CN106814364A - Scanning laser active probe device and implementation method based on disk type rotor electric motor - Google Patents
Scanning laser active probe device and implementation method based on disk type rotor electric motor Download PDFInfo
- Publication number
- CN106814364A CN106814364A CN201710035377.4A CN201710035377A CN106814364A CN 106814364 A CN106814364 A CN 106814364A CN 201710035377 A CN201710035377 A CN 201710035377A CN 106814364 A CN106814364 A CN 106814364A
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- Prior art keywords
- laser
- rotor
- reflection unit
- scanning
- motor stator
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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
Abstract
Scanning laser active probe device and its implementation based on disk type rotor electric motor, the device include rotor, motor stator, bearing, the angular measurement sensor being connected with rotor；Also include laser, the collimation lens being connected with laser, the first reflection unit of laser transmitting terminal is fixed on, the pulse laser beam that laser sends is just passed through the through hole of the first reflection unit central spot, is fixed on the second reflection unit being connected in through hole transmitting light path and with rotor；The condenser lens being fixed on the first reflection unit reflected light path, is fixed on the laser detector that condenser lens is converged in light path；The laser ranging system being connected with laser detector；The system processor unit being connected with laser, laser ranging system and angular measurement sensor；Motor stator and rotor are hollow disc-shapes, and transmitting laser and reception laser are extended there through；The invention also discloses the method that the device realizes scanning probe；Can be realized in the case where slip ring is not used to 360 ° of scanning probes of surrounding environment.
Description
Technical field
The present invention relates to laser scanning and ranging field, and in particular to a kind of scanning laser based on disk type rotor electric motor is actively
Detection device and its implementation.
Background technology
Automatic obstacle avoiding technology is unmanned plane, and the unmanned equipment such as unmanned vehicle needs the key technology for solving, and avoidance ability is inspection
Test a key factor of unmanned machine combination property.The avoidance technology of current main flow mainly has ultrasonic wave and vision technique.Its
Middle ultrasonic wave is simplest range-measurement system, and advantage of lower cost, with convenience, but because operating distance is nearer, is found range smart
Degree is not high, and easily receives external interference；Vision technique is highly prone to the influence of illumination factor, it is impossible to meets and round-the-clock independently keeps away
The demand of barrier.
Existing laser radar can realize 360 ° of scanning probes, but currently existing scheme generally needs to use slip ring, so that
The service life of laser radar is have impact on, 360 ° of Effect on Detecting of all standing are then difficult to without the scheme using slip ring.
The content of the invention
In order to solve the above problems, it is to provide a kind of scanning laser based on disk type rotor electric motor that the purpose of the present invention is
Active probe device and its implementation, can realize to 360 ° of scanning probes of surrounding environment in the case where slip ring is not used,
With simple structure, reliability is high, cheap, the advantages of long service life.
To achieve the above objectives, the present invention is adopted the following technical scheme that：
Scanning laser active probe device based on disk type rotor electric motor, including rotor 1, motor stator 2, bearing
15, the angular measurement sensor 6 being connected with rotor 1；Also include laser 4, be fixed on the first reflection dress of the transmitting terminal of laser 4
11 are put, the pulse laser beam that laser 4 sends is just passed through the through hole 12 of the central spot of the first reflection unit 11, is fixed on through hole
The second reflection unit 3 that is in 12 transmitting light paths and being connected with rotor 1；It is fixed on the reflected light path of the first reflection unit 11
Condenser lens 9, be fixed on condenser lens 9 converge light path on laser detector 10；The laser being connected with laser detector 10
Range unit 5；Also include the system processor unit being connected with the laser 4, laser ranging system 5 and angular measurement sensor 6
7；Also include the permanent magnet 16 being connected with rotor, be wrapped in the coil 14 on motor stator；The motor stator 2 and motor
Rotor 1 is hollow disc-shape, and transmitting laser and reception laser are extended there through.
The rotor 1 is located at the upper end of motor stator 2, and rotor 1 is axially connected with motor stator 2.
The upper surface of the motor stator 2 is along the circumferential direction equably wrapped coil 14, motor stator 2 and bearing 15
Outer shroud outer wall is connected.
The lower surface of the rotor 1 is embedded with permanent magnet 16, and permanent magnet 16 is along the circumferential direction evenly distributed；Rotor 1
In hollow boss shape, boss and the bearing inner ring inwall of rotor 1 are connected.
First reflection unit 11 is from the horizontal by 135 degree of angles；Second reflection unit 3 from the horizontal by
45 degree of angles.
The optical axis coincidence of the transmitting laser axis of first reflection unit 11 and the reception laser of the second reflection unit 3.
