CN112204416A - Sensor and movable platform - Google Patents
Sensor and movable platform Download PDFInfo
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- CN112204416A CN112204416A CN201980032111.1A CN201980032111A CN112204416A CN 112204416 A CN112204416 A CN 112204416A CN 201980032111 A CN201980032111 A CN 201980032111A CN 112204416 A CN112204416 A CN 112204416A
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- 238000004891 communication Methods 0.000 claims description 32
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- 238000000034 method Methods 0.000 description 3
- 230000005674 electromagnetic induction Effects 0.000 description 2
- 238000011900 installation process Methods 0.000 description 2
- 230000008054 signal transmission Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
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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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
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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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
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Abstract
A sensor and a movable platform, wherein the sensor comprises: the motor (10), the motor (10) includes the stator (11) and rotor (12) rotatably connected with stator (11); the rotor comprises a rotating body (20), wherein the rotating body (20) comprises an intermediate connecting plate (21) and at least one side plate (22) connected with the intermediate connecting plate (21), and the intermediate connecting plate (21) is connected with the rotor (12); when the rotor (12) drives the middle connecting plate (21) to rotate, the middle connecting plate (21) drives the side plate (22) to rotate around the circumferential direction of the motor (10), a rotating space is formed by the middle connecting plate (21) and the side plate (22), and at least part of the motor (10) is positioned in the rotating space; the structural layout of the sensor is more reasonable, the space utilization rate is greatly improved, and the occupied space of the sensor is effectively reduced.
Description
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.
Among the radar equipment that uses at present, mostly including the motor and with the radar module of motor connection, because structural layout has certain defect, the space that consequently makes current radar equipment need occupy is very big, is unfavorable for the miniaturization and the lightweight of 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.
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 stator and a rotor which is rotatably connected with the stator;
the rotor comprises a rotor body and a rotor cover, wherein the rotor body comprises a middle connecting plate and at least one side plate connected with the middle connecting plate, and the middle connecting plate is connected with the rotor;
when the rotor drives the middle connecting plate to rotate, the middle connecting plate drives the side plate to rotate around the motor in the circumferential direction, a rotating space is formed between the middle connecting plate and the side plate, and at least part of the motor is located in the rotating space.
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 stator and a rotor which is rotatably connected with the stator;
the rotor comprises a rotor body and a rotor cover, wherein the rotor body comprises a middle connecting plate and at least one side plate connected with the middle connecting plate, and the middle connecting plate is connected with the rotor;
when the rotor drives the middle connecting plate to rotate, the middle connecting plate drives the side plate to rotate around the motor in the circumferential direction, a rotating space is formed between the middle connecting plate and the side plate, and at least part of the motor is located in the rotating space.
According to the technical scheme provided by the embodiment of the invention, the rotating space formed by the rotating body during rotation is the maximum space occupied by the rotating body during use, the motor is at least partially positioned in the rotating space, namely the motor is at least partially embedded in the space occupied by the rotating body, and the structural layout between the motor and the rotating body fully utilizes the space, so that 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.
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 structural diagram of a rotating body according to an embodiment of the present invention;
fig. 3 is a schematic cross-sectional view of a rotating body according to an embodiment of the present invention;
FIG. 4 is a schematic cross-sectional view of a sensor according to an embodiment of the present invention;
fig. 5 is an enlarged schematic view of a dotted line portion in fig. 4.
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.
The space that present used radar equipment needs to occupy is very big, for example, the structure about the mode of setting up of radar module and motor, and radar equipment's height is radar module and the height of motor, and in the direction of height, radar equipment's shared space is great, is unfavorable for the miniaturization and the lightweight of 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 view of the above problems, the present invention provides a sensor and a movable platform, so that the structural layout of the sensor is more reasonable, the space utilization rate is greatly improved, and the occupied space of the sensor is effectively reduced.
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, as shown in fig. 1.
