WO2020113448A1 - 旋转系统和传感器 - Google Patents

旋转系统和传感器 Download PDF

Info

Publication number
WO2020113448A1
WO2020113448A1 PCT/CN2018/119245 CN2018119245W WO2020113448A1 WO 2020113448 A1 WO2020113448 A1 WO 2020113448A1 CN 2018119245 W CN2018119245 W CN 2018119245W WO 2020113448 A1 WO2020113448 A1 WO 2020113448A1
Authority
WO
WIPO (PCT)
Prior art keywords
component
signal component
rotating
rotating system
assembly
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/CN2018/119245
Other languages
English (en)
French (fr)
Inventor
张文康
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SZ DJI Technology Co Ltd
Original Assignee
SZ DJI Technology Co Ltd
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 SZ DJI Technology Co Ltd filed Critical SZ DJI Technology Co Ltd
Priority to CN201880072147.8A priority Critical patent/CN111433626B/zh
Priority to PCT/CN2018/119245 priority patent/WO2020113448A1/zh
Publication of WO2020113448A1 publication Critical patent/WO2020113448A1/zh
Priority to US17/337,409 priority patent/US20210286046A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Images

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/003—Transmission of data between radar, sonar or lidar systems and remote stations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/027—Constructional details of housings, e.g. form, type, material or ruggedness
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
    • G01S7/4813—Housing arrangements
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/80—Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W84/00—Network topologies
    • H04W84/02—Hierarchically pre-organised networks, e.g. paging networks, cellular networks, WLAN [Wireless Local Area Network] or WLL [Wireless Local Loop]
    • H04W84/10—Small scale networks; Flat hierarchical networks
    • H04W84/12—WLAN [Wireless Local Area Networks]

Definitions

  • the invention relates to the technical field of wireless transmission, in particular to a rotating system and a sensor.
  • Some existing rotating equipment will have both communication and power transmission requirements, for example, rotating radar.
  • rotating radar at present, a wired power supply method and a wired transmission method are used.
  • the invention provides a rotating system and a sensor, which realizes wireless power supply and wireless data transmission in the rotating system, and expands the application scenario of the rotating device.
  • the present invention provides a rotating system, including: a rotating component, an electromagnetic induction power supply component, and a wireless communication component;
  • the rotating assembly includes a fixed component and a rotating component rotatable relative to the fixed component;
  • the electromagnetic induction power supply assembly includes an electric energy transmitting assembly and an electric energy receiving assembly, the electric energy receiving assembly is installed on the rotating member and rotates with the rotation of the rotating member; the electric energy transmitting assembly is installed on the fixed member , And transfer power to the power receiving component through electromagnetic induction power supply;
  • the wireless communication component includes a first signal component and a second signal component, the second signal component is mounted on the rotating component, and rotates with the rotation of the rotating component; the first signal component is mounted on the The fixed component and establish a wireless communication connection with the second signal component.
  • the frequency range used by the electromagnetic induction power supply for transmitting electrical energy is 120KHz to 150KHz.
  • the wireless communication component includes at least one of the following: a WIFI communication component, a Bluetooth communication component, and an NFC communication component.
  • the wireless communication component is a WIFI communication component.
  • the frequency band used by the WIFI communication component for communication is 5.2 GHz.
  • the power transmission component includes a first chip, a first resonance capacitor, and a transmission coil
  • the power reception component includes a second chip, a second resonance capacitor, and a reception coil
  • the first chip outputs a square wave, the first resonant capacitor and the transmitting coil form a resonant circuit; the transmitting coil and the receiving coil transmit power by electromagnetic induction power supply; the second resonant capacitor and the The receiving coil forms a resonance circuit; the second chip outputs a DC voltage.
  • the distance between the sending coil and the receiving coil ranges from 1.5 mm to 5 mm.
  • the sending coil and the receiving coil are disk-shaped.
