WO2020029282A1 - Rotatable communication connector, and radar and unmanned aerial vehicle provided with same - Google Patents

Rotatable communication connector, and radar and unmanned aerial vehicle provided with same Download PDF

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Publication number
WO2020029282A1
WO2020029282A1 PCT/CN2018/100063 CN2018100063W WO2020029282A1 WO 2020029282 A1 WO2020029282 A1 WO 2020029282A1 CN 2018100063 W CN2018100063 W CN 2018100063W WO 2020029282 A1 WO2020029282 A1 WO 2020029282A1
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WO
WIPO (PCT)
Prior art keywords
light
rotor
external device
light sensor
optical
Prior art date
Application number
PCT/CN2018/100063
Other languages
French (fr)
Chinese (zh)
Inventor
何纲
王春明
方泽彬
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2018/100063 priority Critical patent/WO2020029282A1/en
Priority to CN201880041291.5A priority patent/CN110832794A/en
Publication of WO2020029282A1 publication Critical patent/WO2020029282A1/en

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B10/00—Transmission systems employing electromagnetic waves other than radio-waves, e.g. infrared, visible or ultraviolet light, or employing corpuscular radiation, e.g. quantum communication
    • H04B10/40—Transceivers
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B6/00—Light guides; Structural details of arrangements comprising light guides and other optical elements, e.g. couplings
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B6/00—Light guides; Structural details of arrangements comprising light guides and other optical elements, e.g. couplings
    • G02B6/24—Coupling light guides
    • G02B6/26—Optical coupling means
    • G02B6/28—Optical coupling means having data bus means, i.e. plural waveguides interconnected and providing an inherently bidirectional system by mixing and splitting signals
    • G02B6/293—Optical coupling means having data bus means, i.e. plural waveguides interconnected and providing an inherently bidirectional system by mixing and splitting signals with wavelength selective means

Definitions

  • the invention relates to the field of connectors, in particular to a rotatable communication connector and a radar and an unmanned aerial vehicle having the same.
  • stator and rotor devices of many rotating devices are independent. While rotating, the stator needs to communicate with the rotor to work in harmony with each other. Therefore, it is particularly important to establish a communication link between the stator and the rotor.
  • the existing slip ring mainly uses a wired link for communication.
  • this solution is simple, because of the mobility of the rotating device, the use of a wire connection in the slip ring will increase the reliability of the communication.
  • the wire may The friction with the inner wall of the slip ring causes wear and tear, which seriously affects the communication quality and reduces the service life of the device.
  • radio communication such as 2.4G, 5G, etc.
  • radio communication is easily susceptible to external electromagnetic waves, and consumes a large amount of power.
  • the power and radiation are also large, which is not suitable for long-term work.
  • the invention provides a rotatable communication connector and a radar and an unmanned aerial vehicle having the same.
  • the present invention is implemented by the following technical solutions:
  • a rotatable communication connector including:
  • a rotor that can rotate freely
  • a stator which is spaced apart from the rotor, and the rotor is rotatable with respect to the stator;
  • a first light sensor provided on the rotor, the first light sensor being configured to receive or / and transmit a light signal
  • the first light sensor is disposed opposite to the second light sensor
  • the first light sensor When the rotor is relatively rotated with respect to the stator, the first light sensor is always aligned with the second light sensor, so that the relative position relationship between the first light sensor and the second light sensor remains unchanged ; One of the first light sensor and the second light sensor transmits an optical signal, and the other receives the optical signal, thereby performing optical communication.
  • a radar which includes a base, an antenna component, and a rotatable communication connector; wherein the antenna component is disposed above the base, and the antenna component is wound around a base relative to the base.
  • the rotating shaft is rotatable;
  • the rotatable communication connector includes a rotor, a stator, a first light sensor provided on the rotor, and a second light sensor provided on the stator;
  • the rotor can rotate freely, and the rotor case is fixedly connected to the antenna assembly, and rotates together with the antenna assembly;
  • stator and the rotor are spaced apart from each other, and the rotor is rotatable relative to the stator;
  • the first light sensor is configured to receive or / and transmit a light signal
  • the second light sensor is used for receiving or / and transmitting a light signal
  • the first light sensor is disposed opposite to the second light sensor
  • the first light sensor When the rotor is relatively rotated with respect to the stator, the first light sensor is always aligned with the second light sensor, so that the relative position relationship between the first light sensor and the second light sensor remains unchanged ; One of the first light sensor and the second light sensor transmits an optical signal, and the other receives the optical signal, thereby performing optical communication.
  • an unmanned aerial vehicle including a chassis, a control system, and a radar provided on the chassis;
  • the radar includes a base, an antenna assembly, and a rotatable communication connector;
  • the antenna assembly is disposed above the base, and the antenna assembly is rotatable about a rotation axis with respect to the base;
  • the rotatable communication connector includes a rotor, a stator, a first light sensor provided on the rotor, and A second light sensor provided on the stator;
  • the rotor can rotate freely, and the rotor case is fixedly connected to the antenna assembly, and rotates together with the antenna assembly;
  • stator and the rotor are spaced apart from each other, and the rotor is rotatable relative to the stator;
  • the first light sensor is configured to receive or / and transmit a light signal
  • the second light sensor is used for receiving or / and transmitting a light signal
  • the first light sensor is disposed opposite to the second light sensor
  • the first light sensor When the rotor is relatively rotated with respect to the stator, the first light sensor is always aligned with the second light sensor, so that the relative position relationship between the first light sensor and the second light sensor remains unchanged ; One of the first light sensor and the second light sensor transmits an optical signal, and the other receives the optical signal, thereby performing optical communication.
  • the present invention implements signal transmission between the rotor and the stator by setting the first light sensor and the second light sensor, and realizes wireless design in the slip ring.
  • the optical communication method greatly reduces power consumption and radiation generated during communication, and is particularly suitable for long-term work.
  • FIG. 1 is a structural block diagram of a rotatable communication connector according to an embodiment of the present invention
  • FIG. 2 is a schematic structural diagram of a rotatable communication connector according to an embodiment of the present invention.
  • FIG. 3 is another structural block diagram of a rotatable communication connector according to an embodiment of the present invention.
  • FIG. 4 is another structural block diagram of a rotatable communication connector according to an embodiment of the present invention.
  • FIG. 5 is a structural block diagram of a radar in an embodiment of the present invention.
  • FIG. 6 is a perspective view of an unmanned aerial vehicle in an embodiment of the present invention.
  • FIG. 7 is a structural block diagram of an unmanned aerial vehicle in an embodiment of the present invention.
  • a rotatable communication connector 320 includes a rotor 10, a stator 20, a first light sensor 30, and a second light sensor 40.
  • the rotor 10 and the stator 20 are relatively spaced apart, so that the rotor 10 can rotate freely, and the rotor 10 in this embodiment can rotate with respect to the stator 20.
  • the first light sensor 30 is disposed on the rotor 10.
  • the first light sensor 30 may be disposed on the inside of the rotor 10 or on the outer surface of the rotor 10.
  • a first light sensor 30 may be provided as required. The position of the light sensor 30 provided on the rotor 10.
  • the second light sensor 40 is provided on the stator 20, and the second light sensor 40 may be provided on the inside of the stator 20 or on the outer surface of the stator 20. Specifically, a second light sensor 40 may be provided as required. The position of the light sensor 40 provided on the stator 20.
  • the first light sensor 30 is disposed opposite to the second light sensor 40.
  • the first light sensor 30 is used for receiving or / and transmitting optical signals
  • the second light sensor 40 is used for receiving or / and transmitting optical signals.
  • the first light sensor 30 is always aligned with the second light sensor 40, so that the first light sensor 30 and the second light sensor The relative positional relationship of the sensor 40 remains unchanged.
  • One of the first light sensor 30 and the second light sensor 40 transmits an optical signal, and the other receives the optical signal, thereby performing optical communication.
  • the first light sensor 30 and the second light sensor 40 are provided to realize signal transmission between the rotor 10 and the stator 20, and realize wireless design in the slip ring.
  • Communication hardware causes wear and tear, improving communication reliability.
  • the optical communication method greatly reduces power consumption and radiation generated during communication, and is particularly suitable for long-term work.
  • the rotor 10 is used for fixed connection with a first external device
  • the stator 20 is used for fixed connection with a second external device.
  • the rotor 10 in this embodiment can drive the first external device to rotate.
  • the first light sensor 30 may obtain data obtained by the first external device (which may be data sensed by the first external device, may also be data sent externally to the first external device, or may be first external device). Data generated by the device being triggered, etc.) are sent to the second light sensor 40, and the second light sensor 40 sends data acquired by the first external device to the second external device.
  • the positions of the first external device and the second external device are interchangeable.
  • the rotor 10 is used for fixed connection with the second external device
  • the stator 20 is used for
  • the first light sensor 30 will obtain the data obtained by the second external device (which may be data sensed by the second external device or data sent externally to the second external device). Data generated by the second external device being triggered, etc.) is sent to the second light sensor 40, and the second light sensor 40 sends data acquired by the second external device to the first light sensor 40 An external device.
  • the working modes of the first external device and the second external device need to be considered to select one of the above two implementation modes.
  • the rotor 10 is fixedly connected to the first external device
  • the stator 20 is fixedly connected to the second external device.
  • the fixing manners of the rotor 10 and the first external device, the stator 20 and the second external device are not limited, and any existing fixing method may be selected to fix the rotor 10 and the first external device, and the stator 20 and the second external device.
  • the first light sensor 30 and the second light sensor 40 may be a unidirectional communication method, which may implement a first external device-> a first light sensor 30-> a second light sensor 40-> a second external device, and a second external device Device-> second light sensor 40-> first light sensor 30-> first external device; the first light sensor 30 and the second light sensor 40 can also be a two-way communication method, which can realize the first external device-> first Light sensor 30-> second light sensor 40-> second external device, or second external device-> second light sensor 40-> first light sensor 30-> first external device.
  • the first external device is a sensing device
  • the second external device is a control device
  • the first light sensor 30 and the second light sensor 40 are bidirectional communication methods.
  • the first external device may be a radar 300 or a gimbal camera
  • the second external device may be an unmanned aerial vehicle or a remotely controlled vehicle.
  • the first light sensor 30 sends data acquired by the first external device (here, data sensed by the first external device) to the second light sensor 40.
  • the two light sensors 40 send data acquired by the first external device to the second external device.
  • the second light sensor 40 sends a control instruction sent by the second external device to the first light sensor 30, and the first light sensor 30 sends the control instruction to the first external device to Controlling the operation of the first external device.
  • the first external device is a radar 300
  • the second external device is an unmanned aerial vehicle.
  • the rotor 10 is fixedly connected to the antenna component 310 of the radar 300.
  • the antenna component 310 senses obstacle information and sends it to the first light sensor 30.
  • the first light sensor 30 and the second light sensor 40 are in optical communication.
  • the second light sensor 40 sends the obstacle information to the drone.
  • the drone After receiving the control command of the radar 300 sent by the remote control device, the drone sends the control command of the radar 300 to the first light sensor 30 through the second light sensor 40, and the first light sensor 30 sends the control command of the radar 300 Send to the radar 300 to control the scanning frequency of the antenna assembly 310, etc., and implement the operation control of the radar 300.
  • the second external device may also be a data processing device, a storage device, or the like.
  • the first light sensor 30 and the second light sensor 40 can always be aligned to ensure the reliability of the optical communication.
  • the first light sensor 30 is located on the rotor. 10 on the axis of rotation.
  • the second light sensor 40 is located on a rotation axis of the rotor 10.
  • first light sensor 30 of this embodiment is provided on the side of the rotor 10 facing the stator 20
  • second light sensor 40 is provided on the side of the stator 20 facing the rotor 10, which facilitates the first light sensor
  • the alignment of 30 and the second light sensor 40 reduces the possibility of other devices blocking the first light sensor 30 and the second light sensor 40, thereby improving the optical communication between the first light sensor 30 and the second light sensor 40.
  • the stability is provided.
  • the first light sensor 30 includes a first light transmitter 31, and the second light sensor 40 includes a first light receiver 41.
  • the transmitting end is aligned with the light receiving end of the first optical receiver 41 to realize the data transmission process of the first external device-> first optical sensor 30-> second optical sensor 40-> second external device.
  • the first light sensor 30 further includes a second light receiver 32, and the second light sensor 40 further includes a second light transmitter 42, a light emitting end of the second light transmitter 42, and the second light
  • the light receiving end of the receiver 32 is aligned to realize the data transmission process of the second external device-> the second light sensor 40-> the first light sensor 30-> the first external device.
  • the wavelength of the light emitted by the first light emitter 31 is different from the wavelength of the light emitted by the second light emitter 42.
  • the transmitter 42-> the second optical receiver 32 uses different wavelengths of light for communication, improving the reliability of communication.
  • the wavelength of light emitted by the first light emitter 31 is 450 nm to 750 nm
  • the wavelength of light emitted by the second light emitter 42 is 200 nm to 400 nm
  • the wavelength of the light emitted by the device 42 may also be selected from other wavelength bands or wavelength point values.
  • a side of the first light receiver 41 facing the first light emitter 31 is provided with a first optical filter, and the second light receiver 32 faces the second light transmitter 42.
  • a second optical filter is provided on one side, wherein the transmission wavelength band of the first optical filter and the transmission wavelength band of the second optical filter are different.
  • the first optical receiver 41 will not receive the optical signal from the second optical transmitter 42.
  • the second optical receiver 32 No optical signal from the first optical transmitter 31 will be received.
  • the provision of the first optical filter and the second optical filter can also avoid interference from external ambient light.
  • the transmission band of the first optical filter is 450nm to 750nm, that is, only light with a wavelength in the range of 450nm to 750nm can be received by the first optical receiver 41 through the first optical filter, thereby avoiding other optical signals. Interference.
  • the transmission band of the second optical filter is 200nm to 400nm, that is, only light with a wavelength in the range of 200nm to 400nm can be received by the first optical receiver 41 through the second optical filter, thereby avoiding interference of other optical signals .