In one embodiment of the present invention, there is provided a sensor including: a motor 10 and a rotating body 20. The motor 10 is used to drive the rotating body 20 to rotate. Referring to fig. 1 to 3, the motor 10 includes a stator 11 and a rotor 12 rotatably coupled to the stator 11. The rotary body 20 includes an intermediate link plate 21 and at least one side plate 22 connected to the intermediate link plate 21, and the intermediate link plate 21 is connected to the rotor 12. When the rotor 12 drives the middle connecting plate 21 to rotate, the middle connecting plate 21 drives the side plate 22 to rotate around the circumferential direction of the motor 10, the middle connecting plate 21 and the side plate 22 form a rotating space, and at least part of the motor 10 is located in the rotating space.
According to the technical scheme provided by the embodiment of the invention, the rotating space formed by the rotating body 20 during rotation is the maximum space occupied by the rotating body 20 during use, at least part of the motor 10 is positioned in the rotating space, namely, at least part of the motor 10 is embedded in the space occupied by the rotating body 20, and the structural layout between the motor 10 and the rotating body 20 fully utilizes the space, so that 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. For example, the height of the sensor is the height of the rotating body 20 plus a part of the height of the motor 10, and if the motor 10 is located in the rotating space, the height of the sensor is only the height of the rotating body 20.
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.
Further, referring to fig. 2 and 3, one possible arrangement of the side plate 22 is that the side plate 22 is disposed opposite to the side of the motor 10 and extends in the height direction of the motor 10. According to the arrangement mode, the motor 10 and the side plate 22 are arranged side by side along the radial direction of the rotation circle of the rotor 12, the extending direction of the side plate 22 is the same as the height direction of the motor 10, when the middle connecting plate 21 drives the side plate 22 to rotate, the side plate 22 rotates around the side face of the motor 10, at least part of the motor 10 is wrapped in a rotating space formed by the side plate 22 and the middle connecting plate 21, the space utilization rate is greatly improved, and therefore the occupied space of the sensor is effectively reduced.
In an embodiment of the present invention, as shown in fig. 1 to 3, the side plates 22 are two, and the two side plates 22 are connected to opposite ends of the intermediate connecting plate 21. The motor 10 is positioned between the two side plates 22 and is fixedly connected with the middle part of the middle connecting plate 21 through the rotor 12. The motor 10 is located between the two side plates 22, so that the occupied space of the sensor in the vertical direction can be effectively reduced, for example, the height of the sensor is the height of the rotating body 20 plus a part of the height of the motor 10, for example, when the motor 10 is located in the rotating space, the height of the sensor is only the height of the rotating body 20. The rotor 12 and the stator 11 of the motor 10 are located in the rotating space formed when the rotating body 20 rotates, so that the space is not occupied additionally, the overall size of the sensor is reduced, the sensor is more conveniently applied to equipment sensitive to the size, and the application range of the sensor is expanded.
According to different setting requirements, in the embodiment of the invention, the side plate 22 can be connected with the middle connecting plate 21 through the end part; or the side plates 22 are connected to the intermediate link plate 21 through intermediate regions at both ends. Of course, the connection mode between the side plate 22 and the intermediate connecting plate 21 is not limited in the embodiment of the present invention.
In an embodiment of the present invention, the rotating body 20 may be a bracket for mounting a signal processing module, and the signal processing module may be used for transmitting a radar signal and receiving an echo signal. Or the signal processing module is composed of at least two sub-components, which enclose the rotating body 20. In the above or below embodiments, the rotating body 20 may be referred to as a bracket for mounting a signal processing module, or may be referred to as a signal processing module.
The rotating body 20 is taken as an example of a bracket for mounting the signal processing module. In an embodiment of the present invention, the middle connecting plate 21 and the side plate 22 are respectively provided with an antenna board, a digital signal processing board and a radio frequency board. The antenna board, the digital signal processing board and the radio frequency board are coupled with each other to form a signal processing module. For example, the rotating body 20 includes a middle connecting plate 21 and two side plates 22, the middle connecting plate 21 is provided with an antenna board, one side plate 22 is provided with a digital signal processing board, and the other side plate 22 is provided with a radio frequency board. The antenna board comprises a transmitting antenna and a receiving antenna, the radio frequency board radiates radar signals outwards through the transmitting antenna, the receiving antenna receives echo signals and sends the echo signals to the digital signal processing board, the digital signal processing board processes the received echo signals, for example, the echo signals are amplified, interference signals are filtered, the echo signals are converted into radar data signals, and the converted radar data signals can be used for control, terminal observation and/or recording and the like of back-end equipment.
