Base, scanning mirror assembly, laser radar and vehicle

Abstract

The utility model discloses a base, 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 enable the connection process of the scanning mirror assembly to be more convenient. The base comprises a fixing shaft and a base. The fixing shaft is used for arranging a scanning mirror, the base supports the fixing shaft, the base is provided with a through operation hole, and one end of the operation hole is located on the face, away from the fixing shaft, of the base.

Description

TECHNICAL FIELD

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

[0002] In the field of new energy vehicles, the laser radar comprises a scanning mirror subassembly, and the scanning mirror subassembly can rotate to change the direction of a laser beam.

[0003] However, in the related art, the scanning mirror subassembly is inconvenient to operate during connection. SUMMARY

[0004] The utility model discloses a kind of bottom, scanning mirror subassembly, laser radar and vehicle, to solve the problem of how to make scanning mirror subassembly connection process more convenient.

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

[0006] The application embodiment provides a kind of bottom, bottom includes fixed shaft and pedestal.The fixed shaft is used to set scanning mirror, pedestal supports fixed shaft setting, pedestal is equipped with the operation hole of through arrangement, one end of operation hole is located in the one side of pedestal deviating from fixed shaft.

[0007] The bottom provided by the application embodiment can connect the connecting line between the scanning mirror and the scanning mirror circuit board through the operation hole, and the connecting point of the connecting line and the scanning mirror circuit board can be exposed outside the scanning mirror subassembly through the operation hole on the side deviating from the fixed shaft, so that the connection operation between the connecting line and the scanning mirror circuit board can be realized from the outside of the scanning mirror subassembly, compared with the related art, the connection between the connecting line and the scanning mirror circuit board does not need to be realized inside the scanning mirror subassembly, so that the connection operation can be facilitated.

[0008] In some embodiments, the fixed shaft includes a first shaft segment and a second shaft segment.The second shaft segment is connected between the first shaft segment and the pedestal, and the equivalent cross-sectional diameter of the second shaft segment is greater than that of the first shaft segment.The second shaft segment includes a guide hole arranged through the interior and communicating with the operation hole.

[0009] The bottom provided by the application embodiment can realize the guidance and limiting of the connecting line, improve the orderliness of the connecting line, and reduce the probability of mutual interference between the connecting line and other lines.

[0010] In some embodiments, the operation hole and the guide hole are arranged along the axial direction of the fixed shaft.

[0011] The base provided by the embodiment of the application is provided with an operation hole and a guide hole which are arranged along the axial direction of the fixing shaft, so that the insertion and wiring of the connecting line are facilitated, and the assembly process is simplified.

[0012] In some embodiments, the fixing shaft and the base are an integral structure.

[0013] The base provided by the embodiment of the application is provided with an integral structure of the fixing shaft and the base, so that when the base is installed and positioned, only the base needs to be installed and positioned, and the fixing shaft and the base do not need to be installed and positioned respectively, the positioning accuracy of the base is improved, and the installation tolerance of the base is reduced.

[0014] The scanning mirror assembly provided by the embodiment of the application comprises a base, a scanning mirror, a scanning mirror circuit board and a connecting line. The scanning mirror is rotatably sleeved on the fixing shaft, the scanning mirror circuit board is installed on the base, the scanning mirror circuit board is provided with a connecting terminal on the side close to the base, the orthographic projection of the connecting terminal is located in the operation hole along the extension direction of the operation hole, and the connecting line is connected between the scanning mirror and the connecting terminal through the operation hole.

[0015] The scanning mirror assembly provided by the embodiment of the application can realize the connection between the connecting line and the scanning mirror circuit board through the operation hole on the side away from the fixing shaft, the operation is simple, the assembly process of the scanning mirror assembly is simplified, the assembly time is saved, and the production efficiency of the scanning mirror assembly is improved.

[0016] In some embodiments, the scanning mirror comprises a lens structure and a driving member. The lens structure is sleeved on the fixing shaft, the driving member is located between the lens structure and the fixing shaft, the driving member drives the lens structure to rotate relative to the fixing shaft, and the connecting line is connected with the driving member.

