Detection apparatus and movable platform

Abstract

A detection apparatus (100), comprising a sensing assembly (101), a movable part (10) and a fixed part (20), wherein at least some of components of the sensing assembly (101) are payloads (103); the movable part (10) is configured to be connected to the payloads (103); one of the movable part (10) and the fixed part (20) comprises at least part of a magnetic field generation structure (30), and the other comprises a coil structure (40); when the coil structure (40) is energized, the magnetic field generation structure (30) can cooperate with the coil structure (40) to generate a driving force, such that the movable part (10) can perform a reciprocating curved motion in a first movement space (51), thereby driving at least some of the payloads (103) to perform a reciprocating motion in a second movement space (52) outside the first movement space (51), the first movement space (51) is located on the inner side or the outer side of the fixed part (20) and is configured to allow the movable part (10) to perform the reciprocating curved motion; and the second movement space (52) is formed by extending in a movement direction of the movable part (10), and / or a central angle corresponding to the first movement space (51) is less than 360°. The control response speed of the driving device (102) can be increased, thereby further improving the detection accuracy. The present application further relates to a movable platform.

Description

Probe device and movable platform TECHNICAL FIELD

[0001] The present application relates to the technical field of probe devices, in particular to a probe device and a movable platform. BACKGROUND

[0002] In the related art, a probe device includes a load and a driving device, and the driving device is configured to drive the load to move so as to realize the detection of an external object by the probe device. However, the driving device in the related art is not reasonably designed, and the inertia of the moving part of the driving device is relatively large. In addition, the mechanical time constant of the driving device is relatively large under the condition of having a preset output, which results in a relatively low control response speed of the driving device, and thus affects the detection accuracy of the probe device.

[0003] SUMMARY

[0004] The present application provides a probe device and a movable platform, wherein the probe device includes a sensing assembly and a driving device, at least part of the components in the sensing assembly is a load, and the driving device is configured to drive the load. The driving device includes a moving part and a fixed part. The probe device provided by the present application aims to improve the control response speed of the driving device, and thus improve the detection accuracy of the probe device.

[0005] An embodiment of the present application provides a probe device, which includes:

[0006] a sensing assembly configured to detect an external object, at least part of the components in the sensing assembly is a load;

[0007] a moving part configured to be connected with the load; and

[0008] a fixed part, one of the moving part and the fixed part includes at least part of a magnetic field generating structure, and the other of the moving part and the fixed part includes a coil structure, and the coil structure is arranged in a magnetic field generated by the magnetic field generating structure;

[0009] When the coil structure is powered, the magnetic field generating structure can cooperate with the coil structure to generate a driving force, so that the moving part can reciprocate in a curve in a first moving space, and thus at least part of the load can reciprocate in a second moving space outside the first moving space. The first moving space is located on the inner side or the outer side of the fixed part and is used for the reciprocating curve movement of the moving part. The second moving space is formed by the extension of the moving direction of the moving part, and / or the central angle corresponding to the first moving space is less than 360°.

[0010] Another embodiment of the present application provides a probe device, which includes:

[0011] a sensing assembly for detecting an external object, at least part of the sensing assembly being a load;

[0012] a movable part configured to be connected with the load; and

[0013] a fixed part, one of the movable part and the fixed part comprising at least part of a magnetic field generating structure, and the other of the movable part and the fixed part comprising a coil structure, the coil structure being arranged in a magnetic field generated by the magnetic field generating structure;

[0014] wherein, when the coil structure is energized, the magnetic field generating structure is capable of cooperating with the coil structure to generate a driving force, so that the movable part is capable of reciprocating curvilinear motion in a first movable space, thereby driving at least part of the load to reciprocate in a second movable space outside the first movable space, the first movable space being located inside or outside the fixed part and being used for the reciprocating curvilinear motion of the movable part; the first movable space and at least part of the second movable space are arranged along the movement direction of the movable part, and / or the corresponding central angle of the first movable space is less than 360°.

[0015] Another embodiment of the present application provides a detection device, comprising:

[0016] a sensing assembly for detecting an external object, at least part of the sensing assembly being a load;

[0017] a movable part configured to be connected with the load; and

[0018] a fixed part, one of the movable part and the fixed part comprising at least part of a magnetic field generating structure, and the other of the movable part and the fixed part comprising a coil structure, the coil structure being arranged in a magnetic field generated by the magnetic field generating structure;

[0019] wherein, when the coil structure is energized, the magnetic field generating structure is capable of cooperating with the coil structure to generate a driving force, so that the movable part is capable of reciprocating curvilinear motion around a preset rotation axis, thereby driving at least part of the load to reciprocate;

[0020] wherein the magnetic field generating structure comprises a magnet unit and a magnetic conducting unit; the magnetic conducting unit comprises a first magnetic yoke and a second magnetic yoke; the first magnetic yoke, the magnet unit, the coil structure and the second magnetic yoke are sequentially arranged along the radial direction of the preset rotation axis, and the first magnetic yoke is arranged away from the preset rotation axis relative to the second magnetic yoke; the magnet unit is arranged between the first magnetic yoke and the coil structure, and there is no magnet unit between the coil structure and the second magnetic yoke.

[0021] A further embodiment of the present application provides a detection device, comprising:

[0022] a sensing assembly for detecting an external object, at least part of the sensing assembly being a load;

[0023] a driving device comprising a movable part and a fixed part, the movable part being configured to be connected with the load; one of the movable part and the fixed part comprises at least part of a magnetic field generating structure, and the other of the movable part and the fixed part comprises a coil structure, the coil structure being arranged in a magnetic field generated by the magnetic field generating structure;

[0024] wherein the driving device is a radial flux driving device; when the coil structure is energized, the magnetic field generating structure can cooperate with the coil structure to generate a driving force, so that the movable part can make a reciprocating curve motion around a preset rotation axis, thereby driving at least part of the load to make a reciprocating motion.

[0025] A further embodiment of the present application provides a detection device, comprising:

[0026] a coil structure;

[0027] a magnetic field generating structure, the magnetic field generating structure comprising a magnet unit, a first magnetic yoke and a second magnetic yoke, wherein the first magnetic yoke, the magnet unit and the coil structure are arranged in a radial direction of the second magnetic yoke in sequence, and the coil structure is closer to the second magnetic yoke than the magnet unit;

[0028] a sensing assembly for detecting an external object, at least part of the sensing assembly being a galvanometer, the galvanometer and the coil structure being symmetrically arranged on two sides of the second magnetic yoke;

[0029] wherein when the coil structure is energized, the magnetic field generating structure can cooperate with the coil structure to generate a driving force, so that the coil structure can reciprocate around the second magnetic yoke in a first movable space, thereby driving at least part of the galvanometer to reciprocate around the second magnetic yoke in a second movable space outside the first movable space, the first movable space being located on an inner side or an outer side of at least part of the magnetic field generating structure and being used for reciprocating movement of the coil structure, the second movable space being formed by extending a movement direction of the coil structure; and / or a central angle of the first movable space corresponding to a circle is less than 360°.

[0030] An embodiment of the present application further provides a movable platform, comprising:

[0031] a platform body; and

[0032] the detection device according to any one of the above, connected with the platform body.

[0033] The detection device and the movable platform provided by the embodiments of the present application, wherein the detection device comprises a sensing assembly and a driving device, at least part of the sensing assembly is a load, the driving device is used for driving the load, the driving device comprises a movable part and a fixed part, one of the movable part and the fixed part comprises at least part of a magnetic field generating structure, the other of the movable part and the fixed part comprises a coil structure, when the coil structure is powered, the magnetic field generating structure can cooperate with the coil structure to generate a driving force, so that the movable part can reciprocate in a curve in a first movable space, thereby driving at least part of the load to reciprocate in a second movable space outside the first movable space; the second movable space is formed by extending the movement direction of the movable part, and / or the central angle of the first movable space is less than 360°, so that the movement inertia of the driving device can be reduced, thereby reducing the mechanical time constant of the driving device, and further improving the control response speed of the driving device, thereby improving the detection precision of the detection device.

[0034] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the disclosure of the embodiments of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0035] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced below. Obviously, the drawings in the following description are some embodiments of the present application, and those skilled in the art can also obtain other drawings according to these drawings without creative labor.

[0036] Fig. 1 is a structural schematic diagram of a detection device provided by an embodiment of the present application;

[0037] Fig. 2 is a structural schematic diagram of a detection device provided by an embodiment of the present application;

[0038] Fig. 3 is a partial structural schematic diagram of a detection device provided by an embodiment of the present application;

[0039] Fig. 4 is a partial structural schematic diagram of a detection device provided by an embodiment of the present application;

[0040] Fig. 5 is a schematic diagram of a first movable space and a second movable space provided by an embodiment of the present application;

[0041] Fig. 6(A) is a schematic diagram of a first movable space and a second movable space provided by an embodiment of the present application;

[0042] Fig. 6(B) is a schematic diagram of a first movable space and a second movable space provided by an embodiment of the present application;

[0043] Fig. 7 is a schematic diagram of a partial structure of a detection device according to an embodiment of the present application;

[0044] Fig. 8 is a schematic diagram of an output curve of a driving device according to an embodiment of the present application;

[0045] Fig. 9 is a schematic diagram of a coil structure according to an embodiment of the present application;

[0046] Fig. 10 is a schematic diagram of a partial structure of a detection device according to an embodiment of the present application;

[0047] Fig. 11 is a schematic diagram of a partial structure of a detection device according to an embodiment of the present application;

[0048] Fig. 12 is a schematic diagram of a partial structure of a detection device according to an embodiment of the present application;

[0049] Fig. 13 is a schematic diagram of a partial structure of a detection device according to an embodiment of the present application;

[0050] Fig. 14 is a schematic diagram of a partial structure of a detection device according to an embodiment of the present application;

[0051] Fig. 15 is a schematic diagram of a partial structure of a detection device according to an embodiment of the present application;

[0052] Fig. 16 is a schematic diagram of a partial structure of a detection device according to an embodiment of the present application;

[0053] Fig. 17(A) is a schematic diagram of a partial structure of a detection device according to an embodiment of the present application, in which a second magnetic yoke and a central shaft are shown;

[0054] Fig. 17(B) is a schematic diagram of a partial structure of a detection device according to an embodiment of the present application, in which a second magnetic yoke and a central shaft are shown;

[0055] Fig. 18 is a sectional view of a detection device according to an embodiment of the present application;

[0056] Fig. 19 is a schematic diagram of a partial exploded view of a detection device according to an embodiment of the present application.

[0057] Explanation of Reference Numerals:

[0058] 100: detection device; 101: sensing assembly; 102: driving device; 103: load; 1031: load body; 1032: load fitting portion;

[0059] 10: movable portion;

[0060] 20: fixed portion;

[0061] 30, magnetic field generating structure; 31, magnet unit; 31a, first surface; 31b, second surface; 31c, first magnet unit; 31d, second magnet unit; 311, first magnet; 312, second magnet; 32, magnetic conducting unit; 321, first magnetic yoke; 3211, first end surface; 3212, second end surface; 322, second magnetic yoke;

[0062] 40, coil structure; 41, first effective conductor; 42, second effective conductor; 43, slot;

[0063] 51, first movable space; 52, second movable space;

[0064] 60, central axis;

[0065] 70, coil fixing frame; 71, coil connecting part; 72, load connecting part;

[0066] 80, detection mechanism; 81, trigger piece; 82, sensing piece; 91, base; 92, housing; 93, first bearing; 94, second bearing; 95, fixing piece. DETAILED DESCRIPTION

[0067] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0068] In the description of the present application, it should be understood that the orientations or positional relationships indicated by the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise" and the like are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements indicated must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first" and "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first" and "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise specifically limited.

[0069] It should also be understood that the terms used in the specification and the following claims are intended to describe particular embodiments and do not intend to limit the application. As used in the specification and the appended claims, the singular forms "a," "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

[0070] It should also be further understood that the term "and / or" used in the specification and the appended claims is intended to refer to any combination of one or more of the associated listed items and all possible combinations, and includes these combinations.

[0071] Some embodiments of the present application will now be described in detail in connection with the accompanying drawings. The following embodiments and features can be combined with each other unless otherwise specified.

[0072] Referring to FIG. 1, an embodiment of the present application provides a detection device 100. The detection device 100 includes an active detection device and a passive detection device. The active detection device includes any detection device that can measure information associated with an external object by emitting a signal and receiving a signal reflected by the external object, such as a radar, a structured light sensor, a TOF sensor, etc. The passive detection device includes a detection device that receives a signal from the external environment to measure information associated with an external object, such as a camera, a multispectral scanner, etc. The present application does not specifically limit the type of detection device 100.

[0073] By way of example, the detection device 100 is used to detect external objects around a movable platform. Taking the detection device 100 including an active detection device as an example, the detection device 100 can emit a signal outwardly and receive a signal reflected by an external object to measure information associated with the external object.

[0074] The movable platform includes at least one of a robot, a movable vehicle, a movable ship, a gimbal, an aircraft, etc. The aircraft can include a rotorcraft, a fixed-wing aircraft, a helicopter, or a hybrid fixed-wing-rotor aircraft, etc. The rotorcraft can be a single-rotor aircraft, a dual-rotor aircraft, a triple-rotor aircraft, a quad-rotor aircraft, a hexa-rotor aircraft, an octo-rotor aircraft, a decat-rotor aircraft, or a dodeca-rotor aircraft, etc. Optionally, the aircraft includes an unmanned aerial vehicle. The aircraft can include, but is not limited to, a manned aircraft, a logistics aircraft, a aerial photography aircraft, an agricultural plant protection aircraft, an industry rescue aircraft, a gimbal includes an airborne gimbal, a handheld gimbal, a gimbal camera, the above are only examples, the embodiments of the present application do not specifically limit the type of aircraft and gimbal.

[0075] Exemplarily, the information associated with the external object includes at least one of the following: distance information between the target object, such as an obstacle, in the external environment and the detection device 100, position information of the target object, motion speed information of the target object, and the like.

[0076] Specifically, the detection device 100 can include at least one of the following: a radar, or any other suitable detection device 100. The radar can include a laser radar, a millimeter wave radar, or an ultrasonic radar, and the like.

[0077] The following will be explained by taking the detection device 100 as a radar as an example, but not limited thereto.

[0078] In some embodiments, the detection device 100 includes a sensing assembly 101 for detecting the external object, and a driving device 102 for driving at least part of the sensing assembly 101 to move.

[0079] It can be understood that at least part of the sensing assembly 101 is a load 103. In some embodiments, the load 103 includes at least one of the following: an optical element, a signal receiving element, a signal emitting element, and the like. Exemplarily, the optical element includes at least one of the following: a lens, a mirror, a prism, a galvanometer, a grating, and the like.

[0080] Exemplarily, the detection device 100 includes a radar, and the radar includes a scanning module, a transmitting module, a receiving module, and a processing module. The scanning module includes the driving device 102 and the load 103, and the load 103 includes an optical element. The driving device 102 is used to drive the load 103 to move, so that the transmitting signal of the transmitting module of the radar can be emitted to a specific direction or different directions after passing through the scanning module, and the reflected signal reflected by the external environment is received by the receiving module, and the processing module analyzes and processes, so as to obtain the detection result of the external environment. Exemplarily, the galvanometer load is connected to the driving device 102, and the driving device 102 can repeatedly vibrate within a certain angle range to drive the galvanometer to reflect the electromagnetic energy beam signal, so as to make the electromagnetic energy beam deflected, and realize the scanning of the object in the external environment.