Further, referring to fig. 4, the sensor is further provided with a height-fixing plate 23, and the height-fixing plate 23 is disposed on the side plate 22 and coupled with the digital signal processing board, and can be used for measuring the height of the sensor. To better fulfill the object detecting function of the sensor, in an implementable embodiment of the invention, the rotation axis of the rotating body 20 is parallel to the yaw axis of the moveable platform body. Under the arrangement mode, the sensor can more accurately measure the distance, the distance change rate, the azimuth, the height and the like from the object to the transmitting point of the sensor when detecting the object.
Referring to fig. 4 and 5, in an achievable embodiment of the invention, the electrical machine 10 further comprises a housing 13, the housing 13 having a receiving cavity which is open at one end. The stator 11 is connected with the shell 13 and covers the opening, and the stator 11 is provided with a mounting hole. The rotor 12 includes a connecting shaft 121, and a first rotating disk 122 and a second rotating disk 123 disposed at opposite ends of the connecting shaft 121. The connecting shaft 121 and the mounting hole are rotatably sleeved, the first rotating disc 122 is located inside the accommodating cavity, the second rotating disc 123 is located outside the accommodating cavity, and the connecting shaft 121, the first rotating disc 122 and the second rotating disc 123 can synchronously rotate. The intermediate link plate 21 is connected to the second turntable 123. In the arrangement mode, a part of the rotor 12 is arranged in the shell 13 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 sensor may be mounted to other equipment, such as unmanned aerial vehicles, unmanned vehicles, and ground-based remote control personnel, via the housing 13 of the motor 10.
Further, with continued reference to fig. 4 and 5, a wireless power supply assembly 30 is further disposed in the accommodating cavity, and the wireless power supply assembly 30 is electrically connected to the rotating body 20. The wireless power supply assembly 30 is used to supply power to the rotator 20. The wireless power supply assembly 30 is disposed in the housing 13 of the motor 10, so that the space occupied by the sensor can be further reduced. The wireless power supplying module 30 may be connected to an external power source through a cable, or the wireless power supplying module 30 may be electrically connected to the external power source in a wireless manner. For example, when the wireless power supply module 30 is connected to an external power source through a cable, the wireless power supply module 30 may be electrically connected to the cable through a coupler, the cable transmits power provided by the external power source to the wireless power supply module 30, and the wireless power supply module 30 wirelessly transmits the power to the rotating body 20. Of course, the wireless power supply assembly 30 may also transmit power to other components of the sensor that require power.
In an implementation example, the wireless power supply module 30 includes a power transmitting terminal 31 and a power receiving terminal 32. The power transmitting terminal 31 is fixedly attached to the housing 13. The power receiving terminal 32 is disposed on a side of the first turntable 122 facing the power transmitting terminal 31, and is disposed opposite to the power transmitting terminal 31, and the power receiving terminal 32 is electrically connected to the rotating body 20. The power transmitting terminal 31 is electrically connected to an external power source, for example, by a cable or wirelessly. The power transmitting terminal 31 may transmit power to the power receiving terminal 32 in a wireless manner. The power receiving terminal 32 is electrically connected to the rotating body 20, receives the power transmitted from the power transmitting terminal 31, and provides the power to the rotating body 20 to provide the power to the rotating body 20. The power receiving terminal 32 may supply power to the rotator 20 through a cable or supply power to the rotator 20 through a wireless manner.
For example, the power transmitting end 31 includes, but is not limited to, a transmitting coil, and the power receiving end 32 includes, but is not limited to, a receiving coil, and power is transmitted between the transmitting coil and the receiving coil through 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 an alternating current, and a current is generated on the receiving coil by electromagnetic induction, thereby transmitting electric energy from the electric energy transmitting terminal 31 to the electric energy receiving terminal 32. Alternatively, the electric energy may be transmitted between the electric energy transmitting terminal 31 and the electric energy receiving terminal 32 through magnetic resonance or other forms.
