WO2017197878A1

WO2017197878A1 - Laser scanning range unit

Info

Publication number: WO2017197878A1
Application number: PCT/CN2016/109314
Authority: WO
Inventors: 汪迎春; 徐磁; 张扬; 刘义春; 陈士凯; 林凌; 李宇翔; 黄珏珅
Original assignee: 上海思岚科技有限公司
Priority date: 2016-05-19
Filing date: 2016-12-09
Publication date: 2017-11-23
Also published as: CN106019293A

Abstract

Disclosed is a laser scanning range unit, comprising a laser transmitter (2), a laser receiver (3), a receiving circuit board (4), a rotary platform (5), an inner coil (6), an outer coil (7), a stator (9), a rotor (10), a fixed platform (11), a drive transmission circuit board (12) and a bearing (15), wherein the rotary platform (5) is connected to the fixed platform (11) via the bearing (15); the stator (10) is mounted on the rotary platform (5); the stator (9) is mounted on the fixed platform (11); planes where the axis of the laser transmitter (2) and the axis of the laser receiver (3) are located are perpendicular to a rotary shaft of the rotary platform (5); the laser transmitter (2) and the laser receiver (3) are mounted on the rotary platform (5) and rotate along with the rotary platform (5); the drive transmission circuit board (12) is mounted on the fixed platform (11); the receiving circuit board (4) is mounted on the rotary platform (5); and an included angle between the laser emitter (2) and the laser receiver (3) is in a predetermined angle range. Compared with the prior art, the included angle between the laser emitter (2) and the laser receiver (3) is very small and the distance therebetween is relatively small, not only is the laser scanning range unit structurally small and compact in overall structure, but by employing an electromagnetic induction drive method, the scanning frequency can be adjusted, so that shortcomings such as great noise, damage to the environment, and a short service life of existing belt drives are avoided.

Description

Laser scanning distance measuring device

Technical field

The invention relates to a robot design technology and a laser scanning technology, in particular to a laser scanning distance measuring device.

Background technique

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.

In the existing mobile robot application, for the sake of walking safety, it is often necessary to detect the obstacle position of the mobile robot in front of the travel route, predict and control the robot in advance to take necessary avoidance or bypass measures, for example, in the robot A corresponding laser scanning distance measuring device is installed above the body. However, 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. If the height is large, the whole machine cannot be moved to a corner such as the bottom of the bed or under the sofa for cleaning. For example, for a flying drone, the smaller the volume, the lighter the weight, the less power is required. If the volume is increased, the corresponding weight is increased, and the power consumption is correspondingly increased, resulting in a significant decrease in endurance. In addition, in some existing laser scanning range finder, in order to measure objects at a relatively long distance, a large relative angle or spacing between the laser emitter and the laser receiver is often used, such as a laser emitter and The angle of the laser receiver is at least 8°, which also makes the laser scanning range finder have a larger volume.

In view of this, how to design a laser scanning distance measuring device to make it smaller in size, wider in application, and improve its endurance, thereby solving the above-mentioned defects and shortcomings in the prior art laser scanning distance measuring device, is an industry A subject to be solved by relevant technicians.

Summary of the invention

In view of the above drawbacks of the prior art laser scanning distance measuring device, the present invention provides a laser scanning distance measuring device which is compact in structure and compact in structure.

According to an aspect of the present invention, a laser scanning distance measuring device is provided, including a laser transmitter, a laser receiver, a receiving circuit board, a rotating platform, an inner coil, an outer coil, a stator, a rotor, a fixed platform, a driving transmitting circuit board, Bearing,

Wherein, 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 circuit The board is mounted on a fixed platform, and the receiving circuit board is mounted on the rotating platform.

Wherein, the angle between the laser emitter and the laser receiver is within a predetermined angle range.

In one embodiment, the angle between the laser emitter and the laser receiver is between 3° and 5°. Preferably, the angle between the laser emitter and the laser receiver is 4°.

In one of the embodiments, the stator is disposed outside the rotor in a direction perpendicular to the axis of rotation of the rotating platform.

