Radar device

Abstract

The application provides a radar device. The radar device comprises a housing, a driving source and a transmission unit, the transmission unit comprising a driving part, a connecting rod and a swing part, the connecting rod comprising a first connecting part and a second connecting part; the driving part is rotatably installed in the housing around a first axis and movably connected with the first connecting part, the swing part is rotatably installed in the housing around a second axis and movably connected with the second connecting part, the first connecting part has a spacing with the first axis, and the second connecting part has a spacing with the second axis; and a reflector is connected with the swing part; the driving part is configured to continuously rotate around the first axis in one direction under the driving of the driving source, and drive the swing part to reciprocally swing around the second axis within a preset angle through the connecting rod. The radar device of the application can avoid the off-target state by setting the transmission unit to drive the reflector to swing within a preset angle, so as to improve the scanning frame rate of the radar device and improve the 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 device), 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 increasing the scanning frame rate of the radar device and improving the scanning efficiency and sensitivity of the radar device.

[0005] This application provides a radar device, which includes: case; The drive source is located in the housing; A transmission unit, housed in a housing, includes a driving member, a connecting rod, and a swing member. The connecting rod includes a first connecting portion and a second connecting portion. The driving member is rotatably mounted within the housing about a first axis and is movably connected to the first connecting portion. The swing member is rotatably mounted within the housing about a second axis and is movably connected to the second connecting portion. The first axis is parallel to the second axis, the first connecting portion is spaced apart from the first axis, and the second connecting portion is also spaced apart from the second axis. The reflector is connected to the oscillating component; The active component is configured to rotate continuously in one direction around the first axis under the drive of the drive source, and drive the swing component to swing back and forth around the second axis within a preset angle via the connecting rod.

[0006] In some embodiments, the housing is provided with a first limiting structure for limiting the linkage, the first limiting structure being able to restrict the linkage to reciprocate along a first direction; The swing member is provided with a second limiting structure for limiting the second connecting part of the connecting rod. The second limiting structure is used to prevent the second connecting part from disengaging from the swing member when the connecting rod reciprocates along the first direction, wherein the first direction is perpendicular to the first axis.

[0007] In some embodiments, the line connecting the rotation center of the active member, the first connecting portion, and the second connecting portion lies on a straight line extending along a first direction.

[0008] In some embodiments, the oscillating member is a rotating wheel structure, the second limiting structure is a groove arranged radially along the oscillating member, and the second connecting portion is slidably disposed in the groove.

[0009] In some embodiments, the outer contour edge region of the active member is provided with a cam groove, the cam groove extends continuously around the first axis, and the first connecting part is embedded in the cam groove and forms a cam pair with the cam groove; The shape curve of the cam groove can be determined based on the torque required for the first connecting part of the connecting rod to make the oscillating member oscillate at a constant speed.

[0010] In some embodiments, the outer contour edge region of the active member is provided with a cam groove, the cam groove extends continuously around the first axis, and the first connecting part is embedded in the cam groove and forms a cam pair with the cam groove; The rotational speed of the driving component can be determined based on the torque required for the first connecting part of the connecting rod and the shape curve of the cam groove when the oscillating component oscillates at a constant speed.

[0011] In some embodiments, the outer contour edge region of the active component is provided with a cam groove; The shape of the cam groove is centrally symmetrical with respect to the first axis; and / or The shape and curve of the cam groove are configured to keep the oscillation angular velocity of the oscillating element constant; and / or The cam groove is formed on the end face of the driving member along the first axis, and the first connecting part is constructed as a protruding structure that can be inserted into the cam groove.

[0012] In some embodiments, the motion trajectory of the first connecting part of the link is a unidirectional continuous circular motion around the first axis; The driving member is hinged to the first connecting part of the connecting rod, and the second connecting part of the connecting rod is hinged to one end of the swing member, and the hinge point can rotate about the second axis.

[0013] In some embodiments, the drive shaft of the drive source is connected to the driving element; or, the driving element is constructed as a gear, and the radar device further includes a reduction gear set, through which the drive shaft of the drive source is connected to the driving element.

[0014] In some embodiments, the transmission unit further includes an elastic element connected to both the housing and the oscillating member, configured to buffer the torque applied by the connecting rod to the oscillating member; and / or The reflecting mirror passes through the second axis; and / or At least one of the driving member and the oscillating member is constructed as a rotating wheel structure, with the connecting rod hinged to the edge of the oscillating member; or, the oscillating member is constructed as a rod-shaped structure, with the connecting rod hinged to one end of the oscillating member.

[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 oscillating element, an active 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 and keep the swing speed of the swinging component at a preset speed.

[0016] In some embodiments, the contour edge of the swing member is provided with a plurality of gear teeth, which are arranged sequentially around the second axis. The speed sensor is a gear code reader and is located on the side of the swinging component. When the swinging component swings around the second axis, some of the 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 to the side of the transmission unit and spaced apart from it, with the emitting end of the laser emitter facing the reflecting surface of the mirror; or The active component is located on one side of the swing component along the first direction, and the circuit board is located between the active component and the swing component along the first direction, and the circuit board is located on one side of the connecting rod along the extension direction of the first axis; wherein, the first direction is perpendicular to the first axis; the speed sensor and the laser emitter are both located on the circuit board, and the speed sensor is positioned opposite the swing 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 to reflect the laser reflected back by the reflector to the laser receiver.

[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] The embodiments of this application have the following beneficial effects: In this application, the radar device includes a transmission unit, which includes a driving member, a connecting rod, and a swing member. The connecting rod includes a first connecting portion and a second connecting portion. The driving member is rotatably mounted on the housing about a first axis and is movably connected to the first connecting portion. Since the first connecting portion is spaced from the first axis, when the driving member rotates about the first axis, it applies a force to the first connecting portion, causing the connecting rod to move relative to the driving member. Since the swing member is rotatably mounted on the housing about a second axis (parallel to the first axis) and is movably connected to the second connecting portion, which is also spaced from the second axis, when the first connecting portion of the connecting rod moves, the second connecting portion of the connecting rod is also subjected to a force, which causes the part of the swing member connected to the second connecting portion to generate a torque relative to the second axis, thereby causing the swing member to rotate relative to the second axis.

