CN205594163U - Laser scanning range unit - Google Patents
Laser scanning range unit Download PDFInfo
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- CN205594163U CN205594163U CN201620395854.9U CN201620395854U CN205594163U CN 205594163 U CN205594163 U CN 205594163U CN 201620395854 U CN201620395854 U CN 201620395854U CN 205594163 U CN205594163 U CN 205594163U
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Abstract
The utility model provides a laser scanning range unit, include rotatable revolution mechanic and can not construct by pivoted fixed knot that revolution mechanic includes dash receiver, laser emitter, skeleton, external rotor, laser receiver and backplate, fixed knot constructs including stator coil, expelling plate and transmission fixed platform. Dash receiver, laser emitter, external rotor, laser receiver and backplate are installed in the skeleton, and stator coil and expelling plate are installed in transmission fixed platform, and the plane of the laser constitution that the laser and the laser receiver of laser emitter transmission received is parallel each other with mounting surface. Compared with the prior art, the utility model discloses a laser scanning range unit adopts wireless power supply and full duplex data transmission mode, has avoided such as sliding ring power supply and the produced defect that life is short of communication. Additionally, the utility model discloses an electromagnetic induction's magnetic medium transmission is compared current belt transmission or gear drive and has been reduced volume and noise.
Description
Technical Field
The utility model relates to a robot design technique and laser scanning technique especially relate to a laser scanning range unit.
Background
A Robot (Robot) is a machine device that automatically executes work, and can accept human commands, run pre-programmed programs, and perform a principle outline action based on artificial intelligence technology. In general, robots are tasked with assisting or replacing human work, such as work in the production, construction or hazardous industries. The mobile robot is a comprehensive system integrating multiple functions of environment perception, dynamic decision and planning, behavior control and execution and the like, can replace people to execute tasks in dangerous, severe or extreme environments, and completes reconnaissance, patrol, guard, anti-terrorism, explosive ordnance disposal, scientific investigation, sampling and the like, thereby having great application value in the fields of recourse, scientific investigation, military affairs and the like.
In the conventional mobile robot application, in view of the aspect of walking safety, it is often necessary to detect the position of an obstacle in front of a walking route of the mobile robot, pre-determine in advance, and control the robot to take necessary avoidance or detour measures, for example, a corresponding laser scanning distance measuring device is installed above a robot body. However, most of the existing laser scanning distance measuring devices adopt a slip ring to realize transmission by means of belt or gear engagement when transmitting signals and electric energy, and have the disadvantages of large equipment volume, short service life and high noise. In addition, the wireless power supply coil in the existing laser scanning distance measuring device often occupies a large volume, so that the whole device is large in volume, and the requirements on the design and installation of the robot are severe.
In view of the above, a problem to be solved by the related art in the industry is how to design a laser scanning distance measuring device with a novel structure or effectively improve the existing laser scanning distance measuring device to solve the above defects and shortcomings in the prior art.
SUMMERY OF THE UTILITY MODEL
To the above-mentioned defect that laser scanning range unit among the prior art exists, the utility model provides a laser scanning range unit of highly integrated integration, small and exquisite structure.
According to one aspect of the present invention, there is provided a laser scanning distance measuring device, comprising a rotatable rotary structure and a non-rotatable fixed structure, wherein the rotary structure comprises a receiving plate, a laser emitter, a frame, an outer rotor, a laser receiver and a back plate, the fixed structure comprises a stator coil, an emitting plate and an emitting fixed platform, the rotary structure and the fixed structure are connected with each other through a bearing,
the receiving plate, the laser transmitter, the outer rotor, the laser receiver and the back plate are all mounted on the framework, the stator coil and the transmitting plate are both mounted on the transmitting fixed platform, and a plane formed by laser transmitted by the laser transmitter and laser received by the laser receiver is parallel to a mounting plane of the laser scanning ranging device.
In one embodiment, the laser scanning distance measuring device further includes a wireless power supply coil disposed in a space region between the laser transmitter and the laser receiver.
In one embodiment, the transmitting part of the wireless power supply coil is mounted on the transmitting fixed platform and connected to the transmitting plate, and the receiving part of the wireless power supply coil is mounted on the framework and connected to the receiving plate.
In one embodiment, the rotating structure further comprises an encoder, and the fixing structure further comprises encoding teeth, wherein the encoder is mounted on the receiving plate, and the encoding teeth are mounted on the transmitting part of the wireless power supply coil and used for recording the rotating position and the number of turns of the rotating structure.
