WO2017197877A1 - 一种激光扫描测距装置 - Google Patents

一种激光扫描测距装置 Download PDF

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Publication number
WO2017197877A1
WO2017197877A1 PCT/CN2016/109313 CN2016109313W WO2017197877A1 WO 2017197877 A1 WO2017197877 A1 WO 2017197877A1 CN 2016109313 W CN2016109313 W CN 2016109313W WO 2017197877 A1 WO2017197877 A1 WO 2017197877A1
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WO
WIPO (PCT)
Prior art keywords
circuit board
measuring device
distance measuring
laser
scanning distance
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PCT/CN2016/109313
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English (en)
French (fr)
Inventor
徐磁
汪迎春
刘义春
陈士凯
李宇翔
林凌
黄珏珅
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上海思岚科技有限公司
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Application filed by 上海思岚科技有限公司 filed Critical 上海思岚科技有限公司
Publication of WO2017197877A1 publication Critical patent/WO2017197877A1/zh

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only

Definitions

  • the invention relates to a robot design technology and a laser scanning technology, in particular to a laser scanning distance measuring device.
  • a robot is a machine that performs work automatically. It can accept human command, run pre-programmed programs, and act on principles based on artificial intelligence. In general, the task of robots is to assist or replace human work, such as production, construction or hazardous industries.
  • Mobile robot is a comprehensive system integrating environment sensing, dynamic decision-making and planning, behavior control and execution. It can replace people in dangerous, harsh or extreme environments to perform tasks, complete reconnaissance, patrol, alert, anti-terrorism, and platooning. Explosion, scientific investigation and sampling, etc., thus have great application value in areas such as seeking assistance, scientific research, military and so on.
  • the existing laser scanning distance measuring device mostly adopts a slip ring when transmitting signals and transmitting electric energy, and realizes transmission by means of belt or gear meshing, and has disadvantages such as large volume of equipment, short life, and high noise, which greatly limits the limitation.
  • the application of the device For example, for a special sweeping shift For a robot, the smaller the volume, the better.
  • the overall structure is composed of a rotatable upper portion and a non-rotatable lower portion, and the upper portion and the lower portion are connected by bearings, and the upper rotation is used to change the laser transmitting and receiving direction of the scanning range finder.
  • the present invention provides a laser scanning distance measuring device which is compact in structure and compact in structure.
  • a laser scanning distance measuring device including a laser transmitter, a laser receiver, a receiving circuit board, a rotating platform, a rotor, a stator, a hollow transmitting coil, a hollow receiving coil, a driving transmitting circuit board, Fixed platform, bearing.
  • the rotating platform and the fixed platform are connected by bearings, the rotor is mounted on the rotating platform, the stator is mounted on the fixed platform, the plane where the respective axes of the laser emitter and the laser receiver are located is perpendicular to the rotating axis of the rotating platform, the laser emitter and The laser receiver is mounted on the rotating platform and rotates together with the rotating platform to drive the transmitting electricity
  • the road board is mounted on the fixed platform
  • the receiving circuit board is mounted on the rotating platform
  • the hollow transmitting coil is mounted on the fixed platform and the magnetic shielding piece is arranged between the driving transmitting circuit board
  • the hollow receiving coil is mounted on the rotating platform and receives
  • a magnetic isolation plate is arranged between the boards.
  • the hollow transmitting coil and the hollow receiving coil are tiled in a direction perpendicular to the axis of rotation, thereby reducing the vertical height of the laser scanning distance measuring device.
  • stator and the rotor are distributed up and down in a direction parallel to the axis of rotation.
  • the stator is disposed outside the rotor in a direction perpendicular to the axis of rotation of the rotating platform.
  • the stator is disposed inside the rotor in a direction perpendicular to the axis of rotation of the rotating platform.
  • the laser scanning distance measuring device further comprises an encoder and a square tooth, wherein the square tooth is disposed on the fixed platform, the encoder is mounted on the receiving circuit board, and the rotating platform is recorded by the square tooth and the encoder The position of the rotation and the number of turns.
  • the laser receiver further includes a lens and a photosensitive element.
  • the lens and a photosensitive element When the light emitted by the laser emitter reaches the obstacle, the surface of the obstacle is reflected, and the reflected light is concentrated by the lens and absorbed by the photosensitive element. .