[0081] It can be understood that the motion frequency of the driving device 102 determines the scanning frequency of the detection device 100, thereby affecting the imaging quality of the detection device 100. In order to improve the motion frequency of the driving device 102, on the one hand, the system control precision and control bandwidth can be improved, and on the other hand, the inertia of the driving device 102 can be reduced and the rated output of the driving device 102 can be increased. However, considering that the former is difficult to improve due to the constraints of device size, process, and the like, it is extremely important to reduce the motion inertia of the driving device 102 while ensuring the output of the driving device 102, and the embodiments of the present application have carried out in-depth design in this regard.

[0082] For example, the relationship between relevant parameters in some embodiments of this application can be referred to at least one of the following formulas one to four.

[0083] Formula 1 is as follows:

[0084] Where f is the frequency, T c This is the mechanical time constant.

[0085] Formula 2 is as follows:

[0086] Among them, T c Where J is the mechanical time constant, F is the moment of inertia, and F is the output force.

[0087] Formula 3 is as follows:

[0088] J = mR 2

[0089] Where J is the moment of inertia, m is the mass, and R is the radius of rotation.

[0090] Formula 4 is as follows:

[0091] F = BIL

[0092] Where F is the output force, B is the magnetic flux density (also known as magnetic induction intensity, hereinafter referred to as magnetic flux density), I is the current intensity through the coil structure 40, and L is the length of the part of the coil structure 40 that helps to generate the output force.

[0093] From Formulas 1 and 2, it can be seen that if the output force F remains constant or increases, and J decreases, then the mechanical time constant T... c Decreasing the mass increases the frequency f. As shown in Formula 3, if the radius of rotation remains constant, decreasing the mass, or if the mass remains constant or decreases, decreasing the radius of rotation, will both reduce the moment of inertia.

[0094] Referring to Figure 2, in some embodiments, the drive device 102 includes a movable portion 10 and a fixed portion 20, wherein the movable portion 10 is capable of driving at least a portion of the load 103 to move.

[0095] Understandably, if the moment of inertia of the moving part 10 is too large when it moves relative to the fixed part 20, the mechanical time constant of the drive device 102 will be too large when the output force of the drive device 102 is constant, thereby affecting the control response speed of the drive device 102.

[0096] To this end, referring to FIGS. 2-4, the embodiment of the present application provides a detection device 100, which comprises a sensing assembly 101, a movable part 10 and a fixed part 20, at least part of the sensing assembly 101 is a load 103; the movable part 10 is configured to be connected with the load 103; one of the movable part 10 and the fixed part 20 comprises at least part of a magnetic field generating structure 30, and the other of the movable part 10 and the fixed part 20 comprises a coil structure 40, which is arranged in a magnetic field generated by the magnetic field generating structure 30. When the coil structure 40 is energized, the magnetic field generating structure 30 can cooperate with the coil structure 40 to generate a driving force, so that the movable part 10 can reciprocate in a curve in a first movable space 51, thereby driving at least part of the load 103 to reciprocate in a second movable space 52 outside the first movable space 51, the first movable space 51 is located on the inner side or the outer side of the fixed part 20 and is used for the reciprocating curve movement of the movable part 10. The second movable space 52 is formed by the movement direction of the movable part 10, and / or the corresponding central angle of the first movable space 51 is less than 360°.

[0097] The detection device 100 of the above embodiment, since one of the movable part 10 and the fixed part 20 comprises the at least partial magnetic field generating structure 30, and the other of the movable part 10 and the fixed part 20 comprises the coil structure 40, when the coil structure 40 is powered, the magnetic field generating structure 30 can cooperate with the coil structure 40 to generate driving force, so that the movable part 10 can reciprocate in a curved motion in the first active space 51, thereby driving the at least partial load 103 to reciprocate in the second active space 52 outside the first active space 51; the second active space 52 is formed by extending the movement direction of the movable part 10, and / or, the central angle of the first active space 51 corresponds to less than 360°, so as to reduce the inertia of the driving device 102, thereby reducing the mechanical time constant of the driving device 102, improving the movement frequency of the movable part 10 of the driving device 102, and further improving the control response speed of the driving device 102, which is beneficial to more accurately control the driving device 102, and the control of the driving device 102 is simpler and easier, thereby providing a guarantee for the detection device 100 to have higher detection precision. In further detail, compared with the fully closed movable part 10 in the movement direction, the movable part 10 in the embodiment has an opening or is not closed in the movement direction, so that the mass of the movable part 10 can be reduced to a certain extent, and thus the inertia of the driving device 102 can be reduced. In addition, since the second active space 52 is formed by extending the movement direction of the movable part 10, and / or, the central angle of the first active space 51 corresponds to less than 360°, so as to reduce the space occupied by the driving device 102, so that the driving device 102 can leave the space other than the first active space 51, the space occupied by the movable part 10 and the space occupied by the fixed part 20, to set at least part of other components (such as the load 103) of the detection device 100, thereby improving the space utilization rate, making the structure of the detection device 100 more compact, and being beneficial to realize the miniaturization design of the detection device 100.

[0098] Exemplarily, the magnetic field generating structure 30 can cooperate with the coil structure 40 to generate driving force, which can also be referred to as the output of the driving device 102.

[0099] In some embodiments, the detection device 100 comprises a laser radar, and the load 103 comprises an optical element of the laser radar, the optical element is connected with the movable part 10, and the movable part 10 can drive the optical element to reciprocate in a curved motion, so as to change the propagation path of the laser emitted by the laser radar.

[0100] In some embodiments, the detection device 100 comprises a millimeter wave radar, the load 103 comprises an antenna array panel of the millimeter wave radar, and the antenna array panel is connected to the movable part 10. The movable part 10 is capable of driving the antenna array panel to perform a reciprocating curvilinear motion, so that the millimeter wave radar emits electromagnetic waves in different directions to complete scanning of the external environment, and / or receives radar signals in different directions.

[0101] In some embodiments, the detection device 100 comprises an ultrasonic radar, the load 103 comprises an ultrasonic wave emitting device of the ultrasonic radar, and the ultrasonic wave emitting device is connected to the movable part 10. The movable part 10 is capable of driving the ultrasonic wave emitting device to perform a reciprocating curvilinear motion, so that the ultrasonic radar emits ultrasonic waves in different directions to complete scanning of the external environment, and / or receives radar signals in different directions.

[0102] Exemplarily, the first movable space 51 is located on the inner side or the outer side of the fixed part 20, including: the first movable space 51 is located on the inner side of the fixed part 20; and the first movable space 51 is located on the outer side of the fixed part 20. The first movable space 51 is located on the inner side of the fixed part 20, and at least one of the following is included: at least part of the first movable space 51 is located in the fixed part 20; and the first movable space 51 is located on the inner side of the entire fixed part 20. For example, at least two sub-parts of the fixed part 20 enclose the first movable space 51.

[0103] The area where the first movable space 51 is located can be arc-shaped, S-shaped, fan-shaped, other curved shapes, irregular shapes, etc., which are not limited herein.

[0104] Exemplarily, the shape of the area where the first movable space 51 is located is arc-shaped. Please refer to FIG. 5, the corresponding central angle β of the first movable space 51 is less than 360°, such as 30°, 60°, 90°, 120°, 150°, 170° or any other angle less than 360°.

[0105] Exemplarily, the limit boundaries at both ends of the area where the first movable space 51 is located are arranged at intervals in the circumferential direction.

[0106] For example, referring to FIG. 5, line m and line n pass through the limit boundaries of the region where the first active space 51 is located, and line m and line n intersect at point O. The region where the first active space 51 is located is the region enclosed by line g, line h, line m and line n. For example, the second active space 52 is at least a part of the space through which line m rotates in the ω direction to first reach line n. For example, the region where the second active space 52 is located is the region enclosed by line j, line i, line m and line n. For example, the second active space 52 is the Q1 region in FIG. 5. For example, the second active space 52 is the Q2 region in FIG. 6(A). For example, the second active space 52 is the Q3 region in FIG. 6(B). The above figures are only schematic, and the shape and / or size of the Q1 region, the Q2 region and the Q3 region are not specifically limited. Optionally, the specific shape and / or size of the second active space 52 is related to at least one of the shape of the fixed part 20, the shape of the movable part 10, the size of the load 103, the motion limit of the load 103, etc.

[0107] For example, the movable part 10 is capable of reciprocating curved motion in the first active space 51, so as to drive at least part of the load 103 to reciprocate in the second active space 52 outside the first active space 51, and the second active space 52 is formed by extending the motion track of the movable part 10 outward; and / or, the corresponding central angle of the first active space 51 is less than 360°. In this way, the inertia of the driving device 102 can be reduced, the mechanical time constant of the driving device 102 can be reduced, the motion frequency of the movable part 10 of the driving device 102 can be increased, and the control response speed of the driving device 102 can be improved, which is beneficial to more accurately control the driving device 102, and the control of the driving device 102 is simpler and easier, and provides a guarantee for the sensor assembly 101 to have a higher scanning frequency and for the detection equipment 100 to have a higher detection accuracy.

[0108] In some embodiments, the movable part 10 is capable of reciprocating curved motion within a first movable space 51, so as to drive the at least partial load 103 to reciprocate within a second movable space 52 outside the first movable space 51, the first movable space 51 and at least part of the second movable space 52 being arranged along the movement direction of the movable part 10; and / or, the first movable space 51 corresponds to a central angle of a circle less than 360°. In this way, the inertia of the driving device 102 can be reduced, so as to reduce the mechanical time constant of the driving device 102, increase the movement frequency of the movable part 10 of the driving device 102, and further improve the control response speed of the driving device 102, which is conducive to more accurate control of the driving device 102, and makes the control of the driving device 102 simpler and easier, and provides a guarantee for the sensor assembly 101 having a higher scanning frequency and the detection apparatus 100 having a higher detection accuracy. For example, the first movable space 51 and at least part of the second movable space 52 are arranged along the movement direction of the movable part 10 with a spacing. For another example, the spacing between the first movable space 51 and at least part of the second movable space 52 along the movement direction of the movable part 10 is zero or close to zero.

[0109] It can be understood that the second movable space 52 is formed by extending the movement direction of the movable part 10, and / or the first movable space 51 corresponds to a central angle of a circle less than 360°, including the following three schemes: the second movable space 52 is formed by extending the movement direction of the movable part 10; the first movable space 51 corresponds to a central angle of a circle less than 360°; the second movable space 52 is formed by extending the movement direction of the movable part 10, and the first movable space 51 corresponds to a central angle of a circle less than 360°.

[0110] Please refer to FIG. 4 and FIG. 7. In some embodiments, when the first movable space 51 is located inside the fixed part 20, the first movable space 51 is formed by being enclosed by the fixed part 20. In this way, the space occupied by the fixed part 20 can be fully utilized, which is conducive to reducing the size of the driving device 102, and makes the structure of the driving device 102 and the detection apparatus 100 more compact.

[0111] For example, the region where the first movable space 51 is located is a cavity.

[0112] Please refer to FIG. 7. In some embodiments, the movable part 10 comprises a coil structure 40, and the fixed part 20 comprises at least part of a magnetic field generating structure 30. The movable part 10 comprises the coil structure 40, which has a lighter mass and a smaller volume compared to the at least part of the magnetic field generating structure 30, i.e., adopts a moving coil scheme, which can make the rotational inertia of the driving device 102 smaller.

[0113] In some embodiments, the movable part 10 is synchronous with the load 103, so that there is no need to set a complex transmission structure between the movable part 10 and the load 103, which is beneficial to realize the structural simplification and miniaturization of the detection device 100. In other embodiments, the movable part 10 can also be asynchronous with the load 103.

[0114] In some embodiments, the movable part 10 is synchronous with the load 103, so that there is no need to set a complex transmission structure between the movable part 10 and the load 103, which is beneficial to realize the structural simplification and miniaturization of the detection device 100. In other embodiments, the movable part 10 can also be asynchronous with the load 103.

[0115] It can be understood that the movable part 10 can reciprocate in a curve in the first activity space 51, and the movable part 10 reciprocates in a curve in a limited space; when the movable part 10 moves to or close to the limit boundary of the region where the first activity space 51 is located, the current direction of the coil structure 40 is controlled, so that the coil structure 40 moves reversely, and then the load 103 moves reversely.

[0116] In some embodiments, the driving force is related to the current input in the coil structure 40, and the current input in the coil structure 40 is determined according to the target motion information of the load 103, so that the accurate directional control of the current can be realized. According to the required motion of the load, the current input of the coil structure 40 is controlled, so that the driving force generated by the cooperation of the magnetic field generating structure 30 and the coil structure 40 is controlled, so as to realize that the coil structure 40 drives at least part of the load 103 to realize the required motion in the second activity space. For example, the target motion information of the load 103 includes at least one of the following: the target motion position of the load 103, the target motion speed of the load 103, the target motion frequency of the load 103, the target motion direction of the load 103, etc. For example, the target motion information of the load 103 includes at least one of the following: the scanning track requirement of at least part of the load 103 and the motion information detected by the detection mechanism.

[0117] In some embodiments, the movable part 10 is capable of reciprocating curved motion and swinging around a preset swinging axis, and the movable part 10 has a center line parallel to the preset swinging axis. When the movable part 10 moves to a position where the center line coincides with the preset swinging axis, the coil structure 40 is energized with a first current and has a first torque; when the movable part 10 moves to a position where the center line deviates from the preset swinging axis, the coil structure 40 is energized with the first current and has a second torque, and the second torque is smaller than the first torque. Exemplarily, the movable part 10 includes the coil structure 40, and when the movable part 10 moves to different positions while the current of the coil structure 40 remains unchanged, the torque of the coil structure 40 also changes. In this way, the current of the coil structure 40 can be adjusted according to actual needs, so as to control the motion of the coil structure 40, and further control the motion of the load 103, so that the load 103 achieves any suitable motion characteristics. Understandably, when the second torque is zero or close to zero, the reverse motion of the coil structure 40 can be achieved by reversing the current of the coil structure 40.

[0118] Exemplarily, the preset swinging axis is shown as a dashed line u1 in FIG. 7, and the center line of the movable part 10 is shown as a dashed line u2 in FIG. 7. Exemplarily, the preset swinging axis is located in the plane where the movable part 10 moves. Exemplarily, refer to FIG. 8, which shows the output of the driving device 102 when the current flowing through the coil structure 40 remains unchanged. The output of the driving device 102 can also represent the torque of the driving device 102 when the force arm remains unchanged. In FIG. 8, the abscissa represents the position angle θ of the movable part 10, and the ordinate represents the driving force generated by the magnetic field generating structure 30 and the coil structure 40. When the movable part 10 moves to a position where the center line coincides with the preset swinging axis, the coil structure 40 is energized with a first current, and the driving force generated by the magnetic field generating structure 30 and the coil structure 40 is a first force F1, corresponding to a first torque T1; when the movable part 10 moves to a position where the center line deviates from the preset swinging axis and reaches the boundary of the first active space, the coil structure 40 is energized with the first current, and the driving force generated by the magnetic field generating structure 30 and the coil structure 40 is a second force F2, corresponding to a second torque T2. Among them, F1 is greater than F2, T1 is greater than T2, and F2 is close to 0. During the movement of the movable part 10 from the position where the center line coincides with the preset swinging axis to the boundary of the first active space, the driving force generated by the magnetic field generating structure 30 and the coil structure 40 gradually decreases. In other embodiments, according to the needs of the load 103, the current flowing through the coil structure 40 can be adaptively changed, so that the driving force or torque generated by the magnetic field generating structure 30 and the coil structure 40 can also be adaptively changed to drive the load 103 to complete the corresponding motion.