  • the first chip and the communication chip included in the first signal component are integrated on the same circuit board, and the second chip and the second signal component include The communication chip is integrated on the same circuit board.
  • the first signal component includes a first communication chip and a first antenna
  • the second signal component includes a second communication chip and a second antenna
  • the first antenna And the second antenna are both on-board antennas.
  • the fixed component includes a stator of the motor
  • the rotating component includes a rotor of the motor, driving the electric energy receiving component to rotate, and driving the second signal component to rotate.
  • the first serial port link and the first Ethernet link installed on the fixed component, the first serial port link, and the first Ethernet link are also included
  • the circuits are electrically connected to the first signal component.
  • the first serial link is used to transmit control instructions.
  • the first Ethernet link is used to transmit the following data: image data and sensing data of a distance sensor.
  • it further includes a second serial link and a second Ethernet link installed on the rotating part, and the second serial link and the second Ethernet link The circuits are electrically connected to the second signal component.
  • the second serial port link is used to transmit control instructions.
  • the second Ethernet link is used to transmit the following data: image data and sensing data of the distance sensor.
  • the processor is further included;
  • the second signal component is used to receive the first time axis information and the first motion parameter sent by the first signal component, the first motion parameter corresponds to the first time axis information, and is used to represent the first The motion relationship between the signal component and the second signal component;
  • the processor is configured to determine second time axis information corresponding to the first motion parameter in a local second time axis
  • the processor is configured to adjust the second time axis according to the first time axis information and the second time axis information so that the second time axis is synchronized with the first time axis.
  • the second signal component and the first signal component can rotate relatively, and the first motion parameter includes an absolute angle of rotation.
  • the relative rotation angle of the second signal component relative to the first signal component is greater than or equal to 360 degrees.
  • the second signal component continuously rotates in a first preset direction relative to the first signal component;
  • the second signal assembly rotates intermittently with respect to the first signal assembly.
  • the relative rotation angle of the second signal component relative to the first signal component is less than 360 degrees.
  • the second signal component reciprocates relative to the first signal component.
  • the first motion parameter further includes at least one of the following: relative rotation angle, rotation speed, and rotation acceleration.
  • the present invention provides a sensor, including:
  • a sensing component mounted on the rotating component
  • the sensing component is electrically connected to the power receiving component and is powered by the power receiving component; the sensing component is electrically connected to the second signal component through the second signal component and the The first signal component returns the sensing data.
  • the senor includes at least one of the following: lidar, microwave radar, ultrasonic sensor, infrared sensor, and image sensor.
  • the invention provides a rotating system and a sensor, which can realize wireless power supply and wireless data transmission through an electromagnetic induction power supply component and a wireless communication component respectively, realize the all-round rotation of the rotating system, expand the application scenarios of the rotating system, and improve the rotating system Service life.
  • FIG. 1 is a schematic structural diagram of a rotating system provided by an embodiment of the present invention.
  • FIG. 2 is a schematic diagram of a circuit structure in a rotating system provided by an embodiment of the present invention.
  • FIG. 1 is a schematic structural diagram of a rotating system provided by an embodiment of the present invention.
  • the rotating system provided in this embodiment may include a rotating component, an electromagnetic induction power supply component, and a wireless communication component.
  • the rotating assembly includes a fixed member 101 and a rotating member 102 that is rotatable relative to the fixed member 101.
  • the electromagnetic induction power supply assembly includes an electric energy transmitting assembly 201 and an electric energy receiving assembly 202.
  • the electric energy receiving assembly 202 is mounted on the rotating member 102 and rotates as the rotating member 102 rotates.
  • the power transmission assembly 201 is mounted on the fixed part 101 and transmits power through electromagnetic induction power supply with the power reception assembly 202.
  • the wireless communication assembly includes a first signal assembly 301 and a second signal assembly 302.
  • the second signal assembly 302 is mounted on the rotating member 102 and rotates as the rotating member 102 rotates.
  • the first signal component 301 is mounted on the fixed part 101 and establishes a wireless communication connection with the second signal component 302.
