Motor-driven rotating mirror assembly and rotating lidar

Abstract

This application provides a motor-driven rotating mirror assembly and a rotating lidar. The motor-driven rotating mirror assembly includes: a lens frame; a transmitting lens, a receiving lens, and a reflector, respectively fixedly mounted in a transmitting lens mounting hole, a receiving lens mounting hole, and a reflector mounting hole on the base of the lens frame; a transmitting circuit board and a receiving circuit board fixedly connected to the side of the base opposite to the side where the reflector mounting hole is located; a first through hole between the transmitting circuit board and the transmitting lens, and a second through hole between the receiving circuit board and the receiving lens; a rotating reflective structure, which is a straight or regular prism structure with reflective function on all sides; a rotating baffle that divides the rotating reflective structure into transmitting and receiving parts; a rotating mirror motor fixedly mounted in a motor mounting hole at one end of the rotating reflective structure and fixedly connected to the inner side of one side of the lens frame; and a rotating mirror motor drive circuit board fixedly mounted on the outer side of one side of the lens frame.

Description

Technical Field

[0001] This application relates to the field of lidar, and particularly to motor-driven mirror assemblies and rotating lidar. Background Technology

[0002] Currently, LiDAR is involved in various fields such as industrial automation, mobile robots, driver assistance, and drones, making this product increasingly important. At the same time, with the development of optical technology, its application scope is becoming wider and wider. Therefore, the rational design of LiDAR products plays a crucial role.

[0003] The current rotating lidar emits an excessively large spot size, resulting in low spatial scanning resolution, which cannot meet the needs of scenarios requiring high spatial scanning resolution. Utility Model Content

[0004] This application provides a motor rotating mirror assembly and a rotating lidar.

[0005] In a first aspect, embodiments of this application provide a motor-driven rotating mirror assembly, comprising: a lens holder 208 having a base and two sides perpendicular to the base; the base of the lens holder 208 having a transmitting lens mounting hole, a receiving lens mounting hole, and a reflecting mirror mounting hole; a transmitting lens 202 fixedly mounted in the transmitting lens mounting hole of the lens holder 208, a receiving lens 205 fixedly mounted in the receiving lens mounting hole of the lens holder 208, and a reflecting mirror 203 fixedly mounted in the reflecting mirror mounting hole of the lens holder 208; a transmitting circuit board 201 and a receiving circuit board 206 fixedly connected to the side of the base of the lens holder 208 opposite to the side where the reflecting mirror mounting hole is located; a first through hole is provided between the transmitting circuit board 201 and the transmitting lens 202 in the base of the lens holder 208, and a second through hole is provided between the receiving circuit board 206 and the receiving lens 205;

[0006] A rotating reflective structure, which is a right prism or a regular prism structure, is capable of rotating about a rotation axis parallel to its side. Each side of the rotating reflective structure has a reflective function. One end of the rotating reflective structure has a motor mounting hole. The rotating reflective structure has a rotating baffle 219 or a rotating baffle 219 fixedly connected to the rotating reflective structure. The rotating baffle 219 divides each side of the rotating reflective structure into a transmitting part and a receiving part. A rotating mirror motor 209 is fixedly installed in the motor mounting hole of the rotating reflective structure and fixedly connected to the inner side of one of the side surfaces of the lens holder 208. A rotating mirror motor drive circuit board 207 is fixedly installed on the outer side of one of the side surfaces of the lens holder 208 and is electrically connected to the rotating mirror motor 209.

[0007] In some exemplary embodiments, the rotating baffle 219 has a groove; the motor rotating mirror assembly further includes a partition 211 installed in the groove of the rotating baffle 219 and fixedly connected to the lens holder 208; the partition 211 divides the reflector 203 into a transmitting part and a receiving part.

[0008] In some exemplary embodiments, the other end of the rotating reflective structure has a first code disk mounting hole; the motor rotating mirror assembly further includes: a first read head circuit board 210 fixedly mounted on the outer side of the other side of the lens holder 208; and a first code disk 220 fixedly mounted in the first code disk mounting hole.

[0009] In some exemplary embodiments, the rotating reflective structure includes a rotating body 218 and a rotating reflector 204. The rotating body 218 is a right prism structure or a regular prism structure. The rotating body 218 is capable of rotating about a rotation axis parallel to its side. A rotating reflector 204 is fixed to each side of the rotating body 218.

[0010] In some exemplary embodiments, the rotating reflective structure includes: a rotating body 218, which is a right prism structure or a regular prism structure, the rotating body 218 being rotatable about a rotation axis parallel to the side surface, and each side surface of the rotating body 218 being a reflective surface.

[0011] Secondly, embodiments of this application provide a rotating lidar, including: any of the above-described motor-rotating mirror assembly 200; the rotating lidar further includes: a rotor assembly 300 and a bottom structure assembly 400; wherein, the rotor assembly 300 includes: a motor rotor, and a ranging circuit board 301 mounted on the motor rotor, the ranging circuit board 301 being electrically connected to the transmitting circuit board 201, the receiving circuit board 206, and the rotating mirror motor drive circuit board 207; wherein, the bottom structure assembly 400 includes: a motor stator, and a motor power supply circuit board 409 fixedly mounted below the motor stator, the motor rotor being fixedly mounted on the motor stator, and the motor-rotating mirror assembly 200 being fixedly mounted on the motor rotor.

[0012] In some exemplary embodiments, the device further includes: an outer cover assembly 100; and a base assembly 500 fixedly connected to the outer cover assembly 100; wherein the motor mirror assembly 200, the rotor assembly 300, and the bottom structure assembly 400 are disposed within the receiving space formed by the outer cover assembly 100 and the base assembly 500, and the bottom structure assembly 400 is fixedly connected to the base assembly 500.

[0013] In some exemplary embodiments, the outer cover assembly 100 includes: an outer cover 101, the upper part of which is hemispherical and the lower part of which is cylindrical, and at least a portion of which is made of a light-transmitting material; and an outer cover base 102, which is fixedly connected to the outer cover 101.

[0014] In some exemplary embodiments, the base assembly 500 includes: a base 503 having an interface via 506; a main control circuit board 504 fixedly installed within the base 503, the main control circuit board 504 being electrically connected to the motor power supply circuit board 409; a first interface 502 fixedly installed in the interface via 506, the first interface 502 being electrically connected to the main control circuit board 504; and an interface connector 501 fixedly connected to the first interface 502, one end of the interface connector 501 being electrically connected to the first interface 502, and the other end being electrically connected to a power source.

[0015] In some exemplary embodiments, the motor rotor includes: a rotor 302 having a bearing through hole 316 at its center; a shaft 308 mounted in the bearing through hole 316; a radial ring 307 coaxially mounted with the shaft 308 and sleeved outside the shaft 308; and a motor iron ring 306 coaxially mounted with the shaft 308 and sleeved outside the radial ring 307, the motor iron ring 306 being fixedly connected to the rotor 302; the motor stator includes: a base stator 402 having a stator central shaft 411 at its center, the shaft 308 being fixedly mounted inside the stator central shaft 411; a miniature bearing 408 coaxially mounted with the shaft 308 and sleeved outside the shaft 308; a motor core 406 coaxially mounted with the shaft 308 and sleeved outside the miniature bearing 408; and a motor core coil 407 wound on the motor core 406.

[0016] In some exemplary embodiments, the rotor assembly 300 further includes: a first wireless transmission magnetic core 304 coaxially mounted with the shaft 308 and sleeved on the motor iron ring 306; a first wireless transmission coil 305 wound on the first wireless transmission magnetic core 304, the first wireless transmission coil 305 being electrically connected to the ranging circuit board 301; the bottom structure assembly 400 further includes: a second wireless transmission magnetic core 405 coaxially mounted with the shaft 308 and sleeved on the motor iron core 406; a second wireless transmission coil 404 wound on the second wireless transmission magnetic core 405, the second wireless transmission coil 404 being electrically connected to the motor power circuit board 409.

[0017] In some exemplary embodiments, the rotor assembly 300 further includes a second code disk 303 coaxially mounted with the rotating shaft 308 and fixedly mounted on the lower surface of the rotor 302; the bottom structure assembly 400 further includes a second read head circuit board 401 fixedly mounted on the base stator 402.

[0018] In some exemplary embodiments, the base stator 402 has an O-ring mounting groove; the bottom structure assembly 400 further includes a base O-ring 403 mounted in the O-ring mounting groove.

[0019] The motor rotating mirror assembly provided in this application has a divergence angle that varies with distance after the laser beam collimated by the emitting lens 202. The longer the focal length of the emitting lens 202, the smaller the divergence angle. By adding a reflector 203 between the rotating reflection structure and the emitting lens 202, and between the rotating reflection structure and the receiving lens 205, more space is available to arrange the emitting lens 202 and the receiving lens 205. As a result, the focal lengths of the emitting lens 202 and the receiving lens 205 can be set to be relatively long, thereby reducing the divergence angle of the laser beam and reducing the diameter of the laser emission spot. This improves the spatial scanning resolution of the lidar and meets the needs of scenarios with high spatial scanning resolution.

