Scanning module and laser radar comprising same

Abstract

The utility model provides a scanning module and a laser radar comprising the scanning module. The scanning module comprises a magnetic conductive part, a base and a permanent magnet, the magnetic conducting piece comprises a main body structure with a concave part and an extension column positioned in the concave part; the base comprises a sleeve, the base and the magnetic conducting piece are oppositely arranged, and the extension column extends into a through hole of the sleeve; the permanent magnet surrounds the sleeve and is accommodated in the recess. The magnetic conductive member can be regarded as an integrated structure of the magnetic conductive ring, the driving member housing and the metal support, thereby simplifying the structure and assembly steps of the scanning module, reducing the assembly cost of the scanning module, facilitating the reduction of the installation tolerance of the scanning module, and improving the assembly precision of the scanning module. The scanning module does not need to be additionally provided with a magnetic conductive ring, so that the radial size of the scanning module can be reduced, the size of the laser radar is reduced, and the space utilization rate of the laser radar is improved.

Description

Technical Field

[0001] The present application relates to the field of laser radar technology, and in particular to a scanning module and a laser radar including the scanning module. Background Art

[0002] LiDAR (LiDAR) emits a detection laser at a target and analyzes the reflected echo. This laser can obtain information such as the target's distance, direction, altitude, speed, attitude, and even shape parameters. It is widely used in areas such as automotive braking and driving, robot navigation, smart homes, security, and space environment mapping. A 360-degree LiDAR is a type of LiDAR that can continuously rotate to change the angle of laser emission and reception, thereby providing omnidirectional detection of the external environment. Therefore, it has a wider range of applications than fixed-angle LiDAR. 360-degree LiDAR relies on a rotating scanning module to achieve omnidirectional detection. However, the structure and assembly steps of existing scanning modules are complex. Utility Model Content

[0003] The present application provides a scanning module and a laser radar including the scanning module that can at least solve or partially solve at least one problem or other problems existing in the prior art.

[0004] The present application provides a magnetic conductive part, which includes a main structure with a recess and an extension column located in the recess. When the magnetic conductive part is assembled with the remaining components, the recess of the main structure is used to accommodate the remaining components, playing a role of dust prevention and protection. The extension column located in the recess plays the role of supporting the rotating shaft, so that the magnetic conductive part does not jump during rotation and rotates more smoothly. The magnetic conductive part itself has a magnetic conductive effect, which can not only concentrate and enhance the magnetic field, making the magnetic field distribution more concentrated and uniform, but also shield the external magnetic field and protect the internal devices from the influence of the external magnetic field. Therefore, the functions of the magnetic conductive ring assembly bracket, the drive part housing and the magnetic conductive ring are integrated.

[0005] According to an exemplary embodiment of the present application, the material of the magnetic conductive member is steel.

[0006] According to an exemplary embodiment of the present application, the Brinell hardness of the steel is 130 N / mm 2 ~180N / mm 2 .

[0007] According to an exemplary embodiment of the present application, the end surface of the main structure has a plurality of evenly arranged strip-shaped recesses, and the strip-shaped recesses constitute the code tracks of the code disk.

[0008] According to an exemplary embodiment of the present application, the ratio of the radial width of the code track to the radial thickness of the magnetic conductive member is 25% to 35%.

[0009] According to an exemplary embodiment of the present application, the radial thickness of the magnetic conductive member is 5.5 mm to 8.5 mm.

[0010] The present application also provides a scanning module, which includes the above-mentioned conductive and magnetic parts, a base and a permanent magnet; the base includes a sleeve, the base and the conductive and magnetic parts are arranged opposite to each other, and the extension column extends into the through hole of the sleeve; the permanent magnet surrounds the sleeve and is accommodated in the recess.

[0011] According to an exemplary embodiment of the present application, the scanning module further includes a winding, and a radial gap is provided between the winding and the permanent magnet.

[0012] According to an exemplary embodiment of the present application, the base further includes a support plate, the sleeve is located on a surface of the support plate, and the through hole of the sleeve passes through the support plate.

[0013] According to an exemplary embodiment of the present application, the scanning module also includes a rotating part, which is sleeved on the extension column and located between the extension column and the sleeve, and the inner wall of the extension column and the sleeve are in contact with the rotating part, and the rotating part is suitable for rotating around the axis of the extension column; the rotating part includes a rotating body, and the inner wall of the extension column and the sleeve are in contact with the rotating body; or, the rotating part includes an inner ring structure and an outer ring structure arranged coaxially, and a rotating body located between the inner ring structure and the outer ring structure, the inner ring structure cooperates with the extension column, and the outer ring structure cooperates with the inner wall of the sleeve.

[0014] According to an exemplary embodiment of the present application, the scanning module also includes a code disk and an angle measurement component; the code disk is located on the end face of the main structure; the angle measurement component is arranged relative to a local area of ​​the code disk and a local area of ​​the permanent magnet.

[0015] According to an exemplary embodiment of the present application, the end surface of the main structure has a plurality of evenly arranged strip-shaped recesses, which constitute the code tracks of the code disk; or, the code disk is fixed to the end surface of the main structure.

[0016] According to an exemplary embodiment of the present application, the scanning module further includes a reflective element located on the outer surface of the side wall of the main structure, and the reflective element is a reflective mirror or a reflective layer.

[0017] The present application also provides a laser radar, which includes the above-mentioned scanning module, transmitting module and receiving module, wherein the transmitting module is suitable for transmitting a detection beam toward the scanning module; the scanning module is suitable for reflecting the detection beam to the target space and receiving the echo reflected by the target object in the target space, and reflecting the echo to the receiving module.

[0018] According to an exemplary embodiment of the present application, the laser radar further includes a shell, and the scanning module, the transmitting module and the receiving module are all located in the shell, and the ratio of the height of the scanning module to the width of the shell is 0.1-0.3.

