KR20210057010A - Sensor and mobile platform - Google Patents

Abstract

An embodiment of the present application provides a sensor and a mobile platform. The sensor includes a motor including a housing having a receiving chamber and having a starting hole and a standing hole formed in the housing; A first communication member located in the receiving chamber and including a first communication board and a first control board, both of the first communication board and the first control board being fixedly connected to the housing and installed facing each other; One end is connected to the first control board, the other end penetrates the receiving chamber from the exit hole, is inserted through the receiving chamber from the entry hole and is connected to the first communication board, thereby connecting the first control board and the first communication board. And a first electrical connector for communication connection.
According to the technical solution provided in the embodiment of the present application, the structural layout of the sensor is further rationalized, the space utilization rate is greatly improved to reduce the sensor volume, and at the same time, the rotating part prevents interference caused by the sensor wiring shape, Improves the reliability of sensor wiring.

Description

Sensor and mobile platform

The present application relates to the field of remote sensing devices, and in particular to sensors and mobile platforms.

Radar is an active remote sensing device, and is applied to unmanned aerial vehicles and vehicles, and can realize obstacle avoidance functions of unmanned aerial vehicles and vehicles. For example, a radar may transmit or fix a radiation detection target by using secondary radiation of electromagnetic waves, and measure information such as spatial coordinates, velocity, acceleration, and trajectory of the target.

In currently used radar equipment, most of them include a motor and a plurality of electric modules, and a plurality of electric modules are connected to form a radar system. When used, the motor drives some electrical modules to rotate. In the prior art, in order to prevent the rotating component from interfering with the radar wiring, the wiring method between each electric module is all relatively complicated, messy, and occupies a lot of space, so that the overall volume of the radar is increased. Since the radar occupies a large space, it is disadvantageous in reducing the size and weight of the entire device.

In consideration of the above problem, the present application provides a sensor and a mobile platform that solves the above problem.

In an embodiment of the present application,

A motor including a housing having a receiving chamber, and having a starting hole and a standing hole formed in the housing;

A first communication member positioned in the receiving chamber and comprising a first communication board and a first control board, both of the first communication board and the first control board being fixedly connected to the housing and installed facing each other;

One end is connected to the first control board, the other end passes through the receiving chamber from the outgoing hole, and is inserted through the receiving chamber through the receiving hole and is connected to the first communication board, and the first control board and It provides a sensor including a first electrical connector for communicationly connecting the first communication board.

Correspondingly, this application embodiment further provides a mobile platform. The movable platform includes a movable platform body and a sensor installed on the movable platform body,

The sensor,

A motor including a housing having a receiving chamber, the housing being connected to the movable platform body, and having a starting hole and a standing hole formed in the housing;

A first communication member positioned in the receiving chamber and comprising a first communication board and a first control board, both of the first communication board and the first control board being fixedly connected to the housing and installed facing each other;

One end is connected to the first control board, the other end passes through the receiving chamber from the outgoing hole, and is inserted through the receiving chamber through the receiving hole and is connected to the first communication board, and the first control board and And a first electrical connector for communicatively connecting the first communication board.

According to the technical solution provided in the embodiment of the present application, the first communication member is divided into two parts, and the elements of the first communication member can be distributedly arranged, thereby reducing the occupied space of the first communication member. The first communication member is installed in the housing of the motor, and makes full use of the space occupied by the motor, further rationalizing the structural layout of the sensor, greatly improving the space utilization rate, and reducing the sensor volume. In the wiring method of the first electrical connector, rotating parts can be avoided, interference caused by the rotating parts to the shape of the sensor wiring can be prevented, and the reliability of the sensor wiring can be improved.

In order to more clearly describe the embodiments of the present invention or the technical solutions of the prior art, the following will briefly introduce the drawings to be used in the description of the embodiments or the prior art, and obviously, the drawings in the following description are of the present invention. In some embodiments, a person skilled in the art can obtain other drawings according to these drawings without creative labor.
1 is a schematic diagram of a structure of a sensor provided in an embodiment of the present application.
2 is a schematic diagram of a cross-sectional structure of a sensor provided in an embodiment of the present application.
3 is an enlarged schematic view of a dotted line portion of FIG. 2.
4 is a schematic diagram of a structure of a radar provided in another embodiment of the present application.

In order for those skilled in the art to better understand the method of the present application, the technical solution of the exemplary embodiment of the present application will be described clearly and completely below in combination with the drawings of the exemplary embodiment of the present application. Obviously, the described embodiments are merely some embodiments of the present invention, not all embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative labor are all within the protection scope of the present invention.

It should be described that, in the description of the present invention, the terms "first", "second", etc. are merely for easily describing different parts, and the order relationship, the relative importance, or the number of technical features to be indicated. Should not be understood as an implicit representation.

