Sensor device and movable platform

Abstract

The invention provides a sensor device and a movable platform. The sensor device comprises a shell, at least one visual sensor mechanism and a radar sensor mechanism. Wherein the at least one visual sensor mechanism and the radar sensor mechanism are integrally mounted in the shell. According to the sensor device, at least one visual sensor mechanism and at least one radar sensor mechanism are integrated and installed in the same shell, integration of the visual sensor and the radar sensor is achieved, and therefore the sensor device only needs to be installed at one position in actual use, the integration degree of the sensor device is improved, and the sensor device is convenient to use. And installation in actual use is facilitated.

Description

Technical Field

[0001] This application relates to the field of sensor technology, and more particularly to a sensor device and a mobile platform. Background Technology

[0002] To meet the perception requirements of assisted driving / autonomous driving, related technologies use both LiDAR sensors and vision sensors for environmental detection. However, the sensor layout schemes in these technologies all involve distributing LiDAR and vision sensors in different locations throughout the vehicle, i.e., using a separate design for LiDAR and vision sensors. This requires reserving and installing installation locations in different parts of the vehicle.

[0003] For example, the lidar is placed on the roof, while the vision sensor is placed inside the windshield. This installation method has at least the following drawbacks: it affects the roof's appearance; it affects the overall aerodynamic shape of the vehicle, increasing the drag coefficient; and since the lidar is placed outside the vehicle, it operates under harsher conditions and is more susceptible to damage from sand and gravel.

[0004] For example, the lidar is placed in the front bumper, and the vision sensor is placed inside the windshield. This installation method has at least the following drawbacks: the lidar is easily damaged by collisions, and the repair cost is poor; the lidar is placed in the front bumper, and the installation height is low, making it more susceptible to damage from sand and gravel; the lidar is placed in the front bumper, and it is prone to getting dirty, often requiring an automatic cleaning device. Summary of the Invention

[0005] To address at least one technical problem existing in the prior art, this application proposes a sensor device and a mobile platform.

[0006] In a first aspect, this application provides a sensor device, comprising: a housing, at least one visual sensor mechanism and a radar sensor mechanism; wherein the at least one visual sensor mechanism and the radar sensor mechanism are integrated and mounted on the housing.

[0007] In some embodiments, at least one visual sensor mechanism includes: a first visual sensor mechanism and a second visual sensor mechanism; wherein the first visual sensor mechanism and the second visual sensor mechanism are mounted at both ends of the housing, and the radar sensor mechanism is mounted in the middle of the housing.

[0008] In some embodiments, the first visual sensor mechanism is a wide-angle visual sensor, and the second visual sensor mechanism is a telephoto visual sensor.

[0009] In some embodiments, the housing includes an upper housing and a lower housing. A radar mounting space is provided in the middle of the lower housing for mounting a radar sensor mechanism. A first mounting portion for mounting a first visual sensor and a second mounting portion for mounting a second visual sensor are provided at both ends of the lower housing.

[0010] In some embodiments, the upper housing includes a top cover and a side cover, which are sealed to the lower housing via a first sealing member, and the top cover, side cover and lower housing together enclose the radar mounting space.

[0011] In some embodiments, the side cover extends from the top cover, the angle between the side cover and the top cover toward the interior of the housing is an obtuse angle, and the lower housing is configured to match the shape of the upper housing.

[0012] In some embodiments, an IMU sensor module is also included. The housing is provided with a mounting hole communicating with the inside and outside of the housing. The IMU sensor module includes an IMU housing and an IMU circuit board. The IMU circuit board is mounted on the side of the IMU housing facing the inside of the housing. The IMU housing is sealed to the housing at the mounting hole by a second seal.

[0013] In some embodiments, an IMU sensor and a circuit board connector are provided on the IMU circuit board, wherein the circuit board connector is located on the side of the IMU circuit board facing the inside of the housing. When the IMU sensor module is installed into the mounting hole, the circuit board connector is connected to the circuit board inside the housing.

[0014] In some embodiments, the radar sensor mechanism includes at least a TX module, an RX module, and an optical lens module disposed inside the housing.

[0015] In some embodiments, the TX module includes a TX circuit board, and the RX module includes an RX circuit board; a first heat-conducting element is disposed between the TX circuit board and the inner wall of the housing, and / or a heat sink is disposed between the RX circuit board and the inner wall of the housing.