[0119] In some embodiments, the movable part 10 is capable of reciprocating curvilinearly relative to the fixed part 20 to drive the load 103 to reciprocate curvilinearly, so as to increase the detection range or scanning range of the detection device 100. In some embodiments, the movable part 10 is capable of reciprocating curvilinearly relative to the fixed part 20 to drive the load 103 to reciprocate pendulously. Exemplarily, the movable part 10 is capable of reciprocating curvilinearly and pendulously about a preset pendulum axis, and the load 103 is capable of reciprocating curvilinearly and pendulously. In other embodiments, the movable part 10 is capable of reciprocating curvilinearly relative to the fixed part 20 to drive the load 103 to reciprocate linearly.

[0120] Exemplarily, the movable part 10 is capable of reciprocating curvilinearly in the first movable space 51 to drive at least part of the load 103 to reciprocate vibratory in the second movable space 52.

[0121] Exemplarily, the movable part 10 is capable of reciprocating curvilinearly in the first movable space 51 to drive at least part of the load 103 to reciprocate rotatory in the second movable space 52.

[0122] In some embodiments, the movable part 10 is capable of reciprocating rotatory about a preset rotation axis within a first preset angle range, so as to drive the load 103 to reciprocate curvilinearly. In this way, the length of the motion trajectory of the load 103 can be reduced as much as possible, the motion frequency of the load 103 can be increased, and the detection efficiency of the detection device 100 can be improved, while achieving the same scanning range. The first preset angle range can be set according to actual requirements. Exemplarily, the first preset angle range is less than 360°. For example, the first preset angle range is less than 60°, 90°, 120°, 150°, 180°, 270°, 360°, or any suitable angle less than 360°. Exemplarily, the preset rotation axis is shown by the dashed line v in FIG. 7. The preset rotation axis can be parallel to the preset pendulum axis; or the preset rotation axis can be perpendicular to the preset pendulum axis; or the preset rotation axis can form an obtuse angle or an acute angle with the preset pendulum axis.

[0123] Referring to FIG. 3, in some embodiments, the movable part 10 is capable of reciprocating rotatory about a preset rotation axis, so as to drive the load 103 to reciprocate rotatory pendulously about the central axis 60, so as to reduce the length of the motion trajectory of the load 103 as much as possible, increase the motion frequency of the load 103, and improve the detection efficiency of the detection device 100, while achieving the same scanning range.

[0124] It can be understood that the central axis 60 can be a solid axis or a virtual axis. For example, referring to FIG. 3, the central axis 60 is a solid axis, i.e., a real existing structure. When the central axis is a solid axis, the central axis 60 can be rotatable or fixed. For example, the central axis 60 is a virtual axis, such as only an axis line without a solid structure.

[0125] For example, the preset rotation axis is parallel to the axis line of the central axis 60, so that the structure of the detection device 100 is compact, which is conducive to reducing the moment of inertia of the driving device 102 and the moment of inertia of the load 103, and is conducive to realizing the miniaturization of the detection device 100. For example, the preset rotation axis coincides with the axis line of the central axis 60, so that the structure of the detection device 100 is more compact, which is conducive to further reducing the moment of inertia of the driving device 102 and the moment of inertia of the load 103, and is conducive to realizing the miniaturization of the detection device 100.

[0126] Referring to FIG. 9, in some embodiments, the coil structure 40 includes a first effective conductor 41 and a second effective conductor 42 which are spaced apart along the movement direction of the movable part 10, and the extension direction of the first effective conductor 41 intersects the extension direction of the second effective conductor 42 at the preset rotation axis. In this way, the reciprocating rotation of the coil structure 40 around the preset rotation axis can be ensured. For example, the first effective conductor 41 is the part of the coil structure 40 which intersects the magnetic flux generated by the magnetic field generating structure 30 and contributes to the generation of driving force. The second effective conductor 42 is the part of the coil structure 40 which intersects the magnetic flux generated by the magnetic field generating structure 30 and contributes to the generation of driving force. For example, the first effective conductor 41 and the second effective conductor 42 are spaced apart, and the first effective conductor 41 and the second effective conductor 42 are parallel; or the included angle between the first effective conductor 41 and the second effective conductor 42 is an acute angle or an obtuse angle.

[0127] In some embodiments, the magnetic field generating structure 30 has at least two end faces which are spaced apart along the movement direction of the movable part 10, and the radial extension direction of the end faces of the magnetic field generating structure 30 intersects the preset rotation axis. In this way, the reciprocating rotation of the coil structure 40 around the preset rotation axis can be ensured. Referring to FIG. 7, in some embodiments, the magnetic field generating structure 30 includes a magnet unit 31, and the at least two end faces of the magnetic field generating structure 30 include a first face 31a and a second face 31b of the magnet unit 31, and the radial extension direction of the first face 31a and the second face 31b intersects the preset rotation axis. For example, the magnetic field generating structure 30 includes a first magnet unit 31c (see FIG. 10) and a second magnet unit 31d (see FIG. 10), and the at least two end faces of the magnetic field generating structure 30 include at least two of the following: the first face 31a of the first magnet unit 31c, the second face 31b of the first magnet unit 31c, the first face 31a of the second magnet unit 31d, and the second face 31b of the second magnet unit 31d.

[0128] In some embodiments, the magnetic field generating structure 30 has at least two end faces spaced along the moving direction of the movable part 10. When the load 103 moves to a distance between the load 103 and the end face is less than or equal to a preset threshold, the current direction of the coil structure 40 can be changed to make the coil structure 40 move reversely, and thus the load 103 moves reversely. It can be understood that when the load 103 moves to a distance between the load 103 and at least one of the at least two end faces is less than or equal to a preset threshold, the current direction of the coil structure 40 can be changed to make the load 103 move reversely. In this way, the magnetic field generating structure 30 can be used to generate driving force in cooperation with the coil structure 40 to make the movable part 10 and at least part of the load 103 reciprocate, and at least part of the magnetic field generating structure 30 can be used to limit and / or calibrate the load 103, which expands the function of the magnetic field generating structure 30, reduces the number of components, and is conducive to reducing the cost and the weight and volume of the driving device 102. It can be understood that the at least part of the magnetic field generating structure 30 limiting and / or calibrating the load 103 includes at least one of the following: used for calibrating the load 103; used for limiting the movement of the load 103; used for protecting other parts of the detection device 100. For example, used for calibrating the load 103, that is, at least part of the magnetic field generating structure 30 can be used as zero calibration or calibration. For example, if the load 103 first collides with at least one of the at least two end faces of the magnetic field generating structure 30, it can be used as a calibration reference. Subsequently, the load 103 approaches the end face that the load 103 first collides with without colliding again, and if the load 103 moves to a distance between the load 103 and the end face greater than the preset threshold, the driving device 102 is controlled to drive the load 103 to move reversely. For example, protecting other parts of the detection device 100, that is, at least part of the magnetic field generating structure 30 can be used to constrain the load 103, so that the load 103 collides with at least one of the at least two end faces at most during movement, avoiding colliding with other parts of the detection device 100, such as other fragile parts of the detection device 100, thereby playing a safety protection role for other parts of the detection device 100.

[0129] Referring to FIG. 7, in some embodiments, the at least two end faces of the magnetic field generating structure 30 can include at least two of the following: the first face 31a of the magnet unit 31, the second face 31b of the magnet unit 31, the first end face 3211 of the first magnetic yoke 321, and the second end face 3212 of the first magnetic yoke 321. For example, the at least two end faces of the magnetic field generating structure 30 can include the first face 31a and the second face 31b of the magnet unit 31. For example, the at least two end faces of the magnetic field generating structure 30 can include the first face 31a of the magnet unit 31 and the first end face 3211 of the first magnetic yoke 321. For example, the at least two end faces of the magnetic field generating structure 30 can include the first end face 3211 and the second end face 3212 of the first magnetic yoke 321. For example, the at least two end faces of the magnetic field generating structure 30 can include the first end face 3211 of the first magnetic yoke 321, the second end face 3212 of the first magnetic yoke 321, the first face 31a of the magnet unit 31, and the second face 31b of the magnet unit 31.

[0130] Referring to FIG. 7, in some embodiments, the magnetic field generating structure 30 includes a magnetic conducting unit 32 for guiding the magnetic field, specifically, for guiding the formation of a closed magnetic circuit. The first magnetic yoke 321 of the magnetic conducting unit 32 has a first end face 3211 and a second end face 3212; the first end face 3211 and / or the second end face 3212 can be used to limit and / or calibrate the load 103 when the load 103 reciprocates. In this way, the first magnetic yoke 321 can be used for both magnetic conduction and limiting and / or calibrating the load 103, expanding the function of the first magnetic yoke 321, reducing the number of components, and simplifying the structure of the driving device 102.

[0131] In some embodiments, the movable part 10 can reciprocate in a curved manner relative to the fixed part 20, and the movable part 10 can oscillate about a preset oscillation axis relative to the fixed part 20 to drive at least part of the load 103 to reciprocate in the second active space 52.

[0132] In some embodiments, the movement trajectory of the movable part 10 from the position corresponding to the preset oscillation axis to the first limit position or the second limit position is arc-shaped, so as to increase the driving force generated by the cooperation between the magnetic field generating structure 30 and the coil structure 40, improve material utilization, and provide protection for the reciprocating rotation of the coil structure 40 about the preset rotation axis. In some embodiments, the movement trajectory of the movable part 10 from the first limit position or the second limit position to the position corresponding to the preset oscillation axis is arc-shaped, so as to increase the driving force generated by the cooperation between the magnetic field generating structure 30 and the coil structure 40 as much as possible, improve material utilization, and provide protection for the reciprocating rotation of the coil structure 40 about the preset rotation axis.

[0133] In some embodiments, the magnetic field generating structure 30 is configured to generate a pair of pole magnetic fields, which can make the control logic simple and facilitate the generation of desired motion by controlling the current of the coil structure 40. Illustratively, the pair of pole magnetic fields are a pair of pole air gap magnetic fields with a sinusoidal spatial distribution. Illustratively, the pair of pole magnetic fields has only one peak. For example, the pair of pole magnetic fields has a sinusoidal spatial distribution and only one period, and only one highest point and one lowest point. When the magnetic field generated by the magnetic field generating structure 30 varies in strength, the magnetic field still has a sinusoidal spatial distribution, but the positions of the highest point and the lowest point change adaptively. In other embodiments, the magnetic field generating structure 30 can also be configured to generate multiple pairs of pole magnetic fields, such as two pairs of pole magnetic fields or more. Illustratively, the two pairs of pole magnetic fields have two peaks.

[0134] Referring to FIG. 10, in some embodiments, the magnetic field generating structure 30 includes a magnet unit 31 configured to generate a magnetic field, and the magnet unit 31 is configured to cooperate with the coil structure 40 to generate a driving force to drive the movable part 10 to perform a reciprocating curved motion. The magnet unit 31 can generate a strong and stable magnetic field, so that the driving force generated by the cooperation of the magnetic field generating structure 30 and the coil structure 40 can reliably drive the movable part 10 to perform a reciprocating curved motion.

[0135] Referring to FIG. 10, in some embodiments, the magnet unit 31 includes a first magnet 311 and a second magnet 312, and the first magnet 311 and the second magnet 312 have opposite magnetic poles, wherein the first magnet 311 and the second magnet 312 are integrally formed, or the first magnet 311 and the second magnet 312 are separately arranged. Illustratively, the first magnet 311 and the second magnet 312 are integrally formed, and the magnetic poles of the first magnet 311 and the second magnet 312 are magnetized to the desired magnetic poles when magnetized, so as to reduce the assembly steps of the driving device 102 and facilitate the assembly efficiency of the driving device 102. Illustratively, the first magnet 311 and the second magnet 312 are separately arranged and connected by at least one of adhesive connection, buckle connection, etc.

[0136] The number of magnet units 31 can be designed according to actual needs, such as one, two, three or more. Referring to FIG. 10, in some embodiments, the number of magnet units 31 includes two, wherein one magnet unit 31, the coil structure 40 and the other magnet unit 31 are arranged in sequence, so that, under the condition that the size, weight and structure of the magnet unit 31 and the coil structure 40 are constant, the magnetic field generating structure 30 can cooperate with the coil structure 40 to generate a larger driving force; and the structure of the driving device 102 can be more compact.

[0137] Referring to FIG. 7 or FIG. 10, in some embodiments, the movable part 10 is capable of reciprocating rotation around a preset rotation axis; the magnet unit 31 and the coil structure 40 are arranged radially along the preset rotation axis. It can be understood that, under the condition that the weight of the coil structure 40 is constant, the radial arrangement of the magnet unit 31 and the coil structure 40 along the preset rotation axis can reduce the rotation radius of the coil structure 40 or the movable part 10, thereby reducing the rotational inertia of the driving device 102. In the case of the same torque coefficient, the radial space of the driving device 102 of the present embodiment is smaller, the rotational inertia is smaller, the dynamic balance characteristic is better, and the driving device 102 can achieve higher precision, faster response, and is more suitable for use in the detection equipment 100 which needs to achieve high-precision detection. In addition, the radial arrangement of the magnet unit 31 and the coil structure 40 along the preset rotation axis can greatly reduce the overall size and make the spatial layout of the load more convenient, so that the structure of the scanning module of the detection equipment 100 is more compact, which is conducive to the miniaturization design. Exemplarily, the magnetic field direction of the driving device 102 in FIG. 10 is shown by the dotted arrow in FIG. 10.

[0138] Referring to FIG. 10, exemplarily, the movable part 10 is capable of reciprocating rotation around a preset rotation axis, wherein one magnet unit 31, the coil structure 40 and the other magnet unit 31 are arranged radially along the preset rotation axis in sequence, that is, the arrangement direction of one magnet unit 31, the coil structure 40 and the other magnet unit 31 is perpendicular to the preset rotation axis. Exemplarily, the two magnet units 31 are respectively a first magnet unit 31c and a second magnet unit 31d.

[0139] In some embodiments, the coil structure 40 is arranged close to the preset rotation axis relative to the magnet unit 31, which is conducive to further reducing the motion radius of the coil structure 40, thereby reducing the moment of inertia of the coil structure 40. Referring to FIGS. 11 and 12, for example, the magnet unit 31 and the coil structure 40 are arranged radially along the preset rotation axis, and the coil structure 40 is arranged close to the preset rotation axis relative to the magnet unit 31; no magnet unit 31 is arranged between the coil structure 40 and the preset rotation axis; or, no magnet unit 31 is arranged between the coil structure 40 and the second magnetic yoke 322 of the magnetic field generating structure 30. In this way, the coil structure 40 can be arranged closer to the preset rotation axis, thereby further reducing the rotation radius of the coil structure 40, effectively reducing the moment of inertia of the driving device 102, thereby further reducing the mechanical time constant of the driving device 102, improving the motion frequency of the driving device 102, and further improving the control response speed of the driving device 102, which can more accurately control the driving device 102, and the control of the driving device 102 is simpler and easier, thereby providing a guarantee for the detection equipment 100 to have good detection accuracy. In addition, no magnet unit 31 is arranged between the coil structure 40 and the preset rotation axis; or, no magnet unit 31 is arranged between the coil structure 40 and the second magnetic yoke 322 of the magnetic field generating structure 30, which can also reduce the number of components arranged, which is conducive to reducing the overall weight and volume of the driving device 102 and improving the assembly efficiency of the driving device 102. For example, referring to FIG. 11, the magnetic field generating structure 30 includes the magnet unit 31, the first magnetic yoke 321, and the second magnetic yoke 322; the first magnetic yoke 321, the magnet unit 31, the coil structure 40, and the second magnetic yoke 322 are arranged radially along the preset rotation axis in sequence, the first magnetic yoke 321 is arranged away from the preset rotation axis relative to the second magnetic yoke 322, and no magnet unit 31 is arranged between the coil structure 40 and the second magnetic yoke 322 of the magnetic field generating structure 30. For example, the magnetic field direction of the driving device 102 in FIG. 11 is shown by the dashed arrow in FIG. 11.

