CN215986474U

CN215986474U - Laser radar

Info

Publication number: CN215986474U
Application number: CN202121355300.3U
Authority: CN
Inventors: 姚清添
Original assignee: Shenzhen Camsense Technologies Co Ltd
Current assignee: Shenzhen Huanchuang Technology Co ltd
Priority date: 2021-06-17
Filing date: 2021-06-17
Publication date: 2022-03-08
Anticipated expiration: 2031-06-17

Abstract

The embodiment of the utility model relates to the technical field of laser ranging, and discloses a laser radar, which comprises: the laser radar comprises a shell and a laser ranging module arranged in the shell, wherein a power supply coil is printed on one surface of a transmitting printed circuit board, a receiving coil is printed on one surface of a receiving printed circuit board opposite to the power supply coil, the other surface of the receiving printed circuit board is provided with the laser ranging module, and the power supply coil is coupled with the receiving coil so as to realize wireless power supply.

Description

Laser radar

Technical Field

The embodiment of the utility model relates to the technical field of laser ranging, in particular to a laser radar.

Background

Laser Radar (Laser Radar) is a Radar system that detects characteristic quantities such as a position and a velocity of a target by emitting a Laser beam. The working principle is to transmit a detection signal (laser beam) to a target, then compare the received signal (target echo) reflected from the target with the transmitted signal, and after appropriate processing, obtain the relevant information of the target, such as target distance, azimuth, height, speed, attitude, even shape and other parameters.

In implementing the embodiments of the present invention, the inventors found that at least the following problems exist in the above related art: at present, such as robot of sweeping the floor etc. adopt lidar to carry out data acquisition's equipment to adopt the wireless power supply scheme of leading electrical slip ring or main and auxiliary coil nested to supply power to the ranging module in the machine usually, however, the power supply scheme of leading electrical slip ring formula along with the increase of live time, often can contact badly, and the wireless power supply scheme of main and auxiliary coil then bulky, the coil height is higher, exists magnetic leakage risk and efficiency not high.

SUMMERY OF THE UTILITY MODEL

In view of the above-mentioned defects in the prior art, an object of the embodiments of the present invention is to provide a laser radar that is small in size, high in efficiency, and capable of implementing wireless power supply.

The purpose of the embodiment of the utility model is realized by the following technical scheme:

in order to solve the above technical problem, an embodiment of the present invention provides a laser radar, including:

a housing;

the laser ranging module is arranged in the shell;

a transmitting printed circuit board having a power supply coil printed on one surface thereof;

and one surface of the receiving printed circuit board, which is opposite to the power supply coil, is printed with a receiving coil, and the other surface of the receiving printed circuit board is provided with the laser ranging module.

In some embodiments, the lidar further comprises:

the laser radar further includes:

the communication transmitting module is arranged on the receiving printed circuit board and is used for transmitting communication data and/or communication instructions;

and the communication receiving module is arranged on the transmitting printed circuit board and used for receiving the communication data and/or the communication instruction.

In some embodiments, the receiving coil is further configured to transmit communication data and/or communication instructions,

the power supply coil is also used for receiving communication data and/or communication instructions.

In some embodiments, the housing comprises a first housing and a second housing that are removable,

the transmitting printed circuit board is arranged in the first shell, the laser ranging module and the receiving printed circuit board are arranged in the second shell,

when the first housing and the second housing are integrally installed, the power supply coil and the receiving coil are coupled to transmit electric energy.

In some embodiments, the lidar further comprises:

a rotating device provided between the first housing and the second housing and configured to rotate the second housing relative to the first housing;

a drive device disposed within the first housing;

and the conveying belt is wound on the rotating device and the driving device and is used for driving the rotating device to rotate when the driving device drives.

In some embodiments, the lidar further comprises: and the direct-current power supply input module is arranged in the first shell and is connected with the power supply coil and the driving device.

In some embodiments, the number of the power supply coils and the number of the receiving coils are the same and at least one,

when the first housing and the second housing are integrally installed, the power supply coils and the receiving coils are coupled one by one at corresponding positions.

In some embodiments, the power supply coil and the receiving coil are identical in shape and are symmetrically disposed when the first housing and the second housing are integrally mounted.

In some embodiments, the laser ranging module is a rotary laser ranging module, or a triangulation ranging module, or a time of flight ranging (TOF) module.

In some embodiments, the coil traces of the power coil and the receive coil are circular or square.

