Motor rotating mirror assembly and rotary laser radar

Abstract

The invention provides a motor rotating mirror assembly and a rotary laser radar. The motor rotating mirror assembly comprises a lens frame, a transmitting lens, a receiving lens and a reflector, wherein the transmitting lens, the receiving lens and the reflector are fixedly mounted in a transmitting lens mounting hole, a receiving lens mounting hole and a reflector mounting hole in a base of the lens frame respectively; the transmitting circuit board and the receiving circuit board are fixedly connected with the side face, opposite to the side face where the reflector mounting hole is located, of the base; a first through hole is formed between the transmitting circuit board and the transmitting lens, and a second through hole is formed between the receiving circuit board and the receiving lens; the rotary reflection structure is a straight or regular prism structure, and the side surface of the rotary reflection structure has a reflection function; the rotary baffle divides the rotary reflection structure into a transmitting part and a receiving part; the rotating mirror motor is fixedly mounted in a motor mounting hole in one end of the rotary reflecting structure and is fixedly connected with the inner side of one side surface of the lens frame; and the rotating mirror motor driving circuit board is fixedly arranged on the outer side of one side surface of the lens frame.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of laser radar, and in particular to a motor-driven mirror assembly and a rotating laser radar. Background Art

[0002] At present, lidar is involved in various related fields such as industrial automation, mobile robots, driver assistance, drones, etc., which makes this product increasingly important. At the same time, with the development of optical technology, its application scope is becoming wider and wider. Therefore, the reasonable design of lidar products plays a key role.

[0003] The current rotating laser radar emits a light spot that is too large, resulting in a low spatial scanning resolution of the laser radar, which cannot meet the needs of scenes with high spatial scanning resolution. Summary of the Invention

[0004] The embodiments of the present application provide a motor-driven mirror assembly and a rotating laser radar.

[0005] In a first aspect, an embodiment of the present application provides a motor-rotating mirror assembly, comprising: a lens frame 208, wherein the lens frame 208 has a base and two side surfaces perpendicular to the base, the base of the lens frame 208 having a transmitting lens mounting hole, a receiving lens mounting hole, and a reflecting mirror mounting hole; a transmitting lens 202 fixedly mounted in the transmitting lens mounting hole of the lens frame 208, a receiving lens 205 fixedly mounted in the receiving lens mounting hole of the lens frame 208, and a reflecting mirror 203 fixedly mounted in the reflecting mirror mounting hole of the lens frame 208; a transmitting circuit board 201 and a receiving circuit board 206 fixedly connected to the side surface of the base of the lens frame 208 opposite to the side surface where the reflecting mirror mounting hole is located; a first through hole is provided in the base of the lens frame 208 between the transmitting circuit board 201 and the transmitting lens 202, and a second through hole is provided between the receiving circuit board 206 and the receiving lens 205;

[0006] A rotating reflective structure, wherein the rotating reflective structure is a right prism structure or a regular prism structure, the rotating reflective structure can rotate around a rotation axis parallel to the side surface, each side surface of the rotating reflective structure has a reflection function, and one end of the rotating reflective structure has a motor mounting hole; the rotating reflective structure has a rotating baffle 219 or a rotating baffle 219 fixedly connected to the rotating reflective structure, and the rotating baffle 219 divides each side surface of the rotating reflective structure into a transmitting part and a receiving part; a rotating mirror motor 209 fixedly mounted in the motor mounting hole of the rotating reflective structure and fixedly connected to the inner side of one of the side surfaces of the lens frame 208; a rotating mirror motor driving circuit board 207 fixedly mounted on the outer side surface of one of the side surfaces of the lens frame 208, and the rotating mirror motor driving circuit board 207 is electrically connected to the rotating mirror motor 209.

[0007] In some exemplary embodiments, the rotating baffle 219 has a groove; the motor-rotating mirror assembly also includes: a partition 211 installed in the groove of the rotating baffle 219 and fixedly connected to the lens frame 208; the partition 211 divides the reflector 203 into a transmitting part and a receiving part.

[0008] In some exemplary embodiments, a first code disc mounting hole is provided in the other end of the rotating reflective structure; the motor rotating mirror assembly further includes: a first reader circuit board 210 fixedly mounted on the outside of the other side surface of the lens frame 208; and a first code disc 220 fixedly mounted in the first code disc mounting hole.

[0009] In some exemplary embodiments, the rotating reflective structure includes: a rotating body 218 and a rotating reflector 204, the rotating body 218 is a right prism structure or a regular prism structure, the rotating body 218 can rotate around a rotation axis parallel to the side, and a rotating reflector 204 is fixed to each side of the rotating body 218.

[0010] In some exemplary embodiments, the rotating reflective structure includes: a rotating body 218, wherein the rotating body 218 is a right prism structure or a regular prism structure, and the rotating body 218 can rotate around a rotation axis parallel to the side surfaces, and each side surface of the rotating body 218 is a reflective surface.

[0011] In a second aspect, an embodiment of the present application provides a rotating laser radar, comprising: any one of the above-mentioned motor mirror assembly 200; the rotating laser radar also comprises: a rotor assembly 300 and a bottom structure assembly 400; wherein, the rotor assembly 300 comprises: a motor rotor, and a ranging circuit board 301 mounted on the motor rotor, the ranging circuit board 301 is electrically connected to the transmitting circuit board 201, the receiving circuit board 206 and the mirror motor drive circuit board 207; wherein, the bottom structure assembly 400 comprises: a motor stator, and a motor power supply circuit board 409 fixedly mounted under the motor stator, the motor rotor is fixedly mounted on the motor stator, and the motor mirror assembly 200 is fixedly mounted on the motor rotor.

[0012] In some exemplary embodiments, it also includes: an outer cover assembly 100; a base assembly 500 fixedly connected to the outer cover assembly 100; wherein the motor mirror assembly 200, the rotor assembly 300 and the bottom structure assembly 400 are arranged in a receiving space formed by the outer cover assembly 100 and the base assembly 500, and the bottom structure assembly 400 is fixedly connected to the base assembly 500.

[0013] In some exemplary embodiments, the outer cover assembly 100 includes: an outer cover 101, the upper portion of the outer cover 101 is a hemisphere, the lower portion of the outer cover 101 is a cylinder, and at least a portion of the outer cover 101 is made of a light-transmitting material; and an outer cover seat 102, the outer cover seat 102 being fixedly connected to the outer cover 101.

[0014] In some exemplary embodiments, the base assembly 500 includes: a base 503, having an interface through-hole 506; a main control circuit board 504 fixedly installed in the base 503, wherein the main control circuit board 504 is electrically connected to the motor power supply circuit board 409; a first interface 502 fixedly installed in the interface through-hole 506, wherein the first interface 502 is electrically connected to the main control circuit board 504; and an interface connector 501 fixedly connected to the first interface 502, wherein one end of the interface connector 501 is electrically connected to the first interface 502, and the other end is electrically connected to the power supply.

[0015] In some exemplary embodiments, the motor rotor includes: a rotor 302, having a bearing through-hole 316 at the center of the rotor 302; a rotating shaft 308 installed in the bearing through-hole 316; a radiation ring 307 coaxially installed with the rotating shaft 308 and sleeved outside the rotating shaft 308; a motor iron ring 306 coaxially installed with the rotating shaft 308 and sleeved outside the radiation ring 307, and the motor iron ring 306 is fixedly connected to the rotor 302; the motor stator includes: a base stator 402, having a stator central axis 411 at the center of the base stator 402, and the rotating shaft 308 is fixedly installed in the stator central axis 411; a miniature bearing 408 coaxially installed with the rotating shaft 308 and sleeved outside the rotating shaft 308; a motor core 406 coaxially installed with the rotating shaft 308 and sleeved outside the miniature bearing 408; and a motor core coil 407 wound on the motor core 406.

[0016] In some exemplary embodiments, the rotor assembly 300 also includes: a first wireless transmission magnetic core 304 coaxially mounted with the rotating shaft 308 and sleeved outside the motor iron ring 306; a first wireless transmission coil 305 wound on the first wireless transmission magnetic core 304, and the first wireless transmission coil 305 is electrically connected to the ranging circuit board 301; the bottom structure assembly 400 also includes: a second wireless transmission magnetic core 405 coaxially mounted with the rotating shaft 308 and sleeved outside the motor iron core 406; a second wireless transmission coil 404 wound on the second wireless transmission magnetic core 405, and the second wireless transmission coil 404 is electrically connected to the motor power supply circuit board 409.

[0017] In some exemplary embodiments, the rotor assembly 300 further includes: a second code disk 303 coaxially mounted with the rotating shaft 308 and fixedly mounted on the lower surface of the rotor 302; the bottom structure assembly 400 further includes: a second reader circuit board 401 fixedly mounted on the base stator 402.

[0018] In some exemplary embodiments, the base stator 402 has an O-ring mounting groove; the bottom structure assembly 400 further includes: a base O-ring 403 installed in the O-ring mounting groove.