[0020] Because the active component is configured to rotate continuously in one direction around the first axis under the drive of the drive source, and drives the oscillating component to reciprocate within a preset angle around the second axis via a connecting rod, the active component is connected to the oscillating component via the connecting rod, converting the continuous rotation of the active component into the reciprocating oscillation of the oscillating component. Since the reflector is connected to the oscillating component, the reciprocating oscillation of the oscillating component within the preset angle can drive the reflector to reciprocate within the preset angle. In this way, during the scanning process, the reflector can always oscillate within the predetermined working angle (the light beam reflected by the reflector is within the detection field of view of the radar device), thus preventing the failure to scan the target in front. During the scanning cycle of the radar device, scanning is always performed within the detection field of view, thereby avoiding the miss state, improving the scanning frame rate of the radar device, and enhancing the scanning efficiency and sensitivity of the radar device.

[0021] Furthermore, since the active component is configured to rotate continuously in one direction around the first axis under the drive of the drive source, the active component is always driven by the drive source to rotate continuously in one direction throughout the entire scanning process. Then, through the transmission of the connecting rod and the oscillating component, the continuous unidirectional drive process is converted into the reciprocating oscillation of the reflector. In other words, the drive source outputs a continuous unidirectional rotation to the active component, which is converted into the reciprocating oscillation of the reflector by mechanical structures such as the connecting rod and the oscillating component. The drive process of the drive source to the active component does not involve the reversing process of the active component; it only needs to make the active component rotate in a fixed direction. The control of the active component is also relatively simple, and the oscillation accuracy of the reflector is relatively high. Compared with the method of directly driving the transmission component to rotate forward and reverse to achieve the reciprocating oscillation of the reflector by the drive source, this method can save a lot of money and control costs. 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 a schematic diagram of the swing principle of a radar device provided in an embodiment of this application; Figure 3 This is a schematic diagram of the structure of a radar device provided in an embodiment of this application; Figure 4 This is a schematic diagram of another structure of the radar device provided in the embodiments of this application; Figure 5 This is a schematic diagram of the swing principle of the radar device provided in the embodiments of this application. Figure 2 ; 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 a schematic diagram of another structure of the radar device provided in the embodiments of this application; Figure 8 This is a schematic diagram of another structure of the reflector in the radar device provided in the embodiments of this application.

[0023] Explanation of reference numerals in the attached figures: 100. Radar equipment; 10. Shell; 11. First limiting structure; 20. Driver source; 30. Reflector; 31. Isolation barrier; 301. First region; 302. Second region; 32. Sub-reflector; 40. Transmission unit; 50. Driving element; 501. Cam profile; 51. Cam groove; 52. Driving element gear teeth; 60. Connecting rod; 61. First connecting part; 62. Second connecting part; 70. Swinging component; 71. Gear tooth; 72. Second limiting structure; 80. Reduction gear set; 90. Elastic component; 91. Controller; 92. Driver; 93. Speed ​​sensor; 94. Circuit board; 95. Laser emitter; 97. Auxiliary mirror; F, first direction; Z, detection field of view; O1, first axis; O2, second axis. 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 beam reflected by the reflector is within the detection field of view of the laser scanning device), 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 in which a reflector is always oscillating within a predetermined angle through the cooperation of an active component, a connecting rod, and an oscillating component. 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 1 The radar device 100 provided in this application embodiment includes: a housing 10, a drive source 20, a transmission unit 40, and a reflector 30.

[0035] The drive source 20 and the transmission unit 40 are disposed in the housing 10. The transmission unit 40 includes a drive member 50, a connecting rod 60, and a swing member 70. The connecting rod 60 includes a first connecting portion 61 and a second connecting portion 62. The drive member 50 is rotatably mounted in the housing 10 about a first axis O1 and is movably connected to the first connecting portion 61. The swing member 70 is rotatably mounted in the housing 10 about a second axis O2 and is movably connected to the second connecting portion 62. The first axis O1 is parallel to the second axis O2. The first connecting portion 61 is spaced apart from the first axis O1, and the second connecting portion 62 is spaced apart from the second axis O2. A reflector 30 is connected to the swing member 70. The drive member 50 is configured to rotate continuously in one direction about the first axis O1 under the drive of the drive source 20, and drive the swing member 70 to reciprocate about the second axis O2 within a preset angle via the connecting rod 60.

[0036] In this application, the radar device 100 includes a transmission unit 40, which includes a driving member 50, a connecting rod 60, and a swing member 70. The connecting rod 60 includes a first connecting portion 61 and a second connecting portion 62. The driving member 50 is rotatably mounted on the housing 10 about a first axis O1 and is movably connected to the first connecting portion 61. Since the first connecting portion 61 is spaced from the first axis O1, when the driving member 50 rotates about the first axis O1, it applies a force to the first connecting portion 61, causing the connecting rod 60 to move relative to the driving member 50. Since the swing member 70 is rotatably mounted on the housing 10 about a second axis O2 (parallel to the first axis O1) and is movably connected to the second connecting portion 62, which is spaced from the second axis O2, when the first connecting portion 61 of the connecting rod 60 moves, the second connecting portion 62 of the connecting rod 60 also moves with the first connecting portion 61, causing the part of the swing member 70 connected to the second connecting portion 62 to generate a torque relative to the second axis O2, thereby causing the swing member 70 to rotate about the second axis O2.

[0037] Since the active component 50 is configured to rotate continuously in one direction around the first axis O1 under the drive of the drive source 20, and drives the oscillating component 70 to reciprocate within a preset angle around the second axis O2 via the connecting rod 60, the active component 50 is connected to the oscillating component 70 via the connecting rod 60, converting the continuous rotation of the active component 50 into the reciprocating oscillation of the oscillating component 70. Since the reflector 30 is connected to the oscillating component 70, the reciprocating oscillation of the oscillating component 70 within the preset angle can drive the reflector 30 to reciprocate within the preset angle. In this way, during the scanning process, the reflector 30 can always oscillate within the 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, scanning is always performed within the area of ​​the detection field of view Z, thereby avoiding the miss state, improving the scanning frame rate of the radar device 100, and enhancing the scanning efficiency and sensitivity of the radar device 100.