In one of the embodiments, the stator is disposed inside the rotor in a direction perpendicular to the axis of rotation of the rotating platform.

In one embodiment, the outer coil is mounted to the fixed platform and is coupled to the drive transmitting circuit board. The inner coil is mounted to the rotating platform and connected to the receiving circuit board, and wireless power is supplied by an induced electromagnetic field between the outer coil and the inner coil.

In one embodiment, the laser scanning distance measuring device further comprises a casing, a square tooth and an encoder, wherein the square teeth are disposed on the outer casing, and the encoder is mounted on the receiving circuit board, and the rotation is recorded by the square teeth and the encoder. The position and number of turns of the platform.

In one embodiment, the laser receiver further includes a 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. .

In one of the embodiments, the transmitting circuit board and the receiving circuit board are driven to perform information transmission in a photoelectric conversion manner.

In one embodiment, the driving the transmitting circuit board comprises a first optical signal transmitting unit and a first optical signal receiving unit, and the receiving circuit board comprises a second optical signal transmitting unit and a second optical signal receiving unit, wherein the first Optical signal transmitting unit and said The second optical signal receiving unit forms a first wireless transmission path, and the first optical signal receiving unit and the second optical signal transmitting unit form a second wireless transmission path, and the first wireless transmission path and the first The two wireless transmission paths implement full-duplex data transmission in a synchronous manner.

In one embodiment, the first optical signal transmitting unit has a first wavelength spectrum, the second optical signal transmitting unit has a second wavelength spectrum, and the first optical signal receiving unit senses the second Light of a wavelength spectrum, the second optical signal receiving unit sensing light of the first wavelength spectrum, wherein the first wavelength spectrum is different from the second wavelength spectrum.

In one embodiment, the first optical signal emitting unit and the second optical signal emitting unit are both injection semiconductor light emitting devices, semiconductor laser devices, or optocoupler devices.

In one embodiment, the injection type semiconductor light emitting device is a light emitting diode, a digital tube, a symbol tube, a meter tube or a matrix tube.

In one embodiment, the first optical signal receiving unit and the second optical signal receiving unit are each a photoresistor, a photodiode, a phototransistor or a photosensitive field effect transistor.

The laser scanning distance measuring device of the invention comprises a laser emitter, a laser receiver, a receiving circuit board, a rotating platform, an inner coil, an outer coil, a stator, a rotor, a fixed platform, a driving transmitting circuit board and a bearing, a rotating platform and The fixed platform is connected by bearings, the rotor is mounted on the rotating platform, and 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, and the laser emitter and the laser receiver are installed at Rotating platform and rotating platform Rotating together, the driving transmitting circuit board is mounted on the fixed platform, the receiving circuit board is mounted on the rotating platform, and the angle between the laser emitter and the laser receiver is within a predetermined angle range. Compared with the prior art, the laser emitter and the laser receiver of the invention adopt a small angle and a small distance, and the structure is compact and compact, and the scanning frequency can be adjusted through electromagnetic induction transmission. It overcomes many defects caused by the existing belt drive, such as high noise, environmental protection and short service life.

DRAWINGS

The various aspects of the present invention will become more apparent from the written description of the appended claims. among them,

1 is a schematic structural view of a laser scanning distance measuring device according to an embodiment of the present invention;

2A is a schematic view showing an optical path of transmitting and receiving light between a laser emitter and a laser receiver in a laser scanning ranging device of the prior art;

2B 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;

Figure 3 is a schematic view showing the outline of an inner coil and an outer coil for wireless power supply in the laser scanning distance measuring device of Figure 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.

detailed description

In order to make the technical content disclosed in the present application more detailed and complete, reference may be made to The drawings and the various embodiments of the invention are described below, in which like reference numerals represent the same or similar components. However, it is to be understood by those skilled in the art that the embodiments provided below are not intended to limit the scope of the invention. Moreover, the drawings are only for illustrative purposes and are not drawn in their original dimensions.

