Motor unit for laser radar scanning device and laser radar

Abstract

The utility model discloses a motor unit for a laser radar scanning device and a laser radar. The motor unit includes: a support ring having a cavity; the first motor assembly is located in the cavity, the first motor assembly comprises a first driving device and a first rotating support, and the first rotating support is driven by the first driving device to rotate relative to the supporting ring; the second motor assembly is located in the cavity, the second motor assembly comprises a second driving device and a second rotating support, and the second rotating support is driven by the second driving device to rotate relative to the supporting ring; a part of the first rotating support is located in the inner space of the second rotating support, and a ventilation gap exists between the part of the first rotating support and the second rotating support. According to the utility model, combined driving of internal devices of the laser radar is realized, and the internal space of the motor unit is reasonably arranged so as to compress the volume.

Description

Technical Field

[0001] The utility model relates to the technical field of lidar based on photoelectric detection, in particular to a motor unit for a lidar scanning device and a lidar. Background Art

[0002] Lidar is used for three-dimensional scanning and recognition of targets in the environment. Due to its advantages of long measurement range, high precision, strong directivity, high resolution, anti-interference, and the ability to obtain three-dimensional data of targets, it has been widely used in various fields, such as topographic mapping, engineering exploration, power line inspection, vegetation monitoring, intelligent navigation, and many other fields.

[0003] The scanning device of lidar usually has a rotating optical element, which rotates to expand the scanning range. How to achieve the combined drive of multi-mirror group scanning and how to reasonably utilize the internal structure of the scanning device to compress the volume are the common pursuits of those skilled in the art. At the same time, maintaining the stability of the rotation axis during rotation, avoiding swing, and reducing noise are also problems that those skilled in the art urgently need to solve. Summary of the Invention

[0004] The technical problem solved by the utility model is to provide a motor unit for a lidar scanning device and a lidar, which are used to achieve the combined drive of the internal components of the lidar.

[0005] Furthermore, the internal space of the motor unit is reasonably arranged in terms of structure to compress the volume.

[0006] Furthermore, the rotation axis is kept stable during rotation to avoid swing.

[0007] The utility model discloses a motor unit for a lidar scanning device, which includes:

[0008] A support ring with a cavity;

[0009] A first motor assembly located in the cavity. The first motor assembly includes a first driving device and a first rotating bracket, and the first rotating bracket rotates relative to the support ring under the drive of the first driving device;

[0010] A second motor assembly located in the cavity. The second motor assembly includes a second driving device and a second rotating bracket, and the second rotating bracket rotates relative to the support ring under the drive of the second driving device;

[0011] A part of the first rotating bracket is located in the internal space of the second rotating bracket, and there is a ventilation gap between this part of the first rotating bracket and the second rotating bracket.

[0012] The first driving device includes a first bearing and a first motor device. The first bearing is located between the support ring and the first rotating bracket, and the first motor device is located between the support ring and the first rotating bracket;

[0013] The second driving device includes a second bearing and a second motor device. The second bearing is located between the support ring and the second rotating bracket, and the second motor device is located between the support ring and the second rotating bracket.

[0014] The first rotating bracket includes a rotating support frame and an optical element carrier. The rotating support frame is used to accommodate the optical barrel of the lidar, and the rotating support frame and the optical element carrier are arranged along the axial direction of the rotating shaft.

[0015] The rotating support frame and the optical element carrier are integrally formed.

[0016] The optical element carrier extends into the second rotating bracket.

[0017] The first motor device includes a first stator coil and a first rotor. The first rotor rotates around the rotating shaft. The first rotor is located in the inner ring, and the first stator coil is located in the outer ring;

[0018] The second motor device includes a second stator coil and a second rotor. The second rotor rotates around the rotating shaft. The second rotor is located in the inner ring, and the second stator coil is located in the outer ring.

[0019] The cross-section of the rotating support frame has a first abutting area, a second abutting area, and a third abutting area connected in sequence. The first abutting area abuts against the optical element carrier, the second abutting area abuts against the first bearing, and the third abutting area abuts against the first motor device.

