CN206411271U - Line scanning laser radar based on disk type rotor electric motor - Google Patents
Line scanning laser radar based on disk type rotor electric motor Download PDFInfo
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- CN206411271U CN206411271U CN201720058324.XU CN201720058324U CN206411271U CN 206411271 U CN206411271 U CN 206411271U CN 201720058324 U CN201720058324 U CN 201720058324U CN 206411271 U CN206411271 U CN 206411271U
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Abstract
Line scanning laser radar based on disk type rotor electric motor, the laser radar includes rotor, motor stator, bearing, the angular measurement sensor being connected with rotor；The system processor being connected with angular measurement sensor, the laser being connected with system processor, the collimation lens being fixed in laser transmitting light path, it is fixed on laser transmitting light path and the reflection unit being connected with rotor, the condenser lens being fixed on reflection unit reflected light path, the laser detector being fixed in condenser lens convergence light path, the laser ranging module being connected with laser detector；Laser ranging module is connected with system processor；Also include the permanent magnet being connected with rotor, be wrapped in the coil on motor stator；Motor stator and rotor are annular hollow disc-shapes, and transmitting laser and reception laser can be extended there through；The utility model can realize the automatic obstacle avoiding ability of unmanned machine.
Description
Technical field
The utility model is related to laser measuring technique field, and in particular to a kind of line scanning based on disk type rotor electric motor swashs
Optical radar.
Background technology
Automatic obstacle avoiding technology is unmanned plane, and the unmanned equipment such as unmanned vehicle needs the key technology solved, and avoidance ability is inspection
Test a key factor of unmanned machine combination property.The avoidance technology of current main flow mainly has ultrasonic wave and vision technique.Its
Middle ultrasonic wave is simplest range-measurement system, and advantage of lower cost with convenience, but is due to that operating distance is nearer, ranging essence
Degree is not high, and easily by external interference；Vision technique easily receives the influence of illumination factor, it is impossible to meets and round-the-clock independently keeps away
The demand of barrier.
Existing laser radar can realize 360 ° of scanning probes, but currently existing scheme usually requires to use slip ring, so that
The service life of laser radar is have impact on, and the Effect on Detecting of 360 ° of all standings is then difficult to without using the scheme of slip ring.
The content of the invention
In order to solve the above problems, the purpose of this utility model is to provide a kind of line scanning based on disk type rotor electric motor
Laser radar, can realize the automatic obstacle avoiding ability of unmanned machine.
To achieve the above objectives, the utility model is adopted the following technical scheme that：
A kind of line scanning laser radar based on disk type rotor electric motor, including rotor 1, motor stator 2, bearing 15,
The angular measurement sensor 6 being connected with rotor 1；The system processor 7 being connected with angular measurement sensor 6, is connected with system processor 7
Laser 4, be fixed on laser 4 transmitting light path on collimation lens 8, be fixed on laser 4 transmitting light path and with motor turn
The connected reflection unit 3 of son 1, the condenser lens 9 being fixed on the reflected light path of reflection unit 3 is fixed on the converged light of condenser lens 9
Laser detector 10 on road, the laser ranging module 5 being connected with laser detector 10；Laser ranging module 5 is handled with system
Device 7 is connected；Also include the permanent magnet 16 being connected with rotor 1, be wrapped in the coil 14 on motor stator 2；The motor
Stator 2 and rotor 1 are annular hollow disc-shapes, and transmitting laser and reception laser can be extended there through.
The rotor 1 is located at the upper end of motor stator 2, and rotor 1 is axially connected with motor stator 2.
The upper surface of the motor stator 2 is along the circumferential direction equably wrapped coil 14, motor stator 2 and bearing 15
Outer shroud outer wall is connected.
The lower surface of rotor 1 is embedded with permanent magnet 16, and permanent magnet 16 is along the circumferential direction evenly distributed；Rotor 1
In hollow boss shape, boss and the bearing inner ring inwall of rotor 1 are connected.
The reflection unit 3 is fixed on rotor 1, is rotated simultaneously with rotor 1, the reflection unit 3 and water
Square in angle of 45 degrees.
The optical axis of the optical axis and the receiving light path of laser detector 10 of the transmitting of laser 4 light path is parallel to each other.
