CN112204415A

CN112204415A - Sensor and movable platform

Info

Publication number: CN112204415A
Application number: CN201980032045.8A
Authority: CN
Inventors: 黄稀荻
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd; SZ DJI Innovations Technology Co Ltd
Priority date: 2019-11-04
Filing date: 2019-11-04
Publication date: 2021-01-08
Also published as: KR20210057010A; WO2021087697A1

Abstract

A sensor and a movable platform, wherein the sensor comprises: the motor (10), the motor (10) includes the body (11) with holding the cavity, there are outlet holes (111) and inlet holes (112) on the body (11); the first communication assembly is positioned in the accommodating cavity and comprises a first communication board (20) and a first control board (21); the first communication board (20) and the first control board (21) are fixedly connected with the shell (11) and are arranged oppositely; one end of the first electric connecting piece (30) is connected with the first control board (21), the other end of the first electric connecting piece (30) penetrates out of the accommodating cavity from the wire outlet hole (111) and penetrates into the accommodating cavity from the wire inlet hole (112) to be connected with the first communication board (20), so that the first control board (21) and the first communication board (20) are in communication connection through the first electric connecting piece (30); the structure layout of the sensor is more reasonable, the space utilization rate is greatly improved, the size of the sensor is reduced, meanwhile, the interference of rotating parts to the wiring form of the sensor is avoided, and the reliability of sensor wiring is improved.

Description

Sensor and movable platform

Technical Field

The embodiment of the invention relates to the technical field of remote sensing equipment, in particular to a sensor and a movable platform.

Background

The radar is an active remote sensing device and can be applied to unmanned aerial vehicles and vehicles to realize the obstacle avoidance function of the unmanned aerial vehicles and the vehicles. For example, the radar may detect a target by using secondary radiation of electromagnetic waves, forwarding or fixing the radiation, and measure information such as spatial coordinates, velocity, acceleration, and trajectory of the target.

Most of the currently used radar apparatuses include a motor and a plurality of electrical modules connected to form a radar system. In use, the motor drives a portion of the electrical module to rotate. At present, in order to avoid interference of rotating parts on radar wiring, wiring modes among all electric modules are complex and messy, occupied space is large, and the whole volume of the radar is enlarged. The radar occupies a large space, which is not favorable for the miniaturization and light-weight of the whole device.

Disclosure of Invention

In view of the above problems, embodiments of the present invention are proposed to provide a sensor and a movable platform that solve the above problems.

In one embodiment of the present invention, there is provided a sensor including:

the motor comprises a shell with an accommodating cavity, and a wire outlet hole and a wire inlet hole are formed in the shell;

the first communication assembly is positioned in the accommodating cavity and comprises a first communication board and a first control board; the first communication board and the first control board are both fixedly connected with the shell and are arranged oppositely;

one end of the first electric connecting piece is connected with the first control board, the other end of the first electric connecting piece penetrates out of the accommodating cavity from the wire outlet hole and penetrates into the accommodating cavity from the wire inlet hole to be connected with the first communication board, and therefore the first control board and the first communication board are in communication connection through the first electric connecting piece.

Correspondingly, the embodiment of the invention also provides a movable platform, which comprises a movable platform body and a sensor arranged on the movable platform body;

the sensor, comprising:

the motor comprises a shell with an accommodating cavity, the shell is connected with the movable platform body, and a wire outlet hole and a wire inlet hole are formed in the shell;

According to the technical scheme provided by the embodiment of the invention, the first communication assembly is divided into two parts, and elements of the first communication assembly can be distributed, so that the occupied space of the first communication assembly is reduced. First communication subassembly sets up in the casing of motor, the shared space of make full use of motor for the structural configuration of sensor is rationalized more, has greatly improved space utilization, has reduced the sensor volume. The wiring mode of the first electric connecting piece can avoid the rotating component, so that the interference of the rotating component on the wiring mode of the sensor is avoided, and the reliability of the sensor wiring is improved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on the drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a sensor according to an embodiment of the present invention;

FIG. 2 is a schematic cross-sectional view of a sensor according to an embodiment of the present invention;

FIG. 3 is an enlarged view of a dotted line portion of FIG. 2;

fig. 4 is a schematic structural diagram of a radar according to another embodiment of the present invention.

