CN223006300U - Scanning device and laser radar - Google Patents

Abstract

The present application discloses a scanning device and a laser radar, and relates to the field of laser radar technology. The scanning device of the present application includes a rotation drive assembly, a bracket, a reflector, and a swing drive assembly. The rotation drive assembly includes a stator and a rotor, the bracket is connected to the rotor, and the reflector is rotatably connected to the bracket. The swing drive assembly includes a first coil winding and a first magnet, the first coil winding is fixed relative to the position of the stator of the rotation drive assembly, and the first magnet is connected to the reflector so that the magnetic field generated by the first coil winding can drive the reflector to swing relative to the bracket. Combining the rotation drive assembly and the swing drive assembly to jointly control the posture of the reflector can achieve two-dimensional scanning with only one reflector. The scanning device provided in the present application has a simple and compact structure, which is conducive to miniaturization of the equipment and has low cost. The laser radar of the present application includes the above-mentioned scanning device.

Description

Scanning device and laser radar

Technical Field

The application relates to the technical field of laser radars, in particular to a scanning device and a laser radar.

Background

The scanning device of the laser radar has a remarkable influence on the radar point cloud effect, and the scanning device is expected to be capable of realizing a large field angle, high reliability and low cost. In order to realize two-dimensional scanning of the laser radar, a scanning device in the prior art is often complicated in structure, poor in stability and difficult to realize miniaturization of equipment.

Disclosure of utility model

The application aims to provide a scanning device and a laser radar, and the scanning device has simple and compact structure and better stability, and is beneficial to realizing the miniaturization of equipment.

Embodiments of the application may be implemented as follows:

in a first aspect, the present application provides a scanning device comprising:

the rotary driving assembly comprises a stator and a rotor matched with the stator.

A bracket connected to the rotor;

a reflector rotatably coupled to the bracket;

The swing driving assembly comprises a first coil winding and a first magnet, wherein the first magnet is connected with the reflector, so that a magnetic field generated by the first coil winding can drive the reflector to swing relative to the bracket.

In an alternative embodiment, the first coil winding is fixed in position relative to the stator of the rotary drive assembly.

In an alternative embodiment, the stator includes a second coil winding and the rotor includes a second magnet.

In an alternative embodiment, the second coil winding is arranged around the outside of the second magnet.

In an alternative embodiment, the second magnet is a magnetic ring and is disposed around the outside of the first coil winding.

In an alternative embodiment, the first magnet is connected to an end of the mirror near the first coil winding.

In an alternative embodiment, the first magnet is a single pair of pole magnets, and the edge of the mirror is connected to the first magnet along the boundary line of the two poles of the first magnet.

In an alternative embodiment, the mirror is a double sided mirror.

In an alternative embodiment, the scanning device further comprises a first sensor for detecting a rotational position of the rotor relative to the stator and a second sensor for detecting a rotational position of the mirror relative to the support.

In an alternative embodiment, the first sensor and the second sensor are photosensors or hall sensors.

In an alternative embodiment, the support is provided with a resilient member, the mirror having a rest position relative to the support, the resilient member being arranged to provide a force to the mirror to rotate towards the rest position.

In an alternative embodiment, the axis of rotation of the mirror relative to the support is perpendicular to the axis of rotation of the rotor.

In an alternative embodiment, the support includes a first support arm and a second support arm disposed on the stator, the first support arm and the second support arm are disposed at intervals in a direction perpendicular to a rotation axis of the rotor, and opposite sides of the reflector are respectively connected with the first support arm and the second support arm in a rotation manner.

In a second aspect, the present application provides a lidar comprising a scanning device according to any of the preceding embodiments.