[0017] The scanning mirror assembly provided by the embodiment of the application realizes the rotation of the lens structure and the connection between the driving member and the scanning mirror circuit board.

[0018] In some embodiments, the driving member comprises a stator and a rotor. The stator is fixedly sleeved on the fixing shaft, the connecting line is connected with the stator, the rotor is rotatably sleeved on the stator, the rotor is movably connected with the stator, and the rotor is fixedly connected with the lens structure.

[0019] The scanning mirror assembly provided by the embodiment of the application realizes the connection between the stator and the scanning mirror circuit board, realizes the signal transmission between the stator and the scanning mirror circuit board, and facilitates the connection between the stator and the scanning mirror circuit board.

[0020] In some embodiments, the scanning mirror further comprises a bearing structure, the bearing structure is located between the fixing shaft and the lens structure, 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 with the fixing shaft, and the outer ring is fixedly connected with the lens structure.

[0021] The scanning mirror assembly provided by the embodiment of the present application can support the lens structure through the arrangement of the bearing structure, so that the lens structure runs more stably and the running accuracy of the scanning mirror assembly is improved.

[0022] In some embodiments, the bearing structure includes two sub-bearings, which are distributed on both sides of the driving member along the axial direction of the fixed shaft.

[0023] The scanning mirror assembly provided by the embodiment of the present application can support the lens structure at both ends of the driving member through the arrangement of the two sub-bearings, the two sub-bearings have a large span and high structural stability, the reliability of the lens structure is further improved, and the internal space of the scanning mirror assembly is reasonably utilized and the structure is compact.

[0024] In some embodiments, the lens structure includes a first part and a second part, the first part is connected with the driving member, the second part is arranged around the first part, the second part is connected with the first part, and the first part and the second part are at least partially spaced apart.

[0025] The scanning mirror assembly provided by the embodiment of the present application can better meet the lightweight requirement of the lens structure through the arrangement of the first part and the second part of the lens structure, reduce the weight of the scanning mirror assembly, facilitate heat dissipation of the driving member, and prolong the service life of the scanning mirror assembly.

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

[0027] The scanning mirror assembly provided by the embodiment of the present application can limit the bearing structure along the axial direction through the stop assembly, and the assembly of the scanning mirror assembly is more compact.

[0028] In some embodiments, the stop assembly includes 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 fixed shaft and abuts against the side of the elastic member away from the bearing structure.

[0029] The scanning mirror assembly provided by the embodiment of the present application can absorb vibration through the arrangement of the elastic member and improve the anti-vibration capability of the scanning mirror assembly.

[0030] The embodiment of the present application also provides a laser radar including any one of the scanning mirror assemblies.

[0031] The laser radar provided by the embodiment of the present application can reduce the assembly difficulty of the laser radar through the arrangement of the scanning mirror assembly and improve the production efficiency of the laser radar.

[0032] This application also provides a vehicle that includes any of the aforementioned lidar.

[0033] The vehicle provided in this application embodiment can simplify the vehicle production process and improve production efficiency by setting up a lidar. Attached Figure Description

[0034] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0035] Figure 1 This is a schematic diagram of the vehicle structure in an embodiment of this application;

[0036] Figure 2 for Figure 1 A three-dimensional schematic diagram of the base of the scanning mirror assembly in the vehicle shown.

[0037] Figure 3 for Figure 2 A plan view of the base shown;

[0038] Figure 4 for Figure 2 A top view of the base shown;

[0039] Figure 5 for Figure 1 A three-dimensional schematic diagram of the scanning mirror assembly in the vehicle shown.

[0040] Figure 6 for Figure 5 An exploded view of the scanning mirror assembly shown.

[0041] Figure 7 for Figure 5 A plan view of the scanning mirror assembly shown;

[0042] Figure 8 for Figure 7 A schematic cross-sectional view of section BB shown;

[0043] Figure 9 for Figure 5 A bottom view of the scanning mirror assembly shown;

[0044] Figure 10 for Figure 5 A three-dimensional schematic diagram of the lens structure of the scanning mirror assembly shown;

[0045] Figure 11 for Figure 10 A planar schematic diagram of the lens structure shown;

[0046] Figure 12 For Figure 10 A cross-sectional view of the lens structure is shown.