[0019] The motor-driven rotating mirror assembly provided in the embodiment of the present application has a divergence angle that varies with distance after the laser beam is collimated by the transmitting lens 202. The longer the focal length of the transmitting lens 202, the smaller the divergence angle. By adding a reflector 203 between the rotating reflection structure and the transmitting lens 202, and between the rotating reflection structure and the receiving lens 205, more space is provided for arranging the transmitting lens 202 and the receiving lens 205, so that the focal lengths of the transmitting lens 202 and the receiving lens 205 can be set to be relatively long, thereby reducing the divergence angle of the laser beam, and thus reducing the diameter of the laser emission spot, thereby improving the spatial scanning resolution of the lidar and meeting the requirements of scenes with high spatial scanning resolution.

[0020] In some exemplary embodiments, the transmitting optical path and the receiving optical path of the rotating laser radar are separated by a partition 211 to avoid mutual influence between the light beams on the transmitting optical path and the light beams on the receiving optical path, isolate the crosstalk between the transmitted and received signals, and thus improve the measurement accuracy.

[0021] The rotating laser radar provided in the embodiment of the present application has a divergence angle that varies with distance after the laser beam is collimated by the transmitting lens 202. The longer the focal length of the transmitting lens 202, the smaller the divergence angle. By adding a reflector 203 between the rotating reflection structure and the transmitting lens 202, and between the rotating reflection structure and the receiving lens 205, more space is provided for arranging the transmitting lens 202 and the receiving lens 205, so that the focal lengths of the transmitting lens 202 and the receiving lens 205 can be set to be relatively long, thereby reducing the divergence angle of the laser beam, and thus reducing the diameter of the laser emission spot, thereby improving the spatial scanning resolution of the laser radar and meeting the requirements of scenes with high spatial scanning resolution.

[0022] In some exemplary embodiments, the motor-rotating mirror assembly 200, the rotor assembly 300 and the bottom structure assembly 400 are arranged in a receiving space formed by the outer cover assembly 100 and the base assembly 500. The combination of the motor-rotating mirror assembly 200, the rotor assembly 300 and the bottom structure assembly 400 can realize the basic functions of the laser radar, so that the ranging function can be realized even without the base assembly 500, or without the base assembly 500 and the outer cover assembly 100.

[0023] In some exemplary embodiments, the rotating laser radar is waterproofed by the base O-ring 403, so that the laser radar can be used in rainy weather without being affected. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 A schematic diagram of the components of a rotating laser radar provided in one embodiment of the present application;

[0025] Figure 2 For the embodiment of this application Figure 1 Schematic diagram of the expansion;

[0026] Figure 3 This is an exploded schematic diagram of a motor-driven mirror assembly according to another embodiment of the present application;

[0027] Figure 4 This is an exploded schematic diagram of the rotating mirror structure of an embodiment of the present application;

[0028] Figure 5 This is a schematic diagram of the circuit connections in the motor-driven mirror assembly according to an embodiment of the present application;

[0029] Figure 6 An exploded schematic diagram of a rotating laser radar provided in another embodiment of the present application;

[0030] Figure 7 A schematic cross-sectional view of a rotating laser radar according to an embodiment of the present application;

[0031] Figure 8 This is an exploded schematic diagram of the outer cover assembly of an embodiment of the present application;

[0032] Figure 9 This is an exploded schematic diagram of a rotor assembly according to an embodiment of the present application;

[0033] Figure 10 This is an exploded schematic diagram of the bottom structure assembly of an embodiment of the present application;

[0034] Figure 11 This is an exploded schematic diagram of a base assembly according to an embodiment of the present application;

[0035] Figure 12 This is a schematic diagram of the circuit connections in the rotating laser radar according to an embodiment of the present application.

[0036] Among them, 100 is the outer cover assembly, 200 is the motor mirror assembly, 300 is the rotor assembly, 400 is the bottom structure assembly, and 500 is the base assembly;

[0037] 101 is the outer cover, 102 is the outer cover seat, 103 is the first positioning pin, and 104 is the first threaded hole;

[0038] 201 is the transmitting circuit board, 202 is the transmitting lens, 203 is the reflecting mirror, 204 is the rotating reflecting mirror, 205 is the receiving lens, 206 is the receiving circuit board, 207 is the rotating mirror motor drive circuit board, 208 is the lens holder, 209 is the rotating mirror motor, 210 is the first reader circuit board, 211 is the partition, 212 is the first screw, 213 is the fourth screw, 214 is the seventh screw, 215 is the third screw hole, 216 is the fifth screw, 217 is the sixth screw, 218 is the rotating mirror body, 219 is the rotating baffle, 220 is the first code disk, and 221 is the second screw;

[0039] 301 is the distance measurement circuit board, 302 is the rotor, 303 is the second code disk, 304 is the first wireless transmission magnetic core, 305 is the first wireless transmission coil, 306 is the motor iron ring, 307 is the radiation ring, 308 is the rotating shaft, 309 is the twelfth screw, 310 is the sixth threaded hole, 311 is the eleventh screw, 312 is the fourth threaded hole, 313 is the fifth screw hole, 314 is the positioning column hole, 315 is the positioning column, and 316 is the bearing hole.

[0040] 401 is the second reader circuit board, 402 is the base stator, 403 is the base O-ring, 404 is the second wireless transmission coil, 405 is the second wireless transmission magnetic core, 406 is the motor core, 407 is the motor core coil, 408 is the miniature bearing, 409 is the motor power circuit board, 410 is the fourteenth screw, 411 is the stator center shaft, and 412 is the thirteenth screw.

[0041] 501 is the interface connector, 502 is the first interface, 503 is the base, 504 is the main control circuit board, 505 is the tenth screw, 506 is the interface through hole, 507 is the second positioning pin, 508 is the ninth screw, 509 is the third positioning pin, 510 is the fourth screw through hole, and 511 is the positioning pin through hole. DETAILED DESCRIPTION

[0042] In order to enable those skilled in the art to better understand the technical solution of the present application, the motor-driven mirror assembly and the rotating laser radar provided in the present application are described in detail below with reference to the accompanying drawings.

[0043] Example embodiments will be described more fully hereinafter with reference to the accompanying drawings, but the example embodiments may be embodied in different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this application will be thorough and complete and will fully convey the scope of this application to those skilled in the art.

[0044] In the absence of conflict, the various embodiments of the present application and the various features therein may be combined with each other.

[0045] As used herein, the term "and / or" includes any and all combinations of at least one of the associated listed items.

[0046] The terms used herein are used only to describe specific embodiments and are not intended to limit this application. As used herein, the singular forms "a," "an," and "the" are also intended to include the plural forms, unless the context clearly indicates otherwise. It will also be understood that when the terms "comprising" and / or "made of" are used in this specification, the presence of the features, wholes, steps, operations, elements, and / or components is specified, but the presence or addition of at least one other feature, whole, step, operation, element, component, and / or group thereof is not excluded.

[0047] The embodiments described herein may be described with reference to plan views and / or cross-sectional views, with the aid of idealized schematic diagrams of the present application. Accordingly, the example illustrations may be modified based on manufacturing techniques and / or tolerances. Therefore, the embodiments are not limited to the embodiments shown in the accompanying drawings, but include modifications of the configurations formed based on the manufacturing process. Therefore, the regions illustrated in the accompanying drawings are schematic in nature, and the shapes of the regions shown in the drawings illustrate specific shapes of the regions of the elements, but are not intended to be limiting.

[0048] In the description of the embodiments, unless otherwise specified or limited, the terms "disposed" and "connected" should be understood broadly. For example, the connection may be fixed, removable, or integral; it may be mechanical or electrical; it may be direct, connected through an intermediary medium, or internally connected between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances.

[0049] Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art. It will also be understood that terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant art and this application, and will not be interpreted as having an idealized or overly formal meaning unless expressly defined as such herein.

[0050] Figure 1 A schematic diagram of the composition of a laser radar provided in one embodiment of the present application is shown below. Figure 2 For the embodiment of this application Figure 1 Schematic diagram of the expansion.

[0051] First, refer to Figure 1 and Figure 2 One embodiment of the present application provides an optical system, comprising:

[0052] The emission lens 202 is used to collimate the laser beam emitted by the laser.

[0053] The reflector 203 has a transmitting part and a receiving part. The transmitting part of the reflector 203 is used to reflect the collimated laser beam.

[0054] A rotating reflective structure, wherein the rotating reflective structure is a right prism structure or a regular prism structure, and the rotating reflective structure can rotate around a rotation axis parallel to the side surface, and each side surface of the rotating reflective structure has a reflective function, and the side surface of the rotating reflective structure has an emitting part and a receiving part, and the emitting part of the side surface of the rotating reflective structure is used to further reflect the laser beam reflected by the emitting part of the reflector 203; the receiving part of the side surface of the rotating reflective structure is used to further reflect the laser beam reflected by the emitting part of the side surface of the rotating reflective structure through the object to be measured.

[0055] The receiving portion of the reflective mirror 203 is used to further reflect the laser beam reflected by the receiving portion on the side surface of the rotating reflective structure.

[0056] The receiving lens 205 is used to converge the laser beam reflected by the receiving portion of the reflector 203 .

[0057] In some exemplary embodiments, the emitting portion and the receiving portion of the reflector 203 may be different portions of the same reflector. In some exemplary embodiments, the emitting portion and the receiving portion of the reflector 203 may also be two different reflectors.