[0020] In some exemplary embodiments, the transmitting and receiving optical paths of the rotating lidar are separated by a partition 211 to avoid mutual interference between the beams on the transmitting and receiving optical paths, thereby isolating crosstalk between the transmitted and received signals and improving measurement accuracy.

[0021] The rotating lidar provided in this application embodiment has a divergence angle that varies with distance after the laser beam is collimated by the emitting lens 202. The longer the focal length of the emitting lens 202, the smaller the divergence angle. By adding a reflector 203 between the rotating reflective structure and the emitting lens 202, and between the rotating reflective structure and the receiving lens 205, more space is available to arrange the emitting lens 202 and the receiving lens 205. As a result, the focal lengths of the emitting lens 202 and the receiving lens 205 can be set to be relatively long, thereby reducing the divergence angle of the laser beam and reducing the diameter of the laser emission spot. This improves the spatial scanning resolution of the lidar and meets the needs of scenarios with high spatial scanning resolution.

[0022] In some exemplary embodiments, the motor mirror assembly 200, the rotor assembly 300, and the bottom structure assembly 400 are disposed within the receiving space formed by the outer casing assembly 100 and the base assembly 500. The combination of the motor mirror assembly 200, the rotor assembly 300, and the bottom structure assembly 400 enables the basic functions of the lidar, allowing the ranging function to be realized even without the base assembly 500, or without the base assembly 500 and the outer casing assembly 100.

[0023] In some exemplary embodiments, the rotating lidar is waterproofed via the base O-ring 403, enabling the lidar to be used unaffected by rainy weather. Attached Figure Description

[0024] Figure 1 A schematic diagram of the composition of a rotating lidar provided in one embodiment of this application;

[0025] Figure 2 Examples of embodiments of this application Figure 1 A schematic diagram of the unfolded shape;

[0026] Figure 3 This is an exploded view of a motor rotating mirror assembly according to another embodiment of this application;

[0027] Figure 4 This is an exploded view of the rotating mirror structure according to an embodiment of this application;

[0028] Figure 5 This is a schematic diagram of the circuit connection in the motor rotating mirror assembly according to an embodiment of this application;

[0029] Figure 6 An exploded view of a rotating lidar provided for another embodiment of this application;

[0030] Figure 7 This is a cross-sectional schematic diagram of a rotating lidar according to an embodiment of this application;

[0031] Figure 8 This is an exploded view of the outer casing assembly according to an embodiment of this application;

[0032] Figure 9 This is an exploded view of the rotor assembly according to an embodiment of this application;

[0033] Figure 10 This is an exploded view of the bottom structural component according to an embodiment of this application;

[0034] Figure 11 This is an exploded view of the base assembly according to an embodiment of this application;

[0035] Figure 12 This is a schematic diagram of the circuit connection in the rotating lidar of an embodiment of this application.

[0036] Among them, 100 is the outer casing assembly, 200 is the motor rotating mirror assembly, 300 is the rotor assembly, 400 is the bottom structure assembly, and 500 is the base assembly;

[0037] 101 is the outer cover, 102 is the outer cover base, 103 is the first positioning pin, and 104 is the first threaded hole;

[0038] 201 is the transmitting circuit board, 202 is the transmitting lens, 203 is the reflector, 204 is the rotating reflector, 205 is the receiving lens, 206 is the receiving circuit board, 207 is the rotating mirror motor drive circuit board, 208 is the lens holder, 209 is the rotating mirror motor, 210 is the first reading head circuit board, 211 is the partition, 212 is the first screw, 213 is the fourth screw, 214 is the seventh screw, 215 is the third screw through hole, 216 is the fifth screw, 217 is the sixth screw, 218 is the rotating mirror body, 219 is the rotating baffle, 220 is the first code disk, and 221 is the second screw;

[0039] 301 is the ranging circuit board, 302 is the rotor, 303 is the second code disk, 304 is the first wireless transmission magnetic core, 305 is the first wireless transmission coil, 306 is the motor iron ring, 307 is the radiation ring, 308 is the rotating shaft, 309 is the twelfth screw, 310 is the sixth threaded hole, 311 is the eleventh screw, 312 is the fourth threaded hole, 313 is the fifth screw through hole, 314 is the positioning post through hole, 315 is the positioning post, and 316 is the bearing through hole;

[0040] 401 is the second reading head circuit board, 402 is the base stator, 403 is the base O-ring, 404 is the second wireless transmission coil, 405 is the second wireless transmission magnetic core, 406 is the motor iron core, 407 is the motor iron core coil, 408 is the miniature bearing, 409 is the motor power supply circuit board, 410 is the fourteenth screw, 411 is the stator central shaft, and 412 is the thirteenth screw.

[0041] 501 is the interface connector, 502 is the first interface, 503 is the base, 504 is the main control circuit board, 505 is the tenth screw, 506 is the interface through hole, 507 is the second positioning pin, 508 is the ninth screw, 509 is the third positioning pin, 510 is the fourth screw through hole, and 511 is the positioning pin through hole. Detailed Implementation

[0042] To enable those skilled in the art to better understand the technical solutions of this application, the motor rotating mirror assembly and rotating lidar provided in this application will be described in detail below with reference to the accompanying drawings.

[0043] Exemplary embodiments will be described more fully below with reference to the accompanying drawings; however, these exemplary embodiments may be embodied in different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this application will be thorough and complete, and will enable those skilled in the art to fully understand the scope of this application.

[0044] Where there is no conflict, the various embodiments of this application and the features thereof may be combined with each other.

[0045] As used herein, the term “and / or” includes any and all combinations of at least one related enumerated entry.

[0046] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the application. As used herein, the singular forms “a” and “the” are also intended to include the plural forms unless the context clearly indicates otherwise. It will also be understood that when the terms “comprising” and / or “made of” are used in this specification, the presence of the stated feature, integral, step, operation, element, and / or component is specified, but the presence or addition of at least one other feature, integral, step, operation, element, component, and / or group thereof is not excluded.

[0047] The embodiments described herein can be described with reference to plan views and / or cross-sectional views, using the ideal schematic diagrams of this application. Therefore, the example illustrations can be modified according to manufacturing techniques and / or tolerances. Therefore, the embodiments are not limited to those shown in the drawings, but include modifications to configurations formed based on manufacturing processes. Therefore, the areas illustrated in the drawings are schematic, and the shapes of the areas shown in the figures illustrate specific shapes of areas of an element, but are not intended to be limiting.

[0048] In the description of the embodiments, unless otherwise expressly specified and limited, the terms "set," "connect," etc., should be interpreted broadly. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or a connection through an intermediate medium, or it can be a connection within two components. Those skilled in the art can understand the specific meaning of the above within the scope of this application based on the specific circumstances.

[0049] Unless otherwise specified, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art. It will also be understood that terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant art and this application, and will not be interpreted as having an idealized or overly formal meaning, unless expressly so defined herein.

[0050] Figure 1 This is a schematic diagram of the composition of a lidar provided in one embodiment of this application. Figure 2 Examples of embodiments of this application Figure 1 An unfolded diagram.

[0051] Firstly, referring to Figure 1 and Figure 2 One embodiment of this application provides an optical system, including:

[0052] The emitting lens 202 is used to collimate the laser beam emitted by the laser.

[0053] The reflector 203 has a emitting part and a receiving part. The emitting part of the reflector 203 is used to reflect the collimated laser beam.

[0054] A rotating reflective structure, which is a right prism structure or a regular prism structure, is capable of rotating about a rotation axis parallel to its side. Each side of the rotating reflective structure has a reflective function, and each side has a emitting part and a receiving part. The emitting part of the side of the rotating reflective structure is used to further reflect the laser beam reflected by the emitting part of the reflector 203; the receiving part of the side of the rotating reflective structure is used to further reflect the laser beam reflected by the emitting part of the side of the rotating reflective structure and the laser beam reflected by the object under test.

[0055] The receiving portion of the reflector 203 is used to further reflect the laser beam reflected by the receiving portion on the side of the rotating reflector structure.

[0056] The receiving lens 205 is used to focus the laser beam reflected by the receiving part of the reflector 203.

[0057] In some exemplary embodiments, the transmitting and receiving portions of the reflector 203 may be different parts of the same reflector, and in some exemplary embodiments, the transmitting and receiving portions of the reflector 203 may also be two different reflectors.

[0058] In some exemplary embodiments, the rotating reflection structure includes a rotating body 218 and a rotating reflector 204. The rotating body 218 is a right prism structure or a regular prism structure. The rotating body 218 is capable of rotating about a rotation axis parallel to its side. Each side of the rotating body 218 is fixed with a rotating reflector (204).