  • the transmitting circuit board and the receiving circuit board are driven to perform information transmission in a photoelectric conversion manner.
  • the driving the transmitting circuit board comprises a first light emitting diode and a first sensing diode
  • the receiving circuit board comprises a second light emitting diode and a second sensing diode, wherein the first light emitting diode and the second sensing
  • the diode forms a first wireless transmission path
  • the tube forms a second wireless transmission path
  • the first wireless transmission path and the second wireless transmission path implement full duplex data transmission in a synchronous manner.
  • the first light emitting diode has a first wavelength spectrum
  • the second light emitting diode has a second wavelength spectrum
  • the first sensing diode senses light of the second wavelength spectrum.
  • the second sensing diode senses light of the first wavelength spectrum, wherein the first wavelength spectrum is different from the second wavelength spectrum.
  • the first light emitting diode and the first sensing diode are located on an upper surface of the driving transmitting circuit board, and the second light emitting diode and the second sensing diode are located on a lower surface of the receiving circuit board.
  • the rotational speed of the rotating platform is dependent on the duty cycle value of the externally input PWM signal.
  • the angle between the laser emitter and the laser receiver is less than or equal to 5°.
  • the laser scanning distance measuring device of the invention comprises a laser emitter, a laser receiver, a receiving circuit board, a rotating platform, a rotor, a stator, a hollow transmitting coil, a hollow receiving coil, a driving transmitting circuit board, a fixed platform and a bearing.
  • the rotating platform and the fixed platform are connected by bearings, the rotor is mounted on the rotating platform, the stator is mounted on the fixed platform, the plane where the respective axes of the laser emitter and the laser receiver are located is perpendicular to the rotating axis of the rotating platform, the laser emitter and the laser receiving
  • the device is mounted on the rotating platform and rotates together with the rotating platform.
  • the driving transmitting circuit board is mounted on the fixed platform, the receiving circuit board is mounted on the rotating platform, and the hollow transmitting coil is mounted on the fixed platform and is separated from the driving transmitting circuit board.
  • Magnetic sheet, hollow receiving coil mounted on rotating flat A magnetic spacer is arranged on the stage and between the receiving circuit board.
  • the hollow transmitting coil and the hollow receiving coil of the present invention are tiled in a direction perpendicular to the rotating axis, thereby reducing the vertical height of the laser scanning distance measuring device, thereby reducing the laser scanning distance measuring device The volume occupied by the overall structure.
  • the spectral diodes of the present invention for achieving wireless signal transmission are respectively disposed on the upper surface of the driving transmitting circuit board and the lower surface of the receiving circuit board.
  • the communication distance between the spectral diodes is further increased. Short, which can increase the transmission speed of wireless signals. Furthermore, the laser emitter of the present invention and the laser receiver adopt a small angle and a small distance, and the structure is compact and compact, and overcomes the noise caused by the existing belt or gear transmission. Environmental protection, short service life and many other defects.
  • FIG. 1 is a schematic structural view of a laser scanning distance measuring device according to an embodiment of the present invention.
  • FIG. 2 is a schematic structural view showing a hollow transmitting coil and a hollow receiving coil in the laser scanning distance measuring device of FIG. 1;
  • FIG. 3 is a schematic view showing an optical path of transmitting and receiving light between a laser emitter and a laser receiver in the laser scanning distance measuring device of FIG. 1;
  • 4A to 4C are schematic diagrams showing the principle of data transmission using a full duplex mode, a half duplex mode, and a simplex mode, respectively.
  • FIG. 1 is a block diagram showing the structure of a laser scanning distance measuring device according to an embodiment of the present invention.
  • 2 is a schematic view showing the structure of a hollow transmitting coil and a hollow receiving coil in the laser scanning distance measuring device of FIG. 1.
  • the overall structure is composed of a rotatable upper portion and a non-rotatable lower portion, and the upper portion and the lower portion are connected by bearings, and the upper rotation is used to change the scanning range finder.
  • Laser transmission and reception direction In the transmission of signals and the transmission of electrical energy, the slip ring is mostly used to realize the transmission through the belt, which will lead to the disadvantages of large volume, short life and high noise, which limits the application.
  • the volume of the laser scanning distance measuring device the lighter the weight and the less power required; conversely, if the volume is increased, the corresponding weight is increased, and the increased power consumption will result in a significant decrease in endurance.
