Scanning device

Abstract

The embodiment of the present application provides a scanning device, which comprises a laser component, a transmission member and a driving member. The laser component is used for emitting laser and receiving reflected laser. The transmission member is in transmission connection with the laser component. The driving member is connected with the laser component, and is used for driving the laser component to rotate around a first center line and for driving the laser component to synchronously rotate around a second center line through the transmission member. The first center line intersects with the second center line. By using the scanning device provided by the present application, the three-dimensional laser scanning array generated by the laser component is realized through the mechanical transmission cooperation of the single driving member and the transmission member, the field of view scanning range of the scanning device is increased, the scanning effect and the scanning efficiency of the laser component are improved, the manufacturing cost of the scanning device is reduced, and the structure of the scanning device is simplified.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of laser scanning technology, and in particular to a scanning device. BACKGROUND

[0002] With the development of laser radar technology, the scanning methods of laser radars are various. In the field of three-dimensional mapping and vehicle-mounted radars, it is often required that the radar can scan a large field of view. The prior art adopts a multi-mirror system, a multi-prism system or a prism-mirror hybrid system, and at least two driving members are used to convert a one-dimensional light beam into a three-dimensional light beam array. However, the use of at least two driving members, such as electric motors, increases the cost of the laser radar, and the coordination of multiple driving members requires a higher control system, which further increases the cost of the laser radar. SUMMARY

[0003] Embodiments of the present application propose a scanning device, which realizes a three-dimensional laser scanning array by using a single driving member and a mechanical device, and has low cost and a simple control system.

[0004] In a first aspect, embodiments of the present application propose a scanning device, which includes a laser component, a transmission member and a driving member. The laser component is used to emit laser and receive reflected laser. The transmission member is in transmission connection with the laser component. The driving member is connected with the laser component, and is used to drive the laser component to rotate around a first center line and drive the laser component to rotate synchronously around a second center line through the transmission member, the first center line intersecting the second center line.

[0005] In a possible implementation, the transmission member includes a first transmission part and a second transmission part in transmission connection with the first transmission part, the first transmission part is fixedly connected with a transceiving end of the laser component and revolves around the first center line and rotates around the second center line relative to the second transmission part.

[0006] In a possible implementation, the driving member is connected with the transceiving end of the laser component and is used to drive the transceiving end of the laser component and the first transmission part to rotate around the first center line, and drive the transceiving end of the laser component to rotate around the second center line through the transmission matching of the first transmission part and the second transmission part; or, the driving member is connected with the transceiving end of the laser component and / or the first transmission part, and is used to drive the transceiving end of the laser component and the first transmission part to rotate around the second center line, and drive the first transmission part and the transceiving end of the laser component to rotate around the first center line through the transmission matching of the first transmission part and the second transmission part.

[0007] In a possible implementation manner, the scanning device further comprises a support, the support is rotatably connected with the transceiving end of the laser component, the support is rotatably arranged around the first center line and is fixedly arranged relative to the first transmission part.

[0008] In a possible implementation manner, the scanning device further comprises a connecting part, the connecting part is fixedly connected with the transceiving end of the laser component and the first transmission part, and is rotatably connected with the support.

[0009] In a possible implementation manner, the laser component comprises a laser transceiving module and a scanning mirror, the laser transceiving module is separately arranged from the support, the scanning mirror is rotatably connected with the support, the scanning mirror is located on the light path of the laser transceiving module and is rotatably arranged relative to the laser transceiving module around the first center line and the second center line, and the scanning mirror serves as the transceiving end of the laser component.

[0010] In a possible implementation manner, the support comprises a main body part and a support part, the support part is protruded from one end of the main body part in a direction parallel to the first center line and is rotatably connected with the scanning mirror, the scanning mirror is spaced apart from the main body part in the direction parallel to the first center line, and a part of the main body part on the light path of the laser transceiving module is provided with a light-transmitting structure, the light-transmitting structure is a light-transmitting hole or a light-transmitting body.

[0011] In a possible implementation manner, the laser component comprises a laser transceiving module and a scanning mirror, the laser transceiving module is fixedly connected with the support, the scanning mirror is rotatably connected with the support, the scanning mirror is located on the light path of the laser transceiving module and is rotatably arranged relative to the laser transceiving module around the first center line and the second center line, and the scanning mirror serves as the transceiving end of the laser component.

[0012] In a possible implementation manner, the laser component is a laser transceiving module, and the laser transceiving module is rotatably connected with the support, and the laser transceiving module serves as the transceiving end of the laser component.

[0013] In a possible implementation manner, the scanning mirror is a mirror or a prism, the mirror is a single-surface mirror or a multi-surface mirror.

[0014] In a possible implementation manner, the first transmission part is provided with a first gear, and the second transmission part is provided with a second gear, and the first gear is engaged with the second gear.

[0015] In a possible implementation manner, the ratio of the number of the second gears to the number of the first gears has a remainder.

[0016] In a possible implementation, the transmission member further comprises a third transmission part and a fourth transmission part, the third transmission part is connected with the driving member and is in transmission connection with the fourth transmission part, the fourth transmission part is fixedly connected with the second transmission part, the first transmission part is configured as a worm gear, the second transmission part is configured as a worm that is in rotational cooperation with the worm gear, and the third transmission part and the fourth transmission part are both configured as gears; or, the transmission member further comprises a third transmission part, a fourth transmission part and a fifth transmission part, the third transmission part is connected with the driving member and is in transmission connection with the fourth transmission part, the fourth transmission part is fixedly connected with the second transmission part, the fifth transmission part is arranged on a transmission path between the third transmission part and the receiving and transmitting end of the laser component, and is used to adjust the rotational speed of the third transmission part to be different from the rotational speed of the receiving and transmitting end of the laser component, the first transmission part is configured as a worm gear, the second transmission part is configured as a worm that is in rotational cooperation with the worm gear, the third transmission part and the fourth transmission part are both configured as gears, and the fifth transmission part is configured as a planetary gear.

[0017] The scanning device provided by the embodiment of the present application is based on the driving member that is used to drive the laser component to rotate around the first center line and is used to drive the laser component to synchronously rotate around the second center line through the transmission member, wherein the first center line intersects with the second center line. On the one hand, the laser component can convert laser into two-dimensional laser in the process of rotating around the first center line, and can convert the two-dimensional laser into three-dimensional laser in the process of synchronously rotating around the second center line, thereby increasing the field-of-view scanning range of the scanning device, and further improving the scanning effect and scanning efficiency of the laser component. On the other hand, the transmission member is mechanically transmissionally matched with the single driving member, thereby reducing the manufacturing cost of the scanning device and simplifying the structure of the scanning device. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without any creative labor.

[0019] Figure 1 is a structural schematic diagram of a first view angle of the scanning device provided by the first embodiment of the present application.