Detailed Description

In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that, in the description of the embodiments of the present invention, the terms "first" and "second" are only used for convenience in describing different components, and are not to be construed as indicating or implying a sequential relationship, relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

Among the radar equipment that uses at present, for avoiding the interference of pivoted part to the radar wiring, the wiring mode between each electric module is all more complicated, in disorder, and occupation space is great, leads to the whole volume grow of sensor. The sensor requires a large space, which is not favorable for miniaturization and light-weight of the whole device. On some platforms with requirements on the volume of the equipment, the radar equipment cannot be installed or the installation process is very troublesome, so that the application range of the radar equipment is reduced.

In order to solve the problems, the invention provides a sensor and a movable platform, which can reduce the volume of the sensor, avoid the interference of a rotating component on the wiring form of the sensor and improve the reliability of the wiring of the sensor.

The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. The embodiments described below and the features of the embodiments can be combined with each other without conflict. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Example 1

Fig. 1 is a schematic structural diagram of a sensor according to an embodiment of the present invention, fig. 2 is a schematic cross-sectional structural diagram of the sensor according to the embodiment of the present invention, and fig. 3 is an enlarged schematic view of a dotted line portion in fig. 2, as shown in fig. 1 to 3.

In one embodiment of the present invention, there is provided a sensor including: the motor 10, the first communication assembly and the first electrical connector 30.

The motor 10 includes a housing 11 having an accommodating cavity, and the housing 11 is provided with a wire outlet hole 111 and a wire inlet hole 112. The first communication component is positioned in the accommodating cavity and comprises a first communication board 20 and a first control board 21; the first communication board 20 and the first control board 21 are both fixedly connected to the housing 11 and are disposed opposite to each other. One end of the first electrical connector 30 is connected to the first control board 21, and the other end of the first electrical connector passes through the accommodating cavity from the wire outlet 111, and passes through the accommodating cavity from the wire inlet 112 to be connected to the first communication board 20, so that the first control board 21 and the first communication board 20 are communicatively connected through the first electrical connector 30.

According to the technical scheme provided by the embodiment of the invention, the first communication assembly is divided into two parts, and elements of the first communication assembly can be distributed, so that the occupied space of the first communication assembly is reduced. First communication subassembly sets up in motor 10's casing 11, make full use of motor 10's shared space for the structural layout of sensor is rationalized more, has greatly improved space utilization, has reduced the sensor volume. The wiring mode that the first electric connecting piece 30 penetrates out of the accommodating cavity and then penetrates in can avoid the rotating component, so that the rotating component is prevented from interfering the wiring mode of the sensor, and the reliability of the sensor wiring is improved.

In the embodiment of the present invention, the sensor includes, but is not limited to, a microwave radar, a millimeter wave radar, and a laser radar. The sensor may be used to detect objects, such as obstacles, measure the distance, rate of change of distance, orientation, altitude, etc., of an object to the point of emission of the sensor. In some embodiments, the sensor may be used in an unmanned aerial vehicle, such as an agricultural drone. The sensor can also be used on equipment such as unmanned vehicles, ground remote controllers and the like, but is not limited to the equipment, and the sensor can also be used on other devices or equipment. The sensor may be mounted to other equipment, such as unmanned aerial vehicles, unmanned vehicles, and ground-based remote control personnel, through the housing 11 of the motor 10. The first electrical connector 30 includes but is not limited to an FPC (Flexible Printed Circuit), which has the characteristics of high wiring density, light weight, thin thickness and good bending property. The first electrical connector 30 formed by the FPC can effectively ensure the reliability of the communication connection between the first control board 21 and the first communication board 20.

Further, with continued reference to fig. 1-3, in one achievable embodiment of the invention, the electric machine 10 further includes a stator 12 and a rotor 13. The accommodating cavity is provided with an opening at one end, the stator 12 is connected with the shell 11 and covers the opening, the stator 12 is provided with a mounting hole, and the stator 12 is in communication connection with the first communication board 20 through a second electric connector 31. The rotor 13 includes a connecting shaft 131, and first and second rotating

disks

132 and 133 disposed at opposite ends of the connecting shaft 131. The connecting shaft 131 is rotatably sleeved with the mounting hole, the first rotating disc 132 is located inside the accommodating cavity, the second rotating disc 133 is located outside the accommodating cavity, and the connecting shaft 131, the first rotating disc 132 and the second rotating disc 133 can synchronously rotate. The first turntable 132 is suspended between the first communication board 20 and the first control board 21. Under the arrangement mode, a part of the rotor 13 is arranged in the shell 11 in an inward sinking mode, so that the height of the motor 10 can be effectively reduced, the height of the sensor is further reduced, the integral size of the sensor is reduced, and the occupied space of the sensor in the vertical direction can be effectively reduced. The second electrical connector 31 includes, but is not limited to, an FPC.

