Radar device

Abstract

This application provides a radar device. The radar device includes: a housing; a drive source; a reflector; and a transmission unit. The transmission unit includes a drive wheel, a transmission component, and a driven component. The transmission component is tractively connected to both the drive wheel and the driven component, and is slidably mounted on the housing along a first direction. The driven component is rotatably connected to the housing around a first axis and connected to the reflector. The drive wheel is configured to rotate continuously in one direction around its axis under the drive of the drive source, driving the transmission component to reciprocate along the first direction. The driven component is configured to be driven by the transmission component while the transmission component reciprocates along the first direction, and alternately rotates clockwise and counterclockwise around the first axis, thereby causing the reflector to swing within a preset angle. The radar device of this application, by setting the transmission unit to drive the reflector to swing within a preset angle, can avoid missing the target, thereby improving the scanning frame rate, scanning efficiency, and sensitivity of the radar device.

Description

Technical Field

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

[0002] LiDAR, as a high-precision ranging and environmental sensing device, has been widely used in drones, robotic vacuum cleaners, and automotive radar due to its advantages of long range, high resolution, and strong anti-interference capabilities. LiDAR typically includes a laser scanning unit to scan for obstacles and other objects in front of it.

[0003] The laser scanning unit in related technologies includes a housing, a drive mechanism, a reflector, and circuit components such as a laser emitter and a signal processing unit. The laser emitter and signal processing unit are fixedly mounted on the housing. The drive mechanism rotates the reflector, changing the propagation angle of the laser beam to scan the detection area. However, this scheme has a "missing target" state during the scanning cycle of the laser scanning unit. That is, when the reflector rotates to outside its working angle (where the reflected beam is within the detection field of view of the laser scanning unit), it cannot scan for targets. This missing target state affects the scanning frame rate of the radar device, reducing its scanning efficiency and sensitivity. Summary of the Invention

[0004] This application provides a radar device in which a transmission unit drives a reflector to swing within a preset angle, which can prevent the reflector from missing the target, thereby improving the scanning frame rate of the radar device and enhancing its scanning efficiency and sensitivity.

[0005] This application provides a radar device, which includes: a housing; a drive source disposed in the housing; a reflector; and a transmission unit disposed in the housing. The transmission unit includes a drive wheel, a transmission member, and a driven member. The transmission member is tractively connected to both the drive wheel and the driven member, and is slidably mounted on the housing along a first direction. The driven member is rotatably connected to the housing around a first axis and is connected to the reflector. The drive wheel is configured to rotate continuously in one direction around its axis under the drive of the drive source, thereby driving the transmission member to reciprocate along the first direction. The driven member is configured to be driven by the transmission member when the transmission member reciprocates along the first direction, and alternately rotates clockwise and counterclockwise around the first axis, thereby causing the reflector to swing within a preset angle.

[0006] In some embodiments, the first direction includes directions toward opposite sides; The driving wheel is provided with at least one driving wheel mating part, and the transmission component is provided with two first mating parts. Each driving wheel mating part mates with one first mating part, and a driving wheel mating part does not mate with different first mating parts at the same time. In a set of mutually cooperating drive wheel mating parts and first mating parts, when the corresponding drive wheel rotates continuously in one direction around the axis of the drive wheel, the drive wheel mating part intermittently drives the transmission component to move to one side of the first direction through the first mating part; When the same or different drive wheel mating parts are mated with different first mating parts, the transmission components are driven to move to opposite sides in the first direction through the first mating parts.

[0007] In some embodiments, there is one drive wheel and one transmission member. The two first mating parts are located on opposite radial sides of the drive wheel. The drive wheel mating parts are configured to alternately engage with the two first mating parts when the corresponding drive wheel rotates, so as to drive the transmission members to move to opposite sides along the first direction.

[0008] In some embodiments, the transmission component is configured with a through-hole relief groove, the drive wheel is located in the relief groove, and the inner wall of the relief groove is arranged around the circumference of the drive wheel. Two first mating parts are respectively disposed on a set of opposing inner groove wall surfaces of the clearance groove; and / or A drive wheel is provided with a drive wheel mating part, which includes a first end and a second end located at the circumferential end of the corresponding drive wheel. The distance between the first end and the second end is less than or equal to the distance between the two first mating parts.

[0009] In some embodiments, there is one transmission member, two first mating parts are respectively disposed on opposite sides of the transmission member, there are two driving wheels, the two driving wheels are respectively located on opposite sides of the two first mating parts, the driving wheel mating part of each driving wheel is correspondingly mated with an adjacent first mating part, and the driving wheel mating parts of the two driving wheels are not simultaneously mated with the corresponding first mating parts. The two drive wheels are configured to drive the driven member to move in opposite directions along a first direction through the corresponding first mating part under the drive of the drive source.

[0010] In some embodiments, the drive wheel mating part is coaxially arranged with the drive wheel, and the sum of the angles of the arrangement areas of the two drive wheel mating parts on their respective drive wheels is 360 degrees.

[0011] In some embodiments, the driving wheel mating portion includes a plurality of driving wheel teeth continuously arranged along a local circumferential region of the driving wheel, and the first mating portion includes a plurality of first tooth groove structures into which the driving wheel teeth can be inserted, and the plurality of first tooth groove structures are arranged in a row along a first direction.

[0012] In some embodiments, the driven member is configured as a rotating wheel structure, the circumferential wheel surface of the driven member is provided with a plurality of driven member teeth, and the transmission member is provided with a plurality of second tooth groove structures that can cooperate with the driven member teeth 71, and the plurality of second tooth groove structures are arranged in a row along the first direction; When the transmission component reciprocates along the first direction, multiple second toothed structures mesh with the teeth of the driven component at different positions in the circumference of the driven component, thereby driving the driven component to rotate forward or backward around the first axis.

[0013] In some embodiments, the two first mating parts, the drive wheel, and the transmission member are located in a first plane perpendicular to the second direction; Multiple second toothed structures and driven members are located in a second plane perpendicular to the second direction; wherein, the second direction is the extension direction of the axis of the driving wheel.

[0014] In some embodiments, the inner wall of the housing is provided with a guide groove, and the transmission component is guided and engaged with the side wall of the guide groove along a first direction.

[0015] In some embodiments, the radar device further includes a controller, a driver, and a speed sensor. The controller is electrically connected to the driver and the speed sensor. The driver is electrically connected to a drive source and sends a drive signal to the drive source. The speed sensor is configured to detect the speed signal of a follower, a transmission element, or a reflector. The controller is configured to control the drive signal emitted by the driver based on the speed signal detected by the speed sensor, so as to change the rotational speed of the drive source so that the rotational speed of the driven part is maintained at a preset speed.

[0016] In some embodiments, the transmission component is further provided with a plurality of second gear teeth, which are arranged in a row along a first direction; The speed sensor is a gear code reader and is located on the side of the transmission component. When the transmission component reciprocates along the first direction, some of the second gear teeth are located in the detection area of ​​the speed sensor.

[0017] In some embodiments, the radar device further includes: a circuit board and a laser emitter and a laser receiver disposed on the circuit board, wherein the reflector is configured to reflect the laser emitted by the laser emitter into the detection field of view of the radar device, and to reflect the laser reflected back by a target object in the detection field of view to the laser receiver. The circuit board is located on one side of the transmission unit and the reflector along the first direction, with the emitting end of the laser emitter facing the reflecting surface of the reflector; or The driving wheel and the driven component are arranged sequentially along a third direction. The circuit board is located between the driving wheel and the driven component along the third direction. The speed sensor and the laser emitter are both located on the side of the circuit board away from the driving wheel. The speed sensor is positioned in the first direction corresponding to the driven component. The radar device also includes an auxiliary mirror, which is configured to reflect the laser emitted by the laser emitter to the reflector and reflect the laser reflected back from the reflector to the laser receiver. The third direction is perpendicular to both the first direction and the axis of the driving wheel.

[0018] In some embodiments, the reflective surface of the reflector includes a first region and a second region, the first region being configured to reflect laser emitted by the laser emitter into the detection field of view of the radar device, and the second region being configured to reflect laser reflected back from a target object within the detection field of view to the laser receiver. The reflective surface of the mirror is equipped with an isolation baffle, which separates the first region and the second region from each other.

[0019] In some embodiments, the radar device further includes a reduction gear set; There is one driving wheel, and the drive source drives the driving wheel to rotate continuously in one direction around the axis of the driving wheel through a reduction gear set; or There are multiple drive wheels, and the drive source drives each drive wheel to rotate continuously in one direction around its own axis through a reduction gear set.

[0020] The embodiments of this application have the following beneficial effects: In this application, the radar device includes a transmission unit, which comprises a driving wheel, a transmission component, and a driven component. The transmission component is driveably connected to both the driving wheel and the driven component, so that the drive of the driving wheel is transmitted to the driven component through the transmission component. The driving wheel is configured to rotate continuously in one direction around its axis under the drive of a drive source, thereby driving the transmission component to reciprocate along a first direction. Therefore, when the drive source drives the driving wheel, the driving wheel, through its cooperation with the transmission component, converts the continuous rotation into the reciprocating linear motion of the transmission component. Further, the driven component is configured to be driven by the transmission component when the transmission component reciprocates along the first direction, and alternately rotates forward and reverse around the first axis, thereby causing the reflector to swing within a preset angle. In this way, the transmission component, through its cooperation with the driven component, converts the linear reciprocating motion of the transmission component into the alternating forward and reverse rotation of the driven component. Since the reflector is connected to the driven component, the alternating forward and reverse rotation of the driven component can cause the reflector to swing back and forth within a preset angle. In this way, the reflector can swing back and forth within a preset angle. During the scanning process, the reflector can always swing within the predetermined working angle (the beam emitted by the laser emitter and reflected by the reflector is within the detection field of view of the radar device). This will prevent the failure to scan the target in front. Since the radar device always scans within the detection field of view during the scanning cycle, it can avoid missing the target, improve the scanning frame rate of the radar device, and enhance the scanning efficiency and sensitivity of the radar device.