[0038] Furthermore, since the active component 50 is configured to rotate continuously in one direction around the first axis O1 under the drive of the drive source 20, the active component 50 is always driven by the drive source 20 to rotate continuously in one direction throughout the entire scanning process. Then, through the transmission of the connecting rod 60 and the swinging component 70, the continuous unidirectional drive process is converted into the reciprocating swing of the reflector 30. In other words, the drive source 20 outputs a continuous unidirectional rotation to the active component 50, which is converted into the reciprocating swing of the reflector 30 by mechanical structures such as the connecting rod 60 and the swinging component 70. The drive process of the drive source 20 to the active component 50 does not involve the reversing process of the active component 50. It only needs to make the active component 50 rotate in a fixed direction. The control of the active component 50 is also relatively simple, and the swing accuracy of the reflector 30 is relatively high. Compared with the direct drive of the transmission component by the drive source 20 to achieve the reciprocating swing of the reflector 30, it can save a lot of costs and control costs.

[0039] In this embodiment, the housing 10 serves as the bearing reference for each component within the radar device 100. The interior of the housing 10 can be hollow, allowing components such as the drive source 20, reflector 30, and transmission unit 40 within the radar device 100 to be housed within the housing 10.

[0040] The drive source 20 can be, for example, a motor or other component capable of outputting rotation via a shaft. The reflector 30 can be constructed as a plate-like structure, connected to the oscillating member 70, and capable of oscillating under the drive of the oscillating member 70. In this embodiment, the oscillating member 70 is rotatably mounted on the housing 10 about the second axis O2, meaning the oscillating member 70 is mounted on the housing 10 and can rotate relative to the housing 10 about the second axis O2. When the reflector 30 is mounted on the oscillating member 70, for example, it can be mounted on one end face of the oscillating member 70 perpendicular to the second axis O2 and passing through the second axis O2. Thus, the oscillation center of the reflector 30 also passes through the second axis O2.

[0041] The connecting rod 60 includes a first connecting portion 61 and a second connecting portion 62. The first connecting portion 61 and the second connecting portion 62 can be located at either end of the connecting rod 60, or at a position between the two ends of the connecting rod 60. The driving member 50 is rotatably mounted within the housing 10 about a first axis O1, meaning that the driving member 50 can rotate relative to the housing 10 about the first axis O1 under the drive of the drive source 20. The first axis O1 passes through the driving member 50, meaning that the driving member 50 can rotate about a point on itself. Similarly, the oscillating member 70 is movably connected to the first connecting portion 61, meaning that the driving member 50 and the first connecting portion 61 are connected to each other and will not disengage, but can move relative to each other. Likewise, the oscillating member 70 is movably connected to the second connecting portion 62, meaning that the oscillating member 70 and the second connecting portion 62 are connected to each other and will not disengage, but can move relative to each other.

[0042] The active component 50 is configured to rotate continuously in one direction around the first axis O1 under the drive of the drive source 20. This means that the drive end of the drive source 20 is connected to the active component 50, so that the drive source 20 can drive the active component 50 to rotate continuously in one direction around the first axis O1. The active component 50 can drive the swing component 70 to oscillate back and forth around the second axis O2 within a preset angle through the connecting rod 60. This means that the continuous unidirectional rotation of the active component 50 can be transmitted through the connecting rod 60, causing the swing component 70 to oscillate forward and reverse around the second axis O2. A certain point can be selected on the swing component 70, and the angle through which this point oscillates around the second axis O2 when it reaches its extreme position in forward and reverse rotation is the aforementioned preset angle.

[0043] In this embodiment, the oscillating member 70 drives the reflector 30 to reciprocate within a preset angle. To achieve the reciprocating oscillation of the oscillating member 70, the driving member 50, the connecting rod 60, and the oscillating member 70 in the transmission unit 40 can form a cam rocker mechanism or a crank rocker mechanism. The two driving processes will be described below in different cases.

[0044] Figure 2 This is a schematic diagram of the swing principle of a radar device provided in the embodiments of this application. Figure 3 This is a schematic diagram of one structure of the radar device 100 provided in the embodiments of this application. Figure 4 This is a schematic diagram of another structure of the radar device 100 provided in the embodiments of this application. Figure 1 , Figure 3 , Figure 4 The embodiments described herein belong to the cam rocker mechanism described above, and will be described in detail below with reference to the accompanying drawings.

[0045] Please see Figure 1 , Figure 3 , Figure 4 In some embodiments, the outer contour edge region of the driving member 50 may be provided with a cam groove 51, which can extend continuously around the first axis O1. The first connecting part 61 is embedded in the cam groove 51 and forms a cam pair with the cam groove 51. In this way, the continuous contour of the cam groove 51 can accurately constrain the motion trajectory of the first connecting part 61. In other words, the cam groove 51 provides circumferential and radial limits for the first connecting part 61, which can effectively reduce the shaking phenomenon during the transmission process and improve the stability of the overall structural motion. On the other hand, the continuously extending cam groove 51 can realize continuous and uninterrupted transmission. The driving member 50 only needs to be driven to rotate continuously in one direction, and can complete the periodic motion output without reversing direction.

[0046] In some embodiments, the shape curve of the cam groove 51 is configured to keep the angular velocity of the oscillating member 70 constant, enabling the oscillating member 70 to drive the reflector 30 to maintain a uniform oscillation speed during movement. This avoids impacts, vibrations, and noise caused by angular velocity fluctuations, significantly improving the smoothness of the cam pair's motion, reducing component wear, and extending the device's service life. In this application, the shape curve of the cam groove 51 is also the circumferential extension trajectory of the cam groove 51 around the first axis O1.