  • the rotating system includes a rotating component.
  • a part of the rotating system connected to the rotating member 102 can be relatively rotated relative to a part of the rotating system connected to the fixed member 101.
  • the part connected to the rotating member 102 includes an electric energy receiving component 202 and a second signal component 302.
  • the part connected to the fixed part 101 includes a power transmission component 201 and a first signal component 301.
  • the power transmitting component 201 and the power receiving component 202 constitute an electromagnetic induction power supply component.
  • the power receiving component 202 can rotate relative to the power transmitting component 201.
  • power can be transmitted by electromagnetic induction power supply.
  • the power receiving assembly 202 can supply power to other components connected to the rotating component 102.
  • the rotating component 102 can achieve 360° all-round rotation It does not need to rotate periodically in the positive and negative directions.
  • the rotation angle is expanded, the flexibility of the rotation is increased, and the application scenarios of the rotating system are expanded.
  • the first signal component 301 and the second signal component 302 form a wireless communication component.
  • the second signal component 302 can rotate relative to the first signal component 301.
  • the first signal component 301 and the second signal component 302 can establish a wireless communication connection. Therefore, data can be transmitted between the first signal component 301 and the second signal component 302 through wireless communication.
  • the first signal component 301 can send data to the second signal component 302.
  • the second signal component 302 can be transmitted to other components connected to the rotating component 102 for subsequent processing. The converse is similar.
  • the second signal component 302 can send data to the first signal component 301. It should be noted that this embodiment does not limit the type of data and the specific content included in the data.
  • the rotating system provided in this embodiment can realize wireless power supply and wireless data transmission through the electromagnetic induction power supply component and the wireless communication component respectively, achieving full-scale rotation, expanding the application scenarios of the rotating system, and increasing the service life of the rotating system .
  • the shape and volume of the rotating system are not limited in this embodiment. There are no restrictions on other components included in the rotating system. The other components to which the fixed member 101 and the rotating member 102 are respectively connected are not limited.
  • the fixed component 101 may include a stator of the motor
  • the rotating component 102 may include a rotor of the motor, which drives the electric energy receiving component 202 to rotate, and drives the second signal component 302 to rotate.
  • the frequency band used for electromagnetic induction power transmission to transmit electrical energy is different from the frequency band used for wireless communication.
  • the frequency band used by electromagnetic induction power transmission to transmit electrical energy is different from the frequency band used by wireless communication, when wireless power supply and wireless data transmission are realized at the same time, the interference between the two is effectively reduced, and the power supply quality and data transmission quality are also improved.
  • this embodiment does not limit the specific frequency band used by electromagnetic induction power transmission and the specific frequency band used by wireless communication.
  • the frequency band used by the electromagnetic induction power supply for transmitting electrical energy may be 120KHz to 150KHz.
  • the wireless communication component may include at least one of the following: a WIFI communication component, a Bluetooth communication component, and a near field communication (NFC) communication component.
  • a WIFI communication component may include at least one of the following: a WIFI communication component, a Bluetooth communication component, and a near field communication (NFC) communication component.
  • NFC near field communication
  • different types of wireless communication components may use different frequency bands. This embodiment does not limit the specific frequency band used by each type of wireless communication component.
  • the wireless communication component is a WIFI communication component.
  • the WIFI communication component can communicate with a custom protocol, it is compatible with TCP/IP protocol and serial port transparent transmission protocol at the same time, and it can also be upgraded with wireless firmware, which enhances the applicable scalability of the rotating system.
  • the frequency band used for WIFI communication component communication may be 5.2 GHz.
  • the power transmission component 201 may include a first chip, a first resonance capacitor, and a transmission coil
  • the power reception component 202 includes a second chip, a second resonance capacitor, and a reception coil.
  • the first chip outputs a square wave, and the first resonance capacitor and the transmission coil form a resonance circuit. Power is transmitted between the sending coil and the receiving coil through electromagnetic induction power supply.