The beneficial effects of the embodiment of the application include, for example:

The scanning device provided by the application comprises a rotation driving component, a bracket, a reflecting mirror and a swinging driving component. The rotation driving assembly comprises a stator and a rotor matched with the stator, the support is connected with the rotor, and the reflecting mirror is rotatably connected with the support. The swing driving assembly comprises a first coil winding and a first magnet, wherein the first magnet is connected with the reflector, so that a magnetic field generated by the first coil winding can drive the reflector to swing relative to the bracket. In the embodiment of the application, the rotating driving component can drive the bracket and the reflecting mirror to rotate together so as to realize scanning in one dimension, and the first coil winding can adjust the deflection angle of the reflecting mirror relative to the bracket by changing the magnetic field so as to realize scanning in the other dimension. Combining the rotation driving assembly and the swing driving assembly to jointly control the posture of the reflecting mirror, two-dimensional scanning can be realized through only one reflecting mirror. The scanning device has the advantages that the number of laser receiving and transmitting channels can be reduced, and meanwhile, the high-performance requirements of remote measurement, high resolution and the like are met. The drawing device provided by the application has a simple and compact structure, is beneficial to realizing the miniaturization of equipment and has lower cost.

The laser radar provided by the application comprises the scanning device, so that the two-dimensional scanning of the laser radar can be stably and effectively realized at lower cost.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic view of a scanning device (with a stator omitted) at a first viewing angle according to an embodiment of the application;

FIG. 2 is a schematic diagram of a scanning device according to an embodiment of the application at a second view angle;

FIG. 3 is a diagram of a scanning beam reflected by a mirror at two positions 180 degrees apart in angular rotation in an embodiment of the application.

The diagram is 100-rotation driving component, 110-second coil winding, 120-second magnet, 200-swing driving component, 210-first coil winding, 220-first magnet, 300-bracket, 310-first support arm, 320-second support arm and 400-reflector.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application. The components of the embodiments of the present application generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the application, as presented in the figures, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

It should be noted that like reference numerals and letters refer to like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.

In the description of the present utility model, it should be noted that, if the terms "upper", "lower", "inner", "outer", and the like indicate an azimuth or a positional relationship based on the azimuth or the positional relationship shown in the drawings, or the azimuth or the positional relationship in which the inventive product is conventionally put in use, it is merely for convenience of describing the present utility model and simplifying the description, and it is not indicated or implied that the apparatus or element referred to must have a specific azimuth, be configured and operated in a specific azimuth, and thus it should not be construed as limiting the present utility model.

Furthermore, the terms "first," "second," and the like, if any, are used merely for distinguishing between descriptions and not for indicating or implying a relative importance.

It should be noted that the features of the embodiments of the present application may be combined with each other without conflict.

The scanning device for realizing two-dimensional scanning in the existing laser radar is large in structural size and poor in stability. For example, in a turret-type scanning device, the transceiver modules rotate together, and wireless or slip rings are required to transmit power and data signals, so that the problems of high cost, large size, complex scheme, poor reliability and short service life exist. In the 1d+1d scanning mode, two fast and slow axis mirrors are required to be respectively responsible for scanning in two dimensions, and finally 2-dimensional scanning is completed. In the scanning mode by adopting the turning mirror, the turning mirror is required to be specially arranged, and the one-dimensional turning mirror is utilized to be added with the receiving and transmitting channels which are arranged in an array in the other direction, so that the 2-dimensional pixel coverage is realized.

In order to solve the above-mentioned problem of complex structure of the scanning device in the related art, the embodiment of the application provides a scanning device, which uses only one reflecting mirror, realizes two-dimensional scanning through a simple and stable structure, and is beneficial to realizing equipment miniaturization. The embodiment of the application also provides a laser radar comprising the scanning device and a scanning method applied to the laser radar.

