Scanner assembly, detection device and carrier

Abstract

The invention relates to the technical field of detection, in particular to a scanner assembly, a detection device and a carrier. The scanner assembly comprises a base, a rotating part, a magnetic drive assembly and a reflector. The rotating part is rotatably connected to the base around a first axis. The magnetic drive assembly comprises a stator and a rotor, the stator is fixed on the base, the rotor is fixed on the rotating part, one of the stator and the rotor comprises a plurality of windings, the plurality of windings are arranged in a fan-shaped area around a first axis at intervals, the other one comprises a magnetic part, and the magnetic part and the plurality of windings are oppositely arranged; the reflector is fixed on the rotating member. According to the scanner assembly, the stators are arranged in the fan-shaped area, so that the stators occupy small space, the rotating piece drives the reflector to swing, the time utilization rate of the reflector is high, and the resolution ratio of the scanner assembly is high. And moreover, the reflecting mirror and the rotor are easy to form dynamic balance, so that the rotating structure has relatively light weight, vibration and noise during working of the scanner assembly are reduced, and the performance of the scanner assembly is relatively good.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of detection, in particular to a scanner assembly, a detection device and a carrier. BACKGROUND

[0002] As the "eyes" of the car, the laser radar is the main way to obtain driving information and is one of the most important sensors, which is of great significance to ensure driving safety.

[0003] The traditional laser radar generally adopts the technical scheme of a scanner rotating mirror, which is driven to rotate by a motor. The time utilization rate of the lens is limited, so the resolution of the laser radar is limited, which is difficult to meet the high-precision perception demand of the laser radar on complex scenes. SUMMARY

[0004] The purpose of the embodiments of the present application is to provide a scanner assembly, a detection device and a carrier.

[0005] In a first aspect, the embodiments of the present application provide a scanner assembly, which comprises a base, a rotating member, a magnetic drive assembly and at least one mirror. The rotating member is rotationally connected to the base about a first axis. The magnetic drive assembly comprises a stator and a rotor. The stator is fixed to the base, and the rotor is fixed to the rotating member. One of the stator and the rotor comprises a plurality of windings, which are arranged in a fan-shaped region at intervals about the first axis. The other one comprises a magnetic member, which is arranged opposite to the plurality of windings. The at least one mirror is fixed to the rotating member.

[0006] For example, the mirror and the rotor of the magnetic drive assembly can be located on the two sides opposite to the first axis.

[0007] For example, the first axis can be parallel to the reflecting surface of the mirror.

[0008] For example, the mirror can be a plane mirror. The mirror can have a large area. For example, the length of the mirror can be 50 mm, and the width can be 25 mm.

[0009] For example, the number of windings can be 6 or 9, etc.

[0010] In the embodiments, the stator is arranged in a fan-shaped region, so the stator occupies a smaller space, which is easy to make the mirror have a larger installation and movement space. In addition, the rotor rotates within a limited angle about the stator. The rotating member can be driven by the magnetic drive assembly and reciprocatingly swing about the first axis. When the magnetic drive assembly drives the rotating member to move about the first axis, the rotating member drives the mirror to swing synchronously, and the time utilization rate of the mirror is high. When the scanner assembly is applied to the detection device, the resolution of the detection device is high.

[0011] Since the mirror and the rotor are both fixed to the rotating member, when the magnetic driving assembly drives the rotating member to swing around the first axis, the rotating member drives the mirror and the rotor to swing synchronously, the mirror is easy to form dynamic balance with the rotor, that is, the rotor can balance the torque of the mirror when the mirror rotates by its own weight, without the need to additionally provide a counterweight for the mirror to balance the torque, which is conducive to simplifying the structure of the scanner assembly and facilitating the rotating structure to have a lighter weight and a smaller moment of inertia; further, the power required by the magnetic driving assembly is smaller, the mirror is easy to start and stop, and further, the vibration and noise of the scanner assembly when working are reduced, and the performance of the scanner assembly is better.

[0012] In some embodiments, the stator includes a plurality of windings, and the plurality of windings are arranged at intervals around the first axis, and the rotor includes a magnetic member.

[0013] In the embodiment, the plurality of windings are fixed relative to the base, so that the wires of the plurality of windings do not move, facilitating the arrangement and layout of the wires and the setting of the circuit. The magnetic member can rotate relative to the base, and the weight of the magnetic member can be relatively low, so that when the magnetic member rotates, the moment of inertia generated is relatively low, which is conducive to reducing the driving torque of the magnetic driving assembly and improving the response speed of the rotating member, facilitating the rapid start and stop of the rotating member.

[0014] In some embodiments, in a direction perpendicular to the first axis, the maximum distance between the edge of the mirror and the first axis is less than the maximum distance between the edge of the rotor and the first axis.

[0015] Alternatively, in a direction perpendicular to the first axis, the maximum distance between the edge of the mirror and the first axis is less than half of the maximum distance between the edge of the rotor and the first axis.

[0016] Illustratively, the maximum distance between the edge of the mirror and the first axis is the distance between the surface on the side of the mirror facing away from the rotor and the first axis.

[0017] Illustratively, the maximum distance between the edge of the rotor and the first axis is the distance between the arc surface on the side of the rotor facing away from the mirror and the first axis.

[0018] In the embodiment, the closer the distance between the mirror and the first axis, the smaller the rotating radius of the mirror, and the smaller the moment of inertia of the mirror when rotating around the first axis. The moment of inertia of the mirror is matched by the structure of the rotating member, the rotor, etc., so that the moment of inertia of the rotating structure of the mirror, the rotating member, the rotor, etc. is smaller.

[0019] Further, the distance between the mirror and the first axis in the embodiment is closer than the distance between the rotor and the first axis, and the rotating radii of the mirror and the rotor have a large overlap, so that the structure of the scanner assembly is more compact and reasonable, and it is also conducive to setting a mirror with a larger volume.

[0020] In some embodiments, in the direction around the first axis, the two side edges of the stator and the line connecting the first axis form a sector, and the two side edges of the rotor and the line connecting the first axis form a sector.

[0021] In the embodiment, the stator and the rotor are arranged in a sector, and the rotor is arranged in an incomplete circular region. In this case, the volume of the rotor is small, and the weight of the rotor is light, which is conducive to reducing the inertia moment of the rotating structure when the rotating structure rotates.

[0022] In some embodiments, in the direction around the first axis, the angle between the two side edges of the stator and the line connecting the first axis is less than 180°.

[0023] Alternatively, the angle between the two side edges of the stator and the line connecting the first axis is in the range of 90° to 150°.

[0024] In the embodiment, the distribution area of the stator is small, and the stator occupies a small space in the direction around the first axis, which can provide more space for the rotation of the mirror, and thus is conducive to the large-angle rotation of the mirror.

[0025] In some embodiments, in the direction around the first axis, the angle between the two side edges of the rotor and the line connecting the first axis is less than 180°.

[0026] Alternatively, the angle between the two side edges of the rotor and the line connecting the first axis is less than 90°.

[0027] In the embodiment, the volume of the rotor is small, and thus the weight of the rotor is easily set to be small, which is conducive to the lightweight setting of the whole rotating structure and reduces the rotational inertia of the rotating structure when the rotating structure rotates, and thus improves the performance of the scanner assembly.

[0028] In some embodiments, in the direction around the first axis, the angle between the two side edges of the rotor and the line connecting the first axis is less than the angle between the two side edges of the stator and the line connecting the first axis.

[0029] In the embodiment, the sector occupied by the rotor is smaller than the sector occupied by the stator, so as to balance the large rotation range of the mirror and the light mass of the rotating structure, and make the scanner assembly have good comprehensive performance.

[0030] In some embodiments, the magnetic member is arranged opposite to at least two windings.

[0031] For example, the magnetic member can be arranged opposite to more than half of the number of windings.

[0032] In the embodiment, the magnetic member is arranged opposite to a plurality of windings, and the magnetic member is easy to generate interaction force with the plurality of windings, which is conducive to improving the smoothness of the movement of the magnetic member when the windings drive the magnetic member to move.

[0033] In some embodiments, the stator and the rotor are arranged perpendicular to the first axis, and the rotor is located on the side of the stator away from the first axis.

[0034] In the embodiment, the rotor needs to balance the torque of the mirror, and the rotor can be located at a distance from the first axis, so that a space is easily formed between the rotor and the first axis. The stator is located between the first axis and the rotor, and the space between the rotor and the first axis is utilized, so that the structure of the scanner assembly is more compact, and the size of the scanner assembly is reduced.

