Rotating mirror module and laser radar

Abstract

The invention provides a rotating mirror module and a laser radar. The rotating mirror module comprises: a base; the lens bracket is used for fixing the reflecting mirror; the rotating assembly is respectively connected with the base and the lens bracket and is used for enabling the lens bracket to rotate around a specified axis relative to the base; the driving source is used for outputting rotating power; and a transmission assembly. Wherein the transmission assembly comprises a first transmission part and a second transmission part, and one end of the first transmission part is connected with the power output end of the driving source; the second transmission part is fixedly connected with the lens bracket; the second transmission part is used for clamping the other end of the first transmission part, so that the first transmission part and the second transmission part are relatively fixed in the rotation direction of the lens bracket; the first transmission part and the second transmission part can relatively slide in the plane direction perpendicular to the specified axis. According to the rotating mirror module provided by the invention, the requirement on the coaxiality of the power output end of the driving source is relatively low, so that the model requirement and the assembly requirement on the driving source are reduced.

Description

Technical Field

[0001] The present invention relates to the field of laser technology, and in particular to a rotating mirror module and a laser radar. Background Art

[0002] LiDAR is a device that measures the distance, speed and other parameters of a target object by sending a laser to the surface of the object and then measuring the arrival time of the reflected light beam. A common LiDAR system is usually equipped with a rotating mirror module to achieve the divergence of the emitted laser. At the same time, there are high requirements for the angular stability and speed stability of the rotating mirror module during the rotation process.

[0003] At present, in practical applications, due to different requirements for the rotation speed of the rotating mirror module, the rotating mirror module of most laser radars usually needs to customize the motor according to the actual requirements. However, due to the high coaxiality requirements for the power output end of the motor in the motor transmission, the customized motor can often only be applied to the specified rotating mirror module, which leads to the limited number of laser radar models that the rotating mirror module with customized motor is suitable for, resulting in high manufacturing costs. Summary of the invention

[0004] The present invention aims to at least solve the technical problem that the existing rotating mirror module has high requirements on the coaxiality of the motor, and proposes a rotating mirror module and a laser radar.

[0005] In order to achieve the purpose of the present invention, a rotating mirror module is provided, which is applied to laser radar; the rotating mirror module comprises:

[0006] Pedestal;

[0007] A lens bracket, used to fix the reflector on its peripheral side;

[0008] A rotating assembly, connected to the base and the lens holder, respectively, and used to enable the lens holder to rotate relative to the base around a specified axis;

[0009] A driving source for outputting rotational power;

[0010] The transmission assembly includes a first transmission member and a second transmission member, wherein one end of the first transmission member is connected to the power output end of the driving source; the second transmission member is fixedly connected to the lens holder; the second transmission member is used to clamp the other end of the first transmission member so that the first transmission member and the second transmission member are relatively fixed in the rotation direction of the lens holder; the first transmission member and the second transmission member can slide relative to each other in the planar direction perpendicular to the specified axis.

[0011] Optionally, the second transmission member includes: a rigid portion and a spring portion; wherein,

[0012] The rigid part is fixedly connected to the lens bracket, and the rigid part abuts against the first transmission member;

[0013] The spring sheet portion and the rigid portion are arranged opposite to each other, and the first transmission member is located between the spring sheet portion and the rigid portion; one end of the spring sheet portion is fixedly connected to the lens holder, and the other end is abutted against the surface of the first transmission member, so as to clamp the first transmission member between the spring sheet portion and the rigid portion by utilizing its own elasticity.

[0014] Optionally, the first transmission member includes: a connecting shaft and a fixing screw; wherein,

[0015] One end of the connecting shaft has a fixing groove, and the power output end of the driving source is inserted into the fixing groove; threaded through holes are respectively arranged in the two side walls of the fixing groove; the two threaded through holes are arranged opposite to each other; the fixing screw passes through the two threaded through holes and is threadedly matched with the two threaded through holes respectively;

[0016] The second transmission member clamps the other end of the connecting shaft.

[0017] Optionally, the rotating assembly includes: a bearing and a bearing bracket;

[0018] The central axis of the bearing coincides with the designated axis;

[0019] The bearing bracket is fixedly connected to the lens bracket;

[0020] The bearing support is connected with one of the inner ring and the outer ring of the bearing, and the base is connected with the other of the inner ring and the outer ring of the bearing, so that the lens support can rotate relative to the base.