The method that the scanning laser active probe device based on disk type rotor electric motor realizes scanning probe, including it is as follows
Step：
Step one, the control laser 4 of system processor unit 7 sends pulse laser, and pulse laser is filled through the first reflection
The through hole 12 of 11 central spots is put, and is irradiated on the second reflection unit 3 after passing vertically through motor stator 2 and rotor 1；
Step 2, the second reflection unit 3 is connected with rotor 1, and rotor 1 drives it to rotate when rotating, and will irradiate
Vertical direction laser reflection to the second reflection unit 3 turns into horizontal sweep laser, and carries out 360 degree of scannings spy to horizontal plane
Survey, system processor unit 7 is by the measurement motor rotor 1 of angular measurement sensor 6 when transmitting laser is irradiated to the second reflection unit 3
The corner at quarter；
Step 3, the laser of target reflection is reflected into the laser of vertical direction by the second reflection unit 3, through motor stator
2 and the hollow space of rotor 1, it is irradiated on the first reflection unit 11, and reflect, after reflected light line focus lens 9 are converged,
Laser detector 10 receives the laser after converging, so that laser ranging system 5 carries out subsequent treatment；
Step 4, after laser detector 10 receives the laser for returning and, laser ranging system 5 is swashed by measuring transmitting
Optical pulse time t1With reception Laser pulse time t2Between time difference calculate barrier distance, realize to 360 ° of mesh around
Target scanning probe.
Compared with prior art, the invention has the advantages that：
First, the rotor of motor of the present invention, stator and bearing are annular hollow disc-shape, by rotor, stator and bearing
Hollow-core construction is designed to, transmitting laser and reception laser are extended there through；Reflection unit and rotor are connected and with its rotation
Turn, and Laser emission and reception device are not rotated, the design can be realized to week in the case where slip ring is not used
360 ° of collarette border scanning probe, with simple structure, reliability is high, cheap, the advantages of long service life.
Second, it is of the invention with traditional Laser emission with receiving compared with the scheme of optical axis, with remote excellent of detection range
Point.
3rd, the scanning means of present invention design is conducive to the axial dimension of reduction system, is adapted to narrower in axial space
Used under small environment.
Brief description of the drawings
Fig. 1 is scanning laser active probe structure drawing of device of the present invention based on disk type rotor electric motor.
Fig. 2 is motor and the connected schematic diagram of the second reflection unit in apparatus of the present invention.
Fig. 3 is disk type rotor electric motor structural representation in apparatus of the present invention.
Fig. 4 is disk type rotor electric motor stator and bearing schematic diagram in apparatus of the present invention, and wherein Fig. 4 a are motor stator and axle
The side view for holding, Fig. 4 b are the top view of motor stator and bearing.
Fig. 5 is disk type rotor electric motor mover schematic diagram in apparatus of the present invention, and wherein Fig. 5 a are the side view of rotor, figure
5b is the top view of rotor.
Specific embodiment
Below in conjunction with drawings and the specific embodiments, the present invention is described in further detail.It should be understood that these embodiments are only
For illustrating the present invention rather than limitation the scope of the present invention, after the present invention has been read, those skilled in the art are to this
The modification of the various equivalent form of values of invention falls within the application appended claims limited range.
As shown in figure 1, scanning laser active probe device of the present invention based on disk type rotor electric motor, including rotor 1,
Motor stator 2, bearing 15, the angular measurement sensor 6 being connected with rotor 1；Also include laser 4, the standard being connected with laser 4
Straight lens 8, are fixed on the first reflection unit 11 of the transmitting terminal of laser 4, and the pulse laser beam that laser 4 sends is just passed through the
The through hole 12 of the central spot of one reflection unit 11, is fixed on through hole 12 and launches in light path and connected with rotor 1 second
Reflection unit 3；The condenser lens 9 being fixed on the reflected light path of the first reflection unit 11, is fixed on condenser lens 9 and converges in light path
Laser detector 10；The laser ranging system 5 being connected with laser detector 10；Also include and the laser 4, laser ranging
Device 5 and the system processor unit 7 of the connection of angular measurement sensor 6；The motor stator 2 and rotor 1 are hollow disc-shapes, hair
Penetrate laser and receive laser and extend there through.
First reflection unit 11, its central spot is through hole 12, and the laser for enabling laser 4 to launch passes through first
Reflection unit 11；The laser that the second reflection unit 3 is reflected is reflected simultaneously.Preferably, the first described reflection dress
Optimal reflecting effect can be reached when putting 11 from the horizontal by 135 degree of angles.
Second reflection unit 3, is fixed on rotor 1, is rotated simultaneously with motor, preferably, described
The second reflection unit 3 from the horizontal by 45 degree of angles when can reach optimal reflecting effect.
