Laser radar scanning device

Abstract

The utility model provides a laser radar scanning device which comprises a rotatable hollow main shaft, a reflecting mirror is arranged in the hollow main shaft, a hollow part is arranged on the side wall of the hollow main shaft in the direction facing the reflecting mirror, a first connecting shaft and a second connecting shaft are arranged at the two ends of the hollow main shaft respectively, and a scanning assembly mounting base and an end base are arranged on a laser radar base body. The two ends of the hollow spindle are rotationally connected with the scanning assembly mounting base and the end base respectively, the window mirror is arranged between the scanning assembly mounting base and the end base, and the problem that the far end of a cantilever rotating type scanning mirror swings is solved.

Description

Technical Field

[0001] This utility model relates to the field of lidar, and in particular to a lidar scanning device. Background Technology

[0002] In online laser scanners, the LiDAR image is formed on a high-speed moving object. To reduce image blurring, the scanning mirror operates at a relatively high speed. To improve the efficiency of the LiDAR in acquiring point clouds, both the scanning mirror and the window mirror are made as large as possible. However, high rotation speed and large scanning mirrors pose significant challenges to the size, weight, and stability of the device. Therefore, lightweight and stable LiDAR scanning devices are particularly important.

[0003] In existing lidar systems, one side of the scanning mirror is used for reflecting light, so only the back side has a rotating shaft. The entire scanning mirror is in a cantilever structure. If the dynamic balance is not good during rotation, the scanning mirror will swing a large amplitude, affecting the lidar's light emission and reception accuracy. Utility Model Content

[0004] This invention provides a laser radar scanning device that solves the problem of remote oscillation of the cantilever rotating scanning mirror.

[0005] To solve the above-mentioned technical problems, the technical solution adopted by this utility model is as follows: a laser radar scanning device includes a rotatable hollow main shaft, a reflector is provided inside the hollow main shaft, a hollow part is provided on the side wall of the hollow main shaft in the direction of the reflector, a first connecting shaft and a second connecting shaft are respectively provided at both ends of the hollow main shaft, a scanning component mounting seat and an end seat are provided on the laser radar base, both ends of the hollow main shaft are rotatably connected to the scanning component mounting seat and the end seat respectively, and a window mirror is provided between the scanning component mounting seat and the end seat.

[0006] In the preferred embodiment, a stator is provided on the inner wall of the end seat, and a rotor is sleeved on the first connecting shaft, with the rotor and stator coaxially connected.

[0007] In a preferred embodiment, a first bearing seat is provided at the scanning component mounting base, a second bearing seat is provided on the end seat, a second connecting shaft is sleeved with the first bearing seat, and a first connecting shaft is sleeved with the second bearing seat.

[0008] In a preferred embodiment, the second bearing housing has an opening on the side away from the first connecting shaft and is provided with an internal thread. The internal thread is also provided with a threaded pressure ring. A corrugated spring is provided between the pressure ring and the second bearing housing. Rotating the pressure ring is used to press the second bearing housing.

[0009] In the preferred embodiment, a ring-shaped code disk is provided at one end of the hollow spindle near the end seat, and a reading head is provided inside the end seat, with the reading head aligned with the code disk.

[0010] In the preferred embodiment, the hollow spindle has ring plates at both ends, and the ring plates have multiple threaded holes along the circumference.

[0011] In the preferred embodiment, the window mirror has a ring-shaped hollow structure and is made of transparent material.

[0012] The beneficial effects of this utility model are as follows: the reflector is integrated inside the hollow spindle, and holes are opened in the side wall for the light path to enter and exit. Rotating shafts are set at both ends of the hollow spindle to make the rotation more stable; and ring plates with threaded holes are installed at both ends of the hollow spindle to facilitate the adjustment of dynamic balance; the drive motor and encoder are integrated in the end seat to facilitate the miniaturization of the lidar; and the bearing is clamped by a corrugated spring with adjustable holding force, which can adjust the bearing clearance. Attached Figure Description

[0013] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0014] Figure 1 This is a cross-sectional view of the present invention.

