Scanning mirror, scanning mirror assembly, laser radar and vehicle

Abstract

The utility model discloses a scanning mirror, a scanning mirror assembly, a laser radar and a vehicle, relates to the technical field of vehicles, and aims to solve the problem of how to reasonably arrange the positions of the scanning mirror and a scanning mirror circuit board so as to reduce the installation tolerance between the scanning mirror and the scanning mirror circuit board. The scanning mirror comprises a fixed shaft and a scanning mirror body. The scanning mirror body is rotationally sleeved on the fixed shaft, the fixed shaft is provided with a positioning part, and the positioning part is exposed out of the scanning mirror body and is used for limiting the position of the scanning mirror relative to the scanning mirror circuit board.

Description

TECHNICAL FIELD

[0001] The utility model relates to vehicle technical field especially scanning mirror, scanning mirror subassembly, laser radar and vehicle. BACKGROUND

[0002] In the field of new energy vehicles, the laser radar comprises a scanning mirror subassembly, the scanning mirror subassembly comprises a scanning piece and a scanning mirror circuit board, and the scanning mirror circuit board can monitor the state of the scanning mirror.

[0003] However, in the related art, the positions of the scanning mirror and the scanning mirror circuit board are not reasonably arranged, thereby increasing the installation tolerance between the scanning mirror and the scanning mirror circuit board. UTILITY MODEL CONTENT

[0004] The utility model discloses a scanning mirror, scanning mirror subassembly, laser radar and vehicle, and aims at solving how to reasonably arrange the positions of the scanning mirror and the scanning mirror circuit board, thereby reducing the installation tolerance between the scanning mirror and the scanning mirror circuit board.

[0005] To achieve the above object, the utility model adopts the following technical scheme:

[0006] The scanning mirror comprises a fixed shaft and a scanning mirror body. The scanning mirror body is rotatably arranged on the fixed shaft. The fixed shaft is provided with a positioning portion. The positioning portion is exposed to the scanning mirror body and is used to limit the position of the scanning mirror relative to the scanning mirror circuit board.

[0007] The scanning mirror provided by the embodiment of the application can realize the installation and positioning of the scanning mirror circuit board through the positioning portion of the fixed shaft. Compared with the related art, the installation of the scanning mirror circuit board is realized without the installation portion arranged in the inner shell of the laser radar. The positioning and installation steps of the installation portion are reduced, and the installation process of the scanning mirror subassembly is simplified. Since the positioning steps are reduced, the installation tolerance between the scanning mirror and the scanning mirror circuit board can be reduced, and the installation precision of the scanning mirror and the scanning mirror circuit board is improved. Therefore, the monitoring of the scanning mirror circuit board on the scanning mirror is more accurate, the workload of algorithm correction is reduced, and the research and development cost is reduced.

[0008] In some embodiments, the scanning mirror further comprises a sensor. The sensor is located on the side of the scanning mirror body facing the scanning mirror circuit board and is installed on the scanning mirror body. The scanning mirror circuit board is electrically connected with the sensor.

[0009] The scanning mirror provided by the embodiment of the application realizes the information interaction between the scanning mirror and the scanning mirror circuit board through the arrangement of the sensor. Moreover, the position of the sensor is arranged to facilitate the transmission of signals between the scanning mirror and the scanning mirror circuit board.

[0010] In some embodiments, the fixed shaft comprises a first fixed shaft segment, the first fixed shaft segment is located outside the scanning mirror body, and at least part of the first fixed shaft segment forms the positioning portion.

[0011] The scanning mirror provided in the embodiments of the present application facilitates the connection between the positioning portion and the scanning mirror circuit board, and facilitates the disassembly and assembly of the scanning mirror circuit board and the scanning mirror.

[0012] In some embodiments, the first fixed shaft segment comprises a first part and a second part, the first part forms the positioning portion, the second part is located between the first part and the scanning mirror body, the first part and the second part are connected, and the equivalent diameter of the second part is greater than the equivalent diameter of the first part.

[0013] The scanning mirror provided in the embodiments of the present application can realize the connection between the scanning mirror and the scanning mirror circuit board, and can limit the scanning mirror circuit board due to the equivalent diameter of the second part being greater than the equivalent diameter of the first part, thereby improving the installation precision and stability of the scanning mirror circuit board.