[0035] In some embodiments, the magnetic member is arc-shaped, and the magnetic member includes at least one pair of magnetic poles, and the magnetic poles of the magnetic member are arranged around the first axis.

[0036] For example, the magnetic member can include one or more magnets. For example, the magnetic member includes one magnet, and the magnet can include one or more pairs of magnetic poles. Alternatively, the magnetic member can include a plurality of magnets, each of which includes at least one pair of magnetic poles, and the plurality of magnets are arranged in an arc shape.

[0037] In some embodiments, the stator and the rotor are arranged in a direction perpendicular to the first axis.

[0038] For example, the stator and the rotor can be arranged parallel to the first axis, but are not strictly limited thereto. For example, the rotor can be offset from the stator to a certain extent.

[0039] For example, the plurality of windings of the stator are arranged at intervals around the first axis.

[0040] In the embodiment, the arrangement of the stator and the rotor is beneficial to further reduce the distance of the rotor from the first axis, and is beneficial to make the whole volume of the rotor and the rotating member small and light in weight, thereby reducing the moment of inertia of the mirror, the rotating member and the rotor as a whole, and the rotor and the stator are axially magnetized. When driven, the rotor has higher torque density, higher power density and higher efficiency, and has excellent driving performance, which is beneficial to improve the driving performance of the magnetic drive assembly in the scanner assembly.

[0041] In some embodiments, the magnetic member includes at least two magnets, the magnetic poles of the magnets are arranged in a direction parallel to the first axis, and the at least two magnets are arranged at intervals around the first axis.

[0042] In the embodiment, the at least two magnets of the magnetic member of the rotor are arranged at intervals around the first axis, and the magnetic poles of the magnets are arranged in a direction parallel to the first axis, so that the driving force around the first axis is generated between the plurality of windings and the magnetic member.

[0043] In some embodiments, the mirror is bonded to the rotating member.

[0044] Exemplarily, the mirror can be adhered to the rotating member by means of dispensing or the like.

[0045] Exemplarily, the mirror and the rotating member can be made of different materials. For example, the main body of the mirror can be made of glass, and a film can be coated on the glass to form the mirror. The main body of the rotating member can be made of metal, such as aluminum alloy or the like high-strength lightweight material.

[0046] In the embodiment, the materials of the mirror and the rotating member can be selected in a wide range, and the mirror and the rotating member are easy to assemble, and the manufacturing and assembly costs are low.

[0047] In some embodiments, the mirror and the rotating member are integrally formed.

[0048] In the embodiment, the connection strength between the mirror and the rotating member is high, and the reliability of the mirror and the rotating member in reciprocating swing in the scanner assembly is good.

[0049] In some embodiments, the material of the integrally formed structure is plastic.

[0050] Exemplarily, the material of the mirror and the material of the rotating member can be plastic.

[0051] In the embodiment, the overall weight of the mirror and the rotating member is light, the rotational torque during rotation is small, the mirror and the rotating member are easy to start and stop quickly, and the vibration and noise during swing are small.

[0052] In some embodiments, the maximum angle of the rotating member relative to the base is in the range of 50° to 90°.

[0053] Exemplarily, the rotating member can swing relative to the first rotation shaft within the range of the maximum angle during work. Of course, the rotating member can also swing relative to the first rotation shaft within the range of the maximum angle. In the detection device, the change of the swing angle of the rotating member can correspondingly change the field of view angle of the detection device, which is beneficial to the detection of objects in different ranges by the detection device.

[0054] In the embodiment, the rotating angle of the rotating member relative to the base is large, the rotating angle of the mirror is large, and the scanner assembly has a large scanning range.

[0055] In some embodiments, the rotating member includes a rotating part and a driving part, the rotating part is connected to the driving part, the rotating part is rotationally connected to the base, the rotor is fixed to the driving part, the mirror is connected to the side of the rotating part away from the driving part, and the first axis line passes through the rotating part.

[0056] Exemplarily, the line connecting the center of the mirror and the center of the driving part can be perpendicular to the first axis line.

[0057] In the embodiment, the rotating member has a simple structure, the arrangement of the mirror, the driving part and the rotor is easy to realize torque balance, the volume of the driving part and the rotor is small, the overall weight of the mirror, the rotating member and the rotor is reduced, and the rotational inertia of the rotating structure is reduced.

[0058] In some embodiments, the scanner assembly further comprises a rotating shaft and a bearing, the base is provided with a rotating hole; the rotating shaft is fixedly connected with the rotating member, and part of the structure of the rotating shaft and the bearing are located in the rotating hole, and the bearing is rotatably connected with the rotating shaft and the base.

[0059] In some embodiments, the scanner assembly further comprises a code disc and an encoder, the code disc is fixedly connected with the rotating member, and the encoder is fixedly connected with the base to detect the position of the rotating member relative to the base.

[0060] In the embodiment, the axis of the code disc and the axis of the rotating shaft can be coaxially arranged, the radial space of the motor can be reduced when the code disc is installed, and the space of the driving motor is more compact.

[0061] When the rotating shaft rotates relative to the base, the rotating shaft can drive the code disc to rotate synchronously, the code disc rotates relative to the encoder, the encoder can be inducted by the code disc, and the rotating speed or the rotating angle of the rotating shaft can be detected according to the rotation of the code disc.

[0062] In the second aspect, the embodiment of the present application provides a detection device, comprising a shell, a laser transceiver assembly and a scanner assembly provided in any one of the first aspects, the laser transceiver assembly and the scanner assembly are installed in the shell, and the scanner assembly is used to fold and rotate the laser emitted by the laser transceiver assembly.

[0063] In the embodiment, the scanner assembly can reciprocate at any angle within the range of the maximum rotating angle, when the scanner assembly is applied to the detection device, the field of view angle of the detection device can be adjusted according to the use scene. Moreover, the mirror of the scanner assembly can continuously reflect the laser, the time utilization rate of the mirror is high, and the resolution of the detection device is improved.

[0064] In the third aspect, the embodiment of the present application provides a carrier, comprising a body and a detection device provided in the second aspect, the detection device is installed in the body and is used to emit laser to the outside of the body.

[0065] In the embodiment, the detection device can scan objects with different field of view angles to obtain appropriate environmental information, and the resolution and accuracy of the detection device are high, which is beneficial to the accurate perception of the carrier to the environment.

[0066] In some embodiments, the carrier is a vehicle.

[0067] In this embodiment, the vehicle can accurately perceive the environment and provide the driver with more accurate environmental information, thereby providing a better and safer driving experience. Attached Figure Description

[0068] To illustrate the technical solutions in the embodiments or background art of this application, the accompanying drawings used in the embodiments or background art of this application will be described below.

[0069] Figure 1 This is a structural diagram of a vehicle;

[0070] Figure 2 This is a simplified schematic diagram of a detection device.

[0071] Figure 3 yes Figure 2 A schematic diagram of the structure of the scanner component in some embodiments;

[0072] Figure 4 yes Figure 3 The diagram shows an exploded view of the scanner component in some embodiments;

[0073] Figure 5 yes Figure 4 The base shown is a cross-sectional view in some embodiments;

[0074] Figure 6 yes Figure 4 The diagram shows a structural schematic of the rotating component in some embodiments;

[0075] Figure 7 It is part of the structure of the scanner component along Figure 3 Sectional view cut at point AA Figure 1 ;

[0076] Figure 8 It is part of the structure of the scanner component along Figure 3 Sectional view cut at point AA Figure 2 ;

[0077] Figure 9 It is the scanner component along Figure 3 A sectional view cut at point AA in the middle;

[0078] Figure 10 It is the scanner component along Figure 3 A sectional view cut at point BB in the middle;

[0079] Figure 11 This is a schematic diagram of the structure of the reflector and rotating component in some embodiments;

[0080] Figure 12 yes Figure 2 Schematic diagram of the scanner component in some other embodiments;

[0081] Figure 13 is Figure 12 is an exploded structural schematic view of the scanner assembly in some embodiments.

[0082] Figure 14 is a cross-sectional view of the scanner assembly along the line C-C in FIG. Figure 12 DETAILED DESCRIPTION

[0083] The embodiments of the present application will be described below in conjunction with the drawings.