[0058] In some exemplary embodiments, the rotating reflective structure includes: a rotating body 218 and a rotating reflector 204, wherein the rotating body 218 is a right prism structure or a regular prism structure, and the rotating body 218 can rotate around a rotation axis parallel to the side surface, and a rotating reflector (204) is fixed to each side surface of the rotating body 218.

[0059] In some exemplary embodiments, the rotating reflector 204 has a transmitting portion and a receiving portion, and the transmitting portion of the rotating reflector 204 is used to further reflect the laser beam reflected by the transmitting portion of the reflector 203 .

[0060] In some exemplary embodiments, the transmitting portion and the receiving portion of the rotating reflector 204 may be different portions of the same reflector. In some exemplary embodiments, the transmitting portion and the receiving portion of the rotating reflector 204 may also be two different reflectors.

[0061] In some exemplary embodiments, the rotating reflective structure includes: a rotating body 218, wherein the rotating body 218 is a right prism structure or a regular prism structure, and the rotating body 218 can rotate around a rotation axis parallel to the side surfaces, and each side surface of the rotating body 218 is a reflective surface.

[0062] In some exemplary embodiments, the rotating reflective structure is a right quadrangular prism structure or a regular quadrangular prism structure, and the rotating reflective structure has four side surfaces.

[0063] In some exemplary embodiments, the rotating mirror body 218 is a right quadrangular prism structure or a regular quadrangular prism structure. When the emitting part and the receiving part of the rotating reflector 204 are different parts on the same reflector, the number of rotating reflectors 204 is four; when the emitting part and the receiving part of the rotating reflector 204 are two different reflectors, the number of rotating reflectors 204 is eight.

[0064] In some exemplary embodiments, the rotating mirror body 218 is a right quadrangular prism structure or a regular quadrangular prism structure, and has four reflective surfaces.

[0065] In some exemplary embodiments, the right quadrangular prism structure is a column structure with a quadrilateral cross section and side surfaces perpendicular to the bottom surface.

[0066] In some exemplary embodiments, the regular quadrangular prism structure is a column structure with a square cross section and a side surface perpendicular to the bottom surface.

[0067] In some exemplary embodiments, the rotating reflective structure is a right hexagonal prism structure or a regular hexagonal prism structure, and the number of side faces of the rotating reflective structure is six.

[0068] In some exemplary embodiments, the rotating mirror body 218 is a right hexagonal prism structure or a regular hexagonal prism structure. When the emitting part and the receiving part of the rotating reflector 204 are different parts on the same reflector, the number of rotating reflectors 204 is six; when the emitting part and the receiving part of the rotating reflector 204 are two different reflectors, the number of rotating reflectors 204 is twelve.

[0069] In some exemplary embodiments, the rotating mirror body 218 is a right hexagonal prism structure or a regular hexagonal prism structure, and has six reflective surfaces.

[0070] In some exemplary embodiments, the right hexagonal prism structure is a column structure with a hexagonal cross section and side surfaces perpendicular to the bottom surface.

[0071] In some exemplary embodiments, the regular hexagonal prism structure is a column structure with a regular hexagonal cross section and a side surface perpendicular to the bottom surface.

[0072] In some exemplary embodiments, the rotating reflective structure is a right octagonal prism structure or a regular octagonal prism structure, and the number of side faces of the rotating reflective structure is eight.

[0073] In some exemplary embodiments, the rotating mirror body 218 is a right octagonal prism structure or a regular octagonal prism structure. When the emitting part and the receiving part of the rotating reflector 204 are different parts on the same reflector, the number of rotating reflectors 204 is eight; when the emitting part and the receiving part of the rotating reflector 204 are two different reflectors, the number of rotating reflectors 204 is sixteen.

[0074] In some exemplary embodiments, the rotating mirror body 218 is a right octagonal prism structure or a regular octagonal prism structure, and has eight reflective surfaces.

[0075] In some exemplary embodiments, the right octagonal prism structure is a column structure with a regular octagonal cross section and a side surface perpendicular to the bottom surface.

[0076] In some exemplary embodiments, the regular octagonal prism structure is a column structure with a regular octagonal cross section and a side surface perpendicular to the bottom surface.

[0077] In other embodiments, the rotating reflective structure may be another number of right prism structures or regular prism structures, and the rotating mirror body 218 may be another number of right prism structures or regular prism structures, that is, the number of rotating reflective mirrors 204 or reflective surfaces may be another number. This embodiment of the present application is not limited to this, and all such arrangements are within the scope of protection of the embodiments of the present application.

[0078] In some exemplary embodiments, when a rotating reflector 204 is fixed to each side surface of the rotating mirror body 218 , the rotating reflector 204 may be made of quartz material.

[0079] In some exemplary embodiments, when each side surface of the rotating mirror body 218 is a reflective surface, the main body of the rotating mirror body 218 can be made of plastic, and the side surfaces of the rotating mirror body 218 can be coated with a reflective film or an anti-reflection film to make the side surfaces reflective surfaces.

[0080] In some exemplary embodiments, the reflective film may be, for example, a metal film.

[0081] In some exemplary embodiments, the plastic material may be, for example, aluminum.

[0082] In some exemplary embodiments, by coating the side of the rotating mirror body 218 with a reflective film or a reflection-enhancing film, the side becomes a reflective surface, thereby eliminating the need to install the rotating reflector 204 on the side of the rotating mirror body 218, thereby eliminating the installation step; and, the plastic material is relatively light and consumes less energy when rotating at high speed, which also reduces the requirements for the rotor.

[0083] In some exemplary embodiments, the angle between the reflector 203 and the transmission direction of the collimated laser beam is determined according to the scanning angle range of the laser beam reflected by the emission portion of the side surface of the rotating reflective structure and the number of rotating reflectors 204 .

[0084] In some exemplary embodiments, the angle between the reflective mirror 203 and the transmission direction of the collimated laser beam is determined according to the scanning angle range of the laser beam reflected by the emission portion of the rotating reflective mirror 204 and the number of the rotating reflective mirrors 204 .

[0085] In some exemplary embodiments, the angle between the reflector 203 and the transmission direction of the collimated laser beam is determined according to the scanning angle range of the laser beam reflected by the emission portion of the reflective surface and the number of reflective surfaces.

[0086] In some exemplary embodiments, when the emitting portion and the receiving portion of the reflector 203 are different portions of the same reflector, the angle between the reflector 203 and the transmission direction of the collimated laser beam is 45°.

[0087] In some exemplary embodiments, when the transmitting part and the receiving part of the reflector 203 are different parts on the same reflector, due to the existence of errors, it is usually difficult to achieve that the angle between the reflector 203 and the transmission direction of the collimated laser beam is strictly 45°. In order to allow for the existence of errors, the absolute value of the difference between the angle between the reflector 203 and the transmission direction of the collimated laser beam and 45° can be set to be less than or equal to a preset threshold. Here, the preset threshold can be taken as small as possible, so that the angle between the reflector 203 and the transmission direction of the collimated laser beam is basically equal to 45°.

[0088] In some exemplary embodiments, when the emitting portion and the receiving portion of the reflector 203 are two different reflectors, the angle between the two reflectors and the transmission direction of the collimated laser beam is 45°.

[0089] In some exemplary embodiments, the transmitting part and the receiving part of the reflector 203 may also be two different reflectors. However, due to the existence of errors, it is usually difficult to achieve that the angle between the two reflectors and the transmission direction of the collimated laser beam is strictly 45°. In order to allow for the existence of errors, the absolute value of the difference between the angle between the two reflectors and the transmission direction of the collimated laser beam and 45° can be set to be less than or equal to a preset threshold. Here, the preset threshold can be as small as possible so that the angle between the two reflectors and the transmission direction of the collimated laser beam is basically equal to 45°.

[0090] In some exemplary embodiments, the rotation axis and the mirror 203 are parallel.

[0091] In some exemplary embodiments, due to the existence of errors, it is usually difficult to achieve strict parallelism between the rotation axis and the reflector 203. In order to allow for the existence of errors, the angle between the rotation axis and the reflector 203 can be set to be less than or equal to a preset threshold. Here, the preset threshold can be as small as possible so that the rotation axis and the reflector 203 are basically parallel.

[0092] In some exemplary embodiments, the rotating reflective structure can rotate around the rotation axis under the control of the rotating mirror motor 209. More specifically, the rotating mirror body 218 can rotate around the rotation axis under the control of the rotating mirror motor 209.

[0093] In some exemplary embodiments, the rotation axis may be a line connecting the center points of the two bottom surfaces of the rotating reflective structure. More specifically, the rotation axis may be a line connecting the center points of the two bottom surfaces of the rotating mirror body 218.

[0094] In some exemplary embodiments, when the rotating mirror motor 209 controls the rotating mirror body 218 to rotate, the rotating reflective mirror 204 is driven to rotate, and the relative positional relationship between the rotating mirror body 218 and the rotating reflective mirror 204 remains unchanged during the rotation process.

[0095] In some exemplary embodiments, the optical axis of the transmitting mirror 202 and the optical axis of the receiving mirror 205 are parallel.