[0016] In some embodiments, the radar sensor mechanism further includes a lidar scanning mechanism, the lidar scanning mechanism comprising:

[0017] Mounting base, wherein the mounting base is provided with at least one first abutting part;

[0018] An electric motor, which is mounted on the mounting base;

[0019] 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;

[0020] A reflector, which is disposed on the surface of the magnetic yoke and oscillates with the magnetic yoke;

[0021] 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.

[0022] In some embodiments, 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.

[0023] In some embodiments, one end of the magnetic yoke is provided with a flange, and the flange is provided with a mating groove, which forms the second abutment portion; the mounting base is provided with a limiting post, which forms the first abutment portion, and 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.

[0024] In some embodiments, the elastic element includes a first spring and a second spring, the first spring and the second spring being 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 being adapted to the shape of the first sidewall, and the shape of the second spring being adapted to the shape of the second sidewall.

[0025] 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.

[0026] In some embodiments, 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 are located at opposite ends of the mounting portion. A first spring is connected to the mounting portion via the first connecting segment, and a second spring is connected to the mounting portion via the second connecting segment. The limiting post is provided with a mounting groove, and the mounting portion is disposed within the mounting groove.

[0027] In some embodiments, the surfaces of the first spring sheet that contact the first sidewall and the second spring sheet that contact the second sidewall are both provided with sound-absorbing elements; or, the surfaces of the first sidewall and the second sidewall are provided with sound-absorbing elements.

[0028] In some embodiments, the sound-absorbing element includes a foam layer.

[0029] In some embodiments, the elastic element includes a silicone element; the silicone element is sleeved on the limiting post; or, the limiting post is provided with a mounting groove, and part of the silicone element is disposed in the mounting groove.

[0030] In some embodiments, 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.

[0031] In some embodiments, 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 in each winding portion. The rotating shaft and the magnetic ring are both connected to the magnetic yoke. When the motor is energized, the rotating shaft and the magnetic ring can drive the magnetic yoke to swing.

[0032] In some embodiments, the magnetic yoke is provided with a shaft hole, a 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.

[0033] In some embodiments, 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.

[0034] In some embodiments, 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.

[0035] In some embodiments, 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; a second fixing portion is formed on the outer surface of the mounting sleeve, and the core is fixedly connected to the second fixing portion on the mounting sleeve through the first fixing portion.

[0036] In some embodiments, 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-fitted.

[0037] In some embodiments, a mounting through hole is formed in the mounting sleeve, the mounting through hole including a first hole segment, a second hole segment, and a third hole segment, the second hole segment being 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 being 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 hole segment, the outer ring of the first bearing abutting against one end of the second hole segment, and the end of the shaft hole abutting against the inner ring of the first bearing; the second bearing is disposed in the third hole segment, the outer ring of the second bearing abutting against the other end of the second hole segment, and a preload member is also provided in the mounting through hole, the preload member being sleeved on the rotating shaft, and the preload member abutting against the inner ring of the second bearing.

[0038] In some embodiments, 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.

[0039] In some embodiments, the device further includes a motor mounting plate, 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.

[0040] In some embodiments, the assembly slot is provided with a plurality of positioning pins 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 pins 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 pins, and the fixing holes and the corresponding threaded holes are detachably connected by fasteners.

[0041] In some embodiments, 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 and connecting holes for connecting the housing of the lidar.

[0042] In some embodiments, the magnetic yoke is provided with a mounting plate, the mounting plate including a connecting portion and a supporting portion, the supporting portion being disposed at one end of the connecting portion and protruding from the connecting portion, the reflector being connected to the connecting portion, and one end of the reflector abutting against the supporting portion.

[0043] In some embodiments, the reflector is bonded to the connecting portion.

[0044] In some embodiments, 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.

[0045] In some embodiments, a positioning part is provided on the bottom wall of the housing for positioning and installing the lidar scanning mechanism.

[0046] In some embodiments, a radar window and an optical window mounted on the radar window are provided on the side cover, and a sealing material is provided between the optical window and the radar window.

[0047] In some embodiments, the sensor device is also configured with a light shield that matches the side cover.

[0048] In some embodiments, at least one visual sensor shares a receiving lens with the radar sensor assembly.

[0049] In some embodiments, the housing is recessed inward on the connector side facing the sensor device.