[0059] In some exemplary embodiments, the rotating reflector 204 has a emitting portion and a receiving portion, wherein the emitting portion of the rotating reflector 204 is used to further reflect the laser beam reflected by the emitting portion of the reflector 203.

[0060] In some exemplary embodiments, the transmitting portion and the receiving portion of the rotating reflector 204 may be different portions of the same reflector. In some exemplary embodiments, the transmitting portion and the receiving portion of the rotating reflector 204 may also be two different reflectors.

[0061] In some exemplary embodiments, the rotating reflective structure includes: a rotating body 218, which is a right prism structure or a regular prism structure, the rotating body 218 being rotatable about a rotation axis parallel to the side surface, and each side surface of the rotating body 218 being a reflective surface.

[0062] In some exemplary embodiments, the rotational reflective structure is a right square prism structure or a regular square prism structure, and the number of sides of the rotational reflective structure is four.

[0063] In some exemplary embodiments, the rotating mirror body 218 is a right square prism structure or a regular square prism structure. When the receiving part of the emitting part of the rotating mirror 204 is a different part on the same mirror, the number of rotating mirrors 204 is four; when the emitting part and the receiving part of the rotating mirror 204 are two different mirrors, the number of rotating mirrors 204 is eight.

[0064] In some exemplary embodiments, the rotating mirror body 218 is a right square prism structure or a regular square prism structure, and the number of reflecting surfaces is four.

[0065] In some exemplary embodiments, a right quadrangular prism structure is a prism structure with a quadrilateral cross-section and lateral surfaces perpendicular to the base.

[0066] In some exemplary embodiments, a regular square prism structure is a prism structure with a square cross-section and lateral surfaces perpendicular to the base.

[0067] In some exemplary embodiments, the rotational reflective structure is a right hexagonal prism structure or a regular hexagonal prism structure, and the number of sides of the rotational reflective structure is six.

[0068] In some exemplary embodiments, the rotating mirror body 218 is a straight hexagonal prism structure or a regular hexagonal prism structure. When the receiving part of the emitting part of the rotating mirror 204 is a different part on the same mirror, the number of rotating mirrors 204 is six; when the emitting part and the receiving part of the rotating mirror 204 are two different mirrors, the number of rotating mirrors 204 is twelve.

[0069] In some exemplary embodiments, the rotating mirror body 218 is a straight hexagonal prism structure or a regular hexagonal prism structure, and the number of reflecting surfaces is six.

[0070] In some exemplary embodiments, a right hexagonal prism structure is a prism structure with a hexagonal cross-section and lateral surfaces perpendicular to the base.

[0071] In some exemplary embodiments, a regular hexagonal prism structure is a prism structure with a regular hexagonal cross-section and lateral faces perpendicular to the base.

[0072] In some exemplary embodiments, the rotating reflective structure is a right octagonal prism structure or a regular octagonal prism structure, and the number of sides of the rotating reflective structure is eight.

[0073] In some exemplary embodiments, the rotating mirror body 218 is a straight octagonal prism structure or a regular octagonal prism structure. When the receiving part of the emitting part of the rotating mirror 204 is a different part on the same mirror, the number of rotating mirrors 204 is eight; when the emitting part and the receiving part of the rotating mirror 204 are two different mirrors, the number of rotating mirrors 204 is sixteen.

[0074] In some exemplary embodiments, the rotating mirror body 218 is a straight octagonal prism structure or a regular octagonal prism structure, and the number of reflecting surfaces is eight.

[0075] In some exemplary embodiments, the right octagonal prism structure is a prism structure with a cross-section of a regular octagon and lateral surfaces perpendicular to the base.

[0076] In some exemplary embodiments, a regular octagonal prism structure is a prism structure with a regular octagonal cross-section and lateral surfaces perpendicular to the base.

[0077] In other embodiments, the rotating reflective structure may also be other numbers of right prism structures or regular prism structures, and the rotating mirror body 218 may also be other numbers of right prism structures or regular prism structures; that is, the number of rotating reflectors 204 or reflecting surfaces may also be other numbers. This application does not limit this, and all are within the protection scope of this application.

[0078] In some exemplary embodiments, when a rotating mirror 204 is fixed to each side of the rotating mirror body 218, the rotating mirror 204 may be made of quartz material.

[0079] In some exemplary embodiments, when each side of the rotating mirror body 218 is a reflective surface, the main body of the rotating mirror body 218 can be made of plastic material, and the side can be made into a reflective surface by coating the side of the rotating mirror body 218 with a reflective film or an anti-reflective film.

[0080] In some exemplary embodiments, the reflective film may be, for example, a metal film.

[0081] In some exemplary embodiments, the plastic material may be, for example, aluminum.

[0082] In some exemplary embodiments, by coating the side of the rotating mirror body 218 with a reflective film or an anti-reflective film, the side becomes a reflective surface, thereby eliminating the need to install the rotating mirror 204 on the side of the rotating mirror body 218, thus saving the installation step; in addition, the plastic material is relatively light, consumes less energy when rotating at high speed, and the requirements for the rotor are also reduced.

[0083] In some exemplary embodiments, the angle between the reflector 203 and the transmission direction of the collimated laser beam is determined based on the scanning angle range of the laser beam reflected by the emitting portion on the side of the rotating reflector structure and the number of rotating reflectors 204.

[0084] In some exemplary embodiments, the angle between the reflector 203 and the transmission direction of the collimated laser beam is determined based on the scanning angle range of the laser beam reflected by the emitting portion of the rotating reflector 204 and the number of rotating reflectors 204.

[0085] In some exemplary embodiments, the angle between the reflector 203 and the transmission direction of the collimated laser beam is determined based on the scanning angle range of the laser beam reflected by the emitting portion of the reflecting surface and the number of reflecting surfaces.

[0086] In some exemplary embodiments, when the receiving portion of the emitting portion of the reflector 203 is a different portion on the same reflector, the angle between the reflector 203 and the transmission direction of the collimated laser beam is 45°.

[0087] In some exemplary embodiments, when the receiving part of the transmitting part of the reflector 203 is a different part on the same reflector, it is usually difficult to achieve a strict 45° angle between the reflector 203 and the transmission direction of the collimated laser beam due to the presence of error. In order to allow the existence of error, the absolute value of the difference between the angle between the reflector 203 and the transmission direction of the collimated laser beam and 45° can be set to be less than or equal to a preset threshold. Here, the preset threshold can be taken as small as possible so that the angle between the reflector 203 and the transmission direction of the collimated laser beam is basically equal to 45°.

[0088] In some exemplary embodiments, when the transmitting and receiving portions of the reflector 203 are two different reflectors, the angle between each reflector and the transmission direction of the collimated laser beam is 45°.

[0089] In some exemplary embodiments, when the transmitting and receiving parts of the reflector 203 can be two different reflectors, it is usually difficult to achieve a strict 45° angle between the two reflectors and the transmission direction of the collimated laser beam due to the existence of errors. In order to allow for the existence of errors, the absolute value of the difference between the angle between the two reflectors and the transmission direction of the collimated laser beam and 45° can be set to be less than or equal to a preset threshold. Here, the preset threshold can be taken as small as possible so that the angle between the two reflectors and the transmission direction of the collimated laser beam is substantially equal to 45°.

[0090] In some exemplary embodiments, the rotation axis is parallel to the reflector 203.

[0091] In some exemplary embodiments, due to the presence of errors, it is often difficult to achieve strict parallelism between the rotation axis and the reflector 203. In order to allow for the presence of errors, the included angle between the rotation axis and the reflector 203 can be set to be less than or equal to a preset threshold. Here, the preset threshold can be taken as small as possible so that the rotation axis and the reflector 203 are basically parallel.

[0092] In some exemplary embodiments, the rotating reflective structure can rotate about a rotation axis under the control of the rotating mirror motor 209. More specifically, the rotating mirror body 218 can rotate about a rotation axis under the control of the rotating mirror motor 209.

[0093] In some exemplary embodiments, the axis of rotation may refer to the line connecting the center points of the two bottom surfaces of the rotating reflective structure. More specifically, the axis of rotation may refer to the line connecting the center points of the two bottom surfaces of the rotating mirror body 218.

[0094] In some exemplary embodiments, when the rotating mirror motor 209 controls the rotating mirror body 218 to rotate, it drives the rotating reflector 204 to rotate. During the rotation, the relative positional relationship between the rotating mirror body 218 and the rotating reflector 204 remains unchanged.

[0095] In some exemplary embodiments, the optical axis of the emitting lens 202 and the optical axis of the receiving lens 205 are parallel.

[0096] In some exemplary embodiments, due to the presence of errors, it is usually difficult to achieve strict parallelism between the optical axis of the emitting lens 202 and the optical axis of the receiving lens 205. In order to allow for the presence of errors, the angle between the optical axis of the emitting lens 202 and the optical axis of the receiving lens 205 can be set to be less than or equal to a preset threshold. Here, the preset threshold can be taken as small as possible so that the optical axis of the emitting lens 202 and the optical axis of the receiving lens 205 are basically parallel.