[0021] Optionally, the base includes a first fixing portion and a second fixing portion; wherein the first fixing portion is used to fix the driving source; and the second fixing portion is used to cooperate with the inner ring or outer ring of the bearing.

[0022] Optionally, the second fixing portion is located on a side of the first fixing portion close to the lens holder, and the first fixing portion and the second fixing portion are connected as one body;

[0023] The first fixing part has an accommodation space inside for accommodating and fixing the driving source; the first fixing part also has a first through hole connected to the accommodation space on one side facing the lens holder for allowing the power output end of the driving source to extend out;

[0024] The second fixing portion is disposed around the first through hole.

[0025] Optionally, the lens bracket includes a top plate and a plurality of side plates;

[0026] The top plate is used to be fixedly connected to the second transmission member;

[0027] The ends of the plurality of side panels are connected to the same side surface of the top panel, and the plurality of side panels are arranged along the edge of the top panel;

[0028] The surfaces of the plurality of side plates facing the peripheral side of the lens bracket are all used for bonding and fixing with the non-reflective surface of the reflector.

[0029] Optionally, a side surface of the top plate away from the plurality of side plates is fixedly connected to the second transmission member;

[0030] A second through hole is provided in the central area of ​​the top plate;

[0031] The driving source is located on a side of the top plate facing the plurality of side plates, and a power output end of the driving source extends out from the second through hole.

[0032] Optionally, the rotating mirror module further includes an infrared detector; the infrared detector is fixed on the surface of the base facing the lens bracket, and the detection end of the infrared detector is arranged toward the lens bracket;

[0033] A detection contact is provided on the surface of the lens bracket on one side facing the infrared detector;

[0034] The infrared detector is used to identify the detection contact.

[0035] As another technical solution, the present invention further provides a laser radar, which comprises: the rotating mirror module and the laser signal transceiver module as described above;

[0036] The signal transceiver port of the laser signal transceiver module is arranged toward the peripheral surface of the rotating mirror module, and is used to transmit laser signals to the reflector fixed on the rotating mirror module, and receive laser signals reflected by the reflector to the signal transceiver port.

[0037] The present invention has the following beneficial effects:

[0038] The rotating mirror module provided by the present invention adopts a transmission assembly including a first transmission member and a second transmission member, wherein one end of the first transmission member is connected to the power output end of the driving source so that the first transmission member can rotate around its own end; the second transmission member is used to clamp the other end of the first transmission member, and the second transmission member is fixedly connected to the lens bracket so that the first transmission member and the second transmission member are relatively fixed in the rotation direction of the lens bracket, so that when the first transmission member rotates around its own end, the second transmission member can be driven to rotate, and then the lens bracket can be driven to rotate. Moreover, the first transmission member and the second transmission member can slide relative to each other in a plane direction perpendicular to the specified axis, so that even if the rotation axis of the second transmission member is not coaxial with the rotation axis of the lens bracket, the first transmission member can maintain the connection with the second transmission member and can drive the second transmission member and the lens bracket to rotate. In other words, the rotating mirror module provided by the present invention has a low requirement for the coaxiality of the rotation axis of the second transmission member and the rotation axis of the lens bracket, that is, the coaxiality requirement for the power output end of the driving source is low. Therefore, the rotating mirror module provided by the present invention has low requirements for the model and assembly of the driving source, so that the manufacturing cost can be reduced while ensuring normal function. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 A cross-sectional schematic diagram of a rotating mirror module is provided for an embodiment of the present invention;

[0040] Figure 2 A three-dimensional schematic diagram of a rotating mirror module is provided for an embodiment of the present invention;

[0041] Figure 3 A schematic top view of a rotating mirror module is provided for an embodiment of the present invention;

[0042] Figure 4 An exploded view of parts of a rotating mirror module is provided for an embodiment of the present invention;

[0043] Figure 5 A schematic diagram of the structure of a laser radar is provided for an embodiment of the present invention;

[0044] Figure 6 Based on Figure 5 The light output principle diagram of the laser radar is shown. DETAILED DESCRIPTION

[0045] The following will be combined with the accompanying drawings to clearly and completely describe the technical solutions in some embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, rather than all the embodiments. Based on the embodiments provided by the present disclosure, all other embodiments obtained by ordinary technicians in this field belong to the scope of protection of the present disclosure.

