Laser radar scanning mechanism, laser radar and mobile device

Abstract

The invention provides a laser radar scanning mechanism, a laser radar and a mobile device, the laser radar scanning mechanism comprises a mounting base, a motor, a magnet yoke and a reflector, and the mounting base is provided with at least one first abutting part; the motor is arranged on the mounting seat; the motor is connected with the magnet yoke and can drive the magnet yoke to swing, and the magnet yoke is provided with at least one second abutting part; the reflector is arranged on the surface of the magnet yoke and swings along with the magnet yoke; wherein at least one of the first abutting part and the second abutting part is provided with an elastic piece, and when the motor drives the magnet yoke to swing, the magnet yoke can abut against the elastic piece. When the motor drives the magnet yoke and the reflector to swing, the second abutting part of the magnet yoke can abut against the first abutting part on the mounting base, so that the elastic piece is compressed, the elastic piece is deformed, and certain elastic potential energy is stored. When the reflecting mirror needs to be reversed, the elastic piece releases the elastic potential energy to push the magnet yoke, so that the energy output by the motor during reversing can be reduced, and the energy loss during reversing is reduced.

Description

Technical Field

[0001] This application relates to lidar manufacturing technology, and more particularly to a lidar scanning mechanism, lidar, and mobile device. Background Technology

[0002] LiDAR (Light Detection and Ranging) is an active remote sensing technology that uses a laser beam as a detection method. By measuring information such as the time difference and phase difference between the laser and the target object, it accurately obtains the three-dimensional spatial coordinates (distance, azimuth, and height) and reflection intensity of the target object. The scanning mechanism is the device that deflects the laser beam in the LiDAR. The scanning mechanism reflects the detection beam to the outside of the LiDAR at different angles, receives the echo reflected from the object, and reflects the echo back into the LiDAR.

[0003] In related technologies, the lidar scanning mechanism includes a motor, a magnetic yoke, and a reflector. The motor's rotor is connected to the magnetic yoke, and the reflector is mounted on the surface of the magnetic yoke. When the motor's rotor rotates, it drives the magnetic yoke to rotate, which in turn drives the reflector to rotate. However, with this approach, when the reflector needs to be reversed, the motor needs to provide reverse kinetic energy to the magnetic yoke to brake and reverse it. During this process, the rotor's kinetic energy is completely dissipated as Joule heat, resulting in significant energy loss during commutation. Summary of the Invention

[0004] In order to overcome the above-mentioned defects in related technologies, the purpose of this application is to provide a lidar scanning mechanism, lidar and mobile device, which is beneficial to reducing energy loss during mirror commutation.

[0005] On one hand, this application provides a lidar scanning mechanism, comprising:

[0006] Mounting base, wherein the mounting base is provided with at least one first abutting part;

[0007] An electric motor, which is mounted on the mounting base;

[0008] A magnetic yoke, wherein the motor is connected to the magnetic yoke and can drive the magnetic yoke to swing, and the magnetic yoke is provided with at least one second abutment part;

[0009] A reflector, which is disposed on the surface of the magnetic yoke and oscillates with the magnetic yoke;

[0010] In this embodiment, at least one of the first abutting part and the second abutting part is provided with an elastic element, and when the motor drives the magnetic yoke to swing, the magnetic yoke can abut against the elastic element.

[0011] In one possible implementation, the elastic element is disposed on the first abutting portion, and when the motor drives the magnetic yoke to swing, the second abutting portion can abut against the elastic element.

[0012] In one possible implementation, one end of the magnetic yoke is provided with a flange, and the flange is provided with a mating groove, the mating groove forming the second abutment portion;

[0013] The mounting base is provided with a limiting post, which forms the first abutment portion. The elastic element is mounted on the limiting post, and at least a portion of the elastic element is located within the rotation range of the mating groove.

[0014] In one possible implementation, the elastic element includes a first spring and a second spring, which are located on opposite sides of the limiting post; the mating groove includes a first sidewall and a second sidewall opposite to each other along the swing direction of the magnetic yoke, the shape of the first spring is adapted to the shape of the first sidewall, and the shape of the second spring is adapted to the shape of the second sidewall.

[0015] When the motor drives the magnetic yoke to swing, the first sidewall can abut against the first spring piece, and / or the second sidewall can abut against the second spring piece.

[0016] In one possible implementation, the elastic element further includes a mounting portion, a first connecting segment, and a second connecting segment, the first connecting segment and the second connecting segment being located at opposite ends of the mounting portion, the first spring piece being connected to the mounting portion via the first connecting segment, and the second spring piece being connected to the mounting portion via the second connecting segment.

[0017] The limiting post is provided with an installation groove, and the installation part is disposed in the installation groove.

[0018] In one possible implementation, both the surface of the first spring sheet that contacts the first sidewall and the surface of the second spring sheet that contacts the second sidewall are provided with sound-absorbing elements;

[0019] Alternatively, the surfaces of the first sidewall and the second sidewall may be provided with sound-absorbing elements.

[0020] In one possible implementation, the sound-absorbing element includes a foam layer.

[0021] In one possible implementation, the elastic element includes a silicone element, which is sleeved on the limiting post;

[0022] Alternatively, the limiting post may have an installation groove, and a portion of the silicone component may be disposed within the installation groove.

[0023] In one possible implementation, the mounting base is provided with two first abutment portions, which are spaced apart; the magnetic yoke is provided with two second abutment portions, which are adapted to each other; the motor can drive the magnetic yoke to swing between the two first abutment portions, and when the motor drives the magnetic yoke to swing, the second abutment portion can abut against the elastic element on the adapted first abutment portion.

[0024] In one possible implementation, the motor includes a rotating shaft, an iron core, and a magnetic ring. The rotating shaft is rotatably mounted on the mounting base. The iron core is sleeved on the outside of the rotating shaft, and the magnetic ring is sleeved on the outside of the iron core. The iron core has a plurality of winding portions, and a coil is wound inside each winding portion.