Unless otherwise defined, all technical and scientific terms used in the present specification have the same meaning as commonly understood by one of ordinary skill in the art. The terms used in this text are merely for describing the embodiments in more detail, and do not limit the present invention.

In currently used radar equipment, in order to prevent interference caused by rotating parts on the radar wiring, the wiring method between each electric module is relatively complex, messy, and occupies a lot of space, and the overall volume of the radar is large. You lose. Since the sensor occupies a large space, it is disadvantageous in reducing the size and weight of the entire device. On some platforms with equipment volume requirements, radar equipment cannot be mounted, or the mounting process is very cumbersome, resulting in a narrow range of applications for radar devices.

For the above problem, the present application provides a sensor and a movable platform to reduce the volume of the sensor and prevent interference caused by rotating parts to the shape of the sensor wiring, thereby improving the reliability of the sensor wiring.

Hereinafter, in conjunction with the drawings of the embodiments of the present application, the technical solutions in the embodiments of the present application will be described clearly and completely. On the premise that is not contradictory, the following examples and features of the examples can be combined with each other. Obviously, the described embodiments are merely some of the embodiments of the present application, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative labor are all within the protection scope of the present invention.

Example 1

1 is a schematic diagram of a structure of a sensor provided in an embodiment of the present application, FIG. 2 is a schematic diagram of a cross-sectional structure of a sensor provided in an embodiment of the present application, and FIG. 3 is an enlarged schematic diagram of a dotted line in FIG. 1 to 3, in an embodiment of the present application, a sensor including a motor 10, a first communication member, and a first electrical connector 30 is provided.

The motor 10 includes a housing 11 having an accommodation chamber, and the housing 11 has an outgoing hole 111 and a standing hole 112 formed therein. The first communication member is located in the receiving chamber and includes a first communication board 20 and a first control board 21; Both the first communication board 20 and the first control board 21 are fixedly connected to the housing 11, and both are installed facing each other. One end of the first electrical connector 30 is connected to the first control board 21, and the other end is inserted through the receiving chamber from the outgoing hole 111, and inserted through the receiving chamber through the receiving hole 112 for first communication. It is connected to the board 20 so that the first control board 21 and the first communication board 20 are communicated with each other through the first electrical connector 30.

According to the technical solution provided in the embodiment of the present application, the first communication member is divided into two parts, and the elements of the first communication member can be distributedly arranged, thereby reducing the occupied space of the first communication member. The first communication member is installed in the housing 11 of the motor 10 to sufficiently utilize the space occupied by the motor 10, further rationalizing the structural layout of the sensor, greatly improving the space utilization rate, and reducing the sensor volume. Let it. The wiring method in which the first electrical connector 30 passes through the interior of the receiving chamber and is inserted again can avoid rotating parts, preventing the rotating parts from interfering with the sensor wiring shape, and thus the reliability of the sensor wiring. Improves.

In the embodiment of the present application, the sensor includes, but is not limited to, a microwave radar, a millimeter wave radar, and a laser radar. The sensor detects an object such as an obstacle, and can measure the distance of the firing point from the object to the sensor, the rate of change of distance, the direction, and the height. In some embodiments, the sensor is used in an unmanned aerial vehicle, such as an agricultural unmanned aerial vehicle. In addition, although it can be used for equipment such as autonomous vehicles and ground romote control robots, the present invention is not limited thereto, and the sensor can also be used in other devices or equipment. The sensors may be mounted on other equipment such as unmanned aerial vehicles, autonomous vehicles, and ground remote control robots through the housing 11 of the motor 10. The first electrical connector 30 includes, but is not limited to, a flexible printed circuit (FPC). FPC has features of high wiring density, light weight, thin thickness, and good flexibility. The first electrical connector 30 formed by the FPC can very effectively guarantee the reliability of the communication connection between the first control board 21 and the first communication board 20.

Additionally, with continued reference to FIGS. 1 and 3, in one possible embodiment of the present application, the motor 10 further includes a stator 12 and a rotor 13. The receiving chamber has an opening at one end, the stator 12 is connected to the housing 11 to cover the opening, the stator 12 has a mounting hole, and the stator 12 and the first communication board 20 are Communication is connected by the second electrical connector 31. The rotor 13 includes a connecting shaft 131 and a first rotating plate 132 and a second rotating plate 133 installed at opposite ends of the connecting shaft 131. The connecting shaft 131 and the mounting hole are rotatably inserted and connected, the first rotating plate 132 is located inside the receiving chamber, the second rotating plate 133 is located outside the receiving chamber, and the connecting shaft 131, the first The rotating plate 132 and the second rotating plate 133 can be rotated synchronously. The first rotating plate 132 is suspended between the first communication board 20 and the first control board 21. In this installation method, a part of the rotor 13 sinks into the housing 11, so that the height of the motor 10 can be effectively reduced, further reducing the height of the sensor and reducing the volume of the entire sensor, It is possible to effectively reduce the space occupied by the sensor in the vertical direction. The second electrical connector 31 includes an FPC, but is not limited thereto.