[0046] Unless the context requires otherwise, throughout the specification and claims, the term "comprise" and other forms thereof, such as the third person singular form "comprises" and the present participle form "comprising", are to be interpreted as open, inclusive, that is, "including, but not limited to". In the description of the specification, the terms "one embodiment", "some embodiments", "exemplary embodiments", "example", "specific example" or "some examples" and the like are intended to indicate that specific features, structures, materials or characteristics associated with the embodiment or example are included in at least one embodiment or example of the present disclosure. The schematic representation of the above terms does not necessarily refer to the same embodiment or example. In addition, the specific features, structures, materials or characteristics may be included in any one or more embodiments or examples in any appropriate manner.

[0047] In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the embodiments of the present disclosure, unless otherwise specified, "plurality" means two or more.

[0048] “At least one of A, B, and C” has the same meaning as “at least one of A, B, or C” and both include the following combinations of A, B, and C: A only, B only, C only, the combination of A and B, the combination of A and C, the combination of B and C, and the combination of A, B, and C.

[0049] “A and / or B” includes the following three combinations: A only, B only, and a combination of A and B.

[0050] As used herein, "parallel", "perpendicular", and "equal" include the situations described and situations similar to the situations described, and the range of the similar situations is within the acceptable deviation range, wherein the acceptable deviation range is determined by a person of ordinary skill in the art taking into account the measurement in question and the errors associated with the measurement of a particular quantity (i.e., the limitations of the measurement system). For example, "parallel" includes absolute parallelism and approximate parallelism, wherein the acceptable deviation range of approximate parallelism may be, for example, a deviation within 5°; "perpendicular" includes absolute perpendicularity and approximate perpendicularity, wherein the acceptable deviation range of approximate perpendicularity may also be, for example, a deviation within 5°. "Equal" includes absolute equality and approximate equality, wherein the acceptable deviation range of approximate equality may be, for example, the difference between the two equalities is less than or equal to 5% of either one.

[0051] Exemplary embodiments are described herein with reference to cross-sectional views and / or plan views that are idealized exemplary drawings. In the drawings, the dimensions of some components are adjusted for clarity. Therefore, variations in shape relative to the drawings due to, for example, manufacturing techniques and / or tolerances are conceivable. Therefore, the exemplary embodiments should not be interpreted as being limited to the shapes of the regions shown herein, but include deviations in shape due to, for example, manufacturing. Therefore, the regions shown in the drawings are schematic in nature, and their shapes are not intended to illustrate the actual shapes of regions of the device, and are not intended to limit the scope of the exemplary embodiments.

[0052] This embodiment provides a rotating mirror module, which is applied to laser radar. Specifically, in the laser radar, the rotating mirror module is used to control the rotation of the reflector to reflect the laser to a specified emission direction; the rotating mirror module is also used to drive multiple reflectors to rotate to achieve the divergence of the emitted light, so that the emission range achieved by the laser radar reaches the actual desired emission angle range.

[0053] like Figure 1 As shown, the rotating mirror module provided in this embodiment includes a base 1, a lens bracket 2, a rotating component 3, a driving source 4 and a transmission component 5. The position of the base 1 is fixed. Figure 5 As shown, the base 1 is fixed on a bottom plate of a laser radar, for example.

[0054] The lens holder 2 is used to fix the reflector 6 on its circumference; the rotating assembly 3 is connected to the base 1 and the lens holder 2 respectively, and is used to enable the lens holder 2 to rotate relative to the base 1 around a specified axis.

[0055] The driving source 4 is used to output rotational power, such as a motor. The transmission assembly 5 is used to transmit the power output by the driving source 4 to the rotating assembly 3 to drive the lens holder 2 to rotate around the specified axis, thereby driving the reflector 6 fixed to the side of the lens holder 2 to rotate, so as to achieve the divergence of the laser signal. Specifically, the rotation direction of the lens holder 2 can be designed according to the actual needs of emitting laser light, such as clockwise or counterclockwise around the above-mentioned specified axis.