[0025] Both the rotating shaft and the magnetic ring are connected to the magnetic yoke. When the motor is powered on, the rotating shaft and the magnetic ring can drive the magnetic yoke to swing.

[0026] In one possible implementation, the magnetic yoke has a shaft hole, the rotating shaft passes through the shaft hole, and the rotating shaft is fixedly connected to the inner wall of the shaft hole;

[0027] The outer wall of the magnetic ring is fixedly connected to the inner wall of the magnetic yoke.

[0028] In one possible implementation, the rotating shaft is interference-fitted with and / or bonded to the shaft hole; the outer wall of the magnetic ring is bonded to the inner wall of the magnetic yoke.

[0029] In one possible implementation, the mounting base is provided with a mounting sleeve, and the rotating shaft is rotatably disposed inside the mounting sleeve via a bearing; the iron core is sleeved outside the mounting sleeve, and the iron core is fixedly connected to the mounting sleeve.

[0030] In one possible implementation, the core includes a core body, a plurality of winding portions are spaced apart on the outer periphery of the core body, a core through hole is formed in the core body, and a first fixing portion is provided in the core through hole;

[0031] The outer surface of the mounting sleeve has a second fixing part, and the iron core is fixedly connected to the second fixing part on the mounting sleeve through the first fixing part.

[0032] In one possible implementation, one of the first fixing part and the second fixing part is a groove and the other is a protrusion, with the protrusion and the groove being interference-fitted.

[0033] In one possible implementation, a mounting through hole is formed inside the mounting sleeve. The mounting through hole includes a first hole segment, a second hole segment, and a third hole segment. The second hole segment is located between the first hole segment and the third hole segment. The inner diameter of both the first hole segment and the inner diameter of the third hole segment are larger than the inner diameter of the second hole segment.

[0034] The bearing includes a first bearing and a second bearing; the first bearing is disposed in the first bore section, the outer ring of the first bearing abuts against one end of the second bore section, and the end of the shaft hole abuts against the inner ring of the first bearing; the second bearing is disposed in the third bore section, the outer ring of the second bearing abuts against the other end of the second bore section, and a preload is also provided in the mounting through hole, the preload is sleeved on the rotating shaft, and the preload abuts against the inner ring of the second bearing.

[0035] In one possible implementation, the preload includes a corrugated spring and a nut, one end of the corrugated spring abutting against the inner ring of the second bearing, and the nut abutting against the other end of the corrugated spring.

[0036] In one possible implementation, a motor mounting plate is further included, wherein an assembly groove is formed in the mounting base, the motor mounting plate is located in the assembly groove, and the motor mounting plate is detachably connected to the mounting base, and the magnetic yoke is located on the motor mounting plate.

[0037] In one possible implementation, the assembly slot is provided with a plurality of positioning posts and a plurality of fixing holes, and the motor mounting plate is provided with a plurality of positioning holes and a plurality of threaded holes. The plurality of positioning posts correspond one-to-one with the plurality of positioning holes, and the plurality of fixing holes correspond one-to-one with the plurality of threaded holes. The motor mounting plate is inserted into the corresponding positioning holes through the positioning posts, and the fixing holes and the corresponding threaded holes are detachably connected by fasteners.

[0038] In one possible implementation, the mounting base includes a bottom wall and a plurality of mounting side walls, the bottom wall and the plurality of mounting side walls together forming the assembly groove, the mounting side walls having flanges, the flanges having connecting holes for connecting the housing of the lidar.

[0039] In one possible implementation, the magnetic yoke is provided with a mounting plate, the mounting plate including a connecting part and a supporting part, the supporting part being disposed at one end of the connecting part and protruding from the connecting part, the reflector being connected to the connecting part, and one end of the reflector abutting against the supporting part.

[0040] In one possible implementation, the reflector is bonded to the connecting portion.

[0041] In one possible implementation, the magnetic yoke is further provided with a counterweight, which is used to make the swing axis of the magnetic yoke coincide with the axis of the rotating shaft.

[0042] On the other hand, this application provides a lidar, including a lidar scanning mechanism as described in any of the above.

[0043] In another aspect, this application provides a mobile platform, including the lidar described above.

[0044] This application provides a lidar scanning mechanism, a lidar, and a movable device. The lidar scanning mechanism includes a mounting base, a motor, a magnetic yoke, and a reflector. The mounting base has at least one first abutment portion. The motor is mounted on the mounting base and connected to the magnetic yoke, driving the yoke to swing. The magnetic yoke has at least one second abutment portion. The reflector is mounted on the surface of the magnetic yoke and swings with the yoke. At least one of the first and second abutment portions has an elastic element. When the motor drives the magnetic yoke to swing, the magnetic yoke can abut against the elastic element. In this application, when the motor drives the magnetic yoke and reflector to swing, the second abutment portion of the magnetic yoke can abut against the first abutment portion on the mounting base, thereby compressing the elastic element, causing it to deform and store a certain amount of elastic potential energy. When the reflector needs to be reversed, the elastic element releases its elastic potential energy to push the magnetic yoke, thereby reducing the energy output of the motor during reversal and lowering energy loss during reversal. Attached Figure Description

[0045] To more clearly illustrate the technical solutions in the embodiments or related technologies of this application, the accompanying drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0046] Figure 1 A simplified structural diagram of a lidar scanning mechanism provided in an embodiment of this application;

[0047] Figure 2 for Figure 1 Top view;

[0048] Figure 3 for Figure 1 A schematic diagram showing the central magnetic yoke and the reflecting mirror swinging clockwise to the first position;

[0049] Figure 4 for Figure 1 A schematic diagram showing the central magnetic yoke and the reflecting mirror swinging counterclockwise to the second position;

[0050] Figure 5 for Figure 1 Exploded view;