[0096] In some exemplary embodiments, due to the existence of errors, it is usually difficult to achieve strict parallelism between the optical axis of the transmitting lens 202 and the optical axis of the receiving lens 205. In order to allow for the existence of errors, the angle between the optical axis of the transmitting lens 202 and the optical axis of the receiving lens 205 can be set to be less than or equal to a preset threshold. Here, the preset threshold can be as small as possible so that the optical axis of the transmitting lens 202 and the optical axis of the receiving lens 205 are basically parallel.

[0097] The optical system provided in the embodiment of the present application has a divergence angle that varies with distance after the laser beam is collimated by the transmitting lens 202. The longer the focal length of the transmitting lens 202, the smaller the divergence angle. By adding a reflector 203 between the rotating reflection structure and the transmitting lens 202, and between the rotating reflection structure and the receiving lens 205, more space is provided for arranging the transmitting lens 202 and the receiving lens 205, so that the focal lengths of the transmitting lens 202 and the receiving lens 205 can be set to be relatively long, thereby reducing the divergence angle of the laser beam, and thus reducing the diameter of the laser emission spot, thereby improving the scanning measurement accuracy of the lidar and meeting the requirements of scenarios with high scanning measurement accuracy.

[0098] Secondly, refer to Figure 1 and Figure 2Another embodiment of the present application provides a rotating laser radar, comprising any of the above-described optical systems. The rotating laser radar further comprises: a transmitting circuit board 201, on which a laser is disposed, for controlling the laser to emit a laser beam; a receiving circuit board 206, for receiving the converged laser beam and converting the converged laser beam into an electrical signal; a rotating mirror motor 209, for controlling the rotation of the rotating reflective structure under the drive of a rotating mirror motor drive circuit board 207; and a rotating mirror motor drive circuit board 207, for driving the rotating mirror motor 209.

[0099] In some exemplary embodiments, the system further includes a first reader circuit board 210 for measuring the rotation angle of the rotating reflective structure in conjunction with the first code wheel 220 . More specifically, the system for measuring the rotation angle of the rotating mirror body 218 in conjunction with the first code wheel 220 .

[0100] In some exemplary embodiments, it also includes: a ranging circuit board 301, which is used to control the operation of the mirror motor driving circuit board 207, the transmitting circuit board 201, and the receiving circuit board 206; receives the electrical signal sent by the receiving circuit board 206, and converts the electrical signal into measurement data.

[0101] In some exemplary embodiments, the ranging circuit board 301 is also used to control the operation of the first read head circuit board 210 .

[0102] The rotating laser radar provided in the embodiment of the present application has a divergence angle that varies with distance after the laser beam is collimated by the transmitting lens 202. The longer the focal length of the transmitting lens 202, the smaller the divergence angle. By adding a reflector 203 between the rotating reflection structure and the transmitting lens 202, and between the rotating reflection structure and the receiving lens 205, more space is provided for arranging the transmitting lens 202 and the receiving lens 205, so that the focal lengths of the transmitting lens 202 and the receiving lens 205 can be set to be relatively long, thereby reducing the divergence angle of the laser beam, and thus reducing the diameter of the laser emission spot, thereby improving the scanning measurement accuracy of the laser radar and meeting the requirements of scenarios with high scanning measurement accuracy.

[0103] Figure 3 This is an exploded schematic diagram of a motor-rotating mirror assembly according to another embodiment of the present application. Figure 4 This is an exploded schematic diagram of the rotating mirror structure of an embodiment of the present application. Figure 5 This is a schematic diagram of the circuit connections in the motor-driven mirror assembly according to an embodiment of the present application.

[0104] Thirdly, refer to Figure 3 、 Figure 4 and Figure 5Another embodiment of the present application provides a motor-rotating mirror assembly, comprising: a lens frame 208, wherein the lens frame 208 has a base and two side surfaces perpendicular to the base, the base of the lens frame 208 has a transmitting lens mounting hole, a receiving lens mounting hole and a reflecting mirror mounting hole; a transmitting lens 202 fixedly mounted in the transmitting lens mounting hole of the lens frame 208, a receiving lens 205 fixedly mounted in the receiving lens mounting hole of the lens frame 208, and a reflecting mirror 203 fixedly mounted in the reflecting mirror mounting hole of the lens frame 208; a transmitting circuit board 201 and a receiving circuit board 206 fixedly connected to the side surface of the base of the lens frame 208 opposite to the side surface where the reflecting mirror mounting hole is located; a first through hole is provided between the transmitting circuit board 201 and the transmitting lens 202 in the base of the lens frame 208, and a second through hole is provided between the receiving circuit board 206 and the receiving lens 205.

[0105] A rotating reflective structure, wherein the rotating reflective structure is a right prism structure or a regular prism structure, the rotating reflective structure can rotate around a rotation axis parallel to the side surface, each side surface of the rotating reflective structure has a reflection function, and one end of the rotating reflective structure has a motor mounting hole; the rotating reflective structure has a rotating baffle 219 or a rotating baffle 219 fixedly connected to the rotating reflective structure, and the rotating baffle 219 divides each side surface of the rotating reflective structure into a transmitting part and a receiving part; a rotating mirror motor 209 fixedly mounted in the motor mounting hole of the rotating reflective structure and fixedly connected to the inner side of one of the side surfaces of the lens frame 208; a rotating mirror motor driving circuit board 207 fixedly mounted on the outer side surface of one of the side surfaces of the lens frame 208, and the rotating mirror motor driving circuit board 207 is electrically connected to the rotating mirror motor 209.

[0106] In some exemplary embodiments, Figure 3 As shown, a laser is provided on the transmitting circuit board 201 , and the transmitting circuit board 201 is used to control the laser to emit a laser beam. The laser beam emitted by the laser is transmitted to the transmitting lens 202 through the first through hole.

[0107] In some exemplary embodiments, Figure 3 As shown, the transmitting circuit board 201 and the base of the lens holder 208 can be fixedly connected by a fixed connection method well known to those skilled in the art. For example, the transmitting circuit board 201 and the base of the lens holder 208 can be fixedly connected by a first screw 212.

[0108] In some exemplary embodiments, Figure 2 As shown, the emitting lens 202 is used to collimate the laser beam emitted by the laser.

[0109] In some exemplary embodiments, the optical axis of the transmitting mirror 202 and the optical axis of the receiving mirror 205 are parallel.

[0110] In some exemplary embodiments, due to the existence of errors, it is usually difficult to achieve strict parallelism between the optical axis of the transmitting lens 202 and the optical axis of the receiving lens 205. In order to allow for the existence of errors, the angle between the optical axis of the transmitting lens 202 and the optical axis of the receiving lens 205 can be set to be less than or equal to a preset threshold. Here, the preset threshold can be as small as possible so that the optical axis of the transmitting lens 202 and the optical axis of the receiving lens 205 are basically parallel.

[0111] In some exemplary embodiments, the emitting lens 202 may be fixedly mounted in the emitting lens mounting hole of the lens holder 208 by gluing.

[0112] In some exemplary embodiments, the reflector 203 has a transmitting portion and a receiving portion, and the transmitting portion of the reflector 203 is used to reflect the collimated laser beam.

[0113] In some exemplary embodiments, the reflector 203 may be fixedly mounted in the reflector mounting hole of the lens holder 208 by gluing.

[0114] In some exemplary embodiments, the ratio of the emitting part and the receiving part of the reflector 203 can be set according to actual needs. The proportional relationship between the emitting part and the receiving part can be changed by adjusting the installation position of the rotating baffle 219 on the rotating reflective structure. More specifically, the proportional relationship between the emitting part and the receiving part can be changed by adjusting the installation position of the rotating baffle 219 on the rotating mirror body 218.

[0115] In some exemplary embodiments, the emitting portion and the receiving portion of the reflector 203 may be different portions of the same reflector. In some exemplary embodiments, the emitting portion and the receiving portion of the reflector 203 may also be two different reflectors.

[0116] In some exemplary embodiments, the rotating reflective structure includes: a rotating body 218 and a rotating reflector 204, the rotating body 218 is a right prism structure or a regular prism structure, the rotating body 218 can rotate around a rotation axis parallel to the side, and a rotating reflector 204 is fixed to each side of the rotating body 218.

[0117] In some exemplary embodiments, the rotating reflector 204 has an emitting part and a receiving part. The emitting part of the rotating reflector 204 is used to further reflect the laser beam reflected by the emitting part of the reflector 203; the receiving part of the rotating reflector 204 is used to further reflect the laser beam reflected by the emitting part of the rotating reflector 204 and the laser beam reflected by the object to be measured.

[0118] In some exemplary embodiments, the transmitting portion and the receiving portion of the rotating reflector 204 may be different portions of the same reflector. In some exemplary embodiments, the transmitting portion and the receiving portion of the rotating reflector 204 may also be two different reflectors.

[0119] In some exemplary embodiments, the rotating reflective structure includes: a rotating body 218, wherein the rotating body 218 is a right prism structure or a regular prism structure, and the rotating body 218 can rotate around a rotation axis parallel to the side surfaces, and each side surface of the rotating body 218 is a reflective surface.

