram showing other laser radars including the motor rotating device involved in the exemplary embodiment of the present disclosure. DETAILED DESCRIPTION

[0033] The specific implementation methods of the present disclosure will be described below. It should be noted that in the specific description of these implementation methods, in order to provide a concise description, it is impossible for this specification to provide a detailed description of all the features of the actual implementation methods. It should be understood that in the actual implementation of any implementation method, just as in the process of any engineering project or design project, in order to achieve the specific goals of the developer and to meet system-related or business-related restrictions, various specific decisions are often made, and this will also change from one implementation method to another. In addition, it can also be understood that although the efforts made in this development process may be complex and lengthy, for ordinary technicians in the field related to the content of the present disclosure, some changes in design, manufacturing or production based on the technical content disclosed in the present disclosure are just conventional technical means, and should not be understood as the content of the present disclosure is insufficient.

[0034] Unless otherwise defined, the technical or scientific terms used in the claims and the specification shall have the usual meaning understood by persons with ordinary skills in the technical field to which the present disclosure belongs. The words "first", "second" and similar words used in the patent application specification and the claims of the present disclosure do not indicate any order, quantity or importance, but are only used to distinguish different components. Words such as "one" or "one" do not indicate a quantitative limitation, but indicate the existence of at least one. Words such as "include" or "comprise" and similar words mean that the elements or objects appearing before "include" or "comprise" include the elements or objects listed after "include" or "comprise" and their equivalent elements, and do not exclude other elements or objects. Words such as "connect" or "connected" and similar words are not limited to physical or mechanical connections, nor are they limited to direct or indirect connections.

[0035] 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.

[0036] In the present disclosure, unless otherwise specified, all embodiments and preferred embodiments mentioned herein can be combined with each other to form a new technical solution. In the present disclosure, unless otherwise specified, all technical features and preferred features mentioned herein can be combined with each other to form a new technical solution.

[0037] In the description of the embodiments of the present disclosure, the term "and / or" is only a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B may represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0038] The embodiments of the present disclosure are described below in conjunction with the accompanying drawings. It should be understood that the embodiments described herein are only used to illustrate and explain the present disclosure, and are not used to limit the present disclosure.

[0039] In order to reduce costs, simplify structures, and shorten assembly processes when a magnetic encoder is used to measure a rotation angle, the present disclosure provides a motor rotating device 100 . Figure 11 is a schematic diagram showing a basic structure of a motor rotating device 100 according to an exemplary embodiment of the present disclosure.

[0040] like Figure 1 As shown, according to a preferred embodiment of the present disclosure, the motor rotating device 100 includes a stator assembly 110 , a rotor assembly 120 , and an angle measurement assembly 130 .

[0041] The stator assembly 110 includes a plurality of stator elements (not shown) disposed around the rotating shaft 150. Each stator element includes a magnetic core and a coil wound around the magnetic core. The stator assembly 110 is fixedly disposed relative to the rotating shaft 150.

[0042] The rotor assembly 120 is arranged opposite to the stator assembly 110 and rotates relative to the stator assembly 110 around the rotation axis 150. The rotor assembly 120 includes a rotor magnet 121 arranged opposite to a plurality of stator elements. The rotor assembly may also include a rotor core (not shown), and the rotor magnet 121 may be embedded in the rotor core or attached to the inner surface or outer surface of the rotor core. The material of the rotor magnet may be selected from materials such as neodymium iron boron, ferrite or samarium cobalt.

[0043] Figure 1 In the embodiment, the stator assembly 110 and the rotor assembly 120 are arranged to be opposite to each other in the radial direction, that is, the rotor assembly 120 is arranged around the stator assembly 110. In other embodiments, the stator assembly 110 may be arranged around the rotor assembly 120. However, the present disclosure is not limited thereto, and the rotor assembly and the stator assembly may also be arranged opposite to each other in the axial direction.

[0044] The angle measurement component 130 includes a magnetic encoder chip 132 disposed on a circuit board 131 and used to detect the rotation angle information of the rotor component. The circuit board 131 is fixed relative to the stator component 110.

[0045] The motor rotating device 100 may further include a motor housing 140 . The motor housing 140 may be disposed outside the stator assembly 110 and the rotor assembly 120 to protect the stator assembly 110 and the rotor assembly 120 .

[0046] In the present disclosure, the rotor magnet 121 includes a first magnetized portion 1211 and a second magnetized portion 1212. The magnetization direction of the first magnetized portion 1211 is different from the magnetization direction of the second magnetized portion 1212. The first magnetized portion 1211 is used to provide a magnetic field for the rotation of the motor rotating device 100, and the second magnetized portion 1212 is used to provide a magnetic field for the magnetic encoding chip 132 to detect the rotation angle information.