[0021] Furthermore, since the drive wheel is configured to rotate continuously in one direction around its axis under the drive of the drive source, the drive wheel is always driven by the drive source and rotates continuously in one direction throughout the entire scanning process. Through the transmission and driven components, this continuous unidirectional drive process is converted into the reciprocating oscillation of the mirror. In other words, the drive source outputs continuous unidirectional rotation to the drive wheel, which is converted into the reciprocating oscillation of the mirror by mechanical structures such as transmission and driven components. The drive process of the drive source to the drive wheel does not involve the commutation process of the drive wheel; it only needs to rotate the drive wheel in a fixed direction. The control of the drive wheel is relatively simple, and the oscillation accuracy of the mirror is relatively high. Compared with directly driving the transmission components to rotate forward and backward to achieve the reciprocating oscillation of the mirror, this method can significantly save costs and control efficiency. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the internal structure of the radar device provided in the embodiments of this application; Figure 2 This is an exploded view of the radar device provided in the embodiments of this application; Figure 3 This is a schematic diagram of another structure of the radar device provided in the embodiments of this application; Figure 4 This is a schematic diagram of the internal partial explosion structure of the radar device provided in this application after removing the housing; Figure 5 This is a schematic diagram of the reduction gear set in the radar device provided in the embodiments of this application; Figure 6 This is a schematic diagram of another structure of the radar device provided in the embodiments of this application; Figure 7 This is an exploded view of the radar device provided in the embodiments of this application; Figure 8 This is a schematic diagram of the structure of the transmission component and the housing cooperating with each other in the radar device provided in the embodiments of this application; Figure 9 This is a schematic diagram of another structure of the radar device provided in the embodiments of this application; Figure 10 This is a schematic diagram of another structure of the radar device provided in the embodiments of this application.

[0023] Explanation of reference numerals in the attached figures: 100. Radar equipment; 10. Housing; 11. Guide groove; 111. Side groove wall; 101. Outer shell; 102. Inner liner; 1021. First receiving groove; 1022. Second receiving groove; 122. Slider; 20. Driver source; 30. Reflector; 31. Isolation baffle; 301. First region; 302. Second region; 32. Rotating shaft; 33. Bearing; 35. Sub-reflector; 40. Transmission unit; 50. Drive wheel; 51. Drive wheel mating part; 510. Drive wheel gear teeth; 511. First end; 512. Second end; 60. Transmission component; 61. First mating part; 611. First tooth groove structure; 62. Second tooth groove structure; 63. Clearance groove; 631. Inner groove wall; 64. Second gear tooth; 65. Main body; 66. Connecting arm; 70. Follower; 71. Follower gear teeth; 72. Protrusion; 80. Reduction gear set; 801. First transmission gear; 802. Second transmission gear; 803. Third transmission gear; 804. Fourth transmission gear; 811. First gear; 812. Second gear; 91. Controller; 92. Driver; 93. Speed ​​sensor; 94. Circuit board; 941. Extension board; 95. Laser emitter; 96. Laser receiver; 97. Auxiliary mirror; F, First direction; F1, First side; F2, Second side; S, Second direction; T, Third direction; Z, Detection field of view; O1, First axis; O2, Axis of the drive wheel; R, Arc segment; Z1, Accommodation space. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings. The described embodiments should not be regarded as limitations on this application. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0025] In the following description, references are made to “some embodiments,” which describe a subset of all possible embodiments. However, it is understood that “some embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

[0026] In the following description, the terms "first, second, third" are used merely to distinguish similar objects and do not represent a specific ordering of objects. It is understood that "first, second, third" may be interchanged in a specific order or sequence where permitted, so that the embodiments of this application described herein can be implemented in an order other than that illustrated or described herein.

[0027] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of this application only and is not intended to limit this application.

[0028] LiDAR, as a high-precision ranging and environmental sensing device, has been widely used in drones, robotic vacuum cleaners, and automotive radar due to its advantages of long range, high resolution, and strong anti-interference capabilities. LiDAR typically includes a laser scanning unit to scan for obstacles and other objects in front of it.

[0029] Currently, mainstream laser scanning units on the market typically adopt an integrated rotating structure. Specifically, the laser emitter is mounted on a mechanical structure that can rotate 360 ​​degrees. The mechanical structure drives the laser emitter to rotate and scan, so that the laser beam emitted by the emitter can cover the surrounding detection area, thereby achieving omnidirectional scanning. However, in this solution, the mechanical structure needs to drive the entire set of equipment, including the laser emitter and signal processing unit, to rotate synchronously, making the entire lidar structure relatively complex, bulky, and power-consuming.

[0030] To overcome the aforementioned shortcomings, a rotating mirror scheme has been proposed in related technologies. This scheme fixes the laser emitter, signal processing unit, and other circuit components onto the housing, and rotates the reflector only through a drive mechanism. The rotation of the reflector changes the propagation angle of the laser beam, thereby achieving scanning of the detection area. Compared to a fully rotating structure, this simplifies the overall structure and reduces the size of the device. However, this scheme has a "missing target" state during the scanning cycle of the laser scanning unit. That is, when the reflector rotates to outside the working angle (where the laser beam emitted by the laser emitter and reflected by the reflector is within the detection field of view of the laser scanning unit), it cannot scan the target in front. The missing target state affects the scanning frame rate of the radar device, reducing the scanning efficiency and sensitivity of the radar device.

[0031] In view of this, this application provides a radar device that, through the cooperation of a drive wheel, a transmission component, and a driven component, makes a reflector swing within a predetermined angle. Since the reflector is always scanning within the detection field of view, it can avoid missing the target, improve the scanning frame rate of the radar device, and enhance the scanning efficiency and sensitivity of the radar device.

[0032] The following will describe the scheme of this application in detail with reference to the accompanying drawings.

[0033] Figure 1 This is a schematic diagram of the internal structure of the radar device 100 provided in the embodiments of this application.

[0034] Please see Figure 1The radar device 100 provided in this application embodiment includes: a housing 10, a drive source 20, a reflector 30, and a transmission unit 40.

[0035] Both the drive source 20 and the transmission unit 40 are located in the housing 10. The transmission unit 40 includes a drive wheel 50, a transmission component 60, and a driven component 70. The transmission component 60 is connected to both the drive wheel 50 and the driven component 70. The transmission component 60 is slidably mounted on the housing 10 along the first direction F. The driven component 70 is rotatably connected to the housing 10 around the first axis O1 and is connected to the reflector 30. The drive wheel 50 is configured to rotate continuously in one direction around its axis O2 under the drive of the drive source 20, thereby driving the transmission component 60 to reciprocate along the first direction F. The driven component 70 is configured to be driven by the transmission component 60 when the transmission component 60 reciprocates along the first direction F, and alternately rotates clockwise and counterclockwise around the first axis O1, thereby causing the reflector 30 to swing within a preset angle.

[0036] In this application, the radar device 100 includes a transmission unit 40, which includes a drive wheel 50, a transmission member 60, and a driven member 70. The transmission member 60 is drively connected to both the drive wheel 50 and the driven member 70, so that the drive of the drive wheel 50 is transmitted to the driven member 70 through the transmission member 60. The drive wheel 50 is configured to rotate continuously in one direction around its axis O2 under the drive of the drive source 20, thereby driving the transmission member 60 to reciprocate along a first direction F. Therefore, when the drive source 20 drives the drive wheel 50, the drive wheel 50, through its cooperation with the transmission member 60, converts the continuous rotation into the reciprocating linear motion of the transmission member 60. Further, the driven member 70 is configured to be driven by the transmission member 60 when the transmission member 60 reciprocates along the first direction F, and alternately rotates clockwise and counterclockwise around the first axis O1, thereby causing the reflector 30 to swing within a preset angle. Thus, the transmission component 60, in cooperation with the driven component 70, converts the linear reciprocating movement of the transmission component 60 into the alternating forward and reverse rotation of the driven component 70. Since the reflector 30 is connected to the driven component 70, the alternating forward and reverse rotation of the driven component 70 can drive the reflector 30 to oscillate back and forth within a preset angle. In this way, the reflector 30 can oscillate back and forth within a preset angle. During the scanning process, the reflector 30 can always oscillate within a predetermined working angle (the light beam reflected by the reflector 30 is within the detection field of view Z of the radar device 100), thus preventing the failure to scan the target in front. During the scanning cycle of the radar device 100, it always scans within the area of ​​the detection field of view Z, thereby avoiding the state of missing the target, improving the scanning frame rate of the radar device 100, and enhancing the scanning efficiency and sensitivity of the radar device 100.

[0037] Furthermore, since the drive wheel 50 is configured to rotate continuously in one direction around its axis O2 under the drive of the drive source 20, the drive wheel 50 is always driven by the drive source 20 to rotate continuously in one direction throughout the entire scanning process. Then, through the transmission component 60 and the driven component 70, the continuous unidirectional drive process is converted into the reciprocating oscillation of the reflector 30. In other words, the drive source 20 outputs a continuous unidirectional rotation to the drive wheel 50, which is converted into the reciprocating oscillation of the reflector 30 by mechanical structures such as the transmission component 60 and the driven component 70. The drive process of the drive source 20 to the drive wheel 50 does not involve the reversing process of the drive wheel 50; it only needs to rotate the drive wheel 50 in a fixed direction. The control of the drive wheel 50 is also relatively simple, and the oscillation accuracy of the reflector 30 is relatively high. Compared with directly driving the transmission component to rotate forward and backward to achieve the reciprocating oscillation of the reflector 30 by the drive source 20, this method can significantly save costs and control efficiency.

[0038] In this embodiment of the application, for ease of explanation, a first direction F, a second direction S and a third direction T that are perpendicular to each other are defined. The first direction F may be the direction of movement of the transmission member 60, and the second direction S may be, for example, the extension direction of the axis O2 of the drive wheel.