  • the laser scanning distance measuring device of the present invention comprises at least a laser transmitting and receiving module 1, a receiving circuit board 4, a rotating platform 5, a rotor 6, a stator 7, a hollow transmitting coil 8, and a hollow receiving coil 9.
  • the transmitting circuit board 10, the fixed platform 11, and the bearing 13 are driven.
  • the laser emitting and receiving module 1 includes a laser emitter 2 and a laser receiver 3.
  • the laser emitter 2 and the laser receiver 3 are mounted on the rotating platform 5 and rotate together with the rotating platform 5.
  • the rotational speed of the rotating platform 5 depends on the duty cycle value of the externally input PWM signal.
  • the rotating platform 5 is connected to the fixed platform 11 via a bearing 13, and the rotor 6 is mounted on the rotating platform 5, and the stator 7 is mounted on the fixed platform 11.
  • the driving and transmitting circuit board 10 is mounted on the fixed platform 11.
  • the receiving circuit board 4 is mounted on the rotating platform 5.
  • the hollow transmitting coil 8 is mounted on the fixed platform 11 and is provided with a magnetic spacer between the driving and transmitting circuit board 10.
  • the coil 9 is mounted on the rotating platform 5 and is provided with a magnetic shield between the receiving circuit board 4. Among them, the hollow transmitting coil 8 and the hollow receiving coil 9 are tiled in a direction perpendicular to the rotating shaft, thereby reducing the vertical height of the laser scanning distance measuring device.
  • stator 7 and the rotor 6 are vertically distributed in a direction parallel to the rotational axis of the rotary table 5, thereby further reducing the lateral width of the laser scanning distance measuring device.
  • positional relationship between the stator and the rotor is not limited thereto.
  • the stator 7 is disposed outside the rotor 6 in the direction of the axis of rotation of the vertically rotating platform 5; or the stator 7 is disposed inside the rotor 6.
  • the laser scanning ranging device further includes an encoder 12 and a square tooth 14.
  • the square teeth 14 are disposed on the fixed platform 11, and the encoder 12 is mounted on the receiving circuit board 4. The rotating position and the number of turns of the rotating platform 5 are recorded by the square teeth 14 and the encoder 12.
  • FIG. 3 is a schematic view showing an optical path of transmitting and receiving light between a laser emitter and a laser receiver in the laser scanning distance measuring device of FIG. 1.
  • the laser receiver 3 further includes a lens 16 and a photosensitive element 17.
  • the angle ⁇ between the laser emitter 2 and the laser receiver 3 is less than or equal to 5°.
  • the angle is set to 4°.
  • the angle between the laser emitter 2 and the laser receiver 3 is large, and the light emitted by the laser emitter 2 reaches an obstacle at a relatively close distance; between the laser emitter 2 and the laser receiver 3 The angle is small, and the light emitted by the laser emitter 2 reaches an obstacle at a relatively long distance.
  • 4A to 4C are schematic diagrams showing the principle of data transmission using a full duplex mode, a half duplex mode, and a simplex mode, respectively.
  • data transmission generally includes full-duplex mode, half-duplex mode and simplex mode.
  • the full-duplex mode means that while A to B transmits data, the data can be synchronously transmitted by B to A and successfully received by A (as shown in FIG. 4A).
  • Half-duplex is when A-B transmits data, B can only receive data and cannot transmit data (as shown in Figure 4B).
  • Full-duplex transmission is faster than half-duplex because there is no need to wait.
  • the simplex mode data is sent from A to B unilaterally, or B is sent to A unilaterally (as shown in Fig. 4C).
  • the transmitting circuit board 10 and the receiving circuit board 4 perform information transmission in the form of photoelectric conversion.
  • the transmitting circuit board 10 includes the first A light emitting diode and a first sensing diode (shown by reference numeral 15 in FIG. 1)
  • the receiving circuit board 4 includes a second light emitting diode and a second sensing diode.
  • the first light emitting diode and the second light emitting diode form a first wireless transmission path
  • the first sensing diode and the second light emitting diode form a second wireless transmission path
  • the first wireless transmission path and the second wireless transmission path are implemented in a synchronous manner.
  • Full duplex data transmission is implemented in a synchronous manner.
