CN106842233A - Line scanning laser radar and its implementation based on annular external rotor electric machine - Google Patents
Line scanning laser radar and its implementation based on annular external rotor electric machine Download PDFInfo
- Publication number
- CN106842233A CN106842233A CN201710035618.5A CN201710035618A CN106842233A CN 106842233 A CN106842233 A CN 106842233A CN 201710035618 A CN201710035618 A CN 201710035618A CN 106842233 A CN106842233 A CN 106842233A
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- Prior art keywords
- laser
- rotor
- reflection unit
- electric machine
- light path
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Classifications
-
- 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
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
-
- 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
-
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
-
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
Line scanning laser radar and its implementation based on annular external rotor electric machine, the laser radar include rotor, the stator and bearing of motor, the angular measurement sensor being connected with rotor；The central computer being connected with angular measurement sensor, the laser being connected with central computer, the diversing lens being fixed in laser transmitting light path, it is fixed on laser transmitting light path and the reflection unit connected with the rotor of external rotor electric machine, the convergence camera lens being fixed on reflection unit reflected light path, it is fixed on the laser detector converged on camera lens converged light road, the laser ranging module being connected with laser detector；Laser ranging module is connected with central computer；Also include the permanent magnet being connected with rotor, be wrapped in the coil on motor stator；The rotor and motor stator are hollow cylindricals, and transmitting laser and reception laser can be extended there through；360 ° of methods of scanning range finding are realized the invention also discloses laser radar；The automatic obstacle avoiding ability of unmanned machine can be realized.
Description
Technical field
The present invention relates to laser measuring technique field, and in particular to a kind of line scanning laser based on annular external rotor electric machine
Radar 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 easily receives 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, swash it is an object of the invention to provide a kind of line scanning based on annular external rotor electric machine
Optical radar and its implementation, can realize the automatic obstacle avoiding ability of unmanned machine.
To achieve the above objectives, the present invention is adopted the following technical scheme that：
A kind of line scanning laser radar based on annular external rotor electric machine, including rotor 1, the stator and bearing of motor
2, the angular measurement sensor 6 being connected with rotor 1；The central computer 7 being connected with angular measurement sensor 6, connects with central computer 7
The laser 4 for connecing, the diversing lens 8 being fixed in the transmitting light path of laser 4 are fixed on the transmitting light path of laser 4 and turn with outer
The connected reflection unit 3 of the rotor of sub-motor 1, the convergence camera lens 9 being fixed on the reflected light path of reflection unit 3 is fixed on convergence
Camera lens 9 converges the laser detector 10 in light path, the laser ranging module 5 being connected with laser detector 10；Laser ranging module 5
It is connected with central computer 7；Also include the permanent magnet (15) being connected with rotor 1, be wrapped in the coil on motor stator 2
(16)；The rotor 1 and motor stator 2 are hollow cylindricals, and transmitting laser and reception laser are extended there through.
Permanent magnet 15 is embedded with the inwall in the outside of the rotor 1, permanent magnet 15 is along the circumferential direction evenly distributed, motor
The outer wall of the inner side of rotor 1 is connected with the inner ring of bearing 12, and rotor 1 can be rotated with the rotation of bearing inner ring.
The outside of the motor stator 2 is wound with coil 16, and the inner side of motor stator 2 is connected with the outer shroud of bearing 12.
The reflection unit 3, is fixed on rotor 1, with rotor 1 while rotation, the reflection unit 3 and water
Square in angle of 45 degrees.
The optical axis of the transmitting light path of the laser 4 is parallel to each other with the optical axis of the receiving light path of laser detector 10.