In one implementation, the power transmitting end 31 is fixedly connected to the housing 13, and the power transmitting end 31 further includes a transmitting coil rack, which supports a transmitting coil, and is fixedly connected to the housing 13. The power receiving end 32 is bonded or otherwise attached to the first hub 122 by fasteners. Alternatively, the power receiving end 32 includes a receiving bobbin that supports the receiving coil, and the receiving bobbin is fixedly connected to the first turntable 122. The sending coil and the receiving coil are arranged oppositely, the distance between the electric energy sending end 31 and the electric energy receiving end 32 is small, the transmission effect is good, and the influence of other parts is not easy to affect. As shown in fig. 5, the power transmitting end 31 may be located below the power receiving end 32, i.e., the power transmitting end 31 is located at a side of the power receiving end 32 away from the second turntable 123. Alternatively, the power transmitting terminal 31 is located above the power receiving terminal 32, i.e., the power transmitting terminal 31 is located on the side of the power receiving terminal 32 close to the second turntable 123.
It should be noted that, in the embodiment of the present invention, the power receiving end 32 rotates with the rotation of the rotor 12 of the motor 10, and the power transmitting end 31 is fixed. The power receiving end 32 is fixedly connected to the rotor 12 of the motor 10, and the rotor 12 drives the power receiving end 32 to rotate, so that the power receiving end 32 and the rotating body 20 rotate together, and the power receiving end 32 and the rotating body 20 are electrically connected. In other embodiments, it is understood that the power receiving end 32 and the power transmitting end 31 may both rotate as the rotating body 20 rotates. For example, the power input of the power transmitting terminal 31 itself is obtained by connecting with an external power source in a wireless manner, and the power transmitting terminal 31 may also rotate along with the rotation of the rotating body 20, 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 terminal 32 and the electric energy transmitting terminal 31 during rotation, in the embodiment of the present invention, both the electric energy receiving terminal 32 and the electric energy transmitting terminal 31 are substantially disc-shaped.
Further, with continued reference to fig. 4 and 5, in the embodiment of the present invention, the sensor further includes a wireless communication component, and the wireless communication component is electrically connected to the wireless power supply component 30 and the rotating body 20, respectively. The wireless communication component can be used for transmitting communication signals between the signal processing module and external equipment, for example, transmitting control signals of the external equipment to the signal processing module, and transmitting radar data signals generated by the signal processing module to external devices, for example, the external equipment includes but is not limited to a master controller of an unmanned aerial vehicle and the like.
In an implementable embodiment of the invention, the wireless communication component comprises a first signal terminal 40 and a second signal terminal 41. The first signal terminal 40 and the second signal terminal 41 are oppositely arranged, and the first signal terminal 40 is in wireless communication connection with the second signal terminal 41. For example, one way to achieve this is that the first signal terminal 40 is used to send a control signal to the second signal terminal 41, and the second signal terminal 41 is used to send a radar data signal to the first signal terminal 40. The first signal terminal 40 may receive a control signal of an external device through a cable or wirelessly and transmit the control signal to the second signal terminal 41 wirelessly. The second signal terminal 41 is connected to the signal processing module on the rotating body 20, and transmits a control signal to the signal processing module to control the signal processing module. The signal processing module transmits the generated radar data signal to the second signal end 41, the second signal end 41 transmits the radar data signal to the first signal end 40 in a wireless mode, and the first signal end 40 transmits the radar data signal to external equipment in a cable or wireless mode.
With continued reference to fig. 4 and 5, in an embodiment of the present invention, the first signal terminal 40 is located in the accommodating cavity and includes a first communication board 401 and a first control board 402. The first communication board 401 is fixedly connected to the stator 11. The first control board 402 is fixedly connected to the housing 13, and the first control board 402 is communicatively connected to the first communication board 401. The first signal terminal 40 is disposed in the housing 13 of the motor 10, so that the space of the housing 13 can be fully utilized, and the occupied space of the sensor can be further reduced. Meanwhile, the first signal end 40 is divided into two parts, so that components on the first signal end 40 can be distributed, the occupied space of the first signal end 40 in the transverse direction is reduced, and the utilization of the space is facilitated. The first communication board 401 and the first control board 402 can be connected by a cable or wirelessly. The first signal terminal 40 wirelessly communicates with an external device and the second signal terminal 41 via the first communication board 401, and processes signals via the first control board 402. The first communication board 401 may implement wireless transmission of signals in the form of a wireless lan, bluetooth, microwave, or the like.