[0051] Figure 6 A simplified structural diagram of an elastic element provided in an embodiment of this application;

[0052] Figure 7 A simplified structural diagram of a lidar scanning mechanism provided in another embodiment of this application;

[0053] Figure 8 A simplified structural diagram of a mounting base provided in an embodiment of this application from a first-view perspective;

[0054] Figure 9 A simplified structural diagram of the mounting base provided in an embodiment of this application from a second perspective;

[0055] Figure 10 A cross-sectional view of a mounting base provided in an embodiment of this application;

[0056] Figure 11 A simplified structural diagram of a motor provided in one embodiment of this application;

[0057] Figure 12 A simplified structural diagram of an iron core provided in an embodiment of this application;

[0058] Figure 13 A simplified structural diagram of the magnetic yoke and reflector provided in one embodiment of this application;

[0059] Figure 14 A cross-sectional view of a lidar scanning mechanism provided in an embodiment of this application.

[0060] Figure label:

[0061] 100-Mounting base; 101-Bottom wall; 102-Mounting side wall; 103-Flanged edge; 1031-Connecting hole; 110-First abutment part; 111-Mounting groove; 120-Mounting sleeve; 121-Second fixing part; 122-Mounting through hole; 1221-First hole section; 1222-Second hole section; 1223-Third hole section; 130-Positioning post; 140-Fixing hole;

[0062] 200-Motor; 210-Shaft; 220-Iron core; 221-Winding section; 222-Iron core body; 2221-First fixing part; 230-Magnetic ring; 240-Coil; 250-Bearing; 251-First bearing; 252-Second bearing; 260-Wave spring; 270-Nut;

[0063] 300-Magnetic yoke; 310-Flange; 311-Second abutment part; 3111-First sidewall; 3112-Second sidewall; 320-Shaft hole; 330-Mounting plate; 331-Connecting part; 332-Supporting part; 340-Counterweight;

[0064] 400-reflector;

[0065] 500 - Elastic element; 510 - First spring; 520 - Second spring; 530 - Mounting part; 540 - First connecting section; 550 - Second connecting section;

[0066] 600 - Motor mounting plate; 610 - Positioning hole; 620 - Threaded hole. Detailed Implementation

[0067] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some embodiments of this application, but not all embodiments.

[0068] Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without inventive effort are within the scope of protection of this application. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0069] As described in the background art, in the related technology, when the laser radar scanning mechanism needs to change direction, the motor applies kinetic energy to the magnetic yoke in the opposite direction of the current swing to achieve braking and changing direction of the magnetic yoke. In this process, the motor needs to overcome its own load (including the magnetic yoke and the reflector), the inertial force of the rotor, air resistance, etc., so that the original kinetic energy of the rotor and the load is completely dissipated in the form of Joule heat, resulting in a large energy loss during the changing direction.

[0070] In view of this, the embodiments of this application aim to provide a lidar scanning mechanism, a lidar, and a movable device. By providing at least one first abutment portion on the motor mounting base and at least one second abutment portion on the magnetic yoke, and at least one of the first and second abutment portions having an elastic element, when the motor drives the magnetic yoke and the reflector to swing, the second abutment portion of the magnetic yoke can abut against the first abutment portion on the mounting base, thereby compressing the elastic element, causing the elastic element to deform and store a certain amount of elastic potential energy. When the reflector needs to be reversed, the elastic element releases the elastic potential energy to push the magnetic yoke, thereby reducing the energy output of the motor during reversal and reducing energy loss during reversal.

[0071] The embodiments of this application will now be described in detail with reference to the accompanying drawings, so that those skilled in the art can gain a more detailed understanding of the contents of this application.

[0072] Please refer to Figures 1-14 This embodiment provides a lidar scanning mechanism, including:

[0073] Mounting base 100 provides a foundation for mounting other parts on the lidar scanning mechanism. Mounting base 100 is provided with at least one first abutment portion 110, which may protrude from mounting base 100.

[0074] Motor 200 is mounted on mounting base 100. Exemplarily, motor 200 can be mounted on mounting base 100 in a detachable manner, and the specific connection structure between motor 200 and mounting base 100 can be configured as needed.

[0075] A magnetic yoke 300 is connected to a motor 200, which can drive the magnetic yoke 300 to swing. The magnetic yoke 300 is provided with at least one second abutment portion 311. Exemplarily, the magnetic yoke 300 can be fixedly connected to the rotating component of the motor 200, thereby achieving swinging under the drive of the rotating component of the motor 200. The structure of the second abutment portion 311 can be configured as needed, for example, it can be a protrusion or a recess on the magnetic yoke 300. When the motor 200 drives the magnetic yoke 300 to swing, the first abutment portion 110 is located within the rotation range of the second abutment portion 311, so that the first abutment portion 110 and the second abutment portion 311 can abut against each other.

[0076] A reflector 400 is disposed on the surface of the magnetic yoke 300 and oscillates with the yoke 300. Exemplarily, the reflector 400 can be connected to the magnetic yoke 300 by means of adhesive bonding, snap-fitting, etc. The reflector 400 can reflect the probe beam to the outside of the lidar, and can also receive the echo of the probe beam reflected by an object, and reflect the echo back to the lidar. The lidar can obtain the position and reflectivity information of the object based on the probe beam and the echo. When the motor 200 drives the magnetic yoke 300 and the reflector 400 to oscillate, it can change the incident angle of the probe beam on the reflector 400 and change the direction of the probe beam reflected by the reflector 400, thereby enabling the probe beam to scan within the field of view of the lidar.

[0077] In this embodiment, at least one of the first abutting portion 110 and the second abutting portion 311 is provided with an elastic element 500. It can be understood that the elastic element 500 can be connected and fixed to one of the first abutting portion 110 or the second abutting portion 311 by means of bonding, snap-fitting, interference fit, etc. When the motor 200 drives the magnetic yoke 300 to swing, the magnetic yoke 300 can abut against the elastic element 500. That is to say, the magnetic yoke 300 can abut against the elastic element 500 through the second abutting portion 311.