[0015] Figure 2 This is a schematic diagram of the end of this utility model.

[0016] Figure 3 This is an internal sectional view of the end seat of this utility model.

[0017] In the figure: LiDAR base 1; scanning component 2; reflector 201; first connecting shaft 202; rotor 203; stator 204; window mirror 205; scanning component mounting base 206; hollow spindle 207; hollow part 208; ring plate 209; second connecting shaft 210; first bearing seat 211; second bearing seat 212; end seat 213; read head 214; code disk 215; corrugated spring 216; pressure ring 217; internal thread part 218. Detailed Implementation

[0018] Example 1:

[0019] like Figure 1-3 A laser radar scanning device includes a rotatable hollow spindle 207, a reflector 201 inside the hollow spindle 207, and a hollow portion 208 on the side wall of the hollow spindle 207 facing the reflector 201. A first connecting shaft 202 and a second connecting shaft 210 are respectively provided at both ends of the hollow spindle 207. A scanning component mounting base 206 and an end seat 213 are provided on the laser radar base 1. The two ends of the hollow spindle 207 are rotatably connected to the scanning component mounting base 206 and the end seat 213 respectively. A window mirror 205 is provided between the scanning component mounting base 206 and the end seat 213.

[0020] The scanning component 2 is mounted on the lidar base 1, and the hollow spindle 207 has hollow holes on its side wall to reduce weight.

[0021] The first connecting shaft 202 is a stepped shaft with a flange structure at one end, which is used to connect the end face of the reflector 201 by screws.

[0022] The window mirror 205 has a certain structural strength, connecting the lidar base 1 and the end seat 213 at both ends into one unit. Therefore, the rotating shafts at both ends of the hollow main shaft 207 can be manufactured, which is more stable than the cantilever structure.

[0023] In the preferred embodiment, the inner wall of the end seat 213 is provided with a stator 204, and a rotor 203 is sleeved on the first connecting shaft 202, with the rotor 203 and the stator 204 coaxially connected.

[0024] A small gap is provided between the rotor 203 and the stator 204. After power is applied, the end seat 213 remains stationary, while the hollow spindle 207 and the reflector 201 rotate under the action of electromagnetic force. The laser light enters the reflector 201 from the central cavity of the lidar substrate 1, and the reflected light passes through the window mirror 205 to the outside, forming a ring-shaped scanning line.

[0025] In a preferred embodiment, a first bearing seat 211 is provided at the scanning component mounting base 206, a second bearing seat 212 is provided on the end seat 213, the second connecting shaft 210 is sleeved with the first bearing seat 211, and the first connecting shaft 202 is sleeved with the second bearing seat 212.

[0026] The end seat 213 is provided with an openable end cover, and the second bearing seat 212 is connected to the inner wall of the end seat 213 through some connecting sleeve structures.

[0027] In a preferred embodiment, the second bearing housing 212 has an opening on the side away from the first connecting shaft 202 and is provided with an internal thread 218. The internal thread 218 is also provided with a threaded pressure ring 217. A corrugated spring 216 is provided between the pressure ring 217 and the second bearing housing 212. The pressure ring 217 is rotated to press the second bearing housing 212.

[0028] The bearing back side of the second bearing housing 212 is hollowed out, into which a corrugated spring 216 can be inserted. The pressure ring 217 is then screwed in from the hollowed-out part, gradually pressing the corrugated spring 216. The corrugated spring 216 provides continuous compressive force to the second bearing housing 212, maintaining a reasonable bearing clearance.

[0029] In a preferred embodiment, the hollow spindle 207 has an annular code disk 215 at one end near the end seat 213, and a reading head 214 is provided inside the end seat 213, with the reading head 214 aligned with the code disk 215.

[0030] The reader 214 and the code disk 215 form an encoder. After power is applied, the reader 214 reads the code disk 215 to obtain the real-time rotation angle of the reflector 201.