[0097] The optical system provided in this application embodiment has a divergence angle that varies with distance after the laser beam collimated by the emitting lens 202. The longer the focal length of the emitting lens 202, the smaller the divergence angle. By adding a reflector 203 between the rotating reflection structure and the emitting lens 202, and between the rotating reflection structure and the receiving lens 205, more space is available to arrange the emitting lens 202 and the receiving lens 205. As a result, the focal lengths of the emitting lens 202 and the receiving lens 205 can be set to be relatively long, thereby reducing the divergence angle of the laser beam and reducing the diameter of the laser emission spot. This improves the scanning measurement accuracy of the lidar and meets the needs of scenarios requiring high scanning measurement accuracy.

[0098] Secondly, referring to Figure 1 and Figure 2Another embodiment of this application provides a rotating lidar, including any of the optical systems described above. The rotating lidar further includes: a transmitting circuit board 201, on which a laser is disposed, and the transmitting circuit board 201 is used to control the laser to emit a laser beam; a receiving circuit board 206, used to receive the converged laser beam and convert the converged laser beam into an electrical signal; a rotating mirror motor 209, used to control the rotation of the rotating reflective structure under the drive of a rotating mirror motor drive circuit board 207; and a rotating mirror motor drive circuit board 207, used to drive the rotating mirror motor 209.

[0099] In some exemplary embodiments, the system further includes a first read head circuit board 210, used in conjunction with the first code disk 220 to measure the angle of rotation of the rotating reflective structure. More specifically, it is used in conjunction with the first code disk 220 to measure the angle of rotation of the rotating mirror body 218.

[0100] In some exemplary embodiments, it also includes: a ranging circuit board 301 for controlling the operation of the rotating mirror motor drive circuit board 207, the transmitting circuit board 201, and the receiving circuit board 206; receiving electrical signals sent by the receiving circuit board 206 and converting the electrical signals into measurement data.

[0101] In some exemplary embodiments, the ranging circuit board 301 is also used to control the operation of the first reading head circuit board 210.

[0102] The rotating lidar provided in this application embodiment has a divergence angle that varies with distance after the laser beam collimated by the emitting lens 202. The longer the focal length of the emitting lens 202, the smaller the divergence angle. By adding a reflector 203 between the rotating reflective structure and the emitting lens 202, and between the rotating reflective structure and the receiving lens 205, more space is available to arrange the emitting lens 202 and the receiving lens 205. As a result, the focal lengths of the emitting lens 202 and the receiving lens 205 can be set to be relatively long, thereby reducing the divergence angle of the laser beam and reducing the diameter of the laser emission spot. This improves the scanning measurement accuracy of the lidar and meets the needs of scenarios requiring high scanning measurement accuracy.

[0103] Figure 3 This is an exploded view of a motor rotating mirror assembly according to another embodiment of this application. Figure 4 This is an exploded view of the rotating mirror structure according to an embodiment of this application. Figure 5 This is a schematic diagram of the circuit connection in the motor rotating mirror assembly according to an embodiment of this application.

[0104] Thirdly, referring to Figure 3 , Figure 4 and Figure 5Another embodiment of this application provides a motor-driven rotating mirror assembly, including: a lens holder 208, the lens holder 208 having a base and two sides perpendicular to the base, the base of the lens holder 208 having a transmitting lens mounting hole, a receiving lens mounting hole and a reflecting mirror mounting hole; a transmitting lens 202 fixedly installed in the transmitting lens mounting hole of the lens holder 208, a receiving lens 205 fixedly installed in the receiving lens mounting hole of the lens holder 208, and a reflecting mirror 203 fixedly installed in the reflecting mirror mounting hole of the lens holder 208; a transmitting circuit board 201 and a receiving circuit board 206 fixedly connected to the side of the base of the lens holder 208 opposite to the side where the reflecting mirror mounting hole is located; a first through hole is provided between the transmitting circuit board 201 and the transmitting lens 202 in the base of the lens holder 208, and a second through hole is provided between the receiving circuit board 206 and the receiving lens 205.

[0105] A rotating reflective structure, which is a right prism or a regular prism, is capable of rotating about a rotation axis parallel to its side. Each side of the rotating reflective structure has a reflective function. One end of the rotating reflective structure has a motor mounting hole. The rotating reflective structure has a rotating baffle 219 or a rotating baffle 219 fixedly connected to the rotating reflective structure. The rotating baffle 219 divides each side of the rotating reflective structure into a transmitting part and a receiving part. A rotating mirror motor 209 is fixedly installed in the motor mounting hole of the rotating reflective structure and fixedly connected to the inner side of one of the side surfaces of the lens holder 208. A rotating mirror motor drive circuit board 207 is fixedly installed on the outer side of one of the side surfaces of the lens holder 208 and is electrically connected to the rotating mirror motor 209.

[0106] In some exemplary embodiments, such as Figure 3 As shown, a laser is mounted on the emitting circuit board 201. The emitting circuit board 201 is used to control the laser to emit a laser beam. The laser beam emitted by the laser is transmitted to the emitting lens 202 through the first through hole.

[0107] In some exemplary embodiments, such as Figure 3 As shown, the base of the transmitting circuit board 201 and the lens holder 208 can be fixedly connected using a method well known to those skilled in the art. For example, the first screw 212 can be used to fix the transmitting circuit board 201 and the base of the lens holder 208 together.

[0108] In some exemplary embodiments, such as Figure 2 As shown, the emitting lens 202 is used to collimate the laser beam emitted by the laser.

[0109] In some exemplary embodiments, the optical axis of the emitting lens 202 and the optical axis of the receiving lens 205 are parallel.

[0110] In some exemplary embodiments, due to the presence of errors, it is usually difficult to achieve strict parallelism between the optical axis of the emitting lens 202 and the optical axis of the receiving lens 205. In order to allow for the presence of errors, the angle between the optical axis of the emitting lens 202 and the optical axis of the receiving lens 205 can be set to be less than or equal to a preset threshold. Here, the preset threshold can be taken as small as possible so that the optical axis of the emitting lens 202 and the optical axis of the receiving lens 205 are basically parallel.

[0111] In some exemplary embodiments, the emitting lens 202 may be fixedly mounted in the emitting lens mounting hole of the lens holder 208 by adhesive.

[0112] In some exemplary embodiments, the reflector 203 has a emitting portion and a receiving portion, wherein the emitting portion of the reflector 203 is used to reflect the collimated laser beam.

[0113] In some exemplary embodiments, the reflector 203 may be fixedly mounted in the reflector mounting hole of the lens holder 208 by adhesive.

[0114] In some exemplary embodiments, the ratio of the emitting part and the receiving part of the reflector 203 can be set according to actual needs. The ratio of the emitting part and the receiving part can be changed by adjusting the mounting position of the rotating baffle 219 on the rotating reflective structure. More specifically, the ratio of the emitting part and the receiving part can be changed by adjusting the mounting position of the rotating baffle 219 on the rotating mirror body 218.

[0115] In some exemplary embodiments, the transmitting and receiving portions of the reflector 203 may be different parts of the same reflector, and in some exemplary embodiments, the transmitting and receiving portions of the reflector 203 may also be two different reflectors.

[0116] In some exemplary embodiments, the rotating reflective structure includes a rotating body 218 and a rotating reflector 204. The rotating body 218 is a right prism structure or a regular prism structure. The rotating body 218 is capable of rotating about a rotation axis parallel to its side. A rotating reflector 204 is fixed to each side of the rotating body 218.

[0117] In some exemplary embodiments, the rotating reflector 204 has a emitting portion and a receiving portion. The emitting portion of the rotating reflector 204 is used to further reflect the laser beam reflected by the emitting portion of the reflector 203; the receiving portion of the rotating reflector 204 is used to further reflect the laser beam reflected by the emitting portion of the rotating reflector 204 and the laser beam reflected by the object under test.

[0118] In some exemplary embodiments, the transmitting and receiving portions of the rotating reflector 204 may be different parts of the same reflector. In some exemplary embodiments, the transmitting and receiving portions of the rotating reflector 204 may also be two different reflectors.

[0119] In some exemplary embodiments, the rotating reflective structure includes: a rotating body 218, which is a right prism structure or a regular prism structure, the rotating body 218 being rotatable about a rotation axis parallel to the side surface, and each side surface of the rotating body 218 being a reflective surface.

[0120] In some exemplary embodiments, the rotational reflective structure is a right square prism structure or a regular square prism structure, and the number of sides of the rotational reflective structure is four.

[0121] In some exemplary embodiments, the rotating mirror body 218 is a right square prism structure or a regular square prism structure. When the receiving part of the emitting part of the rotating mirror 204 is a different part on the same mirror, the number of rotating mirrors 204 is four; when the emitting part and the receiving part of the rotating mirror 204 are two different mirrors, the number of rotating mirrors 204 is eight.