[0084] In the description of the present application, it should be noted that unless otherwise specified and limited, the terms "mounting", "connection", "connecting", and "joint" should be understood in a broad sense, for example, "connecting" can be detachable connection or non-detachable connection, can be direct connection or indirect connection through intermediate medium, can be electrical connection or mechanical connection. Among them, "fixed connection" refers to the relative position relationship between the two after connection does not change. "Movable connection" refers to the relative movement and position relationship change after connection. "Rotary connection" refers to the relative rotation after connection. "Sliding connection" refers to the relative sliding after connection. In addition, the integrated structure of two components obtained by one-piece molding process means that during the formation of one of the two components, the component is connected with the other component, and the two components do not need to be connected together by reprocessing (such as bonding, welding, buckling connection, screw connection) method. Component A and component B are relatively arranged, which means that component A projects to projection C along the target direction, component B projects to projection D along the target direction, and projection C and projection D can at least mostly overlap. In some embodiments, the mostly overlap can be any of the following cases: projection C is completely located in projection D. Or, projection D is completely located in projection C. Or, projection C and projection D intersect with each other, and the intersection area of projection C and projection D accounts for more than 50% of projection C or projection D.

[0085] The orientation terms mentioned in the embodiments of the present application, such as "top", "bottom", "inner", "outer", "upper", "lower", etc., are only the direction of the drawings, therefore, the orientation terms used are for better and clearer illustration and understanding of the embodiments of the present application, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the embodiments of the present application. For those skilled in the art, the specific meanings of the above terms can be understood according to the specific circumstances.

[0086] ​The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship. "Multiple" means at least two.

[0087] Furthermore, the limitations on relative positional relationships mentioned in the embodiments of this application, such as parallelism and perpendicularity, are all relative to the current technological level and are not absolutely strict limitations. Slight deviations are allowed; approximations of parallelism or perpendicularity are acceptable. For example, "A and B are parallel" means that A and B are parallel or approximately parallel, and the angle between A and B can be between 0 and 10 degrees. Similarly, "A and B are perpendicular" means that A and B are perpendicular or approximately perpendicular, and the angle between A and B can be between 80 and 100 degrees.

[0088] like Figure 1 As shown, Figure 1 This is a structural diagram of a vehicle.

[0089] This application provides a vehicle, which may include a body. The vehicle may be, but is not limited to, a vehicle 1001, a drone, a robot, a railcar, a bicycle, a traffic light, a speed measuring device, or a base station. The following description uses a vehicle 1001 as an example.

[0090] Vehicle 1001 can be a gasoline or electric vehicle, such as a pure electric vehicle, a range-extended electric vehicle, a hybrid electric vehicle, a fuel cell vehicle, or a new energy vehicle, etc. This application does not limit the types of vehicles. Vehicle 1001 may have autonomous driving capabilities.

[0091] The vehicle 1001 can include a windshield 1002, a roof 1003, and a crossbeam 1004 fixedly connected between the windshield 1002 and the roof 1003. The windshield 1002 can be made of glass and can be made of multiple layers of organic glass inlaid on a framework. The windshield 1002 can be located in front of the cab, and the windshield 1002 has sufficient strength to ensure that the driver is not injured by air flow and external impact, and the windshield 1002 has sufficient transparency to provide the driver with a clear view. The windshield 1002 can be equipped with a windshield wiper and a waterproof and anti-fog device to ensure timely removal of rain, fog, snow, and ice. It can be understood that the windshield 1002, the roof 1003, and the crossbeam 1004 can be a body or part of the body of the vehicle, and the body can further include a chassis, an engine, and other mechanisms required for the operation of the vehicle. Among them, when the user drives the vehicle 1001, the side facing the user is the "front" of the vehicle 1001; and the side away from the user is the "rear" of the vehicle 1001. The two sides of the structure between the front and the rear of the vehicle 1001 are the "two sides" of the vehicle 1001.

[0092] The roof 1003 can be made of glass or metal. The roof 1003 is located above the cab, and the roof 1003 needs to have sufficient strength to ensure the safety of the driver, and the roof 1003 can also play a role in decoration, aesthetics, sound insulation, and heat insulation.

[0093] Figure 1 The vehicle 1001 in the above is only a schematic representation, and the size, shape, structure, etc. of the vehicle 1001 can be set as needed. The specific structure of the vehicle 1001 is not limited in the present application.

[0094] In some embodiments, the vehicle can have a detection device 1000 to assist the vehicle to realize one or more combinations of functions such as target detection, distance measurement, speed measurement, high-precision positioning, obstacle recognition, imaging recognition, etc. Among them, the detection device 1000 is not limited to be applied to the vehicle, for example, the detection device 1000 can be a vehicle-mounted detection device 1000, a roadside detection device 1000, such as a laser radar (light detection and ranging, Lidar), an intersection radar, and can also be other detection devices 1000, etc. The laser radar is installed on the body and is used to emit laser to the outside of the body.

[0095] The laser radar is a system that emits a laser beam to detect the distance, direction, height, speed, attitude, shape, etc. of the target. The laser radar can play an important role in assisting driving safety. The laser radar provides more accurate position information through high-precision positioning and local point cloud information extraction. Through the laser radar, preliminary positioning, position memory, and position management of the vehicle 1001 can be realized, thereby improving the safety of driving.

[0096] For example, the detection device 1000 is applied to the vehicle 1001 and serves as a vehicle-mounted laser radar. The laser radar can at least achieve one of the following functions or a combination of multiple functions:

[0097] One: Real-time or periodic scanning of the environment around the vehicle 1001 to generate high-precision three-dimensional point cloud data to determine the position of the vehicle 1001 and / or make path planning and decision-making.

[0098] Two: Realize the identification of entity objects such as roads, lane lines, obstacles, pedestrians, and other vehicles 1001 during the driving of the vehicle 1001 to avoid obstacles.

[0099] Three: Assist the vehicle 1001 to keep the lane.

[0100] Four: Assist the vehicle 1001 to emergency brake.

[0101] Five: Assist parking in the case of parking.

[0102] The working principle of the laser radar can be: the laser radar can emit a detection beam in a certain direction to the outside of the laser radar. If there is a target object in the detection area of the laser radar, the target object can reflect the received detection beam back to the laser radar (the reflected detection beam can be called a return beam), and the laser radar can determine the associated information of the target object according to the return beam. That is, the laser radar can perceive the surrounding environment of the vehicle 1001 and obtain the associated information of the target objects in the surrounding environment. These associated information of the target objects can be used to control the vehicle 1001 or assist the driver to drive.

[0103] For example, the latitude and longitude of the vehicle 1001 can be used to determine the position of the vehicle 1001. Alternatively, the speed of the vehicle 1001 and the orientation of the vehicle 1001 can be used to determine the driving direction and destination of the vehicle 1001. Alternatively, the distance between the vehicle 1001 and the objects around the vehicle 1001 can be used to determine the number and density of obstacles around the vehicle 1001. Further, the functions of the advanced driving assistant system (ADAS) can also be combined to achieve assisted driving or autonomous driving of the vehicle 1001, etc.

[0104] It should be noted that the application scenarios listed above are only illustrative of a possible application scenario of the laser radar, and the laser radar provided by the embodiments of the present application can also be applied in various other possible scenarios, and is not limited to the scenarios exemplified above. For example, the laser radar can be installed on a drone as an airborne radar. Alternatively, the laser radar can be installed on a road side unit (RSU) and implemented as a road side laser radar for vehicle-road cooperative communication. Alternatively, the laser radar can also be installed on an automated guided vehicle (AGV).

[0105] The structure of the detection device 1000 will be described below taking the detection device 1000 as an example of a vehicle-mounted detection device 1000, but it should be understood that this is not limiting.

[0106] In some embodiments, the detection device 1000 can be mounted on the vehicle 1001, and the detection device 1000 can be located at a top position of the vehicle 1001, for example. When the detection device 1000 is located at the top position of the vehicle 1001, the detection device 1000 can detect targets farther away due to the high installation position and good field of view, thereby bringing better detection effect and being less likely to be blocked by objects. In addition, the detection device 1000 located at the top position of the vehicle 1001 can avoid the impact of most scratching and collision accidents on the detection device 1000. For example, the detection device 1000 can be located between the windshield 1002 and the roof 1003.

[0107] The detection device 1000 can be mounted on the cross beam 1004. The cross beam 1004 can include a groove, and the detection device 1000 is fixed to the groove. The edge of the detection device 1000 is adapted to and closely fitted with the edge of the groove. The detection device 1000 of the embodiments of the present application is accommodated in the groove, and the peripheral edge of the detection device 1000 can be adapted to the peripheral edge of the groove, so that the detection device 1000 is mounted on the vehicle 1001 and integrated with the appearance of the vehicle 1001, without the need to install an appearance decoration cover outside the detection device 1000.