[0019] The magnetic conductive element provided in this application is incorporated into the scanning module. The magnetic conductive ring integrates the functions of the bracket, the drive housing, and the magnetic conductive ring. This simplifies the structure and assembly steps of the scanning module, reduces assembly costs, and helps reduce installation tolerances and improve assembly accuracy. Furthermore, since the scanning module does not require an additional magnetic conductive ring, the radial dimensions of the scanning assembly can be reduced, which helps reduce the size of the LiDAR and improve its space utilization. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Other features, objects and advantages of the present application will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings, in which:

[0021] Figure 1 shows a schematic cross-sectional structure diagram of a scanning module according to an exemplary embodiment of the present application;

[0022] Figure 2 shows a schematic cross-sectional structure diagram of a scanning module according to another exemplary embodiment of the present application;

[0023] Figure 3 shows a schematic cross-sectional structure diagram of a scanning module according to Example 1 of the present application;

[0024] Figure 4 shows a schematic cross-sectional structure diagram of a scanning module according to Example 2 of the present application;

[0025] Figure 5 shows a schematic cross-sectional structure diagram of a scanning module according to Example 3 of the present application;

[0026] Figure 6 Shown Figure 3 Exploded view of the mid-scan module;

[0027] Figure 7 Shown Figure 3 Schematic diagram of the cross-sectional structure of the magnetic conductive component;

[0028] Figure 8 Shown Figure 3 Schematic diagram of the three-dimensional structure of the magnetic conductive component;

[0029] Figure 9 Shown Figure 8 Enlarged view of the middle circle area;

[0030] Figure 10 Shown Figure 4 Schematic diagram of the structure of the middle code disk;

[0031] Figure 11 A schematic diagram of the three-dimensional structure of a magnetic conductive member provided with a reflector is shown;

[0032] Figure 12 A top view of a laser radar according to an exemplary embodiment of the present application is shown;

[0033] Description of reference numerals:

[0034] 100, 100′, 100″- scanning module; 110- magnetic conductive member; 111- main structure; 112- recess; 1121- first groove; 1122- second groove; 113- extension column; 1131- bottom column; 1132- main column; 1133- limit column; 114′- metal housing; 115′- magnetic conductive ring; 116′- bracket; 120- base; 121- support plate; 122- sleeve; 130, 130′- Permanent magnet; 140, 140′-winding; 135″-driving member; 150, 110′, 110″-rotating member; 151-rotating body; 160, 160′-code disk; 161-code channel; 162-positioning hole; 170-angle measurement component; 171-circuit board; 172-photoelectric encoder; 180-reflecting member; 190-fastener; 200-transmitting module; 300-receiving module; 400-housing; 410-window. DETAILED DESCRIPTION

[0035] In order to better understand the present application, various aspects of the present application will be described in more detail with reference to the accompanying drawings. It should be understood that these detailed descriptions are merely descriptions of exemplary embodiments of the present application and are not intended to limit the scope of the present application in any way. Throughout the specification, the same reference numerals refer to the same elements.

[0036] It should be noted that in this specification, the terms "first", "second", etc. are used only to distinguish one feature from another, and do not represent any limitation on the features. Therefore, without departing from the teachings of this application, the first lens discussed below can also be referred to as the second lens.

[0037] It should also be understood that the terms "comprise," "including," "having," "include," and / or "comprising," when used in this specification, indicate the presence of the stated features, elements, and / or components, but do not preclude the presence or addition of one or more other features, elements, components, and / or combinations thereof. Furthermore, when describing embodiments of the present application, the term "may" is used to mean "one or more embodiments of the present application." Furthermore, the term "exemplary" is intended to refer to an example or illustration.

[0038] Unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by those skilled in the art to which this application belongs. It should also be understood that terms (such as those defined in commonly used dictionaries) should be interpreted as having a meaning consistent with their meaning in the context of the relevant technology and will not be interpreted in an idealized or overly formal sense unless expressly defined as such herein.

[0039] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in this application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0040] As mentioned in the background art, the structure and assembly steps of the existing scanning module are complicated. Figure 1 To explain:

[0041] Figure 1 A schematic cross-sectional view of the structure of a scanning module is shown. The scanning module 100′ includes a rotating member 110′ located on the inner ring, a driving member and a magnetic ring 115′ located on the middle ring, a bracket 116′ located on the outer ring, and a code disk 160′. The driving member includes a winding 140′ and a permanent magnet 130′ located outside the winding 140′, as well as a metal housing 114′ for protecting the winding 140′ and the permanent magnet 130′. The magnetic ring 115′ is fixed to the outside of the permanent magnet 130′, and the code disk 160′ is adhered to the end face of the bracket 116′. The magnetic ring 115′ can concentrate the magnetic field to reduce energy loss and improve the efficiency and performance of the driving member. The metal housing 114′ also serves as a heat dissipator and grounding device. The radial arrangement of multiple components results in a large radial dimension of the scanning module.

[0042] The assembly of this scanning module includes at least the following steps: After attaching the magnetic ring 115' to the permanent magnet 130' in the driver, the resulting assembly is attached to the driver's metal housing 114'; using a dedicated jig, the code disk 160' is attached to the end face of the bracket 116'; and the bracket 116' with the code disk 160' attached is screwed to the driver's metal housing 114'. This demonstrates the complex assembly process and high cost of this scanning module.

[0043] Figure 2 A schematic diagram of the cross-sectional structure of another scanning module is shown. In the scanning module 100 ″, the driving member 135 ″ and the rotating member 110 ″ are axially stacked, resulting in a larger axial dimension of the scanning module.