[0014] In some embodiments, the fixed shaft further comprises a second fixed shaft segment, the second fixed shaft segment is inserted into the scanning mirror body, and the first fixed shaft segment and the second fixed shaft segment are connected.

[0015] The scanning mirror provided in the embodiments of the present application realizes the rotational connection between the scanning mirror body and the fixed shaft through the second fixed shaft segment, and has a simple structure and is easy to realize.

[0016] In some embodiments, the scanning mirror further comprises a support, the support is located between the second fixed shaft segment and the scanning mirror body, the support is fixedly connected with the scanning mirror body, and the support is rotatably connected with the second fixed shaft segment.

[0017] The scanning mirror provided in the embodiments of the present application can directly contact the scanning mirror body with the support, and the support can support the scanning mirror body during the assembly of the scanning mirror, thereby reducing the probability of damage to the scanning mirror body during the assembly of the scanning mirror.

[0018] In some embodiments, the scanning mirror further comprises a driving member, the driving member is sleeved on the second fixed shaft segment, the support is sleeved on the driving member, and the driving member can drive the support and the scanning mirror body to rotate.

[0019] The scanning mirror provided in the embodiments of the present application can drive the support and the scanning mirror body to rotate through the driving member, so that the scanning mirror body adjusts the path of the laser beam.

[0020] In some embodiments, at least one of the inner wall of the support and the outer wall of the second fixed shaft section is provided with a first limiting structure, the driving member is clamped in the first limiting structure, and the first limiting structure is used to prevent the driving member from moving along the axial direction of the second fixed shaft section relative to the second fixed shaft section.

[0021] The scanning mirror provided in the embodiments of the present application can limit the axial movement of the driving member, improve the stability of the driving member during operation, and thus improve the operation accuracy of the scanning mirror.

[0022] In some embodiments, the scanning mirror further comprises a bearing structure, the bearing structure is located between the second fixed shaft section and the support, and the bearing structure comprises an inner ring and an outer ring, the outer ring is rotatable relative to the inner ring, the inner ring is fixedly connected to the second fixed shaft section, and the outer ring is fixedly connected to the support.

[0023] The scanning mirror provided in the embodiments of the present application can keep stable during operation, reduce the probability of bending vibration of the second fixed shaft section, and prolong the service life of the scanning mirror.

[0024] In some embodiments, at least one of the inner wall of the support and the outer wall of the second fixed shaft section is provided with a second limiting structure, the bearing structure is clamped in the second limiting structure, and the second limiting structure is used to prevent the bearing structure from moving along the axial direction of the second fixed shaft section relative to the second fixed shaft section.

[0025] The scanning mirror provided in the embodiments of the present application can limit the position of the bearing structure and reduce the probability of axial sliding of the bearing structure along the second fixed shaft section.

[0026] In some embodiments, the scanning mirror further comprises a stop assembly, the stop assembly is sleeved on the second fixed shaft section, and the stop assembly abuts against the bearing structure along the axial direction of the second fixed shaft section.

[0027] The scanning mirror provided in the embodiments of the present application can limit the bearing structure, further limit the position of the bearing structure, and improve the compactness of the structure of the scanning mirror.

[0028] In some embodiments, the stop assembly comprises an elastic member and a fastener, the elastic member abuts against the bearing structure, and the fastener is screwed on the outer wall of the second fixed shaft section and abuts against the side of the elastic member away from the bearing structure.

[0029] The scanning mirror provided in the embodiments of the present application can absorb vibration, reduce the impact on the scanning mirror due to vibration, reduce stress, prolong the service life of the scanning mirror, and reduce the probability of loosening of the fastener.

[0030] In some embodiments, the stop component further comprises a gasket, the gasket being clamped between the bearing structure and the elastic member.

[0031] The embodiment of the present application provides a scanning mirror, through the gasket, the gasket can be used as a separation layer, direct contact between the bearing structure and the elastic member is prevented, and wear and corrosion are reduced.

[0032] The embodiment of the present application provides a scanning mirror assembly, comprising the scanning mirror of any one of the above embodiments and a scanning mirror circuit board, the scanning mirror circuit board being connected with the positioning part in cooperation.

[0033] The embodiment of the present application provides a scanning mirror assembly, through the connection of the scanning mirror circuit board and the positioning part of the scanning mirror in cooperation, a position for mounting the scanning mirror circuit board is not needed to be arranged at other positions of the laser radar, the steps of mounting and positioning are reduced, and the mounting precision of the scanning mirror assembly is improved.

