Rotating assembly, optical distance measuring device and mobile robot

Abstract

The invention provides a rotating assembly, an optical distance measuring device and a mobile robot. The rotating assembly comprises a fixed part, a rotating part, a motor part, a rotating speed detection part and an initial position recognition part. The fixed part comprises a fixed seat, the rotating part comprises a rotating seat, and the rotating seat is rotatably arranged on the fixed seat and can rotate relative to the central axis; the motor part comprises a stator arranged on the fixed part and a rotor connected with the rotating part; the rotating speed detection part is electrically connected with the motor part and used for detecting the rotating speed of the rotor; the initial position recognition part comprises a first recognition unit connected to the fixed part and a second recognition unit connected to the rotating part, and is used for recognizing the relative position between the first recognition unit and the rotating part. According to the rotating assembly provided by the invention, the self-test of the rotating speed is realized by utilizing the electromagnetic characteristic of the motor, and the initial position is identified by arranging the initial position identification part, so that miniaturization is realized, and relatively low algorithm design difficulty is ensured.

Description

Technical Field

[0001] This application belongs to the field of motor technology, and particularly relates to rotating components, optical ranging devices, and mobile robots. Background Technology

[0002] When driving motors are used, it is often necessary to measure their actual rotation angle. For example, existing rotating lidar systems need to obtain the rotation angle of the drive motor during scanning to determine the direction of the detected external object.

[0003] In existing technologies, the rotation angle of the drive motor is generally determined by measuring with a grating encoder or by measuring without a position sensor. The former requires a ring-shaped grating encoder, which occupies a large structural space, while the latter requires a targeted and complex algorithm, which is difficult to design and hard to guarantee the reliability of the detection. Summary of the Invention

[0004] To address the aforementioned technical problems, this application provides a rotating component that utilizes the electromagnetic characteristics of a motor to achieve self-measurement of rotational speed and identifies the initial position of each revolution by setting a simple initial position recognition unit. This achieves both structural miniaturization and ensures low algorithm design complexity.

[0005] The specific technical solution of this application is as follows:

[0006] A rotating assembly for driving a load to rotate includes:

[0007] The fixing part includes a fixing seat;

[0008] The rotating part includes a rotating seat for supporting the load; the rotating seat is rotatably mounted on the fixed seat and can rotate relative to the central axis.

[0009] The motor unit includes a stator and a rotor, the stator is disposed on the fixed part, and the rotor is connected to the rotating part;

[0010] A speed detection unit, electrically connected to the motor unit, is used to detect the speed of the rotor; and

[0011] An initial position recognition unit includes a first recognition unit and a second recognition unit. The first recognition unit is connected to the fixed part, and the second recognition unit is connected to the rotating part. The first recognition unit is used to recognize the relative position between itself and the second recognition unit, or the second recognition unit is used to recognize the relative position between itself and the first recognition unit.

[0012] In addition, the rotating component according to this application may also have the following additional technical features.

[0013] In some examples of this application, the speed detection unit includes a speed processing unit electrically connected to the coil winding of the motor unit; wherein the speed processing unit is used to acquire the back electromotive force generated by the coil winding of the motor unit and determine the speed of the rotor based on the back electromotive force; or, the speed detection unit includes a back electromotive force acquisition unit and a speed processing unit, wherein the back electromotive force acquisition unit is electrically connected to the coil winding of the motor unit; wherein the back electromotive force acquisition unit is used to acquire the back electromotive force generated by the coil winding of the motor unit and send the back electromotive force to the speed processing unit, wherein the speed processing unit is used to determine the speed of the rotor based on the back electromotive force; or, the speed detection unit includes a magnetic sensing element, wherein the magnetic sensing element is used to sense the change in magnetic parameters generated by the coil winding of the motor unit to determine the speed of the rotor; wherein the stator is the coil winding of the motor unit, and the magnetic sensing element is disposed on the rotor or the rotating part; or, the rotor is the coil winding of the motor unit, and the magnetic sensing element is disposed on the stator or the fixed part.

[0014] In some examples of this application, the speed processing unit is also used to control the power output of the motor.

[0015] In some examples of this application, one of the first identification unit and the second identification unit is a Hall sensor, and the other of the first identification unit and the second identification unit is an initial position magnet. The Hall sensor is used to determine the relative position with respect to the initial position magnet based on the magnetic field of the identified initial position magnet; or, one of the first identification unit and the second identification unit is a through-beam optocoupler, and the other of the first identification unit and the second identification unit is an initial position protrusion. The through-beam optocoupler includes a first transmitting end, a first receiving end, and a detection cavity, and the detection cavity is located between the first transmitting end and the first receiving end. The through-beam optocoupler is used to determine the relative position with respect to the initial position protrusion when the initial position protrusion passes through the detection cavity; or, the first identification unit... One of the identification unit and the second identification unit is a reflective optical coupler, which includes a second transmitting end and a second receiving end. The reflective optical coupler is used to determine the relative position between itself and the other of the first and second identification units when the second optical transmitter emits a light beam to the other of the first and second identification units and the second receiving end receives or does not receive the light beam reflected by the other of the first and second identification units; or, one of the first and second identification units is a third transmitting end, and the other of the first and second identification units is a third receiving end; the third receiving end is used to determine the relative position between itself and the third transmitting end when it receives the light beam emitted by the third transmitting end.

[0016] In some examples of this application, when the rotating seat is rotated to the initial position, the first identification unit and the second identification unit are radially opposite each other along the central axis; or, when the rotating seat is rotated to the initial position, the first identification unit and the second identification unit are opposite each other in a direction parallel to the central axis.

[0017] In some examples of this application, the upper surface of the rotating seat includes a first region and a second region, the first region being used to support the load, and the second identification unit being disposed on the second region or the load; the fixed seat includes a first sidewall radially along the central axis, the first sidewall being disposed opposite to the rotating seat or the load, and the first identification unit being disposed on the side of the first sidewall facing the central axis; or, the fixed seat includes a top wall located on the side of the load opposite to the rotating seat, and the first identification unit being disposed on the side of the top wall facing the rotating seat.

[0018] In some examples of this application, the fixed seat includes a first sidewall, and the rotating seat includes a second sidewall; the first sidewall surrounds the second sidewall; and the first identification unit and / or the second identification unit are located between the first sidewall and the second sidewall along the radial direction of the central axis.

[0019] In some examples of this application, the rotating assembly further includes a first coil and a second coil; the first coil is connected to the fixed base and is at least partially located inside the first sidewall, and the second coil is connected to the rotating base and is at least partially located outside the second sidewall; the first coil and the second coil are arranged opposite each other in a direction parallel to the central axis, and electrical power transmission and / or signal transmission are possible between the first coil and the second coil; a first receiving cavity is defined between the inner side of the first sidewall, the outer side of the second sidewall, and the side of the first coil opposite to the second coil, and the first identification unit and / or the second identification unit is disposed in the first receiving cavity; or, a second receiving cavity is defined between the inner side of the first sidewall, the outer side of the second sidewall, and the side of the second coil opposite to the first coil, and the first identification unit and / or the second identification unit is disposed in the second receiving cavity.

