Laser scanning range unitTechnical Field
The utility model relates to a robot design technique and laser scanning technique especially relate to a laser scanning range unit.
Background
A Robot (Robot) is a machine device that automatically executes work, and can accept human commands, run pre-programmed programs, and perform a principle outline action based on artificial intelligence technology. In general, robots are tasked with assisting or replacing human work, such as work in the production, construction or hazardous industries. The mobile robot is a comprehensive system integrating multiple functions of environment perception, dynamic decision and planning, behavior control and execution and the like, can replace people to execute tasks in dangerous, severe or extreme environments, and completes reconnaissance, patrol, guard, anti-terrorism, explosive ordnance disposal, scientific investigation, sampling and the like, thereby having great application value in the fields of recourse, scientific investigation, military affairs and the like.
In the conventional mobile robot application, in view of the aspect of walking safety, it is often necessary to detect the position of an obstacle in front of a walking route of the mobile robot, pre-determine in advance, and control the robot to take necessary avoidance or detour measures, for example, a corresponding laser scanning distance measuring device is installed above a robot body. However, most of the existing laser scanning distance measuring devices adopt slip rings to realize transmission in a belt or gear meshing manner when transmitting signals and transmitting electric energy, so that the defects of large equipment volume, short service life and high noise exist, and the application occasions of the device are greatly limited. For example, for a special cleaning type mobile robot, the smaller the volume, the better, and if the height is larger, the whole robot cannot be moved to a place such as a bed bottom, under a sofa, or the like for cleaning operation. For another example, for an unmanned aerial vehicle flying, the smaller the volume, the lighter the weight, and the less power required, and if the volume is increased, the corresponding weight is increased, and the power consumption is increased accordingly, which results in a great reduction in cruising ability. In addition, in some existing laser scanning range finders, the whole structure is composed of a rotatable upper part and a non-rotatable lower part, the upper part and the lower part are connected through a bearing, and the laser transceiving direction of the scanning range finder is changed by using the rotation of the upper part, however, the volume of the current structure still has a space for further improvement so as to be suitable for various application occasions.
In view of the above, a problem to be solved by the related art in the art is how to design a laser scanning distance measuring device, so that the laser scanning distance measuring device has a smaller volume and a wider application range, and the cruising ability of the laser scanning distance measuring device is improved.
SUMMERY OF THE UTILITY MODEL
To the above-mentioned defect that laser scanning range unit among the prior art exists, the utility model provides a laser scanning range unit that the structure is small and exquisite, appearance compact structure.
The basis the utility model discloses an aspect provides a laser scanning range unit, including laser emitter, laser receiver, receiving circuit board, rotary platform, rotor, stator, cavity transmitting coil, cavity receiving coil, drive transmitting circuit board, fixed platform, bearing. The rotary platform is connected with the fixed platform through a bearing, the rotor is installed on the rotary platform, the stator is installed on the fixed platform, the planes where the respective axes of the laser transmitter and the laser receiver are located are perpendicular to the rotary shaft of the rotary platform, the laser transmitter and the laser receiver are installed on the rotary platform and rotate together with the rotary platform, the driving transmitting circuit board is installed on the fixed platform, the receiving circuit board is installed on the rotary platform, the hollow transmitting coil is installed on the fixed platform and is provided with the magnetic separation sheet between the hollow transmitting coil and the driving transmitting circuit board, and the hollow receiving coil is installed on the rotary platform and is provided with the magnetic separation sheet between the hollow receiving coil and the receiving circuit. The hollow transmitting coil and the hollow receiving coil are tiled in a direction perpendicular to the rotation axis, thereby reducing the vertical height of the laser scanning distance measuring device.
In one embodiment, the stator and the rotor are distributed up and down in a direction parallel to the rotation axis.
In one embodiment, the stator is disposed outside the rotor in a direction perpendicular to the rotational axis of the rotating platform.
In one embodiment, the stator is disposed inside the rotor in a direction perpendicular to the rotational axis of the rotating platform.
In one embodiment, the laser scanning distance measuring device further comprises an encoder and square teeth, wherein the square teeth are arranged on the fixed platform, the encoder is installed on the receiving circuit board, and the rotating position and the number of turns of the rotating platform are recorded by the square teeth and the encoder.