[0047] Reference signs:

[0048] 1 vehicle;11 vehicle body;12 wheel;

[0049] 10 scanning mirror assembly;

[0050] 100 scanning mirror;

[0051] 110 lens structure;111 first part;112 second part;

[0052] 120 drive;121 stator;122 rotor;

[0053] 130 bearing structure;131 sub bearing;

[0054] 140 stop assembly;141 elastic member;142 fastener;

[0055] 200 scanning mirror circuit board;

[0056] 210 connecting terminal;

[0057] 300 connecting line;

[0058] 400 base;

[0059] 410 fixed shaft;411 first shaft segment;412 second shaft segment;4121 guide hole;

[0060] 420 base;421 operation hole. DETAILED DESCRIPTION

[0061] 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.

[0062] The terms "first", "second" are only used for description purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features 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.

[0063] 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.

[0064] 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.

[0065] 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.

[0066] 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.

[0067] This application provides a vehicle. The vehicle can be a pure electric vehicle, a hybrid electric vehicle, a plug-in hybrid electric vehicle, a range-extended electric vehicle, a gasoline-powered vehicle, etc. The vehicle can also be a sedan, a truck, a bus, a lorry, a trailer, etc.

[0068] 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.

[0069] 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.

[0070] The lidar includes an optomechanical assembly, a scanning mirror assembly 10, and a main circuit board assembly. The optomechanical assembly is used for emitting and receiving the laser beam, and the scanning mirror assembly 10 is used to direct and scan the laser beam in different directions to cover the required area. The optomechanical assembly and the scanning mirror assembly 10 are electrically connected to the main scanning mirror circuit board assembly 200, which controls the optomechanical assembly and the scanning mirror assembly 10. The scanning mirror assembly 10 includes a base 400, a scanning mirror 100, and a scanning mirror circuit board 200. The base 400 is connected to the lidar housing, and the scanning mirror 100 is rotatably mounted on the base 400. The scanning mirror circuit board 200 is connected to the main circuit board assembly and the scanning mirror 100.

[0071] The specific structure of the base 400 will be described in detail below.

[0072] like Figures 2 to 4 As shown, Figure 2 for Figure 1 A three-dimensional schematic diagram of the base 400 of the scanning mirror assembly 10 in vehicle 1 is shown. Figure 3 for Figure 2 A plan view of the base 400 shown. Figure 4 for Figure 2 The diagram shows a top view of the base 400. This application embodiment provides a base 400, which includes a fixed shaft 410 and a base 420. The fixed shaft 410 is used to mount the scanning mirror 100, and the base 420 supports the fixed shaft 410. The base 420 has a through-hole 421, one end of which is located on the side of the base 420 opposite to the fixed shaft 410.

[0073] The base 400 provided in this application embodiment allows the connection line 300 between the scanning mirror 100 and the scanning mirror circuit board 200 to be connected via the operation hole 421. The connection point between the connection line 300 and the scanning mirror circuit board 200 can be exposed to the outside of the scanning mirror assembly 10 through the operation hole 421 on the side opposite to the fixed shaft 410. This facilitates the connection operation between the connection line 300 and the scanning mirror circuit board 200 from the outside of the scanning mirror assembly 10. Compared with related technologies, it is not necessary to connect the connection line 300 and the scanning mirror circuit board 200 inside the scanning mirror assembly 10, thus facilitating the connection operation.

[0074] In some embodiments, the fixed shaft 410 includes a first shaft segment 411 and a second shaft segment 412. The second shaft segment 412 is connected between the first shaft segment 411 and the base 420. The equivalent cross-sectional diameter of the second shaft segment 412 is larger than the equivalent cross-sectional diameter of the first shaft segment 411. The second shaft segment 412 includes a guide hole 4121 that passes through the interior and communicates with the operating hole 421.