[0020] Figure 2 is Figure 1 is a structural schematic diagram of a second view angle of the scanning device in

[0021] Figure 3is a structural schematic diagram of a scanning device provided by a second embodiment of the present application.

[0022] Figure 4 is a structural schematic diagram of a scanning device provided by a third embodiment of the present application.

[0023] Figure 5 is a structural schematic diagram of a scanning device provided by a fourth embodiment of the present application.

[0024] Figure 6 is Figure 1 is a detection laser array diagram of the scanning device in

[0025] Figure 7 is a structural schematic diagram of a scanning device provided by a fifth embodiment of the present application.

[0026] Figure 8 is a structural schematic diagram of a scanning device provided by a sixth embodiment of the present application.

[0027] FIG. 1 is a structural schematic diagram of a scanning device according to an embodiment of the present application. DETAILED DESCRIPTION

[0028] For the convenience of understanding, the related technical terms involved in the embodiments of the present application are explained and described below.

[0029] In the description of the embodiments of the present application, "a plurality of" means two or more, unless otherwise specified.

[0030] The terms "first", "second", and the like are used only for the purpose of description, and cannot be understood as implying or suggesting relative importance or implicitly indicating the number of the indicated technical features. The features limited by "first", "second" can explicitly or implicitly include one or more of the features.

[0031] The orientation terms mentioned in the embodiments of the present application, such as "up", "down", "front", "back", "left", "right", "inner", "outer", "side", "top", "bottom", and the like, are only the directions of the drawings. The orientation terms are used to better and more clearly illustrate and understand the embodiments of the present application, and are not meant to indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and the like, so they cannot be understood as limitations on the embodiments of the present application.

[0032] With the development of laser radar technology, the scanning methods of laser radars are various. In the field of three-dimensional mapping and vehicle-mounted radars, it is often required that the radar can scan a large field of view. The prior art adopts a multi-mirror system, a multi-prism system or a prism-mirror hybrid system, and at least two driving members are used to convert a one-dimensional light beam into a three-dimensional light beam array. However, the use of at least two driving members, such as electric motors, increases the cost of the laser radar, and the coordination of multiple driving members requires a higher control system, which further increases the cost of the laser radar.

[0033] Embodiments of the present application provide a scanning device, which realizes a three-dimensional laser scanning array by using a single driving member and a mechanical device, has low cost and a simple control system.

[0034] Please refer to Figure 1 and Figure 2 , Figure 1 is a structural schematic diagram of a first perspective of a scanning device 100 provided by a first embodiment of the present application; Figure 2 is Figure 1 a structural schematic diagram of a second perspective of the scanning device 100 in . The scanning device 100 includes a laser component 10, a transmission member 20 and a driving member 30. The laser component 10 is used to emit laser and receive reflected laser. The transmission member 20 is in transmission connection with the laser component 10. The driving member 30 is connected with the laser component 10, and is used to drive the laser component 10 to rotate around a first center line L1, and is used to drive the laser component 10 to synchronously rotate around a second center line L2 through the transmission member 20, the first center line L1 intersects with the second center line L2.

[0035] The scanning device 100 provided by the embodiments of the present application is based on the driving member 30 being used to drive the laser component 10 to rotate around the first center line L1, and being used to drive the laser component 10 to synchronously rotate around the second center line L2 through the transmission member 20, the first center line L1 intersects with the second center line L2. On the one hand, the laser component 10 can convert laser into two-dimensional laser in the process of rotating around the first center line L1, and make the laser component 10 convert the two-dimensional laser into three-dimensional laser in the process of synchronously rotating around the second center line L2, thereby increasing the field of view scanning range of the scanning device 100, and further improving the scanning effect and scanning efficiency of the laser component 10. On the other hand, the mechanical transmission cooperation of the transmission member 20 and the single driving member 30 reduces the manufacturing cost of the scanning device 100, and simplifies the structure of the scanning device 100.

[0036] It should be noted that, Figure 1The purpose of the above-mentioned is only to schematically describe the arrangement mode among the laser component 10, the transmission member 20 and the driving member 30, and not to make specific limitation on the connection position, connection relationship and specific structure of each element. Figure 1 The structure of the scanning device 100 is only schematically described in the embodiment of the present application, and does not constitute specific limitation on the scanning device 100. In other embodiments of the present application, the scanning device 100 can include more or less components than those shown in the figure, or combine some components, or different components, for example, the scanning device 100 can also include but not limited to a control mechanism, a connection wire harness and the like. Figure 1

[0037] Exemplarily, in the embodiment, the first center line L1 is perpendicular to the second center line L2. The first center line L1 is parallel to the vertical direction Y, and the second center line L2 is parallel to the horizontal direction X. The vertical direction Y is perpendicular to the bearing surface on which the scanning device 100 is placed, and the horizontal direction X is parallel to the bearing surface on which the scanning device 100 is placed.

[0038] Of course, in a possible implementation, the first center line L1 can also be perpendicular to the vertical direction Y, and the second center line L2 can be perpendicular to the horizontal direction X. In other embodiments, the first center line L1 and the second center line L2 are arranged at an acute angle or an obtuse angle, and the embodiments of the present application are not limited specifically.

[0039] Exemplarily, in the embodiment, the transmission member 20 includes a first transmission part 21 and a second transmission part 22 which is in transmission connection with the first transmission part 21. The first transmission part 21 is fixedly connected with the transceiving end of the laser component 10, and revolves around the first center line L1 and rotates around the second center line L2 relative to the second transmission part 22. Thus, on the one hand, the driving member 30 is used to drive the laser component 10 to rotate around the first center line L1, so as to realize that the laser component 10 actively revolves, and through the mechanical transmission cooperation of the first transmission part 21 and the second transmission part 22, the laser component 10 rotates around the second center line L2, so as to realize that the laser component 10 passively rotates, thereby reducing the number and control complexity of the driving member 30, reducing the space occupation of the transmission member 20 and the driving member 30, and improving the structural compactness of the scanning device 100.

[0040] Of course, in a possible implementation, the transmission member 20 can also include a linkage part. The linkage part is in transmission connection between the first transmission part 21 and the second transmission part 22. The transceiving end of the laser component 10 can also be fixedly connected with the linkage part; or the transmission member 20 can also be configured as a gear train structure of a sun gear and a planet gear, and the structure and arrangement mode of the transmission member 20 can be set according to actual conditions, and the embodiments of the present application are not limited specifically.

[0041] ​It should be noted that in the present embodiment, the transceiving end of the laser component 10 refers to the end of the laser component 10 that realizes laser emission and reception. For example, when the laser component 10 only includes the laser transceiving module 11, the laser transceiving module 11 serves as the transceiving end of the laser component 10. When the laser component 10 includes the laser transceiving module 11 and the scanning mirror 12 arranged on the optical path of the laser transceiving module 11, the scanning mirror 12 serves as the transceiving end of the laser component 10.