Specific embodiments of various aspects of the invention are described in further detail below with reference to the drawings.

FIG. 1 is a block diagram showing the structure of a laser scanning distance measuring device according to an embodiment of the present invention. 2A is a schematic view showing an optical path of transmitting and receiving light between a laser emitter and a laser receiver in a laser scanning ranging device of the prior art. 2B 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. 3 is a schematic view showing the outline of an inner coil and an outer coil for wireless power supply in the laser scanning distance measuring device of FIG. 1.

As described in the background section, in order to measure objects at a relatively long distance, the existing laser scanning range finder often uses a large relative angle or a large distance between the laser transmitter and the laser receiver, which is bound to cause the device. The whole body is large. In general, the smaller 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.

Referring to Fig. 1, in this embodiment, 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, an inner coil 6, an outer coil 7, a stator 9, a rotor 10, and a fixing The platform 11 drives the transmitting circuit board 12 and the bearing 15.

Specifically, the laser emitting and receiving module 1 includes a laser emitter 2 and a laser receiver Receiver 3. The plane P where the respective axes of the laser emitter 2 and the laser receiver 3 are located is perpendicular to the rotation axis L of the rotary table 5. 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 rotary table 5 is connected to the fixed platform 11 via a bearing 15. The rotor 10 is mounted on a rotating platform 5, the stator 9 is mounted on a fixed platform 11, the driving transmitting circuit board 12 is mounted on a fixed platform 11, and the receiving circuit board 4 is mounted on the rotating platform 5. Wherein, the angle between the laser emitter 2 and the laser receiver 3 is within a predetermined angle range. For example, the angle β2 between the laser emitter 2 and the laser receiver 3 is between 3° and 5°. Preferably, the angle β2 between the laser emitter 2 and the laser receiver 3 is 4°.

While the device is in operation, the transmitting circuit board 12 is driven to transmit a regularly varying current and voltage to the stator 9. The stator 9 utilizes the principle of electromagnetic induction to generate an electromagnetic field and couple it with the rotor 10 to form a torque force to replace the belt drive or gear transmission of the prior art. The laser emitting and receiving module 1 is mounted on the rotating platform 5 and rotates together with the rotating platform 5. In addition, the positional relationship between the stator and the rotor can be designed to be distributed inside and outside. For example, the stator 9 is disposed outside the rotor 10 in a direction perpendicular to the rotation axis L of the rotary table 5. As another example, the stator 9 is disposed inside the rotor 10 in a direction perpendicular to the rotation axis of the rotary table 5.

In addition, the outer coil 7 is mounted on the fixed platform 11 and is connected to the driving transmitting circuit board 12, and the inner coil 6 is mounted on the rotating platform 5 and connected to the receiving circuit board 4, by the induced electromagnetic field between the outer coil 7 and the inner coil 6. Wireless power supply. As shown in FIG. 3, the inner coil 6 and the outer coil 7 have a nested cylindrical structure. Since the wireless transmission mode is adopted between the driving transmitting circuit board 12 and the receiving circuit board 4, the laser transmitter 2 and the laser receiver 3 located on the rotating platform 5 each obtain the power supply by wireless.

In a specific embodiment, the laser receiver 3 further includes a lens 16 and a photosensitive element 17. When the light emitted from the laser emitter 2 reaches the obstacle, it is reflected on the surface of the obstacle, and the reflected light is concentrated by the lens 16 and absorbed by the photosensitive member 17. Then, the data is transmitted to the drive transmitting circuit board 12 by wireless transmission, and then output to the outside via the transmission line.

In a specific embodiment, the laser scanning distance measuring device further includes a housing 8, a square tooth 13 and an encoder 14. The square teeth 13 are disposed on the outer casing 8, and the encoder 14 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 13 and the encoder 14.