When the rotor 13 rotates, the first rotating plate 132 rotates in the receiving chamber of the housing 11, in order to avoid causing the first rotating plate 132 to interfere with the first electrical connector 30. , In the embodiment of the present application, wiring is performed for the first electrical connector 30 using a gap in the housing 11 as one possible implementation method, thereby avoiding the first rotating plate 132. Specifically, referring to FIG. 3, a first gap 14 is provided between the first rotating plate 132 and the first control board 21, and between the first rotating plate 132 and the first communication board 20. It has a second gap 15. The position of the exit hole 111 corresponds to the first gap 14, and the position of the entry hole 112 corresponds to the second gap 15. Both ends of the first electrical connector 30 avoid the first rotating plate 132 through the first gap 14 and the second gap 15, respectively, and then the first control board 21 and the first communication board ( 20). The first rotating plate 132 is suspended between the first communication board 20 and the first control board 21, and in order to ensure the rotation of the first rotating plate 132, the first rotating plate 132 is used for the first communication. There is a gap between the board 20 and the first control board 21, that is, a first gap 14 and a second gap 15. When both ends of the first electrical connector 30 are connected to the first communication board 20 and the first control board 21, the first rotating plate 132 is formed using the first gap 14 and the second gap 15. ) Can be prevented from contacting. When the first rotating plate 132 rotates, interference with both ends of the first electrical connector 30 does not occur. At the same time, in the wiring method in which the first electrical connector 30 first passes through the receiving chamber from the outgoing hole 111 and then inserted through the receiving chamber from the incoming hole 112 again, the first electrical connector 30 is used as the first rotating plate. (132) Try to bypass the whole. When the first rotating plate 132 rotates, interference with the first electrical connector 30 does not occur. In order to prevent leakage of magnetic flux from the outgoing hole 111 and the incoming hole 112, in the embodiment of the present application, a shielding paper is installed outside the housing 11, and the outgoing hole 111 and By blocking the winning hole 112, the motor 10 prevents a situation in which the magnetic flux leaks through the starting hole 111 and the winning hole 112. Shielding paper includes copper foil, silicon steel paper, etc., but is not limited thereto.

It should be explained that, in the embodiment of the present application, in order to realize rational use of the space of the receiving chamber of the housing 11, the first communication board 20 and the first control board 21 may be formed in the upper or lower part of the receiving chamber. Each may be connected to, for example, the first communication board 20 is connected to the upper portion of the receiving chamber, the first control board 21 is connected to the lower portion of the receiving chamber. Alternatively, the first communication board 20 may be fixedly connected to the stator 12, and the first control board 21 may be fixedly connected to the housing 11. In addition to the communication connection between the first communication board 20 and the first control board 21 through the first electrical connector 30, communication connection may also be made through a wireless method. For example, the first communication board ( 20) can realize wireless transmission of signals through the form of wireless LAN, Bluetooth or microwave.

Additionally, with continued reference to FIGS. 1 to 3, in the embodiment of the present application, the sensor further includes a second communication member, and the second communication member is communicatively connected to the first communication member. As one possible implementation manner, the first communication member is used to transmit a control signal to the second communication member, and the second communication member is used to transmit the radar data signal to the first communication member. The first communication member receives a control signal of external equipment through a cable or a wireless method, and wirelessly transmits the control signal to the second communication member. The second communication member is connected to the signal processing module of the sensor, and controls the signal processing module by transmitting a control signal to the signal processing module. The signal processing module transmits the generated radar data signal to the second communication member, the second communication member wirelessly transmits the radar data signal to the first communication member, and the first communication member further transmits the radar data signal to the first communication member. It transmits data signals to external equipment.

In one possible embodiment of the present application, the sensor further includes a third electrical connector 32. The second communication member includes a second communication board 40 and a second control board 41. The second communication board 40 is located inside the receiving chamber and is installed on the first rotating plate 132. The second control board 41 is located outside the receiving chamber and can rotate synchronously along the second rotating plate 133. The connection shaft 131 has a through-type connection chamber 1311, one end of the third electrical connector 32 is connected to the second communication board 40, and the other end is controlled for a second time through the connection chamber 1311. It is connected to the board 41 so that the second communication board 40 and the second control board 41 are connected to each other through the third electrical connector 32. The second communication board 40 of the second communication member is installed in the housing 11 of the motor 10, so that the space occupied by the sensor can be further reduced by sufficiently using the space of the receiving chamber. The second communication member is divided into two parts, and the elements of the second communication member can be distributedly arranged, so that the space occupied by the second communication member in the horizontal direction can be reduced, which is more advantageous in the use of the space. The second communication board 40 and the second control board 41 must rotate synchronously, and the third electrical connector 32 is connected to the second communication board 40 and the second control board 41 through the connection chamber 1311. ), it is possible to effectively use the space and prevent interference with the third electrical connector 32 when the rotor 13 rotates. In order to allow the third electrical connector 32 to easily penetrate the connection chamber 1311, as one possible implementation, the second communication board 40 is placed on the surface of the first rotating plate 132 facing the stator 12. Install.