[0047] In some embodiments, the shape curve of the cam groove 51 can be determined based on the torque required for the first connecting portion 61 of the connecting rod 60 to swing the oscillating member 70 at a uniform speed. Specifically, when the swing speed of the oscillating member 70 and the rotational speed of the driving member 50 are known and fixed, the sliding trajectory of the first connecting portion 61 relative to the driving member 50 can be determined based on these two factors and the transmission ratio of the transmission unit 40. This configuration enables the oscillating member 70 to achieve uniform and stable swinging, avoiding speed fluctuations, impacts, and vibrations during movement. Furthermore, the shape curve of the cam groove 51 matches the actual torque requirement, resulting in more reasonable force distribution during transmission, more uniform torque output, reduced load fluctuations and wear of the transmission assembly 40, and improved service life and reliability of the device.

[0048] In some other embodiments, the rotational speed of the driving member 50 can be determined based on the torque required for the first connecting portion 61 of the connecting rod 60 to swing the oscillating member 70 at a uniform speed and the shape curve of the cam groove 51. Specifically, when the swing speed of the oscillating member 70 and the sliding trajectory of the first connecting portion 61 of the connecting rod 60 relative to the driving member 50 are known, the rotational speed of the driving member 50 can be determined based on these two factors and the transmission ratio of the transmission unit 40. This configuration allows the rotational speed of the driving member 50 to match the torque of the first connecting portion 61 and the shape trajectory of the cam groove 51, enabling accurate setting of the rotational speed of the driving member 50 according to actual working conditions and ensuring that the oscillating member 70 always swings stably at a uniform speed, avoiding speed fluctuations, impacts, and vibrations during movement.

[0049] As mentioned earlier, when the active component 50 rotates continuously in one direction around the first axis O1, the oscillating component 70, driven by the connecting rod 60, oscillates back and forth around the second axis O2 within a preset angle. During this process, the first connecting part 61 alternately passes through the radial lowest point and the radial highest point of the cam groove 51. In order to make the reciprocating stroke of the oscillating component 70 completely symmetrical, the shape curve of the cam groove 51 can be made centrally symmetrical with respect to the first axis O1. For example, the shape curve of the cam groove 51 can be an ellipse or other centrally symmetrical curves, which can make the reciprocating stroke of the oscillating component 70 completely symmetrical and balanced from left to right, avoiding problems such as unilateral swaying and uneven stroke, ensuring high motion symmetry and good stability of the reflector 30 during reciprocating oscillation, and effectively reducing motion impact and load imbalance.

[0050] In this embodiment, the driving member 50 can be a cam. Further, the cam groove 51 can be formed on the end face of the driving member 50 along the first axis O1 (i.e., the end face of the driving member 50 perpendicular to the first axis O1), and the first connecting part 61 is constructed as a protrusion that can be inserted into the cam groove 51. Thus, the mating position of the connecting rod 60 and the cam groove 51 is located on the end face of the driving member 50, and the mating form of the end face cam profile and the embedded protrusion reliably constrains the movement of the first connecting part 61. During the rotation of the driving member 50, the first connecting part 61 can contact and engage with the two radial side walls of the cam groove 51, thereby effectively limiting the radial movement of the first connecting part 61 and improving transmission stability. This application is not limited to this; in other embodiments, the cam groove 51 can also be formed on the circumferential wheel surface of the driving member 50, and the first connecting part 61 can still be inserted into the cam groove 51, forming a cam pair with the inner wall of the cam groove 51. In this case, the first connecting part 61 can be, for example, formed as a roller structure.

[0051] It is understandable that in the aforementioned cam rocker mechanism, the second connecting part 62 and the swing member 70 can be connected as follows: Figure 1The hinged connection shown can be parallel to the first axis O1 and the second axis O2. This configuration allows for a smooth rotational engagement between the second connecting part 62 and the swing member 70, effectively preventing jamming, interference, and additional torque during movement, thus ensuring the overall smooth and flexible movement of the cam rocker mechanism.

[0052] When the second connecting part 62 and the swing member 70 are hingedly connected, the cam rocker mechanism can be equivalent to... Figure 2 The schematic diagram shown is in Figure 2 In one example, the driving member 50 may have a cam profile portion 501 formed on it, and a cam pair may be formed between the cam profile portion 501 and the first connecting portion 61. That is, the radial length of the profile curve of the cam profile portion 501 varies within the circumferential range. Thus, when the driving member 50 rotates, the first connecting portion 61 can move relative to the cam profile portion 501 of the driving member 50. Since the second connecting portion 62 is hinged to the oscillating member 70, under the drive of the second connecting portion 62, the portion of the oscillating member 70 corresponding to the second connecting portion 62 can rotate around the second axis O2, thereby causing the reflector 30 to oscillate synchronously.

[0053] In some embodiments, to make the movement speed and direction of the first connecting portion 61 and the second connecting portion 62 of the connecting rod 60 more controllable or easier to determine, and to facilitate the adjustment of the rotational speed of the drive source 20 based on the direction and torque changes of the force exerted on the connecting rod 60 by the driving member 50 during rotation, so that the oscillating member 70 achieves a uniform oscillation effect, a limiting structure can be considered. Please refer to... Figure 3 The housing 10 is provided with a first limiting structure 11 for limiting the movement of the connecting rod 60. The first limiting structure 11 can restrict the connecting rod 60 to reciprocate along a first direction F. With this configuration, during the entire operation of the cam rocker mechanism, the connecting rod 60 always reciprocates stably along the first direction F, preventing the connecting rod 60 from deflecting, swaying, or laterally shifting during movement, thus ensuring the accuracy of the movement trajectory of the first connecting part 61. Furthermore, the swing member 70 is provided with a second limiting structure 72 for limiting the movement of the second connecting part 62 of the connecting rod 60. The second limiting structure 72 is used to prevent the second connecting part 62 from disengaging from the swing member 70 when the connecting rod 60 moves back and forth along the first direction F. This configuration ensures that the connection between the second connecting part 62 and the swing member 70 will never disengage, preventing transmission failure. Here, the first direction F can be, for example, the relative direction between the driving member 50 and the swing member 70.