[0020] In some examples of this application, the fixed base includes an upper shell and a lower shell, the upper shell and the lower shell are fixedly connected and define a main cavity, the rotating base is rotatably disposed on the lower shell, and the rotating base and the load are located within the main cavity; the first sidewall includes a first upper sidewall and a first lower sidewall, the first upper sidewall being a part of the upper shell, and the first lower sidewall being a part of the lower shell; at least a portion of the rotating base is located inside the first lower sidewall, and at least a portion of the load is located inside the first upper sidewall or the first lower sidewall.

[0021] In some examples of this application, the rotating seat includes a middle plate and a second sidewall; the middle plate is used to support the load, and the second sidewall is connected to the lower part of the middle plate; the fixed seat includes a bottom wall located on the side of the second sidewall away from the middle plate; a third receiving cavity is defined between the second sidewall, the middle plate, and the bottom wall; the first identification unit and / or the second identification unit is located within the third receiving cavity, or the third receiving cavity is located between the first identification unit and the second identification unit.

[0022] In some examples of this application, the rotor is fixedly connected to the inner side of the second sidewall, and the stator is fixedly connected to the bottom wall and located inside the rotor; the stator has a through structure that passes through in a direction parallel to the central axis and deviates from the central axis; one of the first identification unit and the second identification unit is a third transmitting end, and the other of the first identification unit and the second identification unit is a third receiving end; when the rotating seat rotates to the initial position, the light beam emitted by the third transmitting end passes through the through structure and is received by the third receiving end.

[0023] This application also provides an optical ranging device, including an optical scanning component and a rotating component provided in the embodiments of this application. The optical scanning component is used to emit a light beam to an external object and to receive the light beam reflected by the external object. The optical scanning component is disposed on the rotating base as a load.

[0024] In some examples of this application, the optical ranging device further includes a first circuit board, which is fixed to the mounting base, and the first identification unit is disposed on the mounting base or the first circuit board and electrically connected to the first circuit board; and / or, the optical ranging device further includes a second circuit board, which is fixed to the rotating base, and the second identification unit is disposed on the rotating base or the second circuit board and electrically connected to the second circuit board.

[0025] This application also provides a mobile robot, including the optical ranging device provided in the embodiments of this application.

[0026] The rotating assembly, optical ranging device, and mobile robot provided in this application, by electrically connecting the speed detection unit to the motor unit, enable the speed detection unit to detect the output speed of the rotor based on the electromagnetic characteristics of the motor unit when it outputs power, thereby determining the speed of the rotating seat, thus realizing self-testing of the speed. By setting the initial position recognition unit, the initial position of the rotating seat for each revolution is determined with a simple structure rather than a complex algorithm. Finally, by combining the two parameters of speed and initial position, the rotation angle of the rotating seat based on the initial position at each moment is determined. This not only achieves the miniaturization design of the rotating assembly, but also ensures low algorithm design difficulty and high detection reliability.

[0027] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of a mobile robot provided in one embodiment of this application.

[0029] Figure 2 This is a cross-sectional view of a rotating assembly provided in one embodiment of this application.

[0030] Figure 3 This is a schematic diagram showing the relationship between the speed detection unit, the coil winding, and the magnetic element in a rotating assembly provided in one embodiment of this application.

[0031] Figure 4 This is a schematic diagram showing the relationship between the speed detection unit, the coil winding, and the magnetic element in a rotating assembly provided in another embodiment of this application.

[0032] Figure 5 This is a schematic diagram of the initial position identification part of the rotating assembly provided in one embodiment of this application.

[0033] Figure 6 This is a schematic diagram of the initial position identification part of the rotating assembly provided in another embodiment of this application.

[0034] Figure 7 This is a cross-sectional view of a rotating assembly provided in another embodiment of this application.

[0035] Figure 8 This is a top view of an optical ranging device provided in one embodiment of this application.

[0036] Figure 9 This is a cross-sectional view of an optical ranging device provided in one embodiment of this application.

[0037] Figure 10 This is a cross-sectional view of an optical ranging device provided in another embodiment of this application.

[0038] Figure 11 This is a cross-sectional view of an optical ranging device provided in another embodiment of this application.

[0039] Figure 12 This is a cross-sectional view of an optical ranging device provided in another embodiment of this application.

[0040] Figure 13 This is a cross-sectional view of an optical ranging device provided in another embodiment of this application.

[0041] Figure 14 This is a cross-sectional view of an optical ranging device provided in another embodiment of this application.

[0042] Figure 15 This is a cross-sectional view of an optical ranging device provided in another embodiment of this application.

[0043] Figure 16 This is a cross-sectional view of a rotating assembly provided in another embodiment of this application.

[0044] Figure 17 This is a cross-sectional view of a rotating assembly provided in another embodiment of this application.

[0045] Figure label:

[0046] 100. Rotating assembly;

[0047] 10. Fixing part; 10a. Main cavity; 11. Fixing seat; 11a. First side wall; 11b. Top wall; 11c. Lower rotating shaft; 11d. Bottom wall; 111. Upper shell; 111a. First upper side wall; 112. Lower shell; 112a. First lower side wall; 12. Stator; 13. Second light emitter; 14. Second light receiver;

[0048] 20. Rotating part; 21. Rotating seat; 21a. First region; 21b. Second region; 21c. Second sidewall; 21d. Middle plate; 21e. Third receiving cavity; 21f. Upper rotating shaft; 22. Rotor;

[0049] 30. Speed ​​detection unit; 31. Speed ​​processing unit; 32. Back electromotive force acquisition unit;

[0050] 40. Initial position identification unit; 41. First identification unit; 41a. First transmitting end; 41b. First receiving end; 41c. Detection cavity; 41d. Second transmitting end; 41e. Second receiving end; 42. Second identification unit;

[0051] 51. Driven pulley; 52. Driven belt groove; 53. Belt;

[0052] 61. First coil; 61a. First receiving cavity; 62. Second coil; 62a. Second receiving cavity;

[0053] 70. Bearings;

[0054] 1000, Optical ranging device; 200, Optical scanning assembly; 210, Optomechanical support; 220, First light emitter; 230, First light receiver; 240, Reflector; 300, First circuit board; 400, Second circuit board;

[0055] 2000, Mobile Robot. Detailed Implementation

[0056] To make the technical problems, technical solutions, and beneficial effects solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0057] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0058] In the description of this application, it should be understood that the terms "center," "longitudinal," "lateral," "vertical," "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are used 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. Furthermore, features defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0059] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0060] The inventors of this application, through research and analysis, discovered that the rotation angle of a drive motor is generally determined using either a grating encoder or a sensorless measurement method. The grating encoder method requires a ring-shaped grating encoder with multiple toothed structures, as well as space to avoid the encoder and an optocoupler that works with it. This occupies significant structural space both axially and radially, hindering miniaturization. Sensorless rotation angle measurement relies entirely on algorithms. While this eliminates the need for a grating encoder, the algorithms disclosed in patents such as CN1065690C and CN112039399B are highly specialized and complex, requiring advanced design and demanding hardware and control chips. This makes it difficult to guarantee reliable detection when applied to drive motors in mass production or long-term operation. To address these issues, the inventors of this application improved the rotation component in the prior art, resulting in the technical solution of this application.

