Signal transfer device and radar

Abstract

The utility model discloses a signal transfer device and a radar. The signal transfer device comprises a rotating motor which comprises a motor body and a rotating output shaft; the linear motion voice coil motor comprises a stator fixed on the motor body and a rotor sleeved on the rotary output shaft; the supporting piece comprises a connecting arm and an inclined arm capable of changing the angle, one end of the inclined arm is fixed to the rotating output shaft, the other end of the inclined arm is fixed to one end of the connecting arm, the other end of the connecting arm is fixed to the rotor, and the connecting arm moves back and forth along the rotating output shaft along with the rotor; the angle of deflection of the inclined arm relative to the rotary output shaft is changed; and the reflecting mirror is fixed on the inclined arm and is used for transferring signals. According to the utility model, a wider scanning angle can be realized.

Description

Technical Field

[0001] This utility model relates to the technical field of radar, and in particular to a two-dimensional signal relay device. Background Technology

[0002] Radar is a commonly used detection device. Taking lidar as an example, lidar is a radar system that uses emitted laser beams to detect the position, velocity, and other characteristics of a target. Its working principle is to emit a detection signal (laser beam) towards the target, then compare the received signal reflected back from the target (target echo) with the emitted signal. After appropriate processing, relevant information about the target can be obtained. It is widely used in modern vehicle-mounted radar, airborne radar, remote sensing, intelligent robots, logistics and transportation, and other fields.

[0003] Currently, the scanning area of ​​radar signals is mostly limited. For example, a rotating motor is used, and a tilted reflector is fixed on the rotating output shaft of the motor. Driven by the motor, the reflector can rotate 360 ​​degrees. The radar's transmitted and received signals are then relayed through this reflector, thus achieving multi-angle detection. Although the reflector can rotate, allowing the radar to receive signals at different angles, these angle changes are usually different angles on the same plane, resulting in a relatively limited scanning area.

[0004] If two-dimensional scanning is to be achieved, the existing radar implementation structure is usually quite complex, with high manufacturing costs, and also has problems such as large size and weight.

[0005] Therefore, how to provide a signal relay device with a wider scanning area is a technical problem to be solved. Utility Model Content

[0006] In order to solve the technical problem that the scanning area of ​​radar in the prior art is relatively limited, this utility model proposes a signal relay device and a radar.

[0007] The signal relay device proposed in this utility model includes:

[0008] A rotary electric motor, comprising the motor body and a rotary output shaft;

[0009] A linear motion voice coil motor includes a stator fixed on the motor body and a mover mounted on the rotating output shaft;

[0010] The support includes a connecting arm and an angle-adjustable tilting arm. One end of the tilting arm is fixed to the rotary output shaft, and the other end is fixed to one end of the connecting arm. The other end of the connecting arm is fixed to the mover. The connecting arm moves back and forth along the rotary output shaft with the mover to change the deflection angle of the tilting arm relative to the rotary output shaft.

[0011] A reflector, fixed to the tilting arm, is used for signal relay.

[0012] Furthermore, the stator includes a wound coil with the rotating output shaft as the axis, and the mover is an annular magnet with polarity distributed along the axis of the rotating output shaft. The number of coil turns of the wound coil falling into the annular magnet varies depending on the polarity of the coil.

[0013] Furthermore, the height of the wound coil in the direction of the rotating output shaft axis is half the height of the annular magnet.

[0014] Furthermore, the support member is a spring sheet bent into having the inclined arm and the connecting arm, and the inclined arm and the connecting arm form a smooth transition surface.

[0015] Furthermore, one end of the tilting arm connected to the rotary output shaft has a first fixing plate perpendicular to the rotary output shaft, the first fixing plate is fixed to the end face of the rotary output shaft, and the first fixing plate and the tilting arm form a smoothly transitioning curved surface; and / or, one end of the connecting arm connected to the mover has a second fixing plate perpendicular to the rotary output shaft, the second fixing plate is fixed to the end face of the mover, and the second fixing plate and the connecting arm form a smoothly transitioning curved surface.

[0016] Furthermore, it also includes a drive plate disposed at the bottom of the rotary motor, the drive plate having a control module, the control module being electrically connected to the linear voice coil motor.