In order to avoid the interference of the first electrical connector 30 by the first rotating disc 132 when the rotor 13 rotates and the first rotating disc 132 rotates in the accommodating cavity of the housing 11, in the embodiment of the present invention, it is possible to wire the first electrical connector 30 by using the clearance in the housing 11, so as to avoid the first rotating disc 132. Specifically, referring to fig. 3, the first rotating disc 132 has a first gap 14 with the first control plate 21, and the first rotating disc 132 has a second gap 15 with the first communication plate 20. The position of the wire outlet hole 111 corresponds to the first gap 14, and the position of the wire inlet hole 112 corresponds to the second gap 15. Both ends of the first electrical connector 30 are respectively connected to the first control board 21 and the first communication board 20 after being separated from the first turntable 132 through the first gap 14 and the second gap 15. The first rotating disc 132 is suspended between the first communication board 20 and the first control board 21, and in order to ensure that the first rotating disc 132 can rotate, a gap, i.e. the first gap 14 and the second gap 15, is left between the first rotating disc 132 and the first communication board 20 and the first control board 21. When the first electrical connector 30 is connected between the first communication board 20 and the first control board 21, the first gap 14 and the second gap 15 are used to prevent the first electrical connector from contacting the first turntable 132. When the first rotary disk 132 rotates, no interference is generated on the two ends of the first electric connector 30. Meanwhile, the first electrical connector 30 firstly passes through the accommodating cavity from the wire outlet hole 111 and then passes through the accommodating cavity from the wire inlet hole 112, so that the first electrical connector 30 integrally bypasses the first rotary disc 132. The first rotating disk 132 rotates without interfering with the first electrical connector 30. In order to avoid magnetic leakage from the wire outlet hole 111 and the wire inlet hole 112, in the embodiment of the present invention, shielding paper is disposed outside the housing 11, and the wire outlet hole 111 and the wire inlet hole 112 are sealed by the shielding paper, so as to prevent the motor 10 from magnetic leakage from the wire outlet hole 111 and the wire inlet hole 112, where the shielding paper includes, but is not limited to, copper foil paper, silicon steel paper, and the like.

It should be noted that, in the embodiment of the present invention, in order to realize the rational utilization of the space of the accommodating cavity of the housing 11, the first communication board 20 and the first control board 21 may be respectively connected to the top or the bottom of the accommodating cavity, for example, the first communication board 20 is connected to the top of the accommodating cavity, and the first control board 21 is connected to the bottom of the accommodating cavity. Alternatively, the first communication board 20 may be fixedly attached to the stator 12, and the first control board 21 may be fixedly attached to the housing 11. Besides the first electrical connector 30, the first communication board 20 and the first control board 21 can be connected in a wireless manner, for example, the first communication board 20 can realize wireless transmission of signals in the form of wireless lan, bluetooth or microwave.

Further, with continued reference to fig. 1-3, in an embodiment of the present invention, the sensor further includes a second communication component, and the second communication component is communicatively connected to the first communication component. In one implementation, the first communication component is configured to send a control signal to the second communication component, and the second communication component is configured to send a radar data signal to the first communication component. The first communication assembly can receive a control signal of the external equipment in a cable or wireless mode and wirelessly transmit the control signal to the second communication assembly. The second communication assembly is connected with the signal processing module of the sensor and transmits the control signal to the signal processing module to control the signal processing module. The signal processing module transmits the generated radar data signals to the second communication assembly, the second communication assembly transmits the radar data signals to the first communication assembly in a wireless mode, and the first communication assembly transmits the radar data signals to external equipment through cables or wireless modes.

In an implementable embodiment of the invention, the sensor further comprises a third electrical connection 32. The second communication module includes a second communication board 40 and a second control board 41. The second communication board 40 is located inside the accommodating cavity and is disposed on the first rotating disk 132. The second control plate 41 is located outside the accommodating chamber and can rotate synchronously with the second rotating disc 133. Connecting shaft 131 has a through connecting cavity 1311, and one end of third electrical connector 32 is connected to second communication board 40, and the other end passes through connecting cavity 1311 and is connected to second control board 41, so that second communication board 40 and second control board 41 are communicatively connected through third electrical connector 32. The second communication board 40 of the second communication assembly is disposed in the housing 11 of the motor 10, so that the space of the accommodating cavity can be fully utilized, and the occupied space of the sensor can be further reduced. The second communication assembly is divided into two parts, components on the second communication assembly can be distributed, occupied space of the second communication assembly in the transverse direction is reduced, and space utilization is facilitated. The second communication board 40 and the second control board 41 need to rotate synchronously, and the third electrical connector 32 passes through the connection cavity 1311 to realize the connection between the second communication board 40 and the second control board 41, so that the space can be effectively utilized, and the interference of the rotor 13 to the third electrical connector 32 during rotation can be avoided. To facilitate passage of third electrical connectors 32 through connection chamber 1311, it is possible to provide second communication plate 40 on the side of first carousel 132 facing stator 12.