It should be described that, in addition to the communication connection between the second communication board 40 and the second control board 41 through the third electrical connector 32, communication connection may also be made through a wireless method. For example, the second communication board 40 may realize wireless transmission of signals through a wireless LAN, Bluetooth, or microwave. In the embodiment of the present application, the second communication member rotates according to the rotation of the rotor 13 of the motor 10, and the first communication member is fixed so as not to move. In some other embodiments, it can be understood that both the first communication member and the second communication member rotate according to the rotation of the rotor 13. For example, when the first communication member is connected to external equipment in a wireless manner, the first communication member may also rotate according to the rotation of the rotor 13, and the embodiment of the present application is not limited thereto. In order to ensure that signals can be continuously and stably transmitted between the first communication member and the second communication member when rotated, in the embodiment of the present application, both the first communication member and the second communication member are generally disk-shaped.

Additionally, referring to FIGS. 1 and 2, in the embodiment of the present application, the sensor further includes a rotating body 50. The rotating body 50 may be a bracket for mounting a signal processing module, and the signal processing module may be used to emit a radar signal and receive an echo signal. Alternatively, the signal processing module is composed of at least two sub-members, and at least two sub-members surround it to form a rotating body 50. In the above-described or later-described embodiments, the rotating body 50 may refer to a bracket for mounting a signal processing module, or may refer to a signal processing module.

It should be described that the first communication member and the second communication member can be used to transmit a communication signal between the signal processing module and external equipment, for example, transmitting a control signal of an external device to the signal processing module, It transmits the radar data signal generated by the signal processing module to an external device. For example, the external equipment includes, but is not limited to, the master controller of the unmanned aerial vehicle.

In one possible embodiment of the present application, with continued reference to FIGS. 1 and 2, the rotating body 50 is a first side plate 52 connected to opposite ends of the intermediate connection plate 51 and the intermediate connection plate 51. ) And a second side plate 53. The motor 10 is located between the first side plate 52 and the second side plate 53 and is fixedly connected to the middle of the intermediate connection plate 51 through the rotor 13. The second control board 41 is fixedly installed in the middle of the intermediate connection plate 51. The motor 10 is located between the first side plate 52 and the second side plate 53, so that the space occupied by the sensor in the vertical direction can be effectively reduced, and at least a part of the motor 10 is a rotating body 50 It is inserted into the occupied space of the motor and the structural layout between the motor 10 and the rotating body 50 makes full use of the space, further rationalizing the structural layout of the sensor, and greatly improving the space utilization rate, effectively reducing the occupied space of the sensor. By reducing it, the sensor can be applied on more platforms.

According to different installation needs, in the embodiment of the present application, the first side plate 52 and the second side plate 53 are connected to the intermediate connection plate 51 through an end or the first side plate 52 and the second side plate 53 may be connected to the intermediate connection plate 51 through the intermediate region located at both ends. Naturally, the connection method of the first side plate 52 and the second side plate 53 and the intermediate connection plate 51 in the present application embodiment is not limited.

The rotating body 50 is located outside the receiving chamber, and when the rotating body 50 rotates, interference with the first electrical connector 30 outside the receiving chamber may be formed. In order to prevent the rotating body from forming interference with the first electrical connector 30, in the embodiment of the present application, the first electrical connector 30 is a housing 11 and a rotating body 50 as an implementation method that can be implemented. ) By using the gap between, avoid the rotating body 50. Specifically, referring to FIG. 2, a third gap 16 is provided between the housing 11 and the first side plate 52 and the second side plate 53. The first electrical connector 30 has a portion located outside the receiving chamber in close contact with the housing 11 to avoid the first side plate 52 and the second side plate 53 through the third gap 16. In order to ensure the rotation of the rotating body 50, there is a gap between the side plate and the housing 11 of the motor 10, that is, a third gap 16. The first electrical connector 30 is in close contact with the housing 11, so that the first electrical connector 30 is located within the third gap 16, the first electrical connector 30 uses the third gap 16. Thus, the first side plate 52 and the second side plate 53 are avoided. When the rotating body 50 rotates, the first side plate 52 and the second side plate 53 do not interfere with the first electrical connector 30.