[0017] Furthermore, it also includes: a Hall sensor, which detects the position of the mover, and the control module adjusts the position of the mover according to the detection result.

[0018] Furthermore, the Hall sensor is supported and fixed to the peripheral side of the stator by an FPC flexible board connected to the drive board, and protrudes from the end face of the stator near the reflector.

[0019] The radar proposed in this utility model includes a signal receiver for receiving and transmitting signals, and a signal relay device as described in the above-mentioned technical solution for relaying signals.

[0020] Furthermore, the signaler is a laser.

[0021] Furthermore, the signal transducer is coaxially arranged with the rotating output shaft of the signal relay device.

[0022] This utility model's two-dimensional signal relay device is ingeniously designed, compact in structure, simple to manufacture and assemble, and low in cost. It can achieve 360° full-range scanning and scanning of specified angle areas within a horizontal plane, and can also achieve scanning of different horizontal planes, which will greatly help the development of the lidar industry. Attached Figure Description

[0023] The present invention will now be described in detail with reference to the embodiments and accompanying drawings, wherein:

[0024] Figure 1 This is a three-dimensional schematic diagram of an embodiment of the present invention.

[0025] Figure 2 This is an exploded view of an embodiment of the present invention.

[0026] Figure 3 This is a cross-sectional schematic diagram of an embodiment of the present invention.

[0027] Figure 4 This is a schematic diagram of one embodiment of the radar of this utility model.

[0028] Figure 5 This is a structural schematic diagram of one embodiment of the support component of this utility model.

[0029] Explanation of reference numerals in the attached figures:

[0030] 1. Reflector; 2. Support; 3. Magnet; 4. Coil; 5. Coil bracket; 6. Rotary motor; 7. Hall sensor; 8. Drive board; 21. Tilt arm; 22. Connecting arm; 23. First fixing plate; 24. Second fixing plate. Detailed Implementation

[0031] To make the technical problem to be solved, the technical solution, and the beneficial effects of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this utility model and are not intended to limit this utility model.

[0032] Therefore, a feature pointed out in this specification is used to describe one feature of one embodiment of the present invention, and does not imply that every embodiment of the present invention must have the described feature. Furthermore, it should be noted that this specification describes many features. Although certain features may be combined to illustrate possible system designs, these features may also be used in other combinations not explicitly stated. Therefore, unless otherwise stated, the described combinations are not intended to be limiting.

[0033] In one basic embodiment, the signal relay device of this utility model includes: a rotary motor, a linear motion voice coil motor, a support member, and a reflector.

[0034] A rotary electric motor includes a motor body and a rotary output shaft, which can rotate around its axis.

[0035] A linear motion voice coil motor consists of a stator and a mover. The stator is fixed to the motor body, and the mover is mounted on a rotating output shaft. Under the action of the stator, the mover can move back and forth along the rotating output shaft. Taking a vertically placed rotating output shaft as an example, the mover can move up and down along the rotating output shaft. If the rotating output shaft is placed horizontally, the mover can move left and right along the rotating output shaft.

[0036] The support includes a connecting arm and a tilting arm with an adjustable tilt angle.

[0037] One end of the tilting arm is fixed to the rotary output shaft, and the other end of the tilting arm is fixed to one end of the connecting arm. Correspondingly, one end of the connecting arm is fixed to the tilting arm, and the other end of the connecting arm is fixed to the mover. Since the mover can move back and forth along the rotary output shaft, the connecting arm can change the deflection angle of the tilting arm relative to the rotary output shaft as the mover moves.

[0038] The reflector, fixed on the tilting arm, is used to relay signals.

[0039] This invention achieves two-dimensional signal relay using a rotary motor and a linear voice coil motor. Since both the rotary motor and the voice coil motor are relatively small components, this invention provides a signal relay device with a relatively small size and a wider scanning area. The linear voice coil motor in the above embodiment can be any existing linear voice coil motor, capable of achieving 360° signal relay in multiple parallel planes.

[0040] To reduce the size of a linear voice coil motor, a preferred embodiment of this invention provides a simple and compact linear voice coil motor structure. In this embodiment, the stator is a wound coil centered on the rotating output shaft, and the mover is an annular magnet with polarities distributed along the axis of the rotating output shaft. The number of coil turns falling into the annular magnet of different polarities is different to avoid force cancellation. In a preferred embodiment, the annular magnet may also have only one polarity directly opposite the wound coil.