  • the transmission wavelength band of the first optical filter and the transmission wavelength band of the second optical filter may also be selected from other wavelength bands, which is not limited in this embodiment.
  • the light receiving end of the first light receiver 41 and the light receiving end of the second light receiver 32 are both located in the rotation axis direction of the rotor 10.
  • the light receiving end of the first light receiver 41 and the light receiving end of the second light receiver 32 are both a light receiving surface, and the light receiving end of the first light receiver 41 and the second light receiver
  • the fact that the light receiving ends of the light receiver 32 are located in the rotation axis direction of the rotor 10 means that the center of the light receiving surface of the first light receiver 41 and the center of the light receiving surface of the second light receiver 32 The centers are located on the rotation axis of the rotor 10.
  • the first light emitter 31 is located at a preset distance from the rotation axis of the rotor 10 and is disposed in the rotor 10.
  • the connection line of the light receiving end of the device 41 forms an inclined angle with the rotation axis of the rotor 10.
  • the first light receiver 41 is disposed in the stator 20, and a light receiving end of the first light receiver 41 is located on a rotation axis of the rotor 10.
  • the light emitted by the first light emitter 31 is substantially parallel to the line between the light emitting end of the first light emitter 31 and the light receiving end of the first light receiver 41, thereby ensuring that The light emitted by the first light transmitter 31 can always be received by the receiving end of the first light receiver 41.
  • ⁇ 1 arctan (a1 / b) (1)
  • a1 is the distance from the light emitting end of the first light emitter 31 to the rotation axis of the rotor 10
  • b is the distance between the rotor 10 and the stator 20.
  • ⁇ 1 is not limited to the above formula (1).
  • ⁇ 1 can also be calculated based on the empirical error coefficient and a1 and b.
  • the second optical transmitter 42 is disposed in the stator 20 at a preset distance from the rotation axis of the rotor 10, and the transmitting end of the second optical transmitter 42 and the second optical receiver
  • the connecting line of the light receiving end of 32 forms an inclined angle with the rotation axis of the rotor 10.
  • the second light receiver 32 is located in the rotor 10, and a light receiving end of the second light receiver 32 is located on a rotation axis of the rotor 10.
  • the light emitted by the second light emitter 42 is substantially parallel to the line between the light emitting end of the second light emitter 42 and the light receiving end of the second light receiver 32, thereby ensuring that The light emitted by the second light transmitter 42 can always be received by the receiving end of the second light receiver 32.
  • ⁇ 2 arctan (a2 / b) (2)
  • a2 is the distance from the light emitting end of the second light emitter 42 to the rotation axis of the rotor 10
  • b is the distance between the rotor 10 and the stator 20.
  • ⁇ 2 is not limited to the above formula (2).
  • ⁇ 2 can also be calculated based on the empirical error coefficient and a1 and b.
  • a1 and a2 may or may not be equal. In this implementation, a1 and a2 are equal.
  • first light emitter 31 and the second light emitter 42 are both existing light emitters, such as a laser emitter.
  • the first light receiver 41 and the second light receiver 32 are also existing light-sensing sensors.
  • the rotatable communication connector 320 in this embodiment further includes a first signal conversion circuit 50, and the first signal conversion circuit 50 is electrically connected to the first optical receiver 41.
  • the first optical transmitter 31 transmits a first optical signal corresponding to data obtained by a first external device.
  • the first optical receiver 41 receives the first optical signal and converts the first optical signal into a first electrical signal.
  • a signal conversion circuit 50 processes the first electrical signal and sends it to a second external device.
  • the first signal conversion circuit 50 includes a first comparator, and the first comparator is electrically connected to the second external device.
  • the first comparator When the amplitude of the first electrical signal is greater than or equal to a first threshold (that is, the first optical transmitter 31 transmits the first optical signal), the first comparator outputs the first signal to the second external device.
  • the first comparator When the amplitude of the first electrical signal is less than a first threshold (that is, the first optical transmitter 31 does not transmit the first optical signal), the first comparator outputs a second signal to the second external device.
  • the first electrical signal is a voltage signal
  • the first signal is 1, and the second signal is 0.
  • the first optical receiver 41 converts the received first optical signal into a first voltage.
  • the first comparator determines that the first voltage is greater than or equal to the first voltage threshold, that is, the first optical transmitter 31 transmits the first voltage.
  • the optical signal output 1 to the second external device; when it is judged that the first voltage is less than the first voltage threshold, that is, the first optical transmitter 31 does not transmit the first optical signal, output 0 to the second external device to realize the first external device -> Signal transmission between the second external device.
  • the rotatable communication connector 320 in this embodiment further includes a second signal conversion circuit 60, and the second signal conversion circuit 60 is electrically connected to the second optical receiver 32.
  • the second optical transmitter 42 transmits a second optical signal corresponding to a control instruction output by a second external device, and the second optical receiver 32 receives the second optical signal and converts it into a second electrical signal.
  • the second signal conversion circuit 60 processes the second electrical signal and sends it to a first external device to control the work of the first external device.
  • the second signal conversion circuit 60 includes a second comparator, and the second comparator is electrically connected to the first external device.
  • the second comparator When the amplitude of the second electrical signal is greater than or equal to a second threshold (the second optical transmitter 41 emits a second optical signal), the second comparator outputs a third signal to the first external device.
  • the second comparator When the amplitude of the second electrical signal is less than a second threshold (the second optical transmitter 41 does not emit a second optical signal), the second comparator outputs a fourth signal to the first external device.
  • the second electrical signal is a voltage signal
  • the third signal is 1, and the fourth signal is 0.
  • the second optical receiver 32 converts the received second optical signal into a second voltage
  • the second comparator determines that the second voltage is greater than or equal to the second voltage threshold, that is, the second optical transmitter 41 transmits the second voltage.
  • 1 is output to the first external device; when it is judged that the second voltage is less than the second voltage threshold, that is, the second optical transmitter 41 does not transmit the second optical signal, it outputs 0 to the first external device to implement the second external device -> Signal transmission between the first external device.
  • the rotatable communication connector 320 needs to be initialized first. After the initialization is successful, the rotor 10 of the rotatable communication connector 320 starts to rotate.
  • the first light sensor 30 and the first The two optical sensors 40 start optical communication.
  • the first light sensor 30 receives data sent by the first external device and transmits a first light signal corresponding to the data sent by the first external device
  • the second light sensor 40 receives the first light signal and converts it into a first electrical signal.
  • the first electrical signal passes through the first comparator, it is input to the second external device.
  • the second optical sensor 40 receives data sent by the second external device and transmits a second optical signal corresponding to the data sent by the second external device.
  • the first optical sensor 30 receives the second optical signal and converts it into a second electrical signal. After the second electrical signal passes through the second comparator, it is input to the first external device.
  • the rotatable communication connector 320 may further include a bearing, and the rotor 10 and the stator 20 are coaxially connected through the bearing.
  • a second embodiment of the present invention provides a radar 300 including a base, an antenna assembly 310 and a rotatable communication connector 320.
  • the antenna assembly 310 is disposed above the base, and the antenna assembly 310 is rotatable about a rotation axis (ie, the rotation axis of the rotor 10) with respect to the base.
  • the rotor 10 of the rotatable communication connector 320 can rotate freely.
  • the rotor 10 shell of this embodiment is fixedly connected to the antenna assembly 310, and the rotor 10 drives the antenna assembly 310 to rotate together.
  • the rotation axis may be an imaginary axis or a real axis. When the rotation axis is a real axis, the antenna assembly 310 rotates relative to the rotation axis, or the antenna assembly 310 rotates along the rotation axis.
  • the antenna component 310 of the radar 300 implements a communication connection with the external device through the first light sensor 30 and the second light sensor 40, and the antenna component 310 sequentially passes the detected obstacle information through the first
  • the light sensor 30 and the second light sensor 40 are sent to the external device, and the external device may perform the next operation according to the received obstacle information, for example, control the movement of the mobile device.
  • the operation of the antenna assembly 310 may also be controlled by an external device.
  • the external device sends a control instruction to the first light sensor 30 through the second light sensor 40, and the first light sensor 30 sends the control instruction to the first light sensor 30.
  • the control instruction is sent to the antenna assembly 310 to control the operation of the antenna assembly 310.
  • the radar 300 of this embodiment can be applied to a mobile device, such as an unmanned aerial vehicle, a remotely controlled vehicle, a remotely controlled boat, or other movable devices.
  • a third embodiment of the present invention provides an unmanned aerial vehicle, including a chassis 100, a control system 200, and a radar 300.
  • a chassis 100 including a chassis 100, a control system 200, and a radar 300.
  • a radar 300 for the structure, function, working principle, and effect of the radar 300, reference may be made to the description in Embodiment 1, and details are not described herein again.
  • the radar 300 is disposed on the rack 100, and the antenna assembly 310 of the radar 300 is communicatively connected with the control system 200 through the first light sensor 30 and the second light sensor 40 to detect the
  • the obtained obstacle information is sequentially transmitted to the control system 200 through the first light sensor 30 and the second light sensor 40, and the control system 200 can control the flight of the mobile device according to the received obstacle information to realize the mobile device Obstacle avoidance.
  • the control system 200 may also send the radar 300 control instruction sent by the remote control device to the radar 300 via the second light sensor 40 and the first light sensor 30 in order to control the work of the radar 300.
  • the rack 100 may include a main body 110 and tripods 120 connected to both sides of the bottom of the main body 110. Further, the rack 100 may further include arms 130 connected to two sides of the body 110.
  • the radar 300 is fixedly connected to the tripod 120. Of course, the radar 300 may be fixedly connected to the fuselage 110 or the machine arm 130.
  • control system 200 in this embodiment may be a flight controller or an independent controller provided on the fuselage 110.
  • the drone of this embodiment may be a four-rotor drone or an eight-rotor drone.
  • a propeller 400 may be connected to an end of the arm 130 remote from the fuselage 110 to provide flying power for the drone.
  • the drone is a plant protection drone
  • a bin 500 is provided at the bottom of the fuselage 110 for installing pesticides or seeds.
  • a spreading mechanism (not shown) may be provided on the material box 500, and the seeding mechanism cooperates with the material box 500. Seeds can be installed in the bin 500, and then spread by a spreading mechanism to realize automated agricultural operations.
  • a spraying mechanism 600 may be provided at an end of the machine arm 130 remote from the main body 110, and the spraying mechanism 600 also cooperates with the bin 500. The pesticide can be installed in the bin 500, and then sprayed with the pesticide through the spraying mechanism 600 to realize automatic agricultural operations.

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  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • General Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Optical Communication System (AREA)
  • Arrangements For Transmission Of Measured Signals (AREA)

Abstract

A rotatable communication connector (320), and a radar (300) and an unmanned aerial vehicle provided with the rotatable communication connector, the rotatable communication connector (320) comprising a rotor (10), a stator (20), a first light sensor (30) provided in the rotor (10) and a second light sensor (40) provided in the stator (20), wherein the rotor (10) may rotate freely; the stator (20) and the rotor (10) are spaced apart opposite to each other, and the rotor (10) is rotatable relative to the stator (20); the first light sensor (30) is used for receiving and/or transmitting a light signal; the second light sensor (40) is used for receiving and/or transmitting a light signal; and the first light sensor (30) is disposed opposite to the second light sensor (40). When the rotor (10) rotates relative to the stator (20), the first light sensor (30) is always aligned with the second light sensor (40), so that the relative position relationship between the first light sensor (30) and the second light sensor (40) remains unchanged. One of the first light sensor (30) and the second light sensor (40) transmits an optical signal, and the other of the two receives the optical signal, thereby performing optical communication. Thus, a wireless design in a slip ring is achieved, and the reliability of communication is improved.

Description

可旋转通信连接器及具有其的雷达、无人飞行器Rotatable communication connector and radar and unmanned aerial vehicle with same 技术领域Technical field
本发明涉及连接器领域，尤其涉及一种可旋转通信连接器及具有其的雷达、无人飞行器。The invention relates to the field of connectors, in particular to a rotatable communication connector and a radar and an unmanned aerial vehicle having the same.
背景技术Background technique
在工业设备中，存在很多需要自转或者公转的场合。通常，很多旋转设备的定子和转子设备是独立的。在旋转的同时，定子需要和转子进行通信，互相协调工作。因此，建立定子和转子间的通信链路尤为重要。In industrial equipment, there are many situations where rotation or revolution is required. Generally, the stator and rotor devices of many rotating devices are independent. While rotating, the stator needs to communicate with the rotor to work in harmony with each other. Therefore, it is particularly important to establish a communication link between the stator and the rotor.
现有滑环主要使用有线链路通信，这种方案虽然简单，但因为旋转设备的运动性，滑环内使用导线连接会增加通信的不可靠性，同时，在旋转的过程中，导线可能会与滑环内壁产生摩擦而出现磨损，严重影响通信质量，减少设备的使用寿命。The existing slip ring mainly uses a wired link for communication. Although this solution is simple, because of the mobility of the rotating device, the use of a wire connection in the slip ring will increase the reliability of the communication. At the same time, the wire may The friction with the inner wall of the slip ring causes wear and tear, which seriously affects the communication quality and reduces the service life of the device.
现有一部分滑环也使用了无线电通信，比如2.4G、5G等等，但无线电通信很容易受到外部电磁波的干扰，并且耗电较大，功率和辐射也比较大，不适宜长时间工作。Some existing slip rings also use radio communication, such as 2.4G, 5G, etc. However, radio communication is easily susceptible to external electromagnetic waves, and consumes a large amount of power. The power and radiation are also large, which is not suitable for long-term work.
发明内容Summary of the invention
本发明提供一种可旋转通信连接器及具有其的雷达、无人飞行器。The invention provides a rotatable communication connector and a radar and an unmanned aerial vehicle having the same.