[0056] Specifically, Figure 2 As shown, the transmission assembly 5 includes a first transmission member 51 and a second transmission member 52; wherein one end of the first transmission member 51 is connected to the power output end 41 of the driving source 4 to drive the first transmission member 51 to rotate around its own end. The second transmission member 52 is fixedly connected to the lens holder 2; the second transmission member 52 is used to clamp the other end of the first transmission member 51 so that the first transmission member 51 and the second transmission member 52 are relatively fixed in the rotation direction of the lens holder 2, so that when the first transmission member 51 rotates around its own end, the second transmission member 52 can be driven to rotate, thereby driving the lens holder 2 to rotate. Moreover, the connection between the first transmission member 51 and the second transmission member 52 satisfies that the two can slide relative to each other in the plane direction perpendicular to the specified axis.

[0057] When the rotation axis of the second transmission member 52 does not coincide with the rotation axis of the lens holder 2, that is, when there is a certain coaxiality deviation, the circumferential motion trajectory of the end of the first transmission member 51 and the circumferential motion trajectory of the second transmission member 52 are two non-concentric circles, so the motion trajectories of the two do not coincide with each other. In addition, since the present embodiment proposes that the first transmission member 51 and the second transmission member 52 can slide relative to each other, during the process of the first transmission member 51 driving the second transmission member 52 to rotate, the first transmission member 51 can also maintain the connection with the second transmission member 52, so that the second transmission member 52 and the lens holder 2 can be driven to rotate.

[0058] In other words, the rotating mirror module provided in this embodiment has low requirements for the coaxiality between the rotation axis of the second transmission member 52 and the rotation axis of the lens holder 2, that is, low requirements for the coaxiality of the power output end 41 of the driving source 4 and the coaxiality with respect to the rotating mirror. Furthermore, the rotating mirror module provided by the present invention also has low requirements for the model and assembly requirements of the driving source 4, so that the manufacturing cost can be reduced while ensuring that the rotating mirror module can meet the rotation requirements.

[0059] In some embodiments, Figure 2As shown, the second transmission member 52 includes a rigid portion 521 and a spring portion 522. The rigid portion 521 is fixedly connected to the lens holder 2, and the rigid portion 521 abuts against the first transmission member 51. The spring portion 522 is arranged opposite to the rigid portion 521, and the first transmission member 51 is located between the spring portion 522 and the rigid portion 521; one end of the spring portion 522 is fixedly connected to the lens holder 2, and the other end abuts against the surface of the first transmission member 51, so as to clamp the first transmission member 51 between the spring portion 522 and the rigid portion 521 by using its own elasticity.

[0060] During actual operation, the driving source 4 itself may vibrate, and the laser radar may be subjected to external impact and vibrate as a whole, which will cause at least one of the first transmission member 51 and the second transmission member 52 to vibrate; and this embodiment utilizes the elastic force generated by the deformation of the spring piece portion 522 to clamp the first transmission member 51 between the spring piece portion 522 and the rigid portion 521, and the spring piece portion 522 can adaptively deform when vibration occurs. In this way, even when vibration occurs, the spring piece portion 522 can still remain pressed against the surface of the first transmission member 51, thereby ensuring that the first transmission member 51 is clamped between the spring piece portion 522 and the rigid portion 521, avoiding the first transmission member 51 from loosening and rotating in the opposite direction, and further avoiding the reversal of the reflector 6, thereby ensuring that the divergence of the laser signal meets the actual requirements.

[0061] In some preferred embodiments, Figure 3 As shown, the spring sheet portion 522 is, for example, an elastic metal sheet with a bend, and the end of the bend abuts against the surface of the first transmission member 51. In this way, when the first transmission member 51 compresses the elastic metal sheet during rotation, the bend will open to a certain extent to increase the elastic force, thereby ensuring that the first transmission member 51 is always pressed against the rigid portion 521 to prevent the first transmission member 51 from loosening. Moreover, there is a line contact between the end of the bend and the surface of the first transmission member 51, so when the first transmission member 51 and the second transmission member 52 slide relative to each other, the friction between the two is small, thereby reducing the risk of vibration due to friction, and also reducing component wear.

