CN105785383B - A kind of laser scanning range-finding device - Google Patents
A kind of laser scanning range-finding device Download PDFInfo
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- CN105785383B CN105785383B CN201610333989.7A CN201610333989A CN105785383B CN 105785383 B CN105785383 B CN 105785383B CN 201610333989 A CN201610333989 A CN 201610333989A CN 105785383 B CN105785383 B CN 105785383B
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- 230000002528 anti-freeze Effects 0.000 abstract 2
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- 238000005516 engineering process Methods 0.000 description 3
- 230000008054 signal transmission Effects 0.000 description 3
- 238000004140 cleaning Methods 0.000 description 2
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The present invention provides a kind of laser scanning range-finding device.Rotating platform is connected with fixed platform by bearing, rotor is installed on the rotating platform, stator is installed on the stationary platform, drive the installation of transmit circuit plate on the stationary platform, circuit board for receiving is installed on the rotating platform, hollow transmitting coil installation is equipped with antifreeze plate on the stationary platform and between driving transmit circuit plate, and hollow receiving coil installation is equipped with antifreeze plate on the rotating platform and between circuit board for receiving.Compared with the prior art, hollow transmitting coil of the invention and hollow receiving coil are tiling on the direction perpendicular to rotary shaft, to reduce the vertical height of laser scanning range-finding device, and then reduce the occupied volume of laser scanning range-finding device overall structure.In addition, of the invention is used to realize that the communication distance of the spectrum diode of signal wireless transmission is shorter, when the whole vertical height of device reduces so as to promote the transmission speed of wireless signal.
Description
Technical Field
The invention relates to a robot design technology and a laser scanning technology, in particular to a laser scanning distance measuring device.
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.
Disclosure of Invention
Aiming at the defects of the laser scanning distance measuring device in the prior art, the invention provides the laser scanning distance measuring device which is small in structure and compact in appearance structure.
According to one aspect of the invention, a laser scanning distance measuring device is provided, which comprises a laser transmitter, a laser receiver, a receiving circuit board, a rotating platform, a rotor, a stator, a hollow transmitting coil, a hollow receiving coil, a driving transmitting circuit board, a fixed platform and a 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 °.
The laser scanning distance measuring device comprises a laser transmitter, a laser receiver, a receiving circuit board, a rotating platform, a rotor, a stator, a hollow transmitting coil, a hollow receiving coil, a driving transmitting circuit board, a fixed platform and a 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 hollow transmitting coil and the hollow receiving coil are tiled in the direction perpendicular to the rotating shaft, so that the vertical height of the laser scanning distance measuring device is reduced, and the volume occupied by the whole structure of the laser scanning distance measuring device is further reduced. In addition, the spectrum diodes for realizing wireless signal transmission are respectively arranged on the upper surface of the driving transmitting circuit board and the lower surface of the receiving circuit board, and when the overall vertical height of the device is reduced, the communication distance between the spectrum diodes is shorter, so that the transmission speed of wireless signals can be improved. Moreover, the laser transmitter and the laser receiver of the invention adopt a very small angle and a small distance, thereby not only having small and exquisite structure and compact appearance structure, but also overcoming the defects of large noise, environmental pollution, short service life and the like caused by the transmission of the prior belt or gear.
Drawings
The 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 or analogous elements, and to the various embodiments of the invention described below. However, it will be understood by those of ordinary skill 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.
Specific embodiments of various aspects of the present invention are described in further detail below with reference to the accompanying drawings.
Fig. 1 is a schematic structural diagram of a laser scanning distance measuring device according to an embodiment of the 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 includes at least a laser transmitting and receiving module 1, a receiving circuit board 4, a rotating platform 5, a rotor 6, a stator 7, a hollow transmitting coil 8, a hollow receiving coil 9, a driving transmitting 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, the distance between the laser emitter 2 and the laser receiver is d, and the included angle between the laser emitter 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 included angle β between the laser emitter 2 and the laser receiver 3 is less than or equal to 5 °, for example, the included angle is set to 4 °.
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).
In the signal transmission process of the present invention, the transmitting circuit board 10 and the receiving circuit board 4 perform information transmission in a photoelectric conversion manner. 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.
The laser scanning distance measuring device comprises a laser transmitter, a laser receiver, a receiving circuit board, a rotating platform, a rotor, a stator, a hollow transmitting coil, a hollow receiving coil, a driving transmitting circuit board, a fixed platform and a 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 hollow transmitting coil and the hollow receiving coil are tiled in the direction perpendicular to the rotating shaft, so that the vertical height of the laser scanning distance measuring device is reduced, and the volume occupied by the whole structure of the laser scanning distance measuring device is further reduced. In addition, the spectrum diodes for realizing wireless signal transmission are respectively arranged on the upper surface of the driving transmitting circuit board and the lower surface of the receiving circuit board, and when the overall vertical height of the device is reduced, the communication distance between the spectrum diodes is shorter, so that the transmission speed of wireless signals can be improved. Moreover, the laser transmitter and the laser receiver of the invention adopt a very small angle and a small distance, thereby not only having small and exquisite structure and compact appearance structure, but also overcoming the defects of large noise, environmental pollution, short service life and the like caused by the transmission of the prior belt or gear.