[0054] Understandably, by setting the first limiting structure 11 and the second limiting structure 72, the movement direction of the connecting rod 60 can be made along the first direction F, thereby relating the four quantities: the rotational speed of the driving member 50, the first torque of the thrust (or pull) given by the driving member 50 to the first connecting part 61 of the connecting rod 60, the second torque of the thrust (or pull) given by the swing member 70 to the second connecting part 62 of the connecting rod 60, and the swing speed of the swing member 70. This allows the rotational speed of the driving member 50 to be adjusted as needed, thereby keeping the rotational speed (angular velocity) of the swing member 70 stable. In addition, the range of motion and amplitude of the connecting rod 60 relative to the housing 10 are reduced, which also reduces instability during assembly and operation.

[0055] Furthermore, it is also necessary to ensure that the line connecting the rotation center of the driving member 50, the first connecting part 61, and the second connecting part 62 lies on a straight line extending along the first direction F. This arrangement ensures that the force direction of the connecting rod 60 during transmission is consistent with the direction of motion, effectively avoiding lateral forces, bending moments, and eccentric loads. This reduces transmission friction between the connecting rod 60 and the driving member 50 and the swing member 70, reduces component wear, and extends the service life of the mechanism.

[0056] Furthermore, regarding the specific structure of the first limiting structure 11, for example, a guide groove (not shown) can be provided within the first limiting structure 11. The guide groove extends a certain length along the first direction F, and a portion of the connecting rod 60 is inserted into the guide groove, forming a guiding engagement with the guide groove along the first direction F. The first limiting structure 11 can be connected to the inner wall of the housing 10. In some embodiments, the swing member 70 can be a rotating wheel structure, and the second limiting structure 72 is a sliding groove arranged radially along the swing member 70, with the second connecting portion 62 slidably disposed in the sliding groove. With this configuration, when the driving member 50 rotates, causing the connecting rod 60 to slide relative to the first limiting structure 11 along the first direction F, the second connecting portion 62 will also slide reciprocally along the sliding groove along the radial direction of the swing member 70, thereby driving the swing member 70 to swing reciprocally around the second axis O2. Figure 3 In the example, the slide has a radially farthest point farthest from the second axis O2 and a radially closest point closest to the second axis O2 along the radial direction of the oscillating member 70. In the connecting rod 60, if the first connecting part 61 is located at the radially lowest point of the cam groove 51, the second connecting part 62 is located at the radially farthest point of the slide; if the first connecting part 61 is located at the radially highest point of the cam groove 51, the second connecting part 62 is located at the radially closest point of the slide.

[0057] Please continue to combine Figure 1 , Figure 3 , Figure 4Referring to the reference, the transmission unit 40 may also include an elastic element 90, which is connected to both the housing 10 and the swing member 70. The elastic element 90 is configured to buffer the torque applied by the connecting rod 60 to the swing member 70. Thus, by providing the elastic element 90, impact loads and vibrations during transmission can be effectively absorbed, reducing the rigid impact caused by sudden torque changes on the mechanism, lowering motion noise and component wear, and improving the smoothness and service life of the mechanism.

[0058] In a specific implementation, the elastic element 90 can be, for example, a spring, and its two ends can be connected to the housing 10 and the swinging element 70, respectively. The connection positions of the elastic element 90 and the swinging element 70 can be located on the radial sides of the swinging element 70, respectively, as can the connection positions of the second connecting part 62 and the swinging element 70. For example, in Figure 1 and Figure 3 In the example, link 60 and elastic element 90 are located on both sides of reflector 30, and link 60 is located at... Figure 1 , Figure 3 On the lower side of the drawing, the elastic element 90 is located Figure 1 , Figure 3 On the upper part of the diagram, in Figure 4 In the example, link 60 is located Figure 4 On the upper side of the drawing, the elastic element 90 is located Figure 4 On the lower side of the diagram, the elastic element 90 acts as a damping buffer for the load generated during the movement of the connecting rod 60.

[0059] In addition, at least one of the driving member 50 and the swing member 70 can be constructed as a rotating wheel structure. For example, the driving member 50 can be a cam, the swing member 70 can be a rotating wheel, and the connection position of the connecting rod 60 on the swing member 70 can be located at the edge of the swing member 70. In this way, the second connecting part 62 can obtain a larger swing stroke and transmission torque under the same rotation angle. Setting at least one of the driving member 50 and the swing member 70 as a rotating wheel structure can make the rotation smooth and the inertia uniform when they rotate, thereby improving the stability of the motion. In some other embodiments, the swing member 70 can also be constructed as a rod-shaped structure, so that the connecting rod 60 can be connected to one end of the swing member 70. This can also effectively increase the swing torque and swing stroke of the swing member 70. In addition, the rod-shaped structure is simple, easy to process, and occupies little space, which is conducive to simplifying the overall layout of the mechanism and reducing the assembly difficulty.

[0060] Below, regarding Figure 3 and Figure 4 The described embodiments illustrate the operation of the radar device 100.

[0061] Driven by the drive source 20, the active member 50 begins to rotate. Taking the example of the active member 50 rotating clockwise and the starting point of the movement of the first connecting part 61 being at its lowest radial point (the distance between the first connecting part 61 and the first axis O1 along the radial direction of the active member 50 is the smallest), the reciprocating oscillation of the swing member 70 and the reflector 30 has a first limit position and a second limit position. It can be understood that in the following discussion, the first connecting part 61 rising along the cam groove 51 means that the distance between the first connecting part 61 and the first axis O1 along the radial direction of the active member 50 increases, and the first connecting part 61 falling along the cam groove 51 means that the distance between the first connecting part 61 and the first axis O1 along the radial direction of the active member 50 decreases.