2A and 2B are schematic diagrams of optical paths for transmitting and receiving light between a laser emitting device and a laser receiver of a conventional laser scanning distance measuring device and a laser scanning distance measuring device of the present invention, respectively. In FIG. 2A, the angle between the laser emitter 2 and the laser receiver is β1 (about 8°), and the distance between the laser emitter 2 and the laser receiver is d1; in FIG. 2B, the laser emitter The angle between the laser receiver 2 and the laser receiver is β2 (preferably 3° to 5°, preferably 4°), and the distance between the laser emitter 2 and the laser receiver is d2. Comparing the two figures, the angle between the laser emitter 2 and the laser receiver is large when the distance remains unchanged, and the light emitted by the laser emitter 2 reaches an obstacle at a relatively close distance; the laser emitter 2 and the laser The angle between the receivers is small, and the light emitted by the laser emitter 2 reaches an obstacle at a relatively long distance. In addition, if it is necessary to detect the distal obstacle of the same distance, the distance d between the laser emitter 2 and the laser receiver will be enlarged, which will undoubtedly increase the overall volume of the device.

As we all know, data transmission generally includes full-duplex mode, half-duplex mode and simplex mode. Taking the data transmission sides A and B as an example, 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. In the simplex mode, data is sent from A to B unilaterally, or B is sent to A unilaterally (as shown in Fig. 4C).

In the wireless signal transmission process of the present invention, preferably, the transmitting circuit board 12 and the receiving circuit board 4 are driven to perform information transmission in a photoelectric conversion manner. The driving and transmitting circuit board 12 includes a first optical signal transmitting unit and a first optical signal receiving unit, and the receiving circuit board 4 includes a second optical signal transmitting unit and a second optical signal receiving unit. For example, the first light signal emitting unit and the second light signal emitting unit are both injection semiconductor light emitting devices, semiconductor laser devices, or optocoupler devices. Here, the injection type semiconductor light emitting device may be a light emitting diode, a digital tube, a symbol tube, a meter tube or a matrix tube. For another example, the first optical signal receiving unit and the second optical signal receiving unit are both a photoresistor, a photodiode, a phototransistor or a photosensitive field effect transistor.

The first optical signal transmitting unit and the second optical signal receiving unit form a first wireless transmission path, and the first optical signal receiving unit and the second optical signal transmitting unit form a second wireless transmission path, and the first wireless transmission path and the first The two wireless transmission paths implement full-duplex data transmission in a synchronous manner. Preferably, the first optical signal transmitting unit has a first wavelength spectrum, the second optical signal transmitting unit has a second wavelength spectrum, the first optical signal receiving unit senses the light of the second wavelength spectrum, and the second optical signal receiving unit Light that senses the first wavelength spectrum. Wherein the first wavelength spectrum is different from the second wavelength spectrum.

The laser scanning distance measuring device of the invention comprises a laser emitter, a laser receiver, a receiving circuit board, a rotating platform, an inner coil, an outer coil, a stator, a rotor, a fixed platform, a driving transmitting circuit board and a bearing, a rotating platform and The fixed platform is connected by bearings, the rotor is mounted on the rotating platform, and 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, and the laser emitter and the laser receiver are installed at The platform is rotated and rotated 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 angle between the laser emitter and the laser receiver is within a predetermined angle range. Compared with the prior art, the laser emitter and the laser receiver of the invention adopt a small angle and a small distance, and the structure is compact and compact, and the scanning frequency can be adjusted through electromagnetic induction transmission. It overcomes many defects caused by the existing belt drive, such as high noise, environmental protection and short service life.

Hereinabove, the specific embodiments of the present invention have been described with reference to the drawings. However, it will be apparent to those skilled in the art that various modifications and changes can be made to the embodiments of the present invention without departing from the spirit and scope of the invention. Such changes and substitutions are intended to fall within the scope of the appended claims.