具体地，本发明是通过如下技术方案实现的：Specifically, the present invention is implemented by the following technical solutions:
根据本发明的第一方面，提供一种可旋转通信连接器，包括：According to a first aspect of the present invention, a rotatable communication connector is provided, including:
转子，所述转子能够自由转动；A rotor that can rotate freely;
定子，与所述转子相对间隔设置，并且所述转子相对于所述定子可转动；A stator, which is spaced apart from the rotor, and the rotor is rotatable with respect to the stator;
设于所述转子的第一光传感器，所述第一光传感器用于接收或/及发射光信号；以及A first light sensor provided on the rotor, the first light sensor being configured to receive or / and transmit a light signal; and
设于所述定子的第二光传感器，所述第二光传感器用于接收或/及发射光信号；A second light sensor provided on the stator, the second light sensor is configured to receive or / and transmit a light signal;
其中，所述第一光传感器与所述第二光传感器相对设置；Wherein, the first light sensor is disposed opposite to the second light sensor;
在所述转子相对于所述定子相对转动时，所述第一光传感器始终对准所述第二光传感器，使得所述第一光传感器与所述第二光传感器的相对位置关系保持不变；所述第一光传感器及所述第二光传感器中的一个发射光信号，另外一个接收光信号，从而进行光通信。When the rotor is relatively rotated with respect to the stator, the first light sensor is always aligned with the second light sensor, so that the relative position relationship between the first light sensor and the second light sensor remains unchanged ; One of the first light sensor and the second light sensor transmits an optical signal, and the other receives the optical signal, thereby performing optical communication.
根据本发明的第二方面，提供一种雷达，包括底座、天线组件以及可旋转通信 连接器；其中，所述天线组件设于所述底座的上方，所述天线组件相对于所述底座绕一旋转轴可旋转；所述可旋转通信连接器包括转子、定子、设于所述转子的第一光传感器以及设于所述定子的第二光传感器；According to a second aspect of the present invention, a radar is provided, which includes a base, an antenna component, and a rotatable communication connector; wherein the antenna component is disposed above the base, and the antenna component is wound around a base relative to the base. The rotating shaft is rotatable; the rotatable communication connector includes a rotor, a stator, a first light sensor provided on the rotor, and a second light sensor provided on the stator;
所述转子能够自由转动，转子壳固定连接所述天线组件，与所述天线组件一起转动；The rotor can rotate freely, and the rotor case is fixedly connected to the antenna assembly, and rotates together with the antenna assembly;
所述定子与所述转子相对间隔设置，并且所述转子相对于所述定子可转动；The stator and the rotor are spaced apart from each other, and the rotor is rotatable relative to the stator;
所述第一光传感器用于接收或/及发射光信号；The first light sensor is configured to receive or / and transmit a light signal;
所述第二光传感器用于接收或/及发射光信号；The second light sensor is used for receiving or / and transmitting a light signal;
其中，所述第一光传感器与所述第二光传感器相对设置；Wherein, the first light sensor is disposed opposite to the second light sensor;
在所述转子相对于所述定子相对转动时，所述第一光传感器始终对准所述第二光传感器，使得所述第一光传感器与所述第二光传感器的相对位置关系保持不变；所述第一光传感器及所述第二光传感器中的一个发射光信号，另外一个接收光信号，从而进行光通信。When the rotor is relatively rotated with respect to the stator, the first light sensor is always aligned with the second light sensor, so that the relative position relationship between the first light sensor and the second light sensor remains unchanged ; One of the first light sensor and the second light sensor transmits an optical signal, and the other receives the optical signal, thereby performing optical communication.
根据本发明的第三方面，提供一种无人飞行器，包括机架、控制系统和设于所述机架的的雷达；所述雷达包括底座、天线组件以及可旋转通信连接器；其中，所述天线组件设于所述底座的上方，所述天线组件相对于所述底座绕一旋转轴可旋转；所述可旋转通信连接器包括转子、定子、设于所述转子的第一光传感器以及设于所述定子的第二光传感器；According to a third aspect of the present invention, there is provided an unmanned aerial vehicle including a chassis, a control system, and a radar provided on the chassis; the radar includes a base, an antenna assembly, and a rotatable communication connector; The antenna assembly is disposed above the base, and the antenna assembly is rotatable about a rotation axis with respect to the base; the rotatable communication connector includes a rotor, a stator, a first light sensor provided on the rotor, and A second light sensor provided on the stator;
所述转子能够自由转动，转子壳固定连接所述天线组件，与所述天线组件一起转动；The rotor can rotate freely, and the rotor case is fixedly connected to the antenna assembly, and rotates together with the antenna assembly;
所述定子与所述转子相对间隔设置，并且所述转子相对于所述定子可转动；The stator and the rotor are spaced apart from each other, and the rotor is rotatable relative to the stator;
所述第一光传感器用于接收或/及发射光信号；The first light sensor is configured to receive or / and transmit a light signal;
所述第二光传感器用于接收或/及发射光信号；The second light sensor is used for receiving or / and transmitting a light signal;
其中，所述第一光传感器与所述第二光传感器相对设置；Wherein, the first light sensor is disposed opposite to the second light sensor;
在所述转子相对于所述定子相对转动时，所述第一光传感器始终对准所述第二光传感器，使得所述第一光传感器与所述第二光传感器的相对位置关系保持不变；所述第一光传感器及所述第二光传感器中的一个发射光信号，另外一个接收光信号，从而进行光通信。When the rotor is relatively rotated with respect to the stator, the first light sensor is always aligned with the second light sensor, so that the relative position relationship between the first light sensor and the second light sensor remains unchanged ; One of the first light sensor and the second light sensor transmits an optical signal, and the other receives the optical signal, thereby performing optical communication.
由以上本发明实施例提供的技术方案可见，本发明通过设置第一光传感器和第二光传感器实现转子和定子之间的信号传输，实现滑环内的无线化设计，转子相对定子旋转过程中，不会对通信硬件造成磨损，提高了通信的可靠性。同时，光通信方式大大降低了通信过程中产生的功耗和辐射，特别适合长时间工作。It can be seen from the technical solutions provided by the embodiments of the present invention that the present invention implements signal transmission between the rotor and the stator by setting the first light sensor and the second light sensor, and realizes wireless design in the slip ring. During the rotation of the rotor relative to the stator, , Will not cause wear to the communication hardware and improve the reliability of communication. At the same time, the optical communication method greatly reduces power consumption and radiation generated during communication, and is particularly suitable for long-term work.
附图说明BRIEF DESCRIPTION OF THE DRAWINGS
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。In order to explain the technical solutions in the embodiments of the present invention more clearly, the drawings used in the description of the embodiments are briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without paying creative labor.
图1是本发明一实施例中的可旋转通信连接器的结构框图；1 is a structural block diagram of a rotatable communication connector according to an embodiment of the present invention;
图2是本发明一实施例中的可旋转通信连接器的结构示意图；2 is a schematic structural diagram of a rotatable communication connector according to an embodiment of the present invention;
图3是本发明一实施例中的可旋转通信连接器的另一结构框图；FIG. 3 is another structural block diagram of a rotatable communication connector according to an embodiment of the present invention; FIG.
图4是本发明一实施例中的可旋转通信连接器的又一结构框图；4 is another structural block diagram of a rotatable communication connector according to an embodiment of the present invention;
图5是本发明一实施例中的雷达的结构框图；5 is a structural block diagram of a radar in an embodiment of the present invention;
图6是本发明一实施例中的无人飞行器的立体图；6 is a perspective view of an unmanned aerial vehicle in an embodiment of the present invention;
图7是本发明一实施例中的无人飞行器的结构框图。FIG. 7 is a structural block diagram of an unmanned aerial vehicle in an embodiment of the present invention.
附图标记：100：机架；110：机身；120：脚架；130：机臂；200：控制系统；300：雷达；310：天线组件；320：可旋转通信连接器；10：转子；20：定子；30：第一光传感器；31：第一光发射器；32：第二光接收器；40：第二光传感器；41：第一光接收器；42：第二光发射器；50：第一信号转换电路；60：第二信号转换电路；400：螺旋桨；500：料箱；600：喷洒机构。Reference numerals: 100: frame; 110: fuselage; 120: tripod; 130: arm; 200: control system; 300: radar; 310: antenna assembly; 320: rotatable communication connector; 10: rotor; 20: stator; 30: first light sensor; 31: first light transmitter; 32: second light receiver; 40: second light sensor; 41: first light receiver; 42: second light transmitter; 50: first signal conversion circuit; 60: second signal conversion circuit; 400: propeller; 500: material box; 600: spraying mechanism.
具体实施方式detailed description
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。In the following, the technical solutions in the embodiments of the present invention will be clearly and completely described with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.
下面结合附图，对本发明的可旋转通信连接器及具有其的雷达、无人飞行器进行详细说明。在不冲突的情况下，下述的实施例及实施方式中的特征可以相互组合。The rotatable communication connector and the radar and unmanned aerial vehicle having the same according to the present invention will be described in detail below with reference to the drawings. In the case of no conflict, the features of the following embodiments and implementations can be combined with each other.
首先，通过下述实施例一对本申请提供的可旋转通信连接器进行详细说明：First, the rotatable communication connector provided in this application is described in detail through the following embodiments:
实施例一Example one
结合图1和图2，本发明实施例一提供的一种可旋转通信连接器320，包括转子10、定子20、第一光传感器30和第二光传感器40。其中，所述转子10与所述定子20相对间隔设置，所转子10能够自由转动，本实施例的转子10能够相对于所述定子20可转动。所述第一光传感器30设于所述转子10，所述第一光传感器30可设于所述转子10的内部，也可设于所述转子10的外表面，具体可根据需要设置第一光传 感器30的设置在转子10上的位置。所述第二光传感器40设于所述定子20，所述第二光传感器40可设于所述定子20的内部，也可设于所述定子20的外表面，具体可根据需要设置第二光传感器40的设置在定子20上的位置。With reference to FIGS. 1 and 2, a rotatable communication connector 320 according to the first embodiment of the present invention includes a rotor 10, a stator 20, a first light sensor 30, and a second light sensor 40. Wherein, the rotor 10 and the stator 20 are relatively spaced apart, so that the rotor 10 can rotate freely, and the rotor 10 in this embodiment can rotate with respect to the stator 20. The first light sensor 30 is disposed on the rotor 10. The first light sensor 30 may be disposed on the inside of the rotor 10 or on the outer surface of the rotor 10. Specifically, a first light sensor 30 may be provided as required. The position of the light sensor 30 provided on the rotor 10. The second light sensor 40 is provided on the stator 20, and the second light sensor 40 may be provided on the inside of the stator 20 or on the outer surface of the stator 20. Specifically, a second light sensor 40 may be provided as required. The position of the light sensor 40 provided on the stator 20.
在本实施例中，所述第一光传感器30与所述第二光传感器40相对设置。所述第一光传感器30用于接收或/及发射光信号，所述第二光传感器40用于接收或/及发射光信号。具体的，在所述转子10相对于所述定子20相对转动时，所述第一光传感器30始终对准所述第二光传感器40，使得所述第一光传感器30与所述第二光传感器40的相对位置关系保持不变。所述第一光传感器30及所述第二光传感器40中的一个发射光信号，另外一个接收光信号，从而进行光通信。本发明实施例通过设置第一光传感器30和第二光传感器40实现转子10和定子20之间的信号传输，实现滑环内的无线化设计，转子10相对定子20旋转过程中，不会对通信硬件造成磨损，提高了通信的可靠性。同时，光通信方式大大降低了通信过程中产生的功耗和辐射，特别适合长时间工作。In this embodiment, the first light sensor 30 is disposed opposite to the second light sensor 40. The first light sensor 30 is used for receiving or / and transmitting optical signals, and the second light sensor 40 is used for receiving or / and transmitting optical signals. Specifically, when the rotor 10 is relatively rotated relative to the stator 20, the first light sensor 30 is always aligned with the second light sensor 40, so that the first light sensor 30 and the second light sensor The relative positional relationship of the sensor 40 remains unchanged. One of the first light sensor 30 and the second light sensor 40 transmits an optical signal, and the other receives the optical signal, thereby performing optical communication. In the embodiment of the present invention, the first light sensor 30 and the second light sensor 40 are provided to realize signal transmission between the rotor 10 and the stator 20, and realize wireless design in the slip ring. During the rotation of the rotor 10 relative to the stator 20, Communication hardware causes wear and tear, improving communication reliability. At the same time, the optical communication method greatly reduces power consumption and radiation generated during communication, and is particularly suitable for long-term work.
以下实施例将结合附图，对第一光传感器30与第二光传感器40各自的结构，以及该两者共同配合，实现光通信的具体实现原理、实现过程进行详细描述。The following embodiments will describe in detail the respective structures of the first light sensor 30 and the second light sensor 40 and the specific implementation principles and processes of realizing optical communication in cooperation with each other in conjunction with the drawings.
参见图1，所述转子10用于与第一外部设备固定连接，所述定子20用于与第二外部设备固定连接，本实施例的转子10能够带动第一外部设备转动。其中，所述第一光传感器30将所述第一外部设备获取的数据(可以为第一外部设备感测的数据，也可为外部发送至第一外部设备的数据，还可为第一外部设备被触发而产生的数据等等)发送至所述第二光传感器40，由所述第二光传感器40将所述第一外部设备获取的数据发送至所述第二外部设备。Referring to FIG. 1, the rotor 10 is used for fixed connection with a first external device, and the stator 20 is used for fixed connection with a second external device. The rotor 10 in this embodiment can drive the first external device to rotate. Wherein, the first light sensor 30 may obtain data obtained by the first external device (which may be data sensed by the first external device, may also be data sent externally to the first external device, or may be first external device). Data generated by the device being triggered, etc.) are sent to the second light sensor 40, and the second light sensor 40 sends data acquired by the first external device to the second external device.