[0062] As the driving member 50 rotates, the first connecting part 61 gradually rises along the cam groove 51. Under the action of the connecting rod 60, the swinging member 70 swings counterclockwise, causing the reflector 30 to swing counterclockwise. When the first connecting part 61 reaches the highest radial point (when it has rotated 90 degrees, the highest radial point is when the distance between the first connecting part 61 and the first axis O1 along the radial direction of the driving member 50 is the largest), the swinging member 70 reaches the first limit position. As the driving member 50 continues to rotate, the first connecting part 61 gradually descends along the cam groove 51. During this process, under the action of the connecting rod 60, the swinging member 70 begins to swing in the opposite direction, i.e., clockwise, causing the reflector 30 to swing clockwise. As the driving member 50 rotates, the first connecting part 61 gradually descends along the cam groove 51. When the first connecting part 61 reaches the lowest radial point (when it has rotated 90 degrees again, the lowest radial point is when the distance between the first connecting part 61 and the first axis O1 along the radial direction of the driving member 50 is the smallest), the swinging member 70 returns to the second limit position. As the driving member 50 continues to rotate, the first connecting part 61 gradually rises along the cam groove 51. During this process, under the action of the connecting rod 60, the swing member 70 reverses direction and begins to swing counterclockwise until the first connecting part 61 reaches its highest radial point (after rotating 90 degrees again), at which point the swing member 70 reaches its first limit position. As the driving member 50 continues to rotate, the first connecting part 61 gradually descends along the cam groove 51. During this process, under the action of the connecting rod 60, the swing member 70 begins to swing in the opposite direction, i.e., clockwise, causing the reflector 30 to swing clockwise. As the driving member 50 rotates, the first connecting part 61 gradually descends along the cam groove 51. When the first connecting part 61 reaches its lowest radial point (after rotating 90 degrees again), the swing member 70 reaches its second limit position. Thus, when the driving member 50 rotates a full revolution, i.e., 360 degrees, the swing member 70 will experience two swing cycles.

[0063] Figure 5 This is a schematic diagram of the swing principle of the radar device 100 provided in the embodiments of this application. Figure 2 .

[0064] In this embodiment, in addition to the cam rocker mechanism described above, the transmission unit 40 may also form a crank rocker mechanism. Please refer to [link to relevant documentation]. Figure 5 For the crank-rocker mechanism, in the transmission unit 40, among the driving member 50, connecting rod 60, and oscillating member 70, the rotation center of the driving member 50 is marked as point A, the first connecting part 61 is marked as point B, the second connecting part 62 is marked as point C, and the oscillation center of the oscillating member 70 is marked as point D. The transmission unit 40 can be simplified as follows: Figure 5 The schematic diagram shown below illustrates this principle. As the driving member 50 rotates around the first axis O1, it drives the first connecting part 61 of the connecting rod 60 to rotate continuously around the full circle. Driven by the connecting rod 60, the oscillating member 70 oscillates back and forth within the angle α shown in the diagram. Specifically, taking the counterclockwise rotation of the driving member 50 as an example, when the first connecting part 61 rotates to point B, the second connecting part 62 is at point C. As the driving member 50 gradually rotates, when the first connecting part 61 rotates to point B', the second connecting part 62 is at point C'. Similarly, as the driving member 50 gradually rotates, when the first connecting part 61 rotates to point B'', the second connecting part 62 is at point C'. Thus, when the first connecting part 61 rotates 180 degrees, the oscillating member 70 completes half a cycle of oscillation. As the driving member 50 gradually rotates, when the first connecting part 61 rotates to point B'', the second connecting part 62 is at point C'. As the driving member 50 gradually rotates, when the first connecting part 61 rotates back to point B, the second connecting part 62 returns to point C. Thus, during the full 360-degree rotation of the driving member 50, the second connecting part 62 will swing from point C to point C'' and then back to point C, causing the swinging member 70 and the reflector 30 to swing back and forth within the angle range of α. In this way, the reciprocating swing of the reflector 30 can be achieved simply by the driving member 50 rotating continuously in one direction.

[0065] Figure 6 This is a schematic diagram of another structure of the radar device 100 provided in the embodiments of this application. Figure 7 This is a schematic diagram of another structure of the radar device 100 provided in the embodiments of this application.

[0066] Figure 6 and Figure 7 The embodiments described herein are based on the principle of the crank-rocker mechanism described above, and will be explained in detail below with reference to the accompanying drawings.

[0067] Please combine Figure 6 and Figure 7Referring to the reference, the motion trajectory of the first connecting part 61 of the connecting rod 60 is a unidirectional continuous circular motion around the first axis O1. The driving member 50 is hinged to the first connecting part 61 of the connecting rod 60, and the second connecting part 62 of the connecting rod 60 is hinged to one end of the oscillating member 70, and the hinge point of the second connecting part 62 can rotate around the second axis O2. Since the first connecting part 61 and the driving member 50 are hinged, and the second connecting part 62 and the oscillating member 70 are hinged, compared with the aforementioned cam rocker mechanism, the smoothness of the fit between each hinge point is higher, which can reduce motion jamming and additional bending moment, and ensure a smoother and more reliable transmission process. It is understood that it is also necessary to make the hinge axis of the first connecting part 61 and the driving member 50, and the hinge axis of the second connecting part 62 and the connecting rod 60 parallel to the first axis O1, so that the transmission unit 40 constitutes a planar crank rocker mechanism. This ensures that during the transmission process, the connecting rod 60 is always located in the same plane of motion as the driving member 50 and the swing member 70, which reduces the additional bending moment of the connecting rod 60 during the transmission process and ensures a smoother and more stable transmission process.

[0068] It is understood that at least one of the driving member 50 and the oscillating member 70 can be constructed as a rotating wheel structure, with the connecting rod 60 hinged to the edge of the oscillating member 70. Similarly, this arrangement can achieve a greater oscillation stroke and transmission torque at the same rotation angle. In addition, the rotating wheel structure rotates smoothly and has uniform inertia, which can reduce motion impact and vibration.

[0069] Alternatively, in some other embodiments, the oscillating member 70 may also be constructed as a rod-like structure, with the connecting rod 60 hinged to one end of the oscillating member 70. This configuration makes the oscillating member 70 lighter and occupies less space. Exemplarily, one end of the oscillating member 70 may be hinged to the second connecting portion 62, and the other end of the oscillating member 70 may be rotatably mounted on the housing 10 about the second axis O2. The reflector 30 may be mounted on one end face of the oscillating member 70 along and passing through the second axis O2.

[0070] In this embodiment of the application, in order to drive the active component 50, it can be done as follows: Figure 6 As shown, the drive shaft of the drive source 20 is directly connected to the driving element 50. Alternatively, it can be done as follows: Figure 7 As shown, the drive source 20 drives the drive member 50 through some transmission components. For example, the drive member 50 is constructed as a gear. The radar device 100 also includes a reduction gear set 80. The drive shaft of the drive source 20 is connected to the drive member 50 through the reduction gear set 80.