[0041] This embodiment achieves a linear motion voice coil motor using only a single ring-shaped coil and a magnet with a central mounting hole, resulting in a very compact size. In other embodiments, multiple magnets can be used, each with its polarity divided into north and south poles along the axis of the rotating output shaft. These magnets are then connected together by a magnet support, with each magnet evenly distributed around the rotating output shaft.

[0042] In a further embodiment, the linear motion voice coil motor includes a coil support, which can be used to fix the coil in place, thereby making the structure of the linear motion voice coil motor more robust.

[0043] The support component of this utility model can be implemented in various forms. For example, it can be implemented through a linkage structure. One end of the first linkage has a fixed sleeve hinged to it, which is fixedly connected to the rotary output shaft. The other end of the first linkage is hinged to the second linkage. Similarly, the other end of the second linkage also has a fixed sleeve, which is fixedly connected to the mover of the linear motion voice coil motor. By moving the mover, the tilt angle of the first linkage can be changed. Therefore, the first linkage can act as a tilting arm, and the second linkage can act as a connecting arm. In addition to the form listed, there are other ways to implement a support component that can change the tilt angle.

[0044] In a preferred embodiment, the support member is a spring sheet bent into a shape with an inclined arm and a connecting arm, and the inclined arm and the connecting arm form a smooth transition surface. That is, the entire support member is made of a single piece or a single spring sheet. Because the spring sheet itself has a certain degree of elasticity, the mover can compress the connecting arm, thereby changing the angle of the inclined arm. This embodiment is not only simple to implement, but also has a low cost. In comparison, this support member only needs to reserve deformation space for each part of the spring sheet. This deformation space is very small compared to linkage structures or other structures, so the signal relay device can achieve two-dimensional signal relay while minimizing its size. When applied to equipment such as radar, the size of the equipment can be further reduced. In addition, the use of a spring sheet to make the support member can also serve to suspend the mover, so that only one polarity of the mover is directly opposite the winding coil. Moreover, the spring sheet can give the magnet a restoring force, so that it can return to its initial position after the coil is de-energized, preventing the magnet from sliding on the rotating output shaft and leaving the area where the coil can operate, and also preventing it from hitting the lens. If a spring is not used, a shim can be added to the bottom of the magnet to ensure that only one polarity of the moving magnet aligns with the coil, achieving the same effect. In other embodiments, without a spring, a bearing can be added to the magnet, with the inner ring connected to the magnet and the outer ring connected to a structural component. This structural component is connected to the coil stator via a spring. Alternatively, other magnetic levitation structures can be used to allow the magnet to return to its initial position. The initial position is approximately where the lower end face of the magnet is on the plane of symmetry along the axis of rotation of the coil's output shaft, ensuring that the magnet can move up and down a certain distance without detaching from the coil area. However, these methods involve more components and are more complex than using a spring. Correspondingly, using a spring as a support component allows for the simplification of the structure.

[0045] Based on the use of spring sheets or other support components, the height of the coil in the direction of the rotating output shaft axis can be reduced to only half the height of the toroidal magnet (the magnet is also half south pole and half north pole in the height direction). In this way, even if the toroidal magnet is lowered to its lowest point, only one polarity will be aligned with the coil, solving the problem of needing to add extra shims.

[0046] In a further embodiment, the end of the tilting arm of the present invention that connects to the rotary output shaft has a first fixing plate perpendicular to the rotary output shaft. The first fixing plate is fixed to the end face of the rotary output shaft, and there is a smooth transition between the first fixing plate and the tilting arm.

[0047] There are various ways to fix the tilting arm to the rotary output shaft. For example, it can be fixed to the rotary output shaft by welding or other methods. The above embodiment provides a more stable fixing method by setting a first fixing plate, which can be fixed to the end face of the rotary output shaft by screws or other means. The first fixing plate and the tilting arm are smoothly transitioned curved surfaces, which can reduce stress and make the fixing structure more stable.