The transmitting laser beam axis of the first described reflection unit 11 and the reception laser beam axis of the second reflection unit 3 overlap.
As shown in Fig. 2 the connected schematic diagram of 1 and second reflection unit of rotor 3 in apparatus of the present invention, the second reflection dress
Put 3 and be fixed together with rotor and rotated with rotor 1.Rotor 1 and motor stator 2 are hollow disc-shape simultaneously,
Transmitting laser and reception laser can be extended there through.
As shown in figure 3, the rotor 1 is located at the upper end of motor stator 2, rotor 1 and the axial phase of motor stator 2
Even.The upper surface of the motor stator 2 is along the circumferential direction equably wrapped the outer shroud of coil 14, motor stator 2 and bearing 15
Outer wall is connected.The lower surface of the rotor 1 is embedded with permanent magnet 16, and permanent magnet 16 is along the circumferential direction evenly distributed.Rotor 1
In hollow boss shape, boss and the bearing inner ring inwall of rotor 1 are connected.
As shown in Fig. 4 (Fig. 4 a and Fig. 4 b), the stator 2 of the motor is to be wound with coil 14 and the hollow disc with bearing 15
Shape, transmitting laser beam axis and reception laser beam axis can be extended there through.
As shown in Fig. 5 (Fig. 5 a and Fig. 5 b), the rotor 1 of the motor is the hollow disc-shape with permanent magnet 16, and transmitting swashs
Light and reception laser are extended there through.
The method that scanning laser active probe device based on disk type rotor electric motor described above realizes scanning probe, including
Following steps：
Step one, the control laser 4 of system processor unit 7 sends pulse laser, and pulse laser is filled through the first reflection
The through hole 12 of 11 central spots is put, and is irradiated on the second reflection unit 3 after passing vertically through motor stator 2 and rotor 1；
Step 2, the second reflection unit 3 is connected with rotor 1, and rotor 1 drives it to rotate when rotating, and will irradiate
Vertical direction laser reflection to the second reflection unit 3 turns into horizontal sweep laser, and carries out 360 degree of scannings spy to horizontal plane
Survey, system processor unit 7 is irradiated to the second reflection unit (3) by the measurement motor rotor 1 of angular measurement sensor 6 in transmitting laser
The corner at moment,
Step 3, the laser of target reflection is reflected into the laser of vertical direction by the second reflection unit 3, through motor stator
2 and the hollow space of rotor 1, it is irradiated on the first reflection unit 11, and reflect, after reflected light line focus lens 9 are converged,
Laser detector 10 receives the laser after converging, so that laser ranging system 5 carries out subsequent treatment；
Step 4, after laser detector 10 receives the laser for returning and, laser ranging system 5 is swashed by measuring transmitting
Optical pulse time t1With reception Laser pulse time t2Between time difference calculate barrier distance, realize to 360 ° of mesh around
Target scanning probe.
Claims (7)
1. a kind of scanning laser active probe device based on disk type rotor electric motor, it is characterised in that：Including rotor (1),
Motor stator (2), bearing (15), the angular measurement sensor (6) being connected with rotor (1)；Also include laser (4), with laser
The collimation lens (8) of device (4) connection, is fixed on first reflection unit (11) of laser (4) transmitting terminal, and laser (4) sends
Pulse laser beam be just passed through the through hole (12) of the first reflection unit (11) central spot, be fixed on through hole (12) transmitting light path
The second reflection unit (3) that is upper and being connected with rotor (1)；The focusing being fixed on the first reflection unit (11) reflected light path
Lens (9), are fixed on the laser detector (10) that condenser lens (9) is converged in light path；What is be connected with laser detector (10) swashs
Optical range finding apparatus (5)；Also include the system being connected with the laser (4), laser ranging system (5) and angular measurement sensor (6)
Processor unit (7)；Also include the permanent magnet (16) being connected with rotor (1), be wrapped in the coil on motor stator (2)
(14)；The motor stator (2) and rotor (1) are hollow disc-shapes, and transmitting laser and reception laser are extended there through.
2. the scanning laser active probe device based on disk type rotor electric motor according to claim 1, it is characterised in that：Institute
Rotor (1) is stated positioned at the upper end of motor stator (2), rotor (1) is axially connected with motor stator (2).
3. the scanning laser active probe device based on disk type rotor electric motor according to claim 1, it is characterised in that：Institute
The upper surface for stating motor stator (2) is along the circumferential direction equably wrapped coil (14), and motor stator (2) is outer with bearing (15)
Ring outer wall is connected.
4. the scanning laser active probe device based on disk type rotor electric motor according to claim 1, it is characterised in that：Institute
State rotor (1) lower surface and be embedded with permanent magnet (16), permanent magnet (16) is along the circumferential direction evenly distributed；Rotor (1) is in
Hollow boss shape, boss and the bearing inner ring inwall of rotor (1) are connected.