[0039] Figure 2 This is an exploded structural diagram of the radar device 100 provided in the embodiments of this application.

[0040] Please combine Figure 1 , Figure 2 Referring to the reference, the housing 10 serves as the bearing reference for various components within the radar device 100. The housing 10 may include an outer shell 101 and an inner liner 102. The outer shell 101 is hollow, and the inner liner 102 can be housed within the outer shell 101. The drive source 20, reflector 30, and transmission unit 40 in the radar device 100 can be mounted on the inner liner 102. The drive source 20 may be, for example, a motor or other component capable of outputting rotation via a rotating shaft. A first receiving groove 1021 may be provided on the surface of the inner liner 102. The inner wall shape of the first receiving groove 1021 is adapted to the outer contour shape of the drive source 20 to facilitate the embedding of the drive source 20 into the inner liner 102. The reflector 30 can be constructed as a plate-like structure, connected to the follower 70, and oscillating under the drive of the follower 70. Both axial end faces of the follower 70 can be provided with protrusions 72, one of which is connected to the reflector 30, and the other protrusion 72 can be supported by a bearing 33 on the inner liner 102, allowing the follower 70 to rotatably connect to the housing 10 around the first axis O1. Furthermore, the oscillation center of the reflector 30 can coincide with the first axis O1.

[0041] Understandably, to make the swinging process of the reflector 30 more stable, a rotating shaft 32 can be connected to the side of the reflector 30 away from the driven member 70. The rotating shaft 32 can be supported on the inner liner 102 by a bearing 33. In addition, in order to avoid the swinging of the reflector 30, the inner liner 102 is also provided with a second receiving groove 1022, in which at least a portion of the reflector 30 and the driven member 70 can be received.

[0042] In this embodiment, the transmission unit 40 includes a driving wheel 50, a transmission component 60, and a driven component 70. It should be noted that the driven component 70 can be configured as follows: Figure 1 As shown, it is formed into a wheel-like structure, that is, a structure that revolves around the first axis O1 for a full circumference, or it can be like... Figure 2 As shown, it is only partially arranged in the circumferential direction to form a roughly fan-shaped structure in the outer contour. The transmission member 60 is connected to both the driving wheel 50 and the driven member 70, meaning that the movement of the driving wheel 50 can be transmitted to the driven member 70 through the transmission member 60. The transmission member 60 is slidably mounted on the housing 10 along the first direction F, meaning that the transmission member 60 is movably disposed on the housing 10 and can slide relative to the housing 10 along the first direction F.

[0043] The continuous unidirectional rotation of the drive wheel 50 around its axis O2 can drive the transmission member 60 to reciprocate along the first direction F. This means that when the drive wheel 50 rotates continuously clockwise or counterclockwise, it can drive the transmission member 60 to reciprocate linearly along the first direction F. In some embodiments, the first direction F may include two sides facing opposite directions, such as a first side F1 and a second side F2. The drive wheel 50 has at least one drive wheel mating part 51, and the transmission member 60 has two first mating parts 61. The drive wheel mating part 51 can cooperate with the first mating parts 61. In a set of cooperating drive wheel mating parts 51 and first mating parts 61, when the corresponding drive wheel 50 rotates continuously in one direction around its axis O2, the drive wheel mating part 51 intermittently drives the transmission member 60 to move to one side of the first direction F through the first mating parts 61. With this configuration, the drive wheel 50 can rotate continuously in one direction under the drive source 20. During a full cycle of continuous rotation in one direction, the drive wheel engagement part 51 and the first engagement part 61 engage intermittently. That is, the drive wheel engagement part 51 only engages with the first engagement part 61 for a portion of the time. Thus, during this period of engagement, as the drive wheel engagement part 51 rotates, the first engagement part 61 can move along the first direction F in response to the rotation. This converts the rotation of the drive wheel 50 into linear movement of the transmission member 60 along the first direction F. It should be noted that since the rotation of the drive wheel 50 is continuous in one direction, when a set of engaging drive wheel engagement parts 51 and first engagement parts 61 engage, the drive wheel engagement part 51 can only drive the first engagement part 61 to move unidirectionally along one side of the first direction F, such as the first side F1 or the second side F2.

[0044] For the engagement between the drive wheel engagement part 51 and the first engagement part 61, for example, the drive wheel engagement part 51 and the first engagement part 61 can be inserted into each other. In this way, as the drive wheel 50 rotates in one direction, the drive wheel engagement part 51 rotates circumferentially around the axis O2 of the drive wheel and is positioned opposite the first engagement part 61, it can be inserted into the first engagement part 61. As the drive wheel 50 gradually rotates, the drive wheel engagement part 51 can disengage from the first engagement part 61 to release this insertion relationship. In some embodiments, the drive wheel mating part 51 may include a plurality of drive wheel teeth 510 continuously arranged along a circumferential local area of ​​the drive wheel 50, and the first mating part 61 includes a plurality of first tooth groove structures 611 into which the drive wheel teeth 510 can be inserted. The plurality of first tooth groove structures 611 are arranged in a row along a first direction F, so that the drive wheel teeth 510 can be inserted into the corresponding first tooth groove structure 611. The drive wheel 50 may be formed as a gear, sprocket or ratchet, and the first mating part 61 may be constructed as a rack, chain or pawl, etc. This application is not limited to these, as long as the structure enables the drive wheel mating part 51 and the first mating part 61 to form an insertion fit.

[0045] exist Figure 1 In the example, taking a driving wheel 50 with a driving wheel mating part 51 as an example, the driving wheel mating part 51 includes multiple driving wheel teeth 510 arranged continuously around the axis O2 of the driving wheel. It can be understood that the number of driving wheel mating parts 51 on the driving wheel 50 can be set as needed. For example, two or more can be set. When there are multiple driving wheel mating parts 51, each driving wheel mating part 51 can be arranged sequentially along the circumference of the driving wheel 50. The driving wheel mating parts 51 can be arranged continuously or spaced apart from each other. However, it is necessary to ensure that these driving wheel mating parts 51 do not simultaneously mate with the two first mating parts 61.

[0046] It is important to note that when the same or different drive wheel mating parts 51 mate with different first mating parts 61, the first mating parts 61 drive the transmission member 60 to move in opposite directions in the first direction F. Thus, by mating with different first mating parts 61, the transmission member 60 can be driven to move alternately in opposite directions in the first direction F. Furthermore, to ensure that the transmission member 60 moves only along one side of the first direction F at any given time, each drive wheel mating part 51 can mate with only one first mating part 61, and a single drive wheel mating part 51 cannot mate with different first mating parts 61 simultaneously. This allows the drive wheel mating parts 51 to mate with different first mating parts 61 at different times, ensuring that only one first mating part 61 mates with the drive wheel mating part 51 at any given moment. This prevents the transmission member 60 from being driven simultaneously in opposite directions in the first direction F.

[0047] In this embodiment, the number of drive wheels 50 can be set as needed, and there can be one or more to drive two first mating parts 61 respectively. When there is only one drive wheel 50 and only one drive wheel mating part 51 on the drive wheel 50, the drive wheel mating part 51 on the drive wheel 50 needs to drive the two first mating parts 61 in a time-sharing manner, and the two first mating parts 61 share one drive wheel mating part 51. When there is only one drive wheel 50 and only two or more drive wheel mating parts 51 on the drive wheel 50, the two or more drive wheel mating parts 51 need to drive the two first mating parts 61 in a time-sharing and alternating manner, and the two first mating parts 61 cooperate with different drive wheel mating parts 51 respectively. When there are two or more drive wheels 50 and only one drive wheel mating part 51 on the drive wheel 50, each first mating part 61 can correspond to a different drive wheel mating part 51 on the drive wheel 50. The following is in conjunction with... Figure 1 and Figure 3 A detailed explanation is provided. Among them, Figure 3 This is a schematic diagram of another structure of the radar device 100 provided in the embodiments of this application.

[0048] Please see Figure 1 In the case where there is only one drive wheel 50, taking the drive wheel mating part 51 provided on the drive wheel 50 as an example, it can be understood that when there are multiple drive wheel mating parts 51, it is sufficient to ensure that none of the drive wheel mating parts 51 simultaneously mate with the two first mating parts 61. For example, the circumferential surface of the drive wheel 50 can be set as a cylindrical surface, so that the drive wheel teeth 510 included in the drive wheel mating part 51 can be continuously arranged along a local circumferential region of the drive wheel 50.

[0049] The following will describe in detail how a drive wheel 50 alternately drives two first mating parts 61. For example, the number of transmission members 60 is also one. The two first mating parts 61 included in the transmission member 60 are located on opposite radial sides of the drive wheel 50. The drive wheel mating parts 51 are configured to alternately engage with the two first mating parts 61 when the corresponding drive wheel 50 rotates, so as to drive the transmission member 60 to move to opposite sides along the first direction F.

[0050] Specifically, taking the clockwise rotation of the drive wheel 50 as an example, in... Figure 1 In the example, it is the drive wheel mating part 51 and... Figure 1 The first mating part 61 on the left side of the figure is in a mating state, and the driving wheel mating part 51 gradually engages with... Figure 1 The first mating part 61 on the left side of the figure engages, causing the first mating part 61 to drive the transmission member 60 to move towards the first side F1. As the driving wheel 50 continues to rotate, the driving wheel mating part 51 gradually engages with... Figure 1 The first mating part 61 on the left side of the drawing disengages and is... Figure 1 The first mating part 61 on the right side of the figure engages, causing the transmission member 60 to move towards the second side F2. Thus, within one full rotation cycle of the driving wheel 50, the driving wheel mating part 51 engages with both first mating parts 61, driving the transmission member 60 to reciprocate once along the first direction F. As the driving wheel 50 rotates continuously in one direction, the transmission member 60 can produce the effect of reciprocating along the first direction F.