  • the first light emitting diode has a first wavelength spectrum
  • the second light emitting diode has a second wavelength spectrum
  • the first sensing diode senses light of the second wavelength spectrum
  • the second sensing diode senses the first wavelength spectrum Light, wherein the first wavelength spectrum is different from the second wavelength spectrum.
  • the first light emitting diode and the first sensing diode are located on the upper surface of the driving transmitting circuit board 10
  • the second light emitting diode and the second sensing diode are located on the lower surface of the receiving circuit board 4.
  • the communication distance between the spectral diodes is shorter, thereby increasing the transmission speed of the wireless signal.
  • the laser scanning distance measuring device of the invention comprises a laser emitter, a laser receiver, a receiving circuit board, a rotating platform, a rotor, a stator, a hollow transmitting coil, a hollow receiving coil, a driving transmitting circuit board, a fixed platform and a bearing.
  • the rotating platform and the fixed platform are connected by bearings, the rotor is mounted on the rotating platform, the stator is mounted on the fixed platform, the plane where the respective axes of the laser emitter and the laser receiver are located is perpendicular to the rotating axis of the rotating platform, the laser emitter and the laser receiving
  • the device is mounted on the rotating platform and rotates together with the rotating platform.
  • the driving transmitting circuit board is mounted on the fixed platform, the receiving circuit board is mounted on the rotating platform, and the hollow transmitting coil is mounted on the fixed platform and is separated from the driving transmitting circuit board.
  • the magnetic sheet, the hollow receiving coil is mounted on the rotating platform and is provided with a magnetic spacer between the receiving circuit board and the receiving circuit board.