[0044] Based on this, first of all, see Figure 7The magnetic component 110 includes a main structure 111 having a recess 112, and an extension column 113 located in the recess 112. When the magnetic component 110 is assembled with the remaining components, the recess 112 of the main structure 111 is used to accommodate the remaining components, playing a role of dust prevention and protection. The extension column 113 located in the recess 112 plays a role of supporting the rotating shaft, so that the magnetic component 110 does not jump during rotation and rotates more smoothly. The magnetic component 110 itself has a magnetic conductive effect, which can not only concentrate and enhance the magnetic field, making the magnetic field distribution more concentrated and uniform, but also shield the external magnetic field and protect the internal devices from the influence of the external magnetic field. Therefore, the functions of the magnetic ring bracket, the drive housing and the magnetic ring are integrated, and the magnetic component is an integrated structure of the magnetic ring, the drive housing and the bracket.

[0045] In an exemplary embodiment, see Figure 8-Figure 9 The end face of the main structure 111 has a number of evenly distributed strip-shaped recesses, which constitute the code track 161 of the code disk. The area with the code track 161 can be regarded as the code disk 160. The magnetic conductive part 110 constitutes an integrated structure of the magnetic conductive ring, the drive part housing, the bracket and the code disk 160. Since there is no need to set up an additional code disk, the axial dimension of the scanning module can be further reduced. Specifically, the code track 161 can be formed by etching the end face of the main structure 111. Furthermore, the radial thickness of the magnetic conductive part can be 5.5mm-8.5mm, and the ratio of the radial width of the code track to the radial thickness of the magnetic conductive part can be 25% to 35%.

[0046] In an exemplary embodiment, the magnetic conductive member 110 may be made of a conductive material. In this case, the magnetic conductive member 110 can be grounded, which is beneficial for protecting the internal structure of the driving member.

[0047] For example, the material of the magnetic conductive member 110 is steel. The Brinell hardness of the steel can be 130N / mm. 2 ~180N / mm 2 , which reduces the risk of damage to the surface of the magnetic conductive member 110. The surface roughness of the steel material can be 0.05μm to 0.2μm, which makes the end surface of the main structure have a certain degree of roughness, which is conducive to improving the manufacturing accuracy of the code disk during the process of etching the end surface of the main structure 111 to form the code disk.

[0048] Second, see Figure 3-Figure 5The present application provides a scanning module 100, which includes the magnetic conductive member 110 provided in the first aspect, as well as a base 120 and a permanent magnet 130. The base 120 includes a sleeve 122, which is disposed opposite the magnetic conductive member 110. An extension column 113 extends into the through hole of the sleeve 122. The permanent magnet 130 surrounds the sleeve 122 and is accommodated within the recess 112. The permanent magnet 130 is one of the main components of the driver, which can drive the magnetic conductive member 110 to rotate about the axis of the extension column 113. The permanent magnet 130 is sleeved on the extension column 113 and accommodated in the recess 112, allowing the main structure 111 to concentrate the magnetic field, functioning as a magnetic conductive ring, reducing magnetic leakage from the driver, and thereby improving the performance of the driver by approximately 20%. The main structure 111 also protects the permanent magnet 130, functioning as a housing for the driver. The main structure 111 also functions as a bracket. Therefore, the magnetic conductive element 110 forms an integrated structure consisting of a magnetic conductive ring, a driver housing, and a bracket. This simplifies the structure and assembly steps of the scanning module, reduces the assembly cost, and helps reduce the installation tolerance of the scanning module, thereby improving the assembly accuracy of the scanning module. Furthermore, since the scanning module does not require an additional magnetic conductive ring, the radial dimension of the scanning assembly can be reduced, which helps reduce the size of the LiDAR and improve the space utilization of the LiDAR.

[0049] See also Figure 8 The recess 112 may be an annular groove, the extension column 113 is located in the groove and extends away from the bottom of the groove; the main structure 111 and the extension column 113 may be coaxial; the main structure 111 and the extension column 113 in the magnetic conductive member 110 may be formed integrally.

[0050] Continue to see Figure 3-Figure 6 The scanning module may further include a winding 140. The permanent magnet 130 and the winding 140 are sleeved together within the sleeve 122 and housed within the recess 112, with a radial gap between the winding 140 and the permanent magnet 130. The sleeve 122 may be coaxial with the extension column 113. The winding 140 is a key component of the driver, and the main structure 111 also protects the winding 140. The driver may be a motor.

[0051] The winding 140 may be located between the sleeve 122 and the permanent magnet 130, or may be located on the side of the permanent magnet 130 facing away from the sleeve 122. Figure 3-Figure 5 The winding 140 is located between the sleeve 122 and the permanent magnet 130. The winding 140 is fixed to the outer wall of the sleeve 122. The permanent magnet 130 is fixed to the inner wall of the main structure 111. The side wall of the main structure 111 covers the side of the permanent magnet 130. When the magnetic conductive part 110 rotates relative to the base 120, the permanent magnet 130 rotates relative to the winding 140 and rotates around the axis of the extension column 113.

[0052] Continue to see Figure 6 The base 120 may further include a support plate 121, with a sleeve 122 located on the surface of the support plate 121. The permanent magnet 130 being accommodated within the recess 112 means that the end surface of the main structure 111 is substantially flush with the surface of the permanent magnet 130 near the support plate 121, or that the end surface of the main structure 111 extends beyond the surface of the permanent magnet 130 near the support plate 121. The base 120 may be an integrated structure, in which the support plate 121 and sleeve 122 are integrally connected; or the base 120 may be a split structure, in which the support plate 121 and sleeve 122 are assembled in combination.