[0042] The driving member 30 is configured to provide a rotating momentum to the laser component 10. For example, in the present embodiment, the driving member 30 can include a motor base and a driving motor installed in the motor base. The motor base serves as the stator of the driving member 30, and the output shaft of the driving motor serves as the rotor of the driving member 30 and is directly or indirectly fixedly connected with the laser component 10, so as to realize the driving of the laser component 10 to rotate around the first center line L1 by the driving member 30.

[0043] For example, in the present embodiment, the driving member 30 is connected with the transceiving end of the laser component 10 and is configured to drive the transceiving end of the laser component 10 and the first transmission part 21 to rotate around the first center line L1, and to drive the transceiving end of the laser component 10 to rotate around the second center line L2 through the transmission matching between the first transmission part 21 and the second transmission part 22. In this way, on the one hand, the installation position of the driving member 30 can be fixedly arranged, i.e., the distance between the driving member 30 and the perpendicular line of the second center line L2 remains unchanged, thereby improving the reliability and stability of the driving force output by the driving member 30, and avoiding the problem that the heat dissipation path of the driving member 30 is limited by the rotating motion, i.e., realizing the fixed arrangement of the heat dissipation structure and the installation position of the driving member 30, thereby improving the operation reliability and safety of the driving member 30. On the other hand, the fixed arrangement of the installation position of the driving member 30 makes the rotational inertia of the driving member 30 small, which facilitates the control of the start-stop and speed adjustment of the driving member 30, thereby providing the dynamic response control capability of the driving member 30.

[0044] The driving member 30 can be used to drive the receiving and transmitting end of the laser component 10 to rotate around the first center line L1. Exemplarily, in the present embodiment, the central axis of the output shaft of the driving member 30 coincides with the first center line L1, so that the driving force output by the driving member 30 can be transmitted to the receiving and transmitting end of the laser component 10 more effectively, improving the transmission efficiency of the driving force of the driving member 30. During the process of driving the receiving and transmitting end of the laser component 10 to rotate around the first center line L1, the rotating torque around the first center line L1 can be transmitted to the first transmission part 21, and the second transmission part 22 will not be affected by the rotating torque around the first center line L1, so that the first transmission part 21 drives the receiving and transmitting end of the laser component 10 to rotate around the second center line L2 relative to the second transmission part 22, thereby realizing that the driving member 30 is used to drive the receiving and transmitting end of the laser component 10 and the first transmission part 21 to rotate around the first center line L1, and at the same time, the receiving and transmitting end of the laser component 10 and the first transmission part 21 are driven to rotate around the second center line L2 synchronously. Therefore, the movements of the transmission member 20 and the driving member 30 are inherently coupled and strictly synchronized, without the need for additional sensors and control algorithms to coordinate two independent driving sources, so that the scanning device 100 can achieve good three-dimensional laser scanning array through a simple control system.

[0045] Please refer to Figure 1 and Figure 3 , Figure 3 is a structural schematic diagram of the scanning device 100 provided by the second embodiment of the present application. In the second embodiment, the structure of the scanning device 100 is similar to that of the scanning device 100 in the first embodiment. The difference lies in that, in the second embodiment, the driving member 30 is connected with the receiving and transmitting end of the laser component 10 and / or the first transmission part 21, and is used to drive the receiving and transmitting end of the laser component 10 and the first transmission part 21 to rotate around the second center line L2, and through the transmission matching of the first transmission part 21 and the second transmission part 22, the first transmission part 21 and the receiving and transmitting end of the laser component 10 are driven to rotate around the first center line L1 synchronously. Understandably, in the second embodiment, the connecting member 50 can serve as the output shaft of the driving member 30, thereby simplifying the overall structure of the scanning device 100 and improving the transmission efficiency of the driving force of the driving member 30. Of course, in some embodiments, the connecting member 50 can also be independently provided with the output shaft of the driving member 30, i.e., the connecting member 50 can also be provided in a split type with the output shaft of the driving member 30.

[0046] The driving member 30 drives the connecting member 50 to drive the scanning mirror 12, the first transmission part 21 and the supporting member 40 mounted on the connecting member 50 to rotate (rotation movement) around the second center line L2, and drives the first transmission part 21 to drive the connecting member 50, the scanning mirror 12, the supporting member 40 and the driving member 30 to rotate (revolution movement) around the first center line L1 relative to the second transmission part 22 through the transmission cooperation of the first transmission part 21 and the second transmission part 22. Thus, on the one hand, the movements of the transmission member 20 and the driving member 30 are inherently coupled and strictly synchronized, without the need for additional sensors and control algorithms to coordinate two independent driving sources, so that the scanning device 100 can achieve good three-dimensional laser scanning array through a simple control system; on the other hand, the transmission gap between the driving member 30 and the first transmission part 21 is reduced, and the rotation accuracy of the scanning mirror 12 relative to the laser transceiver module 11 for rotation movement is improved. In the second embodiment, the first center line L1 is perpendicular to the vertical direction Y, and the second center line L2 is perpendicular to the horizontal direction X. Of course, in some embodiments, the first center line L1 is parallel to the vertical direction Y, and the second center line L2 is parallel to the horizontal direction X.

[0047] Please refer to Figure 1 and Figure 2 again, in this embodiment, the scanning device 100 further comprises a supporting member 40. The supporting member 40 is rotatably connected with the transceiver end of the laser component 10. The supporting member 40 is rotatably arranged around the first center line L1 and fixedly arranged relative to the first transmission part 21. Thus, on the one hand, the supporting member 40 is rotatably connected with the transceiver end of the laser component 10, so that the supporting member 40 can be used to support the transceiver end of the laser component 10, improving the stability and reliability of the transceiver end of the laser component 10 for rotation around the second center line L2, and further improving the accuracy of the control of the scanning field range of the scanning device 100; on the other hand, the supporting member 40 can rotate around the first center line L1, so that the supporting member 40 and the transceiver end of the laser component 10 can rotate synchronously around the first center line L1, and the driving member 30 can be conveniently controlled to drive the supporting member 40 and the transceiver end of the laser component 10 to start and stop, adjust speed and the like, providing dynamic response control capability of the driving member 30. Of course, in a possible implementation, the scanning device 100 can also omit the supporting member 40, i.e. the driving member is directly connected with the transceiver end of the laser component 10.

[0048] The driving member 30 is connected with the transceiving end of the laser component 10 through the support member 40. The driving member 30 is used to drive the support member 40 to drive the transceiving end of the laser component 10 to rotate around the first center line L1. The support member 40 can be fixedly connected with the output shaft of the driving member 30. Exemplarily, in the embodiment, the support member 40 is provided in a split type with the output shaft of the driving member 30. It should be noted that the split type refers to a structure formed by mutually independent molding of two elements. Of course, in a possible implementation, the support member 40 can be used as a rotor part of the driving member 30, that is, the support member 40 is integrally formed with the output shaft of the driving member 30. The support member 40 and the output shaft of the driving member 30 can also be fixedly connected through a third element, which is not limited in the present application.