[0062] In some preferred embodiments, the rigid part 521 is arranged on the side of the first transmission member 51 facing the moving direction. Since the rigid part 521 has a certain rigidity and the rigid part 521 abuts against the surface of the first transmission member 51, the rigid part 521 can move synchronously with the first transmission member 51 under the push of the first transmission member 51 without transmission delay, thereby avoiding transmission delay between the driving source 4 and the lens holder 2, and improving the accuracy of the reflector 6 in emitting the laser signal.

[0063] As Figure 3Taking the rotating mirror module shown in the figure as an example, the rotation direction of the first transmission member 51 in the figure is counterclockwise. Accordingly, the rigid part 521 is arranged on the left side of the first transmission member 51, so that when the first transmission member 51 rotates, its end can directly push the rigid part 521 to rotate, thereby driving the lens bracket 2 to rotate counterclockwise.

[0064] In some embodiments, Figure 2 and Figure 3 As shown, the second transmission member 52 further includes a spring support 523. The spring support 523 is fixed to the lens support 2 by screws and has a mounting protrusion thereon, which is used to fix one end of the spring portion 522 so that the spring portion 522 is directly opposite to the rigid portion 521, thereby improving the clamping effect.

[0065] Exemplarily, the spring piece portion 522 may be fixed to the spring piece bracket 523 by means of screws.

[0066] Exemplarily, the spring bracket 523 can be fixed to the lens bracket 2 by screws.

[0067] In some embodiments, Figure 2 and Figure 3 As shown, the first transmission member 51 includes a connecting shaft 511 and a fixing screw 512. Among them, one end of the connecting shaft 511 has a fixing groove 513, and the second transmission member 52 clamps the other end of the connecting shaft 511. The power output end 41 of the driving source 4 is inserted into the fixing groove 513. In other words, the fixing groove 513 can play the role of clamping the power output end 41 of the driving source 4. Threaded through holes are respectively provided in the two side walls of the fixing groove 513; the two threaded through holes are arranged oppositely, and the fixing screw 512 penetrates the two threaded through holes and is threadedly matched with the two threaded through holes respectively; specifically, the threaded matching between the fixing screw 512 and the two threaded through holes satisfies: when the fixing screw 512 is tightened, the width of the fixing groove 513 is reduced, so that the two side walls of the fixing groove 513 clamp the power output end 41 of the driving source 4, thereby reducing the risk of sliding between the power output end 41 and the fixing groove 513, ensuring that the end of the connecting shaft 511 can rotate synchronously with the power output end 41, reducing transmission errors, and avoiding transmission failure.

[0068] For example, Figure 2 and Figure 3As shown, the fixing groove 513 includes, for example, a cylindrical sub-groove and a strip sub-groove that are interconnected. Specifically, the power output end 41 of the driving source 4 is, for example, cylindrical, and the inner circumference of the cylindrical sub-groove is consistent with the outer circumference of the power output end 41 of the driving source 4, so as to be able to fit with the outer circumference of the power output end 41; and two threaded through holes are provided in the two side walls of the strip sub-groove and the fixing screw 512 is provided through the strip sub-groove, so that the strip sub-groove can be narrowed by tightening the fixing screw 512, thereby shrinking the cylindrical sub-groove and fitting closely with the outer circumference of the power output end 41.

[0069] Exemplarily, the fixing groove is also, for example, a strip groove, and correspondingly, the two side surfaces of the power output end 41 connected to the fixing groove are, for example, planes; in this way, when the fixing groove clamps the power output end 41, the fitting surface shape between the two is a plane, which can act as a force arm, so that the torque output by the power output end 41 is transmitted to the connecting shaft 511, and the two are not easy to slip.

[0070] In some preferred embodiments, the surface of the rigid portion 521 in contact with the connecting shaft 511 is a smooth surface to reduce the friction between the two when the connecting shaft 511 slides relative to the rigid portion 521, thereby reducing the risk of vibration due to friction and reducing component wear.

[0071] For example, Figure 2 As shown, the rigid portion 521 is, for example, a cylinder whose bottom surface is connected and fixed to the lens holder 2 , and the circumferential surface of the cylinder is used to contact the connecting shaft 511 .