[0120] In some exemplary embodiments, the rotating reflective structure is a right quadrangular prism structure or a regular quadrangular prism structure, and the rotating reflective structure has four side surfaces.

[0121] In some exemplary embodiments, the rotating mirror body 218 is a right quadrangular prism structure or a regular quadrangular prism structure. When the emitting part and the receiving part of the rotating reflector 204 are different parts on the same reflector, the number of rotating reflectors 204 is four; when the emitting part and the receiving part of the rotating reflector 204 are two different reflectors, the number of rotating reflectors 204 is eight.

[0122] In some exemplary embodiments, the rotating mirror body 218 is a right quadrangular prism structure or a regular quadrangular prism structure, and has four reflective surfaces.

[0123] In some exemplary embodiments, the right quadrangular prism structure is a column structure with a quadrilateral cross section and side surfaces perpendicular to the bottom surface.

[0124] In some exemplary embodiments, the regular quadrangular prism structure is a column structure with a square cross section and a side surface perpendicular to the bottom surface.

[0125] In some exemplary embodiments, the rotating reflective structure is a right hexagonal prism structure or a regular hexagonal prism structure, and the number of side faces of the rotating reflective structure is six.

[0126] In some exemplary embodiments, the rotating mirror body 218 is a right hexagonal prism structure or a regular hexagonal prism structure. When the emitting part and the receiving part of the rotating reflector 204 are different parts on the same reflector, the number of rotating reflectors 204 is six; when the emitting part and the receiving part of the rotating reflector 204 are two different reflectors, the number of rotating reflectors 204 is twelve.

[0127] In some exemplary embodiments, the rotating mirror body 218 is a right hexagonal prism structure or a regular hexagonal prism structure, and has six reflective surfaces.

[0128] In some exemplary embodiments, the right hexagonal prism structure is a column structure with a hexagonal cross section and side surfaces perpendicular to the bottom surface.

[0129] In some exemplary embodiments, the regular hexagonal prism structure is a column structure with a regular hexagonal cross section and a side surface perpendicular to the bottom surface.

[0130] In some exemplary embodiments, the rotating reflective structure is a right octagonal prism structure or a regular octagonal prism structure, and the number of side faces of the rotating reflective structure is eight.

[0131] In some exemplary embodiments, the rotating mirror body 218 is a right octagonal prism structure or a regular octagonal prism structure. When the emitting part and the receiving part of the rotating reflector 204 are different parts on the same reflector, the number of rotating reflectors 204 is eight; when the emitting part and the receiving part of the rotating reflector 204 are two different reflectors, the number of rotating reflectors 204 is sixteen.

[0132] In some exemplary embodiments, the rotating mirror body 218 is a right octagonal prism structure or a regular octagonal prism structure, and has eight reflective surfaces.

[0133] In some exemplary embodiments, the right octagonal prism structure is a column structure with a regular octagonal cross section and a side surface perpendicular to the bottom surface.

[0134] In some exemplary embodiments, the regular octagonal prism structure is a column structure with a regular octagonal cross section and a side surface perpendicular to the bottom surface.

[0135] In other embodiments, the rotating reflective structure may be another number of right prism structures or regular prism structures, and the rotating mirror body 218 may be another number of right prism structures or regular prism structures, that is, the number of rotating reflective mirrors 204 or reflective surfaces may be another number. This embodiment of the present application is not limited to this, and all such arrangements are within the scope of protection of the embodiments of the present application.

[0136] In some exemplary embodiments, when a rotating reflector 204 is fixed to each side surface of the rotating mirror body 218 , the rotating reflector 204 may be made of quartz material.

[0137] In some exemplary embodiments, when each side surface of the rotating mirror body 218 is a reflective surface, the main body of the rotating mirror body 218 can be made of plastic, and the side surfaces of the rotating mirror body 218 can be coated with a reflective film or an anti-reflection film to make the side surfaces reflective surfaces.

[0138] In some exemplary embodiments, the reflective film may be, for example, a metal film.

[0139] In some exemplary embodiments, the plastic material may be, for example, aluminum.

[0140] In some exemplary embodiments, by coating the side of the rotating mirror body 218 with a reflective film or a reflection-enhancing film, the side becomes a reflective surface, thereby eliminating the need to install the rotating reflector 204 on the side of the rotating mirror body 218, thereby eliminating the installation step; and, the plastic material is relatively light and consumes less energy when rotating at high speed, which also reduces the requirements for the rotor.

[0141] In some exemplary embodiments, Figure 4 As shown, when the rotating baffle 219 is fixedly connected to the rotating mirror body 218, the rotating baffle 219 and the rotating mirror body 218 are independent structures, and the four edges of the rotating mirror body 218 all have inwardly protruding first screw through holes (not marked in the figure), and the rotating baffle 219 has inwardly protruding second screw through holes (not marked in the figure) at positions opposite to the four edges of the rotating mirror body 218. The rotating mirror body 218 and the rotating baffle 219 are fixedly connected by a second screw 221 through the first screw through holes on the rotating mirror body 218 and the second screw through holes on the rotating baffle 219.

[0142] In some exemplary embodiments, Figure 4 As shown, the rotating baffle 219 has a groove; Figure 3 As shown, the motor-rotating mirror assembly further includes a partition 211 mounted within the groove of the rotating baffle 219 and fixedly connected to the lens holder 208. The partition 211 divides the reflector 203 into a transmitting portion and a receiving portion. In this embodiment of the present application, the partition 211 separates the transmitting and receiving optical paths of the rotating laser radar, preventing mutual influence between the light beams on the transmitting and receiving paths, isolating the transmitted and received signals from crosstalk, and thereby improving measurement accuracy.

[0143] In some exemplary embodiments, Figure 3 As shown, a fixing connection method well known to those skilled in the art can be used to fix the partition plate 211 and the lens frame 208. For example, a third screw (not shown) can be used to fix the partition plate 211 and the lens frame 208.

[0144] In some exemplary embodiments, the angle between the reflector 203 and the transmission direction of the collimated laser beam is determined based on the scanning angle range of the laser beam reflected by the emitting portion of the side surface of the rotating reflective structure and the number of rotating reflectors 204. More specifically, the angle between the reflector 203 and the transmission direction of the collimated laser beam is determined based on the scanning angle range of the laser beam reflected by the emitting portion of the rotating reflector 204 and the number of rotating reflectors 204.

[0145] In some exemplary embodiments, the angle between the reflector 203 and the transmission direction of the collimated laser beam is determined according to the scanning angle range of the laser beam reflected by the emission portion of the reflective surface and the number of reflective surfaces.

[0146] In some exemplary embodiments, when the emitting portion and the receiving portion of the reflector 203 are different portions of the same reflector, the angle between the reflector 203 and the transmission direction of the collimated laser beam is 45°.

[0147] In some exemplary embodiments, when the transmitting part and the receiving part of the reflector 203 are different parts on the same reflector, due to the existence of errors, it is usually difficult to achieve that the angle between the reflector 203 and the transmission direction of the collimated laser beam is strictly 45°. In order to allow for the existence of errors, the absolute value of the difference between the angle between the reflector 203 and the transmission direction of the collimated laser beam and 45° can be set to be less than or equal to a preset threshold. Here, the preset threshold can be taken as small as possible, so that the angle between the reflector 203 and the transmission direction of the collimated laser beam is basically equal to 45°.

[0148] In some exemplary embodiments, when the emitting portion and the receiving portion of the reflector 203 are two different reflectors, the angle between the two reflectors and the transmission direction of the collimated laser beam is 45°.

[0149] In some exemplary embodiments, when the transmitting part and the receiving part of the reflector 203 are two different reflectors, it is usually difficult to achieve a strict 45° angle between the two reflectors and the transmission direction of the collimated laser beam due to the existence of errors. In order to allow for the existence of errors, the absolute value of the difference between the angle between the two reflectors and the transmission direction of the collimated laser beam and 45° can be set to be less than or equal to a preset threshold. Here, the preset threshold can be taken as small as possible, so that the angle between the two reflectors and the transmission direction of the collimated laser beam is basically equal to 45°.

[0150] In some exemplary embodiments, the rotation axis and the mirror 203 are parallel.

[0151] In some exemplary embodiments, due to the existence of errors, it is usually difficult to achieve strict parallelism between the rotation axis and the reflector 203. In order to allow for the existence of errors, the angle between the rotation axis and the reflector 203 can be set to be less than or equal to a preset threshold. Here, the preset threshold can be as small as possible so that the rotation axis and the reflector 203 are basically parallel.

[0152] In some exemplary embodiments, the receiving portion of the reflector 203 is used to further reflect the laser beam reflected by the receiving portion of the side of the rotating reflective structure. More specifically, the receiving portion of the reflector 203 is used to further reflect the laser beam reflected by the rotating reflector 204 or the receiving portion of the reflective surface.

[0153] In some exemplary embodiments, the rotating reflector 204 may be fixedly mounted on the side of the rotating mirror body 218 by gluing.