[0047] Specifically, the first magnetized portion 1211 of the rotor magnetic steel 121 is magnetized in a first direction by using a magnetizing device, and then the second magnetized portion 1212 of the rotor magnetic steel 121 is magnetized in a direction different from the first direction by using the magnetizing device.

[0048] It is preferred that the magnetization direction of the first magnetization portion 1211 and the magnetization direction of the second magnetization portion 1212 are perpendicular to each other. Figure 1 In the embodiment, the first magnetized portion 1211 is magnetized in the radial direction r, and the second magnetized portion 1211 is magnetized in the axial direction z (the direction in which the rotation axis 150 extends).

[0049] Combine the following Figure 2-4 The specific structure of the rotor magnet 121 will be described. Figure 2 To illustrate an exemplary three-dimensional schematic diagram of a rotor magnetic steel structure, Figure 3 Another exemplary perspective schematic diagram showing the rotor magnetic steel structure is shown in FIG. Figure 4 It is a schematic diagram obtained by looking down at the rotor magnetic steel involved in the exemplary embodiment of the present disclosure.

[0050] like Figure 2 and Figure 3 As shown, the rotor magnet 121 is annular, wherein the first magnetized portion 1211 and the second magnetized portion 1212 are arranged along the circumferential extension direction of the rotor magnet 121 .

[0051] The first magnetized portion 1211 has a length L1 in the circumferential extension direction of the rotor magnet 121, and L1 can match the size of the stator assembly 110. The length L1 is required to enable the first magnetized portion 1211 to generate sufficient magnetic field to maintain high-speed rotation of the motor rotating device 100.

[0052] In addition, the second magnetized portion 1212 has a length L2 in the circumferential extension direction of the rotor magnet 121. The length L2 is required to enable the second magnetized portion 1212 to generate a sufficient magnetic field to maintain the detection function of the magnetic encoding chip 132. L2 can be greater than 1.5 mm, such as 1.5 mm, 1.8 mm, 2 mm, 2.3 mm, etc.

[0053] In the rotor magnet 121, the first magnetized portion 1211 and the second magnetized portion 1212 are arranged alternately with N poles and S poles along the circumferential direction (hereinafter referred to as the circumferential direction). Adjacent N poles and S poles can be called a magnetic pole pair.

[0054] The number of magnetic pole pairs of the first magnetization portion 1211 and the second magnetization portion 1212 may be different or the same. When the number of magnetic pole pairs is the same, the two magnetization portions interfere less with each other, which is more preferred.

[0055] like Figure 4 As shown in the top view, it shows an example in which the number of magnetic pole pairs of the first magnetization portion 1211 and the second magnetization portion 1212 are both 8 pairs.

[0056] Of course, the number of magnetic pole pairs of the first magnetization part and the second magnetization part is not limited to 8 pairs, and the number can be set to 6-300. Accordingly, the rotation speed of the rotor assembly 120 can reach 200-3600 rpm.

[0057] In addition, if Figure 2 As shown, the magnetic poles of the first magnetized portion 1211 and the second magnetized portion 1212 can be arranged correspondingly in the circumferential direction, that is, aligned. Figure 3 As shown, the magnetic poles of the first magnetized portion 1211 and the second magnetized portion 1212 are staggered in the circumferential direction. When the magnetic poles of the first magnetized portion 1211 and the second magnetized portion 1212 are arranged correspondingly, the two magnetized portions interfere with each other less, which is more preferred.

[0058] The following, combined Figure 5 The installation position of the magnetic encoding chip 132 will be described. Figure 5 A schematic diagram showing the location of the magnetic encoding chip.

[0059] The magnetic encoding chip 132 is arranged near the end of the second magnetized portion 1212. Figure 5 As shown, the magnetic encoding core 132 is arranged at a lower position close to the end of the second magnetized portion 1212 .

[0060] After the second magnetization part 1211 is magnetized, when the rotor assembly 120 rotates, the end of the second magnetization part 1212 transmits a changing magnetic field signal toward the magnetic encoding chip 132 of the angle measurement assembly 130, and the magnetic encoding chip 132 of the angle measurement assembly 130 receives the alternating change of the magnetic field strength from weak to strong and from strong to weak on the circumferential surface of the second magnetization part 1212, and then converts the received magnetic field signal on the circumferential surface of the second magnetization part 1212 into an electrical signal, and detects the rotation angle information of the second magnetization part 1211 according to the electrical signal. Since the second magnetization part 1211 and the first magnetization part 1211 form a rotor assembly as a whole, the rotation angle information of the rotor assembly can be determined.