In some embodiments, the coil traces of the power supply coil and the receiving coil are shaped.

Compared with the prior art, the utility model has the beneficial effects that: in contrast to the state of the art, an embodiment of the present invention provides a laser radar, including: the laser radar comprises a shell, a transmitting printed circuit board, a receiving printed circuit board and a laser ranging module, wherein the transmitting printed circuit board, the receiving printed circuit board and the laser ranging module are arranged in the shell, a power supply coil is printed on one surface of the transmitting printed circuit board, a receiving coil is printed on the surface, opposite to the power supply coil, of the receiving printed circuit board, the laser ranging module is arranged on the other surface of the receiving printed circuit board, and the power supply coil is coupled with the receiving coil so as to realize wireless power supply.

Drawings

The embodiments are illustrated by the figures of the accompanying drawings which correspond and are not meant to limit the embodiments, in which elements/blocks having the same reference number designation may be represented by like elements/blocks, and in which the drawings are not to scale unless otherwise specified.

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

FIG. 2 is a schematic structural diagram of another lidar provided by an embodiment of the present invention;

FIG. 3 is a schematic diagram of a first transmitting PCB and a first receiving PCB according to an embodiment of the present invention;

FIG. 4 is a schematic diagram of a second transmitting PCB and a second receiving PCB according to an embodiment of the present invention;

fig. 5 is a schematic diagram of a third transmitting pcb and a receiving pcb according to an embodiment of the present invention.

Detailed Description

The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the utility model, but are not intended to limit the utility model in any way. It should be noted that variations and modifications can be made by persons skilled in the art without departing from the spirit of the utility model. All falling within the scope of the present invention.

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

It should be noted that, if not conflicted, the various features of the embodiments of the utility model may be combined with each other within the scope of protection of the present application. In addition, although the functional blocks are divided in the device diagram, in some cases, the blocks may be divided differently from those in the device. Further, the terms "first," "second," and the like, as used herein, do not limit the data and the execution order, but merely distinguish the same items or similar items having substantially the same functions and actions. It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may be present.

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 utility model herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the utility model. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

In order to solve the problems that power cannot be supplied due to poor contact of conductive slip ring type power supply in the existing laser radar, magnetic flux leakage risks exist due to the fact that the size of a wireless power supply scheme of a main coil and a secondary coil is large, and the like, the embodiment of the utility model provides the laser radar.

Specifically, the embodiments of the present invention will be further explained below with reference to the drawings.

An embodiment of the present invention provides a laser radar, please refer to fig. 1, which shows a structure of the laser radar provided by the embodiment of the present invention, and the laser radar includes: a housing 10, a transmitting printed circuit board 20, a receiving printed circuit board 30, and a laser ranging module 40.

The laser ranging module 40 is disposed in the housing 10. The laser ranging module 40 is a rotary laser ranging module, or a triangular ranging module, or a Time of flight (TOF) module. In the embodiment of the present invention, the laser ranging module 40 is a core of the laser radar, and is capable of detecting distance data between a physical object existing in a surrounding environment and the laser radar through laser.

The transmitting printed circuit board 20, which is arranged in the housing 10 and has a power supply coil 21 printed on one surface thereof; the transmitting printed circuit board 20 prints a circuit pattern of the power supply coil 21 on the transmitting printed circuit board 20 by printing a metal wire on an insulating substrate.

The receiving printed circuit board 30 is also disposed in the housing 10, and has a receiving coil 31 printed on one surface thereof opposite to the power supply coil 21, and the laser ranging module 40 disposed on the other surface thereof. The receiving printed circuit board 30 prints a circuit pattern of the receiving coil 31 on the receiving printed circuit board 30 by printing a metal wire on an insulating substrate.

In the embodiment of the utility model, the coil is arranged on the Printed Circuit Board (PCB), so that the power supply of the laser ranging module can be effectively realized, the cost can be saved, the overall height of the laser radar can be reduced, the laser radar can be made smaller and thinner, and the product has higher competitiveness with the similar products on the market in terms of economy and volume.

Further, referring to fig. 2, which shows another lidar structure provided in an embodiment of the present invention, the housing 10 includes a first housing 11 and a second housing 12 that are detachable, the transmitting printed circuit board 20 is disposed in the first housing 11, and the laser ranging module 40 and the receiving printed circuit board 30 are disposed in the second housing 12. When the first housing and the second housing are integrally installed, the power supply coil 21 and the receiving coil 31 are coupled to transmit electric energy. The transmitting pcb 20 may be fixed in the first housing 11 by means of screws, glue, snap-fit, etc. The receiving pcb 30 may be fixed in the second housing 12 by means of screws, glue, snap-fit, etc.