[0071] Below, please combine Figure 5 , Figure 6 and Figure 7 Explain the working process of radar device 100.

[0072] Driven by the drive source 20, the active member 50 begins to rotate. Taking the active member 50 rotating counterclockwise, with the initial position of the first connecting part 61 at point B and the initial position of the second connecting part 62 at point C as an example, point C is also one of the extreme positions of the second connecting part 62. As the active member 50 gradually rotates, when the first connecting part 61 rotates to point B', the second connecting part 62 moves to point C'. As the active member 50 gradually rotates, when the first connecting part 61 rotates to point B'', the second connecting part 62 moves to point C'', which is another extreme position of the swing stroke. Thus, when the first connecting part 61, i.e., the active member 50, rotates 180 degrees, the swing member 70 completes half a cycle of swing. As the active member 50 continues to rotate, when the first connecting part 61 rotates to point B'', the second connecting part 62 rotates to point C'. As the active member 50 gradually rotates, when the first connecting part 61 rotates back to point B, the second connecting part 62 returns to point C. Thus, during the full 360-degree rotation of the driving member 50, the second connecting part 62 will swing from point C to point C'' and then back to point C, causing the swinging member 70 and the reflector 30 to swing back and forth within the angle range of α. In this way, the reciprocating swing of the reflector 30 can be achieved simply by the driving member 50 rotating continuously in one direction.

[0073] In this embodiment, based on the two driving principles of the transmission unit 40 described above, the radar device 100 may further include a controller 91 for controlling the speed of the swing member 70. For specific implementation details, please refer to [link to relevant documentation]. Figure 1 and Figure 6 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 signals of the oscillating member 70, the active member 50, 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 oscillation speed of the oscillating member 70 at a preset speed.

[0074] Thus, the real-time monitoring of the swing speed of the reflector 30 can be achieved through the real-time detection of the speed sensor 93. Furthermore, the controller 91 can control the swing speed of the swinging component 70 to remain constant, meaning the reflector 30 can swing at a uniform speed. Further, the radar device 100 may include a circuit board 94, on which the controller 91, driver 92, etc., can all be mounted.

[0075] In some embodiments, the speed sensor 93 is a gear code reader, which can be equipped with gear teeth 71 at corresponding positions on the driven member 70, the transmission member 60, or the reflector 30 to cooperate with the gear code reader to detect speed.

[0076] In an embodiment where the speed sensor 93 detects the speed of the oscillating member 70, for example, it can be as follows: Figure 1 As shown, the outline edge of the swing member 70 is partially provided with multiple teeth 71, which are arranged sequentially around the second axis O2. The speed sensor 93 can be disposed in the housing 10 and located on the side of the swing member 70. When the swing member 70 swings around the second axis O2, some of the teeth 71 are located in the detection area of ​​the speed sensor 93.

[0077] In the embodiment where the speed sensor 93 detects the speed of the active element 50, for example, it can be as follows: Figure 6 As shown, the contour edge of the active component 50 is provided with multiple active component teeth 52, which are arranged sequentially around the first axis O1. The speed sensor 93 can be disposed on the circuit board 94 and located to the side of the active component 50. When the active component 50 continuously oscillates in one direction around the first axis O1, some of the active component teeth 52 are located in the detection area of ​​the speed sensor 93.

[0078] Figure 8 This is a schematic diagram of another structure of the reflector 30 in the radar device 100 provided in the embodiments of this application.

[0079] In an embodiment where the speed sensor 93 detects the swing speed of the reflector 30, for example, it can be as follows: Figure 8 As shown, an isolation baffle 31 is provided on the reflector 30. The top part of the isolation baffle 31 facing away from the reflector 30 is provided with test gear teeth (not shown). When the reflector 30 swings, the test gear teeth are located in the detection area of ​​the speed sensor 93.

[0080] In the embodiments of this application, please refer to Figure 1 , Figure 3 , Figure 4 , Figure 6 and Figure 7 The radar device 100 also includes a laser emitter 95 and a laser receiver (not shown) mounted 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.

[0081] exist Figure 1 , Figure 3 and Figure 6In the example, the circuit board 94 is located on the side of the transmission unit 40 and spaced apart from the transmission unit 40, and the emitting end of the laser emitter 95 faces the reflecting surface of the reflector 30.

[0082] exist Figure 4 , Figure 7 and Figure 8 In the example, the active component 50 is located on one side of the swing component 70 along the first direction F, and the circuit board 94 is located between the active component 50 and the swing component 70 along the first direction F, and the circuit board 94 is located on one side of the connecting rod 60 along the extension direction of the first axis O1. The first direction F is perpendicular to the first axis O1. In this scheme, both the speed sensor 93 and the laser emitter 95 are located on the circuit board 94, and the speed sensor 93 is positioned opposite the swing component 70 or the active component 50 to detect the speed of the swing component 70 or the active component 50. This arrangement allows the speed sensor 93 to be directly mounted on the circuit board 94, for example, by a patch mounting. This eliminates the need for a separate mounting bracket and adapter structure for the speed sensor 93, and the patch mounting of the speed sensor 93 also results in high positioning accuracy and reliable connection. It should be noted that in this scheme, 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. This configuration enables optical path redirection within a limited installation space, thereby improving space utilization.

[0083] Please refer to the embodiments in this application. Figure 8 The reflective surface of the reflector 30 may include 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. As mentioned above, the reflective surface of the reflector 30 is provided with an isolation baffle 31, which can isolate the first region 301 and the second region 302 from each other. This configuration isolates the first region 301 and the second region 302 from each other, preventing optical crosstalk. The isolation baffle 31 can be disposed directly on the reflective surface of the reflector 30, or, for example, as shown in the diagram. Figure 8 As shown, the reflector 30 includes two sub-reflectors 32 spaced apart from each other. The first region 301 and the second region 302 are located on the two sub-reflectors 32, respectively. At this time, the isolation baffle 31 completely isolates the two sub-reflectors 32. In this way, the isolation of the first region 301 and the second region 302 is more thorough.