[0108] In other embodiments, the detection device 1000 can also be located at a side of the vehicle 1001 or other positions of the vehicle 1001, which can be set as needed, and the embodiments of the present application do not limit this.

[0109] Please participate Figure 2 , Figure 2 is a structural schematic diagram of a detection device 1000.

[0110] In some embodiments, the detection device 1000 can include a housing assembly 100, a laser transceiver assembly 200, a scanner assembly 300, and a processing assembly (not shown in the figure), etc.

[0111] The housing assembly 100 can be used to protect the laser transceiver assembly 200, scanner assembly 300, etc., to reduce damage to the components from the external environment. In addition, the housing assembly 100 can be partially or entirely made of light-transmitting material, so that the detection device 1000 can emit light into or receive light from the external space through the housing.

[0112] The laser transceiver assembly 200 is used to transmit and receive laser light. For example, the laser transceiver assembly 200 may include a transmitter 2001 and a receiver 2002.

[0113] The scanner component 300 is used to reflect the light emitted by the transmitter 2001 (such as pulsed laser) into the external space, so that the laser beam generated by the laser transceiver component 200 can perform point-by-point scanning. When the light detects a target object (such as a road, pedestrian, vehicle, etc.), it will be reflected. The optical path deflection device can reflect the light reflected back from the target object back to the laser transceiver component 200, so that the detection device 1000 can detect the road conditions or environment according to the received light.

[0114] The processing component is used to process and calculate the signal, complete the three-dimensional image reconstruction, and obtain information such as the distance, spatial angle, and velocity of the target object. The internal components of the detection device 1000 may also include circuit boards.

[0115] Therefore, it can be understood that the transmitter 2001 of the laser transceiver component 200 of the detection device 1000 emits a laser, which is then transmitted through the scanner component 300 to trees, roads, bridges, or buildings on the ground, causing scattering. A portion of the laser light is reflected onto the receiver 2002 of the laser transceiver component 200. Based on the principle of laser ranging, the distance from the detection device 1000 to the target point is calculated. By continuously scanning the target object with the laser, data of all target points on the target object can be obtained. After imaging processing with this data, an accurate three-dimensional image can be obtained.

[0116] The structure of the scanner component 300 is described below with reference to the accompanying drawings.

[0117] Please refer to the following: Figure 3 and Figure 4 , Figure 3 yes Figure 2 A schematic diagram of the structure of the scanner component 300 in some embodiments is shown. Figure 4 yes Figure 3 The image shows an exploded view of the scanner component 300 in some embodiments.

[0118] In some embodiments, the scanner assembly 300 may include a drive motor 10 and a reflector 20.

[0119] In some embodiments, the reflector 20 is the driven component of the detection device. When the reflector 20 moves (e.g., swings), the transmitter 2001 of the laser transceiver assembly 200 (e.g., ...) Figure 2 The incident angle of the emitted light rays striking the reflector 20 changes, thus changing the exit angle of the light rays reflected from the reflector 20 into the external space. This allows light rays to be emitted towards target objects within a certain angle range. Correspondingly, the receiver 2002 of the laser transceiver assembly 200 (e.g., Figure 2 It can also receive light reflected back from target objects within a certain angle range, thus enabling scanning of external space within a certain angle range. Optionally, the reflector can be a single-sided reflector or a multi-sided reflector; this application does not specifically limit this. The following embodiments use a single-sided reflector as an example. Those skilled in the art will understand that this single-sided reflector can be replaced with a multi-sided reflector designed to include multiple reflecting surfaces as needed.

[0120] In some embodiments, the drive motor 10 may include a base 1, a rotating component 2, a magnetic drive assembly 3, a shaft assembly 4, and an encoder assembly 5.

[0121] The base 1 can be used to fix it inside the housing of the detection device. The base 1 can also serve as a support structure for the scanner assembly 300 to support the rotating part 2, the magnetic drive assembly 3, the rotating shaft assembly 4, and the encoder assembly 5, etc.

[0122] The rotating component 2 can serve as the output component of the drive motor 10 to drive the reflector 20 to move. For example, the reflector 20 can be fixed to the rotating component 2. When the drive motor 10 is running, the rotating component 2 swings around the motor, thereby causing the reflector 20 to swing.

[0123] The rotating shaft assembly 4 can be used to rotatably connect the base 1 and the rotating component 2. For example, the rotating shaft assembly 4 may include a rotating shaft 41 and bearings 42. The number of bearings 42 can be multiple, and this embodiment does not specify a particular number.

[0124] The magnetic drive assembly 3 provides power for the movement of the rotating member 2 relative to the base 1. For example, the magnetic drive assembly 3 can be mounted on both the rotating member 2 and the base 1, and the drive assembly can be energized to generate magnetic force, thereby providing torque to the rotating member 2.

[0125] The encoder assembly 5 is used to detect the relative position of the rotating member 2 and the base 1 to obtain parameters such as the rotation angle and rotation speed of the rotating member 2 relative to the base 1. For example, the encoder assembly 5 can be installed on the base 1 and the rotating shaft assembly 4.

[0126] It should be noted that "fixed" is only used to indicate the connection relationship and does not limit the specific connection method, but is based on meeting the corresponding connection relationship.

[0127] Referring to Figure 5 , Figure 5 is Figure 4 a sectional view of the base 1 in some embodiments.

[0128] In some embodiments, the base 1 can include a base plate 11 and a support column 12, and the base plate 11 is fixedly connected to the support column 12.

[0129] For example, the base plate 11 can have a substantially thin plate structure. The support column 12 can have a substantially cylindrical structure, and the support column 12 is protrudingly arranged relative to the base plate 11, and the axis of the support column 12 can be substantially perpendicular to the base plate.

[0130] In some embodiments, the base 1 can be provided with a fixing hole 13. For example, the fixing hole 13 can pass through the base plate 11. The fixing hole 13 can be multiple, and the multiple fixing holes 13 are arranged at intervals along the periphery of the base plate 11.

[0131] In some embodiments, the base 1 is provided with a rotating hole 14. For example, the rotating hole 14 can be a through hole and pass through the support column 12 and the base plate 11. The hole axis of the rotating hole 14 can be parallel to the axis of the support column 12.

[0132] In some embodiments, the base 1 can be provided with a receiving groove 15. For example, the receiving groove 15 can be provided on the side of the base plate 11 away from the fixing column. For example, the receiving groove 15 can be in communication with the rotating hole 14.

[0133] In some embodiments, the base 1 can be provided with a boss 16. For example, the boss 16 can be located in the rotating hole 14, and the boss 16 can be protrudingly arranged relative to the hole wall of the rotating hole 14.

[0134] In some embodiments, the base 1 can be an integrally formed structural member to improve the load bearing capacity of the base 1. For example, the base 1 can be made of a metal material and integrally formed by pressure casting or the like.

[0135] Referring to Figure 6 , Figure 6 is Figure 4 a structural schematic view of the rotating member 2 in some embodiments.

[0136] In some embodiments, the rotating member 2 includes a fixed part 21, a rotating part 22, and a driving part 23, and the rotating part 22 is fixedly connected to the fixed part 21 and the driving part 23.

[0137] In some embodiments, the fixed part 21 and the driving part 23 are located on both sides of the rotating part 22, and the fixed part 21 and the driving part 23 are arranged along a first direction.

[0138] The fixing portion 21 can be in a plate-like structure for example, and is used to fix other components such as the mirror 20. The shape of the fixing portion 21 is not limited to this, and the fixing portion 21 can have a supporting capability for the mirror 20.

[0139] The driving portion 23 can be in a cover-like structure for example. The driving portion 23 can have a dimension in the first direction that is greater than the dimension of the fixing portion 21 in the first direction.

[0140] The rotating portion 22 can be in a cylindrical shape for example, and is used to connect the rotating member 2 to other components such as the rotating shaft 41.

[0141] In some embodiments, the rotating member 2 can be provided with a first mounting slot 24, which can be located at the driving portion 23. The first mounting slot 24 can be located at the end of the driving portion 23 that is away from the fixing portion 21, and faces the fixing portion 21. For example, the first mounting slot 24 can be an arc-shaped slot.