[0049] In a possible implementation, the scanning device 100 further comprises a connecting member 50. The connecting member 50 is fixedly connected with the transceiving end of the laser component 10 and the first transmission part 21, and is rotatably connected with the support member 40. Thus, the connecting member 50 is connected with the support member 40, the transceiving end of the laser component 10 and the first transmission part 21 to form an integral structure, thereby realizing the modularization of the scanning device 100, facilitating assembly and maintenance, and improving the reliability and stability of the connection of each part of the scanning device 100. The connecting member 50 can be integrally formed with at least one of the transceiving end of the laser component 10 and the first transmission part 21, thereby improving the reliability and stability of the connection of the connecting member 50 with the transceiving end of the laser component 10 and the first transmission part 21. Of course, in some embodiments, the connecting member 50 can be provided in a split type with the transceiving end of the laser component 10 and the first transmission part 21, and is fixedly connected; or, the connecting member 50 can also be used as the output shaft of the driving member 30.

[0050] The laser component 10 comprises a laser transceiver module 11 and a scanning mirror 12. The laser transceiver module 11 is arranged separately from the support 40. The scanning mirror 12 is rotatably connected to the support 40. The scanning mirror 12 is located on the light path of the laser transceiver module 11 and is rotatably arranged relative to the laser transceiver module 11 about the first center line L1 and the second center line L2, wherein the scanning mirror 12 serves as the transceiver end of the laser component 10. In this way, on the one hand, based on the fixed arrangement of the installation position of the laser transceiver module 11, the distance between the laser transceiver module 11 and the perpendicular line of the second center line L2 remains unchanged, thereby improving the reliability and stability of the laser emitted by the laser transceiver module 11, and avoiding the problem that the heat dissipation path of the laser transceiver module 11 is limited by the rotary motion, that is, the heat dissipation structure is fixedly arranged with the installation position of the laser transceiver module 11, thereby improving the operation reliability and safety of the laser transceiver module 11, and prolonging the service life of the laser transceiver module 11; on the other hand, the mass of the scanning mirror 12 is relatively small compared to the mass of the laser transceiver module 11, and the energy consumption required for the rotation of the scanning mirror 12 is small; on the other hand, the scanning mirror 12 is rotatably arranged relative to the laser transceiver module 11 about the first center line L1 and the second center line L2, thereby improving the compactness of the overall structure of the scanning device 100.

[0051] Exemplarily, in the present embodiment, the laser transceiver module 11 has a light outlet 1101. The scanning mirror 12 is located on the light path of the laser transceiver module 11, which means that the light outlet 1101 of the laser transceiver module 11 is directed towards the scanning mirror 12. The scanning mirror 12 is rotatably connected to the support 40 through the connecting member 50, and the rotary momentum output by the driving member 30 to the support 40 can act on the scanning mirror 12. The scanning mirror 12 can be used to reflect and / or refract light rays, so that the laser emitted by the laser transceiver module 11 can change the transmission path after hitting the scanning mirror 12 and enter the external environment. The laser reflected from the external environment can finally be collected by the laser transceiver module 11, forming a point cloud map.

[0052] The driving member 30 is configured to drive the support member 40 to rotate the scanning mirror 12 and the first transmission part 21 around the first center line L1, and to drive the laser component 10, the first transmission part 21 and the connecting member 50 around the second center line L2 through the transmission cooperation between the first transmission part 21 and the second transmission part 22. Thus, the scanning mirror 12 rotating around the first center line L1 can convert the one-dimensional laser reflected by the laser transceiver module 11 into two-dimensional laser, and the scanning mirror 12 rotating around the second center line L2 can further convert the two-dimensional laser into three-dimensional laser. That is, the scanning mirror 12 rotating around the first center line L1 and the second center line L2 can convert the one-dimensional laser reflected by the laser transceiver module 11 into a three-dimensional laser scanning array. Only a single driving source and mechanical structure are needed to realize the large field of view scanning range of the scanning device 100, which reduces the manufacturing cost of the scanning device 100 and simplifies the structure of the scanning device 100.

[0053] In a possible implementation, the support member 40 includes a main body part 41 and a support part 42. The support part 42 is protruded from one end of the main body part 41 in a direction parallel to the first center line L1 and is rotatably connected with the scanning mirror 12. The scanning mirror 12 is spaced apart from the main body part 41 in the direction parallel to the first center line L1. The part of the main body part 41 on the light path of the laser transceiver module 11 is provided with a light-transmitting structure 401, which is a light-transmitting hole or a light-transmitting body. Thus, on the one hand, the main body part 41 is configured to output the rotation torque around the first center line L1, and the support part 42 can provide a rotation fulcrum for the support member 40 to rotate around the second center line L2. Specifically, the distance between the support member 40 and the main body part 41 is greater than the rotation radius of the scanning mirror 12 when rotating around the second center line L2, which can avoid the interference between the scanning mirror 12 and the main body part 41 during multi-dimensional rotation, and is conducive to the efficient generation of a three-dimensional laser scanning array by the scanning device 100. On the other hand, the part of the main body part 41 on the light path of the laser transceiver module 11 is provided with the light-transmitting structure 401. Specifically, the light outlet 1101 of the laser transceiver module 11, the light-transmitting structure 401 and the scanning mirror 12 are sequentially arranged on the light path of the laser transceiver module 11, so that the paths for emitting and receiving laser by the laser transceiver module 11 can be connected to the scanning mirror 12 through the light-transmitting structure 401. Thus, the laser transceiver module 11 can be fixedly arranged in a region other than the driving member 30, which is conducive to reducing the output load of the driving member 30, improving the rotation frequency of the scanning mirror 12, and further improving the detection accuracy of the scanning device 100. In this embodiment, the light-transmitting structure 401 is a light-transmitting hole, which can reduce the energy loss of the emitted laser of the laser transceiver module 11 and avoid the problem that the laser is transmitted to the inside of the support member 40 to cause the support member 40 to absorb the laser energy and heat up.

[0054] The main body part 41 is configured as a hollow cylindrical structure. Specifically, a light transmission hole penetrates two end faces of the main body part 41 in the axial direction of the main body part 41. The axial direction of the main body part 41 is parallel to the first center line L1. Thus, based on the main body part 41 being configured as a hollow cylindrical structure, on the one hand, the overall structure of the support part 40 is uniformly stressed, improving the stability and reliability of the rotation of the support part 40 around the first center line L1, and the inner side wall of the main body part 41 is uniformly flat, improving the uniformity of the emitted laser light and the received reflected laser light of the laser transceiver module 11, and improving the transceiving effect of the laser transceiver module 11. Of course, in some embodiments, the main body part 41 is configured as a hollow prism structure; or the main body part 41 is configured as a solid cylindrical structure. The outer contour and inner contour of the cross section of the solid structure can be circular, square, polygonal, elliptical, etc., which is not limited in the embodiments of the present application.