[0084] 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.

[0085] 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.

[0086] 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.

[0087] 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.

[0088] 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); A transmission unit (40) is disposed in the housing (10). The transmission unit (40) includes a driving member (50), a connecting rod (60), and a swing member (70). The connecting rod (60) includes a first connecting part (61) and a second connecting part (62). The driving member (50) is rotatably mounted in the housing (10) about a first axis (O1) and is movably connected to the first connecting part (61). The swing member (70) is rotatably mounted in the housing (10) about a second axis (O2) and is movably connected to the second connecting part (62). The first axis (O1) is parallel to the second axis (O2). The first connecting part (61) is spaced from the first axis (O1), and the second connecting part (62) is spaced from the second axis (O2). The reflector (30) is connected to the swing member (70); The active component (50) is configured to rotate continuously in one direction around the first axis (O1) under the drive of the drive source (20), and drive the swing component (70) to swing back and forth around the second axis (O2) within a preset angle through the connecting rod (60).

2. The radar device according to claim 1, characterized in that, The housing (10) is provided with a first limiting structure (11) for limiting the connecting rod (60), and the first limiting structure (11) can limit the connecting rod (60) to reciprocate along a first direction (F); The swing member (70) is provided with a second limiting structure (72) for limiting the second connecting part (62) of the connecting rod (60). The second limiting structure (72) is used to limit the second connecting part (62) from disengaging from the swing member (70) when the connecting rod (60) reciprocates along the first direction (F), wherein the first direction (F) is perpendicular to the first axis (O1).

3. The radar device according to claim 2, characterized in that, The line connecting the rotation center of the active member (50), the first connecting part (61), and the second connecting part (62) lies on a straight line extending along the first direction (F).

4. The radar device according to claim 3, characterized in that, The swing member (70) is a rotating wheel structure, the second limiting structure (72) is a groove arranged radially along the swing member (70), and the second connecting part (62) is slidably disposed in the groove.

5. The radar device according to any one of claims 1 to 4, characterized in that, The outer contour edge region of the active component (50) is provided with a cam groove (51), the cam groove (51) extends continuously around the first axis (O1), and the first connecting part (61) is embedded in the cam groove (51) and forms a cam pair with the cam groove (51); The shape curve of the cam groove (51) is determined according to the torque required for the first connecting part (61) of the connecting rod (60) to make the swing member (70) swing at a constant speed.

6. The radar device according to any one of claims 1 to 4, characterized in that, The outer contour edge region of the active component (50) is provided with a cam groove (51), the cam groove (51) extends continuously around the first axis (O1), and the first connecting part (61) is embedded in the cam groove (51) and forms a cam pair with the cam groove (51); The rotational speed of the active member (50) is determined based on the torque required for the first connecting part (61) of the connecting rod (60) to make the oscillating member (70) oscillate at a constant speed and the shape curve of the cam groove (51).

7. The radar device according to claim 4, characterized in that, The outer contour edge region of the active component (50) is provided with a cam groove (51); The shape curve of the cam groove (51) is centrally symmetrical with respect to the first axis (O1); and / or The shape curve of the cam groove (51) is configured to keep the angular velocity of the oscillating member (70) constant; and / or The cam groove (51) is formed on the end face of the active member (50) along the first axis (O1), and the first connecting part (61) is constructed as a protruding structure that can be inserted into the cam groove (51).

8. The radar device according to claim 1, characterized in that, The motion trajectory of the first connecting part (61) of the connecting rod (60) is a unidirectional continuous circular motion around the first axis (O1); The active member (50) is hinged to the first connecting part (61) of the connecting rod (60), the second connecting part (62) of the connecting rod (60) is hinged to one end of the swing member (70), and the hinge of the second connecting part (62) can rotate around the second axis (O2).

9. The radar device according to claim 1, characterized in that, The drive shaft of the drive source (20) is connected to the active component (50); or, the active component (50) is constructed as a gear, and the radar device further includes a reduction gear set (80), and the drive shaft of the drive source (20) is connected to the active component (50) through the reduction gear set (80).

10. The radar device according to claim 1, characterized in that, The transmission unit (40) further includes an elastic element (90) connected to the housing (10) and the swing member (70) respectively. The elastic element (90) is configured to buffer the torque applied by the connecting rod (60) to the swing member (70); and / or The reflector (30) passes through the second axis (O2); and / or At least one of the active member (50) and the oscillating member (70) is constructed as a rotating wheel structure, and the connecting rod (60) is hinged to the edge of the oscillating member (70); or, the oscillating member (70) is constructed as a rod-shaped structure, and the connecting rod (60) is hinged to one end of the oscillating member (70).

11. The radar device according to claim 1, 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 oscillating member (70), the active member (50), 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 swing speed of the swing member (70) is maintained at a preset speed.

12. The radar device according to claim 11, characterized in that, The outline edge of the swing member (70) is provided with a plurality of gear teeth (71), and the plurality of gear teeth (71) are arranged sequentially around the second axis (O2); The speed sensor (93) is a gear code reader and is located on the side of the swing member (70). When the swing member (70) swings around the second axis (O2), some of the gear teeth (71) are located in the detection area of ​​the speed sensor (93).

13. The radar device according to claim 12, characterized in that, The radar device further includes: a circuit board (94) and a laser emitter (95) and a laser receiver 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. The circuit board (94) is located on the side of the transmission unit (40) and spaced apart from the transmission unit (40), and the emitting end of the laser emitter (95) faces the reflecting surface of the reflector (30); or The active component (50) is located on one side of the swing component (70) along the first direction (F), and the circuit board (94) is located between the active component (50) and the swing component (70) along the first direction (F), and the circuit board (94) is located on one side of the connecting rod (60) along the extension direction of the first axis (O1); wherein, the first direction (F) is perpendicular to the first axis (O1); the speed sensor (93) and the laser emitter (95) are both disposed on the circuit board (94), and the speed sensor (93) is disposed opposite to the swing component (70); the radar device further 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.

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 by the target object in the detection field of view (Z) to the laser receiver. 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.

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