[0122] In some exemplary embodiments, the rotating mirror body 218 is a right square prism structure or a regular square prism structure, and the number of reflecting surfaces is four.

[0123] In some exemplary embodiments, a right quadrangular prism structure is a prism structure with a quadrilateral cross-section and lateral surfaces perpendicular to the base.

[0124] In some exemplary embodiments, a regular square prism structure is a prism structure with a square cross-section and lateral surfaces perpendicular to the base.

[0125] In some exemplary embodiments, the rotational reflective structure is a right hexagonal prism structure or a regular hexagonal prism structure, and the number of sides of the rotational reflective structure is six.

[0126] In some exemplary embodiments, the rotating mirror body 218 is a straight hexagonal prism structure or a regular hexagonal prism structure. When the receiving part of the emitting part of the rotating mirror 204 is a different part on the same mirror, the number of rotating mirrors 204 is six; when the emitting part and the receiving part of the rotating mirror 204 are two different mirrors, the number of rotating mirrors 204 is twelve.

[0127] In some exemplary embodiments, the rotating mirror body 218 is a straight hexagonal prism structure or a regular hexagonal prism structure, and the number of reflecting surfaces is six.

[0128] In some exemplary embodiments, a right hexagonal prism structure is a prism structure with a hexagonal cross-section and lateral surfaces perpendicular to the base.

[0129] In some exemplary embodiments, a regular hexagonal prism structure is a prism structure with a regular hexagonal cross-section and lateral faces perpendicular to the base.

[0130] In some exemplary embodiments, the rotating reflective structure is a right octagonal prism structure or a regular octagonal prism structure, and the number of sides of the rotating reflective structure is eight.

[0131] In some exemplary embodiments, the rotating mirror body 218 is a straight octagonal prism structure or a regular octagonal prism structure. When the receiving part of the emitting part of the rotating mirror 204 is a different part on the same mirror, the number of rotating mirrors 204 is eight; when the emitting part and the receiving part of the rotating mirror 204 are two different mirrors, the number of rotating mirrors 204 is sixteen.

[0132] In some exemplary embodiments, the rotating mirror body 218 is a straight octagonal prism structure or a regular octagonal prism structure, and the number of reflecting surfaces is eight.

[0133] In some exemplary embodiments, the right octagonal prism structure is a prism structure with a cross-section of a regular octagon and lateral surfaces perpendicular to the base.

[0134] In some exemplary embodiments, a regular octagonal prism structure is a prism structure with a regular octagonal cross-section and lateral surfaces perpendicular to the base.

[0135] In other embodiments, the rotating reflective structure may also be other numbers of right prism structures or regular prism structures, and the rotating mirror body 218 may also be other numbers of right prism structures or regular prism structures; that is, the number of rotating reflectors 204 or reflecting surfaces may also be other numbers. This application does not limit this, and all are within the protection scope of this application.

[0136] In some exemplary embodiments, when a rotating mirror 204 is fixed to each side of the rotating mirror body 218, the rotating mirror 204 may be made of quartz material.

[0137] In some exemplary embodiments, when each side of the rotating mirror body 218 is a reflective surface, the main body of the rotating mirror body 218 can be made of plastic material, and the side can be made into a reflective surface by coating the side of the rotating mirror body 218 with a reflective film or an anti-reflective film.

[0138] In some exemplary embodiments, the reflective film may be, for example, a metal film.

[0139] In some exemplary embodiments, the plastic material may be, for example, aluminum.

[0140] In some exemplary embodiments, by coating the side of the rotating mirror body 218 with a reflective film or an anti-reflective film, the side becomes a reflective surface, thereby eliminating the need to install the rotating mirror 204 on the side of the rotating mirror body 218, thus saving the installation step; in addition, the plastic material is relatively light, consumes less energy when rotating at high speed, and the requirements for the rotor are also reduced.

[0141] In some exemplary embodiments, such as Figure 4 As shown, when the rotating baffle 219 is fixedly connected to the rotating mirror body 218, the rotating baffle 219 and the rotating mirror body 218 are independent structures. The four edges of the rotating mirror body 218 each have an inwardly protruding first screw through hole (not marked in the figure). The rotating baffle 219 has an inwardly protruding second screw through hole (not marked in the figure) at the position opposite to the four edges of the rotating mirror body 218. The rotating mirror body 218 and the rotating baffle 219 are fixedly connected by a second screw 221 through the first screw through hole on the rotating mirror body 218 and the second screw through hole on the rotating baffle 219.

[0142] In some exemplary embodiments, such as Figure 4 As shown, the rotating baffle 219 has a groove; as Figure 3 As shown, the motor-driven rotating mirror assembly further includes a partition 211 installed in the groove of the rotating baffle 219 and fixedly connected to the lens holder 208; the partition 211 divides the reflector 203 into a transmitting part and a receiving part. In this embodiment, the partition 211 separates the transmitting and receiving optical paths of the rotating lidar, avoiding mutual interference between the beams on the transmitting and receiving optical paths, isolating crosstalk between transmitted and received signals, thereby improving measurement accuracy.

[0143] In some exemplary embodiments, such as Figure 3 As shown, the partition 211 and the lens holder 208 can be fixedly connected using a method well known to those skilled in the art. For example, a third screw (not shown in the figure) can be used to fix the partition 211 and the lens holder 208 together.

[0144] In some exemplary embodiments, the angle between the reflector 203 and the transmission direction of the collimated laser beam is determined based on the scanning angle range of the laser beam reflected by the emitting portion of the side of the rotating reflective structure and the number of rotating reflectors 204. More specifically, the angle between the reflector 203 and the transmission direction of the collimated laser beam is determined based on the scanning angle range of the laser beam reflected by the emitting portion of the rotating reflector 204 and the number of rotating reflectors 204.

[0145] In some exemplary embodiments, the angle between the reflector 203 and the transmission direction of the collimated laser beam is determined based on the scanning angle range of the laser beam reflected by the emitting portion of the reflecting surface and the number of reflecting surfaces.

[0146] In some exemplary embodiments, when the receiving portion of the emitting portion of the reflector 203 is a different portion on the same reflector, the angle between the reflector 203 and the transmission direction of the collimated laser beam is 45°.

[0147] In some exemplary embodiments, when the receiving part of the transmitting part of the reflector 203 is a different part on the same reflector, it is usually difficult to achieve a strict 45° angle between the reflector 203 and the transmission direction of the collimated laser beam due to the presence of error. In order to allow the existence of error, the absolute value of the difference between the angle between the reflector 203 and the transmission direction of the collimated laser beam and 45° can be set to be less than or equal to a preset threshold. Here, the preset threshold can be taken as small as possible so that the angle between the reflector 203 and the transmission direction of the collimated laser beam is basically equal to 45°.

[0148] In some exemplary embodiments, when the transmitting and receiving portions of the reflector 203 are two different reflectors, the angle between each reflector and the transmission direction of the collimated laser beam is 45°.

[0149] In some exemplary embodiments, when the transmitting and receiving parts of the reflector 203 are two different reflectors, it is usually difficult to achieve a strict 45° angle between the two reflectors and the transmission direction of the collimated laser beam due to the existence of errors. In order to allow for the existence of errors, the absolute value of the difference between the angle between the two reflectors and the transmission direction of the collimated laser beam and 45° can be set to be less than or equal to a preset threshold. Here, the preset threshold can be taken as small as possible so that the angle between the two reflectors and the transmission direction of the collimated laser beam is substantially equal to 45°.

[0150] In some exemplary embodiments, the rotation axis is parallel to the reflector 203.

[0151] In some exemplary embodiments, due to the presence of errors, it is often difficult to achieve strict parallelism between the rotation axis and the reflector 203. In order to allow for the presence of errors, the included angle between the rotation axis and the reflector 203 can be set to be less than or equal to a preset threshold. Here, the preset threshold can be taken as small as possible so that the rotation axis and the reflector 203 are basically parallel.

[0152] In some exemplary embodiments, the receiving portion of the reflector 203 is used to further reflect the laser beam reflected by the receiving portion of the side of the rotating reflector structure. More specifically, the receiving portion of the reflector 203 is used to further reflect the laser beam reflected by the receiving portion of the rotating reflector 204 or the reflective surface.

[0153] In some exemplary embodiments, the rotating reflector 204 can be fixedly mounted on the side of the rotating mirror body 218 by adhesive.

[0154] In some exemplary embodiments, the ratio of the emitting and receiving portions on the side of the rotating reflective structure can be set according to actual needs. The ratio can be changed by adjusting the mounting position of the rotating baffle 219 on the rotating reflective structure. More specifically, the ratio of the emitting and receiving portions of the rotating reflector 204 or the reflective surface can be set according to actual needs. The ratio can be changed by adjusting the mounting position of the rotating baffle 219 on the rotating mirror body 218.