  • the hollow transmitting coil and the hollow receiving coil are tiled in a direction perpendicular to the axis of rotation, thereby reducing the vertical height of the laser scanning distance measuring device, thereby reducing the volume occupied by the overall structure of the laser scanning distance measuring device.
  • the spectral diodes of the present invention for achieving wireless signal transmission are respectively disposed on the upper surface of the driving transmitting circuit board and the lower surface of the receiving circuit board.
  • the communication distance between the spectral diodes is further increased. Short, which can increase the transmission speed of wireless signals.
  • the laser emitter of the present invention and the laser receiver adopt a small angle and a small distance, and the structure is compact and compact, and overcomes the noise caused by the existing belt or gear transmission. Environmental protection, short service life and many other defects.

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  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

一种激光扫描测距装置，旋转平台（5）与固定平台（11）通过轴承（13）相连，转子（6）安装在旋转平台（5）上，定子（7）安装在固定平台（11）上，驱动发射电路板（10）安装在固定平台（11）上，接收电路板（4）安装在旋转平台（5）上，中空发射线圈（8）安装在固定平台（11）上且与驱动发射电路板（10）之间设有隔磁片，中空接收线圈（9）安装在旋转平台（5）上且与接收电路板（4）之间设有隔磁片。其中，中空发射线圈（8）和中空接收线圈（9）在垂直于旋转轴的方向上是平铺的，从而缩减激光扫描测距装置的竖向高度，进而减小激光扫描测距装置整体结构所占用的体积。此外，当装置的整体竖向高度减小时，用来实现信号无线传输的光谱二极管的通讯距离更短，从而可提升无线信号的传送速度。

Description

一种激光扫描测距装置 技术领域
本发明涉及一种机器人设计技术和激光扫描技术，尤其涉及一种激光扫描测距装置。
背景技术
机器人(Robot)是自动执行工作的机器装置，它既可以接受人类指挥，又可以运行预先编排的程序，还可基于人工智能技术制定的原则纲领行动。一般来说，机器人的任务是协助或取代人类的工作，例如生产业、建筑业或者危险行业的工作。移动机器人是集环境感知、动态决策与规划、行为控制与执行等多种功能于一体的综合系统，可代替人到危险、恶劣或极端环境中执行任务，完成侦察、巡逻、警戒、反恐、排爆、科学考察及采样等，从而在诸如求援、科考、军事等领域具有巨大的应用价值。
在现有的移动机器人应用中，出于行走安全方面的考虑，往往需要检测移动机器人在行进路线前方的障碍物位置，提前预判并控制机器人采取必要的避让或绕行措施，例如，在机器人本体上方安装对应的激光扫描测距装置。然而，现有的激光扫描测距装置在传送信号和传递电能时多半采用滑环，通过皮带或齿轮啮合的方式实现传动，存在诸如设备体积大、寿命短、噪音大的缺点，极大地限制了装置的应用场合。例如，对于专门的清扫型移 动机器人来说，体积越小越好，若其高度较大则整机无法移动到诸如床底、沙发下方等角落进行清扫操作。又如，对于飞行的无人机来说，体积越小重量越轻，所需的动力越少，若其体积增加则对应的重量加大，消耗的动力相应增加导致续航能力大幅下降。此外，在现有的一些激光扫描测距仪中，整体结构采用可转动的上部和不可转动的下部构成，上部与下部通过轴承相连，利用上部旋转来改变扫描测距仪的激光收发方向，然而当前结构的体积仍有进一步改进的空间，以便适应于多种不同的应用场合。