It should be noted that, in addition to the communication connection through the third electrical connector 32, the second communication board 40 and the second control board 41 can also be in communication connection in a wireless manner, for example, the second communication board 40 can implement wireless transmission of signals in the form of a wireless lan, bluetooth or microwave. In the embodiment of the present invention, the second communication member rotates with the rotation of the rotor 13 of the motor 10, and the first communication member is fixed. In other embodiments, it is understood that the first and second communication assemblies may both rotate as the rotor 13 rotates. For example, when the first communication module is wirelessly connected to an external device, the first communication module may also rotate along with the rotation of the rotor 13, and the embodiment of the present invention is not limited thereto. In order to ensure that signals can be continuously and stably transmitted between the first communication assembly and the second communication assembly during rotation, in the embodiment of the invention, the first communication assembly and the second communication assembly are both approximately disc-shaped.

Further, referring to fig. 1 and 2, in the embodiment of the present invention, the sensor further includes a rotating body 50. The rotating body 50 may be a bracket for mounting a signal processing module, which may be used to transmit a radar signal and receive an echo signal. Or the signal processing module is composed of at least two sub-components, which enclose the rotating body 50. In the above or below embodiments, the rotating body 50 may be referred to as a bracket for mounting the signal processing module, or may be referred to as a signal processing module.

It should be noted that, the first communication component and the second communication component may be used to transmit communication signals between the signal processing module and the external device, for example, transmit control signals of the external device to the signal processing module, and transmit radar data signals generated by the signal processing module to the external device, for example, the external device includes, but is not limited to, a main controller of the unmanned aerial vehicle, and the like.

In an achievable embodiment of the invention, with continued reference to fig. 1 and 2, the rotary body 50 comprises an intermediate link plate 51 and first and

second side plates

52, 53 connected to opposite ends of the intermediate link plate 51. The motor 10 is located between the first side plate 52 and the second side plate 53, and is fixedly connected with the middle of the middle connecting plate 51 through the rotor 13. The second control plate 41 is fixedly arranged in the middle of the intermediate connecting plate 51. The motor 10 is located between the first side plate 52 and the second side plate 53, the occupied space of the sensor in the vertical direction can be effectively reduced, the motor 10 is at least partially embedded in the occupied space of the rotating body 50, the structural layout between the motor 10 and the rotating body 50 makes full use of the space, the structural layout of the sensor is more reasonable, the space utilization rate is greatly improved, the occupied space of the sensor is effectively reduced, and the sensor can be suitable for more platforms.

According to different requirements, in the embodiment of the present invention, the first side plate 52 and the second side plate 53 may be connected to the middle connecting plate 51 through end portions; or the first side plate 52 and the second side plate 53 may be connected to the intermediate connecting plate 51 through intermediate regions at both ends. Of course, the connection manner between the first side plate 52 and the intermediate connecting plate 51 and the second side plate 53 is not limited in the embodiment of the invention.

The rotating body 50 is located outside the accommodating cavity, and when the rotating body 50 rotates, the first electrical connector 30 located outside the accommodating cavity may interfere with the rotating body 50, and in order to avoid the rotating body 50 from interfering with the first electrical connector 30, in an embodiment of the present invention, it is possible to implement a manner that the first electrical connector 30 is wired by using a gap between the housing 11 and the rotating body 50, so as to avoid the rotating body 50. Specifically, referring to fig. 2, the housing 11 and the first and

second side plates

52 and 53 have a third gap 16 therebetween. The portion of the first electrical connector 30 located outside the accommodating cavity is tightly attached to the housing 11 so as to avoid the first side plate 52 and the second side plate 53 through the third gap 16. To ensure that the rotating body 50 can rotate, a gap, i.e., a third gap 16, is left between the side plate and the housing 11 of the motor 10. The first electrical connector 30 is tightly attached to the housing 11, so that the first electrical connector 30 is located in the third gap 16, and the first electrical connector 30 avoids the first side plate 52 and the second side plate 53 by using the third gap 16. When the rotating body 50 rotates, the first side plate 52 and the second side plate 53 do not interfere with the first electrical connector 30.