[0051] Furthermore, in order to enable the two first mating parts 61 to engage with the driving wheel mating part 51 at different times, it is also necessary to limit the circumferential range of the driving wheel mating part 51 in the driving wheel 50. The driving wheel mating part 51 includes a first end 511 and a second end 512 located at the corresponding circumferential ends of the driving wheel 50. When the driving wheel 50 rotates clockwise, the second end 512 cannot engage with the other first mating part 61 unless the first end 511 is disengaged from one of the first mating parts 61. For example, the distance D1 between the first end 511 and the second end 512 should be less than or equal to the distance D2 between the two first mating parts 61. When the distance D1 between the first end 511 and the second end 512 is less than the distance D2 between the two first mating parts 61, the second end 512 will engage with the other first mating part 61 only after a certain period of time has elapsed since the first end 511 has disengaged from one of the first mating parts 61. When the distance D1 between the first end 511 and the second end 512 is equal to the distance D2 between the two first mating parts 61, as soon as the first end 511 disengages from one of the first mating parts 61, the second end 512 immediately begins to engage with the other first mating part 61. After the second end 512 disengages from the first mating part 61 it was engaging with, the first end 511 immediately begins to engage with the first mating part 61 again, and so on. In this way, the reversing action of the transmission member 60 along both sides of the first direction F is not delayed, making the reciprocating movement of the transmission member 60 along the first direction F more continuous. Similarly, when the driving wheel 50 is counterclockwise driven, the first end 511 cannot engage with the other first mating part 61 unless the second end 512 disengages from one of the first mating parts 61.

[0052] In the aforementioned embodiments, since there is only one drive wheel 50, the two first mating parts 61 can be located on opposite radial sides of the drive wheel 50. In some embodiments, for example, the transmission member 60 can be constructed with a through-type clearance groove 63, in which the drive wheel 50 is located, and the inner wall 631 of the clearance groove 63 is arranged circumferentially around the drive wheel 50. This arrangement can fully utilize the circumferential space of the drive wheel 50, achieving a compact nested fit between the transmission member 60 and the drive wheel 50, reducing the size of the mechanism. Furthermore, the two first mating parts 61 are respectively provided on the surfaces of a set of opposing inner walls 631 of the clearance groove 63. Since the first mating parts 61 can be directly integrated into the surfaces of the inner walls 631 of the clearance groove 63, the overall structure of the transmission member 60 can be simplified, reducing additional connecting parts and assembly processes, making the structure more compact and reliable, which is beneficial for improving assembly accuracy and reducing manufacturing costs. In addition, the distance between the set of opposing inner walls 631 of the clearance groove 63 is also the distance D2 between the two first mating parts 61 mentioned above. In some embodiments, the cross-section of the clearance groove 63 along the groove depth direction can be constructed as square, and the entire transmission component 60 can be constructed as a frame structure, which is also more convenient for processing and manufacturing.

[0053] Figure 4 This is a schematic diagram of the internal partial explosion structure of the radar device 100 provided in this application embodiment after removing the housing 10.

[0054] In some embodiments, please refer to Figure 4The radar device 100 may further include a reduction gear set 80. With one drive wheel 50, the drive source 20 drives the drive wheel 50 to rotate continuously in one direction around its axis O2 via the reduction gear set 80. The reduction gear set 80 may include a first transmission gear 801, a second transmission gear 802, a third transmission gear 803, and a fourth transmission gear 804. The first transmission gear 801 is connected to the drive shaft of the drive source 20; the first transmission gear 801 and the second transmission gear 802 mesh; the second transmission gear 802 and the third transmission gear 803 are coaxially and fixedly connected; the third transmission gear 803 and the fourth transmission gear 804 mesh; and the fourth transmission gear 804 is coaxially and fixedly connected to the drive wheel 50. With this configuration, when the drive source 20 rotates, it drives the first transmission gear 801 to rotate, and the second transmission gear 802, which meshes with the first transmission gear 801, also rotates. The third transmission gear 803 rotates synchronously with the second transmission gear 802, and the rotation of the third transmission gear 803 drives the fourth transmission gear 804 to rotate, causing the drive wheel 50, which is fixedly connected to the fourth transmission gear 804, to also rotate. At this time, the drive wheel 50 can be located between the two opposing inner groove walls 631 of the clearance groove 63, and the fourth transmission gear 804 can be located on one side of the transmission member 60 along the second direction S. In this way, the drive wheel 50 with a smaller diameter can be suspended and extended into the clearance groove 63, and the remaining transmission gears in the reduction gear set 80 can be located on one side of the transmission member 60.

[0055] In this embodiment of the application, as mentioned above, the number of driving wheels 50 can also be multiple. When there are multiple driving wheels 50, they can be divided into two groups. One group of driving wheels 50 drives one first mating part 61 to move along the first direction F to one side, and the other group of driving wheels 50 drives another first mating part 61 to move along the first direction F to the other side. Figure 3 In the example, the case of two drive wheels 50 and one drive wheel mating part 51 on each drive wheel 50 is used for illustration. The case of more drive wheels 50 is similar and will not be described in detail here.

[0056] Please see Figure 3 The transmission component 60 consists of one unit. Two first mating portions 61 are located on opposite sides of the transmission component 60. Two drive wheels 50 are located on opposite sides of the two first mating portions 61. Each drive wheel 50's drive wheel mating portion 51 mates with an adjacent first mating portion 61, but the drive wheel mating portions 51 of the two drive wheels 50 do not simultaneously mate with their corresponding first mating portions 61. The two drive wheels 50 are configured to drive the driven component 70 to move in opposite directions along the first direction F via the corresponding first mating portions 61 under the drive of the drive source 20.

[0057] Thus, when one drive wheel 50 rotates, its drive wheel mating part 51 engages with the corresponding first mating part 61, causing the first mating part 61 to drive the transmission member 60 to move to one side along the first direction F. When the other drive wheel 50 rotates, its drive wheel mating part 51 engages with the corresponding first mating part 61, causing the first mating part 61 to drive the transmission member 60 to move to the other side along the first direction F. Since the drive wheel mating parts 51 of the two drive wheels 50 do not simultaneously engage with the corresponding first mating part 61, the transmission member 60 can be selectively driven by one of the two drive wheels 50, thereby achieving the reversal of the transmission member 60. Figure 1 Compared to the previous scheme, the transmission component 60 is located between the two drive wheels 50, which can reduce the width dimension of the transmission component 60 along the third direction T and reduce the overall size of the device.

[0058] In some embodiments, to ensure that the driving wheel mating portions 51 of the two driving wheels 50 do not simultaneously engage with their corresponding first mating portions 61, the driving wheel mating portions 51 can be coaxially arranged with the driving wheels 50, and the sum of the angles of the arrangement areas of the two driving wheel mating portions 51 on their respective corresponding driving wheels 50 is less than or equal to 360 degrees. If it is greater than 360 degrees, when the two driving wheels 50 rotate along their own axes, there will inevitably be overlapping areas, leading to the possibility that the two first mating portions 61 may be driven simultaneously. It is understood that when the sum of the angles of the arrangement areas of the two driving wheel mating portions 51 on their respective corresponding driving wheels 50 is 360 degrees, seamless reversal connection of the two first mating portions 61 can be achieved. Specifically, the driving wheel mating portion 51 may include a first end 511 and a second end 512 located at the circumferential end of the corresponding driving wheel 50. Figure 3 In the example of the driving wheel 50 rotating clockwise, when explaining the process, in one of the driving wheels 50, for example... Figure 3 When the driving wheel 50 on the upper side of the drawing rotates to the point where the first end 511 of the driving wheel mating part 51 on it just disengages from the corresponding first mating part 61, another driving wheel 50, for example... Figure 3 The second end 512 of the drive wheel mating part on the lower side of the drawing can then engage with the first mating part 61. Furthermore, in Figure 3 When the driving wheel 50 on the lower side of the drawing rotates to the point where the first end 511 of the driving wheel mating part on it just disengages from the corresponding first mating part 61... Figure 3The second end 512 of the drive wheel mating part 51 on the upper side of the drawing can then engage with the first mating part 61. It can be understood that this explanation assumes the two drive wheels 50 have equal diameters, the drive wheel mating parts 51 on both drive wheels 50 extend 180 degrees circumferentially, and the two drive wheel mating parts 51 are located at the same position circumferentially on the corresponding drive wheels 50. In actual implementation, this can be set as needed. For example, the circumferential setting range of the drive wheel mating part 51 on one drive wheel 50 could be 100 degrees, and the circumferential setting range of the drive wheel mating part on the other drive wheel 50 could be 260 degrees, etc. As long as the sum of the circumferential setting angles of the drive wheel mating parts on the two drive wheels 50 is 360 degrees, seamless reversal of the drive transmission driven by the two first mating parts 61 can be guaranteed.

[0059] Understandably, in order to ensure that the transmission component 60 moves at the same speed on opposite sides along the first direction F, it is necessary to reasonably set the angle range of the driving wheel mating part 51 in the circumferential direction of the driving wheel 50. Specifically, it is necessary to ensure that the driving wheel mating parts 51 on the two driving wheels 50 have the same arc length in the circumferential direction of their respective driving wheels 50. For example, for Figure 3 In the two drive wheels 50 shown, the drive wheel mating parts 51 are both located on an arc segment R in their axial cross-section. Regardless of the angle range of the drive wheel mating parts 51 in the circumferential direction, the lengths of the arc segments R on which the two drive wheel mating parts 51 of the two drive wheels 50 are located must be equal.

[0060] In this embodiment of the application, when the driving wheel mating part 51 includes a plurality of driving wheel teeth 510 and the first mating part 61 includes a plurality of first tooth groove structures 611, the grooves of the first tooth groove structures 611 of the two first mating parts 61 should face the corresponding driving wheel teeth 510. For example, the transmission member 60 can be constructed as a plate-shaped structure, and the two first mating parts 61 can be disposed on two opposite sides of the transmission member 60.