[0055] In some embodiments, the driving part 30 is arranged below the support part 40. For example, the driving part 30 can be arranged coaxially with the support part 40. The driving part 30 is provided with a through hole at a position corresponding to the light transmission structure 401, so that the laser light emitted by the laser transceiver module 11 can pass through the through hole and the light transmission structure 401 in turn to the scanning mirror 12. Of course, in some embodiments, the driving part 30 can be arranged non-coaxially with the support part 40, and the driving part 30 is arranged to avoid the light transmission structure 401, so that the driving part 30 does not block the optical path of the laser transceiver module 11. For example, the driving part 30 can be arranged on the side of the support part 40 in the radial direction. In other embodiments, the support part 40 can be part of the driving part 30. It should be noted that the arrangement of the driving part 30 on the support part 40 can be arranged according to actual conditions, which is not limited in the embodiments of the present application.

[0056] The number of support parts 42 is two. The two support parts 42 are arranged opposite to each other in a direction parallel to the second center line L2. The connecting part 50 penetrates the end of the two support parts 42 away from the main body part 41, and the scanning mirror 12 is located between the two support parts 42. Thus, based on the two support parts 42 being arranged at one end of the main body part 41, and the scanning mirror 12 being located between the two support parts 42, on the one hand, the stability and reliability of the rotational connection between the scanning mirror 12 and the support part 42 are improved, and the transceiving quality of the laser transceiver module 11 for laser light or reflected laser light is improved; on the other hand, the support part 42 reduces the blocking of the emitted laser light and the reflected laser light, and improves the transceiving effect of the laser transceiver module 11 for laser light or reflected laser light. Of course, in some embodiments, the number of support parts 42 can also be one or more than two, which is not limited in the embodiments of the present application.

[0057] Exemplarily, in the embodiment, the main body 41 and the support 42 are arranged in a split mode and fixedly connected, thereby facilitating the disassembly, replacement and maintenance of the elements such as the scanning mirror 12, the support 40 and the connecting piece 50. Of course, in some embodiments, the main body 41 and the support 42 can also be configured in an integrated structure, thereby improving the stability and reliability of the connection between the main body 41 and the support 42.

[0058] Exemplarily, in the embodiment, the main body 41 is configured in a non-light-transmitting structure, and the support 42 can be configured in a light-transmitting structure, thereby the main body 41 can guide more laser to be emitted to the scanning mirror 12, and more reflected laser reflected by the scanning mirror 12 can be transmitted to the laser transceiver module 11 through the main body 41, thereby improving the receiving and transmitting effect of the laser transceiver module 11 on the laser or the reflected laser. Of course, in some embodiments, the main body 41 and the support 42 can both be configured in a non-light-transmitting structure, thereby reducing the manufacturing difficulty of the support 40.

[0059] The laser transceiver module 11 is arranged at one end of the main body 41 away from the support 42 and located outside the main body 41, thereby avoiding the interference of the laser transceiver module 11 with the rotation of the main body 41. Of course, in some embodiments, the laser transceiver module 11 can also be arranged in the interior of the main body 41 and spaced apart from the inner side wall of the main body 41, thereby saving the occupied space of the laser transceiver module 11 and improving the compactness of the overall structure of the scanning device 100.

[0060] The scanning mirror 12 is a mirror or a prism. The mirror is a single-surface mirror or a multi-surface mirror. Exemplarily, in the embodiment, the scanning mirror 12 is a mirror, thereby the scanning angle of the scanning device 100 has a direct linear relationship with the mirror deflection angle of the scanning mirror 12, which is easy to control and calibrate. The shape of the scanning mirror 12 is a cube. The six surfaces of the scanning mirror 12 are all configured as reflective surfaces; or, the four surfaces of the scanning mirror 12 perpendicular to the first center line L1 are configured as reflective surfaces. The shape of the scanning mirror 12 can also be but not limited to a sphere, a cuboid, a prism or a sphere, etc.

[0061] In a possible implementation, the scanning mirror 12 can be a single-surface mirror. Since the single-surface mirror only needs to be adjusted for counterweight on the back or the support 42, the vibration performance of the single-surface mirror under high-speed rotation can be optimized, and the dynamic balance correction of the single-surface mirror is easy to implement. Good dynamic balance is conducive to ensuring the scanning accuracy and service life of the scanning device 100.

[0062] In a possible implementation, the scanning mirror 12 can be a multi-faceted mirror. The multi-faceted mirror has high optical efficiency, and the motor can perform multiple (equal to the number of facets) effective scans per revolution. For example, when the rotation speed of a four-faceted mirror is 1000 RPM, the scanning frequency is 66.7 Hz, which is higher than the scanning frequency of 16.7 Hz of a single-faceted mirror at the same rotation speed.

[0063] In a possible implementation, the scanning mirror 12 can be a prism. The prism has high optical efficiency and generally has rotational symmetry, and is easier to achieve good dynamic balance. In addition, the prism can be designed to have a specific angle and shape to generate a specific scanning pattern, so as to meet the pattern requirements of the three-dimensional laser scanning array of the scanning device 100 in different application scenarios.

[0064] In a possible implementation, the first transmission part 21 is provided with a first gear 211, and the second transmission part 22 is provided with a second gear 221. The first gear 211 is engaged with the second gear 221. When the first transmission part 21 rotates around the first center line L1 under the driving torque of the driving part 30, the engagement of the first gear 211 and the second gear 221 can drive the first transmission part 21 to rotate around the second center line L2, and further drive the support part 40 fixedly connected to the first transmission part 21 to rotate around the second center line L2, so as to finally drive the scanning mirror 12 connected to the support part 40 to rotate around the second center line L2. By arranging the first gear 211 on the first transmission part 21 and the second gear 221 on the second transmission part 22, the transmission part 20 can efficiently transmit the rotation torque around the second center line L2 to the support part 40 and the scanning mirror 12, which is conducive to the continuous output of the three-dimensional laser scanning array of the scanning device 100.