[0050] Secondly, this application also provides a mobile platform configured with the sensor device described in any embodiment of this application.

[0051] The sensor device of this application integrates at least one vision sensor mechanism and a radar sensor mechanism into a housing, realizing the integration of vision sensor and radar sensor. Thus, in actual use, the sensor device only needs to be installed in one position, which not only improves the integration of the sensor device, but also facilitates installation in actual use. Attached Figure Description

[0052] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, the 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.

[0053] Figure 1 This is a schematic diagram of the structure of a sensor device provided in an embodiment of this application;

[0054] Figure 2 This is a schematic diagram of the upper shell structure provided in an embodiment of this application;

[0055] Figure 3 This is a schematic diagram of the lower shell structure provided in one embodiment of this application;

[0056] Figure 4 This is a schematic diagram of the structure of an IMU sensor module provided in one embodiment of this application;

[0057] Figure 5 This is a schematic diagram of the structure of an IMU sensor module provided in another embodiment of this application;

[0058] Figure 6 This is a top view of the internal structure of a sensor device provided in an embodiment of this application;

[0059] Figure 7 A schematic diagram of the assembly structure of a TX module provided in an embodiment of this application;

[0060] Figure 8 A schematic diagram of the assembly structure of an RX module provided in an embodiment of this application;

[0061] Figure 9 A schematic diagram of the installation structure of a lidar scanning mechanism provided in an embodiment of this application;

[0062] Figure 10 This is a schematic diagram of the structure of a sensor device provided in another embodiment of this application;

[0063] Figure 11 A simplified structural diagram of a lidar scanning mechanism provided in an embodiment of this application;

[0064] Figure 12 for Figure 1 Top view;

[0065] Figure 13 for Figure 1 A schematic diagram showing the central magnetic yoke and the reflecting mirror swinging clockwise to the first position;

[0066] Figure 14 for Figure 1 A schematic diagram showing the central magnetic yoke and the reflecting mirror swinging counterclockwise to the second position;

[0067] Figure 15 for Figure 1 Exploded view;

[0068] Figure 16 A simplified structural diagram of an elastic element provided in an embodiment of this application;

[0069] Figure 17 A simplified structural diagram of a lidar scanning mechanism provided in another embodiment of this application;

[0070] Figure 18 A simplified structural diagram of a mounting base provided in an embodiment of this application from a first-view perspective;

[0071] Figure 19 A simplified structural diagram of the mounting base provided in an embodiment of this application from a second perspective;

[0072] Figure 20 A cross-sectional view of a mounting base provided in an embodiment of this application;

[0073] Figure 21 A simplified structural diagram of a motor provided in one embodiment of this application;

[0074] Figure 22 A simplified structural diagram of an iron core provided in an embodiment of this application;

[0075] Figure 23 A simplified structural diagram of the magnetic yoke and reflector provided in one embodiment of this application;

[0076] Figure 24 A cross-sectional view of a lidar scanning mechanism provided in an embodiment of this application. Detailed Implementation

[0077] 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 only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0078] This application provides a sensor device that can be used on a mobile platform. The mobile platform includes, but is not limited to, vehicles, drones, and robots (humanoid robots, wheeled robots, tracked robots, etc.). The following embodiments use a vehicle as an example. The sensor device can be installed inside the vehicle's windshield to detect the environment in front of the vehicle, for purposes such as assisted driving or autonomous driving.

[0079] like Figure 1 The diagram shown is a structural schematic of an embodiment of the sensor device of this application. In this embodiment, the sensor device 700 includes a housing 710 and a radar sensor mechanism 720. Figure 1 Not shown in the image, please refer to [link / reference]. Figure 6 The radar sensor mechanism 720 is installed inside the housing 710, and the first visual sensor 730 and the second visual sensor 740 are located at both ends of the housing. The housing 710 includes an upper housing 711 and a lower housing 712, with an installation space formed between the upper housing 711 and the lower housing 712 for installing the radar sensor mechanism 720.

[0080] The sensor device of this application integrates at least one vision sensor mechanism and a radar sensor mechanism into a housing, realizing the integration of vision sensor and radar sensor. Thus, in actual use, the sensor device only needs to be installed in one position, which not only improves the integration of the sensor device, but also facilitates installation in actual use.