[0075] The equivalent cross-sectional diameter refers to the diameter of a standard circle when the cross-sectional area of ​​an object is equal to the cross-sectional area of ​​the standard circle. The equivalent cross-sectional diameter of the first shaft segment 411 refers to the diameter of a standard circle with the same cross-sectional area as the first shaft segment 411; the equivalent cross-sectional diameter of the second shaft segment 412 refers to the diameter of a standard circle with the same cross-sectional area as the second shaft segment 412.

[0076] The base 400 provided in this application embodiment can guide and limit the connection line 300 through the setting of the guide hole 4121, thereby improving the orderliness of the connection line 300 and reducing the probability of the connection line 300 interfering with other lines.

[0077] In some embodiments, the operating hole 421 and the guide hole 4121 both extend along the axial direction of the fixed shaft 410.

[0078] The base 400 provided in this application embodiment has an operation hole 421 and a guide hole 4121 that both extend along the axial direction of the fixed shaft 410, which facilitates the insertion and wiring of the connecting wire 300 and simplifies the assembly process.

[0079] In some embodiments, the fixed shaft 410 and the base 420 are an integral structure.

[0080] The base 400 provided in this application embodiment is an integral structure of the fixed shaft 410 and the base 420. When installing and positioning the base 400, only the base 420 needs to be installed and positioned. There is no need to install and position the base 420 and the fixed shaft 410 separately, which improves the positioning accuracy of the base 400 and reduces the installation tolerance of the base 400.

[0081] like Figures 5 to 9 As shown, Figure 5 for Figure 1 A three-dimensional schematic diagram of the scanning mirror assembly 10 in vehicle 1 is shown. Figure 6 for Figure 5 An exploded view of the scanning mirror assembly 10 shown. Figure 7 for Figure 5 A schematic plan view of the scanning mirror assembly 10 shown. Figure 8 for Figure 7 The schematic cross-sectional view of section BB is shown. Figure 9 for Figure 5A bottom view of the scanning mirror assembly 10 is shown. The embodiments of the present application provide a scanning mirror assembly 10, which comprises a base 400, a scanning mirror 100, a scanning mirror circuit board 200 and a connecting line 300. The scanning mirror 100 is rotatably sleeved on a fixed shaft 410, the scanning mirror circuit board 200 is installed on a base 420, and the scanning mirror circuit board 200 is provided with a connecting terminal 210 on the side close to the base 420. The orthographic projection of the connecting terminal 210 is located in the operation hole 421 along the extension direction of the operation hole 421. The connecting line 300 is connected between the scanning mirror 100 and the connecting terminal 210 through the operation hole 421.

[0082] Optionally, the orthographic projection of at least the scanning mirror circuit board 200 is located in the operation hole 421 along the extension direction of the operation hole 421, and the area of the orthographic projection of at least the scanning mirror circuit board 200 is smaller than the cross-sectional area of the operation hole 421.

[0083] The scanning mirror assembly 10 provided by the embodiments of the present application can realize the connection between the connecting line 300 and the scanning mirror circuit board 200 through the operation hole 421 on the side away from the fixed shaft 410, which is simple to operate, simplifies the assembly process of the scanning mirror assembly 10, saves the assembly time, and improves the production efficiency of the scanning mirror assembly 10.

[0084] In some embodiments, the scanning mirror 100 comprises a lens structure 110 and a driving member 120. The lens structure 110 is sleeved on the fixed shaft 410, the driving member 120 is located between the lens structure 110 and the fixed shaft 410, the driving member 120 drives the lens structure 110 to rotate relative to the fixed shaft 410, and the connecting line 300 is connected with the driving member 120.

[0085] The scanning mirror assembly 10 provided by the embodiments of the present application realizes the rotation of the lens structure 110 and realizes the connection between the driving member 120 and the scanning mirror circuit board 200.

[0086] In some embodiments, the driving member 120 comprises a stator 121 and a rotor 122. The stator 121 is fixedly sleeved on the fixed shaft 410, the connecting line 300 is connected with the stator 121, the rotor 122 is rotatably sleeved on the stator 121, the rotor 122 is movably connected with the stator 121, and the rotor 122 is fixedly connected with the lens structure 110.