[0140] Referring to FIGS. 11 and 12, in some embodiments, the load 103 can rotate reciprocatingly around the central axis 60, and the coil structure 40 is arranged close to the central axis 60 relative to the magnet unit 31, which is conducive to further reducing the rotation radius of the coil structure 40, thereby reducing the moment of inertia of the coil structure 40.

[0141] Exemplarily, the magnet units 31 and the coil structure 40 are arranged along a radial direction of the preset rotation axis, and the coil structure 40 is arranged close to the central axis 60 relative to the magnet units 31; no magnet unit 31 is arranged between the coil structure 40 and the central axis 60. In this way, the rotating radius of the coil structure 40 can be further reduced, the moment of inertia of the driving device 102 can be effectively reduced, the mechanical time constant of the driving device 102 can be further reduced, the motion frequency of the driving device 102 can be improved, the control response speed of the driving device 102 can be further improved, the driving device 102 can be more accurately controlled, and the control of the driving device 102 is simpler and easier. In addition, no magnet unit 31 is arranged between the coil structure 40 and the central axis 60, the number of components can be reduced, the mass and the size of the whole machine can be reduced, and the assembly efficiency of the driving device 102 can be improved. It can be understood that, in this embodiment, the movable part 10 includes the coil structure 40, and the fixed part 20 includes at least part of the magnetic field generating structure 30. Since no magnet unit 31 is arranged between the coil structure 40 and the central axis 60, the second magnetic yoke 322 can be arranged to follow the movement of the movable part 10, or can be arranged not to follow the movement of the movable part 10. For example, the movable part 10 includes the coil structure 40, and the fixed part 20 includes the first magnetic yoke 321, the magnet units 31 and the second magnetic yoke 322. For another example, the movable part 10 includes the coil structure 40 and the second magnetic yoke 322, and the fixed part 20 includes the first magnetic yoke 321 and the magnet units 31. Exemplarily, the movable part 10 includes the coil structure 40 and the second magnetic yoke 322, the fixed part 20 includes the first magnetic yoke 321 and the magnet units 31, and the second magnetic yoke 322 can be arranged on the same component as the central axis 60, i.e., the second magnetic yoke 322 can serve as the central axis 60 and can also serve as a magnetic guide, so that the number of components can be reduced, the rotating radius of the coil structure 40 can be further reduced, the moment of inertia of the driving device 102 can be further reduced, the mass and the size of the whole machine can be reduced, the structure of the driving device 102 can be more compact, and the miniaturization design of the detection device 100 can be realized.

[0142] Please refer to FIG. 13. In some embodiments, the movable part 10 can rotate reciprocatingly around the preset rotation axis v; the arrangement direction of the magnet units 31 and the coil structure 40 is parallel to the preset rotation axis, so that a better magnetic field can be achieved with a higher material utilization rate; in addition, compared with the traditional motor, the movable part 10 of the driving device 102 in this embodiment has an opening or gap in the direction of reciprocating rotation around the preset rotation axis v, and compared with the closed design of the movable part 10 of the traditional motor in the rotation direction, the mass of the movable part 10 of this embodiment can be further reduced, so that the moment of inertia of the driving device 102 of this embodiment can be significantly reduced. Exemplarily, the magnetic field direction of the driving device 102 in FIG. 13 is shown by the dotted arrows in FIG. 13.

[0143] Referring to FIG. 13, in some embodiments, the movable part 10 is capable of reciprocating rotation around a preset rotation axis, wherein one magnet unit 31, the coil structure 40 and the other magnet unit 31 are arranged in sequence in a direction parallel to the preset rotation axis, so as to realize a better magnetic field with higher material utilization; in addition, compared with a traditional motor, the moment of inertia of the driving device 102 is significantly reduced.

[0144] Referring to FIG. 10 or FIG. 15, in some embodiments, the magnetic field generating structure 30 further comprises a magnetic conducting unit 32, the magnetic conducting unit 32 is configured to guide the magnetic field, and the magnet unit 31 is arranged between the coil structure 40 and at least part of the magnetic conducting unit 32. The magnetic conducting unit 32 can guide the magnetic field to the desired position, which helps to increase the driving force generated by the cooperation of the magnetic field generating structure 30 and the coil structure 40, and is conducive to improving the control response sensitivity and accuracy of the driving device 102. Exemplarily, the magnetic conducting unit 32 can help to form a closed magnetic circuit.

[0145] Referring to FIG. 10 or FIG. 15, in some embodiments, the magnetic conducting unit 32 comprises a first magnetic yoke 321 and a second magnetic yoke 322, the first magnetic yoke 321 and the second magnetic yoke 322 are respectively arranged on opposite sides of the coil structure 40, and the magnet unit 31 is connected to the first magnetic yoke 321 or the second magnetic yoke 322. The arrangement of the first magnetic yoke 321 and the second magnetic yoke 322 can effectively guide the magnetic field to the desired position, which is more conducive to increasing the driving force generated by the cooperation of the magnetic field generating structure 30 and the coil structure 40, and is more conducive to improving the control response sensitivity and accuracy of the driving device 102.

[0146] Referring to FIG. 4 and FIG. 7, in some embodiments, the magnetic conducting unit 32 comprises a first magnetic yoke 321, the first magnetic yoke 321 has a first end face 3211 and a second end face 3212, the first end face 3211 and the second end face 3212 are arranged at opposite ends of the first magnetic yoke 321 along the movement direction of the movable part 10, so as to form at least part of the second movement space 52 between the first end face 3211 and the second end face 3212. In this way, the interval space between the first end face 3211 and the second end face 3212 can be fully utilized to arrange and provide the movement space for the load 103. Compared with the arrangement that the driving device is enclosed into a closed space and the load is arranged and moved outside the closed space enclosed by the driving device, not only the moment of inertia of the driving device 102 can be reduced, but also the size of the driving device 102 can be reduced to provide the movement space for the load 103, so that the space occupied by the driving device 102 and the load 103 as a whole can be further reduced, thereby making the structure of the detection equipment 100 more compact.

[0147] Referring to FIG. 7, in some embodiments, the movable part 10 is capable of reciprocating rotation around a preset rotation axis, the first magnetic yoke 321 of the magnetic conducting unit 32 is arranged away from the preset rotation axis relative to the second magnetic yoke 322 of the magnetic conducting unit 32. In some embodiments, the first magnetic yoke 321 of the magnetic conducting unit 32 is arranged away from the preset rotation axis relative to the second magnetic yoke 322 of the magnetic conducting unit 32, the first magnetic yoke 321 and the second magnetic yoke 322 are arranged radially apart along the preset rotation axis, thus the magnetic conducting unit 32 is capable of better guiding the magnetic field, and the rotational inertia of the driving device 102 is small. For example, the first magnetic yoke 321 and the second magnetic yoke 322 are arranged apart, the magnet unit 31 and the coil structure 40 are arranged between the first magnetic yoke 321 and the second magnetic yoke 322. For example, referring to FIG. 7, the magnet unit 31 and the coil structure 40 are arranged between the first magnetic yoke 321 and the second magnetic yoke 322, the number of the magnet unit 31 includes two, the two magnet units 31 are respectively a first magnet unit 31c and a second magnet unit 31d, the first magnet unit 31c is connected with the first magnetic yoke 321, and the second magnet unit 31d is connected with the second magnetic yoke 322. For example, referring to FIG. 11, the magnet unit 31 and the coil structure 40 are arranged between the first magnetic yoke 321 and the second magnetic yoke 322, the magnet unit 31 is arranged between the first magnetic yoke 321 and the coil structure 40, and no magnet unit 31 is arranged between the coil structure 40 and the second magnetic yoke 322, so as to further reduce the rotational radius of the coil structure 40 and further reduce the rotational inertia of the driving device 102. For example, the first magnetic yoke 321 is connected with the magnet unit 31. For example, the first magnet unit 31c and the second magnet unit 31d in FIG. 7 can be combined and arranged between the first magnetic yoke 321 and the coil structure 40, no magnet unit 31 is arranged between the coil structure 40 and the second magnetic yoke 322, thus the air gap magnetic density is ensured, so that the magnetic field strength can be ensured, and at the same time the rotational radius of the coil structure 40 is reduced, and the reduction of the rotational inertia is realized. It can be understood that B = Φ / A, wherein B is the air gap magnetic density, Φ is the magnetic flux, and A is the air gap area. The air gap is a gap or a clearance existing in a magnetic circuit, for example, the air gap includes the space between the movable part 10 and the fixed part 20; in the case that the magnetic flux Φ is unchanged or slightly reduced, but the air gap area A is reduced, the air gap magnetic density B is increased or can be basically maintained unchanged. No magnet unit 31 is arranged between the coil structure 40 and the second magnetic yoke 322, which can obviously reduce the air gap area A, in the case that the magnetic flux Φ is unchanged, the air gap magnetic density can be increased, even if the magnetic flux Φ is slightly reduced, the air gap magnetic density can be ensured to a certain extent.

[0148] Exemplarily, the first magnetic yoke 321, one of the magnetic body units 31, the coil structure 40, the other magnetic body unit 31, and the second magnetic yoke 322 are arranged in sequence along the radial direction of the preset rotation axis, so that a better magnetic field can be achieved with higher material utilization; in addition, compared with a traditional motor, the moment of inertia of the driving device 102 is greatly reduced. Exemplarily, the first magnetic yoke 321, the magnetic body unit 31, the coil structure 40, and the second magnetic yoke 322 are arranged in sequence along the radial direction of the preset rotation axis, and no magnetic body unit 31 is arranged between the coil structure 40 and the second magnetic yoke 322.

[0149] Please refer to FIG. 11 or FIG. 16. In some embodiments, the magnetic body unit 31 is connected to the first magnetic yoke 321 of the magnetic conducting unit 32, and the magnetic body unit 31 is arranged between the coil structure 40 and the first magnetic yoke 321. No magnetic body unit 31 is arranged between the second magnetic yoke 322 and the coil structure 40, or no magnetic body unit 31 is arranged between the coil structure 40 and the second magnetic yoke 322 of the magnetic field generating structure 30, so that the rotation radius of the coil structure 40 is smaller, and the moment of inertia of the driving device 102 can be further reduced under the condition that the mass of the coil structure 40 is constant. In other embodiments, the magnetic body unit 31 can also be connected to components other than the first magnetic yoke 321, such as the base 91 of the detection device 100 (please refer to FIG. 18) and the like. Exemplarily, the magnetic field direction of the driving device 102 in FIG. 16 is shown by the dotted arrow in FIG. 16.

[0150] Please refer to FIG. 10 or FIG. 13. In some embodiments, the number of magnetic body units 31 includes two, and the two magnetic body units 31 are respectively connected to the first magnetic yoke 321 and the second magnetic yoke 322 of the magnetic conducting unit 32, one of the magnetic body units 31 is arranged between the coil structure 40 and the first magnetic yoke 321, and the other magnetic body unit 31 is arranged between the coil structure 40 and the second magnetic yoke 322, so that a better magnetic field can be achieved with higher material utilization.

[0151] The shape of the magnetic conducting unit 32, the shape of the coil structure 40, and the shape of the magnetic body unit 31 can be set according to actual needs. In some embodiments, the shape of the magnetic conducting unit 32, the shape of the coil structure 40, and the shape of the magnetic body unit 31 are adapted, so that a better magnetic field can be achieved with higher material utilization. Exemplarily, the shape of the first magnetic yoke 321, the shape of the second magnetic yoke 322, the shape of the coil structure 40, and the shape of the magnetic body unit 31 are adapted. The shape of the first magnetic yoke 321, the shape of the second magnetic yoke 322, the shape of the coil structure 40, and / or the shape of the magnetic body unit 31 can include at least one of the following: arc shape, non-arc shape.

[0152] Referring to FIG. 13, in some embodiments, the movable part 10 is capable of reciprocating rotation around a preset rotation axis, the magnetic conducting unit 32, the magnet unit 31 and the coil structure 40 are arranged in parallel with the preset rotation axis, thus, it is beneficial to achieve better magnetic field with higher material utilization to ensure the output of the driving device 102, thereby better driving the load 103 to move. For example, the magnetic conducting unit 32 includes a first magnetic yoke 321 and a second magnetic yoke 322, the first magnetic yoke 321, the magnet unit 31, the coil structure 40 and the second magnetic yoke 322 are arranged in parallel with the preset rotation axis. For example, the magnetic conducting unit 32 includes a first magnetic yoke 321 and a second magnetic yoke 322, the number of the magnet unit 31 includes two, the first magnetic yoke 321, one of the magnet units 31, the coil structure 40, the other magnet unit 31 and the second magnetic yoke 322 are arranged in parallel with the preset rotation axis.

[0153] Referring to FIG. 7, in some embodiments, the movable part 10 is capable of reciprocating rotation around a preset rotation axis, at least part of the magnetic conducting unit 32, the magnet unit 31 and the coil structure 40 are arranged radially along the preset rotation axis, thus, it is beneficial to effectively reduce the rotation radius of the coil structure 40, effectively reduce the moment of inertia of the driving device 102; it is beneficial to achieve better magnetic field with higher material utilization to ensure the output of the driving device 102. For example, the magnetic conducting unit 32 includes a first magnetic yoke 321 and a second magnetic yoke 322, the first magnetic yoke 321, the magnet unit 31, the coil structure 40 and the second magnetic yoke 322 are arranged radially along the preset rotation axis, the first magnetic yoke 321 is arranged away from the preset rotation axis relative to the second magnetic yoke 322, to further reduce the rotation radius of the coil structure 40, further reduce the moment of inertia of the driving device 102; to achieve better magnetic field with higher material utilization. For example, the magnetic conducting unit 32 includes a first magnetic yoke 321 and a second magnetic yoke 322, the number of the magnet unit 31 includes two, the first magnetic yoke 321, one of the magnet units 31, the coil structure 40, the other magnet unit 31 and the second magnetic yoke 322 are arranged radially along the preset rotation axis, thus, it is beneficial to reduce the rotation radius of the coil structure 40 as much as possible, greatly reduce the moment of inertia of the driving device 102; and it is beneficial to achieve better magnetic field with higher material utilization to ensure the output of the driving device 102.

[0154] In some embodiments, the movable part 10 is capable of reciprocating rotation around a preset rotation axis, and the at least partially magnetically permeable unit 32, the magnet unit 31 and the coil structure 40 are arranged radially along the preset rotation axis. The movable part 10 comprises the coil structure 40, and the fixed part 20 comprises the magnet unit 31, the first magnetic yoke 321 and the second magnetic yoke 322, as shown in Fig. 7; or the movable part 10 comprises the coil structure 40 and the second magnetic yoke 322, and the fixed part 20 comprises the magnet unit 31 and the first magnetic yoke 321, as shown in Fig. 11.