[0061] The following is for reference. Figure 1-17 This application describes in detail the rotating assembly 100, the optical ranging device 1000, and the mobile robot 2000 according to embodiments of the present application. The rotating assembly 100 drives the load to rotate. When the optical scanning assembly 200 serves as the load driven by the rotating assembly 100, the optical ranging device 1000, which includes both the rotating assembly 100 and the optical scanning assembly 200, can be used to detect the distance to surrounding objects. The mobile robot 2000 measures the distance to surrounding objects using the optical ranging device 1000, thereby providing conditions for the rational planning of its movement path. The mobile robot 2000 can be a cleaning robot with functions such as sweeping and mopping, a service robot with functions such as food delivery and goods delivery, a lawnmower robot with lawn mowing capabilities, or a transport robot used for moving goods in warehouses or factories, etc.

[0062] In some embodiments, such as Figure 1-3 and Figure 6 As shown, the rotating assembly 100 includes a fixed part 10, a rotating part 20, a motor part, a speed detection part 30, and an initial position recognition part 40.

[0063] like Figure 2 and Figure 7As shown, the fixed part 10 includes a fixed base 11, and the rotating part 20 includes a rotating base 21. The rotating base 21 supports the load and is rotatably mounted on the fixed base 11 and can rotate relative to the central axis. The motor part includes a stator 12 and a rotor 22. The stator 12 is mounted on the fixed part 10, and the rotor 22 is connected to the rotating part 20. Specifically, one of the stator 12 and the rotor 22 is a coil winding, and the other is a magnetic element. Under the magnetic force between the rotor 22 and the stator 12, the rotor 22 can rotate relative to the stator 12, thereby allowing the rotating base 21 to rotate relative to the fixed base 11 about the central axis. As is known to those skilled in the art, the coil windings of a motor can generate a changing magnetic field when energized. Magnetic elements within this changing magnetic field will interact with the coil windings using magnetic force. If the coil windings are fixed, the magnetic elements can rotate and output rotational power (e.g., a brushless motor); if the magnetic elements are fixed, the coil windings can rotate and output rotational power (e.g., a brushed motor). The magnetic elements can be permanent magnets or electromagnetic elements. In some embodiments, the stator 12 is a coil winding and is fixedly connected to the fixed base 11, the rotor 22 is a magnetic element and is fixedly or driveably connected to the rotating base 21, and a circuit board with a motor drive controller can be fixedly connected to the fixed base 11 and electrically connected to the stator 12, which is the coil winding. In other embodiments, the stator 12 is a magnetic element and is fixedly connected to the fixed base 11, and the rotor 22 is a coil winding and is fixedly or driveably connected to the rotating base 21. A circuit board with a motor drive controller can be fixedly connected to the rotating base 21 and electrically connected to the rotor 22, which is a coil winding. Alternatively, the circuit board with a motor drive controller can be fixedly connected to the fixed base 11 and electrically connected to the rotor 22, which is a coil winding, through a brush-type contact connection or an electromagnetic induction-type non-contact connection.

[0064] It should be noted that in this application, the direction parallel to the central axis is the up-down direction, that is, the positive z-direction in the attached figure is up, the negative z-axis direction is down, the direction passing through the central axis and perpendicular to the central axis is the radial direction, the radial direction close to the central axis is the inward direction, and the radial direction away from the central axis is the outward direction.

[0065] like Figure 3 and Figure 4As shown, the speed detection unit 30 is electrically connected to the motor unit and is used to detect the speed of the rotor 22. That is, if the stator 12 is a coil winding, the speed detection unit 30 is electrically connected to the stator 12; if the rotor 22 is a coil winding, the speed detection unit 30 is electrically connected to the rotor 22. When relative rotation occurs between the coil winding and the magnetic element, various continuously changing electromagnetic characteristics arise due to factors such as their specific structures, magnetic field distribution, and relative speed. Some of these electromagnetic characteristics are highly correlated with the relative speed between them; therefore, these electromagnetic characteristics can be used to infer the relative speed between them. It should be noted that the electrical connection between the speed detection unit 30 and the motor unit can be a direct connection via a conductive structure or a wireless connection based on electromagnetic induction.

[0066] The initial position recognition unit 40 includes a first recognition unit 41 and a second recognition unit 42. The first recognition unit 41 is connected to the fixed part 10, and the second recognition unit 42 is disposed on the rotating part 20. During the rotation of the rotating part 20 relative to the fixed part 10, the first recognition unit 41 and the second recognition unit 42 also rotate relative to each other. The first recognition unit 41 is used to recognize the relative position with the second recognition unit 42 during this relative rotation, or the second recognition unit 42 is used to recognize the relative position with the first recognition unit 41 during this relative rotation, and to determine whether the rotating part 20 has rotated to the initial position. It should be noted that "identifying relative position" here can be understood as identifying the specific distance and relative orientation between the first identification unit 41 and the second identification unit 42. For example, when the distance between the first identification unit 41 and the second identification unit 42 is less than or equal to a preset distance or reaches the minimum distance, the position of the rotating part 20 at that moment is determined as the initial position. Alternatively, it can be understood as determining whether the first identification unit 41 and the second identification unit 42 are in a specific relative position. If it is "yes", the position of the rotating part 20 at that moment is determined as the initial position.

[0067] The rotating assembly 100 provided in this application embodiment connects the speed detection unit 30 to the motor unit, enabling the speed detection unit 30 to detect the output speed of the rotor 22 based on the electromagnetic characteristics of the motor unit when it outputs power, thus achieving self-testing of the speed. This allows the rotation speed of the rotating seat 21 to be determined. Furthermore, by setting an initial position recognition unit 40, the initial position of the rotating seat 21 for each revolution is determined using a simple structure rather than a complex algorithm. Finally, the rotation angle of the rotating seat 21 based on the initial position is determined at each moment by combining the two parameters of speed and initial position. Compared to the measurement method using a grating encoder in the prior art, the rotating component 100 provided in this application embodiment eliminates the grating encoder structure, which is beneficial for the miniaturization design of the rotating component 100. At the same time, compared to the measurement method without a position sensor in the prior art, the rotating component 100 provided in this application embodiment uses a simple initial position recognition unit 40 as a sensor to identify the initial position. Only a simple algorithm is needed to determine the rotation speed of the rotating seat 21 based on the electromagnetic characteristic parameters of the motor obtained by the speed detection unit 30, and then directly determine the rotation angle of the rotating seat 21 based on the initial position at each moment. This greatly reduces the design difficulty of the algorithm and the requirements for the hardware structure and control chip for implementing the algorithm. It also ensures that the reliability of detection can still be guaranteed for multiple rotating components 100 produced on a large scale or rotating components 100 after long-term operation.

[0068] There are various approaches to obtaining the electromagnetic characteristics of the motor unit from the speed detection unit 30. For example, when the coil winding rotates in the magnetic field of the magnetic element, a generator effect is generated based on the principle of electromagnetic induction, i.e., a back electromotive force (EMF) is generated in the coil winding. Factors affecting the back EMF include the relative speed between the coil winding and the magnetic element, the magnetic field generated by the magnetic element, the number of turns of the coil winding, and the air gap size. For a motor with a permanent magnet as the magnetic element, after the design is completed, the magnetic field of the magnetic element, the number of turns of the coil winding, and the air gap size are all determined. Therefore, the only factor determining the back EMF is the relative speed between the coil winding and the magnetic element, and the back EMF increases as the relative speed between the coil winding and the magnetic element increases.