[0034] The embodiment of the present application provides a laser radar, comprising the scanning mirror assembly of any one of the above embodiments.

[0035] The embodiment of the present application provides a laser radar, through the scanning mirror assembly, the workload of algorithm correction can be reduced, and the research and development cost of the laser radar is reduced.

[0036] The embodiment of the present application provides a vehicle, comprising the laser radar of any one of the above embodiments.

[0037] The embodiment of the present application provides a vehicle, through the laser radar, more accurate information can be obtained, the assembly process of the laser radar is simplified, and the user experience is improved. BRIEF DESCRIPTION OF DRAWINGS

[0038] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0039] Figure 1 It is a structural schematic diagram of the vehicle in the embodiment of the present application.

[0040] Figure 2 It is a structural schematic diagram of the vehicle in the embodiment of the present application. Figure 1 It is a planar schematic diagram of the scanning mirror assembly in the vehicle shown in the figure.

[0041] Figure 3 It is a sectional view schematic diagram of the E-E section of the scanning mirror assembly shown in the figure. Figure 2

[0042] Figure 4 ​For Figure 2 A plan view of a scanning mirror circuit board of the scanning mirror assembly shown in FIG. 1.

[0043] Figure 5 For Figure 2 A sectional view of the scanning mirror in the scanning mirror assembly shown in FIG. 1.

[0044] Reference signs:

[0045] 1 vehicle; 11 vehicle body; 12 vehicle wheel;

[0046] 10 scanning mirror assembly;

[0047] 100 scanning mirror;

[0048] 110 fixed shaft; A1 positioning portion; 111 first fixed shaft segment; 111a first portion; 111b second portion; 112 second fixed shaft segment;

[0049] 120 scanning mirror body;

[0050] 130 sensor;

[0051] 140 bracket; B1 first limiting structure;

[0052] 150 driving member;

[0053] 160 bearing structure; B2 second limiting structure;

[0054] 170 stopper assembly; 171 elastic member; 172 fastener; 173 gasket;

[0055] 200 scanning mirror circuit board; 210 code reader; C1 mounting hole. DETAILED DESCRIPTION

[0056] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0057] The terms "first", "second" are only used for description purpose, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, unless otherwise specified, the meaning of "multiple" is two or more.

[0058] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "communication" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection. They can refer to a direct connection or an indirect connection through an intermediate medium, or a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0059] In embodiments of this invention, the terms "comprising," "including," or any other variations thereof are intended to cover a non-exclusive inclusion, such that a process, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, article, or apparatus that includes that element.

[0060] In this embodiment of the invention, the terms "exemplary" or "for example" are used to indicate that something is an example, illustration, or description. Any embodiment or design described as "exemplary" or "for example" in this embodiment of the invention should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of the terms "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0061] In the description of this specification, specific features, structures, materials, or characteristics may be combined in any suitable manner in one or more embodiments or examples.

[0062] This application provides a vehicle 1. Vehicle 1 can be a pure electric vehicle 1, a hybrid electric vehicle 1, a plug-in hybrid electric vehicle 1, a range-extended electric vehicle 1, a gasoline vehicle, etc. Vehicle 1 can also be a sedan, truck, bus, lorry, trailer, etc.

[0063] like Figure 1 As shown, Figure 1 This is a schematic diagram of the structure of vehicle 1 in an embodiment of this application. Vehicle 1 includes a body 11 and wheels 12. The body 11 is used for passengers and for carrying goods, and the wheels 12 are installed under the body 11 to support the body 11 and to roll on the road surface so that vehicle 1 can move.

[0064] This application also provides a lidar for use in the vehicle 1 described above. The lidar has functions including, but not limited to, perceiving the environment around the vehicle 1, measuring the distance between the vehicle 1 and surrounding objects in real time, acquiring the position and attitude information of the vehicle 1 with high precision, and performing accurate positioning in conjunction with a positioning system.

[0065] The laser radar comprises an optical-mechanical assembly for emitting and receiving laser beams, a scanning mirror assembly 10 for directing and scanning the laser beams to different directions so as to cover a required area, and a general circuit board assembly for controlling the optical-mechanical assembly and the scanning mirror assembly 10.