[0053] Continue to see Figure 3-Figure 5 To improve the smoothness of the rotation of the magnetic conductive member 110 and prevent friction between the magnetic conductive member 110 and the base 120 during rotation, the through hole of the sleeve 122 can penetrate the support plate 121 to prevent the end surface of the extension column 113 from contacting the support plate 121. Axial clearances can be provided between the support plate 121 and the end surface of the main structure 111, as well as between the end surface of the sleeve 122 and the main structure 111. When the winding 140 is fixed to the outer wall of the sleeve 122, an axial clearance can also be provided between the winding 140 and the main structure 111. Furthermore, the extension column 113 does not extend beyond the sleeve 122, which helps control the radial dimensions of the scanning module.

[0054] Continue to see Figure 3-Figure 5 The scanning module may further include a rotating member 150, which is sleeved around the extension post 113 and located between the extension post 113 and the sleeve 122. The inner walls of both the extension post 113 and the sleeve 122 are in contact with the rotating member 150. The rotating member 150 is adapted to rotate about the axis of the extension post 113 and may be coaxial with the extension post 113. When the magnetic conductive member 110 rotates relative to the base 120, the rotating member 150 is driven to rotate about the axis of the extension post 113. This reduces the friction coefficient between the sleeve 122 and the extension post 113, further improving the smooth rotation of the magnetic conductive member 110 and reducing frictional losses between the sleeve 122 and the extension post 113. Because the rotating member 150 and the permanent magnets 130 and windings 140 in the driver are arranged radially, rather than stacked axially, this helps reduce the axial dimension of the scanning assembly, resulting in smaller dimensions for the scanning module in both the radial and axial directions.

[0055] Furthermore, the scanning module may include at least one rotating member 150 arranged axially.

[0056] In an exemplary embodiment, see Figure 3-Figure 4Rotating member 150 includes a coaxially arranged inner ring structure and outer ring structure, and a rotating body 151 located between the inner and outer ring structures. The inner ring structure cooperates with extension column 113, and the outer ring structure cooperates with the inner wall of sleeve 122. For example, the inner ring structure and extension column 113 are tightly fitted, while the outer ring structure and the inner wall of sleeve 122 have an interference fit. When magnetic conductive member 110 rotates relative to base 120, it drives the inner ring structure to rotate relative to the outer ring structure, and rotating body 151 rotates accordingly. In this case, rotating member 150 can be a bearing, including but not limited to sleeve bearings and rolling bearings. Rolling bearings can be ball bearings or roller bearings.

[0057] For further information, see Figure 3-Figure 4 The scanning module includes at least one axially arranged rotating member 150. The outer ring structure and rotating body 151 of the rotating member 150 axially closer to the main structure 111 have an axial gap with the main structure 111. This prevents friction between the outer ring structure and rotating body 151 and the main structure 111 when the magnetic permeable member 110 rotates relative to the base 120, thereby ensuring smoother rotation of the inner ring structure relative to the outer ring structure. The inner ring structure of the rotating member 150 axially closer to the main structure 111 can axially contact the main structure 111.

[0058] In an exemplary embodiment, see Figure 5 The rotating member 150 includes a rotating body 151. The inner walls of the extension column 113 and the sleeve 122 both contact the rotating body 151. The rotating body 151 includes, but is not limited to, a number of rigid balls surrounding the axis of the extension column 113. The local area where the inner wall of the sleeve 122 contacts the rotating body 151 is equivalent to the outer ring structure of a bearing, and the local area where the extension column 113 contacts the rotating body 151 is equivalent to the inner ring structure of a bearing. In other words, the scanning module does not require additional inner and outer ring structures on either side of the rotating body 151, thereby further reducing the radial dimensions of the scanning module. Furthermore, during the assembly of the scanning module, the additional inner and outer ring structures do not need to be assembled, which helps reduce assembly steps and shortens assembly time. After the base 120 and the magnetic conductive member 110 are assembled, high precision comparable to that of a bearing can be achieved. Furthermore, when the scanning module includes at least one axially arranged rotating member 150, the rotating body 151 axially proximal to the main structure 111 can be in axial contact with the main structure 111, or it can have an axial gap with the main structure 111.

[0059] Continue to see Figure 3-Figure 5The scanning module may also include a code disk 160 and an angle measurement component 170. The code disk 160 is located on the end face of the main structure 111, and there is an axial gap between the angle measurement component 170 and the main structure 111. The surface of the annular code disk 160 has a plurality of code channels 161. The code channels 161 are strip-shaped and evenly arranged. The annularly arranged code channels 161 can be coaxial with the extension column 113. The angle measurement component 170 includes a circuit board 171 and a photoelectric encoder 172 arranged on the surface of the circuit board 171. The photoelectric encoder 172 is electrically connected to the circuit board 171. The circuit board 171 can be set on the side of the support plate 121. The photoelectric encoder 172 includes a laser emitter and a laser receiver. The photoelectric encoder 172 is electrically connected to the analysis and control module. The analysis and control module controls the laser emitter to emit laser light to the code disk 160; the laser receiver receives the laser reflected by the code disk 160, converts the optical signal into an electrical signal, and transmits the electrical signal to the analysis and control module. As the magnetic member 110 rotates relative to the base 120 , the code disk 160 rotates around its central axis. The analysis and control module receives a pulse sequence, and can obtain parameters such as the rotation speed and current angular positioning of the code disk 160 based on the pulse sequence.

[0060] In order to ensure that the laser emitter can emit laser light to the code disk 160 and the laser receiver can receive the laser light reflected by the code disk 160, it is necessary that the photoelectric encoder 172 and the code track 161 have a certain distance in the axial direction, and the laser emitter and the laser receiver also have a certain distance in the radial direction. Figure 1 In the scanning module in which the magnetic ring, the driving part housing and the bracket are independent structures, the angle measurement component 170 is arranged opposite to the code disk 160, and is not arranged opposite to the local area of ​​the magnetic ring and the permanent magnet 130. The existence of the magnetic ring makes it unnecessary for the end face of the bracket to exceed the lower surface of the permanent magnet 130.