[0081] Furthermore, since the sensor device of this application can be installed inside the windshield of a vehicle, it avoids the risk of mechanical damage or malfunction caused by direct exposure of radar sensors and / or vision sensors to the external environment.

[0082] In some embodiments, the first visual sensor 730 and the second visual sensor 740 may also be disposed at one end of the housing, such as one side of the radar sensor mechanism 720. This application does not limit the number of visual sensors; for example, it may include only the first visual sensor 730 or the second visual sensor 740, or it may include three or more visual sensors. The positions of the visual sensors and the radar sensor mechanism are also not limited. The radar sensor mechanism 720 may be a lidar sensor mechanism, the first visual sensor may be a wide-angle visual sensor, and the second visual sensor may be a telephoto visual sensor. It should be noted that this application does not limit the types of radar sensor mechanisms and visual sensors.

[0083] Continue to refer to Figure 1 The sensor device 700 also includes a power connector 760 and a signal connector 770 disposed on the housing. The power connector 760 is used to connect to an external power source to supply power to the sensor device 700; the signal connector 770 is used to connect to an external electronic device to realize signal transmission between the sensor device 700 and the external electronic device, such as a vehicle control device.

[0084] like Figure 2 The diagram shown is a structural schematic of an embodiment of the upper housing in this application. In this embodiment, the upper housing 711 includes a top cover portion 7111 and a side cover portion 7112, with the side cover portion 7112 extending from a first edge of the top cover portion 7111. A power connector mounting portion 71111 and a signal connector mounting portion 71112 are provided on the second edge of the top cover portion 7111, and the first edge and the second edge are two opposite edges of the top cover portion.

[0085] Combination Figure 3 As shown, the included angle between the side cover 7112 and the top cover 7111 toward the interior of the housing is an obtuse angle. The lower housing 712 is configured to match the shape of the upper housing 711. The top cover 7111 and the side cover 7112 are sealed to the lower housing 712 by a first sealing element (such as sealant). The top cover 7111, the side cover 7112 and the lower housing 712 enclose a radar installation space.

[0086] Continue to refer to Figure 2The width of the top end of the side cover 7112 is greater than the width of the bottom end of the side cover 7112. The top end of the side cover 7112 is the end closer to the top cover 7111, and the bottom end of the side cover 7112 is the end farther away from the top cover 7111. The direction corresponding to the width of the side cover 7112 is referenced to the direction from the first edge of the top cover 7111 to the second edge.

[0087] Continue to refer to Figure 2 The angle between one side edge 71123 of the side cover 7112 and the plane of the top cover 7111, facing the interior of the shell, is an obtuse angle.

[0088] For example, multiple threaded holes may also be provided on the edge of the top cover 7111 for fixing the upper housing 711 onto the lower housing 712 by screws.

[0089] The side cover 7112 is provided with a radar window 71121 and an optical window 71122. A sealing material is provided between the optical window 71122 and the radar window 71121 to achieve a sealed installation. The sealing material can be any of the following: sealant, sealing strip, etc., and this application is not limited thereto. Furthermore, after installing the optical window, sealant can be applied to the edges of the optical window for further sealing and waterproofing.

[0090] like Figure 3 The diagram shows a structural schematic of one embodiment of the lower housing in this application. In this embodiment, a first visual sensor mounting portion 7122 and a second visual sensor mounting portion 7123 are respectively provided at both ends of the lower housing 712, and a radar mounting space 7121 is provided in the middle of the lower housing 712. A first recess 7124 and a second recess 7125 are provided on the edge of the lower housing 712 corresponding to the second edge of the upper housing 711. The first recess and the second recess correspond to the power connector mounting portion 71111 and the signal connector mounting portion 71112 on the upper housing 711, respectively. When the upper housing 711 and the lower housing 712 are assembled, the first recess 7124 and the power connector mounting portion 71111 form a mounting port for the power connector, and the second recess 7125 and the signal connector mounting portion 71112 form a mounting port for the signal connector.

[0091] In some embodiments, a first sealing element is provided on the edge of the lower housing 712 opposite to the upper housing 711, or on the edge of the upper housing 711 opposite to the lower housing 712. The first sealing element can be a sealant, a sealing strip, or a sealing ring, etc., and achieves waterproof and dustproof functions. This application does not limit the specific structure and material of the first sealing element.