需要说明的是，本发明实施例中，所述第一外部设备和所述第二外部设备的位置可互换，如所述转子10用于与第二外部设备固定连接，所述定子20用于与第一外部设备固定连接，所述第一光传感器30将所述第二外部设备获取的数据(可以为第二外部设备感测的数据，也可为外部发送至第二外部设备的数据，还可为第二外部设备被触发而产生的数据等等)发送至所述第二光传感器40，由所述第二光传感器40将所述第二外部设备获取的数据发送至所述第一外部设备。It should be noted that, in the embodiment of the present invention, the positions of the first external device and the second external device are interchangeable. For example, the rotor 10 is used for fixed connection with the second external device, and the stator 20 is used for For the fixed connection with the first external device, the first light sensor 30 will obtain the data obtained by the second external device (which may be data sensed by the second external device or data sent externally to the second external device). Data generated by the second external device being triggered, etc.) is sent to the second light sensor 40, and the second light sensor 40 sends data acquired by the second external device to the first light sensor 40 An external device.
具体需要考虑第一外部设备和第二外部设备的工作方式来选择上述两种实现方式中的一种。具体到本实施例的图中，为转子10与第一外部设备固定连接，定子20与第二外部设备固定连接。Specifically, the working modes of the first external device and the second external device need to be considered to select one of the above two implementation modes. Specifically, in the figure of the embodiment, the rotor 10 is fixedly connected to the first external device, and the stator 20 is fixedly connected to the second external device.
本实施例对转子10与第一外部设备、定子20与第二外部设备的固定方式不作限定，可选择现有任意固定方式固定转子10与第一外部设备以及定子20与第二外部设备。In this embodiment, the fixing manners of the rotor 10 and the first external device, the stator 20 and the second external device are not limited, and any existing fixing method may be selected to fix the rotor 10 and the first external device, and the stator 20 and the second external device.
第一光传感器30和第二光传感器40可以为单向通信方式，可实现第一外部设 备->第一光传感器30->第二光传感器40->第二外部设备，和，第二外部设备->第二光传感器40->第一光传感器30->第一外部设备；第一光传感器30和第二光传感器40也可以为双向通信方式，可实现第一外部设备->第一光传感器30->第二光传感器40->第二外部设备，或者，第二外部设备->第二光传感器40->第一光传感器30->第一外部设备。The first light sensor 30 and the second light sensor 40 may be a unidirectional communication method, which may implement a first external device-> a first light sensor 30-> a second light sensor 40-> a second external device, and a second external device Device-> second light sensor 40-> first light sensor 30-> first external device; the first light sensor 30 and the second light sensor 40 can also be a two-way communication method, which can realize the first external device-> first Light sensor 30-> second light sensor 40-> second external device, or second external device-> second light sensor 40-> first light sensor 30-> first external device.
在一可行的实现方式中，所述第一外部设备为感测装置，所述第二外部设备为控制装置，第一光传感器30和第二光传感器40为双向通信方式。In a feasible implementation manner, the first external device is a sensing device, the second external device is a control device, and the first light sensor 30 and the second light sensor 40 are bidirectional communication methods.
其中，所述第一外部设备可以为雷达300或者云台相机等，所述第二外部设备可以为无人飞行器或者遥控车辆等。The first external device may be a radar 300 or a gimbal camera, and the second external device may be an unmanned aerial vehicle or a remotely controlled vehicle.
在本实现方式中，所述第一光传感器30将所述第一外部设备获取的数据(此处为第一外部设备感测的数据)发送至所述第二光传感器40，由所述第二光传感器40将所述第一外部设备获取的数据发送至所述第二外部设备。并且，所述第二光传感器40将所述第二外部设备发送的控制指令发送至所述第一光传感器30，所述第一光传感器30将所述控制指令发送至第一外部设备，以控制所述第一外部设备的工作。In this implementation manner, the first light sensor 30 sends data acquired by the first external device (here, data sensed by the first external device) to the second light sensor 40. The two light sensors 40 send data acquired by the first external device to the second external device. In addition, the second light sensor 40 sends a control instruction sent by the second external device to the first light sensor 30, and the first light sensor 30 sends the control instruction to the first external device to Controlling the operation of the first external device.
例如，所述第一外部设备为雷达300，所述第二外部设备为无人飞行器。本实施例中，转子10与雷达300的天线组件310固定连接，天线组件310感测障碍物信息并发送至第一光传感器30，第一光传感器30与第二光传感器40光通信，从而由所述第二光传感器40将所述障碍物信息发送至无人机。无人机在接收到遥控设备发送的雷达300的控制指令后，通过第二光传感器40将雷达300的控制指令发送至第一光传感器30，再由第一光传感器30将雷达300的控制指令发送至雷达300，从而控制天线组件310的扫描频率等，实现对雷达300的工作控制。For example, the first external device is a radar 300, and the second external device is an unmanned aerial vehicle. In this embodiment, the rotor 10 is fixedly connected to the antenna component 310 of the radar 300. The antenna component 310 senses obstacle information and sends it to the first light sensor 30. The first light sensor 30 and the second light sensor 40 are in optical communication. The second light sensor 40 sends the obstacle information to the drone. After receiving the control command of the radar 300 sent by the remote control device, the drone sends the control command of the radar 300 to the first light sensor 30 through the second light sensor 40, and the first light sensor 30 sends the control command of the radar 300 Send to the radar 300 to control the scanning frequency of the antenna assembly 310, etc., and implement the operation control of the radar 300.
在其他的实现方式中，第二外部设备还可以为数据处理装置、存储装置等。In other implementations, the second external device may also be a data processing device, a storage device, or the like.
为保证转子10旋转的过程中，第一光传感器30和第二光传感器40能够一直对准，以确保光通信的可靠性，在一些实施例中，所述第一光传感器30位于所述转子10的旋转轴线上。而在另一些实施例中，所述第二光传感器40位于所述转子10的旋转轴线上。To ensure that during the rotation of the rotor 10, the first light sensor 30 and the second light sensor 40 can always be aligned to ensure the reliability of the optical communication. In some embodiments, the first light sensor 30 is located on the rotor. 10 on the axis of rotation. In other embodiments, the second light sensor 40 is located on a rotation axis of the rotor 10.
另外，本实施例的第一光传感器30设于所述转子10朝向所述定子20一侧，第二光传感器40设于所述定子20朝向所述转子10的一侧，方便第一光传感器30和第二光传感器40的对准，降低了其他器件对第一光传感器30和第二光传感器40遮挡的可能性，从而提高了第一光传感器30和第二光传感器40之间光通信的稳定性。In addition, the first light sensor 30 of this embodiment is provided on the side of the rotor 10 facing the stator 20, and the second light sensor 40 is provided on the side of the stator 20 facing the rotor 10, which facilitates the first light sensor The alignment of 30 and the second light sensor 40 reduces the possibility of other devices blocking the first light sensor 30 and the second light sensor 40, thereby improving the optical communication between the first light sensor 30 and the second light sensor 40. The stability.
在本实施例中，参见图1，所述第一光传感器30包括第一光发射器31，所述第二光传感器40包括第一光接收器41，所述第一光发射器31的光发射端和所述第一光接收器41的光接收端对准，实现第一外部设备->第一光传感器30->第二光传感器40->第二外部设备这一数据传输过程。所述第一光传感器30还包括第二光接收器32， 所述第二光传感器40还包括第二光发射器42，所述第二光发射器42的光发射端和所述第二光接收器32的光接收端对准，实现第二外部设备->第二光传感器40->第一光传感器30->第一外部设备这一数据传输过程。In this embodiment, referring to FIG. 1, the first light sensor 30 includes a first light transmitter 31, and the second light sensor 40 includes a first light receiver 41. The transmitting end is aligned with the light receiving end of the first optical receiver 41 to realize the data transmission process of the first external device-> first optical sensor 30-> second optical sensor 40-> second external device. The first light sensor 30 further includes a second light receiver 32, and the second light sensor 40 further includes a second light transmitter 42, a light emitting end of the second light transmitter 42, and the second light The light receiving end of the receiver 32 is aligned to realize the data transmission process of the second external device-> the second light sensor 40-> the first light sensor 30-> the first external device.
其中，所述第一光发射器31发射的光的波长与所述第二光发射器42发射的光的波长不相同，第一光发射器31->第一光接收器41、第二光发射器42->第二光接收器32使用不同的光的波长进行通信，提高了通信的可靠性。比如，第一光发射器31发射的光的波长由450nm到750nm，第二光发射器42发射的光的波长由200nm至400nm，第一光发射器31发射的光的波长、第二光发射器42发射的光的波长也可选择其他波段或者波长点值。The wavelength of the light emitted by the first light emitter 31 is different from the wavelength of the light emitted by the second light emitter 42. The first light emitter 31-> the first light receiver 41 and the second light The transmitter 42-> the second optical receiver 32 uses different wavelengths of light for communication, improving the reliability of communication. For example, the wavelength of light emitted by the first light emitter 31 is 450 nm to 750 nm, the wavelength of light emitted by the second light emitter 42 is 200 nm to 400 nm, the wavelength of light emitted by the first light emitter 31, and the second light emission The wavelength of the light emitted by the device 42 may also be selected from other wavelength bands or wavelength point values.
进一步的，所述第一光接收器41朝向所述第一光发射器31的一侧设有第一光学滤光片，所述第二光接收器32朝向所述第二光发射器42的一侧设有第二光学滤光片，其中，所述第一光学滤光片的透光波段和所述第二光学滤光片的透光波段不相同。本实施例通过设置第一光学滤光片，第一光接收器41不会接收到第二光发射器42发出的光信号；同样，通过设置第二光学滤光片，第二光接收器32不会接收到第一光发射器31发出的光信号。并且，设置第一光学滤光片和第二光学滤光片，还能够避免外部环境光的干扰。Further, a side of the first light receiver 41 facing the first light emitter 31 is provided with a first optical filter, and the second light receiver 32 faces the second light transmitter 42. A second optical filter is provided on one side, wherein the transmission wavelength band of the first optical filter and the transmission wavelength band of the second optical filter are different. In this embodiment, by providing a first optical filter, the first optical receiver 41 will not receive the optical signal from the second optical transmitter 42. Similarly, by providing a second optical filter, the second optical receiver 32 No optical signal from the first optical transmitter 31 will be received. In addition, the provision of the first optical filter and the second optical filter can also avoid interference from external ambient light.
例如，第一光学滤光片的透光波段为450nm到750nm，即只有波长为450nm到750nm范围内的光才能通过第一光学滤光片被第一光接收器41接收，避免了其他光信号的干扰。第二光学滤光片的透光波段为200nm至400nm，即只有波长为200nm至400nm范围内的光才能通过第二光学滤光片被第一光接收器41接收，避免了其他光信号的干扰。第一光学滤光片的透光波段、第二光学滤光片的透光波段也可选择其他波段，本实施例对此不作限定。For example, the transmission band of the first optical filter is 450nm to 750nm, that is, only light with a wavelength in the range of 450nm to 750nm can be received by the first optical receiver 41 through the first optical filter, thereby avoiding other optical signals. Interference. The transmission band of the second optical filter is 200nm to 400nm, that is, only light with a wavelength in the range of 200nm to 400nm can be received by the first optical receiver 41 through the second optical filter, thereby avoiding interference of other optical signals . The transmission wavelength band of the first optical filter and the transmission wavelength band of the second optical filter may also be selected from other wavelength bands, which is not limited in this embodiment.
而转子10旋转的过程中，为保证第一光发射器31和第一光接收器41能够一直对准，并保证第二光发射器42和第二光接收器32能够一直对准，从而确保光通信的可靠性，所述第一光接收器41的光接收端和所述第二光接收器32的光接收端均位于所述转子10的旋转轴线方向上。本实施例中，第一光接收器41的光接收端和第二光接收器32的光接收端均为一光接收面，所述第一光接收器41的光接收端和所述第二光接收器32的光接收端均位于所述转子10的旋转轴线方向上是指：所述第一光接收器41的光接收面的中心和所述第二光接收器32的光接收面的中心均位于所述转子10的旋转轴线上。During the rotation of the rotor 10, in order to ensure that the first light transmitter 31 and the first light receiver 41 can always be aligned, and to ensure that the second light transmitter 42 and the second light receiver 32 can always be aligned, thereby ensuring that For the reliability of optical communication, the light receiving end of the first light receiver 41 and the light receiving end of the second light receiver 32 are both located in the rotation axis direction of the rotor 10. In this embodiment, the light receiving end of the first light receiver 41 and the light receiving end of the second light receiver 32 are both a light receiving surface, and the light receiving end of the first light receiver 41 and the second light receiver The fact that the light receiving ends of the light receiver 32 are located in the rotation axis direction of the rotor 10 means that the center of the light receiving surface of the first light receiver 41 and the center of the light receiving surface of the second light receiver 32 The centers are located on the rotation axis of the rotor 10.
具体的，所述第一光发射器31距离所述转子10的旋转轴线预设距离且设于所述转子10内，所述第一光发射器31的光发射端和所述第一光接收器41的光接收端的连线与所述转子10的旋转轴线成一倾斜角。所述第一光接收器41设于所述定子20内，并且所述第一光接收器41的光接收端位于所述转子10的旋转轴线上。在转子10 的旋转过程中，第一光发射器31发射的光与所述第一光发射器31的光发射端和所述第一光接收器41的光接收端的连线大致平行，从而确保第一光发射器31发射的光始终能够被第一光接收器41的接收端所接收。Specifically, the first light emitter 31 is located at a preset distance from the rotation axis of the rotor 10 and is disposed in the rotor 10. The light emitting end of the first light emitter 31 and the first light receiving The connection line of the light receiving end of the device 41 forms an inclined angle with the rotation axis of the rotor 10. The first light receiver 41 is disposed in the stator 20, and a light receiving end of the first light receiver 41 is located on a rotation axis of the rotor 10. During the rotation of the rotor 10, the light emitted by the first light emitter 31 is substantially parallel to the line between the light emitting end of the first light emitter 31 and the light receiving end of the first light receiver 41, thereby ensuring that The light emitted by the first light transmitter 31 can always be received by the receiving end of the first light receiver 41.