[0061] In addition, with Figure 1 The example is different, in Figure 3 The circumferential surface of the driving wheel 50 has two parts with different radii along the circumferential direction. The driving wheel teeth 510 can be set on the part with the larger radius, compared to... Figure 1 For example, this setup can reduce the weight of the mechanism.

[0062] exist Figure 3 In the example, the two drive wheels 50 can rotate in the same direction, or the two drive wheels 50 can rotate in opposite directions, so that the two drive wheels 50 can be driven by two different drive sources 20.

[0063] Figure 5This is a schematic diagram of the reduction gear set 80 in the radar device 100 provided in the embodiments of this application.

[0064] In some embodiments, when it is necessary to use the same drive source 20 to drive two drive wheels 50, the drive source 20 can drive each drive wheel 50 to rotate continuously in one direction around its respective axis through the reduction gear set 80. For example, please refer to Figure 5 The reduction gear set 80 may include a first gear 811 and two second gears 812. The first gear 811 is connected to the drive shaft of the drive source 20. The two second gears 812 are coaxially fixedly connected to their respective driving wheels 50. The two second gears 812 are located on the radial sides of the first gear 811, and both second gears 812 mesh with the first gear 811. Thus, when the drive shaft of the drive source 20 drives the first gear 811 to rotate, for example, clockwise, the two second gears 812 meshing with the first gear 811 rotate counterclockwise, thereby driving their respective driving wheels 50 to rotate counterclockwise. In this way, one drive source 20 can drive two driving wheels 50 to rotate in the same direction.

[0065] In this embodiment of the application, as described above, the driven member 70 is configured to be driven by the transmission member 60 when the transmission member 60 reciprocates along the first direction F, and alternately rotates clockwise and counterclockwise around the first axis O1 to drive the reflector 30 to swing within a preset angle. In other words, the driven member 70 can convert the reciprocating movement of the transmission member 60 along the first direction F into the alternating clockwise and counterclockwise rotation of the driven member 70 along the first axis O1.

[0066] Please continue to combine Figure 1 and Figure 3 Referring to the diagram, the driven member 70 is constructed as a rotating wheel structure. The circumferential surface of the driven member 70 has multiple driven member teeth 71. The transmission member 60 has multiple second toothed structures 62 that can engage with the driven member teeth 71. These second toothed structures 62 are arranged in a row along the first direction F. When the transmission member 60 reciprocates along the first direction F, the multiple second toothed structures 62 mesh with the driven member teeth 71 at different circumferential positions of the driven member 70, thereby driving the driven member 70 to rotate around the first axis O1, that is, to rotate clockwise or counterclockwise around the axis of the driven member 70. With this configuration, when the transmission member 60 moves along the first direction F, the second tooth groove structure 62 sequentially meshes with the driven member gear teeth 71 on the driven member 70, causing the driven member 70 to rotate. In addition, the multiple second tooth groove structures 62 are arranged in a row along the first direction F, which can ensure that the transmission member 60 can maintain effective meshing with the driven member 70 within the stroke of alternating rotation, avoiding tooth disengagement, tooth skipping, or transmission failure.

[0067] Furthermore, regarding the placement of the first mating part 61 and the second toothed structure 62 on the transmission member 60, the transmission member 60 may include a main body 65, and the two first mating parts 61 may be disposed on the main body 65. Figure 1 In this embodiment, the clearance groove 63 is disposed on the main body 65 and penetrates the main body 65 along the third direction T, thereby constructing the transmission member 60 as a frame structure. A plurality of second toothed structures 62 are arranged at intervals with the two first mating parts 61 along the second direction S, and the plurality of second toothed structures 62 can be disposed on one end face of the transmission member 60 along the third direction T. This arrangement reduces the space occupied by the transmission member 60 along the first direction F, making the radar device 100 structure more compact.

[0068] Please see Figure 3 In another possible implementation, the second toothed structure 62 can be disposed on one side of the two first mating parts 61 along the first direction F, thus facilitating engagement with the driven member 70. In this embodiment, the transmission member 60 may further include a connecting arm 66, one end of which is connected to the main body 65. The two first mating parts 61 can be disposed on two opposite sides of the main body 65 along the third direction T, and the second toothed structure 62 can be disposed on the connecting arm 66.

[0069] In some embodiments, the connecting arm 66 may be disposed on one side of the main body 65 along the first direction F, such that the mechanism size of the transmission member 60 along the first direction F may be relatively large, as shown in the following embodiments. Figure 6 As shown, the housing of the transmission member 60 is inclined to reduce the size of the transmission member 60. Exemplarily, the radar device 100 also includes a circuit board 94 and a laser emitter 95 and a laser receiver 96 disposed on the circuit board 94. The reflector 30 is configured to reflect the laser emitted by the laser emitter 95 into the detection field of view Z of the radar device 100, and to reflect the laser reflected back from a target object within the detection field of view Z to the laser receiver 96 (see below). Figure 7 The circuit board 94 can be disposed on the side of the transmission unit 40 and the drive wheel 50, and the laser emitter 95 can be disposed on the side of the circuit board 94 facing the transmission unit 40. A receiving space Z1 is defined between the laser emitter 95 and the circuit board 94. In this way, when the transmission component 60 is tilted, one of the drive wheels 50 can be located within the receiving space Z, thus making the internal structure of the entire device more compact. Please see Figure 4 In another possible implementation, the connecting arm 66 may be disposed on one side of the main body 65 along the second direction S, and the second toothed structure 62 may be disposed on the transmission member 60, so that the second toothed structure 62 and the first mating part 61 are located at different height positions in the second direction S, so as to save space of the mechanism in the third direction T.

[0070] Figure 7 This is an exploded structural diagram of the radar device 100 provided in the embodiments of this application.

[0071] Please combine Figure 7 and Figure 4 Referring to the embodiments of this application, the two first mating parts 61, the driving wheel 50, and the transmission member 60 are located in a first plane perpendicular to the second direction S. Multiple second toothed structures 62 and the driven member 70 are located in a second plane perpendicular to the second direction S. The second direction S is the extension direction of the axis O2 of the driving wheel. Here, both the first and second planes are perpendicular to the second direction S, thus making them parallel to each other and located at different positions in the second direction S. This saves space in the radar device 100 along the third direction T, making the overall structure of the radar device 100 more compact. Furthermore, when projected along the second direction S, the projection of the main body 65 of the transmission member 60 can overlap with the projections of the connecting arm 66 and the driven member 70, further enhancing the compactness of the structure. In addition, as mentioned above, protrusions 72 can be provided on both axial end faces of the follower 70. One protrusion 72 is connected to the reflector 30, and the other protrusion 72 can be supported by the bearing 33 on the inner liner 102. Here, the projection of the follower 70 along the second direction S can be a fan-shaped profile. The follower gear teeth 71 can be set on the arc surface of the fan-shaped profile. Compared with the traditional circular wheel structure forming the follower 70, under the premise of satisfying the meshing function of the gear teeth, the material occupation of the non-working area of ​​the follower 70 can be effectively reduced, making the follower 70 smaller in size and lighter in weight.

[0072] Figure 8 This is a schematic diagram of the structure in which the transmission component 60 and the housing 10 cooperate with each other in the radar device 100 provided in the embodiments of this application. Figure 9 , Figure 10 These are schematic diagrams of other structures of the radar device 100 provided in the embodiments of this application.

[0073] In this embodiment of the application, as described above, the transmission member 60 is slidably connected relative to the housing 10 along the first direction F, for example, referring to... Figure 8 The inner wall of the housing 10, such as the liner 102, is provided with a guide groove 11. The transmission member 60 can be accommodated in the guide groove 11, and the transmission member 60 and the side wall 111 of the guide groove 11 are guided and engaged along the first direction F. The two opposite side walls 111 of the guide groove 11 can extend along the first direction F to correspond one-to-one with the two opposite side walls of the transmission member 60. Since the guide groove 11 is directly provided on the liner 102, the structure is compact, eliminating the need for additional independent guiding components, simplifying the overall structure, and reducing assembly complexity.

[0074] Please continue to refer to Figure 9As another possible implementation, guide grooves 11 can be provided on the housing 10, and sliders 122 can be provided on the surface of the transmission member 60 facing the housing 10. The number of sliders 122 and guide grooves 11 corresponds one-to-one, and the sliders 122 are guided and fitted into the corresponding guide grooves 11. The outer contour shape of the slider 122 and the inner contour shape of the guide groove 11 can be matched for better fit. The cross-section of the guide groove 11 along the first direction F can be semi-circular, making the inner wall structure of the guide groove 11 smooth and reducing motion resistance. Figure 2 In the example, the case of two sliders 122 and two guide slots 11 is used for illustration. The case of other cases with different numbers of sliders 122 and guide slots 11 is similar and will not be described in detail here.

[0075] In the embodiments of this application, please continue to refer to Figure 1 The radar device 100 also includes a controller 91, a driver 92, and a speed sensor 93. The controller 91 is electrically connected to the driver 92 and the speed sensor 93. The driver 92 is electrically connected to the drive source 20 and sends a drive signal to the drive source 20. The speed sensor 93 is configured to detect the speed signal of the driven member 70, the transmission member 60, or the reflector 30. The controller 91 is configured to control the drive signal sent by the driver 92 based on the speed signal detected by the speed sensor 93, thereby changing the rotational speed of the drive source 20 so that the rotational speed of the driven member 70 is maintained at a preset speed. In this way, the real-time monitoring of the swing speed of the reflector 30 can be achieved through the real-time detection by the speed sensor 93. With the control of the controller 91, the swing speed of the driven member 70 can be kept constant, that is, the reflector 30 can swing at a uniform speed. Furthermore, the controller 91, driver 92, etc., can all be mounted on a circuit board 94.