[0155] In some exemplary embodiments, the receiving lens 205 is used to converge the laser beam reflected by the receiving portion of the reflector 203, and the converged laser beam is transmitted to the receiving circuit board 206 through the second through hole.

[0156] In some exemplary embodiments, the receiving lens 205 may be fixedly mounted in the receiving lens mounting hole of the lens holder 208 by adhesive.

[0157] In some exemplary embodiments, the receiving circuit board 206 is used to receive the converged laser beam and convert the converged laser beam into an electrical signal.

[0158] In some exemplary embodiments, the receiving circuit board 206 and the base of the lens holder 208 can be fixedly connected using a method well known to those skilled in the art. For example, a fourth screw 213 can be used to fix the receiving circuit board 206 and the base of the lens holder 208 together.

[0159] In some exemplary embodiments, the rotating mirror motor 209 is used to control the rotation of the rotating reflective structure under the drive of the rotating mirror motor drive circuit board 207, and more specifically, to control the rotation of the rotating body 218 under the drive of the rotating mirror motor drive circuit board 207; the rotating mirror motor drive circuit board 207 is used to drive the rotating mirror motor 209.

[0160] In some exemplary embodiments, when the rotating mirror motor 209 controls the rotating mirror body 218 to rotate, it drives the rotating reflector 204 to rotate. During the rotation, the relative positional relationship between the rotating mirror body 218 and the rotating reflector 204 remains unchanged.

[0161] In some exemplary embodiments, the rotating reflective structure can rotate about a rotation axis under the control of the rotating mirror motor 209. More specifically, the rotating mirror body 218 can rotate about a rotation axis under the control of the rotating mirror motor 209.

[0162] In some exemplary embodiments, the axis of rotation may refer to the line connecting the center points of the two bottom surfaces of the rotating reflective structure. More specifically, the axis of rotation may refer to the line connecting the center points of the two bottom surfaces of the rotating mirror body 218.

[0163] In some exemplary embodiments, the rotating mirror motor drive circuit board 207 can be fixedly mounted on the outer side of one side of the lens holder 208 using methods well known to those skilled in the art. For example, as Figure 3 As shown, the rotating mirror motor drive circuit board 207 can be fixedly mounted on the outer side of one side of the lens holder 208 using the fifth screw 216.

[0164] In some exemplary embodiments, such as Figure 4 As shown, the other end of the rotating reflective structure has a first code disk mounting hole. More specifically, the other end of the rotating mirror body 218 has a first code disk mounting hole. The motor rotating mirror assembly also includes: a first reading head circuit board 210 fixedly installed on the outer side of the other side of the lens holder 208; and a first code disk 220 fixedly installed in the first code disk mounting hole.

[0165] In some exemplary embodiments, the first read head circuit board 210 is used in conjunction with the first code disk 220 to measure the angle of rotation of the rotating reflective structure. More specifically, it is used in conjunction with the first code disk 220 to measure the angle of rotation of the rotating mirror body 218.

[0166] In some exemplary embodiments, the first reader circuit board 210 can be fixedly mounted on the outer side of another side of the lens holder 208 using methods well known to those skilled in the art. For example, as Figure 3 As shown, the first reader circuit board 210 can be fixedly mounted on the outside of the other side of the lens holder 208 using the sixth screw 217.

[0167] In some exemplary embodiments, such as Figure 3 As shown, the base of the lens holder 208 may have a third screw through hole 215, through which the motor rotating mirror assembly can be fixedly installed on the subsequent rotor assembly 300 by a seventh screw 214 through the third screw through hole 215.

[0168] The motor rotating mirror assembly provided in this application has a divergence angle that varies with distance after the laser beam collimated by the emitting lens 202. The longer the focal length of the emitting lens 202, the smaller the divergence angle. By adding a reflector 203 between the rotating reflection structure and the emitting lens 202, and between the rotating reflection structure and the receiving lens 205, more space is available to arrange the emitting lens 202 and the receiving lens 205. As a result, the focal lengths of the emitting lens 202 and the receiving lens 205 can be set to be relatively long, thereby reducing the divergence angle of the laser beam and reducing the diameter of the laser emission spot. This improves the spatial scanning resolution of the lidar and meets the needs of scenarios with high spatial scanning resolution.

[0169] Figure 5 This is a schematic diagram of the circuit connection in the motor rotating mirror assembly according to an embodiment of this application. Figure 6 An exploded view of a rotating lidar provided for another embodiment of this application.

[0170] Fourthly, refer to Figure 5 and Figure 6 Another embodiment of this application provides a rotating lidar, including: any of the motor-driven mirror assembly 200 described in any of the foregoing embodiments; the rotating lidar further includes: a rotor assembly 300 and a bottom structure assembly 400; wherein, the rotor assembly 300 includes: a motor rotor, and a ranging circuit board 301 mounted on the motor rotor, the ranging circuit board 301 being electrically connected to the transmitting circuit board 201, the receiving circuit board 206 and the mirror motor drive circuit board 207; wherein, the bottom structure assembly 400 includes: a motor stator, and a motor power supply circuit board 409 fixedly mounted below the motor stator, the motor rotor being fixedly mounted on the motor stator, and the motor-driven mirror assembly 200 being fixedly mounted on the motor rotor.

[0171] In some exemplary embodiments, the ranging circuit board 301 is used to control the operation of the rotating mirror motor drive circuit board 207, the transmitting circuit board 201, and the receiving circuit board 206; it receives electrical signals sent by the receiving circuit board 206 and converts the electrical signals into measurement data.

[0172] In some exemplary embodiments, the ranging circuit board 301 is also electrically connected to the first reading head circuit board 210.

[0173] In some exemplary embodiments, the ranging circuit board 301 is also used to control the operation of the first reading head circuit board 210.

[0174] In some exemplary embodiments, such as Figure 6 As shown, the rotating lidar also includes an outer casing assembly 100.

[0175] In some exemplary embodiments, such as Figure 6 As shown, the rotating lidar also includes: a base assembly 500, and a bottom structure assembly 400 fixedly connected to the base assembly 500.

[0176] In some exemplary embodiments, such as Figure 6 As shown, the rotating lidar also includes: an outer cover assembly 100; a base assembly 500 fixedly connected to the outer cover assembly 100; wherein the motor mirror assembly 200, the rotor assembly 300 and the bottom structure assembly 400 are disposed within the receiving space formed by the outer cover assembly 100 and the base assembly 500, and the bottom structure assembly 400 is fixedly connected to the base assembly 500.

[0177] In some exemplary embodiments, such as Figure 8 As shown, the outer cover assembly 100 includes: an outer cover 101, the upper part of which is hemispherical and the lower part of which is cylindrical, and at least a portion of which is made of a light-transmitting material; and an outer cover base 102, which is fixedly connected to the outer cover 101.

[0178] In some exemplary embodiments, such as Figure 11 As shown, the base assembly 500 includes: a base 503 having an interface through-hole 506; a main control circuit board 504 fixedly installed in the base 503, the main control circuit board 504 being electrically connected to the motor power supply circuit board 409; a first interface 502 fixedly installed in the interface through-hole 506, the first interface 502 being electrically connected to the main control circuit board 504; and an interface connector 501 fixedly connected to the first interface 502, one end of the interface connector 501 being electrically connected to the first interface 502, and the other end being electrically connected to the power supply.

[0179] In some exemplary embodiments, the main control circuit board 504 is connected to a power supply.

[0180] In some exemplary embodiments, the main control circuit board 504 is used to control the operation of the motor power supply circuit board 409.

[0181] In some exemplary embodiments, the interface connector 501 can convert the first interface 502 into a second interface.

[0182] In some exemplary embodiments, the first interface 502 may be a USB interface, and the second interface may be a Type-C interface.

[0183] In some exemplary embodiments, the fixed connection between the outer cover assembly 100 and the base assembly 500 may refer to the fixed connection between the outer cover base 102 and the base 503.

[0184] In some exemplary embodiments, such as Figure 8 and Figure 11 As shown, the outer cover 102 and the base 503 may have positioning pin holes, and the outer cover 102 and the base 503 are positioned by inserting the first positioning pin 103 and the second positioning pin 507 into the positioning pin holes.

[0185] In some exemplary embodiments, the outer cover 102 and the base 503 can be fixedly connected in a manner known to those skilled in the art. For example, as Figure 8 As shown, the outer cover 102 has a first threaded hole 104, through which the outer cover 102 and the base 503 can be fixedly connected by an eighth screw (not shown in the figure) through the first threaded hole 104.

[0186] In some exemplary embodiments, the main control circuit board 504 can be fixedly mounted within the base 503 using a mounting method well known to those skilled in the art. For example, as Figure 11 As shown, the main control circuit board 504 has a fourth screw through hole 510, and the base 503 has a second threaded hole (not marked in the figure). The main control circuit board 504 can be fixedly installed in the base 503 by the ninth screw 508 through the fourth screw through hole 510 and the second threaded hole.