[0069] Therefore, in some embodiments, after the speed detection unit 30 is electrically connected to the coil winding of the motor unit, it can determine the rotor speed by acquiring the back electromotive force generated by the coil winding of the motor unit, thereby determining the speed of the rotating base 21. Specifically, as shown in the figure... Figure 3 As shown, in some embodiments, the speed detection unit 30 includes a speed processing unit 31, which is electrically connected to the coil winding of the motor unit. The speed processing unit 31 is used to acquire the back electromotive force generated by the coil winding of the motor unit and to determine the speed of the rotor 22 based on the back electromotive force. That is, the speed of the rotor 22 is directly determined by a single chip, exhibiting high integration. Figure 4As shown, in some other embodiments, the speed detection unit 30 includes a back electromotive force acquisition unit 32 and a speed processing unit 31. The back electromotive force acquisition unit 32 is electrically connected to the coil winding of the motor unit, thereby acquiring the back electromotive force generated by the coil winding of the motor unit and sending the back electromotive force to the speed processing unit 31. The speed processing unit 31 is used to determine the speed of the rotor 22 based on the acquired back electromotive force. That is, the acquisition of back electromotive force and the determination of the speed of the rotor 22 are completed by two chips respectively, which reduces the requirements for chip selection.

[0070] In other embodiments, the speed detection unit 30 includes a magnetic sensing element, which is used to sense changes in magnetic parameters generated by the coil windings of the motor unit to determine the rotor speed. The stator 12 is the coil winding of the motor unit, and the magnetic sensing element is disposed on the rotor 22 or the rotating part 20; or, the rotor 22 is the coil winding of the motor unit, and the magnetic sensing element is disposed on the stator 12 or the fixed part 10. That is, relative rotation can occur between the magnetic sensing element and the coil windings of the motor unit. During this process, since the magnetic field at different positions of the coil windings of the motor unit generally changes regularly, the electrical signal generated by the magnetic sensing element based on the principle of electromagnetic induction will also change regularly. The speed of the rotor 22 can be determined based on the frequency of this regular change.

[0071] In other embodiments, there are methods for determining the relative rotational speed or relative rotational angle between the coil winding and the magnetic element based on other electromagnetic characteristics, such as: leakage flux speed measurement method, which uses the frequency at which the rotor of the asynchronous motor cuts magnetic field lines in the rotating magnetic field to generate induced current as the difference frequency between the rotor frequency and the stator voltage frequency. Multiplying this difference frequency by 60 gives the slip of the asynchronous motor, and multiplying the grid frequency by 60 also gives the synchronous speed of the asynchronous motor. Subtracting the slip of the asynchronous motor from the synchronous speed gives the speed of the asynchronous motor; current / voltage waveform observation method, which infers the position of the motor rotor by measuring the current / voltage waveform of the input coil winding and combining it with the motor model and the phase relationship of the phase current and phase voltage; and so on.

[0072] In some embodiments, the speed processing unit 31 is also used to control the power output of the motor section, that is, the speed processing unit 31 can act as a motor drive controller. Specifically, the speed processing unit 31 can control the amplitude and frequency of the current change input to the coil winding of the motor section to control the magnitude of the magnetic force of the interaction between the coil winding of the motor section and the magnetic element, thereby changing the relative speed between the coil winding of the motor section and the magnetic element and the magnitude of the driving force output externally. In other words, both motor drive control and speed detection functions are implemented through a single chip, exhibiting a high degree of integration.

[0073] In some embodiments, one of the first identification unit 41 and the second identification unit 42 is a Hall sensor, and the other is an initial position magnet. The Hall sensor is used to determine the relative position with the initial position magnet based on the magnetic field of the detected initial position magnet. For example, when the magnetic field strength of the initial position magnet detected by the Hall sensor is greater than or equal to a preset value or reaches the maximum value, it can be considered that the distance between the Hall sensor and the initial position magnet is less than or equal to a preset distance or reaches the minimum distance. Then, the position of the rotating part 20 at that moment is determined as the initial position. By using a Hall sensor and an initial position magnet as the first identification unit 41 and the second identification unit 42, that is, by using magnetic field induction to determine the initial position, the restrictions on the relative position between the first identification unit 41 and the second identification unit 42 are relatively small. For example, when the rotating seat 21 rotates to the initial position, the first identification unit 41 and the second identification unit 42 may not be arranged radially relative to each other along the central axis, nor may they be arranged relative to each other in a direction parallel to the central axis, and may even be separated by other structures.

[0074] like Figure 5 As shown, in some embodiments, one of the first identification unit 41 and the second identification unit 42 is a through-beam optocoupler, and the other of the first identification unit 41 and the second identification unit 42 is an initial position protrusion. Taking the first identification unit 41 as a through-beam optocoupler and the second identification unit 42 as an initial position protrusion as an example, the through-beam optocoupler includes a first transmitting end 41a, a first receiving end 41b, and a detection cavity 41c, with the detection cavity 41c located between the first transmitting end 41a and the first receiving end 41b. The through-beam optocoupler is used to determine the relative position with the initial position protrusion when the initial position protrusion passes through the detection cavity 41c. That is, at this time, the through-beam optocoupler can determine that the initial position protrusion is at a specific relative position of the through-beam optocoupler (i.e., the detection cavity 41c), and then determines the position of the rotating part 20 at that moment as the initial position. By using a through-beam optocoupler and an initial position protrusion as the first identification unit 41 and the second identification unit 42, the detection reliability is high, and it is less affected by external interference (such as ambient light).

[0075] like Figure 6 As shown, in some other embodiments, one of the first identification unit 41 and the second identification unit 42 is a reflective optocoupler. Taking the first identification unit 41 as an example of a reflective optocoupler, the reflective optocoupler includes a second transmitting end 41d and a second receiving end 41e. The reflective optocoupler is used to determine the relative position between itself and the other of the first identification unit 41 and the second identification unit 42 (taking the second identification unit 42 as an example) when the second transmitting end 41d emits a light beam to the other of the first identification unit 41 and the second identification unit 42 (taking the second identification unit 42 as an example) and the second receiving end 41e receives or does not receive the light beam reflected by the second identification unit 42.

[0076] Specifically, in some embodiments, taking the first identification unit 41 as a reflective optocoupler as an example, the second identification unit 42 is an initial position protrusion or an initial position recess. During the rotation of the rotating part 20, when the light beam emitted by the second transmitting end 41d reaches the initial position protrusion or initial position recess and the second receiving end 41e receives the light beam reflected by the initial position protrusion or initial position recess, a more obvious change in flight time or change in beam intensity can be identified. At this time, the reflective optocoupler can determine that the initial position protrusion or initial position recess is at a certain specific relative position of the reflective optocoupler (i.e., in the beam emission direction of the second transmitting end 41d), and then the position of the rotating part 20 at that moment is determined as the initial position. In other embodiments, taking the first identification unit 41 as a reflective optocoupler as an example, the second identification unit 42 is an initial position through hole. During the rotation of the rotating part 20, when the light beam emitted by the second transmitting end 41d passes through the initial position through hole and the second receiving end 41e does not receive the reflected light beam or identifies a significant change in flight time, the reflective optocoupler can determine that the initial position through hole is at a specific relative position of the reflective optocoupler (i.e., in the direction of the light beam emission of the second transmitting end 41d), and then the position of the rotating part 20 at that moment is determined as the initial position. In other embodiments, taking the first identification unit 41 as a reflective optocoupler as an example, and the second identification unit 42 as an initial bright or initial dark region, during the rotation of the rotating part 20, when the light beam emitted by the second transmitting end 41d reaches the initial bright or initial dark region, and the second receiving end 41e receives the light beam reflected by the initial bright or initial dark region, a significant change in light beam intensity can be identified. At this time, the reflective optocoupler can determine that the initial bright or initial dark region is at a specific relative position of the reflective optocoupler (i.e., in the direction of light beam emission from the second transmitting end 41d), and then the position of the rotating part 20 at that moment is determined as the initial position. By setting one of the first identification unit 41 and the second identification unit 42 as a reflective optocoupler, the structure is simple.