The rotating body 50 is taken as an example of a bracket for mounting the signal processing module. Referring to fig. 2 and 4, in an implementable embodiment of the invention, a digital board 54 is provided on a side of the first side board 52 facing away from the motor 10, and a radio frequency board 55 is provided on a side of the second side board 53 facing away from the motor 10. The first communication module is connected to the rf board 55 and the digital board 54 in a wireless communication manner. The secondary control board 41 is communicatively coupled to the digital board 54. The radio frequency board 55 is communicatively connected to the digital board 54. The rf board 55 and the digital board 54 constitute a signal processing module. In order to realize the communication with the outside, an antenna plate is also arranged on the middle plate. The antenna board includes a transmitting antenna and a receiving antenna, the radio frequency board 55 radiates a radar signal outwards through the transmitting antenna, the receiving antenna receives an echo signal and sends the echo signal to the digital signal processing board, and the digital signal processing board processes the received echo signal, for example, amplifies the echo signal, filters an interference signal, converts the echo signal into a radar data signal, and the like, where the converted radar data signal may be used for control, terminal observation and/or recording, and the like of a backend device.

In the embodiment of the present invention, the second control board 41 is communicatively connected to the digital board 54 by a cable connection. In particular, with reference to fig. 2 and 4, the sensor further comprises a fourth electrical connection 33. The digital board 54 has a first digital connection port. Fourth electrical connector 33 has one end connected to second control board 41 and another end extending along the surface of middle and/or second side plate 53 and through first side plate 52 to connect with the first digital connector, so that second control board 41 and digital board 54 are communicatively connected via fourth electrical connector 33. The fourth electrical connector 33 includes but is not limited to being an FPC. The second control board 41 and the digital board 54 rotate synchronously with the rotor 13, and dynamic balance can be effectively ensured through the fourth electric connector 33. Meanwhile, the fourth electrical connector 33 ensures stable communication connection between the second control board 41 and the digital board 54, and the arrangement manner of the fourth electrical connector 33 extending along the surface of the middle board and/or the second side board 53 can effectively reduce instability caused by shaking of the fourth electrical connector 33.

Further, referring to fig. 4, in order to ensure a dynamic balance design, in the embodiment of the present invention, the sensor further includes a fifth electrical connector 34 and a sixth electrical connector 35. The opposite ends of the digital board 54 are respectively provided with a second digital connector and a third digital connector. The radio frequency board 55 is provided with a first radio frequency connector and a second radio frequency connector at positions corresponding to the second digital connector and the third digital connector. One end of the fifth electrical connector 34 passes through the first side plate 52 to connect with the second digital connector, and the other end passes through the second side plate 53 to connect with the first rf interface. One end of the sixth electrical connector 35 passes through the first side plate 52 to connect with the third digital connector, and the other end passes through the second side plate 53 to connect with the second rf interface. So that the digital board 54 and the radio frequency board 55 are communicatively connected by the fifth electrical connector 34 and the sixth electrical connector 35. The fifth electrical connector 34 and the sixth electrical connector 35 include but are not limited to FPCs. The connection between the digital board 54 and the radio frequency board 55 is uniformly split into two paths through the fifth electric connector 34 and the sixth electric connector 35, one path is responsible for the transmission of the intermediate frequency signal of the radio frequency board 55, and the other path is responsible for the power supply and the output of the control signal, so that the dynamic balance of the digital board 54 and the radio frequency board 55 is ensured.

In order to reduce instability caused by shaking of the fifth electrical connector 34 and the sixth electrical connector 35, referring to fig. 4, in the embodiment of the present invention, reinforcing plates 37 are respectively disposed on the fifth electrical connector 34 and the sixth electrical connector 35, and two ends of each reinforcing plate 37 are respectively fixedly connected to the first side plate 52 and the second side plate 53. The rf board 55 and the digital board 54 rotate synchronously with the rotor 13, so that it is necessary to ensure dynamic balance and to minimize instability caused by the shaking of the fifth electrical connector 34 and the sixth electrical connector 35. Therefore, the fifth electrical connector 34 and the sixth electrical connector 35 can be fixed by the stiffener 37, and the stiffener 37 corresponds to a routing bridge. Both ends of the reinforcing plate 37 are fixed to the first side plate 52 and the second side plate 53, so that the reinforcing plate 37 does not shake when the rotating body 50 rotates. The fifth electric connecting piece 34 and the sixth electric connecting piece 35 are pasted on the reinforcing plate 37 through back glue, and the fifth electric connecting piece 34 and the sixth electric connecting piece 35 are tightly attached to the reinforcing plate 37, so that the structural stability of the fifth electric connecting piece 34 and the sixth electric connecting piece 35 is improved.