[0155] Referring to Fig. 7, in some embodiments, the movable part 10 comprises the coil structure 40, and the fixed part 20 comprises the magnet unit 31, the first magnetic yoke 321 and the second magnetic yoke 322, and the magnet unit 31 and the coil structure 40 are arranged radially along the preset rotation axis; the coil structure 40 is capable of reciprocating rotation around the preset rotation axis, so that the movable part 10 drives the load 103 to reciprocating rotation around the central axis 60, so as to effectively reduce the moment of inertia of the driving device 102; in addition, the coil structure 40 is capable of reciprocating rotation around the preset rotation axis, and the load 103 reciprocating rotation around the central axis 60, which is beneficial to reduce the space occupied by the movement path of the load 103, and is beneficial to reduce the size of the detection apparatus 100. Exemplarily, the central axis 60 and the second magnetic yoke 322 are two independent components, and the second magnetic yoke 322 is fixed when the movable part 10 moves, and the central axis 60 moves with the movable part 10. In this embodiment, the central axis 60 can be arranged in the second magnetic yoke 322, as shown in Fig. 17(A); or the central axis 60 can also be arranged outside the second magnetic yoke 322, as shown in Fig. 17(B). Exemplarily, the central axis 60 is coaxial with the second magnetic yoke 322.

[0156] Please refer to FIG. 13 and FIG. 14, or please refer to FIG. 16 and FIG. 14, in some embodiments, the movable part 10 comprises the coil structure 40, the fixed part 20 comprises the magnet unit 31 and the magnet conducting unit 32, the arrangement direction of the magnet unit 31 and the coil structure 40 is parallel to the preset rotation axis; the coil structure 40 can reciprocate around the preset rotation axis, so that the movable part 10 drives the load 103 to reciprocate around the central axis 60, compared with arranging the entire closed coil structure 40 in the circumferential direction of the preset rotation axis, the coil structure 40 in the embodiment is only partially arranged in the circumferential direction of the preset rotation axis, or in other words, there is an opening in the circumferential direction of the preset rotation axis, which can reduce the mass of the coil structure 40, and when the coil structure 40 reciprocates around the preset rotation axis, the moment of inertia of the coil structure 40 can be reduced, and the moment of inertia of the driving device 102 is further reduced; in addition, the coil structure 40 can reciprocate around the preset rotation axis, and the load 103 reciprocates around the central axis 60, which is beneficial to reduce the space occupied by the activity path of the coil structure 40 and the load 103, and is beneficial to reduce the size of the detection equipment 100.

[0157] Please refer to FIG. 11, for example, the central axis 60 and the second magnetic yoke 322 of the magnet conducting unit 32 are integrated on one structure, that is, the second magnetic yoke 322 can conduct magnetism and can also serve as the central axis 60, without the need to set two independent components, which reduces the number of components, is beneficial to reduce the mass and volume of the whole machine, and the coil structure 40 or the movable part 10 can be arranged closer to the central axis 60, which is beneficial to reduce the radius of rotation of the coil structure 40 or the movable part 10, and further reduce the moment of inertia of the driving device 102; the reduction of the number of components can also improve the assembly efficiency. In other embodiments, the second magnetic yoke 322 can also be two independent components with the central axis 60. For example, the second magnetic yoke 322 can move with the coil structure 40, thereby driving the load 103 to move. For another example, the second magnetic yoke 322 is fixed, and the coil structure 40 drives the load 103 to move. In other embodiments, the central axis 60 can also be omitted.

[0158] Please refer to FIG. 11, in some embodiments, the movable part 10 comprises the coil structure 40 and the second magnetic yoke 322, and the fixed part 20 comprises the magnet unit 31 and the first magnetic yoke 321; the second magnetic yoke 322 is connected with the load 103, and the load 103 can reciprocate around the second magnetic yoke 322, so that the radius of rotation of the movable part 10 can be reduced, thereby reducing the moment of inertia of the driving device 102; the structure of the whole machine is compact, and the volume and mass of the whole machine are small.

[0159] Referring to FIG. 7 or FIG. 11, in some embodiments, the magnetic conducting unit 32 comprises a second magnetic yoke 322, and the preset rotation axis is coincident with the axis of the second magnetic yoke 322, so that the structure of the driving device 102 is more compact, and the volume of the whole machine is reduced.

[0160] In some embodiments, the movable part 10 and / or the at least partially fixed part 20 extend in the movement direction of the movable part 10 to form a second movable space 52, so as to reduce the size of the driving device 102, and the corresponding space of the reduced size can be used to set the load 103 and provide the movable space of the load 103, so as to reduce the overall size of the detection device 100 and the rotational inertia of the driving device 102, and facilitate higher precision and faster response control of the driving device 102. For example, the at least partially fixed part 20 extends in the movement direction of the movable part 10 to form the second movable space 52. For example, the movable part 10 comprises the coil structure 40, the fixed part 20 comprises the at least partially magnetic field generating structure 30, the first magnetic yoke 321 extends in the movement direction of the movable part 10 to form the second movable space 52; or the first magnetic yoke 321 extends along the circumference of the preset rotation axis to form the second movable space 52. For another example, the first magnetic yoke 321 and the first magnetic body unit 31c extend in the movement direction of the movable part 10 to form the second movable space 52; or the first magnetic yoke 321 and the first magnetic body unit 31c extend along the circumference of the preset rotation axis to form the second movable space 52; or the first magnetic yoke 321, the first magnetic body unit 31c and the second magnetic body unit 31d extend in the movement direction of the movable part 10 to form the second movable space 52; or the first magnetic yoke 321, the first magnetic body unit 31c and the second magnetic body unit 31d extend along the circumference of the preset rotation axis to form the second movable space 52.

[0161] For example, the movable part 10 and the at least partially fixed part 20 extend in the movement direction of the movable part 10 to form the second movable space 52. For example, the movable part 10 comprises the coil structure 40, and the fixed part 20 comprises the at least partially magnetic field generating structure 30. The first magnetic yoke 321, the first magnetic body unit 31c and the coil structure 40 extend in the movement direction of the movable part 10 to form the second movable space 52; or the first magnetic yoke 321, the first magnetic body unit 31c and the coil structure 40 extend along the circumference of the preset rotation axis to form the second movable space 52.

[0162] Referring to FIG. 4 and FIG. 7, in some embodiments, the movable part 10 and / or the at least partially fixed part 20 are spaced apart along the two ends of the movement direction of the movable part 10 to form the second movable space 52. For example, the movement direction of the movable part 10 is shown as δ in FIG. 4. In some embodiments, the movable part 10 and / or the at least partially fixed part 20 are spaced apart along the two ends of the circumference of the preset rotation axis to form the second movable space 52.

[0163] The number of coil structures 40 can be designed according to actual needs, such as one, two, three or more. Exemplarily, the number of coil structures 40 is one, so that the structure of the driving device 102 is simple, the wiring is simple, the mass is lighter, the volume is smaller, which is conducive to the miniaturization and light weight of the driving device 102, and the rotational inertia of the driving device 102 can be further reduced by reducing the weight.

[0164] Referring to FIG. 9, in some embodiments, the coil structure 40 is formed with a slot 43 to reduce the mass of the coil structure 40, improve material utilization, and facilitate the lightweight design of the product while ensuring that the magnetic field generating structure 30 and the coil structure 40 cooperate to generate appropriate driving force. Specifically, if the coil structure 40 is not provided with the slot 43 and the coil is filled in the middle of the coil structure, the coils closer to the middle portion do not work much when driving the load to move, because the output is acceptable when they are located in the middle of the magnetic field generating structure 30, but slightly move to the left or right, the magnetic flux passing through the coil no longer changes, which can be understood as the entire coil falls into the magnetic field, at this time the magnetic field strength B does not change, the area S does not change, and there will be no output, and the material utilization is low. The design of the slot 43 can also reduce the weight of the coil structure 40, thereby reducing the rotational inertia of the driving device 102. The slot 43 can be a through slot or a blind slot.

[0165] In some embodiments, the movable part 10 includes the coil structure 40, which drives the load 103 to move in a reciprocating curve, so that the coil structure 40 moves and at least part of the magnetic field generating structure 30 is fixed, and the mass of the coil structure 40 is relatively small, thereby reducing the rotational inertia of the driving device 102. Referring to FIG. 3, in some embodiments, the detection device 100 further includes a center shaft 60, and the load 103 and the coil structure 40 move synchronously relative to the center shaft 60.

[0166] Referring to FIG. 18, in some embodiments, the movable part 10 comprises the coil structure 40, the coil structure 40 and the load 103 are respectively connected to the central shaft 60, the coil structure 40 drives the load 103 to do the reciprocating curvilinear motion through the central shaft 60, thus the structure of the detection device 100 is compact, which is conducive to reducing the size of the detection device 100. The coil structure 40 can be directly connected to the central shaft 60; or the coil structure 40 can also be indirectly connected to the central shaft 60. For example, the coil structure 40 can be connected to the central shaft 60 through the coil fixing frame 70. Similarly, the load 103 can be directly connected to the central shaft 60; or the load 103 can also be indirectly connected to the central shaft 60. For example, the load 103 is connected with the coil fixing frame 70, and the coil fixing frame 70 is connected with the central shaft 60. Referring to FIG. 18, exemplarily, the load 103 comprises a load body 1031, wherein the load body 1031 and the coil structure 40 are arranged at two sides of the central shaft 60 respectively and are spaced apart, so as to make full use of the space at two sides of the central shaft 60, facilitate the better spatial layout of the load body 1031 and the coil structure 40, reduce the size of the detection device 100, make the structure of the detection device 100 more compact, and facilitate the dynamic balance of the load body 1031 and the coil structure 40 rotating around the central shaft 60, thereby realizing the stability and reliability of the detection device 100.

[0167] In some embodiments, the movable part 10 comprises the coil structure 40, the coil structure 40 drives the load 103 to do the reciprocating curvilinear motion around the central shaft 60, thus the structure of the detection device 100 is simple. At least one of the load 103 and the coil structure 40 can also not be connected with the central shaft 60. Exemplarily, the connection can be direct connection or transmission connection. Exemplarily, the load 103 can be connected with the coil structure 40, and the coil structure 40 is connected with the central shaft 60. It can be understood that the connection relationship between the load 103 and the coil structure 40 and the central shaft 60 is not limited in the embodiments of the present application, as long as the load 103 can do the reciprocating curvilinear motion around the central shaft 60.

[0168] Referring to FIG. 18, in some embodiments, the movable part 10 comprises the coil structure 40, and the detection device 100 further comprises the central shaft 60, the load 103 can do the reciprocating rotary swing around the central shaft 60 within a second preset angle range, the second preset angle range is determined according to the size of the second movable space 52, so as to make full use of the space as much as possible, realize the better spatial layout of each element, reduce the size of the detection device 100, make the structure of the detection device 100 more compact, and facilitate the miniaturization design. Exemplarily, the second preset angle range is less than 360°. For example, the second preset angle range is less than 60°, 90°, 120°, 150°, 180°, 270°, 360° or any suitable angle less than 360°.

[0169] Referring to FIGS. 18 and 19, in some embodiments, the movable part 10 comprises the coil structure 40, the detection device 100 further comprises the central shaft 60, and the movable part 10 further comprises the coil fixing frame 70, the coil fixing frame 70 is connected with the central shaft 60, and the coil structure 40 is arranged on the coil fixing frame 70. The connection mode of the coil fixing frame 70 with the central shaft 60 comprises at least one of the following: screw locking connection, clamping connection, adhesive connection, and any other suitable connection mode. The connection mode of the coil structure 40 with the coil fixing frame 70 comprises at least one of the following: screw locking connection, clamping connection, adhesive connection, and any other suitable connection mode. In other embodiments, the coil fixing frame 70 can also be omitted.

[0170] Referring to FIG. 19, in some embodiments, the coil fixing frame 70 comprises the coil connecting part 71 connected with the coil structure 40, and the coil connecting part 71 is free of tooth groove structure. It can be understood that the torque of the tooth groove structure will affect the control accuracy of the driving device 102, thereby affecting the detection quality of the detection device 100. In the present embodiment, the coil connecting part 71 is free of tooth groove structure, so that the torque of the tooth groove structure can be eliminated, the problem of the torque of the tooth groove structure affecting the control accuracy of the driving device 102 is solved, the control accuracy of the driving device 102 is improved, and the detection accuracy and detection quality of the detection device 100 are further improved. In addition, the coil connecting part 71 free of tooth groove structure can also reduce the high-frequency vibration problem caused by spatial harmonics, reduce the noise of the driving device 102 during operation, and improve the user experience. Exemplarily, referring to FIG. 19, the coil fixing frame 70 further comprises the load connecting part 72, the load connecting part 72 is used for connecting with the load 103, and the load connecting part 72 is connected with the coil connecting part 71.

[0171] Referring to FIG. 18, in some embodiments, the movable part 10 comprises the coil structure 40, the detection device 100 further comprises the central shaft 60, and the load 103 and the coil structure 40 are arranged at two sides of the central shaft 60 respectively, so as to make full use of the space at two sides of the central shaft 60, facilitate to realize more optimal spatial layout of the load 103 and the coil structure 40, reduce the size of the detection device 100, make the structure of the detection device 100 more compact, and be conducive to realizing miniaturization design. In some embodiments, the load body 1031 and the coil structure 40 are symmetrically arranged at two sides of the second magnetic yoke 322, so as to improve the dynamic balance characteristics of the driving device 102 connected with the load 103, and make the structure of the detection device 100 more compact. In some embodiments, the gravity center of the load 103 and the gravity center of the coil structure 40 are arranged in a central symmetry manner with the central shaft 60 as the center, so as to further improve the dynamic balance characteristics of the driving device 102 connected with the load 103, facilitate to maintain the dynamic balance when the load 103 and the driving device 103 move synchronously, improve the reliability and stability of the detection device 100, and make the structure of the detection device 100 more compact.

[0172] Referring to FIG. 18, in some embodiments, the movable part 10 comprises the coil structure 40, the detection device 100 further comprises a central shaft 60, and the load 103 comprises a load body 1031 and a load assembly 1032, wherein the load body 1031 is arranged on the load assembly 1032, and the load assembly 1032 is connected with the central shaft 60. The load body 1031 can be integrally formed with the load assembly 1032. The load body 1031 can be separately arranged from the load assembly 1032, and the connection manner between the load body 1031 and the load assembly 1032 comprises at least one of the following: screw locking connection, clamping connection, adhesive connection, and any other suitable connection manner.

[0173] Referring to FIGS. 18 and 19, in some embodiments, the driving device 102 further comprises a detection mechanism 80 for detecting motion information of at least one of the movable part 10 and the load 103, so as to more accurately control the motion of the load 103 and provide a guarantee for improving the detection accuracy of the detection device 100.

[0174] Referring to FIGS. 18 and 19, in some embodiments, the detection mechanism 80 comprises a trigger 81 and a sensor 82, the trigger 81 is arranged on at least one of the movable part 10, the load 103, and the central shaft 60 of the detection device 100, and the sensor 82 is capable of sensing the trigger 81 to detect motion information of at least one of the movable part 10 and the load 103. The trigger 81 and the sensor 82 cooperate to detect, which is conducive to improving the detection accuracy. For example, the trigger 81 is arranged on the central shaft 60, and the sensor 82 is capable of sensing the trigger 81 to detect motion information of the load 103.

[0175] It can be understood that the detection mechanism 80 can be a contact type detection mechanism 80. For example, the sensor 82 can sense the trigger 81 in a contact manner. The detection mechanism 80 can be a non-contact type detection mechanism 80. For example, the sensor 82 can sense the trigger 81 in a non-contact manner.