[0087] The scanning mirror assembly 10 provided by the embodiments of the present application realizes the connection between the stator 121 and the scanning mirror circuit board 200 through the connecting line 300, realizes the signal transmission between the two, and facilitates the connection between the stator 121 and the scanning mirror circuit board 200.

[0088] In some embodiments, the scanning mirror 100 further includes a bearing structure 130, which is located between the fixed shaft 410 and the lens structure 110. The bearing structure 130 includes an inner ring and an outer ring, the outer ring being rotatable relative to the inner ring, the inner ring being fixedly connected to the fixed shaft 410, and the outer ring being fixedly connected to the lens structure 110.

[0089] The scanning mirror assembly 10 provided in this application embodiment can support the lens structure 110 through the setting of the bearing structure 130, making the lens structure 110 operate more stably and improving the operating accuracy of the scanning mirror assembly 10.

[0090] In some embodiments, the bearing structure 130 includes two sub-bearings 131, which are distributed on both sides of the drive member 120 along the axial direction of the fixed shaft 410.

[0091] The scanning mirror assembly 10 provided in this application embodiment supports the lens structure 110 at both ends of the drive member 120 through the arrangement of two sub-bearings 131. The large span of the two sub-bearings 131 results in high structural stability, further improving the reliability of the lens structure 110, and making reasonable use of the internal space of the scanning mirror assembly 10, resulting in a compact structure.

[0092] like Figures 10 to 12 As shown, Figure 10 for Figure 5 A three-dimensional schematic diagram of the lens structure 110 of the scanning mirror assembly 10 shown. Figure 11 for Figure 10 A planar schematic diagram of the lens structure 110 shown. Figure 12 for Figure 10 The diagram shows a cross-sectional view of the lens structure 110. In some embodiments, the lens structure 110 includes a first part 111 and a second part 112. The first part 111 is connected to the drive member 120, and the second part 112 is disposed around the first part 111 and connected to the first part 111. The first part 111 and the second part 112 are at least partially spaced apart.

[0093] Optionally, the first part 111 has an annular orthographic projection along the axial direction, and the second part 112 has a square orthographic projection along the axial direction. The outer wall of the first part 111 is tangent to and connected to the inner wall of the second part 112. Optionally, the lens structure 110 has a symmetrical structure.

[0094] The scanning mirror assembly 10 provided in this application embodiment, through the arrangement of the lens structure 110 including the first part 111 and the second part 112, enables the lens structure 110 to better meet the requirements of lightweighting, reduces the weight of the scanning mirror assembly 10, and also facilitates the heat dissipation of the drive component 120, thus extending the life of the scanning mirror assembly.

[0095] In some embodiments, the scanning mirror 100 further comprises a stop assembly 140, the stop assembly 140 is sleeved on the fixed shaft 410, and the stop assembly 140 abuts against the bearing structure 130 along the axial direction of the fixed shaft 410.

[0096] The scanning mirror assembly 10 provided by the embodiments of the present application can limit the axial movement of the bearing structure 130 through the stop assembly 140, and can make the scanning mirror assembly 10 more compact.

[0097] In some embodiments, the stop assembly 140 comprises an elastic member 141 and a fastener 142. The elastic member 141 abuts against the bearing structure 130, and the fastener 142 is screwed on the outer wall of the fixed shaft 410 and abuts against the side of the elastic member 141 away from the bearing structure 130.

[0098] The scanning mirror assembly 10 provided by the embodiments of the present application can absorb vibration through the arrangement of the elastic member 141, thereby improving the anti-vibration capability of the scanning mirror assembly 10.

[0099] The embodiments of the present application further provide a laser radar comprising any one of the scanning mirror assemblies 10.

[0100] The laser radar provided by the embodiments of the present application can reduce the assembly difficulty of the laser radar through the arrangement of the scanning mirror assembly 10, thereby improving the production efficiency of the laser radar.

[0101] The embodiments of the present application further provide a vehicle 1 comprising any one of the laser radars.

[0102] The vehicle 1 provided by the embodiments of the present application can simplify the production process of the vehicle 1 through the arrangement of the laser radar, thereby improving the production efficiency.