Referring to fig. 2 and 4, the sensor further includes a height plate 56 and a seventh electrical connection 36. The two ends of the height-fixing plate 56 are fixedly connected with the first side plate 52 and the second side plate 53 respectively. The digital board 54 is provided with a fourth digital connection port. Seventh electrical connector 36 has one end connected to leveling plate 56 and another end extending along a surface of leveling plate 56 and through first side plate 52 for connection to a fourth digital connector port, such that leveling plate 56 and digital plate 54 are communicatively coupled via seventh electrical connector 36. The leveling plate 56 may be used to measure the height of the sensor. The seventh electrical connection 36 includes, but is not limited to, an FPC. Seventh electrical connections 36 may be arranged along a surface of leveling plate 56 to reduce instability from rattling of seventh electrical connections 36.

Further, referring to fig. 3, in an implementable embodiment of the present invention, a wireless power supply assembly 60 is also disposed within the housing chamber. The wireless power supply unit 60 includes a power transmitting terminal 61 and a power receiving terminal 62. The power transmitting terminal 61 is fixedly coupled to the housing 11. The power receiving terminal 62 is disposed on a side of the second turntable 133 facing the power transmitting terminal 61, and is disposed opposite to the power transmitting terminal 61. The lead wires of the power receiving terminal 62 are electrically connected to the second control board 41 through the connection chamber 1311. The wireless power supply assembly 60 is disposed in the housing 11 of the motor 10, so that the space occupied by the sensor can be further reduced. The power transmitting terminal 61 is electrically connected to an external power source, for example, by a cable or wirelessly. The power transmitting terminal 61 may transmit power to the power receiving terminal 62 in a wireless manner. The power receiving terminal 62 is electrically connected to the second control board 41, receives the power transmitted from the power transmitting terminal 61, supplies the power to the second control board 41, and supplies the power to the rotating body 50 through the second control board 41.

The lead of the power receiving terminal 62 passes through the connecting cavity 1311 to provide power for the second control board 41, the power receiving terminal 62 and the second control board 41 need to rotate synchronously, the lead of the power receiving terminal 62 passes through the connecting cavity 1311 to realize the connection between the power receiving terminal 62 and the second control board 41, the space can be effectively utilized, and meanwhile, the interference to the power receiving terminal 62 when the rotor 13 rotates can be avoided. Of course, the power receiving terminal 62 can also supply power to the second control board 41 in a wireless manner.

In the embodiment of the present invention, the power transmitting end 61 includes, but is not limited to, a transmitting coil, and the power receiving end 62 includes, but is not limited to, a receiving coil, and the transmitting coil and the receiving coil transmit power by wireless power supply. In one implementation, electrical energy is transferred between the sending coil and the receiving coil by electromagnetic induction. The transmitting coil is connected with alternating current, and current is generated on the receiving coil by electromagnetic induction, thereby transmitting electric energy from the electric energy transmitting terminal 61 to the electric energy receiving terminal 62. Alternatively, the electric energy may be transmitted between the electric energy transmitting terminal 61 and the electric energy receiving terminal 62 through a magnetic resonance method or other methods.

In one implementation, the power transmitting end 61 is fixedly connected to the housing 11, and the power transmitting end 61 further includes a transmitting coil rack, which supports a transmitting coil and is fixedly connected to the housing 11. The power receiving end 62 is bonded or otherwise connected to the first turntable 132 by fasteners. Alternatively, the power receiving terminal 62 includes a receiving bobbin that supports the receiving coil, and the receiving bobbin is fixedly coupled to the first turntable 132. The sending coil and the receiving coil are arranged oppositely, the distance between the electric energy sending end 61 and the electric energy receiving end 62 is small, the transmission effect is good, and the influence of other parts is not easy to affect. As shown, the power transmitting end 61 may be located below the power receiving end 62, that is, the power transmitting end 61 is located at a side of the power receiving end 62 away from the second turntable 133. Alternatively, the power transmitting terminal 61 is located above the power receiving terminal 62, i.e., the power transmitting terminal 61 is located on the side of the power receiving terminal 62 close to the second turntable 133.