[0020] A first magnetic ring is sleeved on the second abutting area of the rotating support frame, and a second magnetic ring is sleeved on the second rotating bracket. The first magnetic ring and the second magnetic ring are arranged oppositely, and the opposite surfaces of the first magnetic ring and the second magnetic ring have the same magnetism.

[0021] The inner wall of the optical element carrier has an inclined bearing table. The first optical element is placed on the upper surface of the inclined bearing table, and the plane formed by the upper surface of the inclined bearing table makes an acute angle with the plane perpendicular to the rotating shaft.

[0022] The utility model discloses a lidar, including: the motor unit for the lidar scanning device described above.

[0023] The above technical solution of the present utility model is used to realize the combined drive of the internal components of the lidar. At the same time, the internal space of the motor unit is reasonably arranged in structure to compress the volume. In addition, through the reasonable selection and arrangement of structural members, the rotation is made more stable to avoid noise generation, and the distribution of the scanned laser points is more uniform. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 The schematic diagram of the principle of the lidar of the present utility model is shown.

[0025] Figure 2 The schematic structural diagram of the lidar scanning device including a motor unit is shown.

[0026] Figure 3 The overall schematic diagram of the support ring assembled with a driving device and a rotating bracket is shown.

[0027] Figure 4 The schematic cross-sectional structural diagram of the first motor assembly is shown.

[0028] Figure 5 The schematic cross-sectional structural diagram of the second motor assembly is shown. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0029] The implementation process of the technical solution of the present utility model is described below in conjunction with specific embodiments, which shall not be construed as a limitation to the present utility model.

[0030] The present utility model provides a motor unit and a lidar for a lidar scanning device, as Figure 1 The schematic diagram of the principle of the lidar of the present utility model is shown.

[0031] The scanning device 100 is disposed in the lidar. The scanning device 100 includes a first optical element 31 and a second optical element 32. The first optical element may be a circular wedge mirror, and the second optical element may be a rotating mirror. The circular wedge mirror is driven to rotate around the axis O, and the rotating mirror is driven to rotate around the axis O, and the two rotate in the same direction.

[0032] The lidar has N laser light sources 1 for forming N laser beams, a laser emission optical path 41, N photoelectric detection units 2, and an optical signal receiving optical path 42. The laser emission optical path 41 is annular and sleeved outside the optical signal receiving optical path 42. The optical signal receiving optical path 42 is circular.

[0033] The N laser light sources 1 are located on the laser emission optical path focal plane of the laser emission optical path 41, and are circumferentially distributed around the axis O, and further are evenly distributed or centrosymmetrically distributed with the axis O as the central axis. The distances of the N laser light sources 1 from the axis O are the same, and the N laser light sources are arranged in sequence with the same angular difference relative to the axis O.

[0034] N photoelectric detection units 2 are located on the focal plane of the optical signal receiving optical path 42 of the optical signal receiving optical path. Corresponding to the N laser light sources, the N photoelectric detection units are distributed in a circular pattern on the focal plane of the optical signal receiving optical path, and are further evenly distributed or centrally symmetrically distributed about the central axis. The N photoelectric detection units 2 are at the same distance relative to the optical axis. In an optimized embodiment, the N photoelectric detection units 2 are arranged in sequence with the same angle difference relative to the axis O. The photoelectric detection unit 2 receives the echo laser beam of the laser beam projected by the laser light source 1, and the N laser light sources correspond one-to-one to the N photoelectric detection units. The laser light source and the photoelectric detection unit having a corresponding relationship form a transceiver pair, and the laser light source and the photoelectric detection unit forming the same transceiver pair have the same phase relative to the axis O of the laser emission optical path.

[0035] The laser beam emitted by the laser light source 1 is collimated by the laser emission optical path 41 and then enters the first optical element. It is refracted by the rotating first optical element to continuously adjust its propagation direction, and then passes through the rotating second optical element to be projected into the external environment of the laser radar to achieve 360-degree full-field scanning. Each collimated laser beam (L A , L B , L C , L D ) have the same angle with the optical axis O but different directions. The first and second optical elements correspond to each other in the axial direction of the axis O.