The method that the line scanning laser radar based on disk type rotor electric motor realizes 360 ° of scanning rangings, including following step
Suddenly：
Step one, the signal control laser 4 of the output control laser 4 of system processor 7 sends pulse laser, and pulse swashs
Light is irradiated on reflection unit 3 after the center of motor stator 2 and rotor 1 is passed through after the collimation of collimation lens 8, is passed through
After the reflection of reflection unit 3, it is irradiated on object；
Step 2, the second reflection unit 3 is connected with rotor 1, and rotor 1 drives it to rotate when rotating, and will irradiate
Vertical direction laser reflection to the second reflection unit 3 turns into horizontal sweep laser, and carries out 360 degree of scannings spy to horizontal plane
Survey, system processor unit 7 is irradiated to the moment of reflection unit 3 by the measurement motor rotor 1 of angular measurement sensor 6 in transmitting laser
Corner；
Step 3, the pulse laser of object reflection is reflected into the laser of vertical direction by reflection unit 3 and passes through electricity
Behind the center of machine rotor 1 and motor stator 2, after line focus lens 9 are converged, received by laser detector 10；
Step 4, the time difference between the measurement laser firing pulses of laser ranging module 5 and reception pulse, obtains target
Range information, and distance measurement result is sent to system processor 7；Realize and scan ranging to 360 ° of target.
Compared with prior art, the utility model has the advantage that：
1. the rotor of the utility model motor, stator and bearing are annular hollow disc-shape, by rotor, stator and bearing
Hollow-core construction is designed to, transmitting laser and reception laser are extended there through；Reflection unit and rotor are connected and with its rotation
Turn, and Laser emission and reception device are not rotated, the design can be realized to week in the case of without using slip ring
360 ° of collarette border scanning probe, with simple in construction, reliability height, cheap, the advantages of service life is long.
2. the utility model Laser emission optical axis is with receiving optical axis and misaligned so that flat where the laser trace of scanning
Face is with the horizontal certain angle, and the feature is particularly suitable for unmanned plane, the avoidance of robot.
3. the scheme being parallel to each other using Laser emission optical axis and laser pick-off optical axis, with simple in construction, it is easy to accomplish,
Advantage with low cost.
4. the scanning means of the utility model design is conducive to the axial dimension of reduction system, it is adapted to narrower in axial space
Used under small environment.
Brief description of the drawings
Fig. 1 is line scanning laser radar arrangement figure of the utility model based on disk type rotor electric motor.
Fig. 2 is the schematic diagram that the utility model motor is connected with reflection unit.
Fig. 3 is the utility model disk type rotor electric motor structural representation.
Fig. 4 is disk type rotor electric motor stator and bearing schematic diagram in apparatus of the present invention, and wherein Fig. 4 a are motor stator and axle
The side view held, Fig. 4 b are the top view of motor stator and bearing.
Fig. 5 is disk type rotor electric motor mover schematic diagram in apparatus of the present invention, and wherein Fig. 5 a are the side view of rotor, figure
5b is the top view of rotor.
Embodiment
The utility model is described in further detail below in conjunction with drawings and the specific embodiments.It should be understood that these are implemented
Example is merely to illustrate the utility model rather than limits scope of the present utility model, after the utility model has been read, this
Modification of the art personnel to the various equivalent form of values of the present utility model falls within what the application appended claims were limited
Scope.
As shown in figure 1, a kind of line scanning laser radar based on disk type rotor electric motor of the utility model, including rotor
1, motor stator 2, bearing 15, the angular measurement sensor 6 being connected with rotor 1；The system processor being connected with angular measurement sensor 6
7, the laser 4 being connected with system processor 7, the collimation lens 8 being fixed in the transmitting light path of laser 4 is fixed on laser 4
Launch light path and the reflection unit 3 connected with the rotor 1 of disk type rotor electric motor, be fixed on poly- on the reflected light path of reflection unit 3
Focus lens 9, the laser detector 10 being fixed in the convergence light path of condenser lens 9, the laser ranging being connected with laser detector 10
Module 5；Laser ranging module 5 is connected with system processor 7, and the rotor 1 and motor stator 2 are hollow disc-shapes, hair
Penetrating laser and receiving laser can extend there through.
As shown in Fig. 2 the reflection unit 3, is fixed on rotor 1, rotated simultaneously with rotor 1, as excellent
The embodiment of choosing, the reflection unit 3 is from the horizontal by 45 degree of angles.
As shown in figure 3, the rotor (1) is located at the upper end of motor stator (2), rotor (1) and motor stator
(2) axially it is connected.The upper surface of the motor stator 2 is along the circumferential direction equably wrapped coil 14, motor stator 2 and bearing
15 outer shroud outer wall is connected.The lower surface of rotor 1 is embedded with permanent magnet 16, and permanent magnet 16 is along the circumferential direction evenly distributed.
Rotor 1 is in hollow boss shape, and boss and the bearing inner ring inwall of rotor 1 are connected.
As shown in Fig. 4 (Fig. 4 a and Fig. 4 b), the motor stator 2 is to be wound with coil 14 and the hollow disc with bearing 15
Shape, transmitting laser and reception laser are extended there through.
As shown in Fig. 5 (Fig. 5 a and Fig. 5 b), the rotor 1 is the hollow disc-shape with permanent magnet 16, launches laser
Extended there through with laser is received.
As preferred embodiment, the laser 4 launches the optical axis and the receiving light path of laser detector 10 of light path
Optical axis is parallel to each other.