  • the second resonance capacitor and the receiving coil form a resonance circuit.
  • the second chip outputs a DC voltage.
  • FIG. 2 is a schematic diagram of a circuit structure in a rotating system provided by an embodiment of the present invention.
  • the specific values and connection interface types shown in FIG. 2 are only examples, and do not limit the protection scope of the present invention.
  • the first chip 12 and the processor 13 are connected by an integrated circuit bus (Inter-Integrated Circuit, IIC).
  • the processor 13 and the first communication chip 14 are connected by an asynchronous transceiver (Universal Asynchronous Receiver/Transmitter, UART).
  • the first communication chip 14 and the first Ethernet link 16 are connected through a simplified media independent interface (Reduced Media Independent Interface, RMII).
  • RMII Reduced Media Independent Interface
  • the first chip 12 modulates and outputs a square wave with a certain frequency.
  • the frequency range of the square wave may be 120KHz ⁇ 150KHz.
  • a resonance circuit formed by the first resonance capacitor (not shown) and the transmission coil 11 outputs an AC sine wave.
  • the resonant circuit formed by the second resonance capacitor (not shown) and the receiving coil 21 forms an induced sinusoidal oscillation on the receiving loop, and then the second chip 22 outputs a DC voltage through synchronous rectification technology .
  • the input voltage of the first chip 12 may be 15V.
  • the output voltage of the second chip 22 may be 12V or 1.2V.
  • the values of the capacitances of the first resonance capacitor and the second resonance capacitor are not limited by the values of the inductances of the transmission coil 11 and the reception coil 21.
  • the capacitance value of the first resonance capacitor may be 310nF.
  • the inductance of the transmitting coil 11 may range from 8.5uH to 11uH.
  • the inductance of the sending coil 11 may be 10 uH.
  • the inductance of the receiving coil 21 may be 8.2uH.
  • the value of the capacitance of the second resonance capacitor may be 500 nF.
  • the distance between the sending coil 11 and the receiving coil 21 may range from 1.5 mm to 5 mm.
  • the distance between the transmitting coil 11 and the receiving coil 21 may be 3 mm.
  • the transmitting coil 11 and the receiving coil 21 are disk-shaped.
  • the transmitting coil and the receiving coil By setting the transmitting coil and the receiving coil to be disc-shaped, it can be ensured that when the rotating component rotates, the electric energy receiving component and the electric energy transmitting component can continuously and stably transmit electric energy.
  • the first chip and the communication chip included in the first signal component are integrated on the same circuit board, and the second chip and the communication chip included in the second signal component are integrated on the same circuit board.
  • the first chip 12 and the first communication chip 14 included in the first signal component are integrated on the first circuit board 10.
  • the second chip 22 and the second communication chip 23 included in the second signal component are integrated on the second circuit board 20.
  • the integration of the chip is improved and the occupied space is reduced.
  • the first signal component includes a first communication chip and a first antenna
  • the second signal component includes a second communication chip and a second antenna
  • both the first antenna and the second antenna are on-board antennas.
  • the rotating system provided in this embodiment may further include a first serial link 15 and a first Ethernet link 16 installed on a fixed component, a first serial link 15 and a first The Ethernet links 16 are all electrically connected to the first signal component 301.
  • the first serial port link 15 is used to transmit control commands.
  • the first Ethernet link 16 is used to transmit the following data: image data and sensing data of the distance sensor.
  • the rotating system provided in this embodiment may further include a second serial link 25 and a second Ethernet link 26, a second serial link 25, and a second The Ethernet links 26 are all electrically connected to the second signal component 302.
  • the second serial port link 25 is used to transmit control commands.
  • the second Ethernet link 26 is used to transmit the following data: image data and sensing data of the distance sensor.
  • the rotating system provided in this embodiment may further include a processor.
  • the second signal component is used to receive the first time axis information and the first motion parameter sent by the first signal component, the first motion parameter corresponds to the first time axis information, and is used to represent the first signal component and the second signal component Sports relationship.