The line scanning laser radar based on annular external rotor electric machine realizes 360 ° of methods of scanning range finding, including as follows
Step：
Step one, the signal control laser 4 of the output control laser 4 of central computer 7 sends pulse laser, and pulse swashs
Light through being irradiated on reflection unit 3 behind the center of rotor 1 and motor stator 2, by after the reflection of reflection unit 3, arteries and veins
Impulse illumination is mapped in target；
Step 2, drives the second reflection unit 3 being fixed thereon to rotate simultaneously, so as to will shine when rotor 1 is rotated
The vertical direction laser for being mapped to the second reflection unit 3 is changed into the laser of horizontal direction, and realizes 360 ° of scannings, central computer 7
The angle that laser is irradiated to reflection unit (3) moment and turns over is being launched by the measurement motor rotor 1 of angular measurement sensor 6；
Step 3, the laser of horizontal direction again passes by reflection unit 3 and is reflected into swashing for vertical direction after being reflected through target
Light and through the center of rotor 1 and motor stator 2, through converging after the convergence of camera lens 9 acts on, is received by laser detector 10,
So that laser ranging module 5 carries out subsequent treatment；
Step 4, after laser detector 10 receives the laser for returning and, laser ranging module 5 is swashed by measuring transmitting
Optical pulse time t1With reception Laser pulse time t2Between time difference calculate target distance, central computer 7 reads sharp again
The distance of the target that ligh-ranging module 5 is calculated, realizes to 360 ° of scanning probes of target.
Compared with prior art, the invention has the advantages that：
1. scanning means of the invention is different from traditional one-dimensional laser scanning device, by the rotor of scan module, stator
Hollow cylindrical is designed to, laser can be passed through from the center of rotor and stator, and the design is required for electric slip ring just can be real
Existing 360 ° of scanning, with long service life, compact conformation, cheap advantage.
2. the scheme being parallel to each other using Laser emission optical axis and laser pick-off optical axis, with simple structure, it is easy to accomplish,
Advantage with low cost.
3. Laser emission optical axis of the present invention with receive optical axis and misaligned so that plane where the laser trace of scanning with
Horizontal plane is angled, and the feature is particularly suitable for unmanned plane, the avoidance of robot.
4. the structure of laser radar of the present invention is conducive to reducing the radial dimension of annular generator, is adapted to narrower in radial space
Used under small environment.
Brief description of the drawings
Fig. 1 is line scanning laser radar arrangement figure of the present invention based on annular external rotor electric machine.
Fig. 2 is the schematic diagram that rotor of the present invention is connected with reflection unit.
Fig. 3 is annular external rotor electric machine top plan view in apparatus of the present invention.
Fig. 4 is annular external rotor electric machine main view profile in apparatus of the present invention.
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, a kind of line scanning laser radar based on annular external rotor electric machine of the present invention, including rotor 1,
The stator of motor and bearing 2, the angular measurement sensor 6 being connected with rotor 1；The central computer being connected with angular measurement sensor 6
7, the laser 4 being connected with central computer 7, the diversing lens 8 being fixed in the transmitting light path of laser 4 are fixed on laser 4
Transmitting light path and the reflection unit 3 connected with the rotor of external rotor electric machine 1, the convergence being fixed on the reflected light path of reflection unit 3
Camera lens 9, is fixed on and converges the laser detector 10 that camera lens 9 is converged in light path, the laser ranging mould being connected with laser detector 10
Block 5；Laser ranging module 5 is connected with central computer 7.
As shown in Figure 3 and Figure 4, permanent magnet 15 is embedded with the inwall in the outside of the rotor 1, permanent magnet 15 is circumferentially square
To evenly distributed, the outer wall of the inner side of rotor 1 is connected with the inner ring of bearing 12, and rotor 1 being capable of turning with bearing inner ring
Move and rotate.The outside of the motor stator 2 is wound with coil 16, and the inner side of motor stator 2 is connected with the outer shroud of bearing 12.
As shown in Fig. 2 the reflection unit 3 is fixed on the rotor 1 of motor, rotated simultaneously with rotor 1, as excellent
The implementation method of choosing, the reflection unit 3 is from the horizontal by 45 degree of angles.
Used as preferred embodiment, the laser 4 launches the optical axis and the receiving light path of laser detector 10 of light path
Optical axis is parallel to each other.