[0061] In an exemplary embodiment, see Figure 3-Figure 5 Angle measurement assembly 170 is positioned relative to a portion of code disk 160 and a portion of permanent magnet 130. Compared to scanning modules in which the magnetic ring, driver housing, and bracket are independent structures, the placement of magnetic permeable element 110 allows angle measurement assembly 170 to be moved downward and inward. While ensuring the normal operation of photoelectric encoder 172, this also reduces the radial size restriction imposed by angle measurement assembly 170 on the radial size of magnetic permeable element 110, thereby further reducing the radial size of the scanning assembly.

[0062] In an exemplary embodiment, see Figure 4 , the code disk 160 is fixed to the end surface of the main structure 111. For example, the code disk 160 is pasted to the end surface of the main structure 111. Figure 10The multiple strip-shaped through holes arranged in a ring shape in the annular sheet-shaped code disc 160 constitute a code channel 161. The code disc 160 also has a positioning hole 162. The distance between the positioning hole 162 and the axis of the code disc 160 is smaller than the distance between the code channel 161 and the axis of the code disc 160. The positioning hole 162 is used to determine the position of the code disc 160 on the end face of the main structure 111 when the code disc 160 is pasted.

[0063] In an exemplary embodiment, see Figure 8-Figure 9 The end surface of the main structure 111 has a plurality of evenly arranged strip-shaped recesses, which constitute the code tracks 161 of the code disk. The area with the code tracks 161 can be regarded as the code disk. Figure 3 or Figure 5 shows a schematic structural diagram of the corresponding scanning module, Figure 6 An exploded view of the corresponding scanning module is shown. The magnetic conductive member 110 can be considered an integrated structure of a magnetic conductive ring, a drive housing, a bracket, and a code disk 160. Since there is no need to form a positioning hole, the code channel 161 is closer to the axis of the extension column 113 than the attached code disk. The angle measurement component 170 is also closer to the axis of the extension column 113 to ensure the normal operation of the photoelectric encoder 172. This further reduces the radial dimension of the magnetic conductive member 110, which is conducive to further reducing the radial dimension of the scanning module. Since there is no need to set up an additional code disk, the axial dimension of the scanning module can be further reduced compared to the attached code disk.

[0064] The magnetic member 110 and the rotating member 150 can both be made of steel. When the temperature of the environment in which the scanning module is located changes, the magnetic member 110 and the rotating member 150 expand and contract to a similar degree, which helps the magnetic member 110 and the rotating member 150 maintain a high-precision fit during temperature changes.

[0065] Furthermore, the Brinell hardness of the steel can be 130N / mm 2 ~180N / mm 2 , which reduces the risk of surface damage to the magnetic conductive member 110. When etching the end surface of the main structure 111 to form the code disk, this hardness prevents scratches on the code disk 160, thereby maintaining the performance of the scanning module. For example, in addition to the basic element iron, the steel also includes at least one of chromium, nickel, carbon, titanium, manganese, phosphorus, and sulfur.

[0066] See also Figure 3-Figure 6 The scanning module further includes a reflective element 180 located on the outer surface of the side wall of the main structure 111 .

[0067] In an exemplary embodiment, see Figure 6 The reflector 180 may be a reflective mirror or a reflective film fixed to, for example, the outer surface of the side wall of the main structure 111. Figure 11A schematic diagram of the three-dimensional structure of the magnetic component 110 provided with a reflector is shown. During the assembly process of the scanning module, there is a patch tilt tolerance relative to the base 120. When the magnetic ring, the driver housing and the bracket are independent structures, the assembly process involves patch steps for the magnetic ring, the driver housing, the bracket and the reflector, so that the cumulative patch tilt tolerance reaches about 0.131°. The setting of the magnetic component 110 omits the patch step between the magnetic ring, the driver housing and the bracket, and only retains the patch step between the reflector and the magnetic component 110, thereby reducing the cumulative patch tilt tolerance to about 0.025°, thereby improving the accuracy of the reflecting surface.

[0068] In an exemplary embodiment, the reflective member 180 may be a reflective layer formed on the outer sidewall surface of the main structure 111. For example, the reflective layer may be formed by coating and / or polishing the outer sidewall surface of the main structure 111. This omits the bonding step between the reflector and the magnetic permeable member 110, effectively reducing bonding tolerances and improving the precision of the reflective surface. Furthermore, because the thickness of the reflective layer is less than that of the reflector, the radial dimensions of the scanning module can be further reduced.

[0069] See also Figure 3-Figure 6 The scanning module also includes a fastener 190 disposed at the end of the extension column 113. Fastener 190 includes, but is not limited to, a nut, a retaining ring, and a washer. When fastener 190 is a nut, selecting a nut with a relatively small thickness facilitates controlling the axial dimensions of the scanning module. The end of the extension column 113 is threadedly connected to fastener 190. When the scanning module includes at least one axially disposed rotating member 150, the inner ring structure of the rotating member 150, axially away from the main structure 111, can contact fastener 190.

[0070] For further information, see Figure 7 The extension column 113 includes a main column 1132 and a limiting column 1133 connected to one end of the main column 1132 away from the main structure 111. The fastener 190 is sleeved on the outside of the limiting column 1133, and the radial dimension of the limiting column 1133 is smaller than the radial dimension of the main column 1132; the through hole of the sleeve 122 includes a first through hole and a second through hole that are axially connected, and the radial dimension of the second through hole is smaller than the radial dimension of the first through hole. The rotating part 150 is arranged in the second through hole, and the fastener 190 is located in the second through hole, which facilitates the installation of the fastener 190.