In one embodiment, the laser transmitter and the laser receiver are electrically coupled to the backplane.
In one embodiment, the rotation speed of the rotating structure depends on the duty ratio value of the externally input PWM signal.
In one embodiment, the stator coil is arranged on the inner side of the outer rotor, the magnetic pole is arranged on the outer rotor, the emitter plate applies regularly-changing alternating-current voltage to the stator coil to generate a magnetic field, and the stator coil and the outer rotor are coupled to form thrust or suction to enable the rotating structure to rotate.
In one embodiment, the transmitting board includes a first light emitting diode and a first sensing diode, the receiving board includes a second light emitting diode and a second sensing diode, wherein the first light emitting diode and the second sensing diode form a first wireless transmission path, and the first sensing diode and the second light emitting diode form a second wireless transmission path, and the first wireless transmission path and the second wireless transmission path implement full duplex data transmission in a synchronous manner.
In one embodiment, the first light emitting diode has a first wavelength spectrum, the second light emitting diode has a second wavelength spectrum, the first sensing diode senses light in the second wavelength spectrum, and the second sensing diode senses light in the first wavelength spectrum, wherein the first wavelength spectrum is different from the second wavelength spectrum.
In one embodiment, an included angle between an installation plane of the laser scanning ranging device and a horizontal plane is 0-180 degrees.
In one embodiment, the laser scanning distance measuring device has a truncated cone-shaped three-dimensional structure.
In one embodiment, the laser transmitter and the laser receiver are both arranged on a side surface of the three-dimensional structure.
Adopt the utility model discloses a laser scanning range unit, it includes rotatable revolution mechanic and non-rotatable fixed knot structure, revolution mechanic includes dash receiver, laser emitter, skeleton, external rotor, laser receiver and backplate, and fixed knot constructs including stator coil, expelling plate and transmission fixed platform, and revolution mechanic passes through the bearing with fixed knot structure and is connected each other. The receiving plate, the laser transmitter, the outer rotor, the laser receiver and the back plate are mounted on the framework, the stator coil and the transmitting plate are mounted on the transmitting fixed platform, and a plane formed by laser transmitted by the laser transmitter and laser received by the laser receiver is parallel to a mounting plane of the laser scanning distance measuring device. Compared with the prior art, the utility model discloses a laser scanning range unit adopts wireless power supply and full duplex data transmission mode, has avoided such as the short defect of the produced life of sliding ring power supply and communication. Furthermore, the utility model discloses an electromagnetic induction's magnetic medium transmission compares current belt drive or gear drive and has reduced volume and noise. Furthermore, the utility model discloses set up the space region between laser emitter and laser receiver with wireless power supply coil's transmitting part and receiving part, the vacant space of make full use of forms highly integrated integral structure, not only makes overall structure compacter, but also can further reduce the volume of device.
Drawings
Various aspects of the present invention will become more apparent to the reader after reading the detailed description of the invention with reference to the attached drawings. Wherein,
fig. 1 is a schematic structural diagram of a laser scanning distance measuring device according to an embodiment of the present invention;
FIG. 2 is a schematic diagram showing object ranging using a laser transmitter and a laser receiver in the laser scanning ranging apparatus of FIG. 1; and
fig. 3A to 3C are schematic diagrams illustrating a principle of data transmission in a full duplex mode, a half duplex mode, and a simplex mode, respectively.
Detailed Description
In order to make the present disclosure more complete and complete, reference is made to the accompanying drawings, in which like references indicate similar elements, and to the various embodiments of the invention described below. However, it should be understood by those skilled in the art that the examples provided below are not intended to limit the scope of the present invention. In addition, the drawings are only for illustrative purposes and are not drawn to scale.
Embodiments of various aspects of the present invention are described in further detail below with reference to the figures.
Fig. 1 shows a schematic structural diagram of a laser scanning distance measuring device according to an embodiment of the present invention. Fig. 2 is a schematic diagram illustrating object ranging using a laser transmitter and a laser receiver in the laser scanning ranging apparatus of fig. 1.
Referring to fig. 1, in this embodiment, the laser scanning distance measuring device of the present invention includes a rotatable rotating structure and a non-rotatable fixing structure. Specifically, the rotating structure includes a receiving plate 1, a laser transmitter 2, a bobbin 3, an outer rotor 4, a laser receiver 9, and a back plate 10. The fixing structure includes a stator coil 5, a transmitting plate 6, and a transmitting fixing platform 7. The rotating structure and the stationary structure are connected to each other by means of bearings 8.