[0061] The specific location of the magnetic encoding chip 132 can be determined according to the magnetization intensity and the number of magnetic pole pairs of the second magnetization portion 1212 .

[0062] According to a preferred embodiment of the present disclosure, the magnetic encoding chip 132 is positioned so that the magnetic field strength received by the magnetic encoding chip 132 is substantially uniformly distributed when the rotor assembly 120 rotates. For example, the magnetic field strength received by the magnetic encoding chip 132 can be uniformly distributed in the radial direction when the rotor assembly 120 rotates.

[0063] like Figure 5 As shown, the distance d between the magnetic encoding core 132 and the center (origin) of the rotating shaft 150 in the radial direction (x direction) can be configured to be 10-15 mm.

[0064] In addition, preferably, the distance between the magnetic encoding chip 132 and the second magnetized portion 1212 in the circumferential extension direction of the rotor magnetic steel 121 is configured so that the magnetic field intensity received by the magnetic encoding chip 132 is near the center value of its working range. If the distance is too far, the magnetic field signal on the circumferential surface of the second magnetized portion 1212 is excessively attenuated when transmitted to the magnetic encoding chip 132, and its alternating transformation cannot be accurately detected, which affects the detection accuracy.

[0065] like Figure 5 As shown, the gap distance between the end of the second magnetized portion 1212 away from the first magnetized portion 1211 and the magnetic encoding core 132, that is, the distance g in the circumferential extension direction (z direction) of the rotor magnetic steel 121 can be configured to be 1-3 mm.

[0066] In the present disclosure, the magnetic encoding chip 132 may be a magnetic encoding chip with a magnetoresistive effect. The detection accuracy of the magnetic encoding chip 132 may reach ±0.2 degrees in the full temperature range.

[0067] In addition, in the magnetic encoding chip 132, the rotation angle information can be detected by hardware, software, or a combination of hardware and software according to specific circumstances, and there is no specific limitation on this.

[0068] According to the motor rotating device involved in the present disclosure, by making the rotor magnet include a first magnetization part and a second magnetization part, the magnetization direction of the first magnetization part is different from the magnetization direction of the second magnetization part, the first magnetization part is used to provide a magnetic field for the rotation of the motor rotating device, and the second magnetization part is used to provide a magnetic field for the magnetic encoding chip to detect the rotation angle information, so that a part of the rotor magnet is also used as a magnetic encoding ring, and there is no need to set up a magnetic encoding ring for angle measurement separately. Relying on the original rotor magnet in the motor rotating device, high-precision angle detection can be achieved without adding additional components. In the case of a small and compact internal space of a product (such as a laser radar), low-cost, high-precision angle measurement is achieved, while the number of components is small, the structure is streamlined, and the assembly process is reduced, which is conducive to the mass production of products (such as laser radars).

[0069] In addition, since only the rotor magnets need to be installed without considering the installation position of the magnetic encoding ring, the installation process can be simplified.

[0070] The above motor rotating device can be applied to a variety of application scenarios. As an application scenario, the above motor rotating device can be applied to a laser radar. In order to enable those skilled in the art to better understand and implement, this specification also provides a corresponding laser radar, which is described in detail below with reference to the accompanying drawings through specific embodiments.

[0071] According to an exemplary embodiment of the present disclosure, a laser radar 200 is also provided. Figure 6 As shown, the laser radar 200 includes a transmitting module, a receiving module (not shown), a rotating module and the motor rotating device described above. The laser radar 200 can be a rotating mirror laser radar.

[0072] The transmitting module is used to transmit a detection light signal, and the detection light signal generates an echo light signal after being reflected by the target object.

[0073] The receiving module is configured to receive and process the echo optical signal.

[0074] The rotating module may include a scanning component, which may be a rotating mirror 210 provided with a reflector. The rotating mirror 210 rotates around a rotating axis 211, and is used to project the detection light signal to different positions in the environment during the rotation of the rotating module, and / or receive the echo light signal returned from different positions in the environment, and reflect the echo light signal to the receiving module.

[0075] The motor rotating device is used to drive the rotation of the rotating module and detect the rotation angle information of the rotating module.

[0076] Specifically, if Figure 6 As shown, the stator assembly 110 and the rotor assembly in the motor rotating device 100 are arranged to be opposite to each other in the radial direction, that is, the rotor assembly is arranged around the stator assembly 110. The rotor assembly is connected to the rotating mirror 210 through, for example, a bearing sleeve, etc. After the rotor assembly rotates, the rotating mirror 210 can be driven to rotate through the bearing sleeve, etc.