Take as an example that the rotating body 50 is a bracket for installing the signal processing module. 2 and 4, in one possible embodiment of the present application, a digital board 54 is installed on one side of the first side plate 52 facing the motor 15, and the motor 10 The back is provided with an RF board 55 on one side of the second side plate 53. The first communication member is wirelessly connected to the RF board 55 and the digital board 54, respectively. The second control board 41 is communicatively connected to the digital board 54. The RF board 55 is communicatively connected to the digital board 54. The RF board 55 and the digital board 54 constitute a signal processing module. In order to realize communication with the outside, an antenna board is additionally installed on the intermediate plate. The antenna board includes a transmission antenna and a reception antenna, the RF board 55 radiates a radar signal to the outside through a transmission antenna, the reception antenna receives an echo signal to a digital signal processing board, and the digital signal processing board receives One echo signal is processed, for example, echo signal amplification, interference signal filtering, and conversion of the echo signal into a radar digital signal, and the converted radar digital signal is used for control of the back-end device, terminal observation and/or recording, etc. I can.

In the exemplary embodiment of the present application, a method of connecting the second control board 41 and the digital board 54 to each other includes a cable connection, but is not limited thereto. Specifically, referring to FIGS. 2 and 4, the sensor further includes a fourth electrical connector 33. The digital board 54 has a first digital connection port. One end of the fourth electrical connector 33 is connected to the second control board 41, and the other end extends along the surface of the intermediate plate and/or the second side plate 53 to penetrate the first side plate 52 to provide a 1 It is connected to the digital connection port, so that the second control board 41 and the digital board 54 are connected to each other through the fourth electrical connector 33. The fourth electrical connector 33 includes an FPC, but is not limited thereto. Both the second control board 41 and the digital board 54 rotate synchronously along the rotor 13, and dynamic balance can be effectively ensured through the fourth electrical connector 33. At the same time, the fourth electrical connector 33 ensures a stable communication connection between the second control board 41 and the digital board 54, and at the same time, the fourth electrical connector 33 is connected to the intermediate plate and/or the second side plate ( The arrangement method extending along the surface of 53) can effectively reduce instability due to shaking of the fourth electrical connector 33.

Referring additionally to FIG. 4, in order to ensure a dynamic balance design, in the embodiment of the present application, the sensor further includes a fifth electrical connector 34 and a sixth electrical connector 35. A second digital connection port and a third digital connection port are respectively installed at opposite ends of the digital board 54. In the RF board 55, a first RF connection port and a second RF connection port are installed at positions corresponding to the second digital connection port and the third digital connection port. One end of the fifth electrical connector 34 is connected to the second digital connection port through the first side plate 52, and the other end is connected to the first RF connection port through the second side plate 53. One end of the sixth electrical connector 35 is connected to the third digital connection port through the first side plate 52, and the other end is connected to the second RF connection port through the second side plate 53. Accordingly, the digital board 54 and the RF board 55 are connected to each other through the fifth electrical connector 34 and the sixth electrical connector 35. The fifth electrical connector 34 and the sixth electrical connector 35 include, but are not limited to, FPC. The connection between the digital board 54 and the RF board 55 is evenly divided into two paths through the fifth electrical connector 34 and the sixth electrical connector 35, and one of the paths is the RF board 55. ) Is responsible for transmitting the intermediate frequency signal, and the other is responsible for supplying power and outputting the control signal, ensuring dynamic balance between the digital board 54 and the RF board 55.

In order to reduce instability due to shaking of the fifth electrical connector 34 and the sixth electrical connector 35, referring to FIG. 4, in the embodiment of the present application, the fifth electrical connector 34 and the sixth electrical connector ( Each of the reinforcing boards 37 is installed on 35, and both ends of the reinforcing board 37 are fixedly connected to the first side plate 52 and the second side plate 53, respectively. Since both the RF board 55 and the digital board 54 rotate synchronously along the rotor 13, it is necessary to ensure a dynamic balance, and the fifth electrical connector 34 and the sixth electrical connector 35 It is necessary to minimize instability due to shaking as much as possible. Accordingly, the fifth electrical connector 34 and the sixth electrical connector 35 can be fixed through the reinforcement board 37, and the reinforcement board 37 corresponds to a wiring bridge. Both ends of the reinforcing board 37 are fixed to the first side plate 52 and the second side plate 53, and when the rotating body 50 rotates, the reinforcing board 37 is not shaken. The fifth electrical connector 34 and the sixth electrical connector 35 are attached to the reinforcing board 37 by an adhesive, and the fifth electrical connector 34 and the sixth electrical connector 35 are attached to the reinforcing board 37. In close contact, structural stability of the fifth electrical connector 34 and the sixth electrical connector 35 is increased.