[0092] In some embodiments, the housing 710 is provided with a clearance recess 7126 on the side facing the connector 760 / 770 of the sensor device. Exemplarily, continuing to refer to... Figure 3 On the edge between the first recess 7124 and the second recess 7125, there are also protruding first fixing parts 7127 and second fixing parts 7128 for fixing the sensor device. An avoidance recess 7126 is formed between the protruding first fixing parts 7127 and the second fixing parts 7128. In this embodiment, by using the avoidance recess 7126 in the overall shape of the sensor device, the avoidance of the rearview mirror bracket structure can be maximized, the space inside the windshield can be maximized, and the volume intruding into the driver's field of vision can be reduced.

[0093] like Figure 4 The diagram shown is a structural schematic of an embodiment of the IMU sensor module in this application. The housing has mounting holes communicating between the inside and outside of the housing for mounting the IMU sensor module 750. Exemplarily, in conjunction with... Figure 1 and Figure 4 In this embodiment, the upper housing is provided with mounting holes 71113. The IMU sensor module 750 is installed in the mounting holes 71113 through the second sealing member 7523, achieving a sealed installation with the upper housing. The IMU sensor module 750 can be fastened to the upper housing with screws 7524. The second sealing member can be sealant, sealing strip, sealing ring, etc. For example, the IMU sensor module uses a sealing ring to achieve a waterproof sealing function. This application does not limit the structure and material of the sealing member.

[0094] like Figure 5 The diagram shown is a structural schematic of another embodiment of the IMU sensor module in this application. In this embodiment, the IMU sensor module 750 includes an IMU housing 751 and an IMU circuit board 752. An IMU sensor 7521 is disposed on a first side of the IMU circuit board 752, and a circuit board connector 7522 is disposed on a second side of the IMU circuit board 752. The first side and the second side are opposite sides of the IMU circuit board, with the second side facing the interior of the housing and the first side facing the IMU housing 751. When the IMU sensor module 750 is installed at the mounting hole 71113, the circuit board connector 7522 connects precisely with the corresponding interface on the motherboard inside the housing.

[0095] This embodiment uses an IMU sensor module to collect acceleration information during vehicle operation, enabling the vehicle to obtain information on whether it correctly executes domain control commands. However, directly soldering the IMU sensor onto the mainboard inside the sensor device would subject it to structural stresses such as screws and thermal deformation, affecting the IMU sensor's measurement results. Therefore, this application places the IMU sensor independently within the IMU circuit board and connects it to the mainboard via an inter-board connector (i.e., circuit board connector 7522), effectively reducing the IMU sensor's measurement error. Furthermore, this IMU sensor module is small in size, allowing multiple IMU sensors to be calibrated simultaneously during production, effectively improving calibration efficiency. In addition, this IMU sensor module adopts a modular design and can be reused in other sensor products.

[0096] like Figure 6 The diagram shows a top view of the internal structure of an embodiment of the sensor device of this application. In this embodiment, the radar sensor mechanism 720 includes at least a lidar scanning mechanism 721, an RX (receiver) module 722, a TX (transmitter) module 723, and an optical lens module 724 disposed inside the housing. The RX module 722 and the TX module 723 are mounted at one end along the length of the radar mounting space 7121 and distributed along the thickness direction of the radar mounting space 7123, wherein the thickness direction coincides with the direction from the first edge to the second edge of the top cover. The lidar scanning mechanism 721 is mounted at the other end along the length of the radar mounting space 7123. The optical lens module 724 is mounted between the lidar scanning mechanism 721, the TX module 723, and the RX module 722, thereby guiding the laser emitted by the TX module 723 to the lidar scanning mechanism 721 and out through the light window of the housing, allowing light reflected back from outside the housing to enter the RX module 722.

[0097] like Figure 7 The diagram shows an assembly structure of an embodiment of the TX module in this application. In this embodiment, the TX module 723 includes a TX circuit board 7231. A first heat-conducting element 7232 is provided between the TX circuit board 7231 and the bottom wall of the lower housing. For example, thermally conductive adhesive is applied to the heat dissipation protrusions provided on the bottom wall of the lower housing, ensuring sufficient contact between the TX circuit board 7231 and the housing, improving heat conduction efficiency, and thereby dissipating the heat generated by the TX circuit board 7231 through the bottom wall of the lower housing, ensuring the normal operation of the TX circuit board. The first heat-conducting element 7232 may be made of thermally conductive adhesive, thermally conductive grease, etc., and this application does not impose any limitations on its use.