[0072] In some embodiments, Figure 1 As shown, the rotating assembly 3 includes a bearing 31 and a bearing bracket 32. The central axis of the bearing 31 coincides with the above-mentioned designated axis. It can also be said that the central axis of the bearing 31 determines the position of the above-mentioned designated axis, and further determines the position of the rotation axis of the lens holder 2. The bearing bracket 32 ​​is fixedly connected to the lens holder 2; the bearing bracket 32 ​​is matched and connected with one of the inner ring and the outer ring of the bearing 31, and the base 1 is matched and connected with the other of the inner ring and the outer ring of the bearing 31, so that the lens holder 2 can rotate relative to the base 1. In this way, the base 1 can provide bearing force to the bearing 31, the bearing 31 can provide bearing force to the bearing bracket 32, and the bearing bracket 32 ​​can provide supporting force to the lens holder 2, thereby supporting the lens holder 2. Moreover, since there is no fixed connection relationship between the lens holder 2 and the driving source 4, the driving source 4 only outputs the torque around the above-mentioned designated axis direction without supporting the lens holder 2, thereby greatly reducing the load of the driving source 4. From another perspective, the driving efficiency of the driving source 4 can be improved.

[0073] by Figure 1Taking the rotating mirror module shown in the figure as an example, the rotating mirror module in the figure is placed horizontally. Under the action of gravity, the lens bracket 2 and the reflector 6 will exert downward pressure on the structure below them; accordingly, the bearing bracket 32 ​​can provide an upward supporting force to the reflector 6, the bearing 31 can provide an upward supporting force to the bearing bracket 32, and the base 1 can provide an upward supporting force to the bearing 31, thereby supporting the lens bracket 2. Moreover, in this state, the driving source 4 can be placed vertically, and the power output end 41 of the driving source 4 extends in the vertical direction to output torque only in the horizontal direction without providing an upward supporting force.

[0074] It is easy to understand that the bearing 31 is connected to the lens holder 2 through the bearing holder 32, but the bearing 31 does not contact the lens holder 2 to avoid resistance caused by friction between the lens holder 2 and the bearing 31, and to avoid vibration of the bearing 31 and the lens holder 2 due to friction, thereby ensuring stable rotation of the lens holder 2 and the lens thereon.

[0075] In some embodiments, Figure 4 As shown, the lens holder 2 includes a top plate 21 and a plurality of side plates 22. The top plate 21 is used to be fixedly connected to the second transmission member 52. The ends of the plurality of side plates 22 are all connected to the same side surface of the top plate 21, and the plurality of side plates 22 are arranged along the edge of the top plate 21; the surfaces of the plurality of side plates 22 facing the peripheral side of the lens holder 2 are all used to be bonded and fixed to the non-reflective surface of the reflector 6, so that the plurality of reflectors 6 can rotate synchronously with the lens holder 2. Moreover, the bonding and fixing method is easy to operate and relatively firm, and is more conducive to achieving the overall lightweight of the device compared to methods such as screw fixing.

[0076] It should be noted that the present embodiment does not limit the number of side panels 22, which can be selected according to the actual divergence requirements of the laser signal, for example, four, five, six... Correspondingly, the shape of the top panel 21 is, for example, a quadrilateral, a pentagon, a hexagon...

[0077] Exemplarily, the reflector 6 is bonded to the corresponding side panel 22 by dispensing glue, for example. Specifically, in the process of bonding the reflector 6, adhesive glue can be applied to the surface of the side panel 22 in multiple places, and then the reflector 6 is pressed on the surface of the side panel 22 to promote the adhesive glue to flow and spread, so that the reflector 6 is bonded to the side panel 22.

[0078] For example, Figure 4 As shown, the central areas of the plurality of side panels 22 are all hollow structures.

[0079] In some embodiments, Figure 1As shown, the base 1 includes a first fixing portion 11 and a second fixing portion 12 ; wherein the first fixing portion 11 is used to fix the driving source 4 ; and the second fixing portion 12 is used to cooperate with the inner ring or the outer ring of the bearing 31 .