[0036] The scanning device can realize the oblique and surrounding distribution and diffusion of the scanning points in the scanning field of view, and quickly scan and cover the points in the predetermined field of view.

[0037] like Figure 2 Shown is a schematic structural diagram of a laser radar scanning device including a motor unit.

[0038] The motor unit includes a support ring, which is a hollow cylindrical structure with a cavity inside. The support ring can be integrally formed or formed by connecting two supporting sub-rings 101 and 102 to each other. The connection method can include bonding, snap-fitting, etc., but is not limited to this.

[0039] The first motor assembly is located in the cavity. The first motor assembly includes a first rotating bracket 11 and a first driving device. The first rotating bracket drives the first optical element to rotate relative to the rotation axis O under the drive of the first driving device.

[0040] The second motor assembly is located in the cavity. The second motor assembly includes a second rotating bracket 21 and a second driving device. The second rotating bracket drives the second optical element to rotate relative to the support ring under the drive of the second driving device.

[0041] The first motor assembly is closer to the laser emission optical path 41 and the optical signal reception optical path 42 than the second motor assembly.

[0042] One side of the first driving device abuts against the support ring, and the other side abuts against the first rotating bracket.

[0043] Specifically, the first driving device includes a first bearing 12 and a first motor device 13. The first rotating bracket 11 includes a rotating support frame 112 and an optical element carrier 111, which are connected to each other.

[0044] The first bearing 12 is located between the support ring 102 and the first rotating bracket 11, and the first motor device 13 is located between the support ring 102 and the first rotating bracket 11.

[0045] The first motor device 13 includes a stator coil 131 and a rotor 132. The rotor 132 is fixed to the first magnetic yoke 1121 of the rotating support frame 112 on the first rotating bracket.

[0046] The stator coil 131 and the rotor 132 are arranged along the radial direction of the axis 0, with the stator coil 131 on the outer ring and the rotor 132 on the inner ring.

[0047] The optical signal reception optical path 42 is fixed inside the optical lens barrel 40, and the laser emission optical path 41 is fixed to the outer wall of the optical lens barrel. The first rotating bracket is a hollow cylinder, and a quasi-direct light passage is formed inside it. The optical lens barrel extends into the inside of the first rotating bracket 11 but does not contact the first rotating bracket.

[0048] The first rotating bracket includes a rotating support frame 112 and an optical element carrier 111. The rotating support frame and the optical element carrier are arranged axially along the axis O.

[0049] The optical element carrier 111 is used to carry the first optical element 31. The first optical element 31 is located above the optical lens barrel and receives N collimated laser beams. The rotation axis O of the first optical element coincides with the optical axis of the optical signal reception optical path 42 and the optical axis of the laser emission optical path 41. The first optical element 31 faces the laser emission optical path 41 and can receive all the beams emitted from the laser emission optical path 41.

[0050] The first optical element is a circular wedge mirror, and the upper and lower surfaces of the circular wedge mirror are not perpendicular to the axis O. The inner wall of the optical element carrier 111 has an inclined carrier platform 1110, and the first optical element is placed on the upper surface of the inclined carrier platform. The inclined carrier platform is arranged around the inner wall of the optical element carrier for one week, or nearly one week. The plane formed by the upper surface of the inclined carrier platform forms an acute angle with the plane (plane O') perpendicular to the axis O, so that the processing technology of the first optical element only involves the upper surface, and the angle of the lower surface relative to the axis O can be determined by the inclination degree of the upper surface of the inclined carrier platform, saving processing procedures and reducing costs. The inclination angle of the lower surface of the circular wedge mirror is greater than or equal to 2° and less than or equal to 4°. The wedge angle of the circular wedge mirror is greater than or equal to 3° and less than or equal to 14°.

[0051] The rotating support frame and the optical element carrier are connected to each other. The connection methods can include clamping, bonding, etc., but are not limited thereto. In another embodiment, the rotating support frame and the optical element carrier are integrally formed.