[0142] In some embodiments, the rotating member 2 can be provided with a connecting hole 25. The connecting hole 25 can be located at the rotating portion 22 for example. The connecting hole 25 can be a cylindrical through hole for example, and can start at the rotating portion 22. The hole axis direction of the connecting hole 25 can be perpendicular to the first direction.

[0143] In some embodiments, the rotating member 2 can be an integrally formed structural member, so that the rotating member 2 has a high structural strength. The rotating member 2 can be made of a metal material such as an aluminum alloy for example. The rotating member 2 can be made of a plastic material for example. The rotating member 2 can be integrally formed by injection molding or compression molding for example.

[0144] Please refer to Figure 4 and Figure 7 , Figure 7 is a sectional view of the partial structure of the scanner assembly 300 along the A-A plane in Figure 3 . Figure 1 .

[0145] In some embodiments, the rotating shaft 41 can be fixedly connected to the rotating member 2.

[0146] The rotating shaft 41 can be in a cylindrical structure for example, and one end of the rotating shaft 41 can be fixed to the connecting hole 25 of the rotating member 2. The axis of the rotating shaft 41 can coincide with the axis of the connecting hole 25.

[0147] In other embodiments, the rotating shaft 41 can be an integrally formed structural member with the rotating member 2, and the present embodiment does not make a specific limitation in this regard.

[0148] In some embodiments, the rotating member 2 can be rotatably connected to the base 1. The axis of rotation of the rotating member 2 relative to the base 1 is the first axis 1a. The rotating member 2 can be rotatably connected to the base 1 via the rotating shaft 41 and the bearing 42.

[0149] For example, the bearing 42 can be a roller bearing, a rotor bearing, etc., and the present embodiments are not limited in this regard.

[0150] For example, the bearing 42 can be located in the rotating hole 14 of the base 1, the outer ring 422 of the bearing 42 can be fixed to the hole wall of the rotating hole 14, and the inner ring 421 of the bearing 42 can be sleeved on the outer side of the rotating shaft 41, so that the rotating shaft 41 is rotatably connected to the base 1, and the rotating member 2 is rotatably connected to the base 1 via the rotating shaft 41.

[0151] For example, the first axis 1a can coincide with the axis of the rotating shaft 41, but is not strictly limited thereto.

[0152] In some embodiments, the number of bearings 42 can be multiple. For example, the number of bearings 42 can be two, one of which is located below the boss 16 and the other of which is located above the boss 16. Both bearings 42 can be in contact with the boss 16, and the boss 16 can limit the positions of the two bearings 42, thereby limiting the position of the rotating shaft 41 in the rotating hole 14, and facilitating the positioning of the rotating member 2 and the base 1 along the first axis 1a. Furthermore, the multiple bearings 42 can cooperate with each other to improve the stability of the rotating shaft 41 when rotating relative to the base 1.

[0153] For reference, please see Figure 4 and Figure 8 , Figure 8 is a sectional view of a part of the scanner assembly 300 along the A-A plane in Figure 3 . Figure 2 .

[0154] In some embodiments, the encoder assembly 5 can be mounted to the rotating shaft 41 and the base 1.

[0155] In some embodiments, the encoder assembly 5 can include a code disc 51 and an encoder 52.

[0156] For example, the code disc 51 can be fixedly connected to the end of the rotating shaft 41 away from the rotating member 2, and the encoder 52 can be fixed to the accommodating groove 15 of the base 1. The code disc 51 and the encoder 52 are oppositely arranged. The encoder 52 can include a circuit board and an encoder 52 chip, and the encoder 52 chip can be arranged towards the code disc 51. The present embodiments are not limited in this regard.

[0157] It can be understood that when the rotating shaft 41 rotates relative to the base 1, the rotating shaft 41 can drive the code disc 51 to rotate synchronously, so that the code disc 51 rotates relative to the encoder 52, thereby enabling the encoder 52 to be inducted by the code disc 51, and further enabling the rotating speed or rotating angle of the rotating shaft 41 to be detected according to the rotation of the code disc 51.

[0158] In the embodiment, the axis of the code disc 51 can be coaxially arranged with the axis of the rotating shaft 41, which can reduce the occupation of the radial space of the motor when the code disc 51 is installed, and is beneficial to make the space of the driving motor 10 more compact.

[0159] Please refer to Figure 4 , Figure 9 and Figure 10 , Figure 9 is a sectional view of the scanner assembly 300 along A-A in Figure 3 , Figure 10 is a sectional view of the scanner assembly 300 along B-B in Figure 3 .

[0160] As shown in Figure 4 , in some embodiments, the magnetic drive assembly 3 can include a magnetic member 31 and a plurality of windings 32.

[0161] In some embodiments, the magnetic member 31 can be substantially in the form of an arc-shaped sheet. The magnetic member 31 can include at least one pair of magnetic poles.

[0162] For example, the magnetic member 31 includes one magnet, and the magnet can include one or more pairs of magnetic poles. Alternatively, the magnetic member 31 can include a plurality of magnets, each of which includes at least one pair of magnetic poles, and the plurality of magnets are arranged in an arc shape.

[0163] For example, the magnetic member 31 can further include a shielding cover to reduce magnetic leakage, which is not specifically limited in the embodiment.

[0164] In some embodiments, the winding 32 can be formed by winding a wire. The winding 32 can be energized and form a magnetic field. The plurality of windings 32 can be arranged in a fan shape. The plurality of windings 32 can have substantially the same shape, and the plurality of windings 32 can cooperate to generate a changing magnetic field. The structure of the winding 32 is not specifically limited in the embodiment. In the present application, the fan shape can not be a strict fan shape. Those skilled in the art can understand that there can be errors in the boundary of the fan shape due to factors such as processing and assembly, and the fan shape can also include a circular arc shape such as a fan ring.

[0165] For example, the number of windings 32 can be 6 groups or 9 groups, etc. When the number of windings 32 is larger, the torque fluctuation of the magnetic member 31 driven by the plurality of windings 32 is smaller.

[0166] For example, the plurality of windings 32 can be arranged around the circumference of the second axis 2a. Each winding 32 can be wound around an axis perpendicular to the second axis 2a, which is not specifically limited in the present embodiment.

[0167] For example, the magnetic driving assembly 3 can further include a winding core 33. The winding core 33 can include a plurality of silicon steel sheets stacked together. The plurality of windings 32 can be wound on the winding core 33. The winding core 33 is used to carry the windings 32 and to conduct the magnetic field generated by the windings 32, thereby reducing the magnetic leakage of the windings 32 and improving the efficiency of the driving motor 10.

[0168] For example, the magnetic driving assembly 3 can further include a winding core 33. The winding core 33 can include a plurality of silicon steel sheets stacked together. The plurality of windings 32 can be wound on the winding core 33. The winding core 33 is used to carry the windings 32 and to conduct the magnetic field generated by the windings 32, thereby reducing the magnetic leakage of the windings 32 and improving the efficiency of the driving motor 10. Figure 9 Figure 10 For example, the magnetic driving assembly 3 can further include a winding core 33. The winding core 33 can include a plurality of silicon steel sheets stacked together. The plurality of windings 32 can be wound on the winding core 33. The winding core 33 is used to carry the windings 32 and to conduct the magnetic field generated by the windings 32, thereby reducing the magnetic leakage of the windings 32 and improving the efficiency of the driving motor 10.

[0169] In some embodiments, the magnetic driving assembly 3 can be mounted on the base 1 and the rotating member 2. The magnetic driving assembly 3 can include a stator and a rotor, the stator is fixed to the base 1, and the rotor is fixed to the rotating member 2, and the rotor can rotate relative to the stator. One of the stator and the rotor includes a plurality of windings 32, and the plurality of windings 32 are arranged in a fan-shaped area around the first axis 1a, and the other includes a magnetic member 31.

[0170] It can be understood that the stator and the rotor are arranged opposite to each other, and the magnetic member 31 and the plurality of windings 32 are arranged opposite to each other, so that the stator and the rotor generate an interaction force around the first axis 1a, and the rotating member 2 rotates around the first axis 1a relative to the base 1.

[0171] The fan-shaped area in which the plurality of windings 32 are distributed can mean that the projection of the plurality of windings 32 on the perpendicular plane of the first axis 1a occupies a fan-shaped area. That is, the plurality of windings 32 are not arranged in a complete annular shape.

[0172] Therefore, when the interaction force is generated between the magnetic member 31 and the plurality of windings 32, the rotor cannot continuously rotate around the first axis 1a relative to the stator, and the angle of rotation of the rotor relative to the stator is less than 360°. Therefore, the rotor and the stator can cooperate with each other to make the rotating member 2 reciprocate around the first axis 1a relative to the base 1.