[0080] In some embodiments, Figure 1 As shown, the second fixing part 12 is located on the side of the first fixing part 11 close to the lens holder 2, and the first fixing part 11 and the second fixing part 12 are connected as a whole. The first fixing part 11 has a storage space inside for accommodating and fixing the driving source 4; the first fixing part 11 also has a first through hole connected to the storage space on the side facing the lens holder 2 for the power output end 41 of the driving source 4 to extend out. The second fixing part 12 is arranged around the first through hole to avoid interference with the driving source 4. In this way, Figure 1 and Figure 4 As shown, the base 1 and the driving source 4 are both located in the space enclosed by the top plate 21 and the side plate 22 of the lens holder 2, so that the overall structure of the rotating mirror module can be compact, so as to minimize the space occupied by the rotating mirror module in the laser radar.

[0081] Exemplarily, one end of the first fixing portion 11 away from the second fixing portion 12 is, for example, fixedly connected to the inner wall of the outer shell of the laser radar, so as to achieve the fixing of the position of the base 1 as a whole in the laser radar.

[0082] For example, Figure 1 and Figure 4 As shown, the bearing bracket 32 ​​is sleeved on the outer ring of the bearing 31 and has an interference fit with the outer ring of the bearing 31. The second fixing portion 12 is, for example, a cylindrical boss, and the outer periphery of the boss has an interference fit with the inner ring of the bearing 31. In this way, during the assembly of the rotating mirror module, the power driving end of the driving source 4 is passed through the cylindrical boss, which can avoid interference between the power driving end and the inner ring of the bearing 31 and the bearing bracket 32, thereby reducing the assembly difficulty of the rotating mirror module and ensuring that the driving source 4 can work normally without interference after the rotating mirror module is put into use.

[0083] In some embodiments, Figure 4 As shown, a side surface of the top plate 21 away from the plurality of side plates 22 is fixedly connected to the second transmission member 52. A second through hole is provided in the central area of ​​the top plate 21; the driving source 4 is located on a side of the top plate 21 facing the plurality of side plates 22, and a power output end 41 of the driving source 4 extends out of the second through hole to be connected to the first transmission member 51 located on the other side of the top plate 21.

[0084] It is easy to understand that in some other embodiments, the driving source 4 can also be fixed at other positions, for example, fixed on the side of the top plate 21 of the lens holder 2 away from the side plate 22, and the power output end 41 of the driving source 4 extends to the vicinity of the top plate 21 to be connected to the transmission assembly 5.

[0085] In some embodiments, Figure 1 and Figure 4 As shown, the rotating mirror module further includes an infrared detector 7. The infrared detector 7 is fixed on the surface of the base 1 facing the lens holder 2, and the detection end of the infrared detector 7 is arranged toward the lens holder 2; a detection contact 8 is arranged on the surface of the lens holder 2 facing the infrared detector 7. The infrared detector 7 is used to identify the detection contact 8, so that the actual rotation speed of the lens holder 2 can be calculated by recording the number of times the detection contact 8 is identified.

[0086] As another implementation, this embodiment also provides a laser radar, such as Figure 5 As shown, it includes the rotating mirror module 01 and the laser signal transceiver module 02 as described above. Figure 6 As shown, the signal transceiver port of the laser signal transceiver module 02 is arranged toward the circumference of the rotating mirror module 01, for transmitting laser signals to the reflector fixed on the rotating mirror module 01, and receiving laser signals reflected by the reflector to the signal transceiver port.

[0087] In some embodiments, the laser radar further includes a signal processing module 03. The signal processing module 03 can communicate with the driving source in the rotating mirror module 01 to control the rotation speed of the driving source.

[0088] Furthermore, in some preferred embodiments, the signal processing module 03 can also receive the identification signal sent outward by the infrared detector 7 in the rotating mirror module 01, record the number of identification signals received, and calculate the number of identification signals received within a specified time period, thereby calculating the actual rotation speed of the lens holder.

[0089] Furthermore, the signal processing module 03 can also control the rotation speed of the driving source in real time according to the calculated actual rotation speed of the lens holder 2 so that the actual rotation speed of the lens holder 2 reaches the desired rotation speed.

[0090] It is to be understood that the above embodiments are merely exemplary embodiments used to illustrate the principles of the present invention, but the present invention is not limited thereto. For those of ordinary skill in the art, various modifications and improvements can be made without departing from the spirit and essence of the present invention, and these modifications and improvements are also considered to be within the scope of protection of the present invention.