[0187] In some exemplary embodiments, the main control circuit board 504 may have a positioning pin through hole 511. When the main control circuit board 504 is installed in the base 503, a third positioning pin 509 can be inserted into the positioning pin through hole 511 to achieve positioning.

[0188] In some exemplary embodiments, the first interface 502 can be fixedly installed in the interface via 506 using a fixed installation method well known to those skilled in the art. For example, as Figure 11 As shown, the first interface 502 can be fixedly installed in the interface through hole 506 using the tenth screw 505.

[0189] In some exemplary embodiments, the motor rotor can be a rotatable part of the motor. The motor rotor can be a motor rotor well-known to those skilled in the art, or it can be a newly developed motor rotor; no limitation is made here. For example, such as... Figure 9 The diagram illustrates a feasible motor rotor structure, comprising: a rotor 302 having a bearing through-hole 316 at its center; a rotating shaft 308 mounted in the bearing through-hole 316; a radial ring 307 coaxially mounted with the rotating shaft 308 and sleeved outside the rotating shaft 308; and a motor iron ring 306 coaxially mounted with the rotating shaft 308 and sleeved outside the radial ring 307, the motor iron ring 306 being fixedly connected to the rotor 302.

[0190] In some exemplary embodiments, the motor ring 306 and the rotor 302 can be fixedly connected in a manner well known to those skilled in the art. For example, as Figure 9 As shown, the rotor 302 has a fifth screw through hole 313, and the motor iron ring 306 has a third threaded hole (not marked in the figure). The eleventh screw 311 can be used to fix the motor iron ring 306 and the rotor 302 through the fifth screw through hole 313 and the third threaded hole.

[0191] In some exemplary embodiments, the rotor 302 has a positioning post 315 and the ranging circuit board 301 has a positioning post through hole 314. When the rotor 302 and the ranging circuit board 301 are fixedly connected, the positioning post 315 is inserted into the positioning post through hole 314 to play a positioning role.

[0192] In some exemplary embodiments, the mounting of the ranging circuit board 301 on the motor rotor may mean that the ranging circuit board 301 is fixedly connected to the rotor 302.

[0193] In some exemplary embodiments, the ranging circuit board 301 and the rotor 302 can be fixedly connected in a manner well known to those skilled in the art. For example, as Figure 9 As shown, the ranging circuit board 301 has a sixth screw through hole 310, and the rotor 302 has a fourth threaded hole 312. The ranging circuit board 301 and the rotor 302 can be fixedly connected by a twelfth screw 309 through the sixth screw through hole 310 and the fourth threaded hole 312.

[0194] In some exemplary embodiments, the motor stator can be a fixed part of the motor. The motor stator can be a type of motor stator well-known to those skilled in the art, or it can be a newly developed motor stator; no limitation is made here. For example, such as... Figure 10 The diagram illustrates a feasible motor stator structure, comprising: a base stator 402, the base stator 402 having a stator central shaft 411 at its center, the stator central shaft 411 having a third through hole at its center, and a rotating shaft 308 fixedly installed within the third through hole of the stator central shaft 411; a miniature bearing 408 coaxially mounted with and sleeved on the rotating shaft 308; a motor core 406 coaxially mounted with and sleeved on the rotating shaft 308; and a motor core coil 407 wound around the motor core 406.

[0195] In some exemplary embodiments, the motor power supply circuit board 409 being fixedly mounted under the motor stator can mean that the motor power supply circuit board 409 and the base stator 402 are fixedly connected.

[0196] In some exemplary embodiments, the motor power supply circuit board 409 and the base stator 402 can be fixedly connected in a manner well known to those skilled in the art. For example, as Figure 10 As shown, the motor power supply circuit board 409 has a seventh screw through hole (not marked in the figure), and the base stator 402 has a fifth threaded hole (not marked in the figure). The thirteenth screw 412 can be used to fix the motor power supply circuit board 409 and the base stator 402 through the seventh screw through hole and the fifth threaded hole.

[0197] In some exemplary embodiments, such as Figure 12 As shown, the main control circuit board 504 is electrically connected to the radar motor, that is, the main control circuit board 504 is electrically connected to the motor core coil 407.

[0198] In some exemplary embodiments, such as Figure 12 As shown, the main control circuit board 504 is used to drive the radar motor to control the rotation of the rotor assembly 300.

[0199] In some exemplary embodiments, in order to achieve radio transmission, such as Figure 9 and Figure 10 As shown, the rotor assembly 300 further includes: a first wireless transmission magnetic core 304 coaxially mounted with the rotating shaft 308 and sleeved on the motor iron ring 306; a first wireless transmission coil 305 wound on the first wireless transmission magnetic core 304, the first wireless transmission coil 305 being electrically connected to the ranging circuit board 301; the bottom structure assembly 400 further includes: a second wireless transmission magnetic core 405 coaxially mounted with the rotating shaft 308 and sleeved on the motor iron core 406; a second wireless transmission coil 404 wound on the second wireless transmission magnetic core 405, the second wireless transmission coil 404 being electrically connected to the motor power circuit board 409.

[0200] In some exemplary embodiments, when the motor power supply circuit board 409 applies a changing current to the second wireless transmission coil 404, a changing magnetic flux is formed in the second wireless transmission magnetic core 405, which in turn forms a changing magnetic flux in the first wireless transmission magnetic core 304. The changing magnetic flux in the first wireless transmission magnetic core 304 induces a changing current in the first wireless transmission coil 305. The generated current is transmitted to the ranging circuit board 301, so that the current is transmitted from the motor power supply circuit board 40 to the ranging circuit board 301, and the ranging circuit board 301 can work normally.

[0201] In some exemplary embodiments, in order to measure the rotation angle of the rotor assembly 300, such as Figure 9 and Figure 10As shown, the rotor assembly 300 further includes a second code disk 303 coaxially mounted with the rotating shaft 308 and fixedly mounted on the lower surface of the rotor 302; the bottom structure assembly 400 further includes a second read head circuit board 401 fixedly mounted on the base stator 402.

[0202] In some exemplary embodiments, such as Figure 12 As shown, the second read head circuit board 401 is electrically connected to the main control circuit board 504.

[0203] In some exemplary embodiments, the main control circuit board 504 is used to control the operation of the second read head circuit board 401.

[0204] In some exemplary embodiments, the second read head circuit board 401 is used in conjunction with the second code disk 303 to measure the angle of rotation of the rotor assembly 300.

[0205] In some exemplary embodiments, the second read head circuit board 401 can be fixedly mounted on the base stator 402 using a fixing method well known to those skilled in the art. For example, as Figure 10 As shown, the second read head circuit board 401 can be fixedly mounted on the base stator 402 using the fourteenth screw 410.

[0206] In some exemplary embodiments, such as Figure 7 and Figure 10 As shown, the base stator 402 has an O-ring mounting groove; the bottom structure assembly 400 further includes a base O-ring 403 mounted in the O-ring mounting groove.

[0207] In some exemplary embodiments, such as Figure 7 and Figure 10 As shown, the base stator 402 has O-ring mounting grooves on both the top and bottom, that is, the base stator 402 has two O-ring mounting grooves, so there are also two O-rings 403, thus providing waterproofing on both sides of the fixed connection between the outer cover 102 and the base.

[0208] In some exemplary embodiments, the pivot 308 has a fourth through hole at its center, a first data transceiver is provided on the ranging circuit board 301 at a position corresponding to the fourth through hole, and a second data transceiver is provided on the main control circuit board 504 at a position corresponding to the fourth through hole.

[0209] In some exemplary embodiments, the optical signal emitted by the first data transceiver is transmitted to the second data transceiver through the fourth through-hole and is received by the second data transceiver.

[0210] In some exemplary embodiments, the optical signal emitted by the second data transceiver is transmitted to the second data transceiver through the fourth through-hole and received by the first data transceiver.

[0211] The rotating lidar provided in this application embodiment has a divergence angle that varies with distance after the laser beam is collimated by the emitting lens 202. The longer the focal length of the emitting lens 202, the smaller the divergence angle. By adding a reflector 203 between the rotating reflective structure and the emitting lens 202, and between the rotating reflective structure and the receiving lens 205, more space is available to arrange the emitting lens 202 and the receiving lens 205. As a result, the focal lengths of the emitting lens 202 and the receiving lens 205 can be set to be relatively long, thereby reducing the divergence angle of the laser beam and reducing the diameter of the laser emission spot. This improves the spatial scanning resolution of the lidar and meets the needs of scenarios with high spatial scanning resolution.