[0066] As shown in Figures 2 to 4 , FIG. 1 is a plan view of the scanning mirror assembly 10 in the vehicle 1, Figure 2 , FIG. 2 is a sectional view of the scanning mirror assembly 10 along the E-E section, Figure 1 , FIG. 3 is a plan view of the scanning mirror circuit board 200 of the scanning mirror assembly 10. The scanning mirror assembly 10 comprises a scanning mirror 100 and a scanning mirror circuit board 200, and the scanning mirror circuit board 200 is electrically connected to the general circuit board assembly. The scanning mirror circuit board 200 can be used to monitor the state of the scanning mirror 100 and transmit the acquired state information to the general circuit board assembly. Figure 3 Figure 2 The specific structure of the scanning mirror 100 will be described in detail below. Figure 4 Figure 2 As shown in , FIG. 4 is a sectional view of the scanning mirror 100 in the scanning mirror assembly 10. The present embodiment provides a scanning mirror 100, which comprises a fixed shaft 110 and a scanning mirror body 120. The scanning mirror body 120 is rotatably sleeved on the fixed shaft 110, and the fixed shaft 110 is provided with a positioning portion A1 which is exposed to the scanning mirror body 120 and is used to limit the position of the scanning mirror 100 relative to the scanning mirror circuit board 200.

[0067] The positioning portion A1 is exposed to the scanning mirror body 120 and is used to realize the installation of the scanning mirror circuit board 200.

[0068] Figure 5 The structure of the positioning portion A1 includes but is not limited to a groove structure, a protruding structure, etc. Figure 5 Figure 2 The positioning portion A1 can be located in the scanning mirror body 120 or can protrude from the scanning mirror body 120.

[0069] The positioning portion A1 can be located in the scanning mirror body 120 or can protrude from the scanning mirror body 120.

[0070] The positioning portion A1 can be located in the scanning mirror body 120 or can protrude from the scanning mirror body 120.

[0071] The positioning portion A1 can be located in the scanning mirror body 120 or can protrude from the scanning mirror body 120.

[0072] ​​​The scanning mirror 100 provided in the embodiment of the present application can be installed and positioned through the positioning part A1 of the fixing shaft 110, compared with the related art, the installation of the scanning mirror circuit board 200 is realized without setting the installation part in the inner shell of the laser radar, the positioning and installation steps of the installation part are reduced, the installation process of the scanning mirror assembly 10 is simplified, since the positioning steps are reduced, the installation tolerance between the scanning mirror 100 and the scanning mirror circuit board 200 is reduced, the installation precision of the scanning mirror 100 and the scanning mirror circuit board 200 is improved, so that the monitoring of the scanning mirror circuit board 200 on the scanning mirror 100 is more accurate, the workload of algorithm correction is reduced, and the research and development cost is reduced.

[0073] In some embodiments, the scanning mirror 100 further comprises a sensor 130, the sensor 130 is located on the side of the scanning mirror body 120 facing the scanning mirror circuit board 200 and is installed on the scanning mirror body 120, and the scanning mirror circuit board 200 is electrically connected with the sensor 130.

[0074] Optionally, the sensor 130 comprises a ring-shaped code disc structure. Optionally, the scanning mirror circuit board 200 comprises a code reader 210, and the orthographic projection of the code reader 210 coincides with the orthographic projection of at least one scale line of the code disc along the axial direction of the fixing shaft 110, the rotation of the scanning mirror body 120 drives the rotation of the code disc structure, and the code reader 210 reads the scale line of the rotating code disc structure.

[0075] The scanning mirror 100 provided in the embodiment of the present application realizes the information interaction between the scanning mirror 100 and the scanning mirror circuit board 200 through the setting of the sensor 130, and the position of the sensor 130 is set to facilitate the transmission of signals between the scanning mirror circuit board 200.

[0076] In some embodiments, the fixing shaft 110 comprises a first fixing shaft segment 111, the first fixing shaft segment 111 is located outside the scanning mirror body 120, and at least part of the first fixing shaft segment 111 forms the positioning part A1.

[0077] The length and radial size of the first fixing shaft segment 111 can be adjusted according to actual conditions.

[0078] The scanning mirror 100 provided in the embodiment of the present application is convenient for the cooperation and connection between the positioning part A1 and the scanning mirror circuit board 200 through the setting of the first fixing shaft segment 111, and is convenient for the disassembly and assembly of the scanning mirror circuit board 200 and the scanning mirror 100.