[0173] In some embodiments, the arrangement direction of the stator and the rotor is perpendicular to the first axis 1a, and the rotor is located away from the first axis 1a from the stator. That is, the stator is located between the rotor and the first axis 1a.

[0174] ​For example, the plurality of windings 32 of the stator are arranged at intervals around the first axis 1a. The poles of the magnetic member 31 of the rotor are arranged around the first axis 1a so that a driving force around the first axis 1a is generated between the plurality of windings 32 and the magnetic member 31.

[0175] In some embodiments, the stator includes a plurality of windings 32 arranged at intervals around the first axis 1a, and the rotor includes a magnetic member 31.

[0176] At this time, the plurality of windings 32 are fixed relative to the base 1, so that the wires of the plurality of windings 32 do not move, and the wires are arranged and disposed, and the circuit is set. The magnetic member 31 can rotate relative to the base 1, and the weight of the magnetic member 31 can be low. When the magnetic member 31 rotates, the moment of inertia generated is low, which is conducive to reducing the driving torque of the magnetic drive assembly 3, and also conducive to improving the response speed of the rotating member 2, and facilitating the rapid start and stop of the rotating member 2.

[0177] In some embodiments, the magnetic member 31 is arranged opposite at least two adjacent windings 32. For example, the magnetic member 31 can be arranged opposite more than half of the plurality of windings 32.

[0178] In the present embodiment, the magnetic member 31 is arranged opposite the plurality of windings 32, and the magnetic member 31 is easy to generate interaction force with the plurality of windings 32, so as to improve the smoothness of the movement of the magnetic member 31 when the windings 32 drive the magnetic member 31 to move.

[0179] In some embodiments, in the direction around the first axis 1a, the connecting lines between the two side edges of the stator and the first axis 1a form a sector, and the connecting lines between the two side edges of the rotor and the first axis 1a form a sector.

[0180] In the present embodiment, the stator and the rotor are arranged in a sector shape, that is, the rotor is also arranged in an incomplete circular region. At this time, the volume of the rotor is small, and the weight is light, which is conducive to reducing the moment of inertia when rotating synchronously with the rotating member 2.

[0181] In some embodiments, in the direction around the first axis 1a, the included angle A between the connecting lines between the two side edges of the stator and the first axis 1a is less than 180°.

[0182] For example, the included angle A between the connecting lines between the two side edges of the stator and the first axis 1a is in the range of 90° to 150°.

[0183] In some embodiments, in the direction around the first axis 1a, the included angle B between the connecting lines between the two side edges of the rotor and the first axis 1a is less than 180°.

[0184] For example, the included angle B between the connecting lines between the two side edges of the rotor and the first axis 1a is less than 90°.

[0185] In some embodiments, the angle between the two side edges of the rotor and the first axis 1a is smaller than the angle between the two side edges of the stator and the first axis 1a in the direction around the first axis 1a.

[0186] Please continue to refer to Figure 9 and Figure 10 .

[0187] In some embodiments, the mirror 20 is fixed to the rotating member 2.

[0188] For example, the mirror 20 can be fixed to the fixed part 21 of the rotating member 2.

[0189] For example, the mirror 20 and the rotor of the magnetic driving assembly 3 can be located on the two sides of the first axis 1a.

[0190] For example, the mirror 20 can be a plane mirror. For example, the mirror 20 can include one piece of mirror or multiple pieces of mirror, and the present embodiment does not make specific limitation on this. In some other examples, the mirror 20 can also be a non-plane mirror. For example, the mirror 20 can include multiple pieces of mirror with an included angle, and the reflecting surfaces of the multiple pieces of mirror are connected.

[0191] For example, the first axis 1a can be parallel to the reflecting surface of the mirror 20.

[0192] For example, the mirror 20 can have a large area. For example, the length of the mirror 20 can be 50 mm, and the width of the mirror 20 can be 25 mm. The present embodiment does not make specific limitation on the size of the mirror 20.

[0193] In the present embodiment, the stator is arranged in a fan-shaped area, so that the stator occupies a small space, and it is easy to make the mirror 20 have a larger installation and movement space. In addition, the rotor rotates around the stator within a limited angle. The rotating member 2 can be driven by the magnetic driving assembly 3 and reciprocally swing around the first axis 1a. When the magnetic driving assembly 3 drives the rotating member 2 to move around the first axis 1a, the rotating member 2 drives the mirror 20 to swing synchronously, and the time utilization of the mirror 20 is high. When the scanner assembly 300 is applied to a detection device, the resolution of the detection device is high.

[0194] Since the reflector 20 and the rotor are both fixed to the rotating member 2, when the magnetic driving assembly 3 drives the rotating member 2 to swing around the first axis 1a, the rotating member 2 drives the reflector 20 and the rotor to swing synchronously. The reflector 20 is easy to form dynamic balance with the rotor, that is, the rotor can balance the torque of the reflector 20 when the reflector 20 rotates without the need to additionally provide a counterweight for the reflector 20 to balance the torque, which is conducive to simplifying the structure of the scanner assembly 300 and facilitating the rotating structure to have a lighter weight and a smaller moment of inertia. Further, the power required by the magnetic driving assembly 3 is smaller, the reflector 20 is easy to start and stop, and further conducive to reducing the vibration and noise of the scanner assembly 300 when working, and the performance of the scanner assembly 300 is better.

[0195] In addition, the scanner assembly 300 can swing back and forth at any angle within the range of the maximum rotation angle. When the scanner assembly 300 is applied to a detection device (such as a laser radar), the field of view angle of the detection device can be adjusted according to the use scene. Moreover, the reflector 20 of the scanner assembly 300 can continuously reflect laser, and the time utilization rate of the reflector 20 is high, which is conducive to improving the resolution of the detection device 1000.

[0196] When the detection device is applied to a vehicle, the detection device can scan objects of different sizes of field of view by adjusting the field of view angle to obtain appropriate environmental information, and the resolution and accuracy of the detection device are high, which is conducive to the accurate perception of the environment by the vehicle. For example, when the vehicle is a vehicle, it is conducive to the accurate perception of the environment by the vehicle to provide more accurate environmental information for the driver to provide a better and safer driving experience.

[0197] In some embodiments, the reflector 20 can be bonded to the rotating member 2. For example, the reflector 20 can be bonded to the rotating member 2 by dispensing or the like. At this time, the materials of the reflector 20 and the rotating member 2 can be different. For example, the main material of the reflector 20 can be glass, and a film is coated on the glass to form the reflector 20. The main material of the rotating member 2 can be metal, such as aluminum alloy or other high-strength lightweight material. The present embodiment does not make specific limitations on the materials of the reflector 20 and the rotating member 2.

[0198] In the present embodiment, there are more choices for the materials of the reflector 20 and the rotating member 2, the assembly of the reflector 20 and the rotating member 2 is relatively simple, and the manufacturing and assembly costs are relatively low.

[0199] In some embodiments, the reflector 20 is connected to one side of the rotating part 22 away from the driving part 23.

[0200] For example, the reflector 20 can be fixed to the fixed part 21. In other examples, the rotating part 22 can also be directly fixed to the rotating part 22.

[0201] The line connecting the center of the mirror 20 and the center of the driving portion 23 can be perpendicular to the first axis 1a, but is not limited thereto. For example, the line connecting the center of the mirror 20 and the center of the rotor intersects the first axis 1a.

[0202] The arrangement direction of the mirror 20 and the rotor can be perpendicular to the first axis 1a, but is not limited thereto. For example, the line connecting the center of the mirror 20 and the center of the rotor intersects the first axis 1a.

[0203] In the embodiment, the rotating member 2 has a simple structure, the arrangement of the mirror 20, the driving portion 23 and the rotor is easy to balance the torque, and the volume of the driving portion 23 and the rotor is small, which is easy to reduce the overall weight of the mirror 20, the rotating member 2 and the rotor, and further reduce the moment of inertia of the rotating structure.

[0204] In some embodiments, the maximum distance c between the edge of the mirror 20 and the first axis 1a in the direction perpendicular to the first axis 1a is less than the maximum distance d between the edge of the rotor and the first axis 1a.

[0205] In some embodiments, the maximum distance c between the edge of the mirror 20 and the first axis 1a in the direction perpendicular to the first axis 1a is less than half of the maximum distance d between the edge of the rotor and the first axis 1a.