[0077] In other embodiments, one of the first identification unit 41 and the second identification unit 42 is a third transmitting end, and the other of the first identification unit 41 and the second identification unit 42 is a third receiving end. The third receiving end is used to determine the relative position with the third transmitting end when it receives the light beam emitted by the third transmitting end, and then determines the position of the rotating part 20 at that moment as the initial position. By setting one of the first identification unit 41 and the second identification unit 42 to emit a light beam towards the other to identify the initial position, there is less limitation on the setting distance between the two.

[0078] like Figure 2As shown, in some embodiments, when the rotating seat 21 rotates to the initial position, the first identification unit 41 and the second identification unit 42 are radially opposite each other along the central axis, thereby making the overall height (i.e., the dimension along the direction parallel to the central axis) occupied by the first identification unit 41 and the second identification unit 42 smaller and having higher identification accuracy. Figure 7 As shown, in some other embodiments, when the rotating seat 21 rotates to the initial position, the first identification unit 41 and the second identification unit 42 are opposite each other in a direction parallel to the central axis, so that the width occupied by the first identification unit 41 and the second identification unit 42 as a whole (i.e., the radial dimension along the central axis) is small and has high identification accuracy.

[0079] The first identification unit 41 and the second identification unit 42 used for identifying the initial position occupy only a very small amount of structural space. Therefore, some spare space already existing in the rotating assembly 100 can be used to place the first identification unit 41 and the second identification unit 42. If the first identification unit 41 and the second identification unit 42 are to be integrally molded on the fixed base 11 or the rotating base 21, the demolding difficulty is reduced, thereby enabling a more flexible structure to be designed. Figure 15 As shown, in some embodiments, multiple sets of first identification units 41 and second identification units 42 may be provided, such as an initial position group and a verification group. The first identification unit 41 and the second identification unit 42 of the initial position group are used to identify the initial position, and the first identification unit 41 and the second identification unit 42 of the verification group are used to verify whether the identification of the initial position is accurate. For example, whether the rotation angle of the position of the verification group identified by the verification group relative to the position of the initial position identified by the initial position group conforms to a preset angle, thereby improving the identification accuracy of the initial position.

[0080] like Figure 8 As shown, the upper surface of the rotating seat 21 includes a first region 21a (reference). Figure 8 The area inside the dashed box) and the second area 21b (reference) Figure 8 The first region 21a (outside the dashed box) is used to support the load. The first identification unit 41 and / or the second identification unit 42 can be located above the rotating seat 21, or in the space facing the load. The load generally does not fill the space, so the space can be used to set the first identification unit 41 and / or the second identification unit 42, reducing or avoiding the increase in the volume of the rotating assembly 100 caused by the setting of the first identification unit 41 and the second identification unit 42.

[0081] Specifically, such as Figure 8 As shown, in some embodiments, the second identification unit 42 is disposed on the second region 21b. For example... Figure 9As shown, the fixed base 11 includes a first sidewall 11a. Along the radial direction of the central axis, the first sidewall 11a is disposed opposite to the load, and a first identification unit 41 is disposed on the side of the first sidewall 11a facing the central axis. That is, the first identification unit 41 and the second identification unit 42 are disposed in the space above the second region 21b on the upper surface of the rotating base 21, between the first sidewall 11a and the load, thus avoiding the first identification unit 41 and the second identification unit 42 occupying additional space and increasing the volume of the rotating assembly 100. In other embodiments, such as... Figure 10 As shown, the second identification unit 42 is disposed on the load, and the first identification unit 41 is disposed on the side of the first sidewall 11a facing the central axis; furthermore, the second identification unit 42 is disposed on the side of the load facing the first sidewall 11a, so that the first identification unit 41 and the second identification unit 42 are also located above the second region 21b on the upper surface of the rotating seat 21, in the empty space between the first sidewall 11a and the load.

[0082] like Figure 11 As shown, in some embodiments, the fixed base 11 includes a top wall 11b located on the side of the load facing away from the rotating base 21. The second identification unit 42 is disposed on the second region 21b or the load, and the first identification unit 41 is disposed on the side of the top wall 11b facing the rotating base 21. Further, the second identification unit 42 is disposed on the second region 21b or on the side of the load facing the first side wall 11a, and the first identification unit 41 is disposed on the side of the top wall 11b facing the rotating base 21 and located between the top wall 11b and the second region 21b. That is, the first identification unit 41 and the second identification unit 42 are disposed in the space below the top wall 11b, above the second region 21b on the upper surface of the rotating base 21, and between the first side wall 11a and the load.

[0083] The first identification unit 41 and the second identification unit 42 may each have only one located below the top wall 11b, above the second region 21b, and in the space between the first side wall 11a and the load, while the other is not restricted. For example, the second identification unit 42 may be located on the second region 21b, or on the side of the load closer to the first side wall 11a, or on the side of the load closer to the top wall 11b; the first identification unit 41 may be located on the side of the first side wall 11a facing the central axis, or on the side of the top wall 11b facing the rotating seat 21. The first side wall 11a may be radially opposite to the load along the central axis, or radially opposite to the rotating seat 21 along the central axis. The side of the top wall 11b facing the rotating seat 21 includes a portion opposite to the second region 21b in a direction parallel to the central axis, and also includes a portion opposite to the load in a direction parallel to the central axis.

[0084] like Figure 12 As shown, the rotating seat 21 includes a second sidewall 21c, wherein the first sidewall 11a surrounds the second sidewall 21c. Since the rotating seat 21 can rotate relative to the fixed seat 11, there is a certain amount of space between the first sidewall 11a and the second sidewall 21c. Therefore, in some embodiments, the first identification unit 41 and / or the second identification unit 42 are located radially along the central axis between the first sidewall 11a and the second sidewall 21c, thereby reducing or avoiding the increase in volume of the rotating assembly 100 due to the arrangement of the first identification unit 41 and the second identification unit 42.

[0085] like Figure 12 As shown, in some embodiments, the second sidewall 21c is arranged around the rotor 22 and the stator 12. Further, the rotor 22 can be directly arranged on the inner sidewall of the second sidewall 21c, and the rotor 22 is arranged around the stator 12, that is, the stator 12 and the rotor 22 can directly drive the rotating seat 21 to rotate. In other words, the speed detection unit 30 can directly use the determined speed of the rotor 22 as the speed of the rotating seat 21.