It should be noted that, in the embodiment of the present invention, the power receiving end 62 rotates with the rotation of the rotor 13 of the motor 10, and the power transmitting end 61 is fixed. The electric energy receiving end 62 is fixedly connected with the rotor 13 of the motor 10, and the rotor 13 drives the electric energy receiving end 62 to rotate, so that the electric energy receiving end 62 and the rotating body 50 rotate together, and the electric connection between the electric energy receiving end 62 and the rotating body 50 is ensured. In other embodiments, it is understood that the power receiving end 62 and the power transmitting end 61 may both rotate with the rotation of the rotating body 50. For example, the power input of the power transmitting terminal 61 itself is obtained by connecting with an external power source in a wireless manner, and the power transmitting terminal 61 may also rotate along with the rotation of the rotating body 50, which is not limited in the embodiment of the present invention. In order to ensure that the electric energy can be continuously and stably transmitted between the electric energy receiving end 62 and the electric energy transmitting end 61 during rotation, in the embodiment of the invention, the electric energy receiving end 62 and the electric energy transmitting end 61 are both approximately disc-shaped.

Example 2

On the basis of the embodiment 1, the embodiment of the invention also provides a movable platform, which comprises a movable platform body and a sensor arranged on the movable platform body. The sensor can be realized by the sensor described in embodiment 1 above. Movable platforms include, but are not limited to, unmanned aerial vehicles, unmanned vehicles, and ground-based remote control humans.

Specifically, the movable platform includes a movable platform body and a sensor disposed on the movable platform body.

Wherein, the sensor includes: the motor 10, the first communication assembly and the first electrical connector 30. The motor 10 includes a housing 11 having an accommodating cavity, the housing 11 is connected to the movable platform body, and the housing 11 is provided with a wire outlet 111 and a wire inlet 112. The first communication component is positioned in the accommodating cavity and comprises a first communication board 20 and a first control board 21; the first communication board 20 and the first control board 21 are both fixedly connected to the housing 11 and are disposed opposite to each other. One end of the first electrical connector 30 is connected to the first control board 21, and the other end of the first electrical connector passes through the accommodating cavity from the wire outlet 111, and passes through the accommodating cavity from the wire inlet 112 to be connected to the first communication board 20, so that the first control board 21 and the first communication board 20 are communicatively connected through the first electrical connector 30.

According to the technical scheme provided by the embodiment of the invention, the obstacle avoidance function of the movable platform can be realized through the sensor. The first communication assembly is divided into two parts, and elements of the first communication assembly can be distributed, so that the occupied space of the first communication assembly is reduced. First communication subassembly sets up in motor 10's casing 11, make full use of motor 10's shared space for the structural layout of sensor is rationalized more, has greatly improved space utilization, has reduced the sensor volume. The wiring mode of the first electric connector 30 can avoid the rotating component, thereby avoiding the interference of the rotating component to the sensor wiring mode and improving the reliability of the sensor wiring.

It should be noted that the technical solutions of the related sensors described in embodiment 2 and embodiment 1 may be referred to and referred to each other, and are not described in detail herein.

In summary, the technical solution provided by the embodiment of the present invention makes the structural layout of the sensor more reasonable, greatly improves the space utilization rate, reduces the volume of the sensor, avoids the interference of the rotating components on the wiring form of the sensor, and improves the reliability of the sensor wiring.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims

1. A sensor, comprising:

2. The sensor of claim 1, wherein the motor further comprises a stator and a rotor;

the accommodating cavity is provided with an opening at one end, the stator is connected with the shell and covers the opening, the stator is provided with a mounting hole, and the stator is in communication connection with the first communication board through a second electric connector;

the rotor comprises a connecting shaft, a first rotating disc and a second rotating disc, wherein the first rotating disc and the second rotating disc are arranged at two opposite ends of the connecting shaft; the connecting shaft is rotatably sleeved with the mounting hole, the first rotary disc is positioned in the accommodating cavity, the second rotary disc is positioned outside the accommodating cavity, and the connecting shaft, the first rotary disc and the second rotary disc can synchronously rotate;

the first rotary disc is suspended between the first communication board and the first control board.

3. The sensor of claim 2, wherein the first dial has a first gap with the first control board and the first dial has a second gap with the first communication board;

the position of the wire outlet hole corresponds to the first gap, and the position of the wire inlet hole corresponds to the second gap;

and two ends of the first electric connecting piece are respectively connected with the first control board and the first communication board after avoiding the first rotating disc through the first gap and the second gap.

4. The sensor of claim 2, further comprising a second communication assembly, the second communication assembly communicatively coupled to the first communication assembly.