[0078] Specifically, such as Figure 1 and Figure 7As shown, when the elastic element 500 is disposed on the first abutment portion 110, since the first abutment portion 110 is located within the rotation range of the second abutment portion 311, when the motor 200 drives the yoke 300 to swing, the second abutment portion 311 on the yoke 300 can abut against the elastic element 500 disposed on the first abutment portion 110, thereby compressing the elastic element 500 and allowing the elastic element 500 to store a certain amount of elastic potential energy. This process can convert part of the kinetic energy of the yoke 300 and the reflector 400 into elastic potential energy stored in the elastic element 500, and reduce the swing speed of the yoke 300 and the reflector 400. When the reflector 400 needs to be reversed, on the one hand, the elastic element 500 releases the stored elastic potential energy to push the yoke 300 to swing in the opposite direction. On the other hand, the presence of the elastic element 500 also reduces the initial speed of the yoke 300 and the reflector 400 (referring to the speed of the yoke 300 and the reflector 400 when the motor 200 starts to reverse). Therefore, the hysteresis of reversal can be reduced. Compared with the solutions of related technologies, the energy output of the motor 200 during reversal can be reduced, thereby reducing the energy loss during reversal.

[0079] Understandably, when the elastic element 500 is disposed on the second abutment portion 311, the elastic element 500 can swing with the second abutment portion 311. Since the first abutment portion 110 is located within the rotation range of the second abutment portion 311, when the motor 200 drives the yoke 300 to swing, the elastic element 500 disposed on the second abutment portion 311 can abut against the first abutment portion 110, thereby compressing the elastic element 500 and storing a certain amount of elastic potential energy in the elastic element 500. This process can convert part of the kinetic energy of the yoke 300 and the reflector 400 into elastic potential energy stored in the elastic element 500, and reduce the swing speed of the yoke 300 and the reflector 400. When the reflector 400 needs to be reversed, on the one hand, the elastic element 500 releases the stored elastic potential energy to push the yoke 300 to swing in the opposite direction. On the other hand, the presence of the elastic element 500 also reduces the initial velocity of the yoke 300 and the reflector 400, thus reducing the hysteresis of reversal. Compared with related technologies, this reduces the energy output of the motor 200 during reversal, thereby reducing energy loss during reversal.

[0080] In addition, when the motor 200 is de-energized, the elastic element 500 can also act as a limiting structure, allowing the magnetic yoke 300 and the reflector 400 to swing within a safe range, avoiding collisions with surrounding metal parts.

[0081] As described above, when the motor 200 drives the magnetic yoke 300 and the reflector 400 to swing, the second abutment portion 311 of the magnetic yoke 300 abuts against the first abutment portion 110 on the mounting base 100, thereby compressing the elastic element 500, causing the elastic element 500 to deform and store a certain amount of elastic potential energy. When the reflector 400 needs to reverse direction, the elastic element 500 releases its elastic potential energy to push the magnetic yoke 300, thereby reducing the energy output of the motor 200 during reversal and reducing energy loss during reversal.

[0082] Please continue to refer to Figure 1 and Figure 7 In one possible implementation, the elastic element 500 of this embodiment is disposed on the first abutment portion 110. When the motor 200 drives the magnetic yoke 300 to swing, the second abutment portion 311 can abut against the elastic element 500. This embodiment, by disposing of the elastic element 500 on the fixed first abutment portion 110, reduces the installation difficulty of the elastic element 500. By having the motor 200 drive the magnetic yoke 300 to swing, the second abutment portion 311 abuts against the elastic element 500, causing the elastic element 500 to deform and store a certain amount of elastic potential energy. When the reflector 400 needs to reverse direction, the elastic element 500 releases its elastic potential energy to push the magnetic yoke 300, thereby reducing the energy output of the motor 200 during reversal and lowering energy loss during reversal.

[0083] Furthermore, in this embodiment, the magnetic yoke 300 is generally cylindrical, and is sleeved on the outside of the motor 200 and connected to the rotating part of the motor 200. One end of the magnetic yoke 300 is provided with a flange 310, and a mating groove is provided on the flange 310, forming a second abutment portion 311.

[0084] The mounting base 100 is provided with a limiting post, which forms a first abutment part 110. The elastic element 500 is installed on the limiting post, and at least part of the elastic element 500 is located within the rotation range of the mating groove.

[0085] Through the above structure, the elastic element 500 can play a limiting role, so that the magnetic yoke 300 and the reflector 400 can only swing within the gap range between the mating groove and the elastic element 500, ensuring the safety of the swing of the reflector 400 and avoiding collision with the surrounding metal parts.

[0086] In some implementation methods, please refer to Figure 6 In this embodiment, the elastic element 500 includes a first elastic piece 510 and a second elastic piece 520, which are located on both sides of the limiting post. The mating groove includes a first sidewall 3111 and a second sidewall 3112 opposite to each other along the swing direction of the magnetic yoke 300. The shape of the first elastic piece 510 is adapted to the shape of the first sidewall 3111, and the shape of the second elastic piece 520 is adapted to the shape of the second sidewall 3112.

[0087] When the motor 200 drives the magnetic yoke 300 to swing, the first sidewall 3111 can abut against the first spring piece 510, and / or the second sidewall 3112 can abut against the second spring piece 520.

[0088] Specifically, such as Figure 1 and Figure 2 As shown, the motor 200 can drive the magnetic yoke 300 and the reflector 400 to swing at the equilibrium positions on both sides of the elastic member 500 (i.e., the position where the magnetic yoke 300 is not in contact with the elastic member 500).