Wherein, the framework 3 can be made of plastic material. The receiving plate 1, the laser transmitter 2, the outer rotor 4, the laser receiver 9 and the back plate 10 are all mounted on the framework 3. The laser transmitter 2 and the laser receiver 9 are electrically coupled to the back plate 10. When the skeleton 3 rotates, the laser transmitter 2 and the laser receiver 9 rotate together with the skeleton 3 to achieve 360-degree rotational ranging. The stator coil 5 and the transmitting plate 6 are both mounted on a transmitting fixed platform 7. The stator coil 5 is arranged on the inner side of the outer rotor 4, the magnetic poles are arranged on the outer rotor 4, the transmitting plate 6 applies regularly-changing alternating-current voltage to the stator coil 5 to generate a magnetic field, and the stator coil 5 and the outer rotor 4 are coupled to form thrust or suction to enable the rotating structure to rotate.
As shown in fig. 2, the laser scanning distance measuring device has a truncated cone-shaped three-dimensional structure, and includes a housing 14 and a side surface surrounding the housing 14. The laser transmitter 2 and the laser receiver 9 are both arranged on the side surface of the three-dimensional structure. The plane formed by the laser emitted by the laser emitter 2 and the laser received by the laser receiver 9 and the installation plane of the laser scanning distance measuring device are parallel to each other. In detail, the laser light emitted from the laser emitter 2 reaches the object to be measured, and is reflected on the surface of the object to be measured, and the reflected light is received by the laser receiver 9. The light rays emitted to the object to be measured and the light rays reflected from the surface of the object to be measured form a plane which is parallel to the plane on which the device is integrally installed. For example, when the installation plane of the device is horizontal, the light emitted from the laser emitter 2 and the light received by the laser receiver 9 both travel in the horizontal direction. For another example, when the installation plane of the device is a vertical plane, the light emitted by the laser emitter 2 and the light received by the laser receiver 9 both travel in a vertical direction. In other words, the included angle between the installation plane of the laser scanning distance measuring device and the horizontal plane is between 0 and 180 degrees, which may be 0 degree, 90 degrees, or other angles besides horizontal or vertical.
It should be noted that the above laser scanning distance measuring device further includes a wireless power supply coil 11, and wireless power supply between the rotating structure and the fixed structure is realized by using the wireless power supply coil. In order to make the whole structure more compact, fully and reasonably utilize the vacant space to form a highly integrated structure, and further reduce the volume of the laser scanning distance measuring device, the transmitting part and the receiving part of the wireless power supply coil can be preferably arranged in the space area between the laser transmitter 2 and the laser receiver 9. Further, a transmitting portion of the wireless power supply coil 11 is mounted to the transmitting fixing platform 7 and connected to the transmitting plate 6, and a receiving portion of the wireless power supply coil 11 is mounted to the bobbin 3 and connected to the receiving plate 1.
In a particular embodiment, the rotating structure further comprises an encoder 12 and the fixed structure further comprises encoding teeth 13. Wherein, the encoder 12 is arranged on the receiving plate 1, and the encoding teeth 13 are arranged on the transmitting part of the wireless power supply coil 11 and are used for recording the rotating position and the number of turns of the rotating structure. The working principle can be roughly expressed as follows: the encoder 12 may be an open-ended device with a groove-shaped cross-section, and the encoder 12 emits infrared light from one end to the other end. When the coding teeth 13 and the encoder 12 move relatively, because the coding teeth 13 are made of materials which are not transparent to infrared light, when the coding teeth 13 enter the groove part of the encoder 12, the infrared light is blocked from entering the receiving end of the encoder 12. Thus, the switch between infrared entering the receiving end and blocked infrared entering the receiving end records the number of encoded teeth 13. If a particular encoding tooth is provided as the starting point for the rotation, the encoder 12 records one revolution (i.e., 360 degrees) of the rotating structure as it detects the passage of the particular encoding tooth. Since both the radians and the time intervals are recorded, the rotational speed can be calculated. In addition, the rotation speed of the rotating structure depends on the duty ratio value of the externally input PWM signal.
Fig. 3A to 3C are schematic diagrams illustrating a principle of data transmission in a full duplex mode, a half duplex mode, and a simplex mode, respectively.