[0077] In the rotor assembly, the first magnetized portion 1211 of the rotor magnet 121 can be magnetized radially to provide a magnetic field for the rotation of the motor rotating device, and the second magnetized portion 1212 can be magnetized axially to provide a magnetic field for the magnetic encoding chip 132 to detect rotation angle information.

[0078] like Figure 6 As shown, the laser radar 200 may also have a fixed base 212 fixedly connected to the rotating shaft 211. The magnetic encoder chip 132 of the angle measurement component in the motor rotating device may be fixedly arranged on the fixed base 212.

[0079] According to an exemplary embodiment of the present disclosure, a laser radar 300 is also provided. Figure 7As shown, the laser radar 300 includes a transmitting module 310, a receiving module 320, a rotating module 330 and the motor rotating device described above. The laser radar 300 may be a mechanical laser radar.

[0080] The transmitting module 310 is used to transmit a detection light signal, and the detection light signal generates an echo light signal after being reflected by a target object.

[0081] The receiving module 320 is configured to receive and process the echo optical signal.

[0082] The rotating module 330 rotates around the rotating axis 331, and is used to project the detection light signal to different positions in the environment and / or receive the echo light signal returned from different positions in the environment during the rotation process. The transmitting module 310 and / or the receiving module 320 are arranged on the rotating module 330, and during the rotation process of the rotating module 330, the transmitting module 310 and / or the receiving module 320 are driven by the rotating module 330 to rotate around the rotating axis 331.

[0083] The motor rotating device is used to drive the rotation of the rotating module 330 and detect the rotation angle information of the rotating module 330 .

[0084] Specifically, if Figure 7 As shown, in the motor rotating device, the rotor assembly and the stator assembly can be arranged relative to each other in the axial direction. Specifically, the stator assembly 110 and the rotor magnet 121 of the rotor assembly can be arranged relative to each other in the axial direction (ie, relative to each other up and down).

[0085] In this structure, the first magnetized portion 1211 of the rotor magnet 121 is magnetized in the axial direction, while the second magnetized portion 1212 is magnetized in the radial direction. In a specific implementation, the position of the magnetic encoding chip 132 can be set according to specific conditions. For example, the circuit board 131 is Figure 7 The position shown is fixed relative to the stator assembly 110 , and the magnetic encoding chip 132 is arranged on the circuit board 131 at a position close to the end of the second magnetized portion 1212 .

[0086] According to an exemplary embodiment of the present disclosure, a laser radar 400 is also provided. Figure 8 As shown, the laser radar 400 and Figure 7 The difference of the laser radar 300 shown is that the stator assembly 110 in the motor rotating device and the rotor magnet 121 of the rotor assembly are arranged to be opposite to each other in the radial direction (ie, they are arranged opposite to each other inside and outside).

[0087] In this structure, the first magnetized portion 1211 of the rotor magnet 121 is magnetized in the radial direction, while the second magnetized portion 1212 is magnetized in the axial direction. In a specific implementation, the position of the magnetic encoding chip 132 can be set according to specific conditions. For example, the circuit board 131 is Figure 8 The position shown is fixed relative to the stator assembly 110 , and the magnetic encoding chip 132 is arranged on the circuit board 131 at a position close to the end of the second magnetized portion 1212 .

[0088] According to the laser radar including the motor rotating device, the rotor magnet includes a first magnetization part and a second magnetization part, and the magnetization direction of the first magnetization part is different from that of the second magnetization part. The first magnetization part is used to provide a magnetic field for the rotation of the motor rotating device, and the second magnetization part is used to provide a magnetic field for the magnetic encoding chip to detect the rotation angle information, so that a part of the rotor magnet is also used as a magnetic encoding ring, and there is no need to set up a magnetic encoding ring for angle measurement separately. Relying on the original rotor magnet in the motor rotating device, high-precision angle detection can be achieved without adding additional components. In the case of a small and compact internal space of the laser radar, low-cost and high-precision angle measurement is achieved, while the number of components is small, the structure is streamlined, and the assembly process is reduced, which is conducive to the mass production of the laser radar.

[0089] It should be understood that the above description is illustrative and not restrictive. For example, the above embodiments (and / or their various aspects) can be used in combination with each other. In addition, without departing from the scope of the present disclosure, many modifications can be made to adapt specific conditions or materials to the teachings of the various embodiments of the present disclosure. Although the size and type of the material described herein are used to define the parameters of the various embodiments of the present disclosure, the various embodiments are not meant to be restrictive, but exemplary embodiments. In reading the above description, many other embodiments are obvious to those skilled in the art. Therefore, the scope of the various embodiments of the present disclosure should be determined with reference to the attached claims, and the full range of equivalent forms claimed by these claims.