In one embodiment, the laser receiver further includes a lens and a photosensitive element, when the light emitted from the laser emitter reaches an obstacle, the light is reflected on the surface of the obstacle, and the reflected light is converged by the lens and absorbed by the photosensitive element.
In one embodiment, the driving transmitting circuit board and the receiving circuit board transmit information in a photoelectric conversion mode.
In one embodiment, the driving transmitting circuit board comprises a first light emitting diode and a first sensing diode, the receiving circuit board comprises a second light emitting diode and a second sensing diode, wherein the first light emitting diode and the second sensing diode form a first wireless transmission path, the first sensing diode and the second light emitting diode form a second wireless transmission path, and the first wireless transmission path and the second wireless transmission path realize full-duplex data transmission in a synchronous manner.
In one embodiment, the first light emitting diode has a first wavelength spectrum, the second light emitting diode has a second wavelength spectrum, the first sensing diode senses light in the second wavelength spectrum, and the second sensing diode senses light in the first wavelength spectrum, wherein the first wavelength spectrum is different from the second wavelength spectrum.
In one embodiment, the first light emitting diode and the first sensing diode are located on the upper surface of the driving and transmitting circuit board, and the second light emitting diode and the second sensing diode are located on the lower surface of the receiving circuit board.
In one embodiment, the rotation speed of the rotary platform depends on the duty ratio value of the externally input PWM signal.
In one embodiment, the angle between the laser transmitter and the laser receiver is less than or equal to 5 °.
Adopt the utility model discloses a laser scanning range unit, including laser emitter, laser receiver, receiving circuit board, rotary platform, rotor, stator, cavity transmitting coil, cavity receiving coil, drive transmitting circuit board, fixed platform, bearing. The rotary platform is connected with the fixed platform through a bearing, the rotor is installed on the rotary platform, the stator is installed on the fixed platform, the plane where the respective axes of the laser transmitter and the laser receiver are located is perpendicular to the rotary shaft of the rotary platform, the laser transmitter and the laser receiver are installed on the rotary platform and rotate together with the rotary platform, the drive transmitting circuit board is installed on the fixed platform, the receiving circuit board is installed on the rotary platform, the hollow transmitting coil is installed on the fixed platform and is provided with the magnetic separation sheet between the hollow transmitting coil and the drive transmitting circuit board, and the hollow receiving coil is installed on the rotary platform and is provided with the magnetic separation sheet between the hollow receiving coil and the. Compared with the prior art, the utility model discloses a cavity transmitting coil and cavity receiving coil are the tiling in the direction of perpendicular to rotation axis to reduce laser scanning range unit's vertical height, and then reduce the shared volume of laser scanning range unit overall structure. Furthermore, the utility model discloses a spectrum diode for realizing signal wireless transmission sets up the lower surface at the upper surface of drive transmission circuit board and receiving circuit board respectively, and when the whole vertical height of device reduces, communication distance between the spectrum diode is shorter to can promote wireless signal's transfer rate. Furthermore, the utility model discloses an adopt very little angle and less distance between laser emitter and the laser receiver, not only the structure is small and exquisite, appearance compact structure, has overcome a great deal of defects such as the noise that current belt or gear drive arouse is big, not environmental protection, life is short.
Drawings
Various aspects of the present invention will become more apparent to the reader after reading the detailed description of the invention with reference to the attached drawings. Wherein,
fig. 1 is a schematic structural diagram of a laser scanning distance measuring device according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of the structure of a hollow transmitting coil and a hollow receiving coil in the laser scanning ranging device of FIG. 1;
FIG. 3 is a schematic diagram of the light path between the laser transmitter and the laser receiver for transmitting and receiving light in the laser scanning distance measuring device of FIG. 1; and
fig. 4A to 4C are schematic diagrams illustrating a principle of data transmission in a full duplex mode, a half duplex mode, and a simplex mode, respectively.
Detailed Description
In order to make the present disclosure more complete and complete, reference is made to the accompanying drawings, in which like references indicate similar elements, and to the various embodiments of the invention described below. However, it should be understood by those skilled in the art that the examples provided below are not intended to limit the scope of the present invention. In addition, the drawings are only for illustrative purposes and are not drawn to scale.
Embodiments of various aspects of the present invention are described in further detail below with reference to the figures.