[0098] like Figure 8The diagram shows an assembly structure schematic of an embodiment of the RX module in this application. In this embodiment, the RX module 722 includes an RX circuit board 7221 and a heat sink 7223. A second thermal conductive element 7222 may be provided between the RX circuit board 7221 and the heat sink 7223 to achieve sufficient contact between the heat sink 7223 and the RX circuit board, improving thermal conductivity. The second thermal conductive element 7222 can be thermally conductive adhesive or thermally conductive grease, etc., and this application is not limited to this. Furthermore, the heat sink 7223 contacts the inner wall of the housing, thereby dissipating the heat generated by the RX circuit board 7221 to the outside of the sensor device, ensuring the normal operation of the RX circuit board. In some embodiments, a third thermal conductive element is provided between the heat sink 7223 and the inner wall of the housing to achieve sufficient contact between the heat sink and the housing, improving thermal conductivity. The third thermal conductive element can be thermally conductive adhesive or thermally conductive grease, etc., and this application is not limited to this.

[0099] In this embodiment, a heat sink is fixed on the back of the RX circuit board, and the heat sink and the RX circuit board are treated as a whole and bonded together using AA adhesive. This design can effectively dissipate heat from the RX circuit board and reduce the heat accumulation problem of the sensor. It solves the problem that the RX module needs to use the "AA process" technology to adjust the relative position of the lens and the receiving chip, resulting in large fluctuations in the structural position of the RX circuit board, and the inability to design heat dissipation protrusions at the corresponding positions of the lower housing for heat dissipation.

[0100] like Figure 9 The diagram shows an installation structure schematic of an embodiment of the lidar scanning mechanism in this application. In this embodiment, a positioning part 7124 is provided on the bottom wall of the lower housing 712, and a positioning hole that cooperates with the positioning part 7124 is provided on the bottom of the lidar scanning mechanism 721 to realize the positioning and installation of the lidar scanning mechanism 721, thereby improving the installation efficiency and stability of the lidar scanning mechanism 721.

[0101] In this embodiment, the lidar scanning mechanism in the radar sensor mechanism ensures the accuracy of the main shaft position by designing positioning features on the lower shell of the fuselage. Compared with the method of opening positioning pins on the lidar scanning mechanism, this can effectively shorten the dimensional tolerance chain.

[0102] In some embodiments, the lidar of the radar sensor mechanism is not limited to a lidar using a tilting mirror scheme; it can also be a lidar using a rotating mirror, a galvanometer, a solid-state lidar, or other schemes. In some embodiments, a lidar scanning mechanism may not be required. For example, when using solid-state lidar, a lidar scanning mechanism is unnecessary. When using solid-state lidar, an optical window may also be unnecessary, and the receiving lens of the radar sensor mechanism can be shared with the lens of the vision sensor mechanism.

[0103] like Figure 10The diagram shown is a structural schematic of another embodiment of the sensor device in this application. In this embodiment, the sensor device 700 further includes a light shield 780 disposed on the front side. The shape of the light shield 780 matches the side cover portion, the thickness of the light shield 780 at its first end near the housing is greater than that at its second end away from the housing, and the width of the light shield 780 gradually increases from the first end to the second end. Wherein, as... Figure 10 As shown, the width direction of the light shield 780 is the direction in which the first and second visual sensors are arranged, and the width direction of the light shield 780 is perpendicular to the thickness direction of the light shield 780. The light shield 780 is provided with through holes corresponding to the visual sensor mechanism and the radar sensor mechanism, and the visual sensor mechanism and the radar sensor mechanism can be mounted on the light shield 780 through the corresponding through holes.

[0104] In other embodiments, the surface of the light shield 780 may also be provided with an extinction structure, which can reduce stray light entering the sensor device and help improve the detection effect of the sensor device.

[0105] Continue to refer to Figure 9 The first visual sensor 730 is disposed at one end of the housing near the lidar scanning mechanism 721, and the second visual sensor 740 is disposed at the other end of the housing. The first visual sensor 730 can be a wide-angle visual sensor, and the second visual sensor 740 can be a telephoto visual sensor.