其中，所述第一光发射器31的光发射端和所述第一光接收器41的光接收端的连线与所述转子10的旋转轴线之间的倾斜角λ1的计算公式如下：The calculation formula of the inclination angle λ1 between the connection line between the light emitting end of the first light emitter 31 and the light receiving end of the first light receiver 41 and the rotation axis of the rotor 10 is as follows:
λ1＝arctan(a1/b)      (1)；λ1 = arctan (a1 / b) (1);
上述公式(1)中，a1为所述第一光发射器31的光发射端至所述转子10的旋转轴线的距离，b为所述转子10和所述定子20之间的间距。In the above formula (1), a1 is the distance from the light emitting end of the first light emitter 31 to the rotation axis of the rotor 10, and b is the distance between the rotor 10 and the stator 20.
需要说明的是，λ1的计算方式并不限于上述公式(1)，例如，还可根据经验误差系数和a1、b来计算λ1。It should be noted that the calculation method of λ1 is not limited to the above formula (1). For example, λ1 can also be calculated based on the empirical error coefficient and a1 and b.
进一步的，所述第二光发射器42距离所述转子10的旋转轴线预设距离处设于所述定子20内，所述第二光发射器42的发射端和所述第二光接收器32的光接收端的连线与所述转子10的旋转轴线成一倾斜角。所述第二光接收器32位于所述转子10内，并且所述第二光接收器32的光接收端位于所述转子10的旋转轴线上。在转子10的旋转过程中，第二光发射器42发射的光与所述第二光发射器42的光发射端和所述第二光接收器32的光接收端的连线大致平行，从而确保第二光发射器42发射的光始终能够被第二光接收器32的接收端所接收。Further, the second optical transmitter 42 is disposed in the stator 20 at a preset distance from the rotation axis of the rotor 10, and the transmitting end of the second optical transmitter 42 and the second optical receiver The connecting line of the light receiving end of 32 forms an inclined angle with the rotation axis of the rotor 10. The second light receiver 32 is located in the rotor 10, and a light receiving end of the second light receiver 32 is located on a rotation axis of the rotor 10. During the rotation of the rotor 10, the light emitted by the second light emitter 42 is substantially parallel to the line between the light emitting end of the second light emitter 42 and the light receiving end of the second light receiver 32, thereby ensuring that The light emitted by the second light transmitter 42 can always be received by the receiving end of the second light receiver 32.
其中，所述第二光发射器42的光发射端和所述第二光接收器32的光接收端的连线与所述转子10的旋转轴线之间的倾斜角λ2的计算公式如下：The calculation formula of the inclination angle λ2 between the connection line between the light emitting end of the second light transmitter 42 and the light receiving end of the second light receiver 32 and the rotation axis of the rotor 10 is as follows:
λ2＝arctan(a2/b)       (2)；λ2 = arctan (a2 / b) (2);
上述公式(2)中，a2为所述第二光发射器42的光发射端至所述转子10的旋转轴线的距离，b为所述转子10和所述定子20之间的间距。In the above formula (2), a2 is the distance from the light emitting end of the second light emitter 42 to the rotation axis of the rotor 10, and b is the distance between the rotor 10 and the stator 20.
需要说明的是，λ2的计算方式并不限于上述公式(2)，例如，还可根据经验误差系数和a1、b来计算λ2。It should be noted that the calculation method of λ2 is not limited to the above formula (2). For example, λ2 can also be calculated based on the empirical error coefficient and a1 and b.
a1和a2可以相等，也可以不相等。本实现方式中，a1和a2相等。a1 and a2 may or may not be equal. In this implementation, a1 and a2 are equal.
此外，第一光发射器31、第二光发射器42均为现有光发射器，比如，激光发射器。第一光接收器41和第二光接收器32也均为现有光感应传感器。In addition, the first light emitter 31 and the second light emitter 42 are both existing light emitters, such as a laser emitter. The first light receiver 41 and the second light receiver 32 are also existing light-sensing sensors.
参见图3，本实施例的可旋转通信连接器320还包括第一信号转换电路50，所述第一信号转换电路50与所述第一光接收器41电连接。所述第一光发射器31发射第一外部设备获取的数据所对应的第一光信号，所述第一光接收器41接收所述第一光信号并转换成第一电信号，所述第一信号转换电路50对所述第一电信号进行处理后，发送至第二外部设备。Referring to FIG. 3, the rotatable communication connector 320 in this embodiment further includes a first signal conversion circuit 50, and the first signal conversion circuit 50 is electrically connected to the first optical receiver 41. The first optical transmitter 31 transmits a first optical signal corresponding to data obtained by a first external device. The first optical receiver 41 receives the first optical signal and converts the first optical signal into a first electrical signal. A signal conversion circuit 50 processes the first electrical signal and sends it to a second external device.
具体的，所述第一信号转换电路50包括第一比较器，所述第一比较器与所述第二外部设备电连接。在所述第一电信号的幅值大于或者等于第一阈值(即第一光发射器31发射第一光信号)时，所述第一比较器输出第一信号至所述第二外部设备。在所述第一电信号的幅值小于第一阈值(即第一光发射器31未发射第一光信号)时，所述第一比较器输出第二信号至所述第二外部设备。Specifically, the first signal conversion circuit 50 includes a first comparator, and the first comparator is electrically connected to the second external device. When the amplitude of the first electrical signal is greater than or equal to a first threshold (that is, the first optical transmitter 31 transmits the first optical signal), the first comparator outputs the first signal to the second external device. When the amplitude of the first electrical signal is less than a first threshold (that is, the first optical transmitter 31 does not transmit the first optical signal), the first comparator outputs a second signal to the second external device.
本实施例中，第一电信号为电压信号，第一信号为1，第二信号为0。具体而言，第一光接收器41将接收到的第一光信号转换成第一电压，第一比较器在判断第一电压大于或者等于第一电压阈值即第一光发射器31发射第一光信号时，输出1至第二外部设备；在判断第一电压小于第一电压阈值即第一光发射器31未发射第一光信号时，输出0至第二外部设备，实现第一外部设备->第二外部设备之间的信号传输。In this embodiment, the first electrical signal is a voltage signal, the first signal is 1, and the second signal is 0. Specifically, the first optical receiver 41 converts the received first optical signal into a first voltage. The first comparator determines that the first voltage is greater than or equal to the first voltage threshold, that is, the first optical transmitter 31 transmits the first voltage. When the optical signal, output 1 to the second external device; when it is judged that the first voltage is less than the first voltage threshold, that is, the first optical transmitter 31 does not transmit the first optical signal, output 0 to the second external device to realize the first external device -> Signal transmission between the second external device.
进一步参见图4，本实施例的可旋转通信连接器320还包括第二信号转换电路60，所述第二信号转换电路60与所述第二光接收器32电连接。所述第二光发射器42发射第二外部设备输出的控制指令所对应的第二光信号，所述第二光接收器32接收所述第二光信号并转换成第二电信号，所述第二信号转换电路60对所述第二电信号进行处理后，发送至第一外部设备，以控制所述第一外部设备的工作。Further referring to FIG. 4, the rotatable communication connector 320 in this embodiment further includes a second signal conversion circuit 60, and the second signal conversion circuit 60 is electrically connected to the second optical receiver 32. The second optical transmitter 42 transmits a second optical signal corresponding to a control instruction output by a second external device, and the second optical receiver 32 receives the second optical signal and converts it into a second electrical signal. The second signal conversion circuit 60 processes the second electrical signal and sends it to a first external device to control the work of the first external device.
具体的，所述第二信号转换电路60包括第二比较器，所述第二比较器与所述第一外部设备电连接。在所述第二电信号的幅值大于或者等于第二阈值(第二光发射器41发射第二光信号)时，所述第二比较器输出第三信号至所述第一外部设备。在所述第二电信号的幅值小于第二阈值(第二光发射器41未发射第二光信号)时，所述第二比较器输出第四信号至所述第一外部设备。Specifically, the second signal conversion circuit 60 includes a second comparator, and the second comparator is electrically connected to the first external device. When the amplitude of the second electrical signal is greater than or equal to a second threshold (the second optical transmitter 41 emits a second optical signal), the second comparator outputs a third signal to the first external device. When the amplitude of the second electrical signal is less than a second threshold (the second optical transmitter 41 does not emit a second optical signal), the second comparator outputs a fourth signal to the first external device.
本实施例中，第二电信号为电压信号，第三信号为1，第四信号为0。具体而言，第二光接收器32将接收到的第二光信号转换成第二电压，第二比较器在判断第二电压大于或者等于第二电压阈值即第二光发射器41发射第二光信号时，输出1至第一外部设备；在判断第二电压小于第二电压阈值即第二光发射器41未发射第二光信号时，输出0至第一外部设备，实现第二外部设备->第一外部设备之间的信号传输。In this embodiment, the second electrical signal is a voltage signal, the third signal is 1, and the fourth signal is 0. Specifically, the second optical receiver 32 converts the received second optical signal into a second voltage, and the second comparator determines that the second voltage is greater than or equal to the second voltage threshold, that is, the second optical transmitter 41 transmits the second voltage. When an optical signal is output, 1 is output to the first external device; when it is judged that the second voltage is less than the second voltage threshold, that is, the second optical transmitter 41 does not transmit the second optical signal, it outputs 0 to the first external device to implement the second external device -> Signal transmission between the first external device.
本实施例的可旋转通信连接器320安装完毕后，首先需要对可旋转通信连接器320进行初始化，在初始化成功后，可旋转通信连接器320的转子10开始旋转，第一光传感器30和第二光传感器40开始进行光通信。其中，第一光传感器30接收第一外部设备发送的数据，并发射第一外部设备发送的数据对应的第一光信号，第二光传感器40接收第一光信号并转换成第一电信号。第一电信号再经第一比较器后，输入第二外部设备。并且，第二光传感器40接收第二外部设备发送的数据，并发射第二外部设备发送的数据对应的第二光信号，第一光传感器30接收第二光信号并转换成第二电信号。第二电信号再经第二比较器后，输入第一外部设备。After the rotatable communication connector 320 of this embodiment is installed, the rotatable communication connector 320 needs to be initialized first. After the initialization is successful, the rotor 10 of the rotatable communication connector 320 starts to rotate. The first light sensor 30 and the first The two optical sensors 40 start optical communication. The first light sensor 30 receives data sent by the first external device and transmits a first light signal corresponding to the data sent by the first external device, and the second light sensor 40 receives the first light signal and converts it into a first electrical signal. After the first electrical signal passes through the first comparator, it is input to the second external device. In addition, the second optical sensor 40 receives data sent by the second external device and transmits a second optical signal corresponding to the data sent by the second external device. The first optical sensor 30 receives the second optical signal and converts it into a second electrical signal. After the second electrical signal passes through the second comparator, it is input to the first external device.
此外，在本实施例中，又参见图1，所述可旋转通信连接器320还可包括轴承， 所述转子10和所述定子20通过所述轴承实现同轴连接。In addition, in this embodiment, referring to FIG. 1 again, the rotatable communication connector 320 may further include a bearing, and the rotor 10 and the stator 20 are coaxially connected through the bearing.
实施例二Example two
参见图5，本发明实施例二提供了一种雷达300，包括底座、天线组件310以及可旋转通信连接器320。其中，所述天线组件310设于所述底座的上方，所述天线组件310相对于所述底座绕一旋转轴(即转子10的旋转轴)可旋转。进一步，所述可旋转通信连接器320的转子10能够自由转动，本实施例的转子10壳固定连接所述天线组件310，所述转子10带动所述天线组件310一起转动。本实施例中，所述旋转轴可以为一虚轴，也可以为实轴。当所述旋转轴为实轴时，所述天线组件310相对于所述旋转轴旋转，或者，所述天线组件310跟随所述旋转轴一起旋转。Referring to FIG. 5, a second embodiment of the present invention provides a radar 300 including a base, an antenna assembly 310 and a rotatable communication connector 320. The antenna assembly 310 is disposed above the base, and the antenna assembly 310 is rotatable about a rotation axis (ie, the rotation axis of the rotor 10) with respect to the base. Further, the rotor 10 of the rotatable communication connector 320 can rotate freely. The rotor 10 shell of this embodiment is fixedly connected to the antenna assembly 310, and the rotor 10 drives the antenna assembly 310 to rotate together. In this embodiment, the rotation axis may be an imaginary axis or a real axis. When the rotation axis is a real axis, the antenna assembly 310 rotates relative to the rotation axis, or the antenna assembly 310 rotates along the rotation axis.
其中，所述可旋转通信连接器320的结构、功能、工作原理及效果可参见实施例一的描述，此处不再赘述。For the structure, function, working principle, and effect of the rotatable communication connector 320, reference may be made to the description in Embodiment 1, and details are not described herein again.
本实施例中，所述雷达300的天线组件310通过第一光传感器30和第二光传感器40与所述外部设备实现通信连接，所述天线组件310将检测到的障碍物信息依次经过第一光传感器30和第二光传感器40发送至所述外部设备，所述外部设备可根据接收到的障碍物信息执行下一步操作，例如，控制该移动设备的移动。In this embodiment, the antenna component 310 of the radar 300 implements a communication connection with the external device through the first light sensor 30 and the second light sensor 40, and the antenna component 310 sequentially passes the detected obstacle information through the first The light sensor 30 and the second light sensor 40 are sent to the external device, and the external device may perform the next operation according to the received obstacle information, for example, control the movement of the mobile device.
另外，也可通过外部设备来控制天线组件310的工作，具体的，所述外部设备通过第二光传感器40将控制指令发送至第一光传感器30，再由所述第一光传感器30将所述控制指令发送至所述天线组件310，以控制所述天线组件310的工作。In addition, the operation of the antenna assembly 310 may also be controlled by an external device. Specifically, the external device sends a control instruction to the first light sensor 30 through the second light sensor 40, and the first light sensor 30 sends the control instruction to the first light sensor 30. The control instruction is sent to the antenna assembly 310 to control the operation of the antenna assembly 310.