[0065] In a possible implementation, the ratio of the number of the second gears 221 to the number of the first gears 211 has a remainder. That is, the number of teeth of the second gears 221 is not divisible by the number of teeth of the first gears 211, which makes the initial position of the first transmission part 21 before a next round of rotation different from the initial position before a previous round of rotation, after the first transmission part 21 rotates a whole circumference, i.e., 360 degrees, on the second transmission part 22, and further makes the scanning device 100 output three-dimensional laser scanning arrays that are staggered with each other, reduces scanning gaps, and is beneficial to improving the detection accuracy of the scanning device 100. Exemplarily, in this embodiment, the number of teeth of the second gears 221 can be 61, the number of teeth of the first gears 211 can be 10, and the remainder of the ratio of the number of teeth of the second gears 221 to the number of teeth of the first gears 211 is 1. The transmission ratio of the second gears 221 to the first gears 211 is 61 / 10 = 6.1, that is, the first transmission part 21 rotates 6.1 rounds when rotating a whole circumference on the second transmission part 22. Therefore, the initial position of the first transmission part 21 before a next round of rotation is 360 degrees multiplied by 0.1, i.e., 36 degrees, ahead of the initial position before a previous round of rotation, and the scanning mirror 12 also deflects by 36 degrees, which makes the three-dimensional laser scanning arrays generated in different rounds staggered due to the deflection of the reflecting surface of the scanning mirror 12. It should be noted that the number of teeth of the first gears 211 and the number of teeth of the second gears 221 are only examples, as long as the ratio of the number of teeth of the second gears 221 to the number of teeth of the first gears 211 has a remainder, and the number of teeth of the second gears 221 is not divisible by the number of teeth of the first gears 211.

[0066] Please refer to Figure 1 and Figure 4 , Figure 4 is a structural schematic diagram of a scanning device 100 provided in a third embodiment. In the third embodiment, the structure of the scanning device 100 is similar to that of the scanning device 100 in the second embodiment. The difference lies in that, in the third embodiment, the transmission member 20 is different from the transmission member 20 in the second embodiment.

[0067] In the third embodiment, the transmission member 20 further includes a third transmission part 23 and a fourth transmission part 24. The third transmission part 23 is connected with the driving member 30 and in transmission connection with the fourth transmission part 24, the fourth transmission part 24 is fixedly connected with the second transmission part 22, the first transmission part 21 is configured as a worm gear, the second transmission part 22 is configured as a worm that rotates in cooperation with the worm gear, and the third transmission part 23 and the fourth transmission part 24 are both configured as gears. Exemplarily, in the third embodiment, the third transmission part 23 and the fourth transmission part 24 are both configured as cylindrical gears.

[0068] It can be understood that, based on the fixed connection of the output shaft of the driving member 30 and the third transmission part 23, the engagement of the third transmission part 23 and the fourth transmission part 24, the fixed connection of the fourth transmission part 24 and the second transmission part 22, and the transmission connection of the second transmission part 22 and the first transmission part 21, the driving member 30 can drive the third transmission part 23 to drive the fourth transmission part 24 to rotate around the second center line L2, the rotation of the fourth transmission part 24 drives the second transmission part 22 (i.e. the worm) to rotate, the rotation of the second transmission part 22 drives the first transmission part 21 (i.e. the worm wheel) to rotate around the first center line L1 together with the laser transceiver module 11 or the scanning mirror 12 of the laser component 10 connected with the first transmission part 21, so that the scanning device 100 can realize good three-dimensional laser scanning array through a simple control system. Thus, based on the configuration of the transmission member 20 as a combined transmission unit of gears, worm wheels and worms, on the one hand, the transmission connection of the worm and the worm wheel has the characteristics of compact structure, large carrying capacity and stable transmission; on the other hand, the transmission member 20 reduces the occupied space of the scanning device 100, and a small force applied on the worm can form a large torque on the worm wheel, thereby improving the transmission efficiency; on the other hand, the worm and the worm wheel have self-locking performance, thereby improving the stability and reliability of the rotation of the scanning mirror 12 around the second center line L2; on the other hand, the driving member 30 is located at the side of the laser component 10, so that the laser transceiver module 11 is arranged below the support member 40, and the structure layout is reasonable and compact.

[0069] Please refer to Figure 1 and Figure 5 , Figure 5 is a structural schematic diagram of the scanning device 100 provided by the fourth embodiment of the present application. In the fourth embodiment, the structure of the scanning device 100 is similar to that of the scanning device 100 in the first embodiment. The difference lies in that, in the fourth embodiment, the transmission member 20 is different from the transmission member 20 in the first embodiment.

[0070] In the fourth embodiment, the transmission member 20 further comprises a third transmission part 23, a fourth transmission part 24 and a fifth transmission part 25. The third transmission part 23 is connected with the driving member 30 and is in transmission connection with the fourth transmission part 24. The fourth transmission part 24 is fixedly connected with the second transmission part 22. The fifth transmission part 25 is arranged on the transmission path between the third transmission part 23 and the receiving and transmitting end of the laser component 10, for example, the fifth transmission part 25 is arranged on the transmission path between the third transmission part 23 and the support member 40. The fifth transmission part 25 is used to adjust the rotating speed of the support member 40, so that the rotating speed of the support member 40 is different from the rotating speed of the third transmission part 23, thereby realizing the self-rotation movement of the worm around the second center line L2 driven by the worm gear. The first transmission part 21 is configured as a worm gear, the second transmission part 22 is configured as a worm which is in rotation cooperation with the worm gear, the third transmission part 23 and the fourth transmission part 24 are both configured as gears. The fifth transmission part 25 is configured as a planetary gear. Exemplarily, in the third embodiment, the third transmission part 23 and the fourth transmission part 24 are both configured as conical gears.

[0071] It can be understood that, based on the fixed connection between the output shaft of the driving member 30 and the third transmission part 23, the meshing between the third transmission part 23 and the fourth transmission part 24, the fixed connection between the fourth transmission part 24 and the second transmission part 22, the arrangement of the fifth transmission part 25 on the transmission path between the third transmission part 23 and the support member 40, the adjustment of the rotating speed of the support member 40 to be different from the rotating speed of the third transmission part 23, the transmission connection between the second transmission part 22 and the first transmission part 21, the driving of the third transmission part 23 by the driving member 30 to drive the fourth transmission part 24 to rotate around the first center line L1, the rotation of the fourth transmission part 24 to drive the second transmission part 22 (i.e. the worm) to rotate, the rotation of the second transmission part 22 to drive the first transmission part 21 (i.e. the worm gear) to rotate around the second center line L2 together with the connecting member 50, the support member 40 and the laser receiving and transmitting module 11 or the scanning mirror 12 of the laser component 10, thereby enabling the scanning device 100 to realize good three-dimensional laser scanning array through a simple control system. Thus, based on the configuration of the transmission member 20 as a combined transmission unit of gears, worm gears and worms, on the one hand, the transmission connection between the worm and the worm gear has the characteristics of compact structure, large carrying capacity and stable transmission; on the other hand, the occupied space of the transmission member 20 to the scanning device 100 is reduced, and a small force is applied on the worm to form a large torque on the worm gear, thereby improving the transmission efficiency; on the other hand, the worm and the worm gear have self-locking performance, thereby improving the stability and reliability of the rotation of the scanning mirror 12 around the second center line L2; on the other hand, the first transmission part 21 (i.e. the worm gear) is decoupled from the driving member 30, i.e. the driving member 30 does not follow the first transmission part 21 (i.e. the worm gear) to perform revolution movement, thereby realizing the fixed arrangement of the installation position of the driving member 30, so that the moment of inertia of the driving member 30 is small, which is convenient for the start-stop and speed regulation operations of the driving member 30, thereby providing the dynamic response control ability of the driving member 30.