[0154] In some exemplary embodiments, the ratio of the transmitting portion to the receiving portion of the side surface of the rotating reflective structure can be set as needed. This ratio can be changed by adjusting the mounting position of the rotating baffle 219 on the rotating reflective structure. More specifically, the ratio of the transmitting portion to the receiving portion of the rotating reflector 204 or the reflective surface can be set as needed. This ratio can be changed by adjusting the mounting position of the rotating baffle 219 on the rotating mirror body 218.

[0155] In some exemplary embodiments, the receiving lens 205 is used to converge the laser beam reflected by the receiving portion of the reflector 203 , and the converged laser beam is transmitted to the receiving circuit board 206 through the second through hole.

[0156] In some exemplary embodiments, the receiving lens 205 may be fixedly mounted in the receiving lens mounting hole of the lens holder 208 by gluing.

[0157] In some exemplary embodiments, the receiving circuit board 206 is configured to receive a focused laser beam and convert the focused laser beam into an electrical signal.

[0158] In some exemplary embodiments, a fixing connection method well known to those skilled in the art can be used to fix the receiving circuit board 206 and the base of the lens holder 208. For example, a fourth screw 213 can be used to fix the receiving circuit board 206 and the base of the lens holder 208.

[0159] In some exemplary embodiments, the rotating mirror motor 209 is used to control the rotation of the rotating reflection structure under the drive of the rotating mirror motor driving circuit board 207, more specifically, to control the rotation of the rotating body 218 under the drive of the rotating mirror motor driving circuit board 207; the rotating mirror motor driving circuit board 207 is used to drive the rotating mirror motor 209.

[0160] In some exemplary embodiments, when the rotating mirror motor 209 controls the rotating mirror body 218 to rotate, the rotating reflective mirror 204 is driven to rotate, and the relative positional relationship between the rotating mirror body 218 and the rotating reflective mirror 204 remains unchanged during the rotation process.

[0161] In some exemplary embodiments, the rotating reflective structure can rotate around the rotation axis under the control of the rotating mirror motor 209. More specifically, the rotating mirror body 218 can rotate around the rotation axis under the control of the rotating mirror motor 209.

[0162] In some exemplary embodiments, the rotation axis may be a line connecting the center points of the two bottom surfaces of the rotating reflective structure. More specifically, the rotation axis may be a line connecting the center points of the two bottom surfaces of the rotating mirror body 218.

[0163] In some exemplary embodiments, the mirror motor drive circuit board 207 can be fixedly mounted on the outside of one side of the lens frame 208 in a manner well known to those skilled in the art. Figure 3 As shown, the mirror motor driving circuit board 207 can be fixedly mounted on the outer side of one side surface of the lens frame 208 by using a fifth screw 216 .

[0164] In some exemplary embodiments, Figure 4 As shown, a first code disc mounting hole is provided in the other end of the rotating reflection structure. More specifically, a first code disc mounting hole is provided in the other end of the rotating mirror body 218. The motor rotating mirror assembly also includes: a first reader circuit board 210 fixedly mounted on the outside of the other side surface of the lens frame 208; and a first code disc 220 fixedly mounted in the first code disc mounting hole.

[0165] In some exemplary embodiments, the first read head circuit board 210 is used in conjunction with the first code wheel 220 to measure the rotation angle of the rotating reflective structure. More specifically, the first read head circuit board 210 is used in conjunction with the first code wheel 220 to measure the rotation angle of the rotating mirror body 218.

[0166] In some exemplary embodiments, the first reader circuit board 210 may be fixedly mounted on the outside of the other side of the lens frame 208 in a manner well known to those skilled in the art. Figure 3 As shown, the first reader circuit board 210 can be fixedly mounted on the outside of the other side of the lens frame 208 using a sixth screw 217 .

[0167] In some exemplary embodiments, Figure 3 As shown, the base of the lens holder 208 may have a third screw through hole 215 , and the seventh screw 214 may be used to fix the motor mirror assembly on the subsequent rotor assembly 300 through the third screw through hole 215 .

[0168] The motor-driven rotating mirror assembly provided in the embodiment of the present application has a divergence angle that varies with distance after the laser beam is collimated by the transmitting lens 202. The longer the focal length of the transmitting lens 202, the smaller the divergence angle. By adding a reflector 203 between the rotating reflection structure and the transmitting lens 202, and between the rotating reflection structure and the receiving lens 205, more space is provided for arranging the transmitting lens 202 and the receiving lens 205, so that the focal lengths of the transmitting lens 202 and the receiving lens 205 can be set to be relatively long, thereby reducing the divergence angle of the laser beam, and thus reducing the diameter of the laser emission spot, thereby improving the spatial scanning resolution of the lidar and meeting the requirements of scenes with high spatial scanning resolution.

[0169] Figure 5 This is a schematic diagram of the circuit connections in the motor mirror assembly of an embodiment of the present application. Figure 6 An exploded diagram of a rotating laser radar provided in accordance with another embodiment of the present application.

[0170] Fourthly, refer to Figure 5 and Figure 6 Another embodiment of the present application provides a rotating laser radar, comprising: any one of the motor mirror assembly 200 described in any one of the aforementioned embodiments; the rotating laser radar also comprises: a rotor assembly 300 and a bottom structure assembly 400; wherein, the rotor assembly 300 comprises: a motor rotor, and a ranging circuit board 301 mounted on the motor rotor, the ranging circuit board 301 is electrically connected to the transmitting circuit board 201, the receiving circuit board 206 and the mirror motor driving circuit board 207; wherein, the bottom structure assembly 400 comprises: a motor stator, and a motor power supply circuit board 409 fixedly mounted under the motor stator, the motor rotor is fixedly mounted on the motor stator, and the motor mirror assembly 200 is fixedly mounted on the motor rotor.

[0171] In some exemplary embodiments, the ranging circuit board 301 is used to control the operation of the mirror motor driving circuit board 207, the transmitting circuit board 201, and the receiving circuit board 206; receive the electrical signal sent by the receiving circuit board 206, and convert the electrical signal into measurement data.

[0172] In some exemplary embodiments, the ranging circuit board 301 is also electrically connected to the first read head circuit board 210 .

[0173] In some exemplary embodiments, the ranging circuit board 301 is also used to control the operation of the first read head circuit board 210 .

[0174] In some exemplary embodiments, Figure 6 As shown, the rotating laser radar further includes: an outer cover assembly 100.

[0175] In some exemplary embodiments, Figure 6 As shown, the rotating laser radar further includes: a base assembly 500, and the bottom structure assembly 400 is fixedly connected to the base assembly 500.

[0176] In some exemplary embodiments, Figure 6 As shown, the rotating laser radar also includes: an outer cover assembly 100; a base assembly 500 fixedly connected to the outer cover assembly 100; wherein the motor mirror assembly 200, the rotor assembly 300 and the bottom structure assembly 400 are arranged in a receiving space formed by the outer cover assembly 100 and the base assembly 500, and the bottom structure assembly 400 is fixedly connected to the base assembly 500.

[0177] In some exemplary embodiments, Figure 8 As shown, the outer cover assembly 100 includes: an outer cover 101, the upper part of the outer cover 101 is a hemisphere, the lower part of the outer cover 101 is a cylinder, and at least part of the area of ​​the outer cover 101 is made of a light-transmitting material; and an outer cover seat 102, which is fixedly connected to the outer cover 101.

[0178] In some exemplary embodiments, Figure 11 As shown, the base assembly 500 includes: a base 503, the base 503 having an interface through-hole 506; a main control circuit board 504 fixedly installed in the base 503, the main control circuit board 504 being electrically connected to the motor power supply circuit board 409; a first interface 502 fixedly installed in the interface through-hole 506, the first interface 502 being electrically connected to the main control circuit board 504; an interface connector 501 fixedly connected to the first interface 502, one end of the interface connector 501 being electrically connected to the first interface 502, and the other end being electrically connected to the power supply.

[0179] In some exemplary embodiments, the main control circuit board 504 is connected to a power source.

[0180] In some exemplary embodiments, the main control circuit board 504 is used to control the operation of the motor power circuit board 409 .

[0181] In some exemplary embodiments, the interface connector 501 may convert the first interface 502 into a second interface.

[0182] In some exemplary embodiments, the first interface 502 may be a USB interface, and the second interface may be a Type-C interface.

[0183] In some exemplary embodiments, the fixed connection between the outer cover assembly 100 and the base assembly 500 may refer to the fixed connection between the outer cover base 102 and the base 503 .

[0184] In some exemplary embodiments, Figure 8 and Figure 11 As shown, the housing base 102 and the base 503 may have positioning pin insertion holes, and the housing base 102 and the base 503 are positioned by inserting the first positioning pin 103 and the second positioning pin 507 into the positioning pin insertion holes.

[0185] In some exemplary embodiments, the housing seat 102 and the base 503 can be fixedly connected in a manner known to those skilled in the art. Figure 8 As shown, the outer cover seat 102 has a first threaded hole 104 , and an eighth screw (not shown in the figure) can be used to fix the outer cover seat 102 and the base 503 through the first threaded hole 104 .