The method that line scanning laser radar described in the utility model based on disk type rotor electric motor realizes 360 ° of scanning rangings,
Comprise the following steps：
The signal control laser (4) of system processor (7) output control laser (4) sends pulse laser, and pulse swashs
Light is irradiated to reflection unit after the stator (2) of motor and the center of rotor (1) are passed through after collimation lens (8) collimation
(3) on, after the reflection of reflection unit (3), it is irradiated on object；
Second reflection unit (3) is connected with rotor (1), and rotor (1) drives it to rotate when rotating, and is emitted onto
The vertical direction laser reflection of second reflection unit (3) turns into horizontal sweep laser, and carries out 360 degree of scannings spy to horizontal plane
Survey, system processor unit (7) is irradiated to the second reflection by angular measurement sensor (6) measurement motor rotor (1) in transmitting laser
The corner at device (3) moment；
The pulse laser of object reflection is reflected into the laser of vertical direction by reflection unit (3) and passes through rotor
(1) and behind the center of motor stator (2), after line focus lens (9) convergence, received by laser detector (10)；
Laser ranging module (5) measures laser firing pulses and receives the time difference between pulse, obtains the distance of target
Information, and distance measurement result is sent to 360 ° scanning rangings of system processor (7) realization to target.
Claims (6)
1. a kind of line scanning laser radar based on disk type rotor electric motor, it is characterised in that：Including rotor (1), motor is fixed
Sub (2), bearing (15), the angular measurement sensor (6) being connected with rotor (1)；The system processing being connected with angular measurement sensor (6)
Device (7), the laser (4) being connected with system processor (7), the collimation lens (8) being fixed in laser (4) transmitting light path,
Laser (4) transmitting light path and the reflection unit (3) being connected with rotor (1) are fixed on, reflection unit (3) reflection is fixed on
Condenser lens (9) in light path, the laser detector (10) being fixed in condenser lens (9) convergence light path, with laser detector
(10) the laser ranging module (5) of connection；Laser ranging module (5) is connected with system processor (7)；Also include turning with motor
Sub (1) connected permanent magnet (16), is wrapped in the coil (14) on motor stator (2)；The motor stator (2) and rotor
(1) it is annular hollow disc-shape, transmitting laser and reception laser can be extended there through.
2. the line scanning laser radar according to claim 1 based on disk type rotor electric motor, it is characterised in that：The motor
Rotor (1) is located at the upper end of motor stator (2), and rotor (1) is axially connected with motor stator (2).
3. the line scanning laser radar according to claim 1 based on disk type rotor electric motor, it is characterised in that：The motor
The upper surface of stator (2) is along the circumferential direction equably wrapped coil (14), the outer shroud outer wall of motor stator (2) and bearing (15)
It is connected.
4. the line scanning laser radar according to claim 1 based on disk type rotor electric motor, it is characterised in that：The motor
Rotor (1) lower surface is embedded with permanent magnet (16), and permanent magnet (16) is along the circumferential direction evenly distributed；Rotor (1) is in hollow convex
Mesa-shaped, boss and the bearing inner ring inwall of rotor (1) are connected.
5. the line scanning laser radar according to claim 1 based on disk type rotor electric motor, it is characterised in that：The reflection
Device (3) is fixed on rotor (1), is rotated simultaneously with rotor (1), the reflection unit (3) from the horizontal by
45 degree of angles.
6. the line scanning laser radar according to claim 1 based on disk type rotor electric motor, it is characterised in that：The laser
The optical axis of the optical axis and laser detector (10) receiving light path of device (4) transmitting light path is parallel to each other.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720058324.XU CN206411271U (en) | 2017-01-17 | 2017-01-17 | Line scanning laser radar based on disk type rotor electric motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720058324.XU CN206411271U (en) | 2017-01-17 | 2017-01-17 | Line scanning laser radar based on disk type rotor electric motor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206411271U true CN206411271U (en) | 2017-08-15 |
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ID=59556786
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720058324.XU Active CN206411271U (en) | 2017-01-17 | 2017-01-17 | Line scanning laser radar based on disk type rotor electric motor |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106842218A (en) * | 2017-01-17 | 2017-06-13 | 西安交通大学 | Line scanning laser radar and its implementation based on disk type rotor electric motor |
| WO2021189212A1 (en) * | 2020-03-23 | 2021-09-30 | 华为技术有限公司 | Photoelectric scanning apparatus, electric motor and self-driving automobile |
-
2017
- 2017-01-17 CN CN201720058324.XU patent/CN206411271U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106842218A (en) * | 2017-01-17 | 2017-06-13 | 西安交通大学 | Line scanning laser radar and its implementation based on disk type rotor electric motor |
| WO2021189212A1 (en) * | 2020-03-23 | 2021-09-30 | 华为技术有限公司 | Photoelectric scanning apparatus, electric motor and self-driving automobile |
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