2 and 4, the sensor further includes a height fixing board 56 and a seventh electrical connector 36. Both ends of the height fixing board 56 are fixedly connected to the first side plate 52 and the second side plate 53, respectively. A fourth digital connection port is installed on the digital board 54. One end of the seventh electrical connector 36 is connected to the height fixing board 56, and the other end extends along the surface of the height fixing board 56, and is connected to the fourth digital connection port through the first side plate 52. Thus, the height fixing board 56 and the digital board 54 are communicated with each other through the seventh electrical connector 36. The height fixing board 56 may be used to measure the height of the sensor. The seventh electrical connector 36 includes an FPC, but is not limited thereto. The seventh electrical connector 36 is disposed along the surface of the height fixing board 56, so that instability due to shaking of the seventh electrical connector 36 can be reduced.

Additionally, referring to FIG. 3, in one possible embodiment of the present application, a wireless power supply member 60 is additionally installed in the receiving chamber. The wireless power supply member 60 includes an electric energy transmitting end 61 and an electric energy receiving end 62. The electric energy transmitting end 61 is fixedly connected to the housing 11. The electric energy receiving end 62 is installed on a surface of the second rotating plate 133 facing the electric energy transmitting end 61 and is installed to face the electric energy transmitting end 61. The lead of the electric energy receiving end 62 is electrically connected to the second control panel 41 through the connection chamber 1311. The wireless power supply member 60 is installed in the housing 11 of the motor 10 to make sufficient use of the space, thereby further reducing the occupied space of the sensor. The electric energy transmitting end 61 is electrically connected to an external power source, for example, connected to an external power source through a cable, or electrically connected to an external power source in a wireless manner. The electric energy transmitting end 61 transmits electric energy to the electric energy receiving end 62 through a wireless method. The electric energy receiving end 62 is electrically connected to the second control board 41, receives the electric energy transmitted from the electric energy transmitting end 61, supplies electric energy to the second control board 41, and provides a second In order to supply electric energy to the control board 41, electric energy is supplied to the rotating body 50 again through the second control board 41.

The lead of the electric energy receiving end 62 supplies electric energy to the second control board 41 through the connection chamber 1311, and the electric energy receiving end 62 and the second control board 41 must rotate at the same time, The lead of the electric energy receiving end 62 can realize the connection between the electric energy receiving end 62 and the second control board 41 through the connection chamber 1311, thereby effectively using the space and also the rotor 13 When) rotates, interference with the electric energy receiving end 62 can be prevented. Naturally, the electric energy receiving end 62 may supply electric energy to the second control board 41 through a wireless method.

In the embodiment of the present application, the electric energy transmitting end 61 includes, but is not limited to, a transmitting coil, and the electric energy receiving end 62 includes, but is not limited to, a receiving coil, and the transmitting coil and the receiving coil are wireless. It transmits electric energy through power supply. As a possible implementation method, electric energy is transmitted between the transmitting coil and the receiving coil through electromagnetic induction. The transmission coil is connected to AC electricity and forms a current in the reception coil through electromagnetic induction, and transmits electric energy from the electric energy transmission terminal 61 to the electric energy reception terminal 62. As another possible implementation method, the electric energy may be transmitted between the electric energy transmitting end 61 and the electric energy receiving end 62 through a magnetic resonance form or another form.

As a possible implementation method in which the electric energy transmitting end 61 is fixedly connected to the housing 11, the electric energy transmitting end 61 further includes a transmitting coil frame, the transmitting coil frame supporting the transmitting coil, and the transmitting coil frame is a housing It is fixedly connected to (11). The electric energy receiving end 62 is bonded or connected to the first rotating plate 132 by a fastening member. Alternatively, the electric energy receiving end 62 includes a receiving coil frame, the receiving coil frame supporting the receiving coil, and the receiving coil frame is fixedly connected to the first rotating plate 132. The transmitting coil frame and the receiving coil frame are installed facing each other, the distance between the electric energy transmitting end 61 and the electric energy receiving end 62 is short, the transmission effect is good, and other members are not affected. As shown in the figure, the electric energy transmitting end 61 may be located below the electric energy receiving end 62. That is, the electric energy transmitting end 61 is located on one side of the electric energy receiving end 62 that is spaced apart from the second rotating plate 133. Alternatively, the electric energy transmitting end 61 is located below the electric energy receiving end 62. That is, the electric energy transmitting end 61 is located on one side adjacent to the second rotating plate 133 of the electric energy receiving end 62.

It should be explained that, in the embodiment of the present application, the electric energy receiving end 62 rotates according to the rotation of the rotor 13 of the motor 10, and the electric energy transmitting end 61 is fixed so as not to move. The electric energy receiving end 62 is fixedly connected to the rotor 13 of the motor 10, the rotor 13 rotates by moving the electric energy receiving end 62, and the electric energy receiving end 62 is a rotating body ( 50) and to ensure the electrical connection between the electric energy receiving end 62 and the rotating body 50. In some other embodiments, it can be understood that both the electric energy receiving end 62 and the electric energy transmitting end 61 may rotate according to the rotation of the rotating body 50. For example, the electric energy input of the electric energy transmitting end 61 itself is obtained by being connected to an external power source in a wireless method, and the electric energy transmitting end 61 can also rotate according to the rotation of the rotating body 50, and this application was implemented. Examples are not limited thereto. In order to ensure that the electric energy can be continuously and stably transmitted between the electric energy receiving end 62 and the electric energy transmitting end 61 during rotation, the electric energy receiving end 62 and the electric energy transmitting end 61 in the embodiment of the present application are All are generally disk-shaped.