[0186] In some exemplary embodiments, the main control circuit board 504 can be fixedly installed in the base 503 using a fixed installation method well known to those skilled in the art. Figure 11 As shown, the main control circuit board 504 has a fourth screw hole 510, and the base 503 has a second threaded hole (not marked in the figure). The main control circuit board 504 can be fixedly installed in the base 503 by using a ninth screw 508 through the fourth screw hole 510 and the second threaded hole.

[0187] In some exemplary embodiments, the main control circuit board 504 may have a positioning pin through hole 511 . When the main control circuit board 504 is installed in the base 503 , the third positioning pin 509 may be inserted into the positioning pin through hole 511 to achieve positioning.

[0188] In some exemplary embodiments, the first interface 502 can be fixedly installed in the interface via 506 using a fixed installation method well known to those skilled in the art. Figure 11 As shown, the first interface 502 can be fixedly installed in the interface through hole 506 by using a tenth screw 505 .

[0189] In some exemplary embodiments, the motor rotor may be a rotatable part of the motor, and the motor rotor may be a motor rotor well known to those skilled in the art, or a motor rotor newly developed in the future, which is not limited here. Figure 9 The figure shows a feasible motor rotor structure, which includes: a rotor 302, wherein the rotor 302 has a bearing through hole 316 in the center; a rotating shaft 308 installed in the bearing through hole 316; a radiation ring 307 coaxially installed with the rotating shaft 308 and sleeved outside the rotating shaft 308; a motor iron ring 306 coaxially installed with the rotating shaft 308 and sleeved outside the radiation ring 307, and the motor iron ring 306 is fixedly connected to the rotor 302.

[0190] In some exemplary embodiments, the motor iron ring 306 and the rotor 302 can be fixedly connected in a manner well known to those skilled in the art. Figure 9 As shown, the rotor 302 has a fifth screw through hole 313, and the motor iron ring 306 has a third threaded hole (not marked in the figure). The motor iron ring 306 and the rotor 302 can be fixedly connected by an eleventh screw 311 through the fifth screw through hole 313 and the third threaded hole.

[0191] In some exemplary embodiments, the rotor 302 has a positioning post 315, and the ranging circuit board 301 has a positioning post through hole 314. When the rotor 302 and the ranging circuit board 301 are fixedly connected, the positioning post 315 is inserted into the positioning post through hole 314 to play a positioning role.

[0192] In some exemplary embodiments, the distance measuring circuit board 301 being installed on the motor rotor may mean that the distance measuring circuit board 301 is fixedly connected to the rotor 302 .

[0193] In some exemplary embodiments, the distance measuring circuit board 301 and the rotor 302 can be fixedly connected in a manner well known to those skilled in the art. Figure 9 As shown, the ranging circuit board 301 has a sixth screw hole 310 and the rotor 302 has a fourth threaded hole 312 . The ranging circuit board 301 and the rotor 302 can be fixedly connected by a twelfth screw 309 through the sixth screw hole 310 and the fourth threaded hole 312 .

[0194] In some exemplary embodiments, the motor stator may be a fixed structure in the motor, and the motor stator may be a motor stator well known to those skilled in the art, or a motor stator newly developed in the future, which is not limited here. Figure 10 The figure shows a feasible motor stator structure, which includes: a base stator 402, a stator central axis 411 at the center of the base stator 402, a third through hole at the center of the stator central axis 411, and the rotating shaft 308 fixedly installed in the third through hole of the stator central axis 411; a miniature bearing 408 coaxially installed with the rotating shaft 308 and sleeved outside the rotating shaft 308; a motor core 406 coaxially installed with the rotating shaft 308 and sleeved outside the miniature bearing 408; and a motor core coil 407 wound around the motor core 406.

[0195] In some exemplary embodiments, the motor power supply circuit board 409 being fixedly installed under the motor stator may mean that the motor power supply circuit board 409 and the base stator 402 are fixedly connected.

[0196] In some exemplary embodiments, the motor power supply circuit board 409 and the base stator 402 can be fixedly connected in a manner well known to those skilled in the art. Figure 10 As shown, the motor power circuit board 409 has a seventh screw through hole (not marked in the figure), and the base stator 402 has a fifth threaded hole (not marked in the figure). The thirteenth screw 412 can be used to fix the motor power circuit board 409 and the base stator 402 through the seventh screw through hole and the fifth threaded hole.

[0197] In some exemplary embodiments, Figure 12 As shown, the main control circuit board 504 is electrically connected to the radar motor, that is, the main control circuit board 504 is electrically connected to the motor core coil 407.

[0198] In some exemplary embodiments, Figure 12 As shown, the main control circuit board 504 is used to drive the radar motor to control the rotor assembly 300 to rotate.

[0199] In some exemplary embodiments, to implement radio transmission, such as Figure 9 and Figure 10 As shown, the rotor assembly 300 also includes: a first wireless transmission magnetic core 304 coaxially mounted with the rotating shaft 308 and sleeved outside the motor iron ring 306; a first wireless transmission coil 305 wound on the first wireless transmission magnetic core 304, and the first wireless transmission coil 305 is electrically connected to the ranging circuit board 301; the bottom structure assembly 400 also includes: a second wireless transmission magnetic core 405 coaxially mounted with the rotating shaft 308 and sleeved outside the motor iron core 406; a second wireless transmission coil 404 wound on the second wireless transmission magnetic core 405, and the second wireless transmission coil 404 is electrically connected to the motor power supply circuit board 409.

[0200] In some exemplary embodiments, when the motor power supply circuit board 409 applies a changing current to the second wireless transmission coil 404, a changing magnetic flux is formed in the second wireless transmission magnetic core 405, and then a changing magnetic flux is formed in the first wireless transmission magnetic core 304. The changing magnetic flux in the first wireless transmission magnetic core 304 induces a changing current in the first wireless transmission coil 305, and the generated current is transmitted to the ranging circuit board 301, so that the current is transmitted from the motor power supply circuit board 40 to the ranging circuit board 301, and the ranging circuit board 301 can operate normally.

[0201] In some exemplary embodiments, in order to measure the rotation angle of the rotor assembly 300, as shown in FIG. Figure 9 and Figure 10As shown, the rotor assembly 300 also includes: a second code disk 303 coaxially mounted with the rotating shaft 308 and fixedly mounted on the lower surface of the rotor 302; the bottom structure assembly 400 also includes: a second reader circuit board 401 fixedly mounted on the base stator 402.

[0202] In some exemplary embodiments, Figure 12 As shown, the second reader circuit board 401 is electrically connected to the main control circuit board 504.

[0203] In some exemplary embodiments, the main control circuit board 504 is used to control the operation of the second read head circuit board 401 .

[0204] In some exemplary embodiments, the second read head circuit board 401 is used to measure the rotation angle of the rotor assembly 300 in conjunction with the second code wheel 303 .

[0205] In some exemplary embodiments, the second reader circuit board 401 can be fixedly mounted on the base stator 402 using a fixed mounting method well known to those skilled in the art. Figure 10 As shown, the second reader circuit board 401 can be fixedly mounted on the base stator 402 using a fourteenth screw 410 .

[0206] In some exemplary embodiments, Figure 7 and Figure 10 As shown, the base stator 402 has an O-ring installation groove; the bottom structure assembly 400 further includes: a base O-ring 403 installed in the O-ring installation groove.

[0207] In some exemplary embodiments, Figure 7 and Figure 10 As shown, the base stator 402 has O-ring mounting grooves on both the top and bottom, that is, the base stator 402 has two O-ring mounting grooves, so there are also two O-rings 403, thereby playing a waterproof role on both sides of the fixed connection between the outer cover seat 102 and the base.

[0208] In some exemplary embodiments, the center of the rotating shaft 308 has a fourth through hole, a first data transceiver is provided at a position corresponding to the fourth through hole on the ranging circuit board 301, and a second data transceiver is provided at a position corresponding to the fourth through hole on the main control circuit board 504.

[0209] In some exemplary embodiments, the optical signal emitted by the first data transceiver is transmitted to the second data transceiver through the fourth through-hole and is received by the second data transceiver.

[0210] In some exemplary embodiments, the optical signal emitted by the second data transceiver is transmitted to the second data transceiver through the fourth through-hole and is received by the first data transceiver.

[0211] The rotating laser radar provided in the embodiment of the present application has a divergence angle that varies with distance after the laser beam is collimated by the transmitting lens 202. The longer the focal length of the transmitting lens 202, the smaller the divergence angle. By adding a reflector 203 between the rotating reflection structure and the transmitting lens 202, and between the rotating reflection structure and the receiving lens 205, more space is provided for arranging the transmitting lens 202 and the receiving lens 205, so that the focal lengths of the transmitting lens 202 and the receiving lens 205 can be set to be relatively long, thereby reducing the divergence angle of the laser beam, and thus reducing the diameter of the laser emission spot, thereby improving the spatial scanning resolution of the laser radar and meeting the requirements of scenes with high spatial scanning resolution.

[0212] In some exemplary embodiments, the motor-rotating mirror assembly 200, the rotor assembly 300 and the bottom structure assembly 400 are arranged in a receiving space formed by the outer cover assembly 100 and the base assembly 500. The combination of the motor-rotating mirror assembly 200, the rotor assembly 300 and the bottom structure assembly 400 can realize the basic functions of the laser radar, so that the ranging function can be realized even without the base assembly 500, or without the base assembly 500 and the outer cover assembly 100.