Fig. 1 shows a schematic structural diagram of a laser scanning distance measuring device according to an embodiment of the present invention. Fig. 2 is a schematic structural diagram of a hollow transmitting coil and a hollow receiving coil in the laser scanning ranging device of fig. 1.
As described in the background section, in some existing laser scanning range finders, the whole structure is composed of a rotatable upper part and a non-rotatable lower part, the upper part and the lower part are connected through a bearing, and the laser transceiving direction of the scanning range finder is changed by using the rotation of the upper part. The slip ring is mostly adopted when transmitting signals and transmitting electric energy, and transmission is realized through a belt, so that the defects of large equipment volume, short service life and high noise are caused, and the application occasions are limited. Generally, the smaller the volume of the laser scanning ranging device, the lighter the weight and the less power required; on the contrary, if the volume is increased, the corresponding weight is increased, and the endurance capacity is greatly reduced due to the increase of consumed power.
Referring to fig. 1, in this embodiment, the laser scanning distance measuring device of the present invention at least includes a laser emitting and receiving module 1, a receiving circuit board 4, a rotating platform 5, a rotor 6, a stator 7, a hollow emitting coil 8, a hollow receiving coil 9, a driving emitting circuit board 10, a fixed platform 11 and a bearing 13.
Specifically, the laser transmitter-receiver module 1 includes a laser transmitter 2 and a laser receiver 3. The plane (such as a horizontal plane) in which the respective axes of the laser transmitter 2 and the laser receiver 3 are located is perpendicular to the rotation axis (such as a vertical direction) of the rotation platform 5. The laser transmitter 2 and the laser receiver 3 are mounted on a rotating platform 5 and rotate together with the rotating platform 5. Preferably, the rotation speed of the rotary platform 5 depends on the duty ratio value of the externally input PWM signal. Wherein, rotary platform 5 passes through bearing 13 with fixed platform 11 and links to each other, and rotor 6 installs on rotary platform 5, and stator 7 installs on fixed platform 11. The drive transmitting circuit board 10 is installed on the fixed platform 11, the receiving circuit board 4 is installed on the rotating platform 5, the hollow transmitting coil 8 is installed on the fixed platform 11 and provided with a magnetic separation sheet between the hollow transmitting coil and the drive transmitting circuit board 10, and the hollow receiving coil 9 is installed on the rotating platform 5 and provided with a magnetic separation sheet between the hollow receiving coil and the receiving circuit board 4. Wherein the hollow transmitting coil 8 and the hollow receiving coil 9 are tiled in a direction perpendicular to the rotation axis, thereby reducing the vertical height of the laser scanning distance measuring device.
In a specific embodiment, the stator 7 and the rotor 6 are distributed up and down in a direction parallel to the rotation axis of the rotating platform 5, thereby further reducing the lateral width of the laser scanning distance measuring device. It should be understood by those skilled in the art that the positional relationship of the stator and the rotor is not limited thereto. For example, in other embodiments, the stator 7 is disposed outside the rotor 6 in a direction perpendicular to the rotation axis of the rotary platform 5; or the stator 7 is disposed inside the rotor 6.
In one embodiment, the laser scanning ranging apparatus further comprises an encoder 12 and a square tooth 14. The square teeth 14 are arranged on the fixed platform 11, the encoder 12 is arranged on the receiving circuit board 4, and the rotating position and the number of turns of the rotating platform 5 are recorded by the square teeth 14 and the encoder 12.
Fig. 3 is a schematic diagram showing the light paths between the laser transmitter and the laser receiver for transmitting and receiving light in the laser scanning ranging device of fig. 1.
Referring to fig. 3, a distance between the laser transmitter 2 and the laser receiver is d, and an included angle between the laser transmitter 2 and the laser receiver 3 is β. In this embodiment, the laser receiver 3 further includes a lens 16 and a photosensitive element 17. When the light emitted from the laser emitter 2 reaches an obstacle, the light is reflected on the surface of the obstacle, and the reflected light is converged by the lens 16 and absorbed by the photosensitive element 17. Preferably, the angle β between the laser transmitter 2 and the laser receiver 3 is less than or equal to 5 °. For example, the angle is set to 4 °. When the distance is kept unchanged, the angle between the laser transmitter 2 and the laser receiver 3 is larger, and the light emitted by the laser transmitter 2 reaches an obstacle at a shorter distance; the angle between the laser emitter 2 and the laser receiver 3 is small, and the light emitted by the laser emitter 2 reaches an obstacle at a longer distance.