5. The sensor of claim 4, further comprising a third electrical connection;

the second communication assembly comprises a second communication board and a second control board;

the second communication plate is positioned in the accommodating cavity and arranged on the first rotating disc;

the second control plate is positioned outside the accommodating cavity and can synchronously rotate along with the second turntable;

the connecting shaft is provided with a through type connecting cavity, one end of the third electric connecting piece is connected with the second communication board, and the other end of the third electric connecting piece penetrates through the connecting cavity to be connected with the second control board, so that the second communication board is in communication connection with the second control board through the third electric connecting piece.

6. The sensor of claim 5, wherein the second communication plate is disposed on a side of the first rotor disk facing the stator.

7. The sensor of claim 5, further comprising a rotating body including an intermediate link plate and first and second side plates connected to opposite ends of the intermediate link plate;

the motor is positioned between the first side plate and the second side plate and is fixedly connected with the middle part of the middle connecting plate through the rotor;

the second control panel is fixedly arranged in the middle of the middle connecting plate.

8. The sensor of claim 7, wherein the housing has a third gap between the first and second side plates;

the first electric connecting piece is positioned at the part outside the containing cavity and tightly attached to the shell so as to avoid the first side plate and the second side plate through the third gap.

9. The sensor of claim 7, wherein a digital board is disposed on a side of the first side board facing away from the motor, and a radio frequency board is disposed on a side of the second side board facing away from the motor;

the first communication assembly is in wireless communication connection with the radio frequency board and the digital board respectively;

the second control board is in communication connection with the digital board;

the radio frequency board is in communication connection with the digital board.

10. The sensor of claim 9, further comprising a fourth electrical connection;

the digital board is provided with a first digital connecting port;

one end of the fourth electric connector is connected with the second control board, and the other end of the fourth electric connector extends along the surface of the middle plate and/or the second side plate and penetrates through the first side plate to be connected with the first digital connecting port, so that the second control board and the digital board are in communication connection through the fourth electric connector.

11. The sensor of claim 9, further comprising fifth and sixth electrical connections;

a second digital connector and a third digital connector are respectively arranged at two opposite ends of the digital board;

a first radio frequency connector and a second radio frequency connector are arranged on the radio frequency board at positions corresponding to the second digital connector and the third digital connector;

one end of the fifth electric connector penetrates through the first side plate to be connected with the second digital connector, and the other end of the fifth electric connector penetrates through the second side plate to be connected with the first radio frequency interface;

one end of the sixth electric connector penetrates through the first side plate to be connected with the third digital connector, and the other end of the sixth electric connector penetrates through the second side plate to be connected with the second radio frequency interface;

so that the digital board and the radio frequency board are in communication connection through the fifth electric connector and the sixth electric connector.

12. The sensor of claim 11, wherein the fifth electrical connector and the sixth electrical connector are respectively provided with a reinforcing plate, and two ends of the reinforcing plate are respectively fixedly connected with the first side plate and the second side plate.

13. The sensor of claim 9, further comprising a leveling plate and a seventh electrical connection;

two ends of the height fixing plate are respectively fixedly connected with the first side plate and the second side plate;

a fourth digital connector is arranged on the digital board;

one end of the seventh electric connector is connected with the height-fixing plate, and the other end of the seventh electric connector extends along the surface of the height-fixing plate and penetrates through the first side plate to be connected with the fourth digital connector, so that the height-fixing plate and the digital plate are in communication connection through the seventh electric connector.

14. The sensor of claim 5, wherein a wireless power supply assembly is further disposed in the accommodating cavity;

the wireless power supply assembly comprises an electric energy sending end and an electric energy receiving end;

the electric energy sending end is fixedly connected to the shell;

the electric energy receiving end is arranged on one surface, facing the electric energy sending end, of the second turntable and is arranged opposite to the electric energy sending end;

and a lead of the electric energy receiving end penetrates through the connecting cavity to be electrically connected with the second control board.

15. The sensor of claim 14, wherein the power transmitting end comprises a transmitting coil, the power receiving end comprises a receiving coil, and the transmitting coil and the receiving coil transmit power by wireless power supply.

16. The sensor of any one of claims 1 to 15, wherein the sensor comprises a microwave radar, a millimeter wave radar, and a lidar.

17. A movable platform is characterized by comprising a movable platform body and a sensor arranged on the movable platform body;

the sensor, comprising:

18. The movable platform of claim 17, wherein the movable platform comprises an unmanned aerial vehicle, an unmanned vehicle, and a ground-based remotely controlled robot.