[0071] Thirdly, see Figure 12The present application provides a laser radar comprising the aforementioned scanning module 100, a transmitting module 200, and a receiving module 300. The transmitting module 200 and the receiving module 300 can be positioned on either side of the scanning module 100. The transmitting module 200 is adapted to transmit a probe beam toward the scanning module 100. The scanning module 100 is adapted to reflect the probe beam into a target space, receive an echo reflected by an object in the target space, and reflect the echo back to the receiving module 300. This laser module possesses all the advantages of the aforementioned scanning module 100 and will not be further elaborated here.

[0072] Furthermore, the laser radar also includes a housing 400, in which the scanning module 100, the transmitting module 200, and the receiving module 300 are all located. The ratio of the height h of the scanning module 100 to the width d3 of the housing 400 can be 0.1-0.3. This helps to reduce the height of the laser radar while maintaining the width of the laser radar within an appropriate range. Figure 3 As shown, the height h of the scanning module 100 is the axial dimension of the scanning module 100 .

[0073] Furthermore, the housing 400 has a window 410 , which serves as a laser emission and receiving window and may be located on a side of the housing 400 .

[0074] Specific embodiments of the scanning device applicable to the above-mentioned embodiments are further described below.

[0075] Example 1

[0076] This embodiment provides a scanning module 100, Figure 3 shows a schematic cross-sectional structure diagram of the scanning module, Figure 6 The scanning module 100 includes a magnetic conductive member 110 , a base 120 , a permanent magnet 130 and a winding 140 .

[0077] Figure 7 1 shows a schematic cross-sectional structure diagram of the magnetic conductive member 110. Figure 8 1 shows a schematic diagram of the three-dimensional structure of the magnetic conductive member 110. Figure 7-Figure 8 The magnetic conductive member 110 includes a main structure 111 having a recess 112 and an extension column 113 located in the recess 112. The recess 112 is an annular groove. The extension column 113 is located in the groove and extends away from the bottom of the groove. The main structure 111 and the extension column 113 are formed integrally.

[0078] See also Figure 3 and Figure 6The base 120 includes a sleeve 122 and a support plate 121. The sleeve 122 is located on the surface of the support plate 121. The base 120 is arranged opposite to the magnetic conductive member 110. The extension column 113 extends into the through hole of the sleeve 122. The through hole of the sleeve 122 passes through the support plate 121, and the extension column 113 does not extend beyond the sleeve 122.

[0079] See also Figure 3 The permanent magnet 130 and the winding 140 are sleeved together in the sleeve 122 and accommodated in the recess 112. A radial gap exists between the winding 140 and the permanent magnet 130. The winding 140 is located between the sleeve 122 and the permanent magnet 130. The winding 140 is fixed to the outer wall of the sleeve 122. The permanent magnet 130 is fixed to the inner wall of the main structure 111. The side wall of the main structure 111 covers the side of the permanent magnet 130. Axial gaps exist between the support plate 121 and the end surface of the main structure 111, between the end surface of the sleeve 122 and the main structure 111, and between the winding 140 and the main structure 111. The permanent magnet 130 and the winding 140 are the main components of the driver, which can drive the magnetic conductive member 110 to rotate around the axis of the extension column 113. When the magnetic conductive member 110 rotates relative to the base 120 , the permanent magnet 130 rotates relative to the winding 140 and rotates around the axis of the extension column 113 .

[0080] See also Figure 3 The scanning module also includes at least one axially arranged rotating member 150. The rotating member 150 is sleeved on the extension column 113 and located between the extension column 113 and the sleeve 122. The inner walls of the extension column 113 and the sleeve 122 are both in contact with the rotating member 150. The rotating member 150 includes a coaxially arranged inner ring structure and an outer ring structure, and a rotating body 151 located between the inner and outer ring structures. The inner ring structure is tightly fitted with the extension column 113, and the outer ring structure is interference fit with the inner wall of the sleeve 122. The rotating member 150 can be a bearing. The rotation of the magnetic conductive member 110 relative to the base 120 drives the inner ring structure to rotate relative to the outer ring structure, and the rotating body 151 also rotates accordingly.

[0081] Furthermore, in the rotating member 150 axially close to the main structure 111, the outer ring structure and the rotating body 151 have an axial gap with the main structure 111, and the inner ring structure is in axial contact with the main structure 111. Figure 7-Figure 8The structure of the magnetic conductive member 110 is as follows: the extension column 113 includes an axially connected bottom column 1131 and a main column 1132. The bottom column 1131 is axially close to the main structure 111, and the radial dimension of the bottom column 1131 is larger than the radial dimension of the main column 1132. In the rotating member 150 axially close to the main structure 111, the side surface of the inner ring structure axially close to the main structure 111 contacts the surface of the bottom column 1131 protruding from the main column 1132. The recess 112 includes an axially connected, annular first groove 1121 and a second groove 1122. The first groove 1121 is located at the bottom of the second groove 1122. The annular width of the first groove 1121 is smaller than the annular width of the second groove 1122 and larger than the wall thickness of the sleeve 122. The permanent magnet 130 is disposed on the groove wall of the second groove 1122. Optionally, the second groove may include a first sub-groove and a second sub-groove that are axially connected and annular, the first sub-groove is located between the first groove and the second sub-groove, the annular width of the first sub-groove is smaller than the annular width of the second sub-groove, the permanent magnet 130 is arranged on the slot wall of the second sub-groove, and the winding 140 is located in the second sub-groove and on the side of the first sub-groove.

[0082] The magnetic conductive member 110 and the rotating member 150 are both made of steel. Furthermore, the Brinell hardness of the steel can be 130N / mm. 2 ~180N / mm 2 Furthermore, the surface roughness of the steel material may be 0.05 μm to 0.2 μm.