Claims

1. A rotating mirror module, applied to laser radar; characterized in that: include: Pedestal; A lens bracket, used to fix the reflector on its peripheral side; A rotating assembly, connected to the base and the lens holder, respectively, and used to enable the lens holder to rotate relative to the base around a specified axis; A driving source for outputting rotational power; The transmission assembly includes a first transmission member and a second transmission member, wherein one end of the first transmission member is connected to the power output end of the driving source; the second transmission member is fixedly connected to the lens holder; the second transmission member is used to clamp the other end of the first transmission member so that the first transmission member and the second transmission member are relatively fixed in the rotation direction of the lens holder; the first transmission member and the second transmission member can slide relative to each other in the planar direction perpendicular to the specified axis.

2. The rotating mirror module according to claim 1, characterized in that: The second transmission member includes: a rigid part and a spring part; wherein, The rigid part is fixedly connected to the lens bracket, and the rigid part abuts against the first transmission member; The spring sheet portion and the rigid portion are arranged opposite to each other, and the first transmission member is located between the spring sheet portion and the rigid portion; one end of the spring sheet portion is fixedly connected to the lens holder, and the other end is abutted against the surface of the first transmission member, so as to clamp the first transmission member between the spring sheet portion and the rigid portion by utilizing its own elasticity.

3. The rotating mirror module according to claim 1, characterized in that: The first transmission member includes: a connecting shaft and a fixing screw; wherein, One end of the connecting shaft has a fixing groove, and the power output end of the driving source is inserted into the fixing groove; threaded through holes are respectively arranged in the two side walls of the fixing groove; the two threaded through holes are arranged opposite to each other; The fixing screw is arranged through the two threaded through holes and is threadably matched with the two threaded through holes respectively; The second transmission member clamps the other end of the connecting shaft.

4. The rotating mirror module according to claim 1, characterized in that: The rotating assembly comprises: a bearing and a bearing bracket; The central axis of the bearing coincides with the designated axis; The bearing bracket is fixedly connected to the lens bracket; The bearing support is connected with one of the inner ring and the outer ring of the bearing, and the base is connected with the other of the inner ring and the outer ring of the bearing, so that the lens support can rotate relative to the base.

5. The rotating mirror module according to claim 4, characterized in that: The base includes a first fixing portion and a second fixing portion; wherein the first fixing portion is used to fix the driving source; and the second fixing portion is used to cooperate with the inner ring or the outer ring of the bearing.

6. The rotating mirror module according to claim 5, characterized in that: The second fixing portion is located on a side of the first fixing portion close to the lens bracket, and the first fixing portion and the second fixing portion are connected as one body; The first fixing part has an accommodation space inside for accommodating and fixing the driving source; the first fixing part also has a first through hole connected to the accommodation space on one side facing the lens holder for allowing the power output end of the driving source to extend out; The second fixing portion is disposed around the first through hole.

7. The rotating mirror module according to claim 1, characterized in that: The lens support comprises a top plate and a plurality of side plates; The top plate is used to be fixedly connected to the second transmission member; The ends of the plurality of side panels are connected to the same side surface of the top panel, and the plurality of side panels are arranged along the edge of the top panel; The surfaces of the plurality of side plates facing the peripheral side of the lens bracket are all used for bonding and fixing with the non-reflective surface of the reflector.

8. The rotating mirror module according to claim 7, characterized in that: A side surface of the top plate away from the plurality of side plates is fixedly connected to the second transmission member; A second through hole is provided in the central area of ​​the top plate; The driving source is located on a side of the top plate facing the plurality of side plates, and a power output end of the driving source extends out from the second through hole.

9. The rotating mirror module according to claim 1, characterized in that: It also includes an infrared detector; the infrared detector is fixed on the surface of the base facing the lens bracket, and the detection end of the infrared detector is arranged toward the lens bracket; A detection contact is provided on the surface of the lens bracket on one side facing the infrared detector; The infrared detector is used to identify the detection contact.

10. A laser radar, characterized in that: include: The rotating mirror module and the laser signal transceiver module as described in any one of claims 1 to 9; The signal transceiver port of the laser signal transceiver module is arranged toward the peripheral surface of the rotating mirror module, and is used to transmit laser signals to the reflector fixed on the rotating mirror module, and receive laser signals reflected by the reflector to the signal transceiver port.

Images