[0213] In some exemplary embodiments, Figure 7 As shown, the waterproof function of the rotating laser radar is achieved through the base O-ring 403, so that the laser radar can be used in rainy weather without being affected.

[0214] It will be appreciated by those skilled in the art that all or some of the steps, systems, and functional modules / units in the methods disclosed above may be implemented as software, firmware, hardware, and appropriate combinations thereof. In hardware implementations, the division between the functional modules / units mentioned in the above description does not necessarily correspond to the division of physical components; for example, a physical component may have multiple functions, or a function or step may be performed by several physical components in cooperation. Some or all physical components may be implemented as software executed by a processor, such as a central processing unit, a digital signal processor, or a microprocessor, or implemented as hardware, or implemented as an integrated circuit, such as an application-specific integrated circuit. Such software may be distributed on a computer-readable medium, which may include a computer storage medium (or non-transitory medium) and a communication medium (or temporary medium). As is well known to those skilled in the art, the term computer storage medium includes volatile and non-volatile, removable, and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage, or any other medium that can be used to store the desired information and can be accessed by a computer. In addition, as is well known to those skilled in the art, communication media typically embodies computer-readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media.

[0215] Example embodiments have been disclosed herein, and although specific terms are employed, they are used and should be interpreted only in a general illustrative sense and not for purposes of limitation. In some instances, it will be apparent to those skilled in the art that, unless otherwise expressly indicated, features, characteristics, and / or elements described in conjunction with a particular embodiment may be used alone or in combination with features, characteristics, and / or elements described in conjunction with other embodiments. Therefore, it will be understood by those skilled in the art that various changes in form and detail may be made without departing from the scope of the present application as set forth in the appended claims.

Claims

1. A motor-driven mirror assembly, comprising: A lens frame (208), the lens frame (208) having a base and two side surfaces perpendicular to the base, the base of the lens frame (208) having a transmitting lens mounting hole, a receiving lens mounting hole, and a reflecting mirror mounting hole; A transmitting lens (202) fixedly mounted in a transmitting lens mounting hole of the lens holder (208), a receiving lens (205) fixedly mounted in a receiving lens mounting hole of the lens holder (208), and a reflecting mirror (203) fixedly mounted in a reflecting mirror mounting hole of the lens holder (208); A transmitting circuit board (201) and a receiving circuit board (206) are fixedly connected to a side surface of the base of the lens holder (208) opposite to the side surface where the reflector mounting hole is located; a first through hole is provided in the base of the lens holder (208) between the transmitting circuit board (201) and the transmitting lens (202), and a second through hole is provided between the receiving circuit board (206) and the receiving lens (205); A rotating reflective structure, wherein the rotating reflective structure is a right prism structure or a regular prism structure, the rotating reflective structure can rotate about a rotation axis parallel to the side surface, each side surface of the rotating reflective structure has a reflective function, and one end of the rotating reflective structure has a motor mounting hole; The rotating reflection structure is provided with a rotating baffle (219) or a rotating baffle (219) fixedly connected to the rotating reflection structure, wherein each side surface of the rotating reflection structure is divided into a transmitting portion and a receiving portion by the rotating baffle (219); A rotating mirror motor (209) fixedly mounted in a motor mounting hole of the rotating reflective structure and fixedly connected to the inner side of one side surface of the lens frame (208); A rotating mirror motor driving circuit board (207) is fixedly mounted on the outside of one side surface of the lens frame (208), and the rotating mirror motor driving circuit board (207) is electrically connected to the rotating mirror motor (209).

2. The motor-driven mirror assembly according to claim 1, wherein: The rotating baffle (219) has a groove; The motor-rotating mirror assembly further comprises: a partition plate (211) installed in the groove of the rotating baffle (219) and fixedly connected to the lens frame (208); The partition (211) divides the reflector (203) into a transmitting part and a receiving part.

3. The motor-rotating mirror assembly according to claim 1, wherein the other end of the rotating reflective structure has a first code disk mounting hole; The motor mirror assembly also includes: a first reader circuit board (210) fixedly mounted on the outside of the other side surface of the lens frame (208); A first code disc (220) is fixedly mounted in the first code disc mounting hole.

4. The motor-driven mirror assembly according to any one of claims 1 to 3, wherein: The rotating reflection structure comprises: a rotating body (218) and a rotating reflector (204); the rotating body (218) is a right prism structure or a regular prism structure; the rotating body (218) can rotate around a rotation axis parallel to a side surface; and a rotating reflector (204) is fixed to each side surface of the rotating body (218).

5. The motor-driven mirror assembly according to any one of claims 1 to 3, wherein: The rotating reflection structure comprises: a rotating body (218), wherein the rotating body (218) is a right prism structure or a regular prism structure, and the rotating body (218) can rotate around a rotation axis parallel to the side surface, and each side surface of the rotating body (218) is a reflection surface.

6. A rotating laser radar comprising: The motor-rotating mirror assembly (200) according to any one of claims 1 to 5; The rotating laser radar further comprises: a rotor assembly (300) and a bottom structure assembly (400); The rotor assembly (300) comprises: a motor rotor, and a distance measurement circuit board (301) mounted on the motor rotor, wherein the distance measurement circuit board (301) is electrically connected to the transmitting circuit board (201), the receiving circuit board (206), and the rotating mirror motor driving circuit board (207); The bottom structure assembly (400) comprises a motor stator and a motor power supply circuit board (409) fixedly mounted below the motor stator, the motor rotor fixedly mounted on the motor stator, and the motor rotating mirror assembly (200) fixedly mounted on the motor rotor.

7. The rotating laser radar according to claim 6, further comprising: a housing assembly (100); a base assembly (500) fixedly connected to the outer cover assembly (100); The motor mirror assembly (200), the rotor assembly (300) and the bottom structure assembly (400) are arranged in a receiving space formed by the outer cover assembly (100) and the base assembly (500), and the bottom structure assembly (400) is fixedly connected to the base assembly (500).

8. The rotating laser radar according to claim 7, wherein: The housing assembly (100) comprises: An outer cover (101), wherein the upper portion of the outer cover (101) is a hemisphere, the lower portion of the outer cover (101) is a cylinder, and at least a portion of the outer cover (101) is made of a light-transmitting material; An outer cover seat (102), wherein the outer cover seat (102) is fixedly connected to the outer cover (101).

9. The rotating laser radar according to claim 7, wherein: The base assembly (500) comprises: A base (503), wherein the base (503) has an interface through hole (506); A main control circuit board (504) is fixedly mounted in the base (503), and the main control circuit board (504) is electrically connected to the motor power supply circuit board (409); A first interface (502) fixedly mounted on the interface via (506), the first interface (502) being electrically connected to the main control circuit board (504); An interface connector (501) fixedly connected to the first interface (502), one end of the interface connector (501) being electrically connected to the first interface (502), and the other end being electrically connected to a power source.

10. The rotating laser radar according to any one of claims 6 to 9, wherein: The motor rotor comprises: A rotor (302), wherein a bearing through hole (316) is provided at the center of the rotor (302); a rotating shaft (308) mounted in the bearing through hole (316); a radiation ring (307) coaxially mounted with the rotating shaft (308) and sleeved outside the rotating shaft (308); a motor iron ring (306) coaxially mounted with the rotating shaft (308) and sleeved outside the radiation ring (307); The motor stator comprises: A base stator (402), wherein the center of the base stator (402) has a stator central axis (411), and the rotating shaft (308) is fixedly installed in the stator central axis (411); a miniature bearing (408) coaxially mounted with the rotating shaft (308) and sleeved outside the rotating shaft (308); a motor core (406) coaxially mounted with the rotating shaft (308) and sleeved outside the micro bearing (408); A motor core coil (407) is wound around the motor core (406).

11. The rotating laser radar according to claim 10, wherein the rotor assembly (300) further comprises: a first wireless transmission magnetic core (304) coaxially mounted with the rotating shaft (308) and sleeved outside the motor iron ring (306); a first wireless transmission coil (305) wound around the first wireless transmission magnetic core (304), the first wireless transmission coil (305) being electrically connected to the distance measurement circuit board (301); The bottom structure assembly (400) further includes: a second wireless transmission magnetic core (405) coaxially mounted with the rotating shaft (308) and sleeved outside the motor core (406); A second wireless transmission coil (404) is wound around the second wireless transmission magnetic core (405), and the second wireless transmission coil (404) is electrically connected to the motor power supply circuit board (409).

12. The rotating laser radar according to claim 10, wherein the rotor assembly (300) further comprises: a second code disc (303) coaxially mounted with the rotating shaft (308) and fixedly mounted on the lower surface of the rotor (302); The bottom structure assembly (400) further includes: A second reader circuit board (401) is fixedly mounted on the base stator (402), and the second reader circuit board (401) is electrically connected to the main control circuit board (504).

13. The rotating laser radar according to claim 10, wherein the base stator (402) has an O-ring mounting groove; The bottom structure assembly (400) further includes: A base O-ring (403) is mounted in the O-ring mounting groove.

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