Line scanning laser radar based on annular external rotor electric machine of the present invention realizes 360 ° of methods of scanning range finding, bag
Include following steps：
The signal control laser 4 of the output control laser 4 of central computer 7 sends pulse laser, and pulse laser is passed through
It is irradiated to behind the center of rotor 1 and motor stator 2 on reflection unit 3, by after the reflection of reflection unit 3, pulse laser
It is irradiated in target；
The second reflection unit 3 being fixed thereon is driven to rotate simultaneously when rotor 1 is rotated, so as to be emitted onto second
The vertical direction laser of reflection unit 3 is changed into the laser of horizontal direction, and realizes 360 ° of scannings, and central computer 7 passes through angle measurement
The measurement motor rotor 1 of sensor 6 is launching the angle that laser is irradiated to reflection unit (3) moment and turns over；
The laser of horizontal direction again passes by reflection unit 3 and is reflected into the laser of vertical direction and passes through after being reflected through target
Rotor 1 and the center of motor stator 2, after converging the convergence of camera lens 9 effect, are received, so as to laser by laser detector 10
Range finder module 5 carries out subsequent treatment；
After laser detector 10 receives the laser for returning and, laser ranging module 5 is by measuring transmitting laser pulse
Time t1With reception Laser pulse time t2Between time difference calculate the distance of target, central computer 7 reads laser ranging again
The distance of the target that module 5 is calculated, realizes to 360 ° of scanning probes of target.
Claims (6)
1. a kind of line scanning laser radar based on annular external rotor electric machine, it is characterised in that：Including rotor (1), motor
Stator (2), bearing (12), the angular measurement sensor (6) being connected with rotor (1)；The center being connected with angular measurement sensor (6)
Computer (7), the laser (4) being connected with central computer (7), the diversing lens being fixed in laser (4) transmitting light path
(8) laser (4) transmitting light path and the reflection unit (3) being connected with rotor (1), are fixed on, reflection unit (3) is fixed on
Convergence camera lens (9) on reflected light path, is fixed on and converges the laser detector (10) that camera lens (9) is converged in light path, is visited with laser
Survey the laser ranging module (5) of device (10) connection；Laser ranging module (5) is connected with central computer (7)；Also include and electricity
The connected permanent magnet (15) of machine rotor (1), is wrapped in the coil (16) on motor stator (2)；The rotor (1) and motor
Stator (2) is hollow cylindrical, and transmitting laser and reception laser are extended there through.
2. the line scanning laser radar based on annular external rotor electric machine according to claim 1, it is characterised in that：The electricity
Permanent magnet (15) is embedded with inwall on the outside of machine rotor (1), permanent magnet (15) is along the circumferential direction evenly distributed, rotor (1)
The outer wall of inner side is connected with the inner ring of bearing (12), and rotor (1) can be rotated with the rotation of bearing inner ring.
3. the line scanning laser radar based on annular external rotor electric machine according to claim 1, it is characterised in that：The electricity
Coil (16) is wound with the outside of machine stator (2), the inner side of motor stator (2) is connected with the outer shroud of bearing (12).
4. the line scanning laser radar based on annular external rotor electric machine according to claim 1, it is characterised in that：It is described anti-
Injection device (3) is fixed on rotor (1), with rotor (1) while rotation, the reflection unit (3) and horizontal direction
In angle of 45 degrees.
5. the line scanning laser radar based on annular external rotor electric machine according to claim 1, it is characterised in that：It is described to swash
The optical axis of light device (4) transmitting light path is parallel to each other with the optical axis of laser detector (10) receiving light path.