[0089] like Figure 3 As shown, when the motor 200 drives the yoke 300 and the reflector 400 to swing clockwise, after the yoke 300 swings to the first position, its second sidewall 3112 can abut against the second spring plate 520, causing the second spring plate 520 to deform and store a certain amount of elastic potential energy. Simultaneously, under the action of the second spring plate 520, the clockwise swing speed of the yoke 300 and the reflector 400 gradually decreases. When the reflector 400 needs to reverse clockwise, the second spring plate 520 releases its elastic potential energy, pushing the yoke 300 to swing counterclockwise; at the same time, the motor 200 also outputs a counterclockwise driving force to the yoke 300, causing the yoke 300 and the reflector 400 to rotate counterclockwise. Compared to related technologies, this reduces the energy output of the motor 200 during clockwise-to-counterclockwise reversal, thereby reducing energy loss during reversal.

[0090] Similarly, such as Figure 4 As shown, when the motor 200 drives the yoke 300 and the reflector 400 to swing counterclockwise, after the yoke 300 swings to the second position, its first sidewall 3111 can abut against the first spring piece 510, causing the first spring piece 510 to deform and store a certain amount of elastic potential energy. Simultaneously, under the action of the first spring piece 510, the swing speed of the yoke 300 and the reflector 400 in the counterclockwise direction gradually decreases. When the reflector 400 needs to reverse clockwise, the first spring piece 510 releases its elastic potential energy, pushing the yoke 300 to swing clockwise; at the same time, the motor 200 also outputs a clockwise driving force to the yoke 300, causing the yoke 300 and the reflector 400 to rotate clockwise. Compared to related technologies, this reduces the energy output of the motor 200 during the counterclockwise to clockwise reversal, thereby reducing energy loss during reversal.

[0091] Please continue to refer to Figure 6 , Figure 8 and Figure 9In this embodiment, the elastic member 500 further includes a mounting portion 530, a first connecting segment 540, and a second connecting segment 550. The first connecting segment 540 and the second connecting segment 550 are located at opposite ends of the mounting portion 530, and both the first connecting segment 540 and the second connecting segment 550 are inclined relative to the mounting portion 530. The first spring piece 510 is connected to the mounting portion 530 via the first connecting segment 540, and the second spring piece 520 is connected to the mounting portion 530 via the second connecting segment 550.

[0092] The limiting post is provided with a mounting groove 111, and the mounting part 530 is disposed in the mounting groove 111. For example, the mounting part 530 and the mounting groove 111 can be fixed by an interference fit, so that the first spring piece 510 and the second spring piece 520 are respectively located on both sides of the limiting post so as to abut against the first side wall 3111 and the second side wall 3112.

[0093] In this embodiment, to reduce noise when the magnetic yoke 300 and the elastic member 500 come into contact, noise-reducing components can be provided on both the surface of the first elastic piece 510 that contacts the first sidewall 3111 and the surface of the second elastic piece 520 that contacts the second sidewall 3112. Alternatively, noise-reducing components can be provided on the surfaces of the first sidewall 3111 and the second sidewall 3112. The noise-reducing components include a foam layer.

[0094] With the above structure, when the magnetic yoke 300 swings and contacts the elastic member 500, the noise reduction member can buffer the first side wall 3111 and the second side wall 3112 to avoid the first side wall 3111 from directly colliding with the first spring piece 510, or the second side wall 3112 from directly colliding with the second spring piece 520, thereby reducing the noise when the magnetic yoke 300 and the elastic member 500 come into contact.

[0095] In some embodiments, the elastic element 500 of this embodiment includes a silicone element, which can be sleeved on the limiting post. Optionally, the silicone element can be cylindrical and have a through hole, through which the silicone element can be sleeved on the outer periphery of the limiting post by interference fit or adhesive bonding.

[0096] Or, such as Figure 7 As shown, the limiting post is provided with a mounting groove 111, and a portion of the silicone component is disposed within the mounting groove 111. Optionally, the silicone component can be connected and fixed to the mounting groove 111 by interference fit or adhesive bonding.

[0097] It is understandable that when the elastic element 500 is made of silicone, the magnetic yoke 300 can cause the silicone element to undergo elastic deformation and store elastic potential energy after contacting the silicone element. When the reflector 400 needs to be reversed, the silicone element can also release the stored elastic potential energy, thereby pushing the magnetic yoke 300 to swing in the opposite direction, so as to reduce the energy output of the motor 200 during reversal and reduce the energy loss during reversal.

[0098] In another possible implementation, the mounting base 100 of this embodiment may be provided with two first abutment portions 110, which are spaced apart. The magnetic yoke 300 may be provided with two corresponding second abutment portions 311, and the two first abutment portions 110 and the two second abutment portions 311 are adapted to each other.

[0099] The motor 200 can drive the magnetic yoke 300 to swing between the two first abutment parts 110. When the motor 200 drives the magnetic yoke 300 to swing, the second abutment part 311 can abut against the elastic element 500 on the first abutment part 110 that is adapted to it.

[0100] Specifically, in this embodiment, the first abutment 110 can be a limiting post provided on the mounting base 100, and the second abutment 311 can be a protrusion provided on the magnetic yoke 300. The limiting post can be located on the rotation path of the protrusion, so that when the magnetic yoke 300 swings, the protrusion can abut against the corresponding limiting post. The elastic element 500 can be provided on the side of the limiting post facing the protrusion.

[0101] It is understood that when the motor 200 drives the magnetic yoke 300 and the reflector 400 to swing in this embodiment, the second abutment portion 311 of the magnetic yoke 300 can abut against the corresponding first abutment portion 110 on the mounting base 100, thereby compressing the elastic member 500, causing the elastic member 500 to deform and store a certain amount of elastic potential energy. When the reflector 400 needs to reverse direction, the elastic member 500 releases its elastic potential energy to push the magnetic yoke 300, thereby reducing the energy output of the motor 200 during reversal and reducing energy loss during reversal.