[0083] See also Figure 3 The scanning module further includes a code disk 160 and an angle measurement assembly 170. The code disk 160 is located on the end surface of the main structure 111. There is an axial gap between the angle measurement assembly 170 and the main structure 111. Figure 8-Figure 9 By etching the end surface of the main structure 111, a number of evenly spaced strip-shaped depressions are formed. The annularly arranged strip-shaped depressions constitute the code track 161 of the code disk. The angle measurement assembly 170 is disposed opposite a local area of ​​the code disk and a local area of ​​the permanent magnet 130. The angle measurement assembly 170 includes a circuit board 171 and a photoelectric encoder 172 disposed on the surface of the circuit board 171. The photoelectric encoder 172 is electrically connected to the circuit board 171, which is disposed on the side of the support plate 121.

[0084] See also Figure 3 and Figure 6 The scanning module further includes a reflector 180 located on the outer surface of the side wall of the main structure 111. The reflector 180 is a reflector attached to the outer surface of the side wall of the main structure 111. Figure 11 A schematic diagram of the three-dimensional structure of the magnetic conductive component 110 provided with a reflector is shown.

[0085] See also Figure 3 and Figure 6The scanning module further includes a fastener 190 disposed at the end of the extension column 113. The fastener 190 includes but is not limited to a nut, a retaining spring, and a gasket. The inner ring structure of the rotating member 150 axially away from the main structure 111 can contact the fastener 190. For details, see Figure 7-Figure 8 The extension column 113 includes a main column 1132 and a limiting column 1133 connected to one end of the main column 1132 away from the main structure 111. The fastener 190 is sleeved on the outside of the limiting column 1133, and the radial dimension of the limiting column 1133 is smaller than the radial dimension of the main column 1132; the through hole of the sleeve 122 includes a first through hole and a second through hole that are axially connected, and the radial dimension of the second through hole is smaller than the radial dimension of the first through hole. The rotating part 150 is arranged in the second through hole, and the fastener 190 is located in the second through hole.

[0086] In this embodiment, the radial width L1 of the scanning module can be 40 mm to 45 mm, and the ratio of the radial width R1 of the code track 161 to the radial thickness d1 of the magnetic member 110 can be 25% to 35%. The radial width R1 of the code track 161 is the effective width of the code disk 160, and the radial thickness d1 of the magnetic member 110 can be 5.5 mm to 8.5 mm. For example, if the radial width of the code track 161 is 2 mm and the radial thickness of the magnetic member 110 is 6 mm, the ratio of the effective width of the code disk 160 to the radial thickness of the end surface of the main structure 111 is 33%, and the magnetic member 110 has a relatively small radial thickness. In this case, the radial width L1 of the scanning module is 42 mm, and the concentricity of the code disk 160 relative to the magnetic member 110 is 0.01 mm.

[0087] When the magnetic ring, the driver housing and the bracket are independent structures, the radial width L2 of the scanning module using the attached code disk 160 can be 48.4 mm, and the ring width R2 of the attached code disk 160 can be about 6.1 mm. The overall radial thickness d2 of the attached code disk 160, the magnetic ring, the driver housing and the bracket can be about 9 mm, that is, the ratio of the ring width of the code disk 160 to the overall radial thickness is close to 70%; the code disk 160 is attached to the bracket through a jig, and the processing error of the code disk 160 itself, the processing tolerance of the jig and a series of assembly tolerances, the cumulative concentricity of the attached code disk 160 relative to the driver housing reaches about 0.05 mm.

[0088] Example 2

[0089] This embodiment provides a scanning module. Figure 4 A schematic diagram of the cross-sectional structure of the scanning module is shown.

[0090] The difference between the scanning module provided in this embodiment and the scanning module provided in Embodiment 1 is that the code disk 160 is adhered to the end surface of the main structure 111 .

[0091] See also Figure 10 The multiple strip-shaped through holes arranged in a ring shape in the annular sheet-shaped code disc 160 constitute a code channel 161. The code disc 160 also has a positioning hole 162. The distance between the positioning hole 162 and the axis of the code disc 160 is smaller than the distance between the code channel 161 and the axis of the code disc 160. The positioning hole 162 is used to determine the position of the code disc 160 on the end face of the main structure 111 when the code disc 160 is pasted.

[0092] The structures and materials of other components of the scanning module provided in this embodiment are the same as those of the scanning module provided in Example 1, and are not described again here.

[0093] Example 3

[0094] This embodiment provides a scanning module. Figure 5 A schematic diagram of the cross-sectional structure of the scanning module is shown.

[0095] The difference between the scanning module provided in this embodiment and the scanning module provided in Example 1 is that: the outer wall of the extension column 113 has a first groove (not shown), and the inner wall of the sleeve 122 has a second groove (not shown), and the first groove and the second groove are arranged opposite to each other; the rotating member 150 includes a rotating body 151, the radial dimension of the rotating body 151 is greater than the sum of the depths of the first groove and the second groove, the rotating body 151 is accommodated between the first groove and the second groove and is in contact with the extension column 113 and the sleeve 122, the local area where the inner wall of the sleeve 122 contacts the rotating body 151 is equivalent to the outer ring structure of the bearing, and the local area where the extension column 113 contacts the rotating body 151 is equivalent to the inner ring structure of the bearing.

[0096] Specifically, the rotating body 151 includes, but is not limited to, a plurality of rigid balls surrounding the axis of the extension column 113. When the rotating body is a plurality of rigid balls surrounding the axis of the extension column, the scanning module further includes a retaining frame (not shown) mounted on the extension column. The retaining frame is disposed between the first groove and the second groove. The radial dimension of the retaining frame is smaller than the radial dimension of the rotating body 151. The retaining frame has a plurality of evenly spaced hollow holes extending radially through the retaining frame. The rigid balls are located in corresponding hollow holes and are adapted to roll within the hollow holes to fix the relative positions of adjacent rigid balls.