5. the scanning laser active probe device based on disk type rotor electric motor according to claim 1, it is characterised in that：Institute
The first reflection unit (11) is stated from the horizontal by 135 degree of angles；Second reflection unit (3) is from the horizontal by 45 degree of folders
Angle.
6. the scanning laser active probe device based on disk type rotor electric motor according to claim 1, it is characterised in that：Institute
State the optical axis coincidence of the transmitting laser axis of the first reflection unit (11) and the reception laser of the second reflection unit (3).
7. the method that the scanning laser active probe device based on disk type rotor electric motor described in claim 1 realizes scanning probe,
It is characterized in that：Comprise the following steps：
Step one, system processor unit (7) controls laser (4) to send pulse laser, and pulse laser is filled through the first reflection
The through hole (12) of (11) central spot is put, and is passed vertically through and be irradiated to after motor stator (2) and rotor (1) the second reflection dress
Put on (3)；
Step 2, the second reflection unit (3) is connected with rotor (1), and rotor (1) drives it to rotate when rotating, and will shine
The vertical direction laser reflection for being mapped to the second reflection unit (3) turns into horizontal sweep laser, and carries out 360 degree of scannings to horizontal plane
Detection, it is anti-that system processor unit (7) is irradiated to second by angular measurement sensor (6) measurement motor rotor (1) in transmitting laser
The corner at injection device (3) moment；
Step 3, the laser of target reflection is reflected into the laser of vertical direction by the second reflection unit (3), through motor stator
(2) and rotor (1) hollow space, be irradiated on the first reflection unit (11), and reflect, reflected light line focus lens
(9) after converging, laser detector (10) receives the laser after converging, so that laser ranging system (5) carries out subsequent treatment；
Step 4, after laser detector (10) receives the laser for returning and, laser ranging system (5) is swashed by measuring transmitting
Optical pulse time t1With reception Laser pulse time t2Between time difference calculate barrier distance, realize to 360 ° of mesh around
Target scanning probe.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710035377.4A CN106814364A (en) | 2017-01-17 | 2017-01-17 | Scanning laser active probe device and implementation method based on disk type rotor electric motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710035377.4A CN106814364A (en) | 2017-01-17 | 2017-01-17 | Scanning laser active probe device and implementation method based on disk type rotor electric motor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106814364A true CN106814364A (en) | 2017-06-09 |
Family
ID=59112330
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710035377.4A Pending CN106814364A (en) | 2017-01-17 | 2017-01-17 | Scanning laser active probe device and implementation method based on disk type rotor electric motor |
Country Status (1)
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| CN (1) | CN106814364A (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109507679A (en) * | 2019-01-04 | 2019-03-22 | 武汉海达数云技术有限公司 | A kind of laser scanner and laser radar system |
| CN110912287A (en) * | 2018-09-17 | 2020-03-24 | 天津天瑞博科技有限公司 | Hollow outer rotor motor |
| CN111587382A (en) * | 2018-12-18 | 2020-08-25 | 深圳市大疆创新科技有限公司 | Laser measuring device and unmanned vehicles |
| CN113985421A (en) * | 2021-12-28 | 2022-01-28 | 四川吉埃智能科技有限公司 | Inclined 45-degree mirror optical scanning device for laser radar |
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| CN106059226A (en) * | 2016-06-14 | 2016-10-26 | 西安交通大学 | Momentum wheel based on disc type structure |
| CN106199630A (en) * | 2016-06-30 | 2016-12-07 | 西安深穹光电科技有限公司 | Unmanned plane obstacle avoidance system based on laser radar and barrier-avoiding method thereof |
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|---|---|---|---|---|
| CN103212795A (en) * | 2013-02-04 | 2013-07-24 | 张立国 | Laser beam rotating device based on hollow electric spindle |
| CN106059226A (en) * | 2016-06-14 | 2016-10-26 | 西安交通大学 | Momentum wheel based on disc type structure |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110912287A (en) * | 2018-09-17 | 2020-03-24 | 天津天瑞博科技有限公司 | Hollow outer rotor motor |
| CN111587382A (en) * | 2018-12-18 | 2020-08-25 | 深圳市大疆创新科技有限公司 | Laser measuring device and unmanned vehicles |
| CN109507679A (en) * | 2019-01-04 | 2019-03-22 | 武汉海达数云技术有限公司 | A kind of laser scanner and laser radar system |
| CN113985421A (en) * | 2021-12-28 | 2022-01-28 | 四川吉埃智能科技有限公司 | Inclined 45-degree mirror optical scanning device for laser radar |
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Application publication date: 20170609 |