[0048] In another further embodiment, the end of the connecting arm that connects to the mover has a second fixing plate perpendicular to the rotating output shaft. The second fixing plate is fixed to the end face of the mover, and there is a smooth transition between the second fixing plate and the connecting arm. This embodiment, like the previous one, aims to provide a more stable fixing structure.

[0049] In other embodiments, a combination of these two embodiments may also be used, where the tilting arm and the connecting arm are connected by a first fixing plate and a second fixing plate, respectively. (See reference) Figure 5 This embodiment illustrates a specific structure of the support member, which includes a first fixing plate 23 and a second fixing plate 24 arranged parallel to each other, a connecting arm 22 arranged parallel to the rotary output shaft, and an inclined arm 21 inclined at approximately 45° relative to the connecting arm 22. The first fixing plate 23 and the inclined arm 21, the inclined arm 21 and the connecting arm 22, and the connecting arm 22 and the second fixing plate 24 all have smoothly transitioning curved surfaces.

[0050] In one embodiment, the signal relay device of this utility model may further include a drive board disposed at the bottom of the rotary motor, the drive board having a control module, and the control module being electrically connected to the linear voice coil motor.

[0051] This embodiment places the drive board at the bottom of the motor body, adding only about the thickness of a circuit board. This structure is very ingenious, as it only slightly increases the thickness of a circuit board in the axial direction and has no impact on the volume of the signal relay device in the circumferential direction.

[0052] In a further embodiment, the signal relay device also includes a Hall sensor that detects the position of the mover, and the control module adjusts the position of the mover based on the detection result.

[0053] The position of the mover is detected by a Hall sensor and a corresponding signal is sent to the control module so that the control module can adjust the position of the mover and thus achieve precise control of the mover.

[0054] In a further embodiment, the Hall sensor is supported and fixed to the peripheral side of the stator by an FPC flexible board connected to the drive board, and protrudes from the end face of the stator near the reflector.

[0055] This structure only slightly increases the thickness by about one circuit board in the axial direction, without affecting the volume of the signal relay device in the circumferential direction, thus realizing a signal relay device with precise control and small size.

[0056] The above embodiments can be combined in any way and all fall within the protection scope of this utility model. The following description, in conjunction with the accompanying drawings, will illustrate a specific embodiment of this utility model.

[0057] Figure 1 A perspective view of this embodiment is shown. As can be seen from the perspective view, the circumferential diameter of the signal relay device of this invention is almost the same as that of a rotary motor. The axial length is approximately the thickness of a rotary motor superimposed with a tilted reflector and a circuit board at the bottom, resulting in a very compact size. This compact size allows for a two-dimensional signal scanning range.

[0058] like Figure 2 , Figure 3 As shown, the signal relay device includes a reflector 1, a support made of a spring sheet 2, a magnet 3, a coil 4, a coil bracket 5, a rotary motor 6, a Hall sensor 7, and a drive board 8.

[0059] The rotary motor 6 preferably employs a brushless servo motor, enabling high precision, high speed, and 360° reciprocating oscillation at any angle. The rotary output shaft of the rotary motor 6 is equipped with a linear motion voice coil motor, which includes a coil support, a coil, and a magnet.

[0060] The coil support 5 is fixed to one end face of the motor body of the rotary motor 6. The coil 4 of the linear motion voice coil motor is fixed on the coil support 5. The magnet 3 is a ring structure, axially magnetized, and is fitted onto the rotary output shaft of the rotary motor 6. There is a sliding gap between the magnet 3 and the rotary output shaft, allowing it to move axially up and down. The support 2 is a three-dimensional bent spring sheet, with one end fixed to the shaft end of the rotary motor 6 and the other end fixed to the magnet 3.

[0061] The reflector 1 is fixed to the support 2 on an inclined arm that is tilted at approximately 45° under non-external force conditions. The drive plate 8 is fixed to the tail end of the motor body of the rotary motor 6. The Hall sensor 7 extends from the drive plate 8 through an FPC flexible board and is fixed to the coil bracket 5. It is arranged at the junction of the NS level of the magnet in the static state to detect the change in magnetic field during the movement of the magnet 3 and to provide a position signal.

[0062] This invention also protects radar. The radar of this invention includes a signal receiver for receiving and transmitting signals, and a signal relay device for relaying signals according to any of the above-mentioned technical solutions.