[0102] Please continue to refer to Figure 11 , Figure 12 , Figure 13 and Figure 14 In this embodiment, the motor 200 includes a rotating shaft 210, an iron core 220, and a magnetic ring 230. The rotating shaft 210 is rotatably mounted on the mounting base 100. The iron core 220 is sleeved on the outside of the rotating shaft 210, and the magnetic ring 230 is sleeved on the outside of the iron core 220. A plurality of winding portions 221 are formed on the iron core 220, and a coil 240 is wound inside the winding portions 221.

[0103] Both the rotating shaft 210 and the magnetic ring 230 are connected to the magnetic yoke 300. When the motor 200 is powered on, the rotating shaft 210 and the magnetic ring 230 can drive the magnetic yoke 300 to swing.

[0104] In this embodiment, the motor 200 can be a three-phase motor, and the iron core 220 can be made of a high-permeability material to guide and concentrate the magnetic field. The magnetic ring 230 is used to enhance the uniformity of the magnetic field and reduce magnetic leakage. When the motor 200 is powered on, the coil 240 is energized to generate a rotating magnetic field, which drives the shaft 210 and the magnetic ring 230 to rotate, thereby causing the magnetic yoke 300 and the reflector 400 to swing between the first position and the second position.

[0105] Furthermore, in this embodiment, the magnetic yoke 300 is provided with a shaft hole 320, and the rotating shaft 210 passes through the shaft hole 320, and the rotating shaft 210 is fixedly connected to the inner wall of the shaft hole 320. Exemplarily, in this embodiment, the rotating shaft 210 can be fixed to the inner wall of the shaft hole 320 by interference fit and / or bonding.

[0106] The outer wall of the magnetic ring 230 is fixedly connected to the inner wall of the magnetic yoke 300. For example, the outer wall of the magnetic ring 230 and the inner wall of the magnetic yoke 300 can be bonded together.

[0107] The above structure ensures that when the rotating shaft 210 and the magnetic ring 230 rotate, they can synchronously drive the magnetic yoke 300 and the reflector 400 to swing between the first position and the second position.

[0108] Please continue to refer to Figures 10-14 In this embodiment, the mounting base 100 is provided with a mounting sleeve 120, and the rotating shaft 210 is rotatably disposed within the mounting sleeve 120 via a bearing 250. Exemplarily, the inner ring of the bearing 250 is fixedly connected to the rotating shaft 210, and the outer ring of the bearing 250 can be fixedly connected to the inner wall of the mounting sleeve 120, thereby enabling the rotating shaft 210 to rotate within the mounting sleeve 120. An iron core 220 is sleeved outside the mounting sleeve 120, and the iron core 220 is fixedly connected to the mounting sleeve 120. Exemplarily, the iron core 220 can be fixedly connected to the mounting sleeve 120 via an interference fit.

[0109] Please continue to refer to Figure 9 and Figure 12 In this embodiment, the iron core 220 includes an iron core body 222, a plurality of winding portions 221 are spaced apart on the outer periphery of the iron core body 222, an iron core through hole is formed in the iron core body 222, and a first fixing portion 2221 is provided in the iron core through hole.

[0110] The outer surface of the mounting sleeve 120 has a second fixing part 121, and the iron core 220 is fixedly connected to the second fixing part 121 on the mounting sleeve 120 through the first fixing part 2221.

[0111] In this embodiment, one of the first fixing part 2221 and the second fixing part 121 is a groove, and the other is a protrusion, with the protrusion and the groove being interference-fitted. For example, the first fixing part 2221 can be a protrusion disposed within a through hole in the iron core body 222, and the second fixing part 121 can be a groove disposed on the outer surface of the mounting sleeve 120. The iron core 220 is interference-fitted with the groove on the mounting sleeve 120 through the protrusion.

[0112] Please continue to refer to Figure 10 and Figure 14 In this embodiment, the mounting sleeve 120 has a mounting through hole 122, which includes a first hole segment 1221, a second hole segment 1222, and a third hole segment 1223. The second hole segment 1222 is located between the first hole segment 1221 and the third hole segment 1223. The inner diameter of the first hole segment 1221 and the inner diameter of the third hole segment 1223 are both larger than the inner diameter of the second hole segment 1222.

[0113] The bearing 250 includes a first bearing 251 and a second bearing 252.

[0114] The first bearing 251 is disposed within the first bore section 1221. The outer ring of the first bearing 251 abuts against one end of the second bore section 1222, and the end of the shaft hole 320 abuts against the inner ring of the first bearing 251. With the above structure, the ends of the second bore section 1222 and the shaft hole 320 abut against the two sides of the first bearing 251 respectively, thereby preventing the first bearing 251 from moving circumferentially within the mounting through hole 122.

[0115] The second bearing 252 is disposed within the third bore section 1223. The outer ring of the second bearing 252 abuts against the other end of the second bore section 1222. A preload element is also provided within the mounting through hole 122. The preload element is sleeved on the rotating shaft 210 and abuts against the inner ring of the second bearing 252. With the above structure, the end of the second bore section 1222 and the preload element abut against both sides of the second bearing 252 respectively, thereby preventing the second bearing 252 from circumferentially moving within the mounting through hole 122.

[0116] Please continue to refer to Figure 11 and Figure 14 In this embodiment, the preload includes a corrugated spring 260 and a nut 270. One end of the corrugated spring 260 abuts against the inner ring of the second bearing 252, and the nut 270 abuts against the other end of the corrugated spring 260. Thus, the corrugated spring 260 can be locked between the second bearing 252 and the nut 270 by the nut 270. The corrugated spring 260 applies an elastic force to the inner ring of the second bearing 252, thereby achieving abutment against the inner ring of the second bearing 252.

[0117] Please continue to refer to Figure 5 , Figure 8and Figure 9 This embodiment also includes a motor mounting plate 600, an assembly groove is formed in the mounting base 100, the motor mounting plate 600 is located in the assembly groove, and the motor mounting plate 600 is detachably connected to the mounting base 100, and the magnetic yoke 300 is located on the motor mounting plate 600.