[0052] The cross-section of the rotating support frame has a first abutting area, a second abutting area, and a third abutting area connected in sequence. The first abutting area abuts against the optical element carrier 111, the second abutting area abuts against the first bearing 12, and the third abutting area abuts against the first motor device 13, so that the first bearing and the first motor device are at different axial heights (axis O), so as to compress the radial radius of the scanning device and compress the volume. In one embodiment, the cross-section of the rotating support frame is stepped, and the first, second, and third abutting areas are respectively located on the first, second, and third steps. The third abutting area can be the first magnetic yoke 1121.

[0053] A part of the first rotating bracket extends into the internal space of the second rotating bracket, that is, a part of the first rotating bracket is arranged in parallel with the second rotating bracket in the radial direction (axis O). There is a ventilation gap between the part of the first rotating bracket and the second rotating bracket, so that the first rotating bracket and the second rotating bracket do not interfere with each other when rotating respectively, and form air ducts to dissipate heat respectively, and the two rotating brackets are partially overlapped in layout to save space and compress the volume.

[0054] Specifically, the optical element carrier and the first optical element extend into the internal space of the second rotating bracket to compress the optical path as much as possible and avoid waste of the energy of the laser signal.

[0055] The second optical element is a reflector or a reflective dielectric mirror or other mirror bodies that can achieve reflection.

[0056] One side of the second driving device abuts against the support ring, and the other side abuts against the second rotating bracket.

[0057] Specifically, the second driving device includes a second bearing 22 and a second motor device 23. The second bearing 22 is located between the support sub-ring 101 and the second rotating bracket 21, and the second motor device is located between the support sub-ring 101 and the second rotating bracket 21.

[0058] The second motor device includes a stator coil 231 and a rotor 232. The rotor is fixed to a second magnetic yoke 211 on the second rotating bracket. The stator coil 231 and the rotor 232 are arranged along the radial direction of the axis 0. The stator coil 231 is on the outer ring and the rotor 232 is on the inner ring.

[0059] The second optical element 32 includes a support platform 321, a reflective dielectric mirror 322, and a counterweight unit 323. The reflective dielectric mirror has a first surface A for reflection. The counterweight unit is adjacent to the first surface. The support platform surrounds and bears the counterweight unit and the reflective dielectric mirror, and the support platform is mounted on the second rotating bracket 21. The support platform is stably connected to the counterweight unit and the reflective dielectric mirror, and the support platform rotates with the second rotating bracket 21.

[0060] The support platform 321 has an abutting portion and a top - abutting portion. The abutting portion abuts against the inner wall of the second rotating bracket, that is, the other side of the second magnetic yoke 211. The top - abutting portion is located at the upper edge of the second rotating bracket, that is, the upper edge of the second magnetic yoke 211. By arranging the rotor and the support platform carrying the reflective dielectric mirror on both sides of the second rotating bracket, and although the abutting portion of the rotor and the support platform is separated by the second rotating bracket but their positions correspond to each other, the rotational power is directly transmitted to the second rotating bracket and the support platform, making the rotation more stable.

[0061] In the axial direction, the first motor device 13, the first bearing 12, the second bearing 22, and the second motor device 23 are arranged in sequence along the axial direction. Since in the channel sandwiched by the support ring and the two rotating brackets, the two motor devices are respectively located at the head and the tail of the channel, and the two bearings are relatively enclosed inside the channel, it is difficult for the lubricating grease added to the bearings to leak out of the channel, avoiding contamination of the optical elements.

[0062] A first magnetic ring 51 is sleeved on the second abutting area of the first rotating bracket, a first code disk 61 is sleeved below the first magnetic ring 51, a second magnetic ring 52 is sleeved on the second rotating bracket, a second code disk 62 is sleeved above the second magnetic ring 52, and washers are sleeved below the first code disk 61 and above the second code disk 62 respectively. The first magnetic ring and the second magnetic ring are arranged oppositely, and the opposite surfaces of the first magnetic ring and the second magnetic ring have the same magnetic property. The like magnetic poles repel each other to apply a pre-tightening force to the first and second bearings at any time, ensuring that the distance between the support ring and the rotating bracket remains consistent, ensuring the stability of the rotating shaft O, and enabling the first and second motor assemblies to always rotate stably around the same rotating shaft O, avoiding random swing and the resulting noise.