[0206] The maximum distance c between the edge of the mirror 20 and the first axis 1a can be the distance between the surface of the side of the mirror 20 away from the rotor and the first axis 1a, for example, the maximum distance can be 12 mm, and the embodiment does not limit the size of the maximum distance.

[0207] The maximum distance d between the edge of the rotor and the first axis 1a can be the distance between the arc surface of the side of the rotor away from the mirror 20 and the first axis 1a, for example, the maximum distance can be 30 mm, and the embodiment does not limit the size of the maximum distance.

[0208] In the embodiment, the closer the distance between the mirror 20 and the first axis 1a, the smaller the rotating radius of the mirror 20, and the smaller the moment of inertia of the mirror 20 when rotating around the first axis 1a. The moment of inertia of the mirror 20 is matched by the structures such as the rotating member 2 and the rotor, so that the overall moment of inertia of the rotating structure such as the mirror 20, the rotating member 2 and the rotor is smaller.

[0209] Further, the mirror 20 of the embodiment is closer to the first axis 1a than the rotor, and the rotor and the rotational radius of the mirror 20 have a large overlap, so that the structure of the scanner assembly 300 is more compact and reasonable, and it is also beneficial to the arrangement of the large mirror 20.

[0210] In some embodiments, as described above, the arrangement direction of the stator and the rotor is perpendicular to the first axis 1a, and the rotor is located on the side of the stator away from the first axis 1a. At this time, the rotor needs to balance the torque of the mirror 20, and the rotor can be at a distance from the first axis 1a, and a space is easily formed between the rotor and the first axis 1a. The stator is located between the first axis 1a and the rotor, and the space between the rotor and the first axis 1a is utilized, so that the structure of the driving motor and the scanner assembly 300 is more compact, and it is beneficial to reduce the size of the driving motor and the scanner assembly 300.

[0211] In some embodiments, the maximum angle of the rotating member 2 relative to the base 1 is in the range of 50° to 90°. Among them, the maximum angle of the mirror 20 relative to the base 1 can be in the range of 50° to 90°.

[0212] For example, the rotating member 2 can swing relative to the first rotation shaft within the range of the maximum angle during operation. Of course, the rotating member 2 can also swing relative to the first rotation shaft within a range smaller than the maximum angle. In the detection device, the change of the swing angle of the rotating member 2 can correspondingly change the field of view angle of the detection device, which is beneficial to the detection of objects in different ranges by the detection device.

[0213] Among them, the specific value of the maximum angle of the rotating member 2 relative to the base 1 can be selected according to the actual application scene, and the embodiment does not make strict limitations. As known by those skilled in the art, due to process, environment and other influences, there may be a small deviation for the corresponding value range.

[0214] In the embodiment, the rotating angle of the rotating member 2 relative to the base 1 is large, so that the rotating angle of the mirror 20 is large, and the scanner assembly 300 has a large scanning range.

[0215] In some embodiments, as described above, the included angle between the two side edges of the stator and the line connecting the two side edges to the first axis 1a is less than 180° in the direction around the first axis 1a. For example, the included angle between the two side edges of the stator and the line connecting the two side edges to the first axis 1a is in the range of 90° to 150°.

[0216] At this time, the distribution area of the stator is small, and the stator occupies a small space in the direction around the first axis 1a, which can provide more space for the rotation of the mirror 20, and is beneficial to the large-angle rotation of the mirror 20.

[0217] In some embodiments, as described above, the angle between the two side edges of the rotor and the first axis 1a is less than 180° in the direction around the first axis 1a.

[0218] For example, the angle between the two side edges of the rotor and the first axis 1a is less than 90°.

[0219] At this time, the volume of the rotor is small, and thus the weight of the rotor is easily set to be small, which is conducive to the lightweight setting of the whole rotating structure and reduces the moment of inertia when the rotating structure rotates, thereby improving the performance of the scanner assembly 300.

[0220] In some embodiments, as described above, the angle between the two side edges of the rotor and the first axis 1a is less than the angle between the two side edges of the stator and the first axis 1a in the direction around the first axis 1a.

[0221] At this time, the fan area occupied by the rotor is smaller than the fan area occupied by the stator, so as to balance the large rotation range of the mirror 20 and the light weight of the rotating structure, so that the scanner assembly 300 has good overall performance.

[0222] Please refer to Figure 11 , Figure 11 is a structural schematic diagram of the mirror 20 and the rotating member 2 in some embodiments.

[0223] In some embodiments, the mirror 20 and the rotating member 2 are integrally formed. At this time, the connection strength of the mirror 20 and the rotating member 2 is high, and the reliability of the mirror 20 and the rotating member 2 in the reciprocating swing in the scanner assembly 300 is good.

[0224] For example, the main material of the mirror 20 and the main material of the rotating member 2 can be the same material, so as to facilitate the integral molding of the mirror 20 and the rotating member 2.

[0225] For example, the material of the mirror 20 and the material of the rotating member 2 can be plastic. For example, the mirror 20 and the rotating member 2 can be integrally molded by injection molding, but are not limited thereto. At this time, compared with the technical solution that the mirror 20 is made of glass and the rotating member 2 is made of aluminum alloy, the moment of inertia of the mirror 20 and the rotating member 2 made of plastic is reduced by 40%. Thus, the whole weight of the mirror 20 and the rotating member 2 is light, the moment of rotation is small when rotating, which is conducive to fast start and stop, and the reciprocating swing of the mirror 20 and the rotating member 2, and the vibration and noise are small when reciprocating.

[0226] It can be understood that the main structure of the mirror 20 can be integrally formed with the rotating member 2, and the mirror 20 can be additionally coated to improve the light reflection ability of the mirror 20.

[0227] Please refer to the following: Figures 12 to 14 , Figure 12 yes Figure 2 A schematic diagram of the structure of the scanner component 300 in some other embodiments. Figure 13 yes Figure 12 The image shows an exploded view of the scanner component 300 in some embodiments. Figure 14 It is the scanner assembly 300 along Figure 12 A sectional view cut at point CC. Figure 12 The scanner assembly 300 shown in the embodiment includes Figure 3 Most of the technical features of the scanner component 300 shown in the embodiment will not be repeated for the same technical features. The following mainly describes the differences between the two.

[0228] In some embodiments, the scanner assembly 300 may include a drive motor 10 and a reflector 20. The drive motor 10 may include a base 1, a rotating component 2, a shaft assembly 4, a magnetic drive assembly 3, and an encoder assembly 5.

[0229] The configuration of base 1, rotating shaft assembly 4, and encoder assembly 5 can be referenced. Figures 3 to 11 The relevant descriptions of the embodiments will not be repeated in this embodiment.

[0230] Figure 12 Examples and Figure 3 The main difference in the embodiment lies in the arrangement of the rotating component 2 and the magnetic drive assembly 3.

[0231] like Figure 13 As shown, in some embodiments, the structure of the rotating member 2 is similar to... Figure 4 The structure of the rotating member 2 in the embodiment is roughly the same. In this embodiment, the driving part 23 of the rotating member 2 can be a fan-shaped plate structure instead of a cover structure.

[0232] like Figure 13 and Figure 14 As shown, in some embodiments, the magnetic drive assembly 3 may include a magnetic element 31 and a plurality of windings 32.

[0233] In some embodiments, the magnetic element 31 may include at least two magnets, which are spaced apart.

[0234] For example, each magnet may include a pair of magnetic poles.

[0235] For example, the magnetic component 31 may also include a shield to reduce magnetic leakage, but this embodiment does not specifically limit this.

[0236] In some embodiments, the winding 32 can be formed by winding wire. The winding 32 can be energized and generate a magnetic field. Multiple windings 32 can be arranged in a fan shape. The shapes of the multiple windings 32 can be approximately the same, and the multiple windings 32 can cooperate to generate a changing magnetic field. This embodiment does not specifically limit the structure of the winding 32.

[0237] For example, the number of windings 32 can be 6 or 9. When there are more windings 32, the torque fluctuation when multiple windings 32 drive the magnetic component 31 is smaller.

[0238] For example, multiple windings 32 can be arranged circumferentially around the second axis 2a. The conductor of each winding 32 can be wound around an axis parallel to the second axis 2a; this embodiment does not specifically limit this.

[0239] For example, the magnetic drive assembly 3 may also include a core 33. The core 33 may include multiple silicon steel sheets stacked together. Multiple windings 32 may be wound around the core 33. The core 33 is used to carry the windings 32 and to conduct the magnetic field generated by the windings 32, reducing the leakage flux of the windings 32, thereby improving the efficiency of the drive motor 10.