有鉴于此，如何设计一种激光扫描测距装置，使其体积更加小巧，应用场合更加广泛，提升其续航能力，从而解决现有技术的激光扫描测距装置中的上述缺陷和不足，是业内相关技术人员亟待解决的一项课题。
发明内容
针对现有技术中的激光扫描测距装置所存在的上述缺陷，本发明提供一种结构小巧、外形结构紧凑的激光扫描测距装置。
依据本发明的一个方面，提供了一种激光扫描测距装置，包括激光发射器、激光接收器、接收电路板、旋转平台、转子、定子、中空发射线圈、中空接收线圈、驱动发射电路板、固定平台、轴承。其中，旋转平台与固定平台通过轴承相连，转子安装在旋转平台上，定子安装在固定平台上，激光发射器与激光接收器各自轴线所在的平面与旋转平台的旋转轴相垂直，激光发射器和激光接收器安装在旋转平台并且与旋转平台一同旋转，驱动发射电 路板安装在固定平台上，接收电路板安装在旋转平台上，中空发射线圈安装在固定平台上且与驱动发射电路板之间设有隔磁片，中空接收线圈安装在旋转平台上且与接收电路板之间设有隔磁片。中空发射线圈和中空接收线圈在垂直于所述旋转轴的方向上是平铺的，从而缩减所述激光扫描测距装置的竖向高度。
在其中的一实施例，定子和转子在平行于所述旋转轴的方向上呈上下分布。
在其中的一实施例，在垂直于旋转平台的旋转轴的方向上，定子设置于转子的外侧。
在其中的一实施例，在垂直于旋转平台的旋转轴的方向上，定子设置于转子的内侧。
在其中的一实施例，所述激光扫描测距装置还包括编码器和方齿，其中，方齿设置于固定平台，编码器安装在接收电路板上，藉由方齿和编码器记录旋转平台的转动位置和圈数。
在其中的一实施例，激光接收器还包括透镜和感光元件，当激光发射器射出的光线到达障碍物后，在所述障碍物表面发生反射，反射回来的光线经由透镜会聚并被感光元件吸收。
在其中的一实施例，驱动发射电路板和接收电路板以光电转换的方式进行信息传输。
在其中的一实施例，驱动发射电路板包括第一发光二极管和第一感应二极管，接收电路板包括第二发光二极管和第二感应二极管，其中，所述第一发光二极管和所述第二感应二极管形成第一无线传输路径，以及所述第一感应二极管和所述第二发光二极 管形成第二无线传输路径，且所述第一无线传输路径和所述第二无线传输路径以同步方式实现全双工数据传输。
在其中的一实施例，所述第一发光二极管具有一第一波长光谱，所述第二发光二极管具有一第二波长光谱，所述第一感应二极管感应所述第二波长光谱的光，所述第二感应二极管感应所述第一波长光谱的光，其中所述第一波长光谱不同于所述第二波长光谱。
在其中的一实施例，第一发光二极管和第一感应二极管位于驱动发射电路板的上表面，第二发光二极管和第二感应二极管位于接收电路板的下表面。
在其中的一实施例，旋转平台的转速取决于外部输入的PWM信号的占空比数值。
在其中的一实施例，激光发射器与激光接收器的夹角小于或等于5°。
采用本发明的激光扫描测距装置，包括激光发射器、激光接收器、接收电路板、旋转平台、转子、定子、中空发射线圈、中空接收线圈、驱动发射电路板、固定平台、轴承。旋转平台与固定平台通过轴承相连，转子安装在旋转平台上，定子安装在固定平台上，激光发射器与激光接收器各自轴线所在的平面与旋转平台的旋转轴相垂直，激光发射器和激光接收器安装在旋转平台并且与旋转平台一同旋转，驱动发射电路板安装在固定平台上，接收电路板安装在旋转平台上，中空发射线圈安装在固定平台上且与驱动发射电路板之间设有隔磁片，中空接收线圈安装在旋转平 台上且与接收电路板之间设有隔磁片。相比于现有技术，本发明的中空发射线圈和中空接收线圈在垂直于旋转轴的方向上是平铺的，从而缩减激光扫描测距装置的竖向高度，进而减小激光扫描测距装置整体结构所占用的体积。此外，本发明的用来实现信号无线传输的光谱二极管分别设置在驱动发射电路板的上表面和接收电路板的下表面，当装置的整体竖向高度减小时，光谱二极管之间的通讯距离更短，从而可提升无线信号的传送速度。再者，本发明的激光发射器与激光接收器之间采用很小的角度和较小的距离，不仅结构小巧、外形结构紧凑，克服了现有的皮带或齿轮传动所引起的噪音大、不环保、使用寿命短等诸多缺陷。
附图说明
读者在参照附图阅读了本发明的具体实施方式以后，将会更清楚地了解本发明的各个方面。其中，
图1示出依据本发明一实施方式的激光扫描测距装置的结构示意图；
图2示出图1的激光扫描测距装置中的中空发射线圈与中空接收线圈的结构示意图；
图3示出图1的激光扫描测距装置中，激光发射器与激光接收器之间发射和接收光线的光路示意图；以及
图4A至图4C分别示出采用全双工方式、半双工方式和单工方式进行数据传输的原理示意图。
具体实施方式
为了使本申请所揭示的技术内容更加详尽与完备，可参照附图以及本发明的下述各种具体实施例，附图中相同的标记代表相同或相似的组件。然而，本领域的普通技术人员应当理解，下文中所提供的实施例并非用来限制本发明所涵盖的范围。此外，附图仅仅用于示意性地加以说明，并未依照其原尺寸进行绘制。
下面参照附图，对本发明各个方面的具体实施方式作进一步的详细描述。