[0106] In this embodiment, the sensor device adopts a structure layout of wide-angle vision sensor, lidar, and telephoto vision sensor. The wide-angle vision sensor is arranged on the light-emitting side close to the rotating mirror lidar (i.e., on one side of the lidar scanning mechanism 721). This maximizes the use of the space of the light shield and reduces the volume of the light shield. The telephoto vision sensor is arranged on the opposite side, and the whole product has a visually symmetrical structure.

[0107] like Figures 11-24 This is a schematic diagram of an embodiment of the lidar scanning mechanism in this application. The lidar scanning mechanism includes:

[0108] 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.

[0109] 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.

[0110] 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.

[0111] 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.

[0112] 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.

[0113] Specifically, such as Figure 11 and Figure 17As 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.

[0114] 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.

[0115] 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.

[0116] 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.

[0117] Please continue to refer to Figure 11 and Figure 17 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.

[0118] 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.

[0119] 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.

[0120] 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.

[0121] In some implementation methods, please refer to Figure 16 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.

[0122] 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.

[0123] Specifically, such as Figure 11 and Figure 12 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).

[0124] like Figure 13 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.

[0125] Similarly, such as Figure 14 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.

[0126] Please continue to refer to Figure 16 , Figure 18 and Figure 19In 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.

[0127] 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.

[0128] 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.

[0129] 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.

[0130] 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.

[0131] Or, such as Figure 17 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.

[0132] 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.

[0133] 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.

[0134] 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.

[0135] 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.

[0136] 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.

[0137] Please continue to refer to Figure 21 , Figure 22 , Figure 23 and Figure 24 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.

[0138] 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.

[0139] 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.

[0140] 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.

[0141] 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.

[0142] 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.

[0143] Please continue to refer to Figures 20-24 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.

[0144] Please continue to refer to Figure 19 and Figure 22 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.

[0145] 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.

[0146] 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.

[0147] Please continue to refer to Figure 20 and Figure 24 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.

[0148] The bearing 250 includes a first bearing 251 and a second bearing 252.

[0149] 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.

[0150] 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.

[0151] Please continue to refer to Figure 21 and Figure 24 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.

[0152] Please continue to refer to Figure 15 , Figure 18and Figure 19 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.

[0153] 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.

[0154] Please continue to refer to Figure 18 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.

[0155] Please continue to refer to Figure 23 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.

[0156] 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.

[0157] 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.

[0158] In some embodiments, this application also provides a mobile platform configured with the sensor device described in any embodiment of this application.

[0159] Mobile platforms include, but are not limited to, vehicles, drones, and robots (humanoid robots, wheeled robots, tracked robots, etc.).

[0160] This embodiment integrates radar and vision sensors to achieve a highly integrated sensor product. Therefore, in practical use, the sensor device only needs to be installed in one location, which not only improves the integration of the sensor device but also facilitates installation in actual use. It can be widely used in the passenger car / commercial vehicle market that requires assisted / autonomous driving functions.

[0161] In some embodiments, the sensor device can be installed inside a mobile platform (such as a vehicle). For example, the sensor device can be installed inside the vehicle cabin on the windshield, enabling it to perceive the surrounding environment with minimal obstruction to the driver's view. Furthermore, compared to the traditional approach of placing LiDAR on the roof, the sensor device's placement inside the windshield does not affect the vehicle's aerodynamic design or increase its drag coefficient. Compared to the traditional approach of placing LiDAR outside the vehicle (front bumper, roof), the sensor device's placement inside the windshield effectively reduces the risk of damage to the sensor assembly and decreases the probability of repair.

[0162] 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.

[0163] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.

[0164] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "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 mechanical connection, an electrical connection, or a communication connection; 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.

[0165] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0166] The foregoing disclosure provides many different implementations or examples for carrying out different structures of this application. To simplify the disclosure, specific examples of components and arrangements are described above. Of course, these are merely examples and are not intended to limit the scope of this application. Furthermore, reference numerals and / or letters may be repeated in different examples; such repetition is for simplification and clarity and does not in itself indicate a relationship between the various implementations and / or arrangements discussed.

[0167] 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 of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A sensor device, characterized in that, include: The housing, at least one visual sensor mechanism, and a radar sensor mechanism; wherein the at least one visual sensor mechanism and the radar sensor mechanism are integrated and mounted on the housing.