[0240] like Figure 14 In some embodiments, the magnetic drive assembly 3 can be mounted on the base 1 and the rotating component 2. The magnetic drive assembly 3 may include a stator and a rotor, with the stator fixed to the base 1 and the rotor fixed to the rotating component 2, the rotor being rotatable relative to the stator. One of the stator and the rotor includes a plurality of windings 32 arranged at intervals around the first axis 1a in a fan-shaped region, and the other includes a magnetic component 31.

[0241] It is understandable that when the stator and mover are arranged opposite each other, the magnetic component 31 and the multiple windings 32 are arranged opposite each other so that the stator and mover generate an interaction force around the first axis 1a, and the rotating component 2 rotates relative to the base 1 around the first axis 1a.

[0242] The sector-shaped region where the multiple windings 32 are distributed can refer to the area occupied by the projections of the multiple windings 32 onto the vertical plane of the first axis 1a. That is, the multiple windings 32 are not arranged in a complete ring.

[0243] Therefore, when the magnetic component 31 interacts with the multiple windings 32, the rotor cannot continuously rotate around the first axis 1a relative to the stator. The angle of rotation of the rotor relative to the stator is less than 360°. Thus, the rotor and stator can cooperate with each other to make the rotating component 2 swing back and forth around the first axis 1a relative to the base 1.

[0244] In some embodiments, the stator and rotor are arranged opposite each other in the direction of the first axis 1a.

[0245] For example, the stator and the rotor can be arranged in parallel to the first axis 1a, but are not strictly limited thereto. For example, the rotor can be offset relative to the stator to a certain extent.

[0246] For example, the plurality of windings 32 of the stator are arranged at intervals around the first axis 1a. At least two magnets of the magnetic member 31 of the rotor are arranged at intervals around the first axis 1a, and the magnetic poles of the magnets are arranged in a direction parallel to the first axis 1a, so that a driving force around the first axis 1a is generated between the plurality of windings 32 and the magnetic member 31.

[0247] It can be understood that the magnetic drive assembly 3 of the embodiment is an axial flux, and the torque of the axial flux is proportional to the cube of the radius of the rotor, while the torque of the radial flux motor is only proportional to the square of the radius of the rotor. Therefore, under the condition of the same torque requirement, the axial flux motor has a smaller volume, and is suitable for the application scenario of lightweight rotor.

[0248] In the embodiment, the arrangement of the stator and the rotor is beneficial to further reduce the distance of the rotor from the first axis 1a, and is easy to make the overall volume of the rotating member 2 and the rotor small and light in weight, thereby being beneficial to reduce the moment of inertia of the mirror 20, the rotating member 2 and the rotor as a whole, and the axial flux between the rotor and the stator has higher torque density, higher power density and high efficiency, and excellent driving performance, which is beneficial to improve the driving performance of the magnetic drive assembly 3 on the mirror 20 in the scanner assembly 300.

[0249] It can be understood that other settings among the magnetic drive assembly 3, the mirror 20 and the rotating member 2 in the scanner assembly 300 can refer to the related description of the embodiment. Figures 3 to 11 The embodiment will not be described herein.

[0250] It should be noted that the embodiments and the features in the embodiments in the present application can be combined with each other without conflict, and any combination of the features in different embodiments is also within the protection scope of the present application, that is, the above-described multiple embodiments can also be combined as needed.

[0251] It should be noted that all the above-described drawings are exemplary illustrations of the present application, and do not represent the actual size of the product. The size ratio relationship between the components in the drawings is not limited to the actual product of the present application.

[0252] The above is only part of the embodiments and implementation manners of the present application, and the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or replacements within the technical range disclosed by the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A scanner assembly, comprising: The scanner assembly comprises: a base; a rotating member rotatably connected to the base about a first axis; a magnetic driving assembly comprising a stator and a rotor, the stator being fixed to the base, the rotor being fixed to the rotating member, one of the stator and the rotor comprising a plurality of windings arranged in a fan shape about the first axis, the other of the stator and the rotor comprising a magnetic member arranged opposite to the plurality of windings; and at least one reflecting mirror fixed to the rotating member.

2. The scanner assembly of claim 1, wherein, The stator comprises a plurality of windings arranged in a fan shape about the first axis, and the rotor comprises a magnetic member.

3. The scanner assembly of claim 1 or 2, wherein, In a direction perpendicular to the first axis, the maximum distance between the edge of the reflecting mirror and the first axis is less than the maximum distance between the edge of the rotor and the first axis. Alternatively, in a direction perpendicular to the first axis, the maximum distance between the edge of the reflecting mirror and the first axis is less than half of the maximum distance between the edge of the rotor and the first axis.

4. The scanner assembly of any one of claims 1 to 3, wherein, In a direction about the first axis, the connecting lines between the two side edges of the stator and the first axis form a fan shape, and the connecting lines between the two side edges of the rotor and the first axis form a fan shape.

5. The scanner assembly of claim 4, wherein, In a direction about the first axis, the angle between the connecting lines between the two side edges of the stator and the first axis is less than 180°. Alternatively, the angle between the connecting lines between the two side edges of the stator and the first axis is in a range from 90° to 150°.

6. The scanner assembly of claim 4, wherein, In a direction about the first axis, the angle between the connecting lines between the two side edges of the rotor and the first axis is less than 180°. Alternatively, the angle between the connecting lines between the two side edges of the rotor and the first axis is less than 90°.

7. The scanner assembly of any one of claims 4 to 6, wherein, In a direction about the first axis, the angle between the connecting lines between the two side edges of the rotor and the first axis is less than the angle between the connecting lines between the two side edges of the stator and the first axis.

8. The scanner assembly of any one of claims 1 to 7, wherein, The magnetic member is arranged opposite to at least two windings.

9. The scanner assembly of any one of claims 1 to 8, wherein, The arrangement direction of the stator and the rotor is perpendicular to the first axis, and the rotor is located on a side of the stator away from the first axis.

10. The scanner assembly of claim 9, wherein, The magnetic member is in an arc shape, the magnetic member comprises at least one pair of magnetic poles, and the arrangement of the magnetic poles of the magnetic member about the first axis.

11. The scanner assembly of any one of claims 1 to 8, wherein, In the direction of the first axis, the stator and the rotor are arranged opposite to each other.

12. The scanner assembly of claim 11, wherein, The magnetic member comprises at least two magnets, the magnetic poles of the magnets are arranged in a direction parallel to the first axis, and the at least two magnets are arranged in a fan shape about the first axis.

13. The scanner assembly of any one of claims 1 to 12, wherein, The reflecting mirror is bonded to the rotating member.

14. The scanner assembly of any one of claims 1 to 12, wherein, The reflecting mirror and the rotating member are an integral structure.

15. The scanner assembly of claim 14, wherein, The material of the integral structure is plastic.

16. The scanner assembly of any one of claims 1 to 15, wherein, The maximum angle of rotation of the rotating member relative to the base is in a range from 50° to 90°.

17. The scanner assembly of any one of claims 1 to 16, wherein, The rotating member comprises a rotating part and a driving part, the rotating part is connected to the driving part, the rotating part is rotatably connected to the base, the rotor is fixed to the driving part, the reflecting mirror is connected to a side of the rotating part away from the driving part, and the first axis passes through the rotating part.

18. The scanner assembly of any one of claims 1 to 17, wherein, The scanner assembly further comprises a rotating shaft and a bearing, and the base is provided with a rotating hole. The rotating shaft is fixedly connected with the rotating member, and part of the structure of the rotating shaft and a bearing are located in the rotating hole, and the bearing is rotatably connected with the rotating shaft and the base.

19. The scanner assembly of any one of claims 1 to 18, wherein, The scanner assembly further comprises a code disc and an encoder, the code disc is fixedly connected with the rotating member, and the encoder is fixedly connected with the base to detect the position of the rotating member relative to the base.

20. A detection device, characterized by The scanner assembly comprises a housing, a laser transceiver assembly and a scanner assembly as claimed in any one of claims 1 to 19, the laser transceiver assembly and the scanner assembly are installed in the housing, and the scanner assembly is used to deflect the laser emitted by the laser transceiver assembly.

21. A vehicle characterized by, The carrier comprises a body and a detection device as claimed in claim 20, the detection device is installed in the body and is used to emit laser outside the body.

22. The vehicle of claim 21, wherein, The carrier is a vehicle.

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