Preferably, the first housing 11 and the second housing 12 may be made of plastic, so as to reduce the weight of the housing and improve the portability of the laser radar, and the first housing 11 and the second housing 12 may be fixed into a whole by screws, glue, snaps, and the like.

The number of the power supply coils 21 and the number of the receiving coils 31 are the same and at least one, and when the first housing 11 and the second housing 12 are integrally installed, each power supply coil 21 and each receiving coil 31 are coupled one by one at a corresponding position.

Preferably, the power supply coil 21 and the receiving coil 31 have the same shape and are symmetrically disposed when the first housing 11 and the second housing 12 are integrally mounted.

Further, referring to fig. 3, which illustrates a first transmitting pcb and receiving pcb structure provided in the embodiment of the present invention, as shown in fig. 3, the coil traces of the power supply coil 21 and the receiving coil 31 are circular.

Further, referring to fig. 4, it shows a second transmitting pcb and receiving pcb structure provided in the embodiment of the present invention, as shown in fig. 4, the coil traces of the power supply coil 21 and the receiving coil 31 are square.

Further, referring to fig. 5, which shows a third transmitting pcb and receiving pcb structure provided in the embodiment of the present invention, as shown in fig. 5, the coil traces of the power supply coil 21 and the receiving coil 31 are shaped.

It should be noted that, in fig. 3, the number of the power supply coils 21 in the transmitting printed circuit board 20 and the number of the receiving coils 31 in the receiving printed circuit board 30 are both two, while in fig. 4 and 5, the number of the power supply coils 21 in the transmitting printed circuit board 20 and the number of the receiving coils 31 in the receiving printed circuit board 30 are both one, and in practical applications, the number and the shape of the power supply coils 21 in the transmitting printed circuit board 20 and the receiving coils 31 in the receiving printed circuit board 30 can be set according to practical needs, and do not need to be limited by the embodiment of the present invention.

Further, in some embodiments, the module disposed in the first housing 11 and the module disposed in the second housing 12 may also have a data transmission function, in which case, the receiving coil 31 is further used for sending communication data and/or communication instructions, and the power supply coil 21 is further used for receiving communication data and/or communication instructions. Specifically, when the laser radar performs the ranging operation, after the laser ranging module 40 collects the measurement data, the receiving coil 31 loads various types of serial port data, such as a data packet header, ranging distance and angle data, communication check data, and the like, to the load capacity change, so that the waveforms of the current and the voltage on the transmitting coil 21 also change, and the module in the first housing 11 decodes the waveforms of the current and the voltage on the transmitting coil 21, such as the period, the amplitude, and the like, so as to acquire the serial port data. The communication data and the command may be a steering command, a moving command, and the like, and may be specifically set according to actual needs.

Further, with continued reference to fig. 2, the lidar may not transmit data through the receiving coil 31 and the transmitting coil 21, and may also be provided with an optical communication transmitting module 50 on the receiving printed circuit board 30, and at the same time, an optical communication receiving module 60 on the transmitting printed circuit board 20, wherein, the optical communication transmitting module 50 is used for transmitting communication data and/or communication instructions, the optical communication receiving module 60 is configured to receive the communication data and/or the communication instruction, the optical communication transmitting module 50 and the communication receiving module 60 may be various wireless communication devices, and transmit serial data by wireless communication, for example, the Bluetooth module, the infrared communication module, the electromagnetic induction communication module and the like can be used, and particularly, the Bluetooth module, the infrared communication module, the electromagnetic induction communication module and the like can be arranged according to actual needs without limitation of the embodiment of the utility model.