[0076] In some embodiments, the speed sensor 93 can be a gear reader, which can be configured with gear teeth at corresponding positions on the driven member 70, the transmission member 60, or the reflector 30 to cooperate with the gear reader for speed detection. The location of the speed sensor 93 can be determined, for example, based on the location of the circuit board 94.

[0077] For example, when using speed sensor 93 to measure the speed of follower 70, it can be referred to Figure 1 As shown, the speed sensor 93 is positioned corresponding to the follower 70, and this is achieved by positioning a portion of the follower gear teeth 71 on the follower 70 within the detection area of ​​the speed sensor 93. This eliminates the need for dedicated detection gear teeth on each component, resulting in a simpler structure.

[0078] The driving wheel 50 and the driven member 70 can be arranged sequentially along the second direction S. The circuit board 94 is located on the same side of the driving wheel 50 and the driven member 70 along the first direction F. At this time, the speed sensor 93 can be connected to a preset position on the housing 10, and the detection area of ​​the speed sensor 93 should be located near the driven member 70 so that the driven member gear teeth 71 can enter the detection area of ​​the speed sensor 93.

[0079] Please continue to refer to Figure 7 In another possible implementation, the transmission member 60 is further provided with a plurality of second gear teeth 64, which are arranged in a row along the first direction F. The speed sensor 93 is located on the side of the transmission member 60, and when the transmission member 60 reciprocates along the first direction F, some of the second gear teeth 64 are located in the detection area of ​​the speed sensor 93. With this configuration, the rotational speed of the driven member 70 is indirectly obtained through the moving speed of the transmission member 60. When the moving speed of the transmission member 60 is constant, the speed of the driven member 70 can also remain constant. By placing the second gear teeth 64 for detection by the speed sensor 93 on the transmission member 60, interference of the speed sensor 93 with the movement of the driven member 70 can be avoided.

[0080] In this embodiment, the circuit board 94 can still be located on one side of the drive wheel 50 and the driven member 70 along the first direction F. In addition, the radar device 100 also includes an extension plate 941, which can be connected to the circuit board 94 and located on the side of the transmission member 60. The speed sensor 93 can be installed on the extension plate 941 and located at the position corresponding to the second gear tooth 64, so that the second gear tooth 64 can enter the detection area of ​​the speed sensor 93.

[0081] Please see Figure 9 In another possible implementation, the speed sensor 93 can detect the speed information of the reflector 30. For example, an isolation baffle 31 can be provided on the reflector 30. The isolation baffle 31 is erected relative to the reflector 30. A plurality of test gear teeth (not shown) are provided at the top part of the isolation baffle 31 away from the reflector 30. The speed sensor 93 is set at the position corresponding to the isolation baffle 31. When the reflector 30 swings, the test gear teeth at the top part of the isolation baffle 31 can be located in the detection area of ​​the speed sensor 93.

[0082] Please combine Figure 9 and Figure 10Referring to some embodiments, the driving wheel 50 and the driven member 70 can be arranged sequentially along a third direction T, with the circuit board 94 located between the driving wheel 50 and the driven member 70 along the third direction T. The speed sensor 93 can be located on the side of the circuit board 94 away from the driving wheel 50, so that the speed sensor 93 can be directly corresponding to the test gear teeth on the isolation baffle 31. Alternatively, the speed sensor 93 can be directly corresponding to the driven member gear teeth 71 to detect the speed of the transmission member 60.

[0083] In the embodiments of this application, please continue to combine Figure 1 and Figure 7 ,and Figure 10 For reference, as previously described, the radar device 100 also includes a laser emitter 95 and a laser receiver 96 disposed on a circuit board 94. The reflector 30 is configured to reflect the laser emitted by the laser emitter 95 into the detection field of view Z of the radar device 100, and to reflect the laser reflected back from the target object in the detection field of view Z into the laser receiver 96.

[0084] Furthermore, as mentioned earlier, the circuit board 94 has two different mounting positions, corresponding to two different configurations, and the laser emitter 95 and laser receiver 96 are also mounted in different positions. Figure 1 and Figure 7 In one embodiment, the circuit board 94 is disposed on one side of the transmission unit 40 and the reflector 30 along the first direction F. At this time, the laser emitter 95 is disposed on the side of the circuit board 94 facing the transmission unit 40, and the emitting end of the laser emitter 95 faces the reflecting surface of the reflector 30.

[0085] exist Figure 10 In the example, since the driving wheel 50 and the driven member 70 are arranged sequentially along the third direction T, and the circuit board 94 is located between the driving wheel 50 and the driven member 70 along the third direction T, the speed sensor 93 and the laser emitter 95 can both be located on the side of the circuit board 94 away from the driving wheel 50. In order to guide the laser emitted by the laser emitter 95 to the reflector 30, the radar device 100 also includes an auxiliary mirror 97, which is configured to reflect the laser emitted by the laser emitter 95 to the reflector 30 and to reflect the laser reflected back from the reflector 30 to the laser receiver 96.

[0086] In the embodiments of this application, please refer to Figure 7 and Figure 9 For reference, in order to reduce optical crosstalk, the aforementioned isolation baffle 31 can be fixedly installed in the middle of the reflector 30 to divide the reflector 30 into two. In specific implementation, for example, it can be as follows: Figure 7As shown, an isolation baffle 31 is directly provided on the reflective surface of the reflector 30. Specifically, the reflective surface of the reflector 30 includes a first region 301 and a second region 302. The first region 301 is configured to reflect the laser emitted by the laser emitter 95 into the detection field of view Z of the radar device 100, and the second region 302 is configured to reflect the laser reflected back from a target object within the detection field of view Z to the laser receiver 96. The isolation baffle 31 isolates the first region 301 and the second region 302 from each other, preventing optical crosstalk. Figure 9 In one example, another possible implementation could be made where the reflector 30 includes two sub-reflectors 35 spaced apart from each other, with the first region 301 and the second region 302 located on the two sub-reflectors 35 respectively. In this case, the isolation baffle 31 completely isolates the two sub-reflectors 35 along the second direction S. This provides a more thorough isolation between the first region 301 and the second region 302.

[0087] The following describes the structure of the radar device 100 as described above, using preferred embodiments as examples.

[0088] According to Embodiment 1 of this application, please refer to Figure 1 , Figure 4 , Figure 7 , Figure 9 and Figure 10 The radar device 100 includes a housing 10, a drive source 20, a reflector 30, and a transmission unit 40. The drive source 20 and the transmission unit 40 are disposed in the housing 10. The transmission unit 40 includes a drive wheel 50, a transmission member 60, and a driven member 70. The transmission member 60 is tractively connected to both the drive wheel 50 and the driven member 70, and is slidably mounted on the housing 10 along a first direction F. The driven member 70 is connected to the reflector 30. The drive wheel 50 is configured to rotate continuously in one direction around its axis O2 under the drive of the drive source 20, thereby driving the transmission member 60 to reciprocate along the first direction F. The driven member 70 is configured to be driven by the transmission member 60 when the transmission member 60 reciprocates along the first direction F, and alternately rotates clockwise and counterclockwise around the first axis O1, thereby causing the reflector 30 to swing within a preset angle.

[0089] Furthermore, the first direction F includes two sides facing opposite directions. There is one driving wheel 50 and one transmission member 60. The two first mating parts 61 are located on opposite radial sides of the driving wheel 50. There is one driving wheel mating part 51, and the driving wheel mating part 51 is configured to alternately engage with the two first mating parts 61 when the corresponding driving wheel 50 rotates, so as to drive the transmission member 60 to move along the first direction F to opposite sides.

[0090] The transmission component 60 has a through-hole relief groove 63, in which the drive wheel 50 is located. The inner wall 631 of the relief groove 63 is arranged circumferentially around the drive wheel 50. Two first mating parts 61 are respectively provided on the surfaces of a pair of opposing inner wall 631 of the relief groove 63. Each drive wheel 50 has a drive wheel mating part 51, which includes a first end 511 and a second end 512 located at the circumferential end of the corresponding drive wheel 50. The distance D1 between the first end 511 and the second end 512 is equal to the distance D2 between the two first mating parts 61.

[0091] In some embodiments, the circumferential surface of the driven member 70 is provided with a plurality of driven member teeth 71, and the transmission member 60 is provided with a plurality of second tooth groove structures 62 that can engage with the driven member teeth 71. The plurality of second tooth groove structures 62 are arranged in a row along the first direction F. When the transmission member 60 reciprocates along the first direction F, the plurality of second tooth groove structures 62 mesh with the driven member teeth 71 at different circumferential positions of the driven member 70, so as to drive the driven member 70 to rotate clockwise or counterclockwise around the first axis O1.

[0092] In some embodiments, the radar device 100 further includes a controller 91, a driver 92, and a speed sensor 93. The controller 91 is electrically connected to the driver 92 and the speed sensor 93. The driver 92 is electrically connected to the drive source 20 and sends a drive signal to the drive source 20. The speed sensor 93 is configured to detect the speed signal of the driven member 70, the transmission member 60, or the reflector 30. The controller 91 is configured to control the drive signal sent by the driver 92 according to the speed signal detected by the speed sensor 93, so as to change the rotational speed of the drive source 20 so that the rotational speed of the driven member 70 is maintained at a preset speed.

[0093] In some embodiments, the radar device 100 further includes: a circuit board 94 and a laser emitter 95 and a laser receiver 96 disposed on the circuit board 94, wherein the reflector 30 is configured to reflect the laser emitted by the laser emitter 95 into the detection field of view Z of the radar device 100, and to reflect the laser reflected back by the target object in the detection field of view Z into the laser receiver 96.