[0063] In the axial direction, the first motor device 13, the first bearing 12, the second bearing 22, and the second motor device 23 are arranged in sequence along the axial direction. Since in the channel sandwiched between the support ring and the two rotating brackets, the two motor devices are respectively located at the head and tail of the channel, and the two bearings are relatively enclosed inside the channel, it is difficult for the lubricating grease added to the bearings to leak out of the channel, avoiding contamination of the optical elements.

[0064] The above technical solution of the present utility model is used to realize the combined drive of the internal components of the lidar. At the same time, the internal space of the motor unit is reasonably arranged in terms of structure to compress the volume. In addition, through reasonable selection and arrangement of structural parts, the rotation is made more stable to avoid noise generation, and the distribution of the scanned laser points is more uniform.

[0065] The above embodiments are only used to describe the technical solution of the present utility model and are not regarded as a limitation to the present utility model.

Claims

1. A motor unit for a lidar scanning device, characterized in that, The motor unit includes: A support ring having a cavity; A first motor assembly located within the cavity, the first motor assembly including a first driving device and a first rotating bracket, the first rotating bracket rotating relative to the support ring under the drive of the first driving device; A second motor assembly located within the cavity, the second motor assembly including a second driving device and a second rotating bracket, the second rotating bracket rotating relative to the support ring under the drive of the second driving device; A part of the first rotating bracket is located within the inner space of the second rotating bracket, and there is a ventilation gap between this part of the first rotating bracket and the second rotating bracket.

2. The motor unit for a lidar scanning device according to claim 1, characterized in that, The first rotating bracket drives the first optical element to rotate relative to the rotation axis. The first driving device includes a first bearing and a first motor device. The first bearing is located between the support ring and the first rotating bracket, and the first motor device is located between the support ring and the first rotating bracket; The second driving device includes a second bearing and a second motor device. The second bearing is located between the support ring and the second rotating bracket, and the second motor device is located between the support ring and the second rotating bracket.

3. The motor unit for a lidar scanning device according to claim 2, characterized in that, The first rotating bracket includes a rotating support frame and an optical element carrier. The rotating support frame is used to accommodate the optical barrel of the lidar, and the rotating support frame and the optical element carrier are arranged axially along the rotation axis.

4. The motor unit for the lidar scanning device according to claim 3, characterized in that, The rotating support frame and the optical element carrier are integrally formed.

5. The motor unit for a lidar scanning device according to claim 3, characterized in that, The optical element carrier extends into the second rotating bracket.

6. The motor unit for a lidar scanning device according to claim 2, wherein, The first motor device includes a first stator coil and a first rotor. The first rotor rotates around the rotation axis. The first rotor is located in the inner ring, and the first stator coil is located in the outer ring; The second motor device includes a second stator coil and a second rotor. The second rotor rotates around the rotation axis. The second rotor is located in the inner ring, and the second stator coil is located in the outer ring.

7. The motor unit for a lidar scanning device according to claim 3, characterized in that, The cross-section of the rotating support frame has a first abutting area, a second abutting area, and a third abutting area connected in sequence. The first abutting area abuts against the optical element carrier, the second abutting area abuts against the first bearing, and the third abutting area abuts against the first motor device.

8. The motor unit for a lidar scanning device according to claim 7, wherein, A first magnetic ring is sleeved on the second abutting area of the rotating support frame, and a second magnetic ring is sleeved on the second rotating bracket. The first magnetic ring and the second magnetic ring are arranged opposite to each other, and the opposite surfaces of the first magnetic ring and the second magnetic ring have the same magnetic property.

9. The motor unit for a lidar scanning device according to claim 3, characterized in that, The inner wall of the optical element carrier has an inclined bearing platform. The first optical element is placed on the upper surface of the inclined bearing platform, and the plane formed by the upper surface of the inclined bearing platform makes an acute angle with the plane perpendicular to the rotation axis.

10. A lidar, characterized in that, Including: The motor unit for a lidar scanning device according to any one of claims 1-9.

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