[0212] In some exemplary embodiments, the motor mirror assembly 200, the rotor assembly 300, and the bottom structure assembly 400 are disposed within the receiving space formed by the outer casing assembly 100 and the base assembly 500. The combination of the motor mirror assembly 200, the rotor assembly 300, and the bottom structure assembly 400 enables the basic functions of the lidar, allowing the ranging function to be realized even without the base assembly 500, or without the base assembly 500 and the outer casing assembly 100.

[0213] In some exemplary embodiments, such as Figure 7 As shown, the base O ring 403 enables waterproofing of the rotating lidar, allowing it to be used unaffected by rainy weather.

[0214] It will be understood by those skilled in the art that all or some of the steps, systems, or apparatuses disclosed above, and their functional modules / units, can be implemented as software, firmware, hardware, or suitable combinations thereof. In hardware implementations, the division between functional modules / units mentioned above does not necessarily correspond to the division of physical components; for example, a physical component may have multiple functions, or a function or step may be performed collaboratively by several physical components. Some or all physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit (ASIC). Such software may be distributed on a computer-readable medium, which may include computer storage media (or non-transitory media) and communication media (or transient media). As is known to those skilled in the art, the term computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disc (DVD) or other optical disc storage, magnetic cartridges, magnetic tape, disk storage or other magnetic storage, or any other medium that can be used to store desired information and can be accessed by a computer. Furthermore, it is well known to those skilled in the art that communication media typically contain computer-readable instructions, data structures, program modules, or other data in modulated data signals such as carrier waves or other transmission mechanisms, and may include any information delivery medium.

[0215] Example embodiments have been disclosed herein, and while specific terminology has been used, it is for illustrative purposes only and should be construed as such, and is not intended to be limiting. In some instances, it will be apparent to those skilled in the art that features, characteristics, and / or elements described in connection with particular embodiments may be used alone, or in combination with features, characteristics, and / or elements described in connection with other embodiments, unless otherwise expressly indicated. Therefore, those skilled in the art will understand that various changes in form and detail may be made without departing from the scope of this application as set forth by the appended claims.

Claims

1. A motor-driven rotating mirror assembly, comprising: A lens mount (208) has a base and two sides perpendicular to the base. The base of the lens mount (208) has a transmitting lens mounting hole, a receiving lens mounting hole and a reflecting mirror mounting hole. A transmitting lens (202) is fixedly installed in the transmitting lens mounting hole of the lens holder (208), a receiving lens (205) is fixedly installed in the receiving lens mounting hole of the lens holder (208), and a reflecting mirror (203) is fixedly installed in the reflecting mirror mounting hole of the lens holder (208). A transmitting circuit board (201) and a receiving circuit board (206) are fixedly connected to the side of the base of the lens holder (208) opposite to the side where the mirror mounting hole is located; the base of the lens holder (208) has a first through hole between the transmitting circuit board (201) and the transmitting lens (202), and a second through hole between the receiving circuit board (206) and the receiving lens (205); A rotating reflective structure, wherein the rotating reflective structure is a right prism structure or a regular prism structure, the rotating reflective structure is capable of rotating about a rotation axis parallel to the side, each side of the rotating reflective structure has a reflective function, and one end of the rotating reflective structure has a motor mounting hole. The rotating reflective structure has a rotating baffle (219) or a rotating baffle (219) fixedly connected to the rotating reflective structure, and the rotating baffle (219) divides each side of the rotating reflective structure into a transmitting part and a receiving part. A rotating mirror motor (209) is fixedly installed in the motor mounting hole of the rotating reflective structure and is fixedly connected to the inner side of one side of the lens holder (208); A rotating mirror motor drive circuit board (207) is fixedly installed on the outer side of one side of the lens holder (208), and the rotating mirror motor drive circuit board (207) is electrically connected to the rotating mirror motor (209).

2. The motorized mirror assembly of claim 1, wherein, The rotating baffle (219) has a groove; The motor rotating mirror assembly further includes: a partition (211) installed in the groove of the rotating baffle (219) and fixedly connected to the lens holder (208); The partition (211) divides the reflector (203) into a transmitting part and a receiving part.

3. The motor rotating mirror assembly according to claim 1, wherein the other end of the rotating reflective structure has a first code disk mounting hole; The motor rotating mirror assembly also includes: A first reader circuit board (210) is fixedly installed on the outer side of the other side of the lens holder (208); The first code disk (220) is fixedly installed in the first code disk mounting hole.

4. The motor rotating mirror assembly according to any one of claims 1-3, wherein, The rotating reflective structure includes a rotating body (218) and a rotating reflector (204). The rotating body (218) is a right prism structure or a regular prism structure. The rotating body (218) can rotate around a rotation axis parallel to the side. Each side of the rotating body (218) is fixed with a rotating reflector (204).

5. The motor-driven mirror assembly according to any one of claims 1-3, wherein, The rotating reflective structure includes: a rotating body (218), which is a right prism structure or a regular prism structure. The rotating body (218) is capable of rotating around a rotation axis parallel to its side surface, and each side surface of the rotating body (218) is a reflective surface.

6. A rotating lidar, comprising: The motor rotating mirror assembly (200) as described in any one of claims 1-5; The rotating lidar also includes: a rotor assembly (300) and a bottom structure assembly (400); The rotor assembly (300) includes a motor rotor and a ranging circuit board (301) mounted on the motor rotor. The ranging circuit board (301) is electrically connected to the transmitting circuit board (201), the receiving circuit board (206), and the rotating mirror motor drive circuit board (207). The bottom structure component (400) includes a motor stator and a motor power circuit board (409) fixedly installed below the motor stator. The motor rotor is fixedly installed on the motor stator, and the motor rotating mirror assembly (200) is fixedly installed on the motor rotor.

7. The rotating lidar according to claim 6 further includes: Outer casing assembly (100); A base assembly (500) fixedly connected to the outer cover assembly (100); The motor rotating mirror assembly (200), the rotor assembly (300), and the bottom structure assembly (400) are disposed within the receiving space formed by the outer cover assembly (100) and the base assembly (500), and the bottom structure assembly (400) is fixedly connected to the base assembly (500).

8. The rotating lidar according to claim 7, wherein, The outer casing assembly (100) includes: The outer cover (101) has an upper part that is hemispherical and a lower part that is cylindrical. At least a portion of the outer cover (101) is made of a light-transmitting material. The outer cover base (102) is fixedly connected to the outer cover (101).

9. The rotating lidar according to claim 7, wherein, The base assembly (500) includes: A base (503) having an interface through hole (506); A main control circuit board (504) is fixedly installed inside the base (503), and the main control circuit board (504) is electrically connected to the motor power supply circuit board (409); A first interface (502) is fixedly installed in the interface via (506), and the first interface (502) is electrically connected to the main control circuit board (504); An interface connector (501) is fixedly connected to the first interface (502), with one end of the interface connector (501) electrically connected to the first interface (502) and the other end electrically connected to a power source.

10. The rotating lidar according to any one of claims 6-9, wherein, The motor rotor includes: Rotor (302), wherein the rotor (302) has a bearing through hole (316) at its center; A rotating shaft (308) is installed in the bearing through hole (316); A radial ring (307) is coaxially mounted with the rotating shaft (308) and sleeved outside the rotating shaft (308); A motor iron ring (306) is coaxially mounted with the rotating shaft (308) and sleeved outside the radiation ring (307); The motor stator includes: A base stator (402) has a stator central shaft (411) at its center, and the rotating shaft (308) is fixedly installed inside the stator central shaft (411); A miniature bearing (408) is coaxially mounted with the rotating shaft (308) and sleeved outside the rotating shaft (308); The motor core (406) is coaxially mounted with the rotating shaft (308) and sleeved outside the miniature bearing (408); Motor core coil (407) wound around the motor core (406).

11. The rotating lidar according to claim 10, wherein the rotor assembly (300) further comprises: A first wireless transmission magnetic core (304) is coaxially mounted with the rotating shaft (308) and sleeved outside the motor iron ring (306); A first wireless transmission coil (305) is wound on the first wireless transmission magnetic core (304), and the first wireless transmission coil (305) is electrically connected to the ranging circuit board (301); The bottom structure component (400) also includes: A second wireless transmission magnetic core (405) is coaxially mounted with the rotating shaft (308) and sleeved outside the motor core (406); A second wireless transmission coil (404) is wound on the second wireless transmission magnetic core (405) and is electrically connected to the motor power circuit board (409).

12. The rotating lidar according to claim 10, wherein the rotor assembly (300) further comprises: A second code disk (303) is coaxially mounted with the rotating shaft (308) and fixedly installed on the lower surface of the rotor (302); The bottom structure component (400) also includes: A second read head circuit board (401) is fixedly installed on the base stator (402), and the second read head circuit board (401) is electrically connected to the main control circuit board (504).

13. The rotating lidar according to claim 10, wherein the base stator (402) has an O-ring mounting groove; The bottom structure component (400) also includes: The base O-ring (403) is installed in the O-ring mounting slot.

Images