As is well known, data transmission generally includes a full duplex mode, a half duplex mode, and a simplex mode. Take the data transmission pair A, B as an example, wherein the full duplex mode means that data can be transmitted simultaneously by a to B and successfully received by a (as shown in fig. 3A). Half duplex is when a transmits data to B, which can only receive data and cannot transmit data (as shown in fig. 3B). Full duplex transmission is faster than half duplex because there is no waiting. The simplex mode is to transmit data from a to B unilaterally, or to transmit data from B to a unilaterally (as shown in fig. 3C).
In a specific embodiment, the utility model discloses a wireless data transmission is carried out to full duplex mode. As shown in fig. 3A, the transmitting plate 6 includes a first light emitting diode 301 and a first sensing diode 303, and the receiving plate 1 includes a second light emitting diode 401 and a second sensing diode 403. The first light emitting diode 301 and the second light emitting diode 403 form a first wireless transmission path, the first sensing diode 303 and the second light emitting diode 401 form a second wireless transmission path, and the first wireless transmission path and the second wireless transmission path realize full-duplex data transmission in a synchronous manner. The first light emitting diode 301 and the second light emitting diode 401 have different spectra. For example, the first led 301 has a first wavelength spectrum, the second led 401 has a second wavelength spectrum, the first sensing diode 303 senses light of the second wavelength spectrum, and the second sensing diode 403 senses light of the first wavelength spectrum, wherein the first wavelength spectrum is different from the second wavelength spectrum, thereby implementing wireless full duplex data transmission.
Adopt the utility model discloses a laser scanning range unit, it includes rotatable revolution mechanic and non-rotatable fixed knot structure, revolution mechanic includes dash receiver, laser emitter, skeleton, external rotor, laser receiver and backplate, and fixed knot constructs including stator coil, expelling plate and transmission fixed platform, and revolution mechanic passes through the bearing with fixed knot structure and is connected each other. The receiving plate, the laser transmitter, the outer rotor, the laser receiver and the back plate are mounted on the framework, the stator coil and the transmitting plate are mounted on the transmitting fixed platform, and a plane formed by laser transmitted by the laser transmitter and laser received by the laser receiver is parallel to a mounting plane of the laser scanning distance measuring device. Compared with the prior art, the utility model discloses a laser scanning range unit adopts wireless power supply and full duplex data transmission mode, has avoided such as the short defect of the produced life of sliding ring power supply and communication. Furthermore, the utility model discloses an electromagnetic induction's magnetic medium transmission compares current belt drive or gear drive and has reduced volume and noise. Furthermore, the utility model discloses set up the space region between laser emitter and laser receiver with wireless power supply coil's transmitting part and receiving part, the vacant space of make full use of forms highly integrated integral structure, not only makes overall structure compacter, but also can further reduce the volume of device.
Hereinbefore, specific embodiments of the present invention have been described with reference to the accompanying drawings. However, those skilled in the art will appreciate that various modifications and substitutions can be made to the specific embodiments of the present invention without departing from the spirit and scope of the invention. Such modifications and substitutions are intended to be included within the scope of the present invention as defined by the appended claims.
Claims (12)
1. A laser scanning distance measuring device is characterized by comprising a rotatable rotating structure and a non-rotatable fixed structure, wherein the rotating structure comprises a receiving plate (1), a laser emitter (2), a framework (3), an outer rotor (4), a laser receiver (9) and a back plate (10), the fixed structure comprises a stator coil (5), an emitting plate (6) and an emitting fixed platform (7), the rotating structure and the fixed structure are connected with each other through a bearing (8),
the receiving plate (1), the laser transmitter (2), the outer rotor (4), the laser receiver (9) and the back plate (10) are all mounted on the framework (3), the stator coil (5) and the transmitting plate (6) are both mounted on the transmitting and fixing platform (7), and a plane formed by laser transmitted by the laser transmitter (2) and laser received by the laser receiver (9) is parallel to a mounting plane of the laser scanning and ranging device.
2. Laser scanning ranging device according to claim 1, characterized in that it further comprises a wireless power supply coil (11) arranged in the spatial area between the laser transmitter (2) and the laser receiver (9).
3. Laser scanning ranging device according to claim 2, characterized in that the transmitting part of the wireless power supply coil (11) is mounted on the transmitting stationary platform (7) and connected to the transmitting plate (6), and the receiving part of the wireless power supply coil (11) is mounted on the skeleton (3) and connected to the receiving plate (1).
4. The laser scanning distance measuring device according to claim 3, characterized in that the rotating structure further comprises an encoder (12), and the fixed structure further comprises encoding teeth (13), wherein the encoder (12) is mounted on the receiving plate (1), and the encoding teeth (13) are mounted on the transmitting portion of the wireless power supply coil (11) for recording the rotating position and the number of turns of the rotating structure.