6. the line scanning laser radar based on annular external rotor electric machine described in claim 1 realizes 360 ° of methods of scanning range finding,
Comprise the following steps：
Step one, the signal of central computer (7) output control laser (4) controls laser (4) to send pulse laser, pulse
Laser through being irradiated on reflection unit (3) behind the center of rotor (1) and motor stator (2), by reflection unit (3)
After reflection, on pulsed laser irradiation to target；
Step 2, drives the second reflection unit (3) for being fixed thereon while rotating, so as to will shine when rotor (1) is rotated
The vertical direction laser for being mapped to the second reflection unit (3) is changed into the laser of horizontal direction, and realizes 360 ° of scannings, central computer
(7) angle that laser is irradiated to reflection unit (3) moment and turns over is being launched by angular measurement sensor (6) measurement motor rotor (1)；
Step 3, the laser of horizontal direction again passes by the laser that reflection unit (3) is reflected into vertical direction after being reflected through target
And through rotor (1) and the center of motor stator (2), after converging camera lens (9) convergence effect, by laser detector (10)
Receive, so that laser ranging module (5) carries out subsequent treatment；
Step 4, after laser detector (10) receives the laser for returning and, laser ranging module (5) is swashed by measuring transmitting
Optical pulse time t1With reception Laser pulse time t2Between time difference calculate the distance of target, central computer (7) reads again
The distance of the target that laser ranging module (5) is calculated, realizes to 360 ° of scanning probes of target.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710035618.5A CN106842233A (en) | 2017-01-17 | 2017-01-17 | Line scanning laser radar and its implementation based on annular external rotor electric machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710035618.5A CN106842233A (en) | 2017-01-17 | 2017-01-17 | Line scanning laser radar and its implementation based on annular external rotor electric machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106842233A true CN106842233A (en) | 2017-06-13 |
Family
ID=59124975
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710035618.5A Pending CN106842233A (en) | 2017-01-17 | 2017-01-17 | Line scanning laser radar and its implementation based on annular external rotor electric machine |
Country Status (1)
| Country | Link |
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| CN (1) | CN106842233A (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109283545A (en) * | 2018-10-11 | 2019-01-29 | 东莞市光劲光电有限公司 | A kind of New Two Dimensional solid state LED laser radar and its distance measuring method |
| CN109991588A (en) * | 2019-04-29 | 2019-07-09 | 北京握奇数据股份有限公司 | A kind of laser radar scanning device |
| CN110361714A (en) * | 2019-08-07 | 2019-10-22 | 武汉灵途传感科技有限公司 | The ranging compensation system and method for laser radar |
| CN110912287A (en) * | 2018-09-17 | 2020-03-24 | 天津天瑞博科技有限公司 | Hollow outer rotor motor |
| WO2020062080A1 (en) * | 2018-09-28 | 2020-04-02 | 深圳市大疆创新科技有限公司 | Laser ranging apparatus and mobile device |
| WO2020062110A1 (en) * | 2018-09-28 | 2020-04-02 | 深圳市大疆创新科技有限公司 | Scanning module, distance measuring device, distance measuring module, distance detection device and mobile platform |
| CN111273254A (en) * | 2018-12-04 | 2020-06-12 | 苏州旭创科技有限公司 | Laser radar transmitting device and laser radar |
| 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 |
| WO2021031207A1 (en) * | 2019-08-22 | 2021-02-25 | SZ DJI Technology Co., Ltd. | Motors for driving multi-element optical scanning devices, and associated systems and methods |
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Cited By (11)
| 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 |
| WO2020062080A1 (en) * | 2018-09-28 | 2020-04-02 | 深圳市大疆创新科技有限公司 | Laser ranging apparatus and mobile device |
| WO2020062110A1 (en) * | 2018-09-28 | 2020-04-02 | 深圳市大疆创新科技有限公司 | Scanning module, distance measuring device, distance measuring module, distance detection device and mobile platform |
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| CN109283545A (en) * | 2018-10-11 | 2019-01-29 | 东莞市光劲光电有限公司 | A kind of New Two Dimensional solid state LED laser radar and its distance measuring method |
| CN111273254A (en) * | 2018-12-04 | 2020-06-12 | 苏州旭创科技有限公司 | Laser radar transmitting device and laser radar |
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| 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 |
| CN109991588A (en) * | 2019-04-29 | 2019-07-09 | 北京握奇数据股份有限公司 | A kind of laser radar scanning device |
| CN110361714A (en) * | 2019-08-07 | 2019-10-22 | 武汉灵途传感科技有限公司 | The ranging compensation system and method for laser radar |
| WO2021031207A1 (en) * | 2019-08-22 | 2021-02-25 | SZ DJI Technology Co., Ltd. | Motors for driving multi-element optical scanning devices, and associated systems and methods |
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Application publication date: 20170613 |
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