With continued reference to fig. 4 and 5, in an implementable embodiment of the present invention, the second signal terminal 41 includes a second communication board 411 and a second control board 412. The second communication board 411 is located in the receiving cavity and disposed on a side of the first rotary plate 122 facing the stator 11. The second control board 412 is fixedly connected to the middle board, and the second control board 412 is in communication connection with the second communication board 411. The second communication board 411 of the second signal terminal 41 is disposed in the housing 13 of the motor 10, so that the space of the housing 13 can be fully utilized, and the occupied space of the sensor can be further reduced. The second signal terminal 41 is divided into two parts, so that components on the second signal terminal 41 can be distributed, the occupied space of the second signal terminal 41 in the transverse direction is reduced, and the utilization of space is facilitated.
The second communication board 411 and the second control board 412 can be connected by a cable or wirelessly, and the second communication board 411 and the signal processing module on the rotating body 20 can be connected by a cable or wirelessly. The second signal terminal 41 wirelessly communicates with the signal processing module and the first signal terminal 40 on the rotating body 20 through the second communication board 411, and processes the signal through the second control board 412. The second communication board 411 may implement wireless transmission of signals in the form of a wireless lan, bluetooth, microwave, or the like.
In the embodiment of the present invention, the second signal terminal 41 rotates with the rotation of the rotor 12 of the motor 10, and the first signal terminal 40 is fixed. In other embodiments, it is understood that the first signal terminal 40 and the second signal terminal 41 may both rotate as the rotor 12 rotates. For example, when the first signal terminal 40 is wirelessly connected to an external device, the first signal terminal 40 may also rotate along with the rotation of the rotor 12, and the embodiment of the present invention is not limited thereto. In order to ensure that the signal can be continuously and stably transmitted between the first signal terminal 40 and the second signal terminal 41 during rotation, in the embodiment of the present invention, the first signal terminal 40 and the second signal terminal 41 are both substantially 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: a motor 10 and a rotating body 20. The motor 10 includes a stator 11 and a rotor 12 rotatably coupled to the stator 11. The rotary body 20 includes an intermediate link plate 21 and at least one side plate 22 connected to the intermediate link plate 21, and the intermediate link plate 21 is connected to the rotor 12. When the rotor 12 drives the middle connecting plate 21 to rotate, the middle connecting plate 21 drives the side plate 22 to rotate around the circumferential direction of the motor 10, the middle connecting plate 21 and the side plate 22 form a rotating space, and at least part of the motor 10 is located in the rotating space.
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 rotating space that rotator 20 formed when rotating in the sensor is the most big space that rotator 20 occupied when using promptly, and motor 10 is at least partly located the rotating space, that is to say that motor 10 is at least partly embedded in the space that rotator 20 was occupied, and the structural layout between motor 10 and rotator 20 make full use of the space for the structural layout of sensor is more rationalized, has greatly improved space utilization, thereby effectively dwindle the occupied space of sensor, makes the sensor be applicable to on more platforms. For example, the height of the sensor is the height of the rotating body 20 plus a part of the height of the motor 10, and if the motor 10 is located in the rotating space, the height of the sensor is only the height of the rotating body 20.
Further, the motor 10 further includes a housing 13, and the housing 13 has an accommodating cavity with one end open. The stator 11 is connected with the shell 13 and covers the opening, and the stator 11 is provided with a mounting hole. The rotor 12 includes a connecting shaft 121, and a first rotating disk 122 and a second rotating disk 123 disposed at opposite ends of the connecting shaft 121. The connecting shaft 121 and the mounting hole are rotatably sleeved, the first rotating disc 122 is positioned in the accommodating cavity, the second rotating disc 123 is positioned outside the accommodating cavity, and the connecting shaft 121, the first rotating disc 122 and the second rotating disc 123 can synchronously rotate; the intermediate link plate 21 is connected to the second turntable 123. In the arrangement mode, a part of the rotor 12 is arranged in the shell 13 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 sensor is connected to the movable platform body by a housing 13. The movable platform body includes, but is not limited to, a fuselage of an unmanned aerial vehicle, a body of an unmanned vehicle, and a body of a ground remote control person.