值得一提的是，本实施例的雷达300可应用于可移动设备，如无人飞行器、遥控车辆、遥控船或其他可移动设备。It is worth mentioning that the radar 300 of this embodiment can be applied to a mobile device, such as an unmanned aerial vehicle, a remotely controlled vehicle, a remotely controlled boat, or other movable devices.
下述实施例将以雷达300应用于无人飞行器为例进行说明。The following embodiments will be described by taking the application of the radar 300 to an unmanned aerial vehicle as an example.
实施例三Example three
结合图6和图7，本发明实施例三提供了一种无人飞行器，包括机架100、控制系统200和雷达300。其中，所述雷达300的结构、功能、工作原理及效果可参见实施例一的描述，此处不再赘述。With reference to FIG. 6 and FIG. 7, a third embodiment of the present invention provides an unmanned aerial vehicle, including a chassis 100, a control system 200, and a radar 300. For the structure, function, working principle, and effect of the radar 300, reference may be made to the description in Embodiment 1, and details are not described herein again.
本实施例中，所述雷达300设于所述机架100上，所述雷达300的天线组件310通过第一光传感器30和第二光传感器40与所述控制系统200通信连接，以将检测到的障碍物信息依次经过第一光传感器30和第二光传感器40发送至所述控制系统200，所述控制系统200可根据接收到的障碍物信息控制可移动设备的飞行，实现可移动设备的避障。所述控制系统200也可将遥控设备发送的雷达300控制指令依次经第二光传感器40和第一光传感器30发送至雷达300，以控制雷达300的工作。In this embodiment, the radar 300 is disposed on the rack 100, and the antenna assembly 310 of the radar 300 is communicatively connected with the control system 200 through the first light sensor 30 and the second light sensor 40 to detect the The obtained obstacle information is sequentially transmitted to the control system 200 through the first light sensor 30 and the second light sensor 40, and the control system 200 can control the flight of the mobile device according to the received obstacle information to realize the mobile device Obstacle avoidance. The control system 200 may also send the radar 300 control instruction sent by the remote control device to the radar 300 via the second light sensor 40 and the first light sensor 30 in order to control the work of the radar 300.
参见图6，所述机架100可包括机身110和连接在所述机身110底部两侧的脚架120。进一步地，所述机架100还可包括连接在机身110两侧的机臂130。可选地， 所述雷达300固定连接在所述脚架120上。当然，所述雷达300也可固定连接在所述机身110或所述机臂130上。Referring to FIG. 6, the rack 100 may include a main body 110 and tripods 120 connected to both sides of the bottom of the main body 110. Further, the rack 100 may further include arms 130 connected to two sides of the body 110. Optionally, the radar 300 is fixedly connected to the tripod 120. Of course, the radar 300 may be fixedly connected to the fuselage 110 or the machine arm 130.
此外，本实施例的控制系统200可以为飞行控制器，也可以为设于所述机身110上的独立控制器。In addition, the control system 200 in this embodiment may be a flight controller or an independent controller provided on the fuselage 110.
本实施例的无人机可为四旋翼无人机或八旋翼无人机。又参见图6，所述机臂130远离所述机身110的一端可连接有螺旋桨400，为无人机提供飞行动力。The drone of this embodiment may be a four-rotor drone or an eight-rotor drone. Referring again to FIG. 6, a propeller 400 may be connected to an end of the arm 130 remote from the fuselage 110 to provide flying power for the drone.
可选地，所述无人机为植保无人机，所述机身110的底部设有料箱500，用于装设农药或种子。所述料箱500上可设有播撒机构(未显示)，所述播撒机构与所述料箱500配合。可在所述料箱500中装设种子，然后通过播撒机构进行播撒，实现自动化农业作业。更进一步地，所述机臂130远离所述机身110的一端还可设有喷洒机构600，所述喷洒机构600也与所述料箱500配合。可在所述料箱500中装设农药，然后通过喷洒机构600喷洒农药，实现自动化农业作业。Optionally, the drone is a plant protection drone, and a bin 500 is provided at the bottom of the fuselage 110 for installing pesticides or seeds. A spreading mechanism (not shown) may be provided on the material box 500, and the seeding mechanism cooperates with the material box 500. Seeds can be installed in the bin 500, and then spread by a spreading mechanism to realize automated agricultural operations. Further, a spraying mechanism 600 may be provided at an end of the machine arm 130 remote from the main body 110, and the spraying mechanism 600 also cooperates with the bin 500. The pesticide can be installed in the bin 500, and then sprayed with the pesticide through the spraying mechanism 600 to realize automatic agricultural operations.
需要说明的是，在本文中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。It should be noted that in this article, relational terms such as first and second are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that these entities or operations There is any such actual relationship or order among them. The term "comprising," "including," or any other variation thereof, is intended to encompass non-exclusive inclusion, such that a process, method, article, or device that includes a series of elements includes not only those elements, but also other elements not explicitly listed Elements, or elements that are inherent to such a process, method, article, or device. Without more restrictions, the elements defined by the sentence "including a ..." do not exclude the existence of other identical elements in the process, method, article, or equipment including the elements.
以上对本发明实施例所提供的可旋转通信连接器及具有其的雷达、无人飞行器进行了详细介绍，本文中应用了具体个例对本发明的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本发明的方法及其核心思想；同时，对于本领域的一般技术人员，依据本发明的思想，在具体实施方式及应用范围上均会有改变之处，综上所述，本说明书内容不应理解为对本发明的限制。The rotatable communication connector and the radar and unmanned aerial vehicle provided with the rotatable communication connector according to the embodiments of the present invention have been described in detail. The principle and implementation of the present invention are explained using specific examples. The description of the above embodiments It is only used to help understand the method of the present invention and its core ideas; at the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation and application scope. In summary, The contents of this description should not be construed as limiting the invention.

Claims (52)

  1. 一种可旋转通信连接器，其特征在于，包括：A rotatable communication connector, comprising:
    转子，所述转子能够自由转动；A rotor that can rotate freely;
    定子，与所述转子相对间隔设置，并且所述转子相对于所述定子可转动；A stator, which is spaced apart from the rotor, and the rotor is rotatable with respect to the stator;
    设于所述转子的第一光传感器，所述第一光传感器用于接收或/及发射光信号；以及A first light sensor provided on the rotor, the first light sensor being configured to receive or / and transmit a light signal; and
    设于所述定子的第二光传感器，所述第二光传感器用于接收或/及发射光信号；A second light sensor provided on the stator, the second light sensor is configured to receive or / and transmit a light signal;
    其中，所述第一光传感器与所述第二光传感器相对设置；Wherein, the first light sensor is disposed opposite to the second light sensor;
    在所述转子相对于所述定子相对转动时，所述第一光传感器始终对准所述第二光传感器，使得所述第一光传感器与所述第二光传感器的相对位置关系保持不变；所述第一光传感器及所述第二光传感器中的一个发射光信号，另外一个接收光信号，从而进行光通信。When the rotor is relatively rotated with respect to the stator, the first light sensor is always aligned with the second light sensor, so that the relative position relationship between the first light sensor and the second light sensor remains unchanged ; One of the first light sensor and the second light sensor transmits an optical signal, and the other receives the optical signal, thereby performing optical communication.
  2. 根据权利要求1所述的可旋转通信连接器，其特征在于，所述转子用于与第一外部设备固定连接，所述定子用于与第二外部设备固定连接，其中，所述第一光传感器将所述第一外部设备获取的数据发送至所述第二光传感器，由所述第二光传感器将所述第一外部设备获取的数据发送至所述第二外部设备。The rotatable communication connector according to claim 1, wherein the rotor is used for fixed connection with a first external device, and the stator is used for fixed connection with a second external device, wherein the first light The sensor sends data obtained by the first external device to the second light sensor, and the second light sensor sends data obtained by the first external device to the second external device.
  3. 根据权利要求2所述的可旋转通信连接器，其特征在于，所述第一外部设备为感测装置，所述第二外部设备为控制装置，所述第二光传感器将所述第二外部设备发送的控制指令发送至所述第一光传感器，所述第一光传感器将所述控制指令发送至第一外部设备，以控制所述第一外部设备的工作。The rotatable communication connector according to claim 2, wherein the first external device is a sensing device, the second external device is a control device, and the second light sensor connects the second external device A control instruction sent by a device is sent to the first light sensor, and the first light sensor sends the control instruction to a first external device to control the work of the first external device.
  4. 根据权利要求1所述的可旋转通信连接器，其特征在于，所述第一光传感器位于所述转子的旋转轴线上；The rotatable communication connector according to claim 1, wherein the first light sensor is located on a rotation axis of the rotor;
    或者，所述第二光传感器位于所述转子的旋转轴线上。Alternatively, the second light sensor is located on a rotation axis of the rotor.
  5. 根据权利要求1所述的可旋转通信连接器，其特征在于，所述第一光传感器包括第一光发射器，所述第二光传感器包括第一光接收器，所述第一光发射器的光发射端和所述第一光接收器的光接收端对准；The rotatable communication connector according to claim 1, wherein the first light sensor includes a first light transmitter, the second light sensor includes a first light receiver, and the first light transmitter The light emitting end of the first light receiver is aligned with the light receiving end of the first light receiver;
    所述第一光传感器还包括第二光接收器，所述第二光传感器还包括第二光发射器，所述第二光发射器的光发射端和所述第二光接收器的光接收端对准。The first light sensor further includes a second light receiver, and the second light sensor further includes a second light transmitter, a light transmitting end of the second light transmitter, and a light receiving of the second light receiver.端 Alignment.
  6. 根据权利要求5所述的可旋转通信连接器，其特征在于，所述第一光发射器发射的光的波长与所述第二光发射器发射的光的波长不相同。The rotatable communication connector according to claim 5, wherein a wavelength of light emitted by the first optical transmitter is different from a wavelength of light emitted by the second optical transmitter.
  7. 根据权利要求6所述的可旋转通信连接器，其特征在于，所述第一光接收器朝向所述第一光发射器的一侧设有第一光学滤光片，所述第二光接收器朝向所述第二光发射器的一侧设有第二光学滤光片，其中，所述第一光学滤光片的透光波段和所述第二光学滤光片的透光波段不相同。The rotatable communication connector according to claim 6, wherein a side of the first light receiver facing the first light transmitter is provided with a first optical filter, and the second light receiver A second optical filter is provided on a side of the filter facing the second light emitter, wherein a light transmitting wavelength band of the first optical filter and a light transmitting wavelength band of the second optical filter are different .
  8. 根据权利要求5所述的可旋转通信连接器，其特征在于，所述第一光接收器的光接收端和所述第二光接收器的光接收端均位于所述转子的旋转轴线方向上。The rotatable communication connector according to claim 5, wherein the light receiving end of the first light receiver and the light receiving end of the second light receiver are both located in the direction of the rotation axis of the rotor .
  9. 根据权利要求5至8任一项所述的可旋转通信连接器，其特征在于，所述第一光发射器距离所述转子的旋转轴线预设距离且设于所述转子内，并且所述第一光发射器的光发射端和所述第一光接收器的光接收端的连线与所述转子的旋转轴线成一倾斜角；The rotatable communication connector according to any one of claims 5 to 8, wherein the first light transmitter is preset at a distance from a rotation axis of the rotor and is disposed in the rotor, and the The connection between the light emitting end of the first light transmitter and the light receiving end of the first light receiver forms an inclination angle with the rotation axis of the rotor;
    所述第一光接收器设于所述定子内，并且所述第一光接收器的光接收端位于所述转子的旋转轴线上。The first light receiver is disposed in the stator, and a light receiving end of the first light receiver is located on a rotation axis of the rotor.
  10. 根据权利要求9所述的可旋转通信连接器，其特征在于，所述第一光发射器的光发射端和所述第一光接收器的光接收端的连线与所述转子的旋转轴线之间的倾斜角λ1的计算公式如下：The rotatable communication connector according to claim 9, wherein the connection between the light emitting end of the first light transmitter and the light receiving end of the first light receiver and the rotation axis of the rotor The calculation formula of the inclination angle λ1 is as follows:
    λ1＝arctan(a1/b)；λ1 = arctan (a1 / b);
    其中，a1为所述第一光发射器的光发射端至所述转子的旋转轴线的距离，b为所述转子和所述定子之间的间距。Wherein, a1 is the distance from the light emitting end of the first light emitter to the rotation axis of the rotor, and b is the distance between the rotor and the stator.
  11. 根据权利要求5至8任一项所述的可旋转通信连接器，其特征在于，所述第二光发射器距离所述转子的旋转轴线预设距离处设于所述定子内，并且所述第二光发射器的发射端和所述第二光接收器的光接收端的连线与所述转子的旋转轴线成一倾斜角；The rotatable communication connector according to any one of claims 5 to 8, wherein the second light emitter is provided in the stator at a preset distance from a rotation axis of the rotor, and the A connection line between a transmitting end of the second optical transmitter and a light receiving end of the second optical receiver forms an inclined angle with the rotation axis of the rotor;
    所述第二光接收器位于所述转子内，并且所述第二光接收器的光接收端位于所述转子的旋转轴线上。The second light receiver is located inside the rotor, and the light receiving end of the second light receiver is located on a rotation axis of the rotor.
  12. 根据权利要求11所述的可旋转通信连接器，其特征在于，所述第二光发射器的光发射端和所述第二光接收器的光接收端的连线与所述转子的旋转轴线之间的倾斜角λ2的计算公式如下：The rotatable communication connector according to claim 11, wherein the connection between the light-transmitting end of the second optical transmitter and the light-receiving end of the second optical receiver and the axis of rotation of the rotor The calculation formula of the inclination angle λ2 is as follows:
    λ2＝arctan(a2/b)；λ2 = arctan (a2 / b);
    其中，a2为所述第二光发射器的光发射端至所述转子的旋转轴线的距离，b为所述转子和所述定子之间的间距。Wherein, a2 is the distance from the light emitting end of the second light emitter to the rotation axis of the rotor, and b is the distance between the rotor and the stator.