[0176] In some embodiments, the sensor 82 comprises at least one of the following: a magnetic sensor, a photoelectric sensor, a capacitive sensor, a vision sensor, and the like. The magnetic sensor comprises at least one of the following: a Hall sensor, a reed switch, a magnetic encoder, and the like. When the sensor 82 comprises a magnetic sensor, the trigger 81 comprises a magnet.

[0177] In some embodiments, the detection mechanism 80 comprises at least one of the following: an infrared sensor, a laser sensor, an ultrasonic sensor, and the like.

[0178] Referring to FIGS. 18 and 19, in some embodiments, the detection device 100 further comprises a base 91, and the fixed part 20 is connected to the base 91. For example, the movable part 10 comprises the coil structure 40, the fixed part 20 comprises the at least partially magnetic field generating structure 30; the first magnetic yoke 321 is connected to the base 91, the first magnetic body unit 31c is connected to the first magnetic yoke 321, the coil structure 40 is connected to the coil fixing frame 70, the coil fixing frame 70 is connected to the central shaft 60 and / or the load assembly part 1032, the load assembly part 1032 is connected to the coil fixing frame 70 and / or the central shaft 60, the central shaft 60 penetrates the second magnetic yoke 322, the coil fixing frame 70 and the load assembly part 1032, the second magnetic body unit 31d is connected to the second magnetic yoke 322, and the second magnetic yoke 322 is connected to the base 91. The first bearing 93 and the second bearing 94 are arranged between the second magnetic yoke 322 and the central shaft 60, so that the central shaft 60 can move more smoothly and stably relative to the second magnetic yoke 322. The detection device 100 further comprises a fixing member 95, the fixing member 95 is connected to the central shaft 60, and the trigger member 81 is connected to the fixing member 95.

[0179] Referring to FIG. 1, in some embodiments, the detection device 100 further comprises a shell 92, and the sensing assembly 101, the movable part 10 and the fixed part 20 are arranged in the shell 92, so that the shell 92 can protect the detection device 100. By protecting the movable part 10 and the fixed part 20 through the shell 92 of the detection device 100, a protective shell for protecting the movable part 10 and the fixed part 20 does not need to be additionally arranged outside the movable part 10 and the fixed part 20, the number of components is reduced, the weight and the volume of the driving device 102 are reduced, the radial dimension of the driving device 102 is reduced, and the reduction of the radial dimension of the driving device 102 is conducive to reducing the moment of inertia thereof. In other embodiments, in addition to the shell 92 for protecting the sensing assembly 101, a protective shell for protecting the movable part 10 and the fixed part 20 can be additionally arranged.

[0180] In some embodiments, the driving device 102 is an axial flux double-sided voice coil galvanometer motor, such as shown in FIG. 13. The driving device 102 comprises the first magnetic yoke 321 and the second magnetic yoke 322 which are symmetrical in up and down directions, and the two magnetic body units 31 which are symmetrical in up and down directions. The driving device 102 further comprises the coil structure 40, and the two magnetic body units 31 are symmetrically arranged on opposite sides of the coil structure 40. The coil structure 40 is a voice coil, when the center line of the coil structure 40 is opposite to the center line of the magnetic body unit 31, the positive and negative magnetic fluxes in the coil structure 40 are cancelled, the magnetic flux is zero, and the torque of the coil structure 40 is maximum when the coil structure 40 is electrified; when the coil structure 40 is completely opposite to a certain magnetic body unit 31, the torque is 0 or close to 0.

[0181] In some embodiments, the driving device 102 is an axial flux single-sided voice coil galvanometer motor, as shown in FIG. 16. The driving device 102 includes a first magnetic yoke 321 and a second magnetic yoke 322 which are symmetrically arranged in up and down directions. The driving device 102 further includes a coil structure 40, and the coil structure 40 is provided with a magnet unit 31 on one side thereof, and the other side of the coil structure 40 is not provided with the magnet unit 31. The coil structure 40 is a voice coil. When the center line of the coil structure 40 is opposite to the center line of the magnet unit 31, the positive and negative magnetic fluxes in the coil structure 40 are cancelled, the magnetic flux is zero, and the torque of the coil structure 40 is maximum when the coil structure 40 is supplied with current. When the coil structure 40 is completely opposite to a certain magnet unit 31, the torque is 0 or close to 0.

[0182] In some embodiments, the driving device 102 is a radial flux double-sided magnet voice coil galvanometer motor, as shown in FIG. 7. The driving device 102 includes a first magnetic yoke 321 and a second magnetic yoke 322 which are symmetrically arranged in inner and outer directions, and two magnet units 31 which are symmetrically arranged in inner and outer directions. The driving device 102 further includes a coil structure 40, and the coil structure 40 is provided with two magnet units 31 which are symmetrically arranged on opposite sides of the coil structure 40. The coil structure 40 is a voice coil. When the center line of the coil structure 40 is opposite to the center line of the magnet unit 31, the positive and negative magnetic fluxes in the coil structure 40 are cancelled, the magnetic flux is zero, and the torque of the coil structure 40 is maximum when the coil structure 40 is supplied with current. When the coil structure 40 is completely opposite to a certain magnet unit 31, the torque is 0 or close to 0. Exemplarily, the coil structure 40 is arranged between a preset rotation axis and the outermost first magnet unit 31c. When the coil structure 40 is supplied with alternating current, the coil structure 40 vibrates or rotates around the preset rotation axis. Due to the small radius and mass of the coil structure 40, the rotational inertia of the coil structure 40 is small, and the output of the coil structure 40 is not different from that of a traditional galvanometer motor (such as the motor in the comparative example). Therefore, the driving device 102 of the present embodiment has smaller rotational inertia.

[0183] In some embodiments, the driving device 102 is a radial flux single-sided magnet voice coil galvanometer motor, as shown in FIG. 11. The driving device 102 includes a first magnetic yoke 321 and a second magnetic yoke 322 which are symmetrically arranged in inner and outer directions. The driving device 102 further includes a coil structure 40, and the coil structure 40 is provided with a magnet unit 31 on one side thereof, and the other side of the coil structure 40 is not provided with the magnet unit 31. The coil structure 40 is a voice coil. When the center line of the coil structure 40 is opposite to the center line of the magnet unit 31, the positive and negative magnetic fluxes in the coil structure 40 are cancelled, the magnetic flux is zero, and the torque of the coil structure 40 is maximum when the coil structure 40 is supplied with current. When the coil structure 40 is completely opposite to a certain magnet unit 31, the torque is 0 or close to 0.

[0184] In some embodiments, the driving device 102 is a galvanometer motor, and the load 103 is a mirror. The galvanometer motor arranges the mirror and the coil structure 40 on both sides of the center axis 60, which are arranged symmetrically at 180 degrees. The coil fixing frame 70 is assembled with the end of the center axis 60 by screws. The coil structure 40 and the mirror swing synchronously around the center axis 60. The center axis 60 is connected with the base 91 after being assembled by the first bearing 93 and the second bearing 94. The center axis 60 is assembled with a magnet at the end. The magnet feeds back the angle information to the magnetic sensor on the PCBA through the magnetic effect. The above together constitute the movable part 10 of the galvanometer motor. At the same time, at least part of the magnetic field generating structure 30 or the yoke is in a fan-shaped structure. The edge of the yoke or at least part of the magnetic field generating structure 30 is a limit structure where the mirror swings to the limit angle on both sides, as shown in FIG. 3. The galvanometer motor controls the input of the real-time current of the coil structure 40 according to the scanning track requirements and the angle information detected by the magnetic sensor. The coil structure 40 generates a tangential force in the circumferential direction under the action of the current and the magnet unit 31, drives the mirror and the center axis 60 to swing at a specified frequency and track, modulates the laser, and realizes the scanning function.

[0185] In order to further reduce the moment of inertia, the second magnet unit 31d on the inner side in FIG. 10 can be combined with the first magnet unit 31c on the outer side. In this way, compared with the traditional galvanometer motor, the overall structure size of the driving device 102 is reduced by more than half, and it is more convenient for the spatial layout of the laser radar product, so that the scanning module structure of the laser radar is more compact, which meets the requirements of miniaturization of the laser radar.

[0186] The traditional galvanometer motor usually adopts an outer rotor motor. The galvanometer needs to be arranged at the shaft end of the motor, which leads to a large overall space for arranging the motor, and it is difficult to meet the miniaturization requirement, and the moment of inertia is large.

[0187] Compared with the traditional galvanometer motor, in the case of the same torque coefficient, the driving device 102 adopting the radial flux scheme has smaller radial space, smaller moment of inertia, better dynamic balance characteristics, can realize higher precision and faster response, and is more suitable for laser radar products. Understandably, axial flux means that the magnetic flux direction is axial, such as the magnetic flux direction being parallel to the preset rotation axis or the center axis 60. Radial flux means that the magnetic flux direction is radial, such as the magnetic flux direction being along the radial direction of the preset rotation axis or the radial direction of the center axis 60.

[0188] The following is the performance test of the comparative example, example 1 to example 4, and the specific test data is shown in Table 1. Among them, the comparative example is a traditional outer rotor brushless permanent magnet motor (referred to as a traditional motor). The driving device 102 of example 1, the movable part 10 can rotate reciprocatingly around the preset rotation axis; the arrangement direction of the first magnetic yoke 321, one of the magnet units 31, the coil structure 40, the other magnet unit 31 and the second magnetic yoke 322 is parallel to the preset rotation axis, one magnet unit 31 is arranged between the first magnetic yoke 321 and the coil structure 40, and one magnet unit 31 is arranged between the second magnetic yoke 322 and the coil structure 40, such as shown in Figure 13. The driving device 102 of example 2, the movable part 10 can rotate reciprocatingly around the preset rotation axis; the arrangement direction of the magnet unit 31 and the coil structure 40 is parallel to the preset rotation axis, the arrangement direction of the first magnetic yoke 321, the coil structure 40, the magnet unit 31 and the second magnetic yoke 322 is parallel to the preset rotation axis; no magnet unit 31 is arranged between the first magnetic yoke 321 and the coil structure 40, and the magnet unit 31 is arranged between the second magnetic yoke 322 and the coil structure 40, such as shown in Figure 16. The driving device 102 of example 3, the movable part 10 can rotate reciprocatingly around the preset rotation axis, the arrangement direction of the first magnetic yoke 321, one of the magnet units 31, the coil structure 40, the other magnet unit 31 and the second magnetic yoke 322 is arranged along the radial direction of the preset rotation axis; one magnet unit 31 is arranged between the first magnetic yoke 321 and the coil structure 40, and one magnet unit 31 is arranged between the second magnetic yoke 322 and the coil structure 40, such as shown in Figure 7. The driving device 102 of example 4, the movable part 10 can rotate reciprocatingly around the preset rotation axis, the arrangement direction of the first magnetic yoke 321, the magnet unit 31, the coil structure 40 and the second magnetic yoke 322 is arranged along the radial direction of the preset rotation axis; the magnet unit 31 is arranged between the first magnetic yoke 321 and the coil structure 40, and no magnet unit 31 is arranged between the second magnetic yoke 322 and the coil structure 40, such as shown in Figure 11.

[0189] Table 1 Comparison of related performances of driving devices of comparative example, example 1 to example 4

[0190] From the above table, it can be seen that the traditional motor in the comparative example has a rated output of about 15 mNm, but the moment of inertia is as high as 663 g*mm 2Compared with the traditional motor in Comparative Example 1, the moment of inertia of the driving device 102 in Embodiment 1 and Embodiment 2 can be effectively reduced, the moment of inertia of the driving device 102 in Embodiment 3 and Embodiment 4 is further reduced, and the moment of inertia of the driving device 102 in Embodiment 4 is the smallest. Compared with the traditional motor in Comparative Example 1, the mechanical time constant of the driving device 102 in Embodiment 1 and Embodiment 2 is reduced to about 40%, and the mechanical time constant of the driving device 102 in Embodiment 3 and Embodiment 4 is reduced by an order of magnitude. The mechanical time constant of the driving device 102 in Embodiment 4 is the smallest.

[0191] The embodiment of the present application also provides a detection device 100, comprising:

[0192] A sensing assembly 101 for detecting an external object, at least part of the sensing assembly 101 being the load 103;

[0193] A movable part 10 configured to be connected with the load 103; and

[0194] A fixed part 20, one of the movable part 10 and the fixed part 20 comprising at least part of a magnetic field generating structure 30, and the other of the movable part 10 and the fixed part 20 comprising a coil structure 40, the coil structure 40 being arranged in a magnetic field generated by the magnetic field generating structure 30;

[0195] When the coil structure 40 is powered, the magnetic field generating structure 30 can cooperate with the coil structure 40 to generate a driving force, so that the movable part 10 can reciprocate in a first movable space 51, thereby driving at least part of the load 103 to reciprocate in a second movable space 52 outside the first movable space 51, the first movable space 51 being located on the inner side or the outer side of the fixed part 20 and being used for the reciprocating curve motion of the movable part 10; the first movable space 51 and at least part of the second movable space 52 are arranged along the movement direction of the movable part 10, and / or the central angle of the first movable space 51 is less than 360°.

[0196] The detection device 100 in the above embodiment, since one of the movable part 10 and the fixed part 20 comprises the at least partial magnetic field generating structure 30, and the other of the movable part 10 and the fixed part 20 comprises the coil structure 40, when the coil structure 40 is powered, the magnetic field generating structure 30 can cooperate with the coil structure 40 to generate a driving force, so that the movable part 10 can reciprocate in a curved motion in the first active space 51, thereby driving the at least partial load 103 to reciprocate in the second active space 52 outside the first active space 51; the first active space 51 and the at least partial second active space 52 are arranged along the movement direction of the movable part 10, and / or, the central angle corresponding to the first active space 51 is less than 360°, thus the inertia of the driving device 102 can be reduced, thereby reducing the mechanical time constant of the driving device 102, improving the movement frequency of the movable part 10 of the driving device 102, and further improving the control response speed of the driving device 102, which is conducive to more accurately controlling the driving device 102, and the control of the driving device 102 is simpler and easier, which provides a guarantee for the detection device 100 to have higher detection precision. Specifically, compared with the fully enclosed movable part 10 in the movement direction, the movable part 10 in the embodiment has an opening or is not closed in the movement direction, so that the mass of the movable part 10 can be reduced to a certain extent, and thus the inertia of the driving device 102 can be reduced. In addition, since the second active space 52 is formed by extending the movement direction of the movable part 10, and / or the central angle corresponding to the first active space 51 is less than 360°, the space occupied by the driving device 102 can be reduced, so that the driving device 102 can leave a space other than the first active space 51, the space occupied by the movable part 10 and the space occupied by the fixed part 20, to arrange at least part of other components (such as the load 103) of the detection device 100, thereby improving the space utilization rate, making the structure of the detection device 100 more compact, and being conducive to realizing the miniaturization design of the detection device 100.

[0197] Exemplarily, the detection device 100 comprises the detection device 100 of any one of the above embodiments without conflict. Exemplarily, the sensing assembly 101 comprises the sensing assembly 101 of any one of the above embodiments without conflict. Exemplarily, the load 103 comprises the load 103 of any one of the above embodiments without conflict. Exemplarily, the movable part 10 comprises the movable part 10 of any one of the above embodiments without conflict. Exemplarily, the fixed part 20 comprises the fixed part 20 of any one of the above embodiments without conflict. Exemplarily, the magnetic field generating structure 30 comprises the magnetic field generating structure 30 of any one of the above embodiments without conflict. Exemplarily, the coil structure 40 comprises the coil structure 40 of any one of the above embodiments without conflict. Exemplarily, the first movable space 51 comprises the first movable space 51 of any one of the above embodiments without conflict. Exemplarily, the second movable space 52 comprises the second movable space 52 of any one of the above embodiments without conflict.