Fig. 1 is a schematic view of a scanning device under a first viewing angle (stator is omitted) according to an embodiment of the application, and fig. 2 is a schematic view of a scanning device under a second viewing angle according to an embodiment of the application. As shown in fig. 1 and 2, the scanning device provided in the embodiment of the present application includes a rotation driving assembly 100, a bracket 300, a mirror 400, and a swing driving assembly 200. The rotation driving assembly 100 includes a stator and a rotor engaged with the stator, the bracket 300 is coupled to the rotor, and the mirror 400 is rotatably coupled to the bracket 300. The swing driving assembly 200 includes a first coil winding 210 and a first magnet 220, the first magnet 220 being connected to the mirror 400 such that a magnetic field generated by the first coil winding 210 can drive the mirror 400 to swing with respect to the bracket 300. It can be seen that scanning in one dimension can be achieved by rotating the drive assembly 100 to drive the support 300 to rotate with the mirror 400, while the first coil winding 210 can be used to adjust the deflection angle of the mirror 400 relative to the support 300 by varying the magnetic field, thereby enabling scanning in the other dimension. Therefore, the scanning device provided by the embodiment of the application can realize two-dimensional scanning through only one reflecting mirror 400, and has a simple and compact structure.

It should be understood that the rotation axis of the rotor and the rotation axis of the mirror 400 (hereinafter referred to as the rotation axis of the mirror 400) should be at least at an angle with respect to the rotation axis of the bracket 300, alternatively, the rotation axis of the rotor and the rotation axis of the mirror 400 are perpendicular to each other, and further alternatively, the rotation axis of the rotor and the rotation axis of the mirror 400 are perpendicular to each other and intersect each other to reduce the centrifugal force when the mirror 400 rotates with the rotor, thereby improving stability. Taking the vehicle-mounted laser radar as an example, the bracket 300 and the reflecting mirror 400 can be driven to rotate in the horizontal direction by the rotation driving assembly 100 to realize horizontal scanning, and the reflecting mirror 400 is driven to swing in the vertical direction by the swing driving assembly 200 to realize scanning in the vertical direction.

The first coil winding 210 may be connected to a power source (not shown) through a wire harness, and may generate a magnetic field after being energized, the magnetic field acting on the first magnet 220, the first magnet 220 being displaced after being stressed, so as to drive the mirror 400 to swing to a desired angle. The first coil winding 210 may include an iron core and a plurality of groups of coils wound around the iron core, and the strength of the magnetic field may be controlled by the magnitude of the current, and the distribution state of the magnetic field generated by the first coil winding 210 may be adjusted by supplying power to some of the coils. In the present embodiment, the first coil winding 210 is fixed in position with respect to the stator, so that it does not rotate with the bracket 300, and the wire harness connected to the first coil winding 210 can be kept stable, facilitating the wiring design. In alternative other embodiments, the first coil winding 210 may also remain stationary with the carrier 300 and the rotor, such as by being connected to the rotor or the carrier by a connector.

In this embodiment, the stator includes a second coil winding 110 and the rotor includes a second magnet 120. The second coil winding 110 may be connected to a power source (not shown) through a wire harness, and may generate a magnetic field after being energized, the magnetic field acting on the second magnet 120, the second magnet 120 being forced to rotate about its own axis, thereby rotating the bracket 300 and the mirror 400. By adjusting the magnitude of the current of the second coil winding 110, the rotational speed of the second magnet 120 and thus the mirror 400 can be controlled. In this embodiment, the second coil winding 110 does not participate in rotation, so that the stability of the circuit can be improved.

Further, the second coil winding 110 is circumferentially disposed outside the second magnet 120, thereby forming a structure similar to that of an inner rotor motor. The second magnet 120 is a magnetic ring and is disposed around the outside of the first coil winding 210. By this arrangement, the first coil winding 210 and the second coil winding 110 can be separated by the second magnet 120, and the interaction between the two is reduced. The first coil winding 210, the second magnet 120 and the second coil winding 110 are substantially in the same plane, so that the space inside the second magnet 120 is utilized to accommodate the first coil winding 210, and the whole structure of the scanning device is more compact.

In this embodiment, the second magnet 120 may be a plurality of pairs of magnetic rings, that is, the second magnet 120 includes a plurality of pairs of magnetic poles, and each of the magnetic poles is sequentially arranged around the circumferential direction.