  • the processor is configured to determine second time axis information corresponding to the first motion parameter in the local second time axis.
  • the processor is configured to adjust the second time axis according to the first time axis information and the second time axis information so that the second time axis is synchronized with the first time axis.
  • the first signal component and the second signal component may respectively maintain a time axis locally, and the time axis is composed of multiple different moments.
  • this embodiment is based on the fact that the difference between the motion parameters of the first signal component and the second signal component when the relative motion reaches a certain physical position is fixed (in some implementation scenarios, the difference can be fixed to 0) and Therefore, while maintaining the respective time axis, the first signal component and the second signal component also need to record the motion parameters corresponding to each time (or part of the time).
  • first signal component and the second signal component respectively maintain the correspondence between the local time axis and the motion parameters.
  • the first signal component maintains the correspondence between the first time axis and the first motion parameter
  • the second signal component maintains the correspondence between the second time axis and the second motion parameter.
  • first motion parameter and the second motion parameter are the same type or the same type of parameter, that is, if the first motion parameter is the relative rotation angle, the second motion parameter is also the relative rotation angle.
  • first”, “second”, etc. are not used to limit the number, but to distinguish the time axis and the like. It can be seen that in the actual implementation scenario, the first time axis may also be referred to as the second time axis, and the second time axis may also be referred to as the first time axis.
  • the motion parameter is used to identify the motion relationship between the first signal component and the second signal component.
  • the maintenance of the time axis and the motion parameters is specifically performed, which parameters are specifically recorded is related to the relative motion mode of the first signal component and the second signal component.
  • the first signal component and the second signal component can rotate relatively, and the first motion parameter includes an absolute angle of rotation.
  • both the first signal component and the second signal component can be rotated, and the rotation axes of the two are the same, but the rotation speed or acceleration of the two are different, resulting in the first signal component and the second signal component Can rotate relatively.
  • the rotation axes of the two are the same, and the absolute angles of rotation of the two are equal.
  • the rotation angle the corresponding first At the time of the time axis and the time of the second time axis, the difference between the two time axes is determined, and further, synchronization between the first time axis and the second time axis is achieved.
  • the first signal component cannot rotate, its position is relatively fixed, and the second signal component can rotate, and at this time, the second signal component can rotate relative to the first signal component.
  • the first signal component is a stator and the second signal component is a rotor.
  • the first motion parameter recorded by the first signal component may be the absolute rotation angle of the second signal component rotating around the rotation axis; similarly, the second motion parameter recorded by the second signal component is also the second signal component rotating around the same rotation axis
  • the absolute angle of rotation that is, the first motion parameter and the second motion parameter have the same physical meaning, but the first time axis and the second time axis corresponding to the two may be different. Therefore, when the two rotate at the same time to At the same angle, through the corresponding relationship with the first time axis and the second time axis, the difference between the two time axes can be determined, and then, the second time axis can be adjusted to realize the first time axis and the second time axis Synchronization.
  • the range of relative rotation angles of the first signal component and the second signal component may be greater than or equal to 360 degrees, or less than 360 degrees.
  • the rotatable range also has an influence on the relative movement manner of the first signal component and the second signal component.
  • the rotation range of the second signal component relative to the first signal component is circular, then when rotating,
  • the first signal component can be rotated in a single direction, or it can be rotated in a variable direction relative to the first signal component.
  • it can be continuously rotated or intermittently.
  • the second signal component may continuously rotate in the first preset direction relative to the first signal component; or, the second signal component may rotate intermittently relative to the first signal component.
  • a first preset direction for example, counterclockwise or clockwise
  • the way of each rotation may be different, for example, any two adjacent The direction of intermittent rotation is different.
  • the relative rotation mode that can be achieved includes: the second signal component reciprocates relative to the first signal component.