To better fulfill the object detecting function of the sensor, in an implementable embodiment of the invention, the rotation axis of the rotating body 20 is parallel to the yaw axis of the moveable platform body. Under the arrangement mode, the sensor can more accurately measure the distance, the distance change rate, the azimuth, the height and the like from the object to the transmitting point of the sensor when detecting the object.
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, according to the technical solution provided by the embodiment of the present invention, the rotating space formed by the rotating body when the rotating body rotates is the largest space occupied by the rotating body when the rotating body is used, the motor is at least partially located in the rotating space, that is, the motor is at least partially embedded in the space occupied by the rotating body, and the structural layout between the motor and the rotating body fully utilizes the space, so that the structural layout of the sensor is more reasonable, the space utilization rate is greatly improved, the space occupied by the sensor is effectively reduced, and the sensor can be applied to more platforms. For example, the height of the sensor is the height of the rotating body plus a part of the height of the motor, for example, when the motor is fully located in the rotating space, the height of the sensor is only the height of the rotating body.
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 (17)
1. A sensor, comprising:
the motor comprises a stator and a rotor which is rotatably connected with the stator;
the rotor comprises a rotor body and a rotor cover, wherein the rotor body comprises a middle connecting plate and at least one side plate connected with the middle connecting plate, and the middle connecting plate is connected with the rotor;
when the rotor drives the middle connecting plate to rotate, the middle connecting plate drives the side plate to rotate around the motor in the circumferential direction, a rotating space is formed between the middle connecting plate and the side plate, and at least part of the motor is located in the rotating space.
2. The sensor of claim 1, wherein the side plate is disposed opposite to a side of the motor and extends in a height direction of the motor.
3. The sensor of claim 1, wherein there are two side plates, and the two side plates are respectively connected to two opposite ends of the intermediate connecting plate;
the motor is positioned between the two side plates and is fixedly connected with the middle part of the middle connecting plate through the rotor.
4. The sensor of claim 3, wherein the side plate is connected to the intermediate web by an end; or
The side plates are connected with the middle connecting plate through middle areas positioned at two ends.
5. The sensor of claim 1, wherein the middle connecting plate and the side plate are respectively provided with an antenna plate, a digital signal processing plate and a radio frequency plate;
the antenna board, the digital signal processing board and the radio frequency board are coupled with each other to form a signal processing module.
6. The sensor of any one of claims 1 to 5, wherein the motor further comprises a housing having a receiving cavity open at one end;
the stator is connected with the shell and covers the opening, and a mounting hole is formed in the stator;
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 middle connecting plate is connected with the second turntable.
7. The sensor of claim 6, wherein a wireless power supply assembly is further disposed in the accommodating cavity, and the wireless power supply assembly is electrically connected to the rotating body.
8. The sensor of claim 7, wherein the wireless power supply assembly comprises a power transmitting end and a power 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 first rotating disc and is arranged opposite to the electric energy sending end, and the electric energy receiving end is electrically connected with the rotating body.
9. The sensor of claim 7, further comprising a wireless communication component electrically connected to the wireless power supply component and the rotator, respectively.
10. The sensor of claim 9, wherein the wireless communication assembly includes a first signal terminal and a second signal terminal;
the first signal end and the second signal end are arranged oppositely, and the first signal end is in wireless communication connection with the second signal end.
11. The sensor of claim 10, wherein the first signal terminal is located in the accommodating cavity and comprises a first communication board and a first control board;
the first communication board is fixedly connected with the stator;
the first control panel is fixedly connected to the shell, and the first control panel is in communication connection with the first communication panel.
12. The sensor of claim 10, wherein the second signal terminal comprises a second communication board and a second control board;
the second communication plate is positioned in the accommodating cavity and arranged on one surface of the first rotating disc facing the stator;
the second control panel is fixedly connected to the middle plate, and the second control panel is in communication connection with the second communication plate.
13. The sensor of any one of claims 1 to 5, wherein the sensor comprises a microwave radar, a millimeter wave radar, and a lidar.