Example 2

Based on Embodiment 1, the present application embodiment further provides a mobile platform including a mobile platform body and a sensor installed on the mobile platform body. The sensor can be realized by the sensor according to the first embodiment. Mobile platforms include, but are not limited to, unmanned aerial vehicles, autonomous vehicles, and ground remote control robots.

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

The sensor includes a motor 10, a first communication member and a first electrical connector 30.

In the sensor, the motor 10 includes a housing 11 having a receiving chamber, the housing 11 is connected to the movable platform body, and the housing 11 has a starting hole 111 and a standing hole 112 Is formed. The first communication member is located in the receiving chamber and includes a first communication board 20 and a first control board 21; Both the first communication board 20 and the first control board 20 are fixedly connected to the housing 11, and both are installed facing each other. One end of the first electrical connector 30 is connected to the first control board 21, and the other end is inserted through the receiving chamber from the outgoing hole 111, and inserted through the receiving chamber through the receiving hole 112 for first communication. It is connected to the board 20, and the first control board 21 and the first communication board 20 are communicatively connected through the first electrical connector 30.

The technical solution provided in the embodiment of the present application may realize an obstacle avoidance function of a mobile platform through a sensor. The first communication member is divided into two parts, and the elements of the first communication member can be distributedly arranged, so that the occupied space of the first communication member can be reduced. The first communication member is installed in the housing 11 of the motor 10 to sufficiently utilize the space occupied by the motor 10, further rationalizing the structural layout of the sensor, and greatly improving the space utilization rate, thereby reducing the sensor volume. do. The wiring method of the first electrical connector 30 can avoid rotating components, avoiding interference caused by the rotating components on the shape of the sensor wiring, and improving the reliability of the sensor wiring.

It should be described that the technical solution of the related sensor described in the second embodiment can be referred to and referred to as the technical solution described in the first embodiment, so the description will be omitted.

As described above, the technical solution provided in the embodiment of the present application further rationalizes the structural layout of the sensor and greatly improves the space utilization rate, thereby reducing the sensor volume and preventing interference caused by rotating parts on the sensor wiring shape. Can be avoided, and the reliability of the sensor wiring can be improved.

Lastly, it should be described that each of the above-described embodiments is only for explaining the technical solution of the present invention, but not for limiting the present invention. Although the present invention has been described in detail with reference to the above-described embodiments, those skilled in the art may modify the technical solutions described in each of the above-described embodiments, or equivalently replace some technical features, and such modifications or It will be understood that the nature of the corresponding technical solution due to the replacement does not depart from the spirit and scope of the technical solution according to each embodiment of the present invention.

Claims (18)