2. The apparatus according to claim 1, characterized in that, The at least one visual sensor mechanism includes: a first visual sensor mechanism and a second visual sensor mechanism; wherein the first visual sensor mechanism and the second visual sensor mechanism are installed at both ends of the housing, and the radar sensor mechanism is installed in the middle of the housing.

3. The apparatus according to claim 2, characterized in that, The first visual sensor mechanism is a wide-angle visual sensor, and the second visual sensor mechanism is a telephoto visual sensor.

4. The apparatus according to claim 2, characterized in that, The housing includes an upper housing and a lower housing. The lower housing has a radar mounting space in the middle for mounting the radar sensor mechanism. The lower housing has a first mounting part for mounting the first vision sensor and a second mounting part for mounting the second vision sensor at both ends.

5. The apparatus according to claim 4, characterized in that, The upper housing includes a top cover and a side cover. The top cover and the side cover are sealed to the lower housing through a first sealing member. The top cover, the side cover, and the lower housing enclose the radar installation space.

6. The apparatus according to claim 5, characterized in that, The side cover extends from the top cover, and the angle between the side cover and the top cover toward the interior of the housing is an obtuse angle. The lower housing is configured to match the shape of the upper housing.

7. The apparatus according to claim 1, characterized in that, It also includes an IMU sensor module. The housing is provided with a mounting hole that connects the inside and outside of the housing. The IMU sensor module includes an IMU housing and an IMU circuit board. The IMU circuit board is mounted on the side of the IMU housing facing the inside of the housing. The IMU housing is sealed to the housing at the mounting hole by a second seal.

8. The apparatus according to claim 7, characterized in that, The IMU circuit board is equipped with an IMU sensor and a circuit board connector. The circuit board connector is located on the side of the IMU circuit board facing the inside of the housing. When the IMU sensor module is installed into the mounting hole, the circuit board connector is connected to the circuit board inside the housing.

9. The apparatus according to any one of claims 1-8, characterized in that, The radar sensor mechanism includes at least a TX module, an RX module, and an optical lens module disposed inside the housing.

10. The apparatus according to claim 9, characterized in that, The TX module includes a TX circuit board, and the RX module includes an RX circuit board; a first heat-conducting element is provided between the TX circuit board and the inner wall of the housing, and / or a heat sink is provided between the RX circuit board and the inner wall of the housing.

11. The apparatus according to claim 9, characterized in that, The radar sensor mechanism further includes a lidar scanning mechanism, which includes: 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.

12. The apparatus according to claim 11, 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.

13. The apparatus according to claim 12, 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.

14. The apparatus according to claim 13, 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.

15. The apparatus according to claim 14, 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.

16. The apparatus according to claim 14, 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.

17. The apparatus according to claim 16, characterized in that, The sound-absorbing component includes a foam layer.

18. The apparatus according to claim 13, characterized in that, The elastic element includes a silicone element; The silicone component is fitted onto 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.

19. The apparatus according to claim 12, 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.

20. The apparatus according to any one of claims 11-19, 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.

21. The apparatus according to claim 20, 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.

22. The apparatus according to claim 21, 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.

23. The apparatus according to claim 21, 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.

24. The apparatus according to claim 23, 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.

25. The apparatus according to claim 24, 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.

26. The apparatus according to claim 23, 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.

27. The apparatus according to claim 26, 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.

28. The apparatus according to claim 23, 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.

29. The apparatus according to claim 28, 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.

30. The apparatus according to claim 28, 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.

31. The apparatus according to claim 20, 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.

32. The apparatus according to claim 31, characterized in that, The reflector is bonded to the connecting part.

33. The apparatus according to claim 31, 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.

34. The apparatus according to claim 11, characterized in that, The bottom wall of the housing is provided with a positioning part for positioning and installing the lidar scanning mechanism.

35. The apparatus according to claim 6, characterized in that, The side cover is provided with a radar window and an optical window mounted on the radar window, and a sealing material is provided between the optical window and the radar window.

36. The apparatus according to claim 35, characterized in that, The sensor device is also equipped with a light shield that matches the side cover.

37. The apparatus according to any one of claims 1-8, characterized in that, The at least one visual sensor and the radar sensor mechanism share a common receiving lens.

38. The apparatus according to any one of claims 1-8, characterized in that, The housing has a recessed clearance on the side facing the connector of the sensor device.

39. A mobile platform, characterized in that... The sensor device is configured with any one of claims 1-38.

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