[0086] like Figure 13 As shown, in some embodiments, the rotor 22 and stator 12 are disposed on the outer side of the second sidewall 21c, and the rotor 22 and the second sidewall 21c are connected by a transmission. That is, the speed detection unit 30 can determine the speed of the rotating seat 21 based on the speed of the rotor 22 and the transmission ratio between the rotor 22 and the second sidewall 21c. Further, a drive pulley 51 is provided on the output end of the rotor 22, and a driven belt groove 52 is provided on the outer sidewall of the second sidewall 21c. The drive pulley 51 and the driven belt groove 52 are connected by a belt 53. Alternatively, the rotor 22 and the second sidewall 21c can be connected by a chain drive structure or a gear drive structure, etc., which is not limited in this application.

[0087] like Figure 9-12As shown, in some embodiments, the rotating assembly 100 further includes a first coil 61 and a second coil 62. The first coil 61 is connected to the fixed base 11 and is at least partially located on the inner side of the first sidewall 11a, while the second coil 62 is connected to the rotating base 21 and is at least partially located on the outer side of the second sidewall 21c. The first coil 61 and the second coil 62 are arranged opposite each other in a direction parallel to the central axis, and power transmission and / or signal transmission can be performed between the first coil 61 and the second coil 62. Specifically, the load disposed on the rotating base 21 can be an electrical device or a communication device. Since the load rotates with the rotating base 21 relative to the fixed base 11, wireless power supply or wireless communication with the load can be achieved by electrically connecting the load to the second coil 62 and by performing power transmission and / or signal transmission between the first coil 61 and the second coil 62. By adopting the arrangement of the first coil 61 and the second coil 62 opposite each other in a direction parallel to the central axis, the overall height of the first coil 61 and the second coil 62, or their dimensions in the direction parallel to the central axis, can be reduced, thereby reducing the height of the rotating assembly 100.

[0088] Furthermore, such as Figure 12 and Figure 14-15 As shown, in some embodiments, since the first coil 61 is at least partially located inside the first sidewall 11a and the second coil 62 is at least partially located outside the second sidewall 21c, a first receiving cavity 61a can be defined between the inner side of the first sidewall 11a, the outer side of the second sidewall 21c, and the side of the first coil 61 facing away from the second coil 62. Similarly, a second receiving cavity 62a can be defined between the inner side of the first sidewall 11a, the outer side of the second sidewall 21c, and the side of the second coil 62 facing away from the first coil 61. When the first receiving cavity 61a is present, the first identification unit 41 and / or the second identification unit 42 can be disposed within the first receiving cavity 61a, such as... Figure 14-15 As shown; when a second receiving cavity 62a exists, the first identification unit 41 and / or the second identification unit 42 can be disposed within the second receiving cavity 62a, such as... Figure 12 and Figure 15 As shown. In other words, under the premise of satisfying the wireless power supply to the load or the wireless communication with the load, the first identification unit 41 and / or the second identification unit 42 are set up using the empty first receiving cavity 61a or the second receiving cavity 62a, thereby reducing or avoiding the increase in volume of the rotating assembly 100 due to the setting of the first identification unit 41 and the second identification unit 42.

[0089] like Figure 9-12 and Figure 14-15As shown, in some embodiments, the fixed base 11 includes an upper shell 111 and a lower shell 112, which are fixedly connected and define a main cavity 10a. A rotating base 21 is rotatably disposed on the lower shell 112, and the rotating base 21 and the load are located within the main cavity 10a. The first sidewall 11a includes a first upper sidewall 111a and a first lower sidewall 112a, wherein the first upper sidewall 111a is part of the upper shell 111, and the first lower sidewall 112a is part of the lower shell 112. At least a portion of the rotating base 21 is located inside the first lower sidewall 112a, and at least a portion of the load is located inside either the first upper sidewall 111a or the first lower sidewall 112a. In the above embodiments, the first identification unit 41 disposed on the side of the first sidewall 11a facing the central axis can specifically be disposed on the side of the first upper sidewall 111a facing the central axis, or it can be disposed on the side of the first lower sidewall 112a facing the central axis.

[0090] It should be noted that the vertical positions of the upper shell 111 and the lower shell 112 represent a relative positional relationship, not an absolute one. For example, in some rotating lidar systems, there is a fixedly connected light-transmitting cover and a base. In this case, the upper shell 111 can correspond to the light-transmitting cover, and the lower shell 112 can correspond to the base, or vice versa. In the above embodiment, the structure with the rotating base 21 rotatably mounted is the lower shell 112.

[0091] like Figure 9-11 As shown, in some embodiments, the rotating base 21 further includes a middle plate 21d, which supports the load. Specifically, the upper surface of the middle plate 21d is formed into a first region 21a and a second region 21b, wherein the first region 21a supports the load. Figure 16-17 As shown, the second sidewall 21c is connected to the lower part of the middle plate 21d. The fixing seat 11 includes a bottom wall 11d, which is located on the side of the second sidewall 21c away from the middle plate 21d. A third receiving cavity 21e is defined between the second sidewall 21c, the middle plate 21d, and the bottom wall 11d. Since the rotating seat 21 can rotate relative to the fixing part 10, the third receiving cavity 21e will have a certain amount of free space regardless of whether part of the fixing part 10 is accommodated in it. Therefore, the first identification unit 41 and / or the second identification unit 42 can be located in the third receiving cavity 21e, thereby reducing or avoiding the increase in volume of the rotating assembly 100 due to the arrangement of the first identification unit 41 and the second identification unit 42. Alternatively, the third receiving cavity 21e can be located between the first identification unit 41 and the second identification unit 42, thereby utilizing the space of the third receiving cavity 21e to ensure the reliability of mutual identification between the first identification unit 41 and the second identification unit 42.

[0092] like Figure 17 As shown, in some embodiments, the second identification unit 42 is disposed on the lower part of the middle plate 21d or the inner part of the second sidewall 21c; for example Figure 16 As shown, in some embodiments, the middle plate 21d has a through-hole structure or a recessed structure, or the second sidewall 21c has a through-hole structure or a recessed structure, and the second identification unit 42 is disposed on the through-hole structure or recessed structure of the middle plate 21d or the second sidewall 21c. In some embodiments, the first identification unit 41 is disposed on the motor stator 12, or disposed on a portion of the fixing seat 11 located inside the second sidewall 21c, for example, disposed on the bottom wall 11d.

[0093] In other embodiments, the rotor 22 is fixedly connected to the inner side of the second sidewall 21c, and the stator 12 is fixedly connected to the bottom wall 11d and located inside the rotor 22; the stator 12 has a through structure that extends through the centerline in a direction parallel to the centerline and deviates from the centerline. One of the first identification unit 41 and the second identification unit 42 is a third transmitting end, and the other of the first identification unit 41 and the second identification unit 42 is a third receiving end. When the rotating seat 21 rotates to the initial position, the light beam emitted by the third transmitting end passes through the through structure and is received by the third receiving end. That is, the through structure formed by the stator 12 can be used as a channel that allows the light path between the third transmitting end and the third receiving end to pass through. For example, the first identification unit 41 is placed below the through structure, and the second identification unit 42 is placed above the stator 12, so that the second identification unit 42 can rotate to the top of the through structure. When the second identification unit 42 rotates to the top of the through structure, the first identification unit 41 and the second identification unit 42 can transmit and receive the light beam, thereby determining the position of the rotating part 20 at that moment as the initial position. Specifically, the stator 12 can be a coil winding with multiple turns of coil, and there is a certain gap between two adjacent turns of coil. One of these gaps can be used as a through structure.