14. A movable platform is characterized by comprising a movable platform body and a sensor arranged on the movable platform body;
the sensor, comprising:
the motor comprises a stator and a rotor which is rotatably connected with the stator;
the rotor comprises a rotor body and a rotor cover, wherein the rotor body comprises a middle connecting plate and at least one side plate connected with the middle connecting plate, and the middle connecting plate is connected with the rotor;
when the rotor drives the middle connecting plate to rotate, the middle connecting plate drives the side plate to rotate around the motor in the circumferential direction, a rotating space is formed between the middle connecting plate and the side plate, and at least part of the motor is located in the rotating space.
15. The movable platform of claim 14, wherein the motor further comprises a housing having a receiving cavity open at one end;
the stator is connected with the shell and covers the opening, and a mounting hole is formed in the stator;
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 middle connecting plate is connected with the second turntable;
the sensor is connected with the movable platform body through the shell.
16. The movable platform of claim 14, wherein the movable platform comprises an unmanned aerial vehicle, an unmanned vehicle, and a ground-based remote control.
17. The movable platform of claim 14, wherein the axis of rotation of the rotating body is parallel to a yaw axis of the movable platform body.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2019/115425 WO2021087690A1 (en) | 2019-11-04 | 2019-11-04 | Sensor and movable platform |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112204416A true CN112204416A (en) | 2021-01-08 |
Family
ID=74004766
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201980032111.1A Pending CN112204416A (en) | 2019-11-04 | 2019-11-04 | Sensor and movable platform |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN112204416A (en) |
| WO (1) | WO2021087690A1 (en) |
Citations (7)
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|---|---|---|---|---|
| JP2000134016A (en) * | 1998-10-21 | 2000-05-12 | Anritsu Corp | Radar antenna |
| GB0802500D0 (en) * | 2007-02-13 | 2008-03-19 | Thales Sa | Airborne radar notably for a drone |
| CN207516542U (en) * | 2017-11-08 | 2018-06-19 | 中国人民解放军海军工程大学 | A kind of Three Dimensional Ground laser radar apparatus |
| CN108513620A (en) * | 2017-04-11 | 2018-09-07 | 深圳市大疆创新科技有限公司 | Radar component and unmanned plane |
| CN208092229U (en) * | 2018-03-08 | 2018-11-13 | 山西禾源科技股份有限公司 | Low latitude unmanned plane detects radar installations |
| CN109073742A (en) * | 2017-12-18 | 2018-12-21 | 深圳市大疆创新科技有限公司 | Radar installations, wireless rotating device and unmanned plane |
| CN110161465A (en) * | 2019-06-20 | 2019-08-23 | 广州林电科技有限公司 | A kind of safe and reliable Ground Penetrating Radar device for mineral exploration |
-
2019
- 2019-11-04 CN CN201980032111.1A patent/CN112204416A/en active Pending
- 2019-11-04 WO PCT/CN2019/115425 patent/WO2021087690A1/en active Application Filing
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000134016A (en) * | 1998-10-21 | 2000-05-12 | Anritsu Corp | Radar antenna |
| GB0802500D0 (en) * | 2007-02-13 | 2008-03-19 | Thales Sa | Airborne radar notably for a drone |
| CN108513620A (en) * | 2017-04-11 | 2018-09-07 | 深圳市大疆创新科技有限公司 | Radar component and unmanned plane |
| CN207516542U (en) * | 2017-11-08 | 2018-06-19 | 中国人民解放军海军工程大学 | A kind of Three Dimensional Ground laser radar apparatus |
| CN109073742A (en) * | 2017-12-18 | 2018-12-21 | 深圳市大疆创新科技有限公司 | Radar installations, wireless rotating device and unmanned plane |
| CN208092229U (en) * | 2018-03-08 | 2018-11-13 | 山西禾源科技股份有限公司 | Low latitude unmanned plane detects radar installations |
| CN110161465A (en) * | 2019-06-20 | 2019-08-23 | 广州林电科技有限公司 | A kind of safe and reliable Ground Penetrating Radar device for mineral exploration |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2021087690A1 (en) | 2021-05-14 |
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Application publication date: 20210108 |