[0118] Specifically, in this embodiment, the assembly slot is provided with multiple positioning posts 130 and multiple fixing holes 140, and the motor mounting plate 600 is provided with multiple positioning holes 610 and multiple threaded holes 620. Each positioning post 130 corresponds to one positioning hole 610, and each fixing hole 140 corresponds to one threaded hole 620. The motor mounting plate 600 is inserted into the corresponding positioning hole 610 via the positioning posts 130, and the fixing holes 140 and corresponding threaded holes 620 are detachably connected via fasteners. During installation, the motor mounting plate 600 can be pre-installed by inserting the positioning posts 130 into the corresponding positioning holes 610, and then fasteners such as through-hole bolts pass through the fixing holes 140 and corresponding threaded holes 620 to achieve a detachable connection between the motor mounting plate 600 and the mounting base 100.

[0119] Please continue to refer to Figure 8 The mounting base 100 in this embodiment includes a bottom wall 101 and multiple mounting side walls 102, which together form an assembly groove. The mounting side walls 102 are provided with flanges 103, and the flanges 103 are provided with connecting holes 1031. The connecting holes 1031 are used to connect to the housing of the lidar, thereby realizing the assembly of the lidar. Exemplarily, the connecting holes 1031 can be detachably connected to the lidar housing using fasteners such as bolts.

[0120] Please continue to refer to Figure 13 In this embodiment, the magnetic yoke 300 is provided with a mounting plate 330. The mounting plate 330 includes a connecting part 331 and a supporting part 332. The supporting part 332 is disposed at one end of the connecting part 331 and protrudes from the connecting part 331. The reflector 400 is connected to the connecting part 331, and one end of the reflector 400 abuts against the supporting part 332.

[0121] For example, the connecting part 331 can be fixed to the magnetic yoke 300 by snap-fitting, bonding, or other methods. An adhesive layer can be provided on the connecting part 331 to bond and fix the back of the reflector 400 to the connecting part 331. The support part 332 can bear part of the weight of the reflector 400, improving the stability of the connection between the reflector 400 and the connecting part 331.

[0122] In this embodiment, the magnetic yoke 300 is also provided with a counterweight 340. The counterweight 340 is used to make the swing axis of the magnetic yoke 300 coincide with the axis of the rotating shaft 210, so as to avoid the power consumption of the motor 200 increasing due to eccentricity.

[0123] This embodiment also provides a lidar, including the lidar scanning mechanism described above.

[0124] It is understood that, since the lidar in this embodiment adopts the above-mentioned lidar scanning mechanism, when the reflector needs to be reversed, the elastic element can release elastic potential energy to drive the magnetic yoke, thereby reducing the energy output of the motor during reversal and reducing energy loss during reversal.

[0125] This embodiment also provides a mobile platform, including the lidar described above.

[0126] The mobile platform in this embodiment can be, for example, a vehicle, a drone, or a robot, and the lidar can be mounted on the surface of the mobile platform. Because of the lidar, when the reflector needs to be reversed, the elastic element can release elastic potential energy to drive the magnetic yoke, thereby reducing the energy output of the motor during reversal and lowering energy loss during reversal.

[0127] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0128] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0129] It should be noted that in the description of this application, the terms "first" and "second" are used only for convenience in describing different components and should not be construed as indicating or implying a sequential relationship, relative importance, or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of those features.

[0130] The embodiments or implementation methods in this application are described in a progressive manner. Each embodiment focuses on the differences from other embodiments, and the same or similar parts between the embodiments can be referred to each other.

[0131] In the description of this application, the terms "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with an embodiment or example that are included in at least one embodiment or example of this application. In this application, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0132] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A lidar scanning mechanism, characterized in that, include: Mounting base, wherein the mounting base is provided with at least one first abutting part; An electric motor, which is mounted on the mounting base; A magnetic yoke, wherein the motor is connected to the magnetic yoke and can drive the magnetic yoke to swing, and the magnetic yoke is provided with at least one second abutment part; A reflector, which is disposed on the surface of the magnetic yoke and oscillates with the magnetic yoke; In this embodiment, at least one of the first abutting part and the second abutting part is provided with an elastic element, and when the motor drives the magnetic yoke to swing, the magnetic yoke can abut against the elastic element.

2. The lidar scanning mechanism according to claim 1, characterized in that, The elastic element is disposed on the first abutting part, and when the motor drives the magnetic yoke to swing, the second abutting part can abut against the elastic element.

3. The lidar scanning mechanism according to claim 2, characterized in that, One end of the magnetic yoke is provided with a flange, and a mating groove is provided on the flange, the mating groove forming the second abutment portion; The mounting base is provided with a limiting post, which forms the first abutment portion. The elastic element is mounted on the limiting post, and at least a portion of the elastic element is located within the rotation range of the mating groove.

4. The lidar scanning mechanism according to claim 3, characterized in that, The elastic element includes a first spring sheet and a second spring sheet, which are located on both sides of the limiting post, respectively; the mating groove includes a first sidewall and a second sidewall opposite to each other along the swing direction of the magnetic yoke, the shape of the first spring sheet is adapted to the shape of the first sidewall, and the shape of the second spring sheet is adapted to the shape of the second sidewall. When the motor drives the magnetic yoke to swing, the first sidewall can abut against the first spring piece, and / or the second sidewall can abut against the second spring piece.

5. The lidar scanning mechanism according to claim 4, characterized in that, The elastic element further includes a mounting portion, a first connecting section, and a second connecting section. The first connecting section and the second connecting section are respectively located at both ends of the mounting portion. The first spring piece is connected to the mounting portion through the first connecting section, and the second spring piece is connected to the mounting portion through the second connecting section. The limiting post is provided with an installation groove, and the installation part is disposed in the installation groove.