In alternative embodiments, the relative positions of the stator and the rotor may be exchanged, for example, the rotor is disposed on the outer side of the stator, so as to form a structure similar to an external rotor motor, in other embodiments, the second coil winding 110 may be used as the rotor, the second magnet 120 may be used as the stator, and carbon brushes may be added to implement continuous rotation of the second coil winding 110 in the circumferential direction (the specific principle may refer to a brushed motor).

In an embodiment of the present application, the scanning device may further include a housing, in which the first coil winding 210, the second coil winding 110, and the second magnet 120 are located. The relative positions of the first coil winding 210 and the stator are fixed, and the first coil winding 210 and the second coil winding 110 may be fixedly connected to the same fixing member (e.g., a housing, a base, etc.), or the first coil winding 210 and the second coil winding 110 may be fixed by a connector, and then one of them is connected to the other fixing member.

In the present embodiment, the first coil winding 210, the second magnet 120 and the second coil winding 110 are coaxially disposed and substantially in the same plane. In other embodiments, the position of the first coil winding 210 may be adjusted according to the position of the mirror 400 and the first magnet 220, for example, in the case that the bracket 300 is higher and the mirror 400 is farther from the rotor, the first magnet 220 may be disposed above the second magnet 120 and spaced from the second magnet 120, and mounted and fixed by a connection member.

In this embodiment, the bracket 300 includes a first support arm 310 and a second support arm 320 disposed on the stator, where the first support arm 310 and the second support arm 320 are disposed at intervals in a direction perpendicular to the rotation axis of the rotor, and opposite sides of the mirror 400 are respectively rotatably connected to the first support arm 310 and the second support arm 320. In alternative other embodiments, the configuration and shape of the bracket 300 may be adjusted as desired.

Further, the first magnet 220 is connected to an end of the mirror 400 near the first coil winding 210. As shown, the mirror 400 has a rectangular shape, and opposite sides thereof are rotatably coupled to the first and second arms 310 and 320, respectively, such that both ends can swing with respect to the bracket 300. Wherein an end near the first coil winding 210 is coupled to the first magnet 220 such that the first magnet 220 is as close to the first coil winding 210 as possible, thereby being more easily driven by the first coil winding 210.

In this embodiment, the first magnet 220 is a single-pair-pole magnet, i.e. only includes an N pole and an S pole, both of which are semi-circular structures, and the first magnet 220 is a disc structure as a whole. The edge of the mirror 400 is connected to the first magnet 220 along the boundary line of the two poles of the first magnet 220, which allows the first coil winding 210 to better provide a force to the first magnet 220 to oscillate.

Alternatively, the mirror 400 is a double-sided mirror. By setting the mirror 400 to double-sided reflection, the light beam scans for two weeks in the course of the mirror 400 being driven to rotate one revolution. FIG. 3 shows a scanning beam reflected by a mirror 400 at two positions 180 degrees apart in rotation in an embodiment of the application. As shown in fig. 3, in a stroke of 180 ° (or approximately 180 °) of the rotation driven by the rotor, the scanning beam is reflected by one of the reflecting surfaces of the reflecting mirror 400, i.e., scanning beam a in fig. 3, and in another 180 ° (or approximately 180 °) of the stroke, the scanning beam is reflected by the other reflecting surface of the reflecting mirror 400, i.e., scanning beam B in fig. 3. It can be seen that, when the mirror 400 has a certain pitch angle, the scan beam a and the scan beam B have different pitch angles, and the scan beam a and the scan beam B are sequentially scanned one turn during one turn of the mirror 400.

In alternative embodiments, the mirror 400 may be a single mirror, with scanning in one direction (e.g., the horizontal direction) being achieved by reciprocating the mirror 400 through an angular range of 180 or less.