[0031] In the preferred embodiment, the hollow spindle 207 has ring plates 209 at both ends, and the ring plates 209 have multiple threaded holes along the circumference.

[0032] During debugging, according to the dynamic balance condition, set screws are installed in the corresponding threaded holes to increase weight and improve the dynamic balance.

[0033] In the preferred embodiment, the window mirror 205 has a ring-shaped hollow structure and is made of transparent material.

[0034] Window mirror 205 is a regular polygonal ring or annular ring.

[0035] Example 2:

[0036] A lidar scanning device includes a main structure for its moving parts, comprising a large bearing, a bearing housing, a main shaft, a reflector, an encoder disk, an encoder disk holder, a motor rotor, and small bearings. The end faces of the bearing housing and the encoder disk holder each have threaded holes evenly distributed along their circumference, through which the dynamic balance at both ends of the scanning device can be adjusted.

[0037] The overall structure of the scanning device is as follows: the motor stator is fixed to the motor mount, the outer ring of the large bearing is fixed to the machine body, and the outer ring of the small bearing is fixed to the motor mount. This achieves end-to-end support for the moving parts of the scanning device, improving the stability of the moving parts. A corrugated spring is located on the outer ring of the small bearing at the upper end, allowing adjustment of the clearance between the two bearings.

[0038] The horizontal rotation of the scanning device is achieved by driving the motor rotor of the moving part of the scanning device through the motor stator on the motor mount. The read head on the motor mount and the code disk of the moving part combine to form an encoder, which provides high rotational accuracy for the scanning device.

[0039] The above embodiments are merely preferred technical solutions of this utility model and should not be considered as limitations on this utility model. The protection scope of this utility model should be the technical solution described in the claims, including equivalent substitutions of the technical features described in the claims. That is, equivalent substitutions and improvements within this scope are also within the protection scope of this utility model.

Claims

1. A lidar scanning device, characterized in that: The device includes a rotatable hollow spindle (207), a reflector (201) inside the hollow spindle (207), a hollow part (208) facing the reflector (201) on the side wall of the hollow spindle (207), a first connecting shaft (202) and a second connecting shaft (210) at both ends of the hollow spindle (207), a scanning component mounting seat (206) and an end seat (213) on the lidar base (1), the two ends of the hollow spindle (207) being rotatably connected to the scanning component mounting seat (206) and the end seat (213) respectively, and a window mirror (205) between the scanning component mounting seat (206) and the end seat (213).

2. The lidar scanning device according to claim 1, characterized in that: The inner wall of the end seat (213) is provided with a stator (204), and a rotor (203) is sleeved on the first connecting shaft (202). The rotor (203) and the stator (204) are coaxially sleeved.

3. The lidar scanning device according to claim 1, characterized in that: A first bearing seat (211) is provided at the scanning component mounting base (206), and a second bearing seat (212) is provided on the end seat (213). The second connecting shaft (210) is sleeved with the first bearing seat (211), and the first connecting shaft (202) is sleeved with the second bearing seat (212).

4. The lidar scanning device according to claim 3, characterized in that: The second bearing housing (212) has an opening on the side away from the first connecting shaft (202) and is provided with an internal thread (218). The internal thread (218) is also provided with a threaded pressure ring (217). A corrugated spring (216) is provided between the pressure ring (217) and the second bearing housing (212). Rotating the pressure ring (217) will press the second bearing housing (212) tightly.

5. The lidar scanning device according to claim 1, characterized in that: The hollow spindle (207) has an annular code disk (215) at one end near the end seat (213), and a reading head (214) is provided inside the end seat (213), with the reading head (214) aligned with the code disk (215).

6. The lidar scanning device according to claim 1, characterized in that: The hollow spindle (207) has ring plates (209) at both ends, and the ring plates (209) have multiple threaded holes along the circumference.

7. The lidar scanning device according to claim 1, characterized in that: The window mirror (205) has a ring-shaped hollow structure and is made of transparent material.

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