[0063] In one embodiment, the signal transmitter can be a laser; in other embodiments, the signal transmitter can be other types of transmitters, such as transmitting high-frequency or ultra-high-frequency microwave signals.

[0064] In one embodiment, the signal transmitter and the rotary output shaft of the signal relay device are arranged coaxially. This arrangement simplifies the control algorithm.

[0065] Figure 4 A schematic diagram of the principle of lidar is shown.

[0066] A laser is placed above a reflector, and its beam is reflected off the reflector. The mover of a linear motion voice coil motor moves axially up and down, driving one end of a spring to move, causing the spring to bend and deform, changing the deflection angle of the reflector, and thus moving the reflector. The changing deflection angle of the reflector causes the laser beam to form a scanning angle, thereby obtaining a vertical scanning area. When the rotary motor rotates, the rotary output shaft drives the spring to rotate horizontally, which in turn drives the reflector to rotate horizontally, thus obtaining a horizontal scanning area. The spring drives the mover of the linear motion voice coil motor to rotate together. The magnet of the mover is ring-shaped, and the magnetization direction is axial, so it does not affect the magnetic field distribution of the voice coil motor and does not affect the vertical motion control.

[0067] The Hall sensor 7 can monitor the real-time position of the feedback magnet 3, thereby precisely controlling the scanning range and speed in the vertical direction. The control module controls the rotary motor 6 to precisely control the 360° rotational scanning in the horizontal direction, or the reciprocating swing scanning at any angle. Furthermore, by combining the control module with a PID closed-loop control algorithm to simultaneously control the vertical and horizontal movements, scanning of any two-dimensional area can be achieved.

[0068] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A signal relay device, characterized in that, include: A rotary electric motor, comprising the motor body and a rotary output shaft; A linear motion voice coil motor includes a stator fixed on the motor body and a mover mounted on the rotating output shaft; The support includes a connecting arm and an angle-adjustable tilting arm. One end of the tilting arm is fixed to the rotary output shaft, and the other end is fixed to one end of the connecting arm. The other end of the connecting arm is fixed to the mover. The connecting arm moves back and forth along the rotary output shaft with the mover to change the deflection angle of the tilting arm relative to the rotary output shaft. A reflector, fixed to the tilting arm, is used for signal relay.

2. The signal relay device as described in claim 1, characterized in that, The stator includes a wound coil with the rotating output shaft as the axis, and the mover is an annular magnet with polarity distributed along the axis of the rotating output shaft. The number of coil turns of the wound coil falling into the annular magnet varies depending on the polarity of the coil.

3. The signal relay device as described in claim 2, characterized in that, The height of the wound coil in the direction of the rotating output shaft axis is half the height of the annular magnet.

4. The signal relay device as described in claim 1, characterized in that, The support member is a spring sheet bent into having the inclined arm and the connecting arm, and the inclined arm and the connecting arm form a smooth transition surface.

5. The signal relay device as described in claim 3, characterized in that, The tilting arm has a first fixing plate perpendicular to the rotary output shaft at one end, the first fixing plate being fixed to the end face of the rotary output shaft, and the first fixing plate and the tilting arm having a smooth transition surface; and / or, the connecting arm has a second fixing plate perpendicular to the rotary output shaft at one end, the second fixing plate being fixed to the end face of the moving part, and the second fixing plate and the connecting arm having a smooth transition surface.

6. The signal relay device as described in claim 1, characterized in that, It also includes a drive plate disposed at the bottom of the rotary motor, the drive plate having a control module, the control module being electrically connected to the linear motion voice coil motor.

7. The signal relay device as described in claim 6, characterized in that, Also includes: A Hall sensor is used to detect the position of the mover. The control module adjusts the position of the mover according to the detection result. The Hall sensor is supported and fixed on the peripheral side of the stator by an FPC flexible board connected to the drive board, and protrudes from the end face of the stator near the reflector.

8. A radar, characterized in that, It includes a signal transceiver for receiving and transmitting signals, and a signal relay device as described in any one of claims 1 to 7 for relaying signals.

9. The radar as described in claim 8, characterized in that, The signal device is a laser.

10. The radar as claimed in claim 8, characterized in that, The signal transducer is coaxially arranged with the rotary output shaft of the signal relay device.

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