Claims

1. A motor rotating device, characterized in that: include: A stator assembly, the stator assembly comprising a plurality of stator elements arranged around a rotating shaft, each of the stator elements comprising a magnetic core and a coil wound around the magnetic core, the stator assembly being fixedly arranged relative to the rotating shaft; a rotor assembly, the rotor assembly being arranged opposite to the stator assembly and rotating relative to the stator assembly about the rotation axis, the rotor assembly comprising a rotor magnet arranged opposite to the plurality of stator elements; and An angle measurement component, the angle measurement component includes a magnetic coding chip arranged on a circuit board and used to detect the rotation angle information of the rotor component, the circuit board is fixedly arranged relative to the stator component, The rotor magnetic steel includes a first magnetized portion and a second magnetized portion, and the magnetization direction of the first magnetized portion is different from the magnetization direction of the second magnetized portion. The first magnetized portion is used to provide a magnetic field for the rotation of the motor rotating device. The second magnetization portion is used to provide a magnetic field for the magnetic encoding chip to detect the rotation angle information.

2. The motor rotating device according to claim 1, characterized in that: The magnetization direction of the first magnetization portion and the magnetization direction of the second magnetization portion are perpendicular to each other.

3. The motor rotating device according to claim 1 or 2, characterized in that: The rotor magnetic steel is annular, and the first magnetized portion and the second magnetized portion are arranged along a circumferential extension direction of the rotor magnetic steel.

4. The motor rotating device according to claim 3, characterized in that: The length of the first magnetized portion in the extension direction of the circumferential surface of the rotor magnetic steel matches the size of the stator assembly.

5. The motor rotating device according to claim 3, characterized in that: The length of the second magnetized portion in the direction in which the circumferential surface of the rotor magnetic steel extends is greater than or equal to 1.5 mm.

6. The motor rotating device according to claim 1, characterized in that: The magnetic encoding core piece is arranged at a position close to an end of the second magnetized portion.

7. The motor rotating device according to claim 6, characterized in that: The position of the magnetic encoding core piece is determined according to the magnetization intensity and the number of magnetic pole pairs of the second magnetized portion.

8. The motor rotating device according to claim 7, characterized in that: The positions of the magnetic engraving core sheets are configured so that the magnetic field strength to which the magnetic engraving core sheets are subjected is substantially evenly distributed when the rotor assembly rotates.

9. The motor rotating device according to claim 7, characterized in that: The distance between the magnetic engraving core piece and the second magnetized portion in the circumferential extension direction of the rotor magnetic steel is configured so that the magnetic field intensity received by the magnetic engraving core piece is close to the center value of its working range.

10. The motor rotating device according to claim 6, characterized in that: The gap distance between the end of the second magnetization portion away from the first magnetization portion and the magnetic encoding core piece is configured to be 1-3 mm.

11. The motor rotating device according to claim 1 or 2, characterized in that: The magnetic poles of the first magnetized portion and the second magnetized portion are arranged correspondingly or staggered in the circumferential direction.

12. The motor rotating device according to claim 1 or 2, characterized in that: The first magnetized portion and the second magnetized portion have the same number of magnetic pole pairs.

13. The motor rotating device according to claim 1 or 2, characterized in that: The number of magnetic pole pairs of the first magnetization part and the second magnetization part is 6-300, and the rotation speed of the rotor assembly is 200-3600 rpm.

14. The motor rotating device according to claim 1 or 2, characterized in that: The magnetic encoding chip adopts a magnetic encoding chip with magnetoresistance effect.

15. A laser radar, characterized in that: include: A transmitting module, which is used to transmit a detection light signal, and the detection light signal generates an echo light signal after being reflected by a target object; A receiving module configured to receive and process the echo optical signal; A rotating module, which rotates around a rotation axis and is used to project the detection light signal to different positions in the environment and / or receive echo light signals returned from different positions in the environment during the rotation process; and The motor rotating device according to any one of claims 1 to 14, is used to drive the rotation of the rotating module and detect the rotation angle information of the rotating module.

16. The laser radar according to claim 15, characterized in that: The rotating module includes a scanning component, and the scanning component includes a reflector. The reflector is used to reflect the detection light signal emitted by the transmitting module to different positions in the environment during the rotation of the rotating module, and / or receive echo light signals returned from different positions in the environment, and reflect the echo light signal to the receiving module.

17. The laser radar according to claim 15, characterized in that: The transmitting module and / or the receiving module are arranged on the rotating module. During the rotation of the rotating module, the transmitting module and / or the receiving module rotates around the rotating axis.

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