Optionally, the support 300 is provided with an elastic member, and the mirror 400 has a balanced position with respect to the support 300, and the elastic member is used to provide a force for rotating the mirror 400 toward the balanced position. Taking the structure provided in the present embodiment as an example, the equilibrium position of the mirror 400 may be a position when the mirror 400 is parallel to the rotation axis of the rotor. By providing the elastic member, when the mirror 400 is at a target position deviated from the equilibrium position, the moment balance of the driving force of the first coil winding 210, the restoring force of the elastic member, and the gravity force is maintained at the target position. When the mirror 400 deviates from the target position due to other external factors (such as vibration), the driving force of the first coil winding 210 and the restoring force of the elastic member are both in a tendency to cancel each other, and the mirror 400 is driven to restore to the target position. For example, at the target position, the first magnet 220 receives a force that biases the first coil winding 210 farther from the equilibrium position, thereby balancing the moment of gravity and elastic restoring force. If the mirror 400 swings from the target position to the equilibrium position due to the influence of some factors, the driving force of the first magnet 220 from the first coil winding 210 is increased, and the elastic restoring force of the mirror 400 from the elastic member is reduced, so that the resultant force of the mirror 400 causes it to return to the target position. It can be seen that the mirror 400 can be more stably maintained at a desired angle by providing the elastic member. The elastic member may be an elastic beam, a torsion spring or a spring.

Further, the scanning device further includes a first sensor (not shown) for detecting a rotational position of the rotor with respect to the stator, and a second sensor (not shown) for detecting a rotational position of the reflecting mirror 400 with respect to the bracket 300. The current posture of the reflecting mirror 400 can be monitored by the first sensor and the second sensor, so that the position of the scanning beam is judged, and the position of the detected object is judged. The first sensor and the second sensor are photosensors (such as reflective photosensors or correlation photosensors) or hall sensors.

The laser radar (not shown in the figure) provided by the embodiment of the application comprises the scanning device. The lidar further comprises necessary components such as a transmitting device, a receiving device, etc. The transmitting device is used for transmitting a light beam to the reflecting mirror 400 of the scanning device, the reflected light beam is a scanning light beam and is used for detecting an object in the target space, and the receiving device is used for receiving an echo reflected by the scanning light beam by the object so as to judge the distance, the azimuth, the shape and the like of the object. The specific detection principle of the lidar may refer to the prior art, and will not be described here.

The embodiment of the application also provides a scanning method which is applied to the laser radar. The scanning method comprises the following steps:

The method includes the steps of emitting a probe beam to the mirror 400, controlling the rotation driving assembly 100 to drive the bracket 300 to rotate, and changing a magnetic field generated by the first coil winding 210 to adjust a deflection angle of the mirror 400 with respect to the bracket 300.

While the above steps are performed, the receiving device may be controlled to receive the echo, and the echo may be analyzed to determine whether the object and the position, shape, etc. of the object are detected. The control steps described above may be implemented by a controller.

The step of varying the magnetic field generated by the first coil winding 210 to adjust the deflection angle of the mirror 400 with respect to the support 300 may include, in particular, supplying currents to different coils in the first coil winding 210 to vary the magnetic field generated by the first coil winding 210. In addition, by changing the magnitude of the current in the first coil winding 210, the driving force to the first magnet 220 can be changed, thereby adjusting the deflection angle of the mirror 400.

In one embodiment for performing a 360 scan, the rotatable driving assembly is controlled to continuously rotate the mirror 400 in one direction, and the swinging angle of the mirror 400 (i.e., the inclination angle relative to the support 300) can be adjusted by the swinging driving assembly 200 every time the mirror 400 rotates one revolution, and the swinging angle of the mirror 400 does not change during one revolution. Thus, a two-dimensional scan over a 360 field of view can be achieved.