[0103] The above is only a specific implementation manner of the present application, but the protection scope of the present application is not limited to this. Any person skilled in the art can easily think of changes or replacements within the technical range disclosed by the present application, which should be covered in 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 base (400) characterized by, The application relates to a scanning mirror base (400) and a scanning mirror (100) comprising the same. The scanning mirror base (400) comprises: a fixed shaft (410) for arranging the scanning mirror (100); and a base (420) for supporting the fixed shaft (410), wherein the base (420) is provided with an operation hole (421) penetrating through the base (420) and located at one side of the base (420) away from the fixed shaft (410).

2. The base (400) according to claim 1, characterized in that The fixed shaft (410) comprises: a first shaft segment (411); and a second shaft segment (412) connected between the first shaft segment (411) and the base (420), wherein the second shaft segment (412) has an equivalent cross-sectional diameter greater than that of the first shaft segment (411), and the second shaft segment (412) is provided with a guide hole (4121) penetrating through the inside of the second shaft segment (412) and communicating with the operation hole (421).

3. The base (400) according to claim 2, characterized in that The operation hole (421) and the guide hole (4121) are arranged along the axial direction of the fixed shaft (410).

4. The base (400) according to any one of claims 1 to 3, characterized in that, The fixed shaft (410) and the base (420) are integrated.

5. A scanning mirror assembly (10), characterized by, The application further relates to a scanning mirror (100) comprising the scanning mirror base (400). The scanning mirror (100) is rotatably arranged on the fixed shaft (410). The scanning mirror circuit board (200) is arranged on one side of the base (420) close to the fixed shaft (410), and the scanning mirror circuit board (200) is provided with a connecting terminal (210) on the side close to the base (420), wherein the connecting terminal (210) is located in the operation hole (421) in the direction of the operation hole (421). The connecting line (300) is connected between the scanning mirror (100) and the connecting terminal (210) through the operation hole (421). The scanning mirror (100) comprises:

6. The scanning mirror assembly (10) of claim 5, wherein, a lens structure (110) arranged on the fixed shaft (410); a driving member (120) arranged between the lens structure (110) and the fixed shaft (410), wherein the driving member (120) drives the lens structure (110) to rotate relative to the fixed shaft (410), and the connecting line (300) is connected to the driving member (120). The driving member (120) comprises:

7. The scanning mirror assembly (10) of claim 6, wherein a stator (121) fixedly arranged on the fixed shaft (410), wherein the connecting line (300) is connected to the stator (121); a rotor (122) rotatably arranged on the stator (121), wherein the rotor (122) is movably connected to the stator (121), and the rotor (122) is fixedly connected to the lens structure (110). The scanning mirror (100) further comprises a bearing structure (130) arranged between the fixed shaft (410) and the lens structure (110), wherein the bearing structure (130) 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 fixed shaft (410), and the outer ring is fixedly connected to the lens structure (110).

8. The scanning mirror assembly (10) of claim 6, wherein, ​ 9. The scanning mirror assembly (10) of claim 8, wherein, The bearing structure (130) comprises two sub-bearings (131), which are distributed on both sides of the driving member (120) along the axial direction of the fixed shaft (410).

10. The scanning mirror assembly (10) of claim 8, wherein, The scanning mirror (100) further comprises a stop component (140), which is sleeved on the fixed shaft (410) and abuts against the bearing structure (130) along the axial direction of the fixed shaft (410).

11. The scanning mirror assembly (10) of claim 10, wherein, The stop component (140) comprises: a resilient member (141) abutting against the bearing structure (130); and a fastener (142) screwed on the outer wall of the fixed shaft (410) and abutting against the side of the resilient member (141) away from the bearing structure (130).

12. The scanning mirror assembly (10) of claim 6, wherein, The lens structure (110) comprises: a first part (111) connected with the driving member (120); a second part (112) surrounding the first part (111), which is connected with the first part (111) and is at least partially spaced apart from the first part (111).

13. A lidar, comprising: The scanning mirror assembly (10) comprises any one of claims 5-12.

14. A vehicle (1), characterized in that The lidar comprises the scanning mirror according to claim 13.

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