[0094] like Figure 2 , Figure 7 and Figure 9-17 As shown, in some embodiments, the fixed base 11 further includes a lower rotating shaft 11c and a bottom wall 11d. The lower rotating shaft 11c is connected to the middle of the bottom wall 11d and located above the bottom wall 11d. The first side wall 11a is connected to the upper part of the bottom wall 11d. The rotating base 21 further includes an upper rotating shaft 21f. The upper rotating shaft 21f is connected to the middle of the middle plate 21d and located below the middle plate 21d and inside the second side wall 21c, or the second side wall 21c serves as the upper rotating shaft 21f. The upper rotating shaft 21f and the lower rotating shaft 11c are rotatably connected by a bearing 70, allowing the rotating base 21 to rotate relative to the fixed base 11.

[0095] like Figure 2 , Figure 7 , Figure 9-12 and Figure 14-16 As shown, in some embodiments, the lower rotating shaft 11c has a hollow structure, and the upper rotating shaft 21f is inserted into the hollow structure of the lower rotating shaft 11c. Along the radial direction of the central axis, the upper rotating shaft 21f, the bearing 70, and the lower rotating shaft 11c are sequentially connected from the inside to the outside. In embodiments where the rotor 22 is directly mounted on the inner sidewall of the second sidewall 21c and surrounds the stator 12, the stator 12 can be configured to surround the lower rotating shaft 11c and be connected to the outer sidewall of the lower rotating shaft 11c.

[0096] like Figure 13 and Figure 17 As shown, in some embodiments, the upper rotating shaft 21f has a hollow structure, and the lower rotating shaft 11c is inserted into the hollow structure of the upper rotating shaft 21f. Along the radial direction of the central axis, the lower rotating shaft 11c, the bearing 70, and the upper rotating shaft 21f are sequentially connected from the inside to the outside. In embodiments where the rotor 22 is directly disposed on the inner sidewall of the second sidewall 21c and surrounds the stator 12, the stator 12 can be configured to surround the lower rotating shaft 11c.

[0097] It should be noted that the upper rotating shaft 21f and the lower rotating shaft 11c can be understood as structures that mate and connect with the bearing 70, and their specific shapes are not limited. For example, the upper rotating shaft 21f and the lower rotating shaft 11c can be structures with an axial dimension greater than their radial dimension, or structures with an axial dimension less than or equal to their radial dimension; the upper rotating shaft 21f and the lower rotating shaft 11c can be completely solid structures or have hollow structures; if the upper rotating shaft 21f and the lower rotating shaft 11c have hollow structures, the radial dimension of the hollow structure can be less than the radial dimension of the solid structure, or it can be greater than or equal to the radial dimension of the solid structure.

[0098] like Figure 8-15 As shown, the optical ranging device 1000 provided in this embodiment includes an optical scanning component 200 and a rotating component 100. The optical scanning component 200 is used to emit a light beam to an external object and to receive the light beam reflected by the external object, thereby determining the distance between the external object and the optical ranging device 1000. The optical scanning component 200 is mounted as a load on the rotating base 21, meaning that the optical scanning component 200 can rotate with the rotating base 21. Combined with the rotating component 100, which can detect the rotation angle of the rotating base 21, the optical ranging device 1000 can obtain the orientation and distance of surrounding external objects, and has the advantages of miniaturization, simple algorithm design, and high detection reliability.

[0099] like Figure 8As shown, in some embodiments, the optical scanning assembly 200 includes an optical engine bracket 210, a first light emitter 220, and a first light receiver 230. The optical engine bracket 210 is used to mount the first light emitter 220 and the first light receiver 230, and the optical engine bracket 210 is disposed on a rotating base 21. The first light emitter 220 is used to emit a light beam to an external object, and the first light receiver 230 is used to receive the light beam reflected by the external object.

[0100] like Figure 13 As shown, in some other embodiments, the optical scanning assembly 200 includes a reflector 240, and the fixing part 10 further includes a second light emitter 13 and a second light receiver 14, wherein the second light emitter 13 and the second light receiver 14 are fixed on the fixing base 11, the second light emitter 13 is used to emit a light beam, the second light receiver 14 is used to receive the light beam, and the reflector 240 is used to reflect the light beam emitted by the second light emitter 13 to an external object and to reflect the light beam after being reflected by the external object to the second light receiver 14.

[0101] like Figure 9-12 and Figure 14-15 As shown, in some embodiments, the optical ranging device 1000 further includes a first circuit board 300, which is fixed to the mounting base 11. A first identification unit 41 is disposed on the mounting base 11 or the first circuit board 300 and electrically connected to the first circuit board 300. In some embodiments, the first circuit board 300 can also be used to house a speed detection unit 30, a motor drive controller, a first coil 61, or be electrically connected to the first coil 61, or be electrically connected to the stator 12 (which is a coil winding), or be electrically connected to the rotor 22 (which is a coil winding), or be electrically connected to the second light emitter 13 and the second light receiver 14 fixed to the mounting base 11. Figure 9-12 As shown, in some embodiments, the first circuit board 300 may be the only circuit board fixed to the mounting base 11; such as Figure 14-15 As shown, the first circuit board 300 can also be multiple circuit boards fixed to the mounting base 11.

[0102] like Figure 9-12 and Figure 14-15As shown, in some embodiments, the optical ranging device 1000 further includes a second circuit board 400, which is fixed to the rotating base 21. The second identification unit 42 is disposed on the rotating base 21 or the second circuit board 400 and electrically connected to the second circuit board 400. In some embodiments, the second circuit board 400 may also be used to set up a speed detection unit 30, or to set up a motor drive controller, or to set up a second coil 62, or to be electrically connected to the second coil 62, or to be electrically connected to an optical scanning assembly 200 having a first light emitter 220 and a first light receiver 230, or to be electrically connected to a rotor 22, which is a coil winding. In some embodiments, the second circuit board 400 may be a single circuit board fixed to the rotating base 21, or it may be multiple circuit boards fixed to the rotating base 21.

[0103] Furthermore, such as Figure 9-12 and Figure 14-15 As shown, the optical ranging device 1000 may simultaneously have a first circuit board 300 and a second circuit board 400. The first circuit board 300 is fixed to the fixing base 11, and the second circuit board 400 is fixed to the rotating base 21. In some embodiments, the first identification unit 41 is electrically connected to the first circuit board 300, and the second identification unit 42 is not electrically connected to the second circuit board 400; in other embodiments, the second identification unit 42 is electrically connected to the second circuit board 400, and the first identification unit 41 is not electrically connected to the first circuit board 300; in still other embodiments, the first identification unit 41 is electrically connected to the first circuit board 300, and the second identification unit 42 is electrically connected to the second circuit board 400.

[0104] Other configurations and operations of the rotating assembly 100, the optical ranging device 1000, and the mobile robot 2000 according to embodiments of this application are known to those skilled in the art and will not be described in detail here.

[0105] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0106] Although embodiments of this application have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the claims and their equivalents.