图1示出依据本发明一实施方式的激光扫描测距装置的结构示意图。图2示出图1的激光扫描测距装置中的中空发射线圈与中空接收线圈的结构示意图。
如背景技术部分所述，在现有的一些激光扫描测距仪中，整体结构采用可转动的上部和不可转动的下部构成，上部与下部通过轴承相连，利用上部旋转来改变扫描测距仪的激光收发方向。在传送信号和传递电能时多半采用滑环，通过皮带实现传动，这将导致设备体积大、寿命短、噪音大的缺点，限制了应用场合。一般来说，激光扫描测距装置的体积越小，重量越轻且所需的动力越少；反之，若体积增加则对应的重量加大，消耗的动力增加将导致续航能力大幅下降。
参照图1，在该实施方式中，本发明的激光扫描测距装置至少包括激光发射接收模块1、接收电路板4、旋转平台5、转子6、定子7、中空发射线圈8、中空接收线圈9、驱动发射电路板10、固定平台11和轴承13。
具体地，激光发射接收模块1包括激光发射器2和激光接收器3。激光发射器2与激光接收器3各自轴线所在的平面(诸如水平方向的平面)与旋转平台5的旋转轴(诸如竖直方向)相垂直。激光发射器2和激光接收器3安装在旋转平台5并且与旋转平台5一同旋转。较佳地，旋转平台5的转速取决于外部输入的PWM信号的占空比数值。其中，旋转平台5与固定平台11通过轴承13相连，转子6安装在旋转平台5上，定子7安装在固定平台11上。驱动发射电路板10安装在固定平台11上，接收电路板4安装在旋转平台5上，中空发射线圈8安装在固定平台11上且与驱动发射电路板10之间设有隔磁片，中空接收线圈9安装在旋转平台5上且与接收电路板4之间设有隔磁片。其中，中空发射线圈8和中空接收线圈9在垂直于旋转轴的方向上是平铺的，从而缩减激光扫描测距装置的竖向高度。
在一具体实施例，定子7和转子6在平行于旋转平台5的旋转轴的方向上呈上下分布，从而进一步减小激光扫描测距装置的横向宽度。本领域的技术人员应当理解，定子与转子的位置关系并不只局限于此。例如，在其它实施例中，于垂直旋转平台5的旋转轴的方向上，定子7设置于转子6的外侧；或者定子7设置于转子6的内侧。
在一具体实施例，激光扫描测距装置还包括编码器12和方齿14。其中，方齿14设置于固定平台11，编码器12安装在接收电路板4上，藉由方齿14和编码器12记录旋转平台5的转动位置和圈数。
图3示出图1的激光扫描测距装置中，激光发射器与激光接收器之间发射和接收光线的光路示意图。
参照图3，激光发射器2与激光接收器之间的距离为d，激光发射器2与激光接收器3之间的夹角为β。在该实施例中，激光接收器3还包括透镜16和感光元件17。当激光发射器2射出的光线到达障碍物后，在障碍物表面发生反射，反射回来的光线经由透镜16会聚并被感光元件17吸收。较佳地，激光发射器2与激光接收器3之间的夹角β小于或等于5°。例如，该夹角设置为4°。在距离保持不变时，激光发射器2与激光接收器3之间的角度较大，激光发射器2射出的光线到达较近距离的障碍物；激光发射器2与激光接收器3之间的角度较小，激光发射器2射出的光线到达较远距离的障碍物。
图4A至图4C分别示出采用全双工方式、半双工方式和单工方式进行数据传输的原理示意图。
如我们所熟知的，数据传输大致包括全双工方式、半双工方式和单工方式。以数据传输双方A、B为例，其中，全双工方式是指，在A对B发射数据的同时，可由B对A同步发射数据并且被A成功接收(如图4A所示)。半双工则是A对B发射数据的时候，B只能接收数据而且不能发射数据(如图4B所示)。全双工传输比半双工快，因为不用等待。单工方式则是由A向B单方发送数据，或者由B向A单方发送数据(如图4C所示)。
在本发明的信号传输过程中，发射电路板10和接收电路板4以光电转换的方式进行信息传输。较佳地，发射电路板10包括第 一发光二极管和第一感应二极管(如图1中的标记15所示)，接收电路板4包括第二发光二极管和第二感应二极管。其中，第一发光二极管和第二感应二极管形成第一无线传输路径，第一感应二极管和第二发光二极管形成第二无线传输路径，且第一无线传输路径和第二无线传输路径以同步方式实现全双工数据传输。
在一具体实施例，第一发光二极管具有一第一波长光谱，第二发光二极管具有一第二波长光谱，第一感应二极管感应第二波长光谱的光，第二感应二极管感应第一波长光谱的光，其中第一波长光谱不同于第二波长光谱。如此一来，第一发光二极管和第一感应二极管位于驱动发射电路板10的上表面，第二发光二极管和第二感应二极管位于接收电路板4的下表面。随着装置的整体竖向高度的减小，光谱二极管之间的通讯距离更短，从而可提升无线信号的传送速度。