[0079] In some embodiments, the first fixed shaft section 111 includes a first part 111a forming the positioning part A1 and a second part 111b located between the first part 111a and the scanning mirror body 120, the first part 111a and the second part 111b being connected, and the equivalent diameter of the second part 111b being greater than the equivalent diameter of the first part 111a.

[0080] The equivalent diameter refers to the diameter of a sphere having the same volume as the shape and size of the object.

[0081] Optionally, the scanning mirror circuit board 200 includes a mounting hole C1, and the positioning part A1 can be inserted into the mounting hole C1 to achieve the connection between the scanning mirror 100 and the scanning mirror circuit board.

[0082] The scanning mirror 100 provided by the embodiments of the present application can achieve the connection between the scanning mirror 100 and the scanning mirror circuit board 200, and the equivalent diameter of the second part 111b is greater than the equivalent diameter of the first part 111a, so that the scanning mirror circuit board 200 can be limited, and the installation precision and stability of the scanning mirror circuit board 200 are improved.

[0083] In some embodiments, the fixed shaft 110 further includes a second fixed shaft section 112, the second fixed shaft section 112 being inserted into the scanning mirror body 120, and the first fixed shaft section 111 and the second fixed shaft section 112 being connected.

[0084] The size and shape of the second fixed shaft section 112 can be set according to actual conditions. Optionally, the second fixed shaft section 112 is connected to the inside of the shell of the laser radar.

[0085] Optionally, the surface of the side of the second fixed shaft section 112 away from the first fixed shaft section 111 is provided with a groove,

[0086] The scanning mirror 100 provided by the embodiments of the present application can achieve the rotation connection between the scanning mirror body 120 and the fixed shaft 110 through the second fixed shaft section 112, and the structure is simple and easy to implement.

[0087] In some embodiments, the scanning mirror 100 further includes a bracket 140, the bracket 140 being located between the second fixed shaft section 112 and the scanning mirror body 120, the bracket 140 being fixedly connected to the scanning mirror body 120, and the bracket 140 being rotatably connected to the second fixed shaft section 112.

[0088] The shape of the bracket 140 can include a regular cylindrical shape or other special shapes. The connection mode between the bracket 140 and the scanning mirror body 120 includes but is not limited to bolt connection, riveting, and adhesion.

[0089] The embodiment of the present application provides a scanning mirror 100, through the arrangement of the support 140, the scanning mirror body 120 can be in direct contact with the support 140, when the scanning mirror 100 is assembled, the support 140 can support the scanning mirror body 120, and the probability that the scanning mirror body 120 is damaged when the scanning mirror 100 is assembled is reduced.

[0090] In some embodiments, the scanning mirror 100 further comprises a driving piece 150, the driving piece 150 is sleeved on the second fixed shaft section 112, the support 140 is sleeved on the driving piece 150, and the driving piece 150 can drive the support 140 and the scanning mirror body 120 to rotate.

[0091] Optionally, the driving piece 150 comprises a driving motor, a stator of the driving motor is sleeved on the second fixed shaft section 112, and a rotor is rotatably sleeved on the stator and connected with the support 140.

[0092] The embodiment of the present application provides a scanning mirror 100, through the arrangement of the driving piece 150, the support 140 and the scanning mirror body 120 can be driven to rotate, so that the scanning mirror body 120 adjusts the path of the laser beam.

[0093] In some embodiments, at least one of the inner wall of the support 140 and the outer wall of the second fixed shaft section 112 is provided with a first limiting structure B1, the driving piece 150 is clamped on the first limiting structure B1, and the first limiting structure B1 is used for preventing the driving piece 150 from moving along the axial direction of the second fixed shaft section 112 relative to the second fixed shaft section 112.

[0094] The embodiment of the present application provides a scanning mirror 100, through the arrangement of the first limiting structure B1, the driving piece 150 can be limited to move along the axial direction, the stability of the driving piece 150 during operation is improved, and therefore the operation precision of the scanning mirror 100 is improved.

[0095] In some embodiments, the scanning mirror 100 further comprises a bearing structure 160, the bearing structure 160 is located between the second fixed shaft section 112 and the support 140, the bearing structure 160 comprises an inner ring and an outer ring, the outer ring is rotatable relative to the inner ring, the inner ring is fixedly connected with the second fixed shaft section 112, and the outer ring is fixedly connected with the support 140.