[0198] The embodiments of the present application also provide a detection device 100, comprising:

[0199] a coil structure 40;

[0200] a magnetic field generating structure 30, the magnetic field generating structure 30 comprising a magnet unit 31, a first magnetic yoke 321 and a second magnetic yoke 322, wherein the first magnetic yoke 321, the magnet unit 31 and the coil structure 40 are arranged along the radial direction of the second magnetic yoke 322 in sequence, and the coil structure 40 is closer to the second magnetic yoke 322 than the magnet unit 31;

[0201] a sensing assembly 101 for detecting external objects, at least part of the sensing assembly 101 being a galvanometer, and the galvanometer and the coil structure 40 are symmetrically arranged on both sides of the second magnetic yoke 322;

[0202] When the coil structure 40 is powered, the magnetic field generating structure 30 can cooperate with the coil structure 40 to generate a driving force, so that the coil structure 40 can reciprocate around the second magnetic yoke 322 in the first movable space 51, thereby driving at least part of the galvanometer to reciprocate around the second magnetic yoke 322 in the second movable space 52 outside the first movable space 51, the first movable space 51 being located on the inner side or the outer side of at least part of the magnetic field generating structure 30 and being used for reciprocating the coil structure 40; the second movable space 52 is formed by extending the movement direction of the coil structure 40, and / or the central angle of the first movable space 51 is less than 360°.

[0203] The detection device 100 of the above-mentioned embodiments can reduce the moment of inertia of the driving device 102, thereby reducing the mechanical time constant of the driving device 102, improving the motion frequency of the coil structure 40 of the driving device 102, and further improving the control response speed of the driving device 102, which is conducive to more accurately controlling the driving device 102, and the control of the driving device 102 is simpler and easier, thereby providing a guarantee for the scanning device 100 with a higher scanning frequency and the detection device 100 with a higher detection accuracy. Specifically, compared with the full-closed live coil structure 40 in the motion direction, the coil structure 40 in the embodiments has an opening or is not closed in the motion direction, so that the mass of the coil structure 40 can be reduced to a certain extent. In addition, the first magnetic yoke 321, the magnet unit 31, and the coil structure 40 are arranged along the radial direction of the second magnetic yoke 322 in sequence, and the coil structure 40 is close to the second magnetic yoke 322 relative to the magnet unit 31, so that the coil structure 40 can be closer to the rotation axis, thereby reducing the rotation radius of the coil structure 40. That is, by reducing the mass and the rotation radius of the coil structure 40, the moment of inertia of the coil structure 40 is further reduced, and the moment of inertia of the driving device 102 is reduced. In addition, since the second movable space 52 is formed by extending the motion direction of the movable part 10, and / or the central angle corresponding to the first movable space 51 is less than 360°, the space occupied by the driving device 102, except for the space occupied by the first movable space 51, the movable part 10 and the fixed part 20, can be used to set the galvanometer of the detection device 100 and provide a movable space for the galvanometer, thereby improving the space utilization rate, making the structure of the detection device 100 more compact, and facilitating the miniaturization design of the detection device 100.

[0204] Exemplarily, the galvanometer and the coil structure 40 are symmetrically arranged on both sides of the second magnetic yoke 322 to improve the dynamic balance of the galvanometer and the coil structure 40 during motion, thereby improving the stability and reliability of the detection device 100, and making the structure of the detection device 100 more compact. Further, the detection device 100 comprises a scanning module, and the scanning module comprises the driving device 102 and the load 103, and the compact structure of the driving device 102 and the load 103 arranged radially can cancel the shell design of the traditional motor, so as to further reduce the space occupied by the scanning module of the detection device 100.

[0205] Exemplarily, the load 103 of any one of the above-mentioned embodiments can be replaced by the galvanometer of the present embodiment without conflict.

[0206] Exemplarily, the detection device 100 comprises the detection device 100 of any one of the above embodiments without conflict. Exemplarily, the sensing assembly 101 comprises the sensing assembly 101 of any one of the above embodiments without conflict. Exemplarily, the coil structure 40 comprises the coil structure 40 of any one of the above embodiments without conflict. Exemplarily, the magnetic field generating structure 30 comprises the magnetic field generating structure 30 of any one of the above embodiments without conflict. Exemplarily, the magnet unit 31 comprises the magnet unit 31 of any one of the above embodiments without conflict. Exemplarily, the first magnetic yoke 321 comprises the first magnetic yoke 321 of any one of the above embodiments without conflict. Exemplarily, the second magnetic yoke 322 comprises the second magnetic yoke 322 of any one of the above embodiments without conflict. Exemplarily, the first movable space 51 comprises the first movable space 51 of any one of the above embodiments without conflict. Exemplarily, the second movable space 52 comprises the second movable space 52 of any one of the above embodiments without conflict.

[0207] It can be understood that the driving device 102 comprises a movable part 10 and a fixed part 20, the movable part 10 is capable of moving to drive the load 103 to move, so as to realize the detection of the outside world. However, in the related art, the structure design of the driving device 102 is unreasonable, the rotational inertia of the movable part 10 is large, which leads to the mechanical time constant of the driving device 102 being large, and further affects the control response speed of the driving device 102.

[0208] Therefore, the embodiment of the present application further provides a detection device 100, comprising:

[0209] a sensing assembly 101, configured to detect an external object, at least part of the sensing assembly 101 being the load 103;

[0210] a movable part 10, configured to be connected with the load 103; and

[0211] a fixed part 20, one of the movable part 10 and the fixed part 20 comprising at least part of the magnetic field generating structure 30, and the other of the movable part 10 and the fixed part 20 comprising the coil structure 40, the coil structure 40 being arranged in the magnetic field generated by the magnetic field generating structure 30;

[0212] wherein when the coil structure 40 is powered, the magnetic field generating structure 30 is capable of cooperating with the coil structure 40 to generate a driving force, so as to enable the movable part 10 to make a reciprocating curve motion around a preset rotation axis, thereby driving at least part of the load 103 to make a reciprocating motion;

[0213] The magnetic field generating structure 30 comprises a magnet unit 31 and a magnetic conducting unit 32; the magnetic conducting unit 32 comprises a first magnetic yoke 321 and a second magnetic yoke 322; the first magnetic yoke 321, the magnet unit 31, the coil structure 40 and the second magnetic yoke 322 are sequentially arranged along the radial direction of the preset rotation axis, and the first magnetic yoke 321 is arranged away from the preset rotation axis relative to the second magnetic yoke 322; the magnet unit 31 is arranged between the first magnetic yoke 321 and the coil structure 40, and no magnet unit 31 is arranged between the coil structure 40 and the second magnetic yoke 322.

[0214] The probe device 100 of the above embodiment can be arranged with the coil structure 40 closer to the preset rotation axis, so as to reduce the rotation radius of the coil structure 40, reduce the moment of inertia of the driving device 102, reduce the mechanical time constant of the driving device 102, improve the motion frequency of the driving device 102, and further improve the control response speed of the driving device 102, so as to more accurately control the driving device 102, and the control of the driving device 102 is simpler and easier, which provides a guarantee for the good detection accuracy of the probe device 100. In addition, no magnet unit 31 is arranged between the coil structure 40 and the second magnetic yoke 322, which can also reduce the number of component arrangements, is beneficial to reducing the overall mass and volume, improving the assembly efficiency of the driving device 102, and makes the structure design of the probe device 100 more reasonable.

[0215] Exemplarily, the probe device 100 comprises the probe device 100 of any one of the above embodiments without conflict. The sensing assembly 101 comprises the sensing assembly 101 of any one of the above embodiments without conflict. The load 103 comprises the load 103 of any one of the above embodiments without conflict. The movable part 10 comprises the movable part 10 of any one of the above embodiments without conflict. The fixed part 20 comprises the fixed part 20 of any one of the above embodiments without conflict. The magnetic field generating structure 30 comprises the magnetic field generating structure 30 of any one of the above embodiments without conflict. The coil structure 40 comprises the coil structure 40 of any one of the above embodiments without conflict. The magnet unit 31 comprises the magnet unit 31 of any one of the above embodiments without conflict. The magnetic conducting unit 32 comprises the magnetic conducting unit 32 of any one of the above embodiments without conflict. The first magnetic yoke 321 comprises the first magnetic yoke 321 of any one of the above embodiments without conflict. The second magnetic yoke 322 comprises the second magnetic yoke 322 of any one of the above embodiments without conflict.

[0216] The probe device 100 provided by the embodiment of the present application comprises:

[0217] The sensing assembly 101 is configured to detect an external object, and at least part of the sensing assembly 101 is the load 103.

[0218] The driving device 102 comprises a movable part 10 and a fixed part 20, the movable part 10 is configured to be connected with the load 103; one of the movable part 10 and the fixed part 20 comprises at least part of a magnetic field generating structure 30, and the other of the movable part 10 and the fixed part 20 comprises a coil structure 40, the coil structure 40 is arranged in a magnetic field generated by the magnetic field generating structure 30.

[0219] In some embodiments, the driving device 102 is a radial flux driving device; when the coil structure 40 is energized, the magnetic field generating structure 30 can cooperate with the coil structure 40 to generate a driving force, so that the movable part 10 can make a reciprocating curve motion around a preset rotation axis, thereby driving at least part of the load 103 to make a reciprocating motion.

[0220] The detection device 100 of the above embodiment, since the driving device 102 is a radial flux driving device, the radial distance of the movable part 10 to the preset rotation axis is small, and the rotation radius of the movable part 10 is small, which is conducive to reducing the moment of inertia of the driving device 102, thereby reducing the mechanical time constant of the driving device 102, improving the motion frequency of the driving device 102, and further improving the control response speed of the driving device 102, which can more accurately control the driving device 102, and the control of the driving device 102 is simpler and easier, which provides a guarantee for the detection device 100 having a high scanning frequency and a good detection precision.

[0221] Exemplarily, the radial flux in the radial flux driving device refers to the direction of the magnetic flux is radial, such as the direction of the magnetic flux is along the radial direction of the preset rotation axis or the radial direction of the central axis 60.

[0222] In some embodiments, the movable part 10 can rotate reciprocatingly around the preset rotation axis; the magnet units 31 and the coil structure 40 are arranged radially along the preset rotation axis.

[0223] Exemplarily, the movable part 10 can rotate reciprocatingly around the preset rotation axis, one of the magnet units 31, the coil structure 40 and the other magnet unit 31 are arranged radially along the preset rotation axis in sequence.

[0224] Exemplarily, the coil structure 40 is arranged close to the preset rotation axis relative to the magnet units 31; no magnet unit 31 is arranged between the coil structure 40 and the preset rotation axis; or, no magnet unit 31 is arranged between the coil structure 40 and the second yoke 322 of the magnetic field generating structure 30.

[0225] In some embodiments, the active part 10 is capable of reciprocating rotation around a preset rotation axis, and the first magnetic yoke 321 of the magnetic conducting unit 32 is arranged away from the preset rotation axis relative to the second magnetic yoke 322 of the magnetic conducting unit 32.

[0226] The embodiment of the present application further provides a movable platform, comprising a platform body and a detection device 100 connected with the platform body. The detection device 100 comprises the detection device 100 of any one of the above-mentioned embodiments. The movable platform comprises the movable platform of any one of the above-mentioned embodiments.

[0227] In the description of the present application, it should be noted that unless specifically defined and limited, the terms "mount", "connect", "connection", "mechanically coupled", "coupled" should be understood in a broad sense, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected. It can be mechanically connected, or it can be electrically connected. It can be directly connected, or it can be indirectly connected through an intermediate medium. It can be the communication inside two elements or the interaction relationship between two elements. The mechanical coupling or coupling of two components includes direct coupling and indirect coupling, for example, direct fixed connection, connection through a transmission mechanism, etc. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0228] In the present application, unless otherwise specifically defined and limited, the first feature "on" or "under" the second feature can include that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, the first feature "on", "above" and "above" the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "below" and "below" the second feature includes that the first feature is directly below and obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0229] The above disclosure provides many different implementations or examples for implementing the different structures of the present application. In order to simplify the disclosure of the present application, the components and arrangements of specific examples are described in the above. Of course, they are only examples, and the purpose is not to limit the present application. In addition, the present application can repeatedly refer to the same reference numerals and / or reference letters in different examples. Such repetition is for the purpose of simplification and clarity, and does not in itself indicate a relationship between the various embodiments and / or arrangements being discussed. In addition, the present application provides examples of various specific processes and materials, but those skilled in the art can realize the application of other processes and / or the use of other materials.

[0230] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "exemplary embodiment", "example", "specific example", or "some examples" and the like means that the specific method steps, features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the exemplary description of the above terms does not necessarily mean the same embodiment or example. Also, the specific method steps, features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0231] The above description is merely a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of various equivalent modifications or replacements within the technical range disclosed by the present application, and these modifications or replacements should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A detection device, characterized in that The application relates to a sensor assembly for detecting an external object, comprising: a sensing component for detecting an external object, at least part of the sensing component being a load; a movable part configured to be connected to the load; a fixed part, one of the movable part and the fixed part comprising at least part of a magnetic field generating structure, and the other of the movable part and the fixed part comprising a coil structure arranged in a magnetic field generated by the magnetic field generating structure; wherein, when the coil structure is energized, the magnetic field generating structure can cooperate with the coil structure to generate a driving force, so that the movable part can perform a reciprocating curved motion in a first movable space, thereby driving at least part of the load to perform a reciprocating motion in a second movable space outside the first movable space, the first movable space being located inside or outside the fixed part and being used for the reciprocating curved motion of the movable part; the second movable space is formed by the direction of the motion of the movable part, and / or the central angle of the first movable space is less than 360 degrees. When the first movable space is located inside the fixed part, the first movable space is formed by the fixed part.

2. The probe device of claim 1, wherein, The movable part comprises the coil structure, and the fixed part comprises the at least part of the magnetic field generating structure.

3. The probe device of claim 1, wherein, The movable part moves synchronously with the load.

4. The probe device of claim 1, wherein, The driving force is related to the current flowing in the coil structure, and the current flowing in the coil structure is determined according to target motion information of the load.

5. The probe device of claim 1, wherein, The target motion information of the load comprises at least one of the following: target motion position of the load, target motion speed of the load, target motion frequency of the load, target motion direction of the load.

6. The probe device of claim 5, wherein, And / or The movable part can perform a reciprocating curved motion and swing around a preset swing axis, the movable part has a center line parallel to the preset swing axis, when the movable part moves to the center line coinciding with the preset swing axis, the coil structure is energized with a first current and has a first force; when the movable part moves to the center line deviating from the preset swing axis, the coil structure is energized with the first current and has a second force, the size of the second force being smaller than that of the first force. The movable part can perform a reciprocating curved motion relative to the fixed part, thereby driving the load to perform a reciprocating curved motion.

7. The probe device of claim 1, wherein, The movable part can perform a reciprocating curved motion relative to the fixed part, thereby driving the load to perform a reciprocating swing.

8. The probe device of claim 7, wherein, The movable part can perform a reciprocating rotation around a preset rotation axis within a first preset angle range, so that the movable part drives the load to perform a reciprocating curved motion.

9. The probe device of claim 1, wherein, The first preset angle range is less than 360 degrees.

10. The probe device of claim 9, wherein, The movable part can perform a reciprocating rotation around a preset rotation axis, so that the movable part drives the load to perform a reciprocating rotation swing around a center axis.