[0072] Referring to Figure 1 and Figure 6 , Figure 6 is Figure 1 the detection laser array diagram of the scanning device 100 in the first embodiment. The scanning device 100 can form a sawtooth-like laser scanning array. Specifically, the scanning mirror 12 can be a double-sided mirror, and the scanning mirror 12 can include two first and second reflection surfaces with different directions. For example, the laser trajectory reflected by the first reflection surface can be a trajectory from the lower left to the upper right as shown in Figure 6 , and the laser trajectory reflected by the second reflection surface can be a trajectory from the upper left to the lower right as shown in Figure 6 . The ratio of the number of teeth of the second gear 221 to the number of teeth of the first gear 211 has a remainder, so that the three-dimensional laser scanning arrays generated by different rounds will be misaligned due to the deflection of the reflection surfaces of the scanning mirror 12, as shown by the gap D1 between the solid laser trajectory and the dashed laser trajectory in Figure 6 .

[0073] Referring to Figure 1 and Figure 7 , Figure 7 is a structural schematic diagram of the scanning device 100 provided by the fifth embodiment. In the fifth embodiment, the structure of the scanning device 100 is similar to that of the scanning device 100 in the first embodiment. The laser component 10 includes the laser transceiver module 11 and the scanning mirror 12. The difference is that, in the fifth embodiment, the setting mode of the laser transceiver module 11 of the laser component 10 is different from that of the laser transceiver module 11 of the laser component 10 in the first embodiment, and the main body 41 of the support 40 is not provided with the light-transmitting structure 401 in the first embodiment.

[0074] In the fifth embodiment, the support 40 can be configured as a solid structure. The support 40 can also be configured as a hollow structure. The laser transceiver module is fixed to the surface of the support 40 facing the scanning mirror 12. The laser transceiver module 11 is fixedly connected with the support 40, so as to realize that the laser transceiver module 11 rotates with the support 40 around the first center line L1. The scanning mirror 12 is fixedly connected with the connecting piece 50 and is rotatably connected with the support 40. The scanning mirror 12 is located on the light path of the laser transceiver module 11 and is rotatably arranged relative to the laser transceiver module 11 around the first center line L1 and the second center line L2. Among them, the scanning mirror 12 serves as the transceiver end of the laser component 10. Therefore, the driving piece 30 is used to drive the support 40 to drive the laser transceiver module 11, the scanning mirror 12 and the first transmission part 21 to rotate around the first center line L1 together, and drive the scanning mirror 12 and the first transmission part 21 to rotate around the second center line L2 relative to the second transmission part 22 through the transmission cooperation of the first transmission part 21 and the second transmission part 22, which makes the present application can drive the laser transceiver module 11 and the scanning mirror 12 to rotate around the first center line L1 directly through the driving piece 30, and transmit the rotation torque around the second center line L2 to the scanning mirror 12 through the transmission of the transmission part 20 to make the scanning mirror 12 rotate around the second center line L2, finally convert the one-dimensional laser emitted by the laser transceiver module 11 into a three-dimensional laser scanning array. In other words, the rotation (rotation) of the scanning mirror 12 around the second center line L2 is directly derived from the rotation (revolution) of the laser transceiver module 11 and the scanning mirror 12 around the first center line L1. Therefore, based on the laser transceiver module 11 and the scanning mirror 12 being arranged on the same side of the support 40, on the one hand, the optical path distance between the laser transceiver module 11 and the scanning mirror 12 is shortened, and the energy loss of the laser or reflected laser is reduced; on the other hand, the laser component 10 can generate a three-dimensional laser scanning array, and the scanning device 100 can be designed to be small in size, thereby enriching the application scenarios of the scanning device 100; on the other hand, by mechanically transmitting the transmission part 20 and the single driving piece 30, the manufacturing cost of the scanning device 100 is reduced, and the structure of the scanning device 100 is simplified; on the other hand, since the installation positions of the laser transceiver module 11 and the scanning mirror 12 on the support 40 are relatively fixed, specifically, the laser transceiver module 11 and the scanning mirror 12 are arranged flat on one end face of the support 40, therefore the emission light path and the receiving light path of the laser transceiver module 11 can be arranged non-coaxially, improving the flexibility and reliability of the optical path arrangement of the laser component 10.

[0075] In a possible implementation, the driving member 30 can also be connected with the scanning mirror 12 of the laser component 10 and / or the first transmission member 21, and used to drive the scanning mirror 12 and the first transmission member 21 to rotate around the second center line L2, and drive the first transmission member 21 and the scanning mirror 12 to rotate around the first center line L1 through the transmission matching of the first transmission member 21 and the second transmission member 22. It can be understood that in this embodiment, the connecting member 50 can serve as an output shaft of the driving member 30, thereby simplifying the overall structure of the scanning device 100 and improving the transmission efficiency of the driving force of the driving member 30. Of course, in some embodiments, the connecting member 50 can also be independently arranged with the output shaft of the driving member 30. Thus, compared with the fifth embodiment, the rotation (revolution) of the laser transceiver module 11 and the scanning mirror 12 around the first center line L1 is directly derived from the rotation (rotation) of the scanning mirror 12 around the second center line L2.

[0076] Please refer to Figure 1 and Figure 8 , Figure 8 is a structural schematic diagram of the scanning device 100 provided by the sixth embodiment of the present application. In the sixth embodiment, the structure of the scanning device 100 is similar to that of the scanning device 100 in the first embodiment. The laser component 10 only includes the laser transceiver module 11. The difference is that in the sixth embodiment, the setting mode of the laser transceiver module 11 of the laser component 10 is different from that of the laser transceiver module 11 of the laser component 10 in the first embodiment, and the main body 41 of the supporting member 40 is not provided with the light transmission structure 401 in the first embodiment.