Claims

1. A rotating assembly for driving a load to rotate, characterized in that, include: The fixing part includes a fixing seat; The rotating part includes a rotating seat for supporting the load; the rotating seat is rotatably mounted on the fixed seat and can rotate relative to the central axis. The motor unit includes a stator and a rotor, the stator is disposed on the fixed part, and the rotor is connected to the rotating part; A speed detection unit, electrically connected to the motor unit, is used to detect the speed of the rotor; and An initial position recognition unit includes a first recognition unit and a second recognition unit. The first recognition unit is connected to the fixed part, and the second recognition unit is connected to the rotating part. The first recognition unit is used to recognize the relative position between itself and the second recognition unit, or the second recognition unit is used to recognize the relative position between itself and the first recognition unit.

2. The rotating assembly according to claim 1, characterized in that, The speed detection unit includes a speed processing unit, which is electrically connected to the coil winding of the motor unit; wherein, the speed processing unit is used to acquire the back electromotive force generated by the coil winding of the motor unit and determine the speed of the rotor based on the back electromotive force; Alternatively, the speed detection unit includes a back electromotive force acquisition unit and a speed processing unit, wherein the back electromotive force acquisition unit is electrically connected to the coil winding of the motor unit; wherein the back electromotive force acquisition unit is used to acquire the back electromotive force generated by the coil winding of the motor unit and send the back electromotive force to the speed processing unit, and the speed processing unit is used to determine the speed of the rotor based on the back electromotive force; Alternatively, the speed detection unit includes a magnetic sensing element, which is used to sense changes in magnetic parameters generated by the coil winding of the motor unit to determine the speed of the rotor; wherein the stator is the coil winding of the motor unit, and the magnetic sensing element is disposed on the rotor or the rotating part; or, the rotor is the coil winding of the motor unit, and the magnetic sensing element is disposed on the stator or the fixed part.

3. The rotating assembly according to claim 2, characterized in that, The speed processing unit is also used to control the power output of the motor.

4. The rotating assembly according to claim 1, characterized in that, One of the first identification unit and the second identification unit is a Hall sensor, and the other of the first identification unit and the second identification unit is an initial position magnet. The Hall sensor is used to determine the relative position with the initial position magnet based on the magnetic field of the identified initial position magnet. Alternatively, one of the first identification unit and the second identification unit is a through-beam optocoupler, and the other of the first identification unit and the second identification unit is an initial position protrusion. The through-beam optocoupler includes a first transmitting end, a first receiving end, and a detection cavity, with the detection cavity located between the first transmitting end and the first receiving end. The through-beam optocoupler is used to determine the relative position with the initial position protrusion when the initial position protrusion passes through the detection cavity. Alternatively, one of the first identification unit and the second identification unit is a reflective optical coupler, which includes a second transmitting end and a second receiving end. The reflective optical coupler is used to determine the relative position between itself and the other of the first identification unit and the second identification unit when the second light transmitter emits a light beam to the other of the first identification unit and the second identification unit and the second receiving end receives or does not receive the light beam reflected by the other of the first identification unit and the second identification unit. Alternatively, one of the first identification unit and the second identification unit may be a third transmitter, and the other of the first identification unit and the second identification unit may be a third receiver; the third receiver is used to determine the relative position with the third transmitter when it receives the light beam emitted by the third transmitter.

5. The rotating assembly according to claim 1, characterized in that, When the rotating seat rotates to the initial position, the first identification unit and the second identification unit are radially opposite each other along the central axis; or, when the rotating seat rotates to the initial position, the first identification unit and the second identification unit are opposite each other in a direction parallel to the central axis.

6. The rotating assembly according to claim 1, characterized in that, The upper surface of the rotating seat includes a first region and a second region. The first region is used to support the load, and the second identification unit is disposed on the second region or the load. The fixed base includes a first sidewall radially along the central axis, the first sidewall being disposed opposite to the rotating seat or the load, and the first identification unit being disposed on the side of the first sidewall facing the central axis; or, the fixed base includes a top wall located on the side of the load away from the rotating seat, and the first identification unit being disposed on the side of the top wall facing the rotating seat.

7. The rotating assembly according to claim 1, characterized in that, The fixed seat includes a first sidewall, and the rotating seat includes a second sidewall; the first sidewall surrounds the second sidewall. The first identification unit and / or the second identification unit are located between the first sidewall and the second sidewall along the radial direction of the central axis.

8. The rotating assembly according to claim 7, characterized in that, It also includes a first coil and a second coil; the first coil is connected to the fixed base and is at least partially located inside the first side wall, and the second coil is connected to the rotating base and is at least partially located outside the second side wall; the first coil and the second coil are arranged opposite each other in a direction parallel to the central axis, and electrical power transmission and / or signal transmission can be performed between the first coil and the second coil; A first receiving cavity is defined between the inner side of the first sidewall, the outer side of the second sidewall, and the side of the first coil opposite to the second coil, and the first identification unit and / or the second identification unit is disposed in the first receiving cavity; or, a second receiving cavity is defined between the inner side of the first sidewall, the outer side of the second sidewall, and the side of the second coil opposite to the first coil, and the first identification unit and / or the second identification unit is disposed in the second receiving cavity.

9. The rotating assembly according to any one of claims 6-8, characterized in that, The fixed base includes an upper shell and a lower shell, the upper shell and the lower shell are fixedly connected and define a main cavity, the rotating base is rotatably disposed on the lower shell, and the rotating base and the load are located in the main cavity; The first sidewall includes a first upper sidewall and a first lower sidewall, the first upper sidewall being part of the upper shell and the first lower sidewall being part of the lower shell; at least a portion of the rotating seat is located inside the first lower sidewall, and at least a portion of the load is located inside the first upper sidewall or the first lower sidewall.

10. The rotating assembly according to claim 1, characterized in that, The rotating seat includes a middle plate and a second side wall; the middle plate supports the load, and the second side wall is connected to the lower part of the middle plate; the fixed seat includes a bottom wall located on the side of the second side wall away from the middle plate; a third receiving cavity is defined between the second side wall, the middle plate, and the bottom wall; The first identification unit and / or the second identification unit are located within the third receiving cavity, or the third receiving cavity is located between the first identification unit and the second identification unit.

11. The rotating assembly according to claim 10, characterized in that, The rotor is fixedly connected to the inner side of the second side wall, and the stator is fixedly connected to the bottom wall and located inside the rotor; the stator has a through structure that extends through the center line in a direction parallel to the center line and deviates from the center line. One of the first identification unit and the second identification unit is a third transmitting end, and the other of the first identification unit and the second identification unit is a third receiving end; when the rotating seat rotates to the initial position, the light beam emitted by the third transmitting end passes through the through structure and is received by the third receiving end.

12. An optical ranging device, characterized in that, It includes an optical scanning component and a rotating component according to any one of claims 1-11, wherein the optical scanning component is used to emit a light beam to an external object and to receive the light beam reflected by the external object; the optical scanning component is disposed on the rotating base as a load.

13. The optical ranging device according to claim 12, characterized in that, The optical ranging device further includes a first circuit board, which is fixed to the mounting base, and the first identification unit is disposed on the mounting base or the first circuit board and electrically connected to the first circuit board. And / or, the optical ranging device further includes a second circuit board, the second circuit board being fixed to the rotating base, and the second identification unit being disposed on the rotating base or the second circuit board and electrically connected to the second circuit board.

14. A mobile robot, characterized in that, Includes the optical ranging device according to claim 12 or 13.

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