  • At least one of the following motion parameters can be used as an auxiliary parameter to achieve synchronization between the first time axis and the second time axis: relative rotation angle, rotation speed, and rotation acceleration.
  • the first motion parameter (acquired by the first signal component) and the second motion parameter (acquired by the second signal component) can be used Characterize the relative motion relationship between the two.
  • the difference between their motion parameters is fixed (in some scenes, the difference may be equal), so use this as a bridge to achieve the first
  • the time axis is synchronized with the second time axis.
  • this embodiment also provides a method for acquiring the foregoing motion parameters: the first motion parameter can be acquired through a first sensor provided on the fixed component, and the second motion parameter can be obtained from the first component provided on the rotating component. Can be sensed by two sensors.
  • the sensor types involved in this embodiment may include, but are not limited to, at least one of the following: an angle sensor, a distance sensor, a speed sensor, and an acceleration sensor.
  • the angle sensor is used to collect and obtain the rotation angle (relative angle or absolute angle is related to the zero position, which will be described later), which can be specifically expressed as: a grating angle sensor, a Hall angle sensor, and the like.
  • the above-mentioned functional sensors may have different expressions when specifically implemented, which may include, but are not limited to, at least one of the following: a potential sensor, a photoelectric sensor, an electromagnetic sensor, and a force sensor.
  • first motion parameter and the second motion parameter limits the first motion parameter and the second motion parameter to be the same type of data, there is no particular limitation on whether the sensors used to collect these data are the same.
  • the first motion parameter and the second motion parameter are absolute rotation angles
  • the first signal component uses the Hall angle sensor installed on it to collect the first motion parameter
  • the second signal component is set on it
  • the grating angle sensor realizes the collection of the second motion parameter.
  • both of them use Hall angle sensors to realize the collection of rotating absolute angles.
  • the processor may be a processor provided on the side of the rotating member, for example, as shown in FIG. 2.
  • the rotating system provided in this embodiment may further include an inertial measurement unit (Inertial Measurement Unit, IMU, 19, and IMU 19 installed on a fixed component.
  • IMU Inertial Measurement Unit
  • IMU 19 installed on a fixed component.
  • the current pitch angle information of the rotating system can be sensed independently, effectively compensating for the influence of the attitude change of the rotating system.
  • the motor control part may use field-oriented control (FOC) control technology based on current and angle feedback, which can perform precise closed-loop control on the speed and angle current To reduce power consumption and jitter.
  • FOC field-oriented control
  • This embodiment provides a rotating system, including a rotating component, an electromagnetic induction power supply component, and a wireless communication component.
  • a rotating system including a rotating component, an electromagnetic induction power supply component, and a wireless communication component.
  • wireless power supply and wireless data transmission can be realized respectively, which realizes all-round rotation, expands the application scenarios of the rotation system, and improves the service life and rotation effect of the rotation system.
  • An embodiment of the present invention further provides a sensor, including: the rotating system provided in any implementation manner of the embodiments shown in FIG. 1 to FIG. 2. And, the sensing part is installed on the rotating part.
  • the sensing component is electrically connected to the power receiving component and is powered by the power receiving component.
  • the sensing component is electrically connected to the second signal component, and the sensing data is transmitted back through the second signal component and the first signal component.
  • the senor provided in this embodiment through the electromagnetic induction power supply component included in the rotating system, can supply power to the sensing component through wireless power supply.
  • the wireless communication component included in the rotating system the data sensed by the sensing component can be transmitted through wireless data transmission.
  • the sensing component can rotate in all directions, which expands the application scenarios of the rotating system and improves the service life and rotating effect of the rotating system.
  • the senor may include at least one of the following: lidar, microwave radar, ultrasonic sensor, infrared sensor, and image sensor.