Further, with continued reference to fig. 2, the lidar may further include: a rotating device 70, a driving device 80 and a conveyor belt 90, wherein the rotating device 70 is arranged between the first shell 11 and the second shell 12 and is configured to enable the second shell 12 to rotate relative to the first shell 11; the driving device 80 is disposed in the first housing 11, and the conveyor belt 90 is wound around the rotating device 70 and the driving device 80, and is configured to drive the rotating device 70 to rotate when the driving device 80 drives. Specifically, the rotating device 70 may be a bearing, and the first housing 11 and the second housing 12 may also be correspondingly provided with rib positions that can be respectively fixed on the inner side and the outer side of the bearing, so that the first housing 11 and the second housing 12 can realize relative rotation through the bearing, thereby driving the laser ranging module 40 arranged on the second housing 12 to adjust the scanning direction thereof, and realizing multidirectional laser scanning and data acquisition. The drive means 80 may be a motor to provide sufficient kinetic energy for the rotation of the balls in the bearings via the belt 90. Specifically, the specific structures, shapes, sizes, etc. of the rotating device 70, the driving device 80, and the conveyor belt 90 can be set according to actual needs, and need not be limited by the embodiments of the present invention.

Further, the laser radar may further include: a dc power input module (not shown) disposed in the first housing 11, and connected to the power supply coil 21 and the driving device 80, wherein the dc power input module is a module capable of converting ac power into dc power, preferably, the dc power input module can be set to a device capable of outputting 5V or 12V dc power, and the dc power input module can also be set to a module having protection functions such as surge protection and short-circuit protection, and specifically, can be set according to actual requirements.

Taking fig. 2 as an example, when the laser radar according to the embodiment of the present invention performs a measurement operation, first, a processor disposed on the transmitting pcb 20 of the first housing 11 preliminarily sets and executes a measurement task, or receives and executes a measurement task issued by an upper computer; when the transmitting printed circuit board 20 is powered on, electric energy is transmitted to the receiving coil 31 through the power supply coil 21, so that power supply to the laser ranging module 40 is realized; then, the processor on the transmitting pcb 20 sends a corresponding instruction according to the measurement task, on one hand, sends a control instruction to the driving device 80, so that the driving device drives the rotating device 70 to rotate through the conveyor belt 90 to adjust the measurement direction and angle of the laser ranging module 40; on the other hand, serial port data loaded on the optical communication transmitting module 50 (or the receiving coil 31) is acquired through the optical communication receiving module 60 (or the power supply coil 21); finally, the processor on the transmitting printed circuit board 20 processes the serial port data, and sends the processed data to the upper computer, or establishes a three-dimensional model of the current environment, so as to output the position information of the obstacles/objects existing in the current environment. It should be noted that the above is only an example of a workflow according to the embodiment of the present invention, and the workflow may be specifically set according to an actual application scenario, and is not limited by the embodiment of the present invention.

An embodiment of the present invention provides a laser radar, including: the laser radar comprises a shell, a transmitting printed circuit board, a receiving printed circuit board and a laser ranging module, wherein the transmitting printed circuit board, the receiving printed circuit board and the laser ranging module are arranged in the shell, a power supply coil is printed on one surface of the transmitting printed circuit board, a receiving coil is printed on the surface, opposite to the power supply coil, of the receiving printed circuit board, the laser ranging module is arranged on the other surface of the receiving printed circuit board, and the power supply coil is coupled with the receiving coil so as to realize wireless power supply.

It should be noted that the above-described device embodiments are merely illustrative, where the units described as separate parts may or may not be physically separate, and the parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.

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; within the idea of the utility model, also technical features in the above embodiments or in different embodiments may be combined, steps may be implemented in any order, and there are many other variations of the different aspects of the utility model as described above, which are not provided in detail for the sake of brevity; 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 the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A lidar, comprising:

a housing;

the laser ranging module is arranged in the shell;

2. Lidar according to claim 1,

the laser radar further includes:

3. Lidar according to claim 1,

the receiving coil is also used for sending communication data and/or communication instructions,

4. Lidar according to any of claims 1 to 3,

the housing comprises a first housing and a second housing which are detachable,

5. Lidar according to claim 4,

the laser radar further includes:

a drive device disposed within the first housing;

6. Lidar according to claim 5,

the laser radar further includes: and the direct-current power supply input module is arranged in the first shell and is connected with the power supply coil and the driving device.

7. Lidar according to claim 4,

the number of the power supply coils and the number of the receiving coils are the same and are at least one,

8. Lidar according to claim 4,

the power supply coil and the receiving coil are the same in shape and are symmetrically arranged when the first shell and the second shell are integrally installed.

9. Lidar according to claim 1,

the coil wiring of the power supply coil and the coil wiring of the receiving coil are circular or square.

10. Lidar according to claim 1,

the coil wiring of the power supply coil and the coil wiring of the receiving coil are special-shaped.