Claims

A laser scanning distance measuring device, characterized in that the laser scanning distance measuring device comprises a laser transmitter (2), a laser receiver (3), a receiving circuit board (4), a rotating platform (5), and an inner coil ( 6), outer coil (7), stator (9), rotor (10), fixed platform (11), drive transmitting circuit board (12), bearing (15),

Wherein, the rotating platform (5) is connected to the fixed platform (11) through a bearing (15), the rotor (10) is mounted on the rotating platform (5), the stator (9) is mounted on the fixed platform (11), and the laser emitter ( 2) perpendicular to the axis of rotation of the laser receiver (3) and the axis of rotation of the rotating platform (5), the laser emitter (2) and the laser receiver (3) are mounted on the rotating platform (5) and with the rotating platform (5) rotating together, the driving transmitting circuit board (12) is mounted on the fixed platform (11), and the receiving circuit board (4) is mounted on the rotating platform (5).

Wherein, the angle between the laser emitter (2) and the laser receiver (3) is within a predetermined angle range.
The laser scanning distance measuring device according to claim 1, characterized in that the angle between the laser emitter (2) and the laser receiver (3) is between 3 and 5 degrees.
A laser scanning distance measuring device according to claim 2, characterized in that the angle between the laser emitter (2) and the laser receiver (3) is 4°.
A laser scanning distance measuring device according to claim 1, characterized in that the stator (9) is arranged in the direction perpendicular to the axis of rotation of the rotating platform (5) The outer side of the sub (10).
The laser scanning distance measuring device according to claim 1, characterized in that the stator (9) is disposed inside the rotor (10) in a direction perpendicular to the rotation axis of the rotating platform (5).
The laser scanning distance measuring device according to claim 1, wherein the outer coil (7) is mounted on the fixed platform (11) and connected to the driving transmitting circuit board (12), and the inner coil (6) is mounted on the rotating platform ( 5) and connected to the receiving circuit board (4), wireless power is supplied by an induced electromagnetic field between the outer coil (7) and the inner coil (6).
The laser scanning distance measuring device according to claim 1, wherein the laser scanning distance measuring device further comprises a casing (8), a square tooth (13) and an encoder (14), wherein the square teeth (13) It is disposed on the outer casing (8), and the encoder (14) is mounted on the receiving circuit board (4), and the rotating position and the number of turns of the rotating platform (5) are recorded by the square teeth (13) and the encoder (14).
The laser scanning distance measuring device according to claim 1, characterized in that the laser receiver (3) further comprises a lens (16) and a photosensitive element (17), after the light emitted by the laser emitter (2) reaches the obstacle Reflection occurs on the surface of the obstacle, and the reflected light is concentrated by the lens (16) and absorbed by the photosensitive element (17).
The laser scanning distance measuring device according to claim 1, wherein The transmitting circuit board (12) and the receiving circuit board (4) are used for information transmission in the form of photoelectric conversion.
The laser scanning distance measuring device according to claim 9, wherein the driving transmitting circuit board (12) comprises a first optical signal transmitting unit and a first optical signal receiving unit, and the receiving circuit board (4) comprises a second optical signal a transmitting unit and a second optical signal receiving unit,

The first optical signal transmitting unit and the second optical signal receiving unit form a first wireless transmission path, and the first optical signal receiving unit and the second optical signal transmitting unit form a second wireless transmission path. And the first wireless transmission path and the second wireless transmission path implement full duplex data transmission in a synchronous manner.
The laser scanning distance measuring device according to claim 10, wherein the first optical signal emitting unit has a first wavelength spectrum, and the second optical signal transmitting unit has a second wavelength spectrum, An optical signal receiving unit senses light of the second wavelength spectrum, and the second optical signal receiving unit senses light of the first wavelength spectrum, wherein the first wavelength spectrum is different from the second wavelength spectrum.
The laser scanning distance measuring device according to claim 10, wherein the first optical signal emitting unit and the second optical signal emitting unit are both an injection type semiconductor light emitting device, a semiconductor laser device, or a photocoupler device.
The laser scanning distance measuring device according to claim 12, wherein The injection type semiconductor light emitting device is a light emitting diode, a digital tube, a symbol tube, a meter tube or a matrix tube.
The laser scanning distance measuring device according to claim 10, wherein the first optical signal receiving unit and the second optical signal receiving unit are each a photoresistor, a photodiode, a phototransistor or a photosensitive field effect transistor.