[0096] The bearing structure 160 comprises one or more bearings, and the position of the bearing is not specifically limited here and can be adjusted according to actual needs.

[0097] Optionally, the bearing structure 160 adopts a high-strength structure, the amount of debris generated when the scanning mirror 100 operates at a high speed can be reduced, and the probability of abnormal sound of the bearing structure 160 can be reduced.

[0098] The embodiment of the present application provides a scanning mirror 100, through the arrangement of the bearing structure 160, the scanning mirror 100 can be kept stable in the working process, the probability of bending vibration of the second fixed shaft section 112 is reduced, and the service life of the scanning mirror 100 is prolonged.

[0099] In some embodiments, at least one of the inner wall of the support 140 and the outer wall of the second fixed shaft section 112 is provided with a second limiting structure B2, the bearing structure 160 is clamped in the second limiting structure B2, and the second limiting structure B2 is used for preventing the bearing structure 160 from moving along the axial direction of the second fixed shaft section 112 relative to the second fixed shaft section 112.

[0100] The embodiment of the present application provides a scanning mirror 100, through the arrangement of the bearing structure 160, the scanning mirror 100 can be kept stable in the working process, the probability of bending vibration of the second fixed shaft section 112 is reduced, and the service life of the scanning mirror 100 is prolonged.

[0101] In some embodiments, the scanning mirror 100 further includes a stop assembly 170, the stop assembly 170 is sleeved on the second fixed shaft section 112, and the stop assembly 170 abuts against the bearing structure 160 along the axial direction of the second fixed shaft section 112.

[0102] The stop assembly 170 includes but is not limited to a fastener 172, a check ring and the like.

[0103] The embodiment of the present application provides a scanning mirror 100, through the arrangement of the bearing structure 160, the scanning mirror 100 can be kept stable in the working process, the probability of bending vibration of the second fixed shaft section 112 is reduced, and the service life of the scanning mirror 100 is prolonged.

[0104] In some embodiments, the stop assembly 170 includes an elastic member 171 and a fastener 172. The elastic member 171 abuts against the bearing structure 160, and the fastener 172 is screwed on the outer wall of the second fixed shaft section 112 and abuts against the side, away from the bearing structure 160, of the elastic member 171.

[0105] The elastic member 171 includes but is not limited to a spring, an elastic pad and the like. Optionally, the elastic member 171 includes a wave spring.

[0106] The embodiment of the present application provides a scanning mirror 100, through the arrangement of the bearing structure 160, the scanning mirror 100 can be kept stable in the working process, the probability of bending vibration of the second fixed shaft section 112 is reduced, and the service life of the scanning mirror 100 is prolonged.

[0107] In some embodiments, the stop assembly 170 further includes a gasket 173, and the gasket 173 is clamped between the bearing structure 160 and the elastic member 171.

[0108] The scanning mirror 100 provided by the embodiment of the application can be used as an isolation layer to prevent direct contact between the bearing structure 160 and the elastic member 171, thereby reducing wear and corrosion.

[0109] The scanning mirror assembly 10 provided by the embodiment of the application comprises the scanning mirror 100 and the scanning mirror circuit board 200.

[0110] The scanning mirror assembly 10 provided by the embodiment of the application is connected with the scanning mirror 100 through the scanning mirror circuit board 200, thereby eliminating the need to set a position for mounting the scanning mirror circuit board 200 at other positions of the laser radar, reducing the mounting steps, and improving the mounting precision of the scanning mirror assembly 10.

[0111] The laser radar provided by the embodiment of the application comprises the scanning mirror assembly 10.

[0112] The laser radar provided by the embodiment of the application is provided with the scanning mirror assembly 10, thereby reducing the workload of algorithm correction and reducing the research and development cost of the laser radar.

[0113] The vehicle 1 provided by the embodiment of the application comprises the laser radar.

[0114] The vehicle 1 provided by the embodiment of the application is provided with the laser radar, thereby obtaining more accurate information, simplifying the assembly process of the laser radar, and improving the user experience.

[0115] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited to this, any skilled person in the art can easily think of changes or replacements within the technical range disclosed by the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A scanning mirror (100), characterized in that, include: Fixed shaft (110); and The scanning mirror body (120) is rotatably sleeved on the fixed shaft (110). The fixed shaft (110) is provided with a positioning part (A1). The positioning part (A1) is exposed outside the scanning mirror body (120) and is used to define the position of the scanning mirror (100) relative to the scanning mirror circuit board (200).