  13. 根据权利要求5所述的可旋转通信连接器，其特征在于，还包括第一信号转换电路，所述第一信号转换电路与所述第一光接收器电连接；所述第一光发射器发射第一外部设备采集的数据所对应的第一光信号，所述第一光接收器接收所述第一光信号并转换成第一电信号，所述第一信号转换电路对所述第一电信号进行处理后，发送至第二外部设备。The rotatable communication connector according to claim 5, further comprising a first signal conversion circuit, wherein the first signal conversion circuit is electrically connected to the first optical receiver; and the first optical transmitter Transmitting a first optical signal corresponding to data collected by a first external device, the first optical receiver receiving the first optical signal and converting the first optical signal into a first electrical signal, and the first signal conversion circuit The electrical signals are processed and sent to a second external device.
  14. 根据权利要求13所述的可旋转通信连接器，其特征在于，所述第一信号转换电路包括第一比较器，所述第一比较器与所述第二外部设备电连接；The rotatable communication connector according to claim 13, wherein the first signal conversion circuit includes a first comparator, and the first comparator is electrically connected to the second external device;
    在所述第一电信号的幅值大于或者等于第一阈值时，所述第一比较器输出第一信号至所述第二外部设备；在所述第一电信号的幅值小于第一阈值时，所述第一比较器输出第二信号至所述第二外部设备。When the amplitude of the first electrical signal is greater than or equal to a first threshold, the first comparator outputs a first signal to the second external device; when the amplitude of the first electrical signal is less than a first threshold At this time, the first comparator outputs a second signal to the second external device.
  15. 根据权利要求5所述的可旋转通信连接器，其特征在于，还包括第二信号转换电路，所述第二信号转换电路与所述第二光接收器电连接；The rotatable communication connector according to claim 5, further comprising a second signal conversion circuit electrically connected to the second optical receiver;
    所述第二光发射器发射第二外部设备输出的控制指令所对应的第二光信号，所述第二光接收器接收所述第二光信号并转换成第二电信号，所述第二信号转换电路对所述第二电信号进行处理后，发送至第一外部设备，以控制所述第一外部设备的工作。The second optical transmitter transmits a second optical signal corresponding to a control instruction output by a second external device, the second optical receiver receives the second optical signal and converts it into a second electrical signal, and the second The signal conversion circuit processes the second electrical signal and sends it to a first external device to control the work of the first external device.
  16. 根据权利要求15所述的可旋转通信连接器，其特征在于，所述第二信号转换电路包括第二比较器，所述第二比较器与所述第一外部设备电连接；The rotatable communication connector according to claim 15, wherein the second signal conversion circuit includes a second comparator, and the second comparator is electrically connected to the first external device;
    在所述第二电信号的幅值大于或者等于第二阈值时，所述第二比较器输出第三信号至所述第一外部设备；在所述第二电信号的幅值小于第二阈值时，所述第二比较器输出第四信号至所述第一外部设备。When the amplitude of the second electrical signal is greater than or equal to a second threshold, the second comparator outputs a third signal to the first external device; when the amplitude of the second electrical signal is less than a second threshold At this time, the second comparator outputs a fourth signal to the first external device.
  17. 根据权利要求1所述的可旋转通信连接器，其特征在于，还包括轴承，所述转子和所述定子通过所述轴承实现同轴连接。The rotatable communication connector according to claim 1, further comprising a bearing, wherein the rotor and the stator are coaxially connected through the bearing.
  18. 一种雷达，其特征在于，包括：A radar characterized by comprising:
    底座；Base
    天线组件，设于所述底座的上方，所述天线组件相对于所述底座绕一旋转轴可旋转；以及An antenna assembly disposed above the base, the antenna assembly being rotatable about a rotation axis relative to the base; and
    可旋转通信连接器；Rotatable communication connector;
    其中，所述可旋转通信连接器包括转子、定子、设于所述转子的第一光传感器和设于所述定子的第二光传感器，所述转子能够自由转动，转子壳固定连接所述天线组件，与所述天线组件一起转动；所述定子与所述转子相对间隔设置，并且所述转子相对于所述定子可转动；The rotatable communication connector includes a rotor, a stator, a first light sensor provided on the rotor, and a second light sensor provided on the stator. The rotor can rotate freely, and a rotor case is fixedly connected to the antenna A component that rotates with the antenna component; the stator and the rotor are relatively spaced apart, and the rotor is rotatable relative to the stator;
    所述第一光传感器与所述第二光传感器相对设置；所述第一光传感器用于接收或/及发射光信号，所述第二光传感器用于接收或/及发射光信号；The first light sensor is disposed opposite to the second light sensor; the first light sensor is used to receive or / and transmit a light signal, and the second light sensor is used to receive or / and transmit a light signal;
    在所述转子相对于所述定子相对转动时，所述第一光传感器始终对准所述第二光传感器，使得所述第一光传感器与所述第二光传感器的相对位置关系保持不变；所述第一光传感器及所述第二光传感器中的一个发射光信号，另外一个接收光信号，从而进行光通信。When the rotor is relatively rotated with respect to the stator, the first light sensor is always aligned with the second light sensor, so that the relative position relationship between the first light sensor and the second light sensor remains unchanged ; One of the first light sensor and the second light sensor transmits an optical signal, and the other receives the optical signal, thereby performing optical communication.
  19. 根据权利要求18所述的雷达，其特征在于，所述转子用于与第一外部设备固定连接，所述定子用于与第二外部设备固定连接，其中，所述第一光传感器将所述第一外部设备获取的数据发送至所述第二光传感器，由所述第二光传感器将所述第一外部设备获取的数据发送至所述第二外部设备。The radar according to claim 18, wherein the rotor is used for fixed connection with a first external device, and the stator is used for fixed connection with a second external device, wherein the first light sensor connects the The data obtained by the first external device is sent to the second light sensor, and the second light sensor sends the data obtained by the first external device to the second external device.
  20. 根据权利要求19所述的雷达，其特征在于，所述第一外部设备为感测装置，所述第二外部设备为控制装置，所述第二光传感器将所述第二外部设备发送的控制指令发送至所述第一光传感器，所述第一光传感器将所述控制指令发送至第一外部设备，以控制所述第一外部设备的工作。The radar according to claim 19, wherein the first external device is a sensing device, the second external device is a control device, and the second optical sensor controls the control sent by the second external device. An instruction is sent to the first light sensor, and the first light sensor sends the control instruction to a first external device to control the work of the first external device.
  21. 根据权利要求18所述的雷达，其特征在于，所述第一光传感器位于所述转子的旋转轴线上；The radar according to claim 18, wherein the first light sensor is located on a rotation axis of the rotor;
    或者，所述第二光传感器位于所述转子的旋转轴线上。Alternatively, the second light sensor is located on a rotation axis of the rotor.
  22. 根据权利要求18所述的雷达，其特征在于，所述第一光传感器包括第一光发射器，所述第二光传感器包括第一光接收器，所述第一光发射器的光发射端和所述第一光接收器的光接收端对准；The radar according to claim 18, wherein the first light sensor comprises a first light transmitter, the second light sensor comprises a first light receiver, and a light emitting end of the first light transmitter Aligned with the light receiving end of the first light receiver;
    所述第一光传感器还包括第二光接收器，所述第二光传感器还包括第二光发射器，所述第二光发射器的光发射端和所述第二光接收器的光接收端对准。The first light sensor further includes a second light receiver, and the second light sensor further includes a second light transmitter, a light transmitting end of the second light transmitter, and a light receiving of the second light receiver.端 Alignment.
  23. 根据权利要求22所述的雷达，其特征在于，所述第一光发射器发射的光的波长与所述第二光发射器发射的光的波长不相同。The radar according to claim 22, wherein a wavelength of light emitted by the first optical transmitter is different from a wavelength of light emitted by the second optical transmitter.
  24. 根据权利要求23所述的雷达，其特征在于，所述第一光接收器朝向所述第一光发射器的一侧设有第一光学滤光片，所述第二光接收器朝向所述第二光发射器的一侧设有第二光学滤光片，其中，所述第一光学滤光片的透光波段和所述第二光学滤光片的透光波段不相同。The radar according to claim 23, wherein a side of the first light receiver facing the first light transmitter is provided with a first optical filter, and the second light receiver faces the A second optical filter is provided on one side of the second optical transmitter, wherein the transmission wavelength band of the first optical filter and the transmission wavelength band of the second optical filter are different.
  25. 根据权利要求22所述的雷达，其特征在于，所述第一光接收器的光接收端和所述第二光接收器的光接收端均位于所述转子的旋转轴线方向上。The radar according to claim 22, wherein the light receiving end of the first light receiver and the light receiving end of the second light receiver are both located in a direction of a rotation axis of the rotor.
  26. 根据权利要求22至25任一项所述的雷达，其特征在于，所述第一光发射器距离所述转子的旋转轴线预设距离且设于所述转子内，并且所述第一光发射器的光发射端和所述第一光接收器的光接收端的连线与所述转子的旋转轴线成一倾斜角；The radar according to any one of claims 22 to 25, wherein the first light transmitter is located at a preset distance from a rotation axis of the rotor and is disposed in the rotor, and the first light transmitter The connection between the light emitting end of the receiver and the light receiving end of the first light receiver forms an inclination angle with the rotation axis of the rotor;
    所述第一光接收器设于所述定子内，并且所述第一光接收器的光接收端位于所述转子的旋转轴线上。The first light receiver is disposed in the stator, and a light receiving end of the first light receiver is located on a rotation axis of the rotor.
  27. 根据权利要求26所述的雷达，其特征在于，所述第一光发射器的光发射端和所述第一光接收器的光接收端的连线与所述转子的旋转轴线之间的倾斜角λ1的计算公式如下：The radar according to claim 26, wherein an inclination angle between a connection line between the light emitting end of the first light transmitter and the light receiving end of the first light receiver and a rotation axis of the rotor The calculation formula of λ1 is as follows:
    λ1＝arctan(a1/b)；λ1 = arctan (a1 / b);
    其中，a1为所述第一光发射器的光发射端至所述转子的旋转轴线的距离，b为所述转子和所述定子之间的间距。Wherein, a1 is the distance from the light emitting end of the first light emitter to the rotation axis of the rotor, and b is the distance between the rotor and the stator.
  28. 根据权利要求22至25任一项所述的雷达，其特征在于，所述第二光发射器距离所述转子的旋转轴线预设距离处设于所述定子内，并且所述第二光发射器的发射端和所述第二光接收器的光接收端的连线与所述转子的旋转轴线成一倾斜角；The radar according to any one of claims 22 to 25, wherein the second light transmitter is provided in the stator at a preset distance from a rotation axis of the rotor, and the second light transmitter The connection between the transmitting end of the receiver and the light receiving end of the second optical receiver forms an inclination angle with the rotation axis of the rotor;
    所述第二光接收器位于所述转子内，并且所述第二光接收器的光接收端位于所述转子的旋转轴线上。The second light receiver is located inside the rotor, and the light receiving end of the second light receiver is located on a rotation axis of the rotor.
  29. 根据权利要求28所述的雷达，其特征在于，所述第二光发射器的光发射端和所述第二光接收器的光接收端的连线与所述转子的旋转轴线之间的倾斜角λ2的计算公式如下：The radar according to claim 28, wherein an inclination angle between a connection line between the light emitting end of the second light transmitter and the light receiving end of the second light receiver and a rotation axis of the rotor The calculation formula of λ2 is as follows:
    λ2＝arctan(a2/b)；λ2 = arctan (a2 / b);
    其中，a2为所述第二光发射器的光发射端至所述转子的旋转轴线的距离，b为所述转子和所述定子之间的间距。Wherein, a2 is the distance from the light emitting end of the second light emitter to the rotation axis of the rotor, and b is the distance between the rotor and the stator.
  30. 根据权利要求22所述的雷达，其特征在于，所述可旋转通信连接器还包括第 一信号转换电路，所述第一信号转换电路与所述第一光接收器电连接；所述第一光发射器发射第一外部设备采集的数据所对应的第一光信号，所述第一光接收器接收所述第一光信号并转换成第一电信号，所述第一信号转换电路对所述第一电信号进行处理后，发送至第二外部设备。The radar according to claim 22, wherein the rotatable communication connector further comprises a first signal conversion circuit, and the first signal conversion circuit is electrically connected to the first optical receiver; the first An optical transmitter transmits a first optical signal corresponding to data collected by a first external device, the first optical receiver receives the first optical signal and converts the first optical signal into a first electrical signal, and the first signal conversion circuit The first electrical signal is processed and then sent to a second external device.
  31. 根据权利要求30所述的雷达，其特征在于，所述第一信号转换电路包括第一比较器，所述第一比较器与所述第二外部设备电连接；The radar according to claim 30, wherein the first signal conversion circuit includes a first comparator, and the first comparator is electrically connected to the second external device;
    在所述第一电信号的幅值大于或者等于第一阈值时，所述第一比较器输出第一信号至所述第二外部设备；在所述第一电信号的幅值小于第一阈值时，所述第一比较器输出第二信号至所述第二外部设备。When the amplitude of the first electrical signal is greater than or equal to a first threshold, the first comparator outputs a first signal to the second external device; when the amplitude of the first electrical signal is less than a first threshold At this time, the first comparator outputs a second signal to the second external device.
  32. 根据权利要求22所述的雷达，其特征在于，所述可旋转通信连接器还包括第二信号转换电路，所述第二信号转换电路与所述第二光接收器电连接；The radar according to claim 22, wherein the rotatable communication connector further comprises a second signal conversion circuit, and the second signal conversion circuit is electrically connected to the second optical receiver;
    所述第二光发射器发射第二外部设备输出的控制指令所对应的第二光信号，所述第二光接收器接收所述第二光信号并转换成第二电信号，所述第二信号转换电路对所述第二电信号进行处理后，发送至第一外部设备，以控制所述第一外部设备的工作。The second optical transmitter transmits a second optical signal corresponding to a control instruction output by a second external device, the second optical receiver receives the second optical signal and converts it into a second electrical signal, and the second The signal conversion circuit processes the second electrical signal and sends it to a first external device to control the work of the first external device.