A motor including a housing having a receiving chamber, and having an outgoing line hole and an incoming line hole formed in the housing;
A first communication member positioned in the receiving chamber and comprising a first communication board and a first control board, both of the first communication board and the first control board being fixedly connected to the housing and installed facing each other; And
One end is connected to the first control board, the other end passes through the receiving chamber from the outgoing hole, and is inserted through the receiving chamber through the receiving hole and is connected to the first communication board, and the first control board and A first electrical connector for communicationly connecting the first communication board
Characterized in that it comprises a, sensor. The method of claim 1,
The motor further includes a stator and a rotor,
The receiving chamber has an opening at one end, the stator is connected to the housing to cover the opening, the stator has a mounting hole, and the stator and the first communication board are connected to each other by a second electrical connector. Become;
The rotor includes a connecting shaft and a first rotating plate and a second rotating plate installed at opposite ends of the connecting shaft, and the connecting shaft and the mounting hole are rotatably inserted and connected, and the first rotating plate is located inside the receiving chamber. , The second rotating plate is located outside the receiving chamber, and the connecting shaft, the first rotating plate, and the second rotating plate are synchronously rotated;
The first rotating plate is characterized in that the suspension between the first communication board and the first control board, sensor. The method of claim 2,
A first gap between the first rotation plate and the first control board, and a second gap between the first rotation plate and the first communication board;
A position of the exit hole corresponds to the first gap, and a position of the entry hole corresponds to the second gap;
Both ends of the first electrical connector are respectively connected to the first control board and the first communication board after avoiding the first rotating plate through the first cap and the second gap, respectively. The method of claim 2,
The sensor further comprising a second communication member communicatively connected with the first communication member. The method of claim 4,
Further comprising a third electrical connector,
The second communication member includes a second communication board and a second control board;
The second communication board is located inside the receiving chamber and installed on the first rotating plate;
The second control board is located outside the receiving chamber, and synchronously rotates along the second rotating plate;
The connection shaft is provided with a through-type connection chamber, one end of the third electrical connector is connected to the second communication board, the other end is connected to the second control board through the connection chamber, and the second communication board and The second control board is characterized in that the communication connection through the third electrical connector, sensor. The method of claim 5,
The second communication board, characterized in that installed on the surface of the first rotating board facing the stator, sensor. The method of claim 5,
Further comprising a rotating body, the rotating body includes an intermediate connection plate and a first side plate and a second side plate connected to opposite ends of the intermediate connection plate,
The motor is located between the first side plate and the second side plate, and is fixedly connected to the middle portion of the intermediate connection plate through the rotor;
The second control board, characterized in that fixedly installed in the middle portion of the intermediate connection plate, sensor. The method of claim 7,
A third gap is formed between the housing and the first side plate and the second side plate,
A portion of the first electrical connector located outside the receiving chamber is in close contact with the housing to avoid the first side plate and the second side plate through the third gap. The method of claim 7,
The first side plate has a digital board installed on the side facing the motor, and the second side plate has an RF board installed on the side facing the motor;
The first communication member is wirelessly connected to the RF board and the digital board, respectively;
The second control board is communicatively connected to the digital board;
The RF board is characterized in that the communication connection to the digital board, sensor. The method of claim 9,
Further comprising a fourth electrical connector,
The digital board has a first digital connection port;
One end of the fourth electrical connector is connected to the second control board, and the other end extends along the surface of the intermediate plate and/or the second side plate, passes through the first side plate, and is connected to the first digital connection port. , Wherein the second control board and the digital board are communicated with each other through the fourth electrical connector. The method of claim 9,
Further comprising a fifth electrical connector and a sixth electrical connector,
A second digital connection port and a third digital connection port are respectively installed at opposite ends of the digital board;
A first RF connection port and a second RF connection port are installed at positions corresponding to the second digital connection port and the third digital connection port on the RF board;
One end of the fifth electrical connector passes through the first side plate and is connected to the second digital connection port, and the other end is connected to the first RF connection port through the second side plate;
One end of the sixth electrical connector is connected to the third digital connection port through the first side plate, and the other end is connected to the second RF connection port through the second side plate,
Characterized in that the digital board and the RF board are connected to each other through the fifth electrical connector and the sixth electrical connector. The method of claim 11,
Each of the fifth and sixth electrical connectors is provided with a reinforcing board, and both ends of the reinforcing board are fixedly connected to the first side plate and the second side plate, respectively. The method of claim 9,
Further comprising a height fixing board and a seventh electrical connector,
Both ends of the height fixing board are fixedly connected to the first side plate and the second side plate, respectively;
A fourth digital connection port is installed on the digital board;
One end of the seventh electrical connector is connected to the height fixing board, and the other end extends along the surface of the height fixing board and penetrates the first side plate and is connected to a fourth digital connection port. A sensor, characterized in that the digital board is connected to communication through the seventh electrical connector. The method of claim 5,
A wireless power supply member is further installed in the receiving chamber,
The wireless power supply member includes an electric energy transmitting end and an electric energy receiving end;
The electric energy transmitting end is fixedly connected to the housing;
The electric energy receiving end is installed on a surface of the second rotating plate facing the electric energy transmitting end to face the electric energy transmitting end;
A sensor, characterized in that the lead of the electric energy receiving end is electrically connected to the second control panel through the connection chamber. The method of claim 14,
The electric energy transmission end includes a transmission coil;
The electric energy receiving end includes a receiving coil, and the transmitting coil and the receiving coil transmit electric energy through a wireless power supply. The method according to any one of claims 1 to 15,
The sensor, characterized in that it comprises a microwave radar, millimeter wave radar and laser radar. Including a movable platform body and a sensor installed on the movable platform body,
The sensor,
A motor including a housing having a receiving chamber, the housing being connected to the movable platform body, and having a starting hole and a standing hole formed in the housing;
A first communication member positioned in the receiving chamber and comprising a first communication board and a first control board, both of the first communication board and the first control board being fixedly connected to the housing and installed facing each other; And
One end is connected to the first control board, the other end passes through the receiving chamber from the outgoing hole, and is inserted through the receiving chamber through the receiving hole and is connected to the first communication board, and the first control board and A first electrical connector for communicationly connecting the first communication board
Characterized in that it comprises a, mobile platform. The method of claim 17,
The mobile platform is characterized in that it comprises an unmanned aerial vehicle, an autonomous vehicle, and a ground remote control robot.

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