2. The scanning mirror (100) according to claim 1, characterized in that, The scanning mirror (100) further includes a sensor (130), which is located on the side of the scanning mirror body (120) facing the scanning mirror circuit board (200) and is mounted on the scanning mirror body (120). The sensor (130) is electrically connected to the scanning mirror circuit board (200).

3. The scanning mirror (100) according to claim 1, characterized in that, The fixed axis (110) includes a first fixed axis segment (111) located outside the scanning mirror body (120), and at least a portion of the first fixed axis segment (111) forms the positioning part (A1).

4. The scanning mirror (100) according to claim 3, characterized in that, The first fixed shaft segment (111) includes: The first part (111a) forms the positioning part (A1); and The second part (111b) is located between the first part (111a) and the scanning mirror body (120), the first part (111a) and the second part (111b) are connected, and the equivalent diameter of the second part (111b) is greater than the equivalent diameter of the first part (111a).

5. The scanning mirror (100) according to claim 3, characterized in that, The fixed axis (110) further includes a second fixed axis segment (112), which is inserted into the scanning mirror body (120), and the first fixed axis segment (111) and the second fixed axis segment (112) are connected.

6. The scanning mirror (100) according to claim 5, characterized in that, The scanning mirror (100) also includes a bracket (140), which is located between the second fixed shaft section (112) and the scanning mirror body (120). The bracket (140) is fixedly connected to the scanning mirror body (120) and rotatably connected to the second fixed shaft section (112).

7. The scanning mirror (100) according to claim 6, characterized in that, The scanning mirror (100) further includes a driving member (150), which is sleeved on the second fixed shaft section (112). The bracket (140) is sleeved on the driving member (150), and the driving member (150) can drive the bracket (140) and the scanning mirror body (120) to rotate.

8. The scanning mirror (100) according to claim 7, characterized in that, At least one of the inner wall of the bracket (140) and the outer wall of the second fixed shaft segment (112) is provided with a first limiting structure (B1), and the driving member (150) is engaged in the first limiting structure (B1). The first limiting structure (B1) is used to prevent the driving member (150) from moving relative to the second fixed shaft segment (112) along the axial direction of the second fixed shaft segment (112).

9. The scanning mirror (100) according to claim 7, characterized in that, The scanning mirror (100) further includes a bearing structure (160), which is located between the second fixed shaft section (112) and the bracket (140). The bearing structure (160) includes an inner ring and an outer ring. The outer ring is rotatable relative to the inner ring. The inner ring is fixedly connected to the second fixed shaft section (112), and the outer ring is fixedly connected to the bracket (140).

10. The scanning mirror (100) according to claim 9, characterized in that, At least one of the inner wall of the bracket (140) and the outer wall of the second fixed shaft section (112) is provided with a second limiting structure (B2), and the bearing structure (160) is engaged with the second limiting structure (B2). The second limiting structure (B2) is used to prevent the bearing structure (160) from moving relative to the second fixed shaft section (112) along the axial direction of the second fixed shaft section (112).

11. The scanning mirror (100) according to claim 9, characterized in that, The scanning mirror (100) further includes a stop assembly (170), which is sleeved on the second fixed shaft section (112) and abuts against the bearing structure (160) along the axial direction of the second fixed shaft section (112).

12. The scanning mirror (100) according to claim 11, characterized in that, The stop assembly (170) includes: The elastic element (171) abuts against the bearing structure (160); and Fastener (172) is screwed onto the outer wall of the second fixed shaft section (112), and the fastener (172) abuts against the side of the elastic member (171) away from the bearing structure (160).

13. The scanning mirror (100) according to claim 12, characterized in that, The stop assembly (170) further includes a gasket (173) sandwiched between the bearing structure (160) and the elastic element (171).

14. A scanning mirror assembly (10), characterized in that, include: Scanning mirror (100) according to any one of claims 1 to 13; as well as The scanning mirror circuit board (200) is connected in conjunction with the positioning part (A1).

15. A lidar, characterized in that, Includes the scanning mirror assembly (10) as described in claim 14.

16. A vehicle (1), characterized in that, Including the lidar as described in claim 15.

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