[0077] In the sixth embodiment, the laser component 10 is configured as a laser transceiver module 11. The laser transceiver module 11 is rotatably connected with the support 40. Specifically, the laser transceiver module 11 is fixedly connected with the connecting member 50, and is rotatably connected with the support 40 through the connecting member 50. Wherein, the laser transceiver module 11 serves as the transceiving end of the laser component 10. Thus, the driving member 30 is used to drive the support 40 to drive the laser transceiver module 11 and the first transmission part 21 to rotate around the first center line L1 together, and to drive the laser transceiver module 11 and the first transmission part 21 to rotate around the second center line L2 relative to the second transmission part 22 through the transmission cooperation of the first transmission part 21 and the second transmission part 22, which makes the present application can drive the laser transceiver module 11 to rotate around the first center line L1 directly through the driving member 30, and transmit the rotation torque around the second center line L2 to the laser transceiver module 11 through the transmission of the transmission member 20 to make the laser transceiver module 11 rotate around the second center line L2, and finally convert the one-dimensional laser emitted by the laser transceiver module 11 into a three-dimensional laser scanning array. In other words, the rotation (rotation) of the laser transceiver module 11 around the second center line L2 is directly derived from the rotation (revolution) of the laser transceiver module 11 around the first center line L1. Thus, based on the laser transceiver module 11 being arranged on the same side of the support 40, on the one hand, the problem of energy loss caused by the laser emitted by the laser transceiver module 11 or the reflected laser being absorbed by the support 40 is avoided; on the other hand, the laser component 10 can generate a three-dimensional laser scanning array, and the scanning device 100 can be miniaturized, thereby enriching the application scenarios of the scanning device 100; on the other hand, the transmission member 20 and the single driving member 30 are mechanically transmitted, which reduces the manufacturing cost of the scanning device 100 and simplifies the structure of the scanning device 100, and on the other hand, the laser component 10 omits the scanning mirror 12, reduces the number of elements of the scanning device 100, improves the structural compactness of the scanning device 100, and reduces the manufacturing cost of the scanning device 100.

[0078] In a possible implementation, the driving member 30 can also be connected with the laser transceiver module 11 and / or the first transmission part 21 of the laser component 10, and is configured to drive the laser transceiver module 11 and the first transmission part 21 to rotate around the second center line L2, and drive the first transmission part 21 and the laser transceiver module 11 to rotate around the first center line L1 through the transmission matching between the first transmission part 21 and the second transmission part 22. It can be understood that in the embodiment, the connecting member 50 can serve as an output shaft of the driving member 30, thereby simplifying the overall structure of the scanning device 100 and improving the transmission efficiency of the driving force of the driving member 30. Of course, in some embodiments, the connecting member 50 can also be independently arranged from the output shaft of the driving member 30. Thus, compared with the fifth embodiment, the rotation (revolution) of the laser transceiver module 11 and the laser transceiver module 11 around the first center line L1 is directly derived from the rotation (rotation) of the laser transceiver module 11 around the second center line L2.

[0079] It should be noted that the structure and arrangement of the transmission member 20 of the scanning device 100 in the third embodiment and the fourth embodiment are applicable to the scanning device 100 in the fifth embodiment and the sixth embodiment, and the elements of the scanning device 100 in the second embodiment to the sixth embodiment are the same as those in the scanning device 100 in the first embodiment, and the same parts can be referred to the scanning device 100 in the first embodiment, which will not be described here.

[0080] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacements to some technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A scanning device, characterized by The application relates to a laser device. The laser device comprises a laser component, a transmission component, a driving component and a support component. The laser component is used for emitting and receiving reflected laser beams. The transmission component is in transmission connection with the laser component. The transmission component comprises a first transmission part and a second transmission part in transmission connection with the first transmission part. The first transmission part is fixedly connected with a receiving and transmitting end of the laser component and revolves around a first center line and rotates around a second center line relative to the second transmission part. The driving component is connected with the laser component. The driving component is used for driving the laser component to rotate around the first center line and is used for driving the laser component to synchronously rotate around the second center line through the transmission component.

2. The scanning device of claim 1, wherein, The first center line intersects with the second center line.

3. The scanning device of claim 2, wherein, The support component is rotatably connected with the receiving and transmitting end of the laser component.

4. The scanning device of claim 1, wherein, The support component is rotatably arranged around the first center line and is fixedly arranged relative to the first transmission part. The support component is coaxially arranged with the driving component and is fixedly connected with an output shaft of the driving component. The connecting component is fixedly connected with the receiving and transmitting end of the laser component and the first transmission part and is rotatably connected with the support component. The second transmission part is arranged outside the support component and the receiving and transmitting end of the laser component. The first transmission part is provided with a first gear. An end surface of the second transmission part facing the first transmission part is provided with a second gear. The first gear is in meshing connection with the second gear. The driving component is also used for driving the support component to drive the receiving and transmitting end of the laser component and the first transmission part to jointly revolve around the first center line relative to the second transmission part. The first gear and the second gear are in transmission connection. The first transmission part drives the connecting component and the receiving and transmitting end of the laser component fixedly arranged on the connecting component to synchronously rotate around the second center line. The laser component comprises a laser receiving and transmitting module and a scanning mirror. The laser receiving and transmitting module is separately arranged with the support component. The scanning mirror is rotatably arranged around the first center line and the second center line relative to the laser receiving and transmitting module. The scanning mirror is used as the receiving and transmitting end of the laser component. The support component comprises a main body part and a support part. The support part is protruded at one end of the main body part in a direction parallel to the first center line and is rotatably connected with the scanning mirror. The scanning mirror is spaced apart from the main body part in the direction parallel to the first center line. A part of the main body part on the light path of the laser receiving and transmitting module is provided with a light-transmitting structure. The light-transmitting structure is a light-transmitting hole or a light-transmitting body. The laser component comprises a laser receiving and transmitting module and a scanning mirror. The laser receiving and transmitting module is fixedly connected with the support component. The scanning mirror is rotatably arranged around the first center line and the second center line relative to the laser receiving and transmitting module. The scanning mirror is used as the receiving and transmitting end of the laser component.

5. The scanning device of claim 1, wherein, The laser component is a laser transceiver module, and the laser transceiver module is rotatably connected with the support.

6. The scanning device according to any one of claims 2-4, wherein, The scanning mirror is a mirror or a prism, and the mirror is a single-surface mirror or a multi-surface mirror.

7. The scanning device of claim 1, wherein, The ratio of the number of the second gears to the number of the first gears has a remainder.

8. The scanning device according to any one of claims 2-5, wherein, The transmission member further comprises a third transmission part and a fourth transmission part, the third transmission part is connected with the driving member and is in transmission connection with the fourth transmission part, the fourth transmission part is fixedly connected with the second transmission part, the first transmission part is configured as a worm gear, the second transmission part is configured as a worm that is in rotational cooperation with the worm gear, and the third transmission part and the fourth transmission part are both configured as gears; or, the transmission member further comprises a third transmission part, a fourth transmission part and a fifth transmission part, the third transmission part is connected with the driving member and is in transmission connection with the fourth transmission part, the fourth transmission part is fixedly connected with the second transmission part, the fifth transmission part is arranged on a transmission path between the third transmission part and a transceiving end of the laser component and is used for adjusting the rotational speed of the third transmission part to be different from the rotational speed of the transceiving end of the laser component, the first transmission part is configured as a worm gear, the second transmission part is configured as a worm that is in rotational cooperation with the worm gear, the third transmission part and the fourth transmission part are both configured as gears, and the fifth transmission part is configured as a planetary gear.

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