[0094] For the location of board 94, please refer to... Figure 1 and Figure 4 , Figure 7 As shown, circuit board 94 is located on the same side of the driving wheel 50 and the driven member 70 along the first direction F. At this time, laser emitter 95 and laser receiver 96 are both located on the side of circuit board 94 facing the driving wheel 50, and reflector 30 is directly connected to the driven member 70. If speed sensor 93 detects the driven member's gear teeth 71 to detect the speed of the driven member 70, speed sensor 93 should... Figure 1It is positioned opposite the driven member 70 as shown. If the speed sensor 93 detects the speed of the transmission member 60, it can be as follows... Figure 4 , Figure 7 As shown, an extension plate 941 is connected to the circuit board 94, and a plurality of second gear teeth 64 are provided on the transmission member 60, which are arranged in a row along the first direction F. The speed sensor 93 is located on the extension plate 941 on the side of the transmission member 60. When the transmission member 60 reciprocates along the first direction F, some of the second gear teeth 64 are located in the detection area of ​​the speed sensor 93.

[0095] exist Figure 9 , Figure 10 In the example, the driving wheel 50 and the driven member 70 are arranged sequentially along the third direction T. The circuit board 94 is located between the driving wheel 50 and the driven member 70 along the third direction T, so that the speed sensor 93 and the laser emitter 95 are both located on the side of the circuit board 94 away from the driving wheel 50. In order to guide the laser emitted by the laser emitter 95 to the reflector 30, the radar device 100 also includes an auxiliary mirror 97. The auxiliary mirror 97 is configured to reflect the laser emitted by the laser emitter 95 to the reflector 30 and to reflect the laser reflected back from the reflector 30 to the laser receiver 96. If the speed sensor 93 is used to detect the speed of the reflector 30, an isolation baffle 31 can be provided on the reflector 30. The top part of the isolation baffle 31 away from the reflector 30 is provided with test teeth. When the reflector 30 swings, the test teeth are located in the detection area of ​​the speed sensor 93. If the speed sensor 93 is used to detect the speed of the transmission member 60, the speed sensor 93 can be set at the position on the circuit board 94 corresponding to the transmission member 60. Furthermore, the reflective surface of the reflector 30 includes a first region 301 and a second region 302. The first region 301 is configured to reflect the laser emitted by the laser emitter 95 into the detection field of view Z of the radar device 100, and the second region 302 is configured to reflect the laser reflected back from the target object within the detection field of view Z to the laser receiver 96. The isolation baffle 31 can isolate the first region 301 and the second region 302 from each other.

[0096] In addition, Figure 4 , Figure 7In the example shown, the radar device 100 may further include a reduction gear set 80. The reduction gear set 80 may include a first transmission gear 801, a second transmission gear 802, a third transmission gear 803, and a fourth transmission gear 804. The first transmission gear 801 is connected to the drive shaft of the drive source 20; the first transmission gear 801 and the second transmission gear 802 mesh; the second transmission gear 802 and the third transmission gear 803 are coaxially fixedly connected; the third transmission gear 803 and the fourth transmission gear 804 mesh; and the fourth transmission gear 804 is coaxially fixedly connected to the drive wheel 50. Furthermore, the two first mating parts 61, the drive wheel 50, and the transmission member 60 are located in a first plane perpendicular to the second direction S. A plurality of second toothed structures 62 and driven members are located in a second plane perpendicular to the second direction S. The second direction S is the extension direction of the axis O2 of the drive wheel. Further, please refer to... Figure 8 The inner wall of the housing 10 is provided with a guide groove 11, and the transmission component 60 is guided and engaged with the side groove wall 111 of the guide groove 11 along the first direction F.

[0097] The following is combined with Figure 1 , Figure 4 , Figure 7 , Figure 9 and Figure 10 Explanation of the operation process of the radar device 100 in Embodiment 1: Driven by the drive source 20, the drive wheel 50 begins to rotate. Taking the clockwise rotation of the drive wheel 50 as an example, when the drive wheel mating part 51 on the drive wheel 50 engages with... Figure 1 When the first mating part 61 on the left side of the figure engages, the transmission member 60 moves along the first direction F to the first side F1. The second toothed structure 62, through meshing with the driven member's gear teeth 71, drives the driven member 70 to rotate clockwise, causing the reflector 30 to swing clockwise. The driving wheel 50 continues to rotate, and when the driving wheel mating part 51 on the driving wheel 50 engages with... Figure 1 When the first mating part 61 on the right side of the figure is engaged, the transmission member 60 moves along the first direction F to the second side F2. The second toothed structure 62, through meshing with the driven member's gear teeth 71, drives the driven member 70 to rotate counterclockwise, causing the reflector 30 to swing counterclockwise. In this way, as the driving wheel 50 continues to rotate, the reflector 30 is driven to swing repeatedly within a preset angle.

[0098] According to Embodiment 2 of this application, please refer to Figure 3 and Figure 6 The radar device 100 includes: a housing 10, a drive source 20, a reflector 30, and a transmission unit 40.

[0099] The drive source 20 and the transmission unit 40 are disposed in the housing 10. The transmission unit 40 includes a drive wheel 50, a transmission member 60, and a driven member 70. The transmission member 60 is drively connected to both the drive wheel 50 and the driven member 70, and is slidably mounted on the housing 10 along a first direction F. The driven member 70 is connected to the reflector 30. The drive wheel 50 is configured to rotate continuously in one direction around its axis O2 under the drive of the drive source 20, thereby driving the transmission member 60 to reciprocate along the first direction F. The driven member 70 is configured to be driven by the transmission member 60 when the transmission member 60 reciprocates along the first direction F, and alternately rotates clockwise and counterclockwise around the first axis O1, thereby causing the reflector 30 to swing within a preset angle.

[0100] The transmission component 60 consists of one unit, with two first mating parts 61 located on opposite sides of the transmission component 60. There are two drive wheels 50 located on opposite sides of the two first mating parts 61. Each drive wheel 50's drive wheel mating part 51 mates with an adjacent first mating part 61, but the drive wheel mating parts 51 of the two drive wheels 50 do not simultaneously mate with their corresponding first mating parts 61. The two drive wheels 50 are configured to drive the driven component 70 to move in opposite directions along the first direction F via their corresponding first mating parts 61 under the drive of the drive source 20.

[0101] The driving wheel mating part 51 is disposed on the circumferential wheel surface of the driving wheel 50. The arrangement angle of the two driving wheel mating parts 51 on their respective driving wheels 50 is 180 degrees, and the two driving wheel mating parts 51 are located at the same position in the circumferential direction on their respective driving wheels 50. The driving wheel mating part 51 includes a plurality of driving wheel teeth 510 continuously arranged along a local area of ​​the circumferential direction of the driving wheel 50. The first mating part 61 includes a plurality of first tooth groove structures 611 into which the driving wheel teeth 510 can be inserted. The plurality of first tooth groove structures 611 are arranged in a row along the first direction F. The circumferential wheel surface of the driven member 70 is provided with a plurality of driven member teeth 71, and the transmission member 60 is provided with a plurality of second tooth groove structures 62 that can mate with the driven member teeth 71. The plurality of second tooth groove structures 62 are arranged in a row along the first direction F. When the transmission member 60 reciprocates along the first direction F, the multiple second toothed structures 62 mesh with the follower gear teeth 71 at different circumferential positions of the follower member 70, so as to drive the follower member 70 to rotate forward or backward around the first axis.

[0102] The radar device 100 also includes a controller 91, a driver 92, and a speed sensor 93. The controller 91 is electrically connected to the driver 92 and the speed sensor 93. The driver 92 is electrically connected to the drive source 20 and sends a drive signal to the drive source 20. The speed sensor 93 is configured to detect the speed signal of the driven member 70, the transmission member 60, or the reflector 30. The controller 91 is configured to control the drive signal sent by the driver 92 based on the speed signal detected by the speed sensor 93, so as to change the rotational speed of the drive source 20 and keep the rotational speed of the driven member at a preset speed.

[0103] The radar device 100 also includes a circuit board 94 and a laser emitter 95 and a laser receiver 96 disposed on the circuit board 94. The reflector 30 is configured to reflect the laser emitted by the laser emitter 95 into the detection field of view Z of the radar device 100, and to reflect the laser reflected back by the target object in the detection field of view Z into the laser receiver 96.

[0104] Regarding the placement of the circuit board 94, the circuit board 94 is located on one side of the transmission unit 40 and the reflector 30 along the third direction T, and the emitting end of the laser emitter 95 faces the reflecting surface of the reflector 30.

[0105] The transmission component 60 may include a main body 65 and a connecting arm 66. One end of the connecting arm 66 is connected to the main body 65. Two first mating parts 61 may be disposed on two opposite sides of the main body 65 along the third direction T. A second toothed structure 62 may be disposed on the connecting arm 66. The connecting arm 66 may be disposed on one side of the main body 65 along the first direction F. Therefore, the mechanism size of the transmission component 60 along the first direction F may be relatively large. Figure 6 As shown, consider tilting the transmission member 60 relative to the housing 10 to reduce the size of the transmission member 60. For example, the circuit board 94 can be disposed to the side of the transmission unit 40 and the drive wheel 50, and the laser emitter 95 can be disposed on the side of the circuit board 94 facing the transmission unit 40. A receiving space Z1 is defined between the laser emitter 95 and the circuit board 94, so that when the transmission member 60 is tilted, one of the drive wheels 50 can be located within the receiving space Z1, thus making the internal structure of the entire device more compact.

[0106] In addition, Figure 3 , Figure 5 and Figure 6In the example, the radar device 100 also includes a reduction gear set 80. The reduction gear set 80 may include a first gear 811 and two second gears 812. The first gear 811 is connected to the drive shaft of the drive source 20, and the two second gears 812 are coaxially fixedly connected to their respective driving wheels 50. The two second gears 812 are located on both radial sides of the first gear 811, and both second gears 812 mesh with the first gear 811. Thus, when the drive shaft of the drive source 20 drives the first gear 811 to rotate, for example, clockwise, the two second gears 812 meshing with the first gear 811 rotate counterclockwise, thereby driving their respective driving wheels 50 to rotate counterclockwise. In this way, one drive source 20 can drive two driving wheels 50 to rotate in the same direction.