采用本发明的激光扫描测距装置，包括激光发射器、激光接收器、接收电路板、旋转平台、转子、定子、中空发射线圈、中空接收线圈、驱动发射电路板、固定平台、轴承。旋转平台与固定平台通过轴承相连，转子安装在旋转平台上，定子安装在固定平台上，激光发射器与激光接收器各自轴线所在的平面与旋转平台的旋转轴相垂直，激光发射器和激光接收器安装在旋转平台并且与旋转平台一同旋转，驱动发射电路板安装在固定平台上，接收电路板安装在旋转平台上，中空发射线圈安装在固定平台上且与驱动发射电路板之间设有隔磁片，中空接收线圈安装在旋转平台上且与接收电路板之间设有隔磁片。相比于现有技术，本发明 的中空发射线圈和中空接收线圈在垂直于旋转轴的方向上是平铺的，从而缩减激光扫描测距装置的竖向高度，进而减小激光扫描测距装置整体结构所占用的体积。此外，本发明的用来实现信号无线传输的光谱二极管分别设置在驱动发射电路板的上表面和接收电路板的下表面，当装置的整体竖向高度减小时，光谱二极管之间的通讯距离更短，从而可提升无线信号的传送速度。再者，本发明的激光发射器与激光接收器之间采用很小的角度和较小的距离，不仅结构小巧、外形结构紧凑，克服了现有的皮带或齿轮传动所引起的噪音大、不环保、使用寿命短等诸多缺陷。
上文中，参照附图描述了本发明的具体实施方式。但是，本领域中的普通技术人员能够理解，在不偏离本发明的精神和范围的情况下，还可以对本发明的具体实施方式作各种变更和替换。这些变更和替换都落在本发明权利要求书所限定的范围内。

Claims (12)

  1. 一种激光扫描测距装置，其特征在于，所述激光扫描测距装置包括激光发射器(2)、激光接收器(3)、接收电路板(4)、旋转平台(5)、转子(6)、定子(7)、中空发射线圈(8)、中空接收线圈(9)、驱动发射电路板(10)、固定平台(11)、轴承(13)，
    其中，旋转平台(5)与固定平台(11)通过轴承(13)相连，转子(6)安装在旋转平台(5)上，定子(7)安装在固定平台(11)上，激光发射器(2)与激光接收器(3)各自轴线所在的平面与旋转平台(5)的旋转轴相垂直，激光发射器(2)和激光接收器(3)安装在旋转平台(5)并且与旋转平台(5)一同旋转，驱动发射电路板(10)安装在固定平台(11)上，接收电路板(4)安装在旋转平台(5)上，中空发射线圈(8)安装在固定平台(11)上且与驱动发射电路板(10)之间设有隔磁片，中空接收线圈(9)安装在旋转平台(5)上且与接收电路板(4)之间设有隔磁片，
    其中，中空发射线圈(8)和中空接收线圈(9)在垂直于所述旋转轴的方向上是平铺的，从而缩减所述激光扫描测距装置的竖向高度。
  2. 根据权利要求1所述的激光扫描测距装置，其特征在于，定子(7)和转子(6)在平行于所述旋转轴的方向上呈上下分布。
  3. 根据权利要求1所述的激光扫描测距装置，其特征在于，在垂直于旋转平台(5)的旋转轴的方向上，定子(7)设置于转 子(6)的外侧。
  4. 根据权利要求1所述的激光扫描测距装置，其特征在于，在垂直于旋转平台(5)的旋转轴的方向上，定子(7)设置于转子(6)的内侧。
  5. 根据权利要求1所述的激光扫描测距装置，其特征在于，所述激光扫描测距装置还包括编码器(12)和方齿(14)，其中，方齿(14)设置于固定平台(11)，编码器(12)安装在接收电路板(4)上，藉由方齿(14)和编码器(12)记录旋转平台(5)的转动位置和圈数。
  6. 根据权利要求1所述的激光扫描测距装置，其特征在于，激光接收器(3)还包括透镜(16)和感光元件(17)，当激光发射器(2)射出的光线到达障碍物后，在所述障碍物表面发生反射，反射回来的光线经由透镜(16)会聚并被感光元件(17)吸收。
  7. 根据权利要求1所述的激光扫描测距装置，其特征在于，驱动发射电路板(10)和接收电路板(4)以光电转换的方式进行信息传输。
  8. 根据权利要求7所述的激光扫描测距装置，其特征在于，驱动发射电路板(10)包括第一发光二极管和第一感应二极管， 接收电路板(4)包括第二发光二极管和第二感应二极管，
    其中，所述第一发光二极管和所述第二感应二极管形成第一无线传输路径，以及所述第一感应二极管和所述第二发光二极管形成第二无线传输路径，且所述第一无线传输路径和所述第二无线传输路径以同步方式实现全双工数据传输。
  9. 根据权利要求8所述的激光扫描测距装置，其特征在于，所述第一发光二极管具有一第一波长光谱，所述第二发光二极管具有一第二波长光谱，所述第一感应二极管感应所述第二波长光谱的光，所述第二感应二极管感应所述第一波长光谱的光，其中，所述第一波长光谱不同于所述第二波长光谱。
  10. 根据权利要求8所述的激光扫描测距装置，其特征在于，第一发光二极管和第一感应二极管位于驱动发射电路板(10)的上表面，第二发光二极管和第二感应二极管位于接收电路板(4)的下表面。
  11. 根据权利要求1所述的激光扫描测距装置，其特征在于，旋转平台(5)的转速取决于外部输入的PWM信号的占空比数值。
  12. 根据权利要求1所述的激光扫描测距装置，其特征在于，激光发射器(2)与激光接收器(3)的夹角小于或等于5°。
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