Hereinbefore, specific embodiments of the present invention are described with reference to the 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.
Claims (9)
1. A laser scanning distance measuring device is characterized by comprising a laser transmitter (2), a laser receiver (3), a receiving circuit board (4), a rotating platform (5), a rotor (6), a stator (7), a hollow transmitting coil (8), a hollow receiving coil (9), a driving transmitting circuit board (10), a fixed platform (11) and a bearing (13),
wherein, the rotary platform (5) is connected with the fixed platform (11) through a bearing (13), the rotor (6) is arranged on the rotary platform (5), the stator (7) is arranged on the fixed platform (11), the planes of the axes of the laser transmitter (2) and the laser receiver (3) are vertical to the rotating shaft of the rotary platform (5), the laser transmitter (2) and the laser receiver (3) are arranged on the rotary platform (5) and rotate together with the rotary platform (5), the driving transmitting circuit board (10) is arranged on the fixed platform (11), the receiving circuit board (4) is arranged on the rotary platform (5), the hollow transmitting coil (8) is arranged on the fixed platform (11) and is provided with a magnetic separation sheet between the hollow receiving coil (9) 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;
the stator (7) and the rotor (6) are distributed up and down in a direction parallel to the rotating shaft, or the stator (7) is arranged on the outer side of the rotor (6) in a direction perpendicular to the rotating shaft of the rotating platform (5), or the stator (7) is arranged on the inner side of the rotor (6) in a direction perpendicular to the rotating shaft of the rotating platform (5).
2. The laser scanning ranging device according to claim 1, characterized in that the laser scanning ranging device further comprises an encoder (12) and a square tooth (14), wherein the square tooth (14) is arranged on the fixed platform (11), the encoder (12) is mounted on the receiving circuit board (4), and the rotation position and the number of turns of the rotating platform (5) are recorded by the square tooth (14) and the encoder (12).
3. The laser scanning distance measuring device of claim 1, wherein the laser receiver (3) further comprises a lens (16) and a photosensitive element (17), when the light emitted by 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).
4. Laser scanning distance measuring device according to claim 1, characterized in that the drive transmitting circuit board (10) and the receiving circuit board (4) are in a photoelectric conversion way for information transmission.
5. Laser scanning ranging device according to claim 4, characterized in that the driving emitting circuit board (10) comprises a first light emitting diode and a first sensing diode, the receiving circuit board (4) comprises 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.
6. The laser scanning ranging device as claimed in claim 5, wherein 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.
7. Laser scanning ranging device according to claim 5, characterized in that the first light emitting diode and the first sensing diode are located on the upper surface of the drive emitting 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).
8. Laser scanning ranging device according to claim 1, characterized in that the rotation speed of the rotating platform (5) depends on the duty cycle value of an externally input PWM signal.
9. Laser scanning ranging device according to claim 1, characterized in that the angle between the laser emitter (2) and the laser receiver (3) is less than or equal to 5 °.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610333989.7A CN105785383B (en) | 2016-05-19 | 2016-05-19 | A kind of laser scanning range-finding device |
| PCT/CN2016/109313 WO2017197877A1 (en) | 2016-05-19 | 2016-12-09 | Laser scan ranging device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610333989.7A CN105785383B (en) | 2016-05-19 | 2016-05-19 | A kind of laser scanning range-finding device |
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| Publication Number | Publication Date |
|---|---|
| CN105785383A CN105785383A (en) | 2016-07-20 |
| CN105785383B true CN105785383B (en) | 2019-01-08 |
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| CN201610333989.7A Active CN105785383B (en) | 2016-05-19 | 2016-05-19 | A kind of laser scanning range-finding device |
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| CN (1) | CN105785383B (en) |
| WO (1) | WO2017197877A1 (en) |
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| CN104518543A (en) * | 2013-09-30 | 2015-04-15 | 宁夏先锋软件有限公司 | Wireless intelligent charging housing for cellphones |
| CN105527619B (en) * | 2016-02-05 | 2018-07-17 | 上海思岚科技有限公司 | A kind of Laser Distance Measuring Equipment |
| CN105785383B (en) * | 2016-05-19 | 2019-01-08 | 上海思岚科技有限公司 | A kind of laser scanning range-finding device |
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2016
- 2016-05-19 CN CN201610333989.7A patent/CN105785383B/en active Active
- 2016-12-09 WO PCT/CN2016/109313 patent/WO2017197877A1/en active Application Filing
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205643708U (en) * | 2016-05-19 | 2016-10-12 | 上海思岚科技有限公司 | Laser scanning distance measurement device |
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| WO2017197877A1 (en) | 2017-11-23 |
| CN105785383A (en) | 2016-07-20 |
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