[0097] Furthermore, in the at least one axially arranged rotating member 150 , the rotating member 151 axially close to the main structure 111 may be in axial contact with the main structure 111 or may have an axial gap with the main structure 111 .

[0098] The structures and materials of other components of the scanning module provided in this embodiment are the same as those of the scanning module provided in Example 1, and are not described again here.

[0099] In addition, when the code disk in the scanning module is attached to the end surface of the main structure, the scanning module may also adopt the rotating member of this embodiment.

[0100] Example 4

[0101] This embodiment provides a scanning module, which differs from the scanning module provided in Embodiment 1, 2, or 3 in that the reflective member 180 is a reflective layer formed on the outer surface of the sidewall of the main structure 111. The structures and materials of the other components of the scanning module provided in this embodiment are the same as those of the scanning module provided in Embodiment 1, 2, or 3, and are not further described here.

[0102] Example 5

[0103] This embodiment provides a laser radar. Figure 12 A top view of the lidar is shown.

[0104] The laser radar includes any one of the scanning module 100, the transmitting module 200 and the receiving module 300 of Examples 1-4, and the transmitting module 200 and the receiving module 300 can be positioned on both sides of the scanning module 100; wherein, the transmitting module 200 is suitable for emitting a detection beam toward the scanning module 100; the scanning module 100 is suitable for reflecting the detection beam to the target space and receiving the echo reflected by the target object in the target space, and reflecting the echo to the receiving module 300.

[0105] Furthermore, the laser radar further includes a housing 400, wherein the scanning module 100, the transmitting module 200 and the receiving module 300 are all located in the housing 400, and the housing 400 has a window 410 located on the side of the housing 400 to serve as a laser transmitting and receiving window. Figure 3 The height h of the scanning module 100 shown can be 20 mm, and the width d3 of the shell 400, that is, the width of the laser radar device, can be 140 mm. At this time, the ratio of the height h of the scanning module 100 to the width d3 of the shell 400 is 0.143.

[0106] Specifically, the laser radar can be a mechanical rotating laser radar and a semi-solid rotating mirror laser radar.

[0107] The above description is merely a preferred embodiment of the present application and an illustration of the technical principles employed. Those skilled in the art should understand that the scope of the utility model disclosed herein is not limited to the technical solutions formed by the specific combination of the above-mentioned technical features, but also encompasses other technical solutions formed by any combination of the above-mentioned technical features or their equivalents without departing from the concept of the utility model. For example, a technical solution formed by replacing the above-mentioned features with (but not limited to) technical features with similar functions disclosed in this application.

Claims

1. Scanning module, characterized in that: The scanning module includes: The magnetic conductive member includes a main structure having a recess and an extension column located in the recess; A base, comprising a sleeve, wherein the base is arranged opposite to the magnetic conductive member, and the extension column extends into the through hole of the sleeve; and A permanent magnet surrounds the sleeve and is accommodated in the recess.

2. The scanning module according to claim 1, characterized in that: The scanning module also includes: a code disk, located on an end surface of the main structure; The angle measurement component is arranged opposite to a local area of ​​the code disk and a local area of ​​the permanent magnet.

3. The scanning module according to claim 2, characterized in that: The end surface of the main structure has a plurality of evenly arranged strip-shaped recesses, and the strip-shaped recesses constitute the code tracks of the code disk; or the code disk is fixed on the end surface of the main structure.

4. The scanning module according to claim 2, characterized in that: The end surface of the main structure has a plurality of evenly arranged strip-shaped recesses, which constitute the code track of the code disk. The ratio of the radial width of the code track to the radial thickness of the magnetic conductive component is 25% to 35%.

5. The scanning module according to claim 4, characterized in that: The radial thickness of the magnetic conductive component is 5.5 mm to 8.5 mm.

6. The scanning module according to any one of claims 1 to 4, characterized in that: The scanning module also includes: a rotating member, sleeved on the extension column and located between the extension column and the sleeve, the rotating member being adapted to rotate around the axis of the extension column; The rotating member includes a rotating body, and the extension column and the inner wall of the sleeve are in contact with the rotating body; or, The rotating member includes an inner ring structure and an outer ring structure that are coaxially arranged, and a rotating body located between the inner ring structure and the outer ring structure. The inner ring structure cooperates with the extension column, and the outer ring structure cooperates with the inner wall of the sleeve.

7. The scanning module according to any one of claims 1 to 4, characterized in that: The material of the magnetic conductive part is steel.

8. The scanning module according to claim 7, characterized in that: The Brinell hardness of the steel is 130N / mm 2 ~180N / mm 2 .

9. The scanning module according to any one of claims 1 to 4, characterized in that: The scanning module also includes: The winding is sleeved on the sleeve together with the permanent magnet, and a radial gap is formed between the winding and the permanent magnet.

10. The scanning module according to any one of claims 1 to 4, characterized in that: The base further includes a support plate, the sleeve is located on a surface of the support plate, and the through hole of the sleeve passes through the support plate.

11. The scanning module according to any one of claims 1 to 4, characterized in that: The scanning module also includes: The reflector is located on the outer surface of the side wall of the main structure, and the reflector is a reflector or a reflective layer.

12. Laser radar, characterized in that It comprises a scanning module as described in any one of claims 1 to 11; and a transmitting module and a receiving module; wherein the transmitting module is suitable for transmitting a detection beam toward the scanning module; the scanning module is suitable for reflecting the detection beam to a target space and receiving an echo reflected by a target object in the target space, and reflecting the echo to the receiving module.

13. The laser radar according to claim 12, characterized in that The laser radar further includes: The scanning module, the transmitting module and the receiving module are all located in the shell, and the ratio of the height of the scanning module to the width of the shell is 0.1-0.3.

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