[0107] The following is combined with Figure 3 and Figure 6 Explanation of the operation process of the radar device 100 in Embodiment 2: The drive source 20 drives the first gear 811 to rotate, and the two second gears 812 rotate in the same direction under the drive of the first gear 811, which in turn drives the two driving wheels 50 to rotate in the same direction. Taking the clockwise rotation of the driving wheel 50 as an example, when... Figure 3 , Figure 6 When the driving wheel 50 on the upper side of the drawing engages with the first engaging part 61 on the upper side of the drawing, the transmission member 60 moves along the first direction F to the second side F2. The second toothed structure 62, through engagement with the driven member's tooth 71, drives the driven member 70 to rotate counterclockwise, causing the reflector 30 to swing counterclockwise. The continued rotation of the two driving wheels 50, when... Figure 3 , Figure 6 When the driving wheel 50 on the lower side of the drawing engages with the first engaging part 61 on the upper side of the drawing, the transmission member 60 moves along the first direction F to the first side F1. The second toothed structure 62 engages with the driven member's tooth 71, causing the driven member 70 to rotate clockwise, thus causing the reflector 30 to swing clockwise. In this way, as the two driving wheels 50 continue to rotate, the reflector 30 is driven, thereby repeatedly swinging within a preset angle.

[0108] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0109] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0110] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0111] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are 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. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0112] The above description is merely a preferred embodiment of this application and is not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A radar device, characterized in that, The radar device includes: Shell (10); A drive source (20) is located in the housing (10); Mirror (30); and A transmission unit (40) is disposed in the housing (10). The transmission unit (40) includes a drive wheel (50), a transmission component (60), and a driven component (70). The transmission component (60) is connected to both the drive wheel (50) and the driven component (70) in a transmission manner. The transmission component (60) is slidably mounted on the housing (10) along a first direction (F). The driven component (70) is rotatably connected to the housing (10) around a first axis (O1) and is connected to the reflector (30). The drive wheel (50) is configured to rotate continuously in one direction around the axis of the drive wheel (50) under the drive of the drive source (20) so as to drive the transmission member (60) to reciprocate along the first direction (F); The driven member (70) is configured to be driven by the transmission member (60) when the transmission member (60) reciprocates along the first direction (F), and alternately rotates forward and reverse around the first axis (O1) to drive the reflector (30) to swing within a preset angle.

2. The radar device according to claim 1, characterized in that, The first direction (F) includes two sides facing opposite directions; The drive wheel (50) is provided with at least one drive wheel mating part (51), and the transmission member (60) is provided with two first mating parts (61). Each drive wheel mating part (51) is mated with one of the first mating parts (61), and one drive wheel mating part (51) is not mated with different first mating parts (61) at the same time. In a set of mutually cooperating drive wheel engagement parts (51) and first engagement parts (61), when the corresponding drive wheel (50) rotates continuously in one direction around the axis of the drive wheel (50), the drive wheel engagement part (51) intermittently drives the transmission member (60) to move to one side of the first direction (F) through the first engagement part (61); When the same or different drive wheel mating parts (51) are mated with different first mating parts (61), the transmission member (60) is driven to move to the opposite sides of the first direction (F) through the first mating parts (61).

3. The radar device according to claim 2, characterized in that, The number of the drive wheel (50) and the transmission member (60) is one. The two first mating parts (61) are located on opposite radial sides of the drive wheel (50). The drive wheel mating parts (51) are configured to alternately engage with the two first mating parts (61) when the corresponding drive wheel (50) rotates, so as to drive the transmission member (60) to move to opposite sides along the first direction (F).

4. The radar device according to claim 3, characterized in that, The transmission component (60) is constructed with a through-type clearance groove (63), the drive wheel (50) is located in the clearance groove (63), and the inner wall (631) of the clearance groove (63) is arranged around the circumference of the drive wheel (50). The two first mating parts (61) are respectively disposed on a set of opposing inner groove wall (631) surfaces of the clearance groove (63); and / or One of the drive wheels (50) is provided with a drive wheel mating part (51), the drive wheel mating part (51) includes a first end (511) and a second end (512) located at the circumferential end of the drive wheel (50), the distance (D1) between the first end (511) and the second end (512) is less than or equal to the distance (D2) between the two first mating parts (61).

5. The radar device according to claim 2, characterized in that, The number of transmission components (60) is one, and two first mating parts (61) are respectively provided on opposite sides of the transmission component (60). The number of driving wheels (50) is two, and the two driving wheels (50) are respectively located on opposite sides of the two first mating parts (61). The driving wheel mating part (51) of each driving wheel (50) is correspondingly mated with an adjacent first mating part (61), and the driving wheel mating parts (51) of the two driving wheels (50) are not mated with the corresponding first mating parts (61) at the same time. The two drive wheels (50) are configured to drive the driven member (60) to move in opposite directions along the first direction (F) via the corresponding first mating part (61) under the drive of the drive source (20).

6. The radar device according to claim 5, characterized in that, The active wheel mating part (51) is coaxially arranged with the active wheel (50), and the sum of the angles of the arrangement areas of the two active wheel mating parts (51) on their respective corresponding active wheels (50) is 360 degrees.

7. The radar device according to any one of claims 2-6, characterized in that, The drive wheel mating part (51) includes a plurality of drive wheel teeth (510) continuously arranged along a circumferential local area of ​​the drive wheel (50), and the first mating part (61) includes a plurality of first tooth groove structures (611) into which the drive wheel teeth (510) can be inserted, and the plurality of first tooth groove structures (611) are arranged in a row along the first direction (F).

8. The radar device according to any one of claims 2-6, characterized in that, The driven member (70) is constructed as a rotating wheel structure. The circumferential wheel surface of the driven member (70) is provided with a plurality of driven member teeth (71). The transmission member (60) is provided with a plurality of second tooth groove structures (62) that can cooperate with the driven member teeth (71). The plurality of second tooth groove structures (62) are arranged in a row along the first direction (F). When the transmission member (60) reciprocates along the first direction (F), the plurality of second toothed structures (62) mesh with the follower gear teeth (71) at different circumferential positions of the follower member (70) to drive the follower member (70) to rotate forward or backward around the first axis (O1).

9. The radar device according to claim 8, characterized in that, The two first mating parts (61), the drive wheel (50) and the transmission member (60) are located in a first plane perpendicular to the second direction (S); The plurality of second toothed structures (62) and the driven member (70) are located in a second plane perpendicular to the second direction (S); wherein the second direction (S) is the extension direction of the axis of the driving wheel (50).

10. The radar device according to any one of claims 1-6, characterized in that, The inner wall of the housing (10) is provided with a guide groove (11), and the transmission member (60) and the side groove wall (111) of the guide groove (11) are guided and engaged along the first direction (F).

11. The radar device according to any one of claims 1-6, characterized in that, The radar device further includes a controller (91), a driver (92), and a speed sensor (93). The controller (91) is electrically connected to the driver (92) and the speed sensor (93). The driver (92) is electrically connected to the drive source (20) and sends a drive signal to the drive source (20). The speed sensor (93) is configured to detect the speed signal of the driven member (70), the transmission member (60), or the reflector (30). The controller (91) is configured to control the drive signal emitted by the driver (92) based on the speed signal detected by the speed sensor (93) to change the rotational speed of the drive source (20) so that the rotational speed of the driven member (70) is maintained at a preset speed.

12. The radar device according to claim 11, characterized in that, The transmission component (60) is also provided with a plurality of second gear teeth (64), which are arranged in a row along the first direction (F); The speed sensor (93) is a gear code reader and is located on the side of the transmission member (60). When the transmission member (60) moves back and forth along the first direction (F), some of the second gear teeth (64) are located in the detection area of ​​the speed sensor (93).

13. The radar device according to claim 11, characterized in that, The radar device further includes: a circuit board (94) and a laser emitter (95) and a laser receiver (96) disposed on the circuit board (94), wherein the reflector (30) is configured to reflect the laser emitted by the laser emitter (95) into the detection field of view (Z) of the radar device, and to reflect the laser reflected back by the target object in the detection field of view (Z) into the laser receiver (96). The circuit board (94) is disposed on one side of the transmission unit (40) and the reflector (30) along the first direction (F), and the emitting end of the laser emitter (95) faces the reflecting surface of the reflector (30); or The drive wheel (50) and the driven member (70) are arranged sequentially along a third direction (T). The circuit board (94) is located between the drive wheel (50) and the driven member (70) along the third direction (T). The speed sensor (93) and the laser emitter (95) are both located on the side of the circuit board (94) away from the drive wheel (50). The speed sensor (93) is positioned along the first direction (F) in a manner corresponding to the driven member (70). The radar device also includes an auxiliary mirror (97), which is configured to reflect the laser emitted by the laser emitter (95) to the reflector (30) and to reflect the laser reflected back by the reflector (30) to the laser receiver (96). The third direction (T) is perpendicular to both the first direction (F) and the axial direction of the drive wheel (50).

14. The radar device according to claim 13, characterized in that, The reflective surface of the reflector (30) includes a first region (301) and a second region (302). The first region (301) is configured to reflect the laser emitted by the laser emitter (95) into the detection field of view (Z) of the radar device, and the second region (302) is configured to reflect the laser reflected back from the target object in the detection field of view (Z) to the laser receiver (96). The reflective surface of the reflector (30) is provided with an isolation baffle (31), which isolates the first region (301) and the second region (302) from each other.

15. The radar device according to any one of claims 1-6, characterized in that, The radar device also includes a reduction gear set (80). The number of the drive wheel (50) is one, and the drive source (20) drives the drive wheel (50) to rotate continuously in one direction around the axis of the drive wheel (50) through the reduction gear set (80); or The number of drive wheels (50) is multiple, and the drive source (20) drives each drive wheel (50) to rotate continuously in one direction around its respective axis through the reduction gear set (80).

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