  33. 根据权利要求32所述的雷达，其特征在于，所述第二信号转换电路包括第二比较器，所述第二比较器与所述第一外部设备电连接；The radar according to claim 32, wherein the second signal conversion circuit includes a second comparator, and the second comparator is electrically connected to the first external device;
    在所述第二电信号的幅值大于或者等于第二阈值时，所述第二比较器输出第三信号至所述第一外部设备；在所述第二电信号的幅值小于第二阈值时，所述第二比较器输出第四信号至所述第一外部设备。When the amplitude of the second electrical signal is greater than or equal to a second threshold, the second comparator outputs a third signal to the first external device; when the amplitude of the second electrical signal is less than a second threshold At this time, the second comparator outputs a fourth signal to the first external device.
  34. 根据权利要求18所述的雷达，其特征在于，所述可旋转通信连接器还包括轴承，所述转子和所述定子通过所述轴承实现同轴连接。The radar according to claim 18, wherein the rotatable communication connector further comprises a bearing, and the rotor and the stator are coaxially connected through the bearing.
  35. 一种无人飞行器，其特征在于，包括机架、控制系统和设于所述机架的雷达，所述雷达包括：An unmanned aerial vehicle is characterized by comprising a frame, a control system, and a radar provided on the frame. The radar includes:
    底座；Base
    天线组件，设于所述底座的上方，所述天线组件相对于所述底座绕一旋转轴可旋转；以及An antenna assembly disposed above the base, the antenna assembly being rotatable about a rotation axis relative to the base; and
    可旋转通信连接器；Rotatable communication connector;
    其中，所述可旋转通信连接器包括转子、定子、设于所述转子的第一光传感器和设于所述定子的第二光传感器，所述转子能够自由转动，转子壳固定连接所述天线组件，与所述天线组件一起转动；所述定子与所述转子相对间隔设置，并且所述转子相对于所述定子可转动；The rotatable communication connector includes a rotor, a stator, a first light sensor provided on the rotor, and a second light sensor provided on the stator. The rotor can rotate freely, and a rotor case is fixedly connected to the antenna. A component that rotates with the antenna component; the stator and the rotor are relatively spaced apart, and the rotor is rotatable relative to the stator;
    所述第一光传感器与所述第二光传感器相对设置；所述第一光传感器用于接收或/及发射光信号，所述第二光传感器用于接收或/及发射光信号；The first light sensor is disposed opposite to the second light sensor; the first light sensor is used to receive or / and transmit a light signal, and the second light sensor is used to receive or / and transmit a light signal;
    在所述转子相对于所述定子相对转动时，所述第一光传感器始终对准所述第二光传感器，使得所述第一光传感器与所述第二光传感器的相对位置关系保持不变；所述第一光传感器及所述第二光传感器中的一个发射光信号，另外一个接收光信号，从而 进行光通信。When the rotor is relatively rotated with respect to the stator, the first light sensor is always aligned with the second light sensor, so that the relative position relationship between the first light sensor and the second light sensor remains unchanged ; One of the first light sensor and the second light sensor transmits an optical signal, and the other receives the optical signal, thereby performing optical communication.
  36. 根据权利要求35所述的无人飞行器，其特征在于，所述转子用于与第一外部设备固定连接，所述定子用于与第二外部设备固定连接，其中，所述第一光传感器将所述第一外部设备获取的数据发送至所述第二光传感器，由所述第二光传感器将所述第一外部设备获取的数据发送至所述第二外部设备。The unmanned aerial vehicle according to claim 35, wherein the rotor is used for fixed connection with a first external device, and the stator is used for fixed connection with a second external device, wherein the first light sensor is The data obtained by the first external device is sent to the second light sensor, and the second light sensor sends data obtained by the first external device to the second external device.
  37. 根据权利要求36所述的无人飞行器，其特征在于，所述第一外部设备为感测装置，所述第二外部设备为控制装置，所述第二光传感器将所述第二外部设备发送的控制指令发送至所述第一光传感器，所述第一光传感器将所述控制指令发送至第一外部设备，以控制所述第一外部设备的工作。The unmanned aerial vehicle according to claim 36, wherein the first external device is a sensing device, the second external device is a control device, and the second light sensor sends the second external device The control instruction is sent to the first light sensor, and the first light sensor sends the control instruction to a first external device to control the work of the first external device.
  38. 根据权利要求35所述的无人飞行器，其特征在于，所述第一光传感器位于所述转子的旋转轴线上；The unmanned aerial vehicle according to claim 35, wherein the first light sensor is located on a rotation axis of the rotor;
    或者，所述第二光传感器位于所述转子的旋转轴线上。Alternatively, the second light sensor is located on a rotation axis of the rotor.
  39. 根据权利要求35所述的无人飞行器，其特征在于，所述第一光传感器包括第一光发射器，所述第二光传感器包括第一光接收器，所述第一光发射器的光发射端和所述第一光接收器的光接收端对准；The unmanned aerial vehicle according to claim 35, wherein the first light sensor comprises a first light transmitter, the second light sensor comprises a first light receiver, and the light of the first light transmitter The transmitting end is aligned with the light receiving end of the first optical receiver;
    所述第一光传感器还包括第二光接收器，所述第二光传感器还包括第二光发射器，所述第二光发射器的光发射端和所述第二光接收器的光接收端对准。The first light sensor further includes a second light receiver, and the second light sensor further includes a second light transmitter, a light transmitting end of the second light transmitter, and a light receiving of the second light receiver.端 Alignment.
  40. 根据权利要求39所述的无人飞行器，其特征在于，所述第一光发射器发射的光的波长与所述第二光发射器发射的光的波长不相同。The unmanned aerial vehicle according to claim 39, wherein a wavelength of light emitted by the first light emitter is different from a wavelength of light emitted by the second light emitter.
  41. 根据权利要求40所述的无人飞行器，其特征在于，所述第一光接收器朝向所述第一光发射器的一侧设有第一光学滤光片，所述第二光接收器朝向所述第二光发射器的一侧设有第二光学滤光片，其中，所述第一光学滤光片的透光波段和所述第二光学滤光片的透光波段不相同。The unmanned aerial vehicle according to claim 40, wherein a side of the first light receiver facing the first light transmitter is provided with a first optical filter, and the second light receiver faces A second optical filter is provided on one side of the second light emitter, wherein the light transmission band of the first optical filter and the light transmission band of the second optical filter are different.
  42. 根据权利要求39所述的无人飞行器，其特征在于，所述第一光接收器的光接收端和所述第二光接收器的光接收端均位于所述转子的旋转轴线方向上。The unmanned aerial vehicle according to claim 39, wherein the light receiving end of the first light receiver and the light receiving end of the second light receiver are both located in a direction of a rotation axis of the rotor.
  43. 根据权利要求39至42任一项所述的无人飞行器，其特征在于，所述第一光发射器距离所述转子的旋转轴线预设距离且设于所述转子内，并且所述第一光发射器的光发射端和所述第一光接收器的光接收端的连线与所述转子的旋转轴线成一倾斜角；The unmanned aerial vehicle according to any one of claims 39 to 42, wherein the first light emitter is preset at a distance from a rotation axis of the rotor and is disposed in the rotor, and the first The connection between the light emitting end of the light transmitter and the light receiving end of the first light receiver forms an inclined angle with the rotation axis of the rotor;
    所述第一光接收器设于所述定子内，并且所述第一光接收器的光接收端位于所述转子的旋转轴线上。The first light receiver is disposed in the stator, and a light receiving end of the first light receiver is located on a rotation axis of the rotor.
  44. 根据权利要求43所述的无人飞行器，其特征在于，所述第一光发射器的光发射端和所述第一光接收器的光接收端的连线与所述转子的旋转轴线之间的倾斜角λ1的计算公式如下：The unmanned aerial vehicle according to claim 43, characterized in that a line between a light emitting end of the first light transmitter and a light receiving end of the first light receiver and a rotation axis of the rotor The calculation formula of the tilt angle λ1 is as follows:
    λ1＝arctan(a1/b)；λ1 = arctan (a1 / b);
    其中，a1为所述第一光发射器的光发射端至所述转子的旋转轴线的距离，b为所 述转子和所述定子之间的间距。Wherein, a1 is the distance from the light emitting end of the first light emitter to the rotation axis of the rotor, and b is the distance between the rotor and the stator.
  45. 根据权利要求39至42任一项所述的无人飞行器，其特征在于，所述第二光发射器距离所述转子的旋转轴线预设距离处设于所述定子内，并且所述第二光发射器的发射端和所述第二光接收器的光接收端的连线与所述转子的旋转轴线成一倾斜角；The unmanned aerial vehicle according to any one of claims 39 to 42, wherein the second light emitter is provided in the stator at a preset distance from a rotation axis of the rotor, and the second The connection between the transmitting end of the light transmitter and the light receiving end of the second light receiver forms an inclination angle with the rotation axis of the rotor;
    所述第二光接收器位于所述转子内，并且所述第二光接收器的光接收端位于所述转子的旋转轴线上。The second light receiver is located inside the rotor, and the light receiving end of the second light receiver is located on a rotation axis of the rotor.
  46. 根据权利要求45所述的无人飞行器，其特征在于，所述第二光发射器的光发射端和所述第二光接收器的光接收端的连线与所述转子的旋转轴线之间的倾斜角λ2的计算公式如下：The unmanned aerial vehicle according to claim 45, wherein a line between a light emitting end of the second light transmitter and a light receiving end of the second light receiver and a rotation axis of the rotor The formula for the inclination angle λ2 is as follows:
    λ2＝arctan(a2/b)；λ2 = arctan (a2 / b);
    其中，a2为所述第二光发射器的光发射端至所述转子的旋转轴线的距离，b为所述转子和所述定子之间的间距。Wherein, a2 is the distance from the light emitting end of the second light emitter to the rotation axis of the rotor, and b is the distance between the rotor and the stator.
  47. 根据权利要求39所述的无人飞行器，其特征在于，所述可旋转通信连接器还包括第一信号转换电路，所述第一信号转换电路与所述第一光接收器电连接；所述第一光发射器发射第一外部设备采集的数据所对应的第一光信号，所述第一光接收器接收所述第一光信号并转换成第一电信号，所述第一信号转换电路对所述第一电信号进行处理后，发送至第二外部设备。The unmanned aerial vehicle according to claim 39, wherein the rotatable communication connector further comprises a first signal conversion circuit, and the first signal conversion circuit is electrically connected to the first optical receiver; and A first optical transmitter transmits a first optical signal corresponding to data collected by a first external device, the first optical receiver receives the first optical signal and converts the first optical signal into a first electrical signal, and the first signal conversion circuit After the first electrical signal is processed, it is sent to a second external device.
  48. 根据权利要求47所述的无人飞行器，其特征在于，所述第一信号转换电路包括第一比较器，所述第一比较器与所述第二外部设备电连接；The unmanned aerial vehicle according to claim 47, wherein the first signal conversion circuit comprises a first comparator, and the first comparator is electrically connected to the second external device;
    在所述第一电信号的幅值大于或者等于第一阈值时，所述第一比较器输出第一信号至所述第二外部设备；在所述第一电信号的幅值小于第一阈值时，所述第一比较器输出第二信号至所述第二外部设备。When the amplitude of the first electrical signal is greater than or equal to a first threshold, the first comparator outputs a first signal to the second external device; when the amplitude of the first electrical signal is less than a first threshold At this time, the first comparator outputs a second signal to the second external device.
  49. 根据权利要求39所述的无人飞行器，其特征在于，所述可旋转通信连接器还包括第二信号转换电路，所述第二信号转换电路与所述第二光接收器电连接；The unmanned aerial vehicle according to claim 39, wherein the rotatable communication connector further comprises a second signal conversion circuit, and the second signal conversion circuit is electrically connected to the second optical receiver;
    所述第二光发射器发射第二外部设备输出的控制指令所对应的第二光信号，所述第二光接收器接收所述第二光信号并转换成第二电信号，所述第二信号转换电路对所述第二电信号进行处理后，发送至第一外部设备，以控制所述第一外部设备的工作。The second optical transmitter transmits a second optical signal corresponding to a control instruction output by a second external device, the second optical receiver receives the second optical signal and converts it into a second electrical signal, and the second The signal conversion circuit processes the second electrical signal and sends it to a first external device to control the work of the first external device.
  50. 根据权利要求49所述的无人飞行器，其特征在于，所述第二信号转换电路包括第二比较器，所述第二比较器与所述第一外部设备电连接；The unmanned aerial vehicle according to claim 49, wherein the second signal conversion circuit includes a second comparator, and the second comparator is electrically connected to the first external device;
    在所述第二电信号的幅值大于或者等于第二阈值时，所述第二比较器输出第三信号至所述第一外部设备；在所述第二电信号的幅值小于第二阈值时，所述第二比较器输出第四信号至所述第一外部设备。When the amplitude of the second electrical signal is greater than or equal to a second threshold, the second comparator outputs a third signal to the first external device; when the amplitude of the second electrical signal is less than a second threshold At this time, the second comparator outputs a fourth signal to the first external device.
  51. 根据权利要求35所述的无人飞行器，其特征在于，所述可旋转通信连接器还包括轴承，所述转子和所述定子通过所述轴承实现同轴连接。The unmanned aerial vehicle according to claim 35, wherein the rotatable communication connector further comprises a bearing, and the rotor and the stator are coaxially connected through the bearing.
  52. 根据权利要求35所述的无人飞行器，其特征在于，所述控制系统为所述无人机的飞行控制系统。The unmanned aerial vehicle according to claim 35, wherein the control system is a flight control system of the unmanned aerial vehicle.
PCT/CN2018/100063 2018-08-10 2018-08-10 Rotatable communication connector, and radar and unmanned aerial vehicle provided with same WO2020029282A1 (en)

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