6. The lidar scanning mechanism according to claim 4, characterized in that, Both the surface of the first spring sheet that contacts the first sidewall and the surface of the second spring sheet that contacts the second sidewall are provided with sound-absorbing components; Alternatively, the surfaces of the first sidewall and the second sidewall may be provided with sound-absorbing elements.

7. The lidar scanning mechanism according to claim 6, characterized in that, The sound-absorbing component includes a foam layer.

8. The lidar scanning mechanism according to claim 3, characterized in that, The elastic element includes a silicone element, which is sleeved on the limiting post; Alternatively, the limiting post may have an installation groove, and a portion of the silicone component may be disposed within the installation groove.

9. The lidar scanning mechanism according to claim 2, characterized in that, The mounting base is provided with two first abutment portions, which are spaced apart; the magnetic yoke is provided with two second abutment portions, which are adapted to each other; the motor can drive the magnetic yoke to swing between the two first abutment portions, and when the motor drives the magnetic yoke to swing, the second abutment portion can abut against the elastic element on the adapted first abutment portion.

10. The lidar scanning mechanism according to any one of claims 1-9, characterized in that, The motor includes a rotating shaft, an iron core, and a magnetic ring. The rotating shaft is rotatably mounted on the mounting base. The iron core is sleeved on the outside of the rotating shaft, and the magnetic ring is sleeved on the outside of the iron core. Multiple winding portions are formed on the iron core, and coils are wound inside the winding portions. Both the rotating shaft and the magnetic ring are connected to the magnetic yoke. When the motor is powered on, the rotating shaft and the magnetic ring can drive the magnetic yoke to swing.

11. The lidar scanning mechanism according to claim 10, characterized in that, The magnetic yoke has a shaft hole, the rotating shaft passes through the shaft hole, and the rotating shaft is fixedly connected to the inner wall of the shaft hole; The outer wall of the magnetic ring is fixedly connected to the inner wall of the magnetic yoke.

12. The lidar scanning mechanism according to claim 11, characterized in that, The rotating shaft is interference-fitted and / or bonded to the shaft hole; the outer wall of the magnetic ring is bonded to the inner wall of the magnetic yoke.

13. The lidar scanning mechanism according to claim 11, characterized in that, The mounting base is provided with a mounting sleeve, and the rotating shaft is rotatably mounted inside the mounting sleeve via a bearing; the iron core is sleeved outside the mounting sleeve, and the iron core is fixedly connected to the mounting sleeve.

14. The lidar scanning mechanism according to claim 13, characterized in that, The iron core includes an iron core body, and a plurality of winding portions are spaced apart on the outer periphery of the iron core body. An iron core through hole is formed in the iron core body, and a first fixing portion is provided in the iron core through hole. The outer surface of the mounting sleeve has a second fixing part, and the iron core is fixedly connected to the second fixing part on the mounting sleeve through the first fixing part.

15. The lidar scanning mechanism according to claim 14, characterized in that, One of the first fixing part and the second fixing part is a groove, and the other is a protrusion, and the protrusion and the groove are interference fit.

16. The lidar scanning mechanism according to claim 13, characterized in that, The mounting sleeve has a mounting through hole, which includes a first hole segment, a second hole segment, and a third hole segment. The second hole segment is located between the first hole segment and the third hole segment. The inner diameter of the first hole segment and the inner diameter of the third hole segment are both larger than the inner diameter of the second hole segment. The bearing includes a first bearing and a second bearing; the first bearing is disposed in the first bore section, the outer ring of the first bearing abuts against one end of the second bore section, and the end of the shaft hole abuts against the inner ring of the first bearing; the second bearing is disposed in the third bore section, the outer ring of the second bearing abuts against the other end of the second bore section, and a preload is also provided in the mounting through hole, the preload is sleeved on the rotating shaft, and the preload abuts against the inner ring of the second bearing.

17. The lidar scanning mechanism according to claim 16, characterized in that, The preload includes a corrugated spring and a nut. One end of the corrugated spring abuts against the inner ring of the second bearing, and the nut abuts against the other end of the corrugated spring.

18. The lidar scanning mechanism according to claim 13, characterized in that, It also includes a motor mounting plate, an assembly groove is formed in the mounting base, the motor mounting plate is located in the assembly groove, and the motor mounting plate is detachably connected to the mounting base, and the magnetic yoke is located on the motor mounting plate.

19. The lidar scanning mechanism according to claim 18, characterized in that, The assembly slot is provided with multiple positioning posts and multiple fixing holes. The motor mounting plate is provided with multiple positioning holes and multiple threaded holes. The multiple positioning posts correspond one-to-one with the multiple positioning holes, and the multiple fixing holes correspond one-to-one with the multiple threaded holes. The motor mounting plate is inserted into the corresponding positioning holes through the positioning posts, and the fixing holes and the corresponding threaded holes are detachably connected by fasteners.

20. The lidar scanning mechanism according to claim 18, characterized in that, The mounting base includes a bottom wall and multiple mounting side walls, which together form the assembly groove. The mounting side walls are provided with flanges and connecting holes for connecting the housing of the lidar.

21. The lidar scanning mechanism according to claim 10, characterized in that, The magnetic yoke is provided with a mounting plate, which includes a connecting part and a supporting part. The supporting part is disposed at one end of the connecting part and protrudes from the connecting part. The reflector is connected to the connecting part, and one end of the reflector abuts against the supporting part.

22. The lidar scanning mechanism according to claim 21, characterized in that, The reflector is bonded to the connecting part.

23. The lidar scanning mechanism according to claim 21, characterized in that, The magnetic yoke is also provided with a counterweight, which is used to make the swing axis of the magnetic yoke coincide with the axis of the rotating shaft.

24. A lidar, characterized in that, Includes the lidar scanning mechanism as described in any one of claims 1-23.

25. A mobile platform, characterized in that, Including the lidar as described in claim 24.

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