Fig. 4A to 4C are schematic diagrams illustrating a principle of data transmission in a full duplex mode, a half duplex mode, and a simplex mode, respectively.
As is well known, data transmission generally includes a full duplex mode, a half duplex mode, and a simplex mode. Take the data transmission pair A, B as an example, wherein the full duplex mode means that data can be transmitted simultaneously by a to B and successfully received by a (as shown in fig. 4A). Half duplex is when a transmits data to B, which can only receive data and cannot transmit data (as shown in fig. 4B). Full duplex transmission is faster than half duplex because there is no waiting. The simplex mode is to transmit data from a to B unilaterally, or to transmit data from B to a unilaterally (as shown in fig. 4C).
The utility model discloses an among the signal transmission process, transmission circuit board 10 and receiving circuit board 4 carry out information transmission with photoelectric conversion's mode. Preferably, the transmitting circuit board 10 includes a first light emitting diode and a first sensing diode (indicated by reference numeral 15 in fig. 1), and the receiving circuit board 4 includes a second light emitting diode and a second sensing diode. The first light emitting diode and the second light emitting diode form a first wireless transmission path, the first sensing diode and the second light emitting diode form a second wireless transmission path, and the first wireless transmission path and the second wireless transmission path realize full-duplex data transmission in a synchronous mode.
In one embodiment, the first light emitting diode has a first wavelength spectrum, the second light emitting diode has a second wavelength spectrum, the first sensing diode senses light of the second wavelength spectrum, and the second sensing diode senses light of the first wavelength spectrum, wherein the first wavelength spectrum is different from the second wavelength spectrum. In this way, the first light emitting diode and the first sensing diode are located on the upper surface of the driving and transmitting circuit board 10, and the second light emitting diode and the second sensing diode are located on the lower surface of the receiving circuit board 4. Along with the reduction of the whole vertical height of the device, the communication distance between the spectrum diodes is shorter, so that the transmission speed of wireless signals can be improved.
Adopt the utility model discloses a laser scanning range unit, including laser emitter, laser receiver, receiving circuit board, rotary platform, rotor, stator, cavity transmitting coil, cavity receiving coil, drive transmitting circuit board, fixed platform, bearing. The rotary platform is connected with the fixed platform through a bearing, the rotor is installed on the rotary platform, the stator is installed on the fixed platform, the plane where the respective axes of the laser transmitter and the laser receiver are located is perpendicular to the rotary shaft of the rotary platform, the laser transmitter and the laser receiver are installed on the rotary platform and rotate together with the rotary platform, the drive transmitting circuit board is installed on the fixed platform, the receiving circuit board is installed on the rotary platform, the hollow transmitting coil is installed on the fixed platform and is provided with the magnetic separation sheet between the hollow transmitting coil and the drive transmitting circuit board, and the hollow receiving coil is installed on the rotary platform and is provided with the magnetic separation sheet between the hollow receiving coil and the. Compared with the prior art, the utility model discloses a cavity transmitting coil and cavity receiving coil are the tiling in the direction of perpendicular to rotation axis to reduce laser scanning range unit's vertical height, and then reduce the shared volume of laser scanning range unit overall structure. Furthermore, the utility model discloses a spectrum diode for realizing signal wireless transmission sets up the lower surface at the upper surface of drive transmission circuit board and receiving circuit board respectively, and when the whole vertical height of device reduces, communication distance between the spectrum diode is shorter to can promote wireless signal's transfer rate. Furthermore, the utility model discloses an adopt very little angle and less distance between laser emitter and the laser receiver, not only the structure is small and exquisite, appearance compact structure, has overcome a great deal of defects such as the noise that current belt or gear drive arouse is big, not environmental protection, life is short.
Hereinbefore, specific embodiments of the present invention have been described with reference to the accompanying drawings. However, those skilled in the art will appreciate that various modifications and substitutions can be made to the specific embodiments of the present invention without departing from the spirit and scope of the invention. Such modifications and substitutions are intended to be included within the scope of the present invention as defined by the appended claims.