11. The probe device of claim 9, wherein, The preset rotation axis is parallel to the axis of the center axis; or the preset rotation axis coincides with the axis of the center axis.

12. The probe device of claim 11, wherein, ​ 13. The probe device of claim 9, wherein, The coil structure comprises a first effective conductor and a second effective conductor arranged at intervals along the movement direction of the movable part, and the extension direction of the first effective conductor intersects with the extension direction of the second effective conductor at the preset rotation axis.

14. The probe device of claim 9, wherein, The magnetic field generating structure has at least two end faces arranged at intervals along the movement direction of the movable part, and the radial extension direction of the end faces of the magnetic field generating structure intersects with the preset rotation axis.

15. The probe device of claim 1, wherein, The magnetic field generating structure has at least two end faces arranged at intervals along the movement direction of the movable part. When the load moves to a position where the distance between the load and the end face is less than or equal to a preset threshold, the current direction of the coil structure can be changed to make the load move reversely.

16. The probe device of claim 1, wherein, The movable part can make reciprocating curved motion relative to the fixed part and swing around a preset swing axis.

17. The probe device of claim 16, wherein, The movement trajectory of the movable part from the position corresponding to the preset swing axis to the first limit position or the second limit position is arc-shaped; and / or, The movement trajectory of the movable part from the first limit position or the second limit position to the position corresponding to the preset swing axis is arc-shaped.

18. The probe device of claim 1, wherein, The magnetic field generating structure is used for generating a pair of polar magnetic fields.

19. The probe device according to any of claims 1-18, characterized in that The magnetic field generating structure comprises: A magnet unit is used for generating a magnetic field and can cooperate with the coil structure to generate a driving force to make the movable part make reciprocating curved motion.

20. The probe device of claim 19, wherein, The movable part can make reciprocating rotation around a preset rotation axis; the arrangement direction of the magnet unit and the coil structure is parallel to the preset rotation axis.

21. The probe device of claim 19, wherein, The movable part can make reciprocating rotation around a preset rotation axis; the magnet unit and the coil structure are arranged radially along the preset rotation axis.

22. The probe device of claim 21, wherein, The coil structure is arranged close to the preset rotation axis relative to the magnet unit.

23. The probe device of claim 21, wherein, The load can make reciprocating rotation around a central axis, and the coil structure is arranged close to the central axis relative to the magnet unit.

24. The probe device of claim 19, wherein, The number of the magnet units comprises two, wherein one magnet unit, the coil structure and another magnet unit are arranged in sequence.

25. The probe device of claim 24, wherein, The movable part can make reciprocating rotation around a preset rotation axis, wherein one magnet unit, the coil structure and another magnet unit are arranged in sequence along a direction parallel to the preset rotation axis.

26. The probe device of claim 24, wherein, The movable part can make reciprocating rotation around a preset rotation axis, wherein one magnet unit, the coil structure and another magnet unit are arranged in sequence radially along the preset rotation axis.

27. The probe device of claim 19, wherein, The magnet unit comprises a first magnet and a second magnet, and the magnetic poles of the first magnet and the second magnet are opposite, wherein the first magnet and the second magnet are integrally formed, or the first magnet and the second magnet are separately arranged.

28. The probe device of claim 19, wherein, The magnetic field generating structure further comprises: A magnetic conducting unit is used for guiding a magnetic field, and the magnet unit is arranged between the coil structure and at least part of the magnetic conducting unit.

29. The probe device of claim 28, wherein, The magnetic conducting unit comprises a first magnetic yoke and a second magnetic yoke, and the first magnetic yoke and the second magnetic yoke are arranged on opposite sides of the coil structure respectively, and the magnet unit is connected to the first magnetic yoke or the second magnetic yoke.

30. The probe device of claim 28, wherein, The magnetic conducting unit comprises a first magnetic yoke, the first magnetic yoke has a first end face and a second end face, the first end face and the second end face are spaced apart at opposite ends of the first magnetic yoke along the movement direction of the movable part, so as to form at least part of the second movable space between the first end face and the second end face.

31. The probe device of claim 28, wherein, The magnetic conducting unit comprises a first magnetic yoke, the first magnetic yoke has a first end face and a second end face; when the load reciprocates, the first end face and / or the second end face can be used to limit and / or calibrate the load.

32. The probe device of claim 28, wherein, The movable part can reciprocate around a preset rotation axis, and the first magnetic yoke of the magnetic conducting unit is arranged away from the second magnetic yoke of the magnetic conducting unit relative to the preset rotation axis.

33. The probe device of claim 28, wherein, The magnet unit is connected to the first magnetic yoke of the magnetic conducting unit, and the magnet unit is arranged between the coil structure and the first magnetic yoke.

34. The probe device of claim 28, wherein, The number of the magnet units includes two, and the two magnet units are respectively connected to the first magnetic yoke and the second magnetic yoke of the magnetic conducting unit, one of the magnet units is arranged between the coil structure and the first magnetic yoke, and the other magnet unit is arranged between the coil structure and the second magnetic yoke.

35. The probe device of claim 28, wherein, The shape of the magnetic conducting unit, the shape of the coil structure, and the shape of the magnet unit are matched.

36. The probe device of claim 28, wherein, The movable part can reciprocate around a preset rotation axis, and the magnetic conducting unit, the magnet unit and the coil structure are arranged in a direction parallel to the preset rotation axis.

37. The probe device of claim 36, wherein, The magnetic conducting unit comprises a first magnetic yoke and a second magnetic yoke, and the first magnetic yoke, the magnet unit, the coil structure and the second magnetic yoke are sequentially arranged in a direction parallel to the preset rotation axis.

38. The probe device of claim 36, wherein, The magnetic conducting unit comprises a first magnetic yoke and a second magnetic yoke, and the number of the magnet units includes two, the first magnetic yoke, one of the magnet units, the coil structure, the other magnet unit and the second magnetic yoke are sequentially arranged in a direction parallel to the preset rotation axis.

39. The probe device of claim 28, wherein, The movable part can reciprocate around a preset rotation axis, and at least part of the magnetic conducting unit, the magnet unit and the coil structure are arranged in a radial direction of the preset rotation axis.

40. The probe device of claim 39, wherein, The magnetic conducting unit comprises a first magnetic yoke and a second magnetic yoke, and the first magnetic yoke, the magnet unit, the coil structure and the second magnetic yoke are sequentially arranged in a radial direction of the preset rotation axis, and the first magnetic yoke is arranged away from the second magnetic yoke relative to the preset rotation axis.

41. The probe device of claim 39, wherein, The magnetic conducting unit comprises a first magnetic yoke and a second magnetic yoke, and the number of the magnet units includes two, the first magnetic yoke, one of the magnet units, the coil structure, the other magnet unit and the second magnetic yoke are sequentially arranged in a radial direction of the preset rotation axis.

42. The probe device of claim 39, wherein, The magnetic conducting unit comprises a first magnetic yoke and a second magnetic yoke, and the movable part comprises the coil structure, and the fixed part comprises the magnet unit, the first magnetic yoke and the second magnetic yoke; or, the movable part comprises the coil structure and the second magnetic yoke, and the fixed part comprises the magnet unit and the first magnetic yoke.

43. The probe device of claim 42, wherein, The second magnetic yoke is connected with the load, and the load can swing back and forth around the second magnetic yoke.

44. The probe device of claim 39, wherein, The magnetic conducting unit comprises a second magnetic yoke, and the preset rotation axis is coincident with the axis of the second magnetic yoke.

45. The probe device of any one of claims 1-18, wherein, The movable part and / or at least part of the fixed part extend in the movement direction of the movable part to form the second movable space.

46. The probe device of any one of claims 1-18, wherein, The movable part and / or at least part of the fixed part are arranged at both ends of the movement direction of the movable part to form the second movable space.

47. The probe device of any one of claims 1-18, wherein, The number of the coil structure is one.

48. The probe device of any one of claims 1-18, wherein, The coil structure is formed with a slot.

49. The probe device of any one of claims 1-18, wherein, The movable part comprises the coil structure, and the coil structure drives the load to make a reciprocating curve movement.

50. The probe device of claim 49, wherein, Further comprising: A central shaft, and the load and the coil structure make synchronous movement relative to the central shaft.

51. The probe device of claim 50, wherein, The coil structure and the load are respectively connected to the central shaft, and the coil structure drives the load to make a reciprocating curve movement through the central shaft.

52. The probe device of claim 51, wherein, The load comprises a load body, wherein the load body and the coil structure are arranged at both sides of the central shaft.

53. The probe device of claim 50, wherein, The coil structure drives the load to make a reciprocating curve movement around the central shaft.

54. The probe device of any one of claims 1-18, wherein, The movable part comprises the coil structure, and the detection device further comprises a central shaft, and the load can swing back and forth around the central shaft within a second preset angle range, and the second preset angle range is determined according to the size of the second movable space.

55. The probe device of any one of claims 1-18, wherein, The movable part comprises the coil structure, and the detection device further comprises a central shaft, and the movable part further comprises: A coil fixing frame connected with the central shaft, and the coil structure is arranged in the coil fixing frame.

56. The probe device of claim 55, wherein, The coil fixing frame comprises a coil connecting part connected with the coil structure, and the coil connecting part is free of tooth slot structure.

57. The probe device of any one of claims 1-18, wherein, The movable part comprises the coil structure, and the detection device further comprises a central shaft, and the load and the coil structure are arranged at both sides of the central shaft.

58. The probe device of claim 57, wherein, The center of gravity of the load and the center of gravity of the coil structure are arranged in a central symmetry with the central shaft as the center.

59. The probe device of any one of claims 1-18, wherein, The movable part comprises the coil structure, and the detection device further comprises a central shaft, and the load comprises a load body and a load assembly part, wherein the load body is arranged in the load assembly part, and the load assembly part is connected with the central shaft.

60. The probe device of any one of claims 1-18, wherein, The load comprises at least one of the following: an optical element, a signal receiving element, and a signal emitting element.

61. The probe device of claim 60, wherein, The optical element comprises at least one of the following: a lens, a mirror, a prism, a galvanometer, and a grating.

62. The probe device of any one of claims 1-18, wherein, Further comprising: A detection mechanism for detecting movement information of at least one of the movable part and the load.

63. The probe device of claim 62, wherein, The detection mechanism comprises: A trigger arranged in at least one of the movable part, the load, and the central shaft of the detection device; A sensing member capable of sensing the trigger to detect movement information of at least one of the movable part and the load.

64. The probe device of any one of claims 1-18, wherein, The detection device comprises a laser radar, the load comprises an optical element of the laser radar, the optical element is connected with the movable part, and the movable part can drive the optical element to perform a reciprocating curved motion to change a propagation path of laser emitted by the laser radar. Alternatively, The detection device comprises a millimeter wave radar, the load comprises an antenna array plate of the millimeter wave radar, the antenna array plate is connected with the movable part, and the movable part can drive the antenna array plate to perform a reciprocating curved motion to enable the millimeter wave radar to emit electromagnetic waves in different directions to complete scanning of the outside world and / or receive radar signals in different directions. The detection device comprises an ultrasonic radar, the load comprises an ultrasonic wave emitting device of the ultrasonic radar, the ultrasonic wave emitting device is connected with the movable part, and the movable part can drive the ultrasonic wave emitting device to perform a reciprocating curved motion to enable the ultrasonic radar to emit ultrasonic waves in different directions to complete scanning of the outside world and / or receive radar signals in different directions.

65. The probe device of any one of claims 1-18, wherein, Further comprising a shell, the sensing assembly, the movable part and the fixed part are arranged in the shell, so that the shell can protect the detection device.

66. A detection device, comprising: Comprise: a sensing assembly for detecting external objects, at least part of the components in the sensing assembly being a load; a movable part configured to be connected with the load; and a fixed part, one of the movable part and the fixed part comprising at least part of a magnetic field generating structure, and the other of the movable part and the fixed part comprising a coil structure arranged in a magnetic field generated by the magnetic field generating structure; wherein when the coil structure is powered, the magnetic field generating structure can cooperate with the coil structure to generate a driving force to enable the movable part to perform a reciprocating curved motion in a first movable space, thereby driving at least part of the load to perform a reciprocating motion in a second movable space outside the first movable space, the first movable space being located on the inside or outside of the fixed part and being used for the reciprocating curved motion of the movable part; the first movable space and at least part of the second movable space are arranged along the movement direction of the movable part, and / or the central angle of the first movable space corresponding to a circle is less than 360°.

67. A sounding device, characterized by Comprise: a sensing assembly for detecting external objects, at least part of the components in the sensing assembly being a load; a movable part configured to be connected with the load; and a fixed part, one of the movable part and the fixed part comprising at least part of a magnetic field generating structure, and the other of the movable part and the fixed part comprising a coil structure arranged in a magnetic field generated by the magnetic field generating structure; wherein when the coil structure is powered, the magnetic field generating structure can cooperate with the coil structure to generate a driving force to enable the movable part to perform a reciprocating curved motion around a preset rotation axis, thereby driving at least part of the load to perform a reciprocating motion; The magnetic field generating structure comprises a magnet unit and a magnetic conducting unit; the magnetic conducting unit comprises a first magnetic yoke and a second magnetic yoke; the first magnetic yoke, the magnet unit, the coil structure and the second magnetic yoke are sequentially arranged along the radial direction of the preset rotation axis, and the first magnetic yoke is arranged away from the second magnetic yoke and away from the preset rotation axis; the magnet unit is arranged between the first magnetic yoke and the coil structure, and no magnet unit is arranged between the coil structure and the second magnetic yoke.

68. A sounding device characterized by Comprise: a sensing assembly for detecting external objects, at least part of the components in the sensing assembly are loads; a driving device comprising a movable part and a fixed part, the movable part is configured to be connected with the loads; one of the movable part and the fixed part comprises at least part of the magnetic field generating structure, and the other of the movable part and the fixed part comprises a coil structure, and the coil structure is arranged in the magnetic field generated by the magnetic field generating structure; wherein the driving device is a radial flux driving device; when the coil structure is powered, the magnetic field generating structure can cooperate with the coil structure to generate driving force, so that the movable part can make reciprocating curve motion around the preset rotation axis, thereby driving at least part of the loads to make reciprocating motion.

69. A detection device, comprising: Comprise: a coil structure; a magnetic field generating structure, the magnetic field generating structure comprises a magnet unit, a first magnetic yoke and a second magnetic yoke, wherein the first magnetic yoke, the magnet unit and the coil structure are sequentially arranged along the radial direction of the second magnetic yoke, and the coil structure is arranged close to the second magnetic yoke relative to the magnet unit; a sensing assembly for detecting external objects, at least part of the components in the sensing assembly are galvanometer mirrors, and the galvanometer mirrors and the coil structure are symmetrically arranged on both sides of the second magnetic yoke; wherein when the coil structure is powered, the magnetic field generating structure can cooperate with the coil structure to generate driving force, so that the coil structure can reciprocate around the second magnetic yoke in a first activity space, thereby driving at least part of the galvanometer mirrors to reciprocate around the second magnetic yoke in a second activity space outside the first activity space, the first activity space is located on the inner side or the outer side of at least part of the magnetic field generating structure and is used for reciprocating movement of the coil structure, and the second activity space is formed by extending the movement direction of the coil structure; and / or, the corresponding central angle of the first activity space is less than 360°.

70. A movable platform, characterized by Comprise: a platform body; and the detection device of any one of claims 1-69 is connected with the platform body.

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