5. Laser scanning ranging device according to claim 1, characterized in that the laser emitter (2) and the laser receiver (9) are electrically coupled to the back plate (10).
6. The laser scanning ranging device as claimed in claim 1, wherein the rotation speed of the rotating structure depends on the duty ratio value of the externally input PWM signal.
7. The laser scanning distance measuring device according to claim 1, wherein the stator coil (5) is disposed inside the outer rotor (4), the magnetic pole is disposed on the outer rotor (4), the transmitting plate (6) applies a regularly changing alternating voltage to the stator coil (5) to generate a magnetic field, and the stator coil (5) and the outer rotor (4) are coupled to form a thrust or a suction force to rotate the rotating structure.
8. Laser scanning ranging device according to claim 1, characterized in that the emitting board (6) comprises a first light emitting diode and a first sensing diode, the receiving board (1) comprises a second light emitting diode and a second sensing diode,
The first light emitting diode and the second light emitting diode form a first wireless transmission path, the first sensing diode and the second light emitting diode form a second wireless transmission path, and the first wireless transmission path and the second wireless transmission path realize full-duplex data transmission in a synchronous mode.
9. The laser scanning ranging device as claimed in claim 8, wherein the first light emitting diode has a first wavelength spectrum, the second light emitting diode has a second wavelength spectrum, the first sensing diode senses light of the second wavelength spectrum, and the second sensing diode senses light of the first wavelength spectrum, wherein the first wavelength spectrum is different from the second wavelength spectrum.
10. The laser scanning ranging device as claimed in claim 1, wherein an included angle between a mounting plane of the laser scanning ranging device and a horizontal plane is between 0 and 180 degrees.
11. The laser scanning ranging device as claimed in claim 1, wherein the laser scanning ranging device is a truncated cone-shaped three-dimensional structure.
12. Laser scanning ranging device according to claim 11, characterized in that a laser transmitter (2) and a laser receiver (9) are both arranged on the side surface of the three-dimensional structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620395854.9U CN205594163U (en) | 2016-05-04 | 2016-05-04 | Laser scanning range unit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620395854.9U CN205594163U (en) | 2016-05-04 | 2016-05-04 | Laser scanning range unit |
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| CN205594163U true CN205594163U (en) | 2016-09-21 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201620395854.9U Withdrawn - After Issue CN205594163U (en) | 2016-05-04 | 2016-05-04 | Laser scanning range unit |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105866785A (en) * | 2016-05-04 | 2016-08-17 | 上海思岚科技有限公司 | Laser scanning range finder |
| CN106655535A (en) * | 2016-11-07 | 2017-05-10 | 深圳市镭神智能系统有限公司 | 360-DEG TOF laser scanning radar based on wireless transmission |
| WO2017197878A1 (en) * | 2016-05-19 | 2017-11-23 | 上海思岚科技有限公司 | Laser scanning range unit |
| WO2018201567A1 (en) * | 2017-05-05 | 2018-11-08 | 杭州欧镭激光技术有限公司 | Rotating structure for laser radar |
| CN108828610A (en) * | 2017-03-16 | 2018-11-16 | 日立-Lg数据存储韩国公司 | rotary distance measuring device |
-
2016
- 2016-05-04 CN CN201620395854.9U patent/CN205594163U/en not_active Withdrawn - After Issue
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105866785A (en) * | 2016-05-04 | 2016-08-17 | 上海思岚科技有限公司 | Laser scanning range finder |
| WO2017197878A1 (en) * | 2016-05-19 | 2017-11-23 | 上海思岚科技有限公司 | Laser scanning range unit |
| CN106655535A (en) * | 2016-11-07 | 2017-05-10 | 深圳市镭神智能系统有限公司 | 360-DEG TOF laser scanning radar based on wireless transmission |
| CN108828610A (en) * | 2017-03-16 | 2018-11-16 | 日立-Lg数据存储韩国公司 | rotary distance measuring device |
| CN108828610B (en) * | 2017-03-16 | 2022-08-02 | 日立-Lg数据存储韩国公司 | Rotary distance measuring apparatus |
| WO2018201567A1 (en) * | 2017-05-05 | 2018-11-08 | 杭州欧镭激光技术有限公司 | Rotating structure for laser radar |
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Granted publication date: 20160921 Effective date of abandoning: 20190628 |
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| AV01 | Patent right actively abandoned |