Taking the laser radar carried on the traffic carrier as an example, the deflection angle of the reflector in the vertical direction can be accurately controlled by a control algorithm, so that variable angle scanning is realized, the scanning line number is improved, and the equivalent resolution is improved. Alternatively, the angle adjustment of the mirror 400 in the vertical direction may be accomplished in a time slot in which both reflective surfaces of the mirror 400 are scanned, keeping the swing angle of the mirror 400 unchanged during scanning using one reflective surface.

The laser radar and the scanning method of the embodiment of the application have the following characteristics:

1. the number of superimposed channels is not needed, and 2-dimensional scanning of multiple lines can be realized:

Wherein, the number of the radar lines is V=N× 2*s, N is the number of the receiving and transmitting channels, and s is the angle scanning order in the vertical direction.

2. The relation among the radar frame rate, the line number and the rotor rotating speed of the rotating driving assembly is as follows:

When the rotor rotates for 360 degrees, lei Dazhen degrees F=R/s, wherein R is the rotating speed of the rotor, the unit is Hz, and s is the angle stepping order of the vertical direction.

3. Line scanning can be supported without image rotation effects.

4. The equivalent line number can be dynamically adjusted, and the frame rate and the scanning line number can be adjusted.

5. The motion structure is simple, the reliability is high, and the radar optical path can be reduced, so that the whole size and the volume of the radar can be reduced.

6. The ultra-large field angle scanning can be realized, and different forms such as a forward main radar, a 360-degree scanning radar and the like can be realized by changing the relative positions of the transmitting device, the receiving device and the scanning device and the number of the transmitting device and the receiving device.

The foregoing is merely illustrative of the present application, and the present application is not limited thereto, and any changes or substitutions easily contemplated by those skilled in the art within the scope of the present application should be included in the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims (14)

1. A scanning device, comprising:

the rotary driving assembly comprises a stator and a rotor matched with the stator;

a bracket connected to the rotor;

a reflector rotatably coupled to the bracket;

The swing driving assembly comprises a first coil winding and a first magnet, the first coil winding is fixed relative to the stator of the rotation driving assembly, and the first magnet is connected to the reflector, so that a magnetic field generated by the first coil winding can drive the reflector to swing relative to the bracket.

2. A scanning device according to claim 1, wherein the first coil winding is fixed in position relative to the stator of the rotary drive assembly.

3. The scanning device of claim 1, wherein the stator comprises a second coil winding and the rotor comprises a second magnet.

4. A scanning device as claimed in claim 3, characterized in that the second coil winding is arranged circumferentially outside the second magnet.

5. The scanning device of claim 4, wherein said second magnet is a magnetic ring and is circumferentially disposed outside of said first coil winding.

6. A scanning device according to any one of claims 1-5, characterized in that the first magnet is connected to the end of the mirror near the first coil winding.

7. The scanning device of claim 6, wherein said first magnet is a single pair of pole magnets, and wherein an edge of said mirror is connected to said first magnet along a boundary line of two poles of said first magnet.

8. A scanning device according to any one of claims 1-5, wherein said mirror is a double sided mirror.

9. The scanning device of any of claims 1-5, further comprising a first sensor for detecting a rotational position of the rotor relative to the stator and a second sensor for detecting a rotational position of the mirror relative to the support.

10. The scanning device of claim 9, wherein the first sensor and the second sensor are photosensors or hall sensors.

11. A scanning device according to any one of claims 1-5, wherein a resilient member is provided on the support, the mirror having a rest position relative to the support, the resilient member being arranged to provide a force to the mirror to rotate towards the rest position.

12. A scanning device according to any one of claims 1-5, wherein the axis of rotation of the mirror relative to the support is perpendicular to the axis of rotation of the rotor.

13. A scanning device according to any one of claims 1 to 5, wherein the support comprises a first arm and a second arm provided to the stator, the first arm and the second arm being spaced apart in a direction perpendicular to the axis of rotation of the rotor, opposite sides of the mirror being in rotational connection with the first arm and the second arm, respectively.

14. A lidar comprising a scanning device according to any of claims 1 to 13.