Landscapes

  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Arrangements For Transmission Of Measured Signals (AREA)

Abstract

一种旋转系统和传感器，旋转系统包括：旋转组件、电磁感应供电组件和无线通信组件；旋转组件包括固定部件（101）、以及相对于固定部件（101）可转动的转动部件（102）；电磁感应供电组件包括电能发送组件（201）和电能接收组件（202），电能接收组件（202）安装在转动部件（102）上，并且随着转动部件（102）的旋转而旋转；电能发送组件（201）安装在固定部件（101）上，并且与电能接收组件（202）之间通过电磁感应供电传输电能；无线通信组件包括第一信号组件（301）和第二信号组件（302），第二信号组件（302）安装在转动部件（102）上，并且随着转动部件（102）的旋转而旋转；第一信号组件（301）安装在固定部件（101）上，并且与第二信号组件（302）之间建立无线通信连接。实现了旋转系统的无线供电和无线数据传输。

Description

旋转系统和传感器 技术领域
本发明涉及无线传输技术领域，尤其涉及一种旋转系统和传感器。
背景技术
现有一些旋转设备会同时具有通信和电能传输的需求，例如，旋转雷达。在一些旋转雷达中，目前，采用有线供电方式和有线传输方式。
由于受限于供电线缆和传输线缆，电机的旋转角度因为线缆扭曲的约束，旋转设备不能实现360°的全向旋转，只能在一定范围内旋转。例如，旋转角度区间可以为+270°～-270°。如果要做全向旋转，旋转方向需要正反交替进行，这就使得电机不断启停，导致很大的启停功耗和机械振动，降低了旋转设备的使用寿命，限制了旋转设备的应用场景。
发明内容
本发明提供一种旋转系统和传感器，在旋转系统中实现了无线供电和无线数据传输，扩展了旋转设备的应用场景。
第一方面，本发明提供一种旋转系统，包括：旋转组件、电磁感应供电组件和无线通信组件；
所述旋转组件包括固定部件、以及相对于所述固定部件可转动的转动部件；
所述电磁感应供电组件包括电能发送组件和电能接收组件，所述电能接收组件安装在所述转动部件，并且随着所述转动部件的旋转而旋转；所述电能发送组件安装在所述固定部件，并且与所述电能接收组件之间通过电磁感应供电传输电能；
所述无线通信组件包括第一信号组件和第二信号组件，所述第二信号组件安装在所述转动部件，并且随着所述转动部件的旋转而旋转；所述第一信号组件安装在所述固定部件，并且与所述第二信号组件之间建立无线通信连接。
可选的，在一种可能的实现方式中，所述电磁感应供电传输电能使用的频段与无线通信使用的频段不同。
可选的，在一种可能的实现方式中，所述电磁感应供电传输电能使用的频段范围为120KHz～150KHz。
可选的，在一种可能的实现方式中，所述无线通信组件包括如下至少一种：WIFI通信组件，蓝牙通信组件，NFC通信组件。
可选的，在一种可能的实现方式中，所述无线通信组件为WIFI通信组件。
可选的，在一种可能的实现方式中，所述WIFI通信组件通信使用的频段为5.2GHz。
可选的，在一种可能的实现方式中，所述电能发送组件包括第一芯片、第一谐振电容和发送线圈，所述电能接收组件包括第二芯片、第二谐振电容和接收线圈；
所述第一芯片输出方波，所述第一谐振电容和所述发送线圈形成谐振电路；所述发送线圈与所述接收线圈之间通过电磁感应供电传输电能；所述第二谐振电容和所述接收线圈形成谐振电路；所述第二芯片输出直流电压。
可选的，在一种可能的实现方式中，所述发送线圈与所述接收线圈之间的距离范围为1.5毫米～5毫米。
可选的，在一种可能的实现方式中，所述发送线圈与所述接收线圈为圆盘状。
可选的，在一种可能的实现方式中，所述第一芯片与所述第一信号组件包括的通信芯片集成在同一个电路板上，所述第二芯片与所述第二信号组件包括的通信芯片集成在同一个电路板上。
可选的，在一种可能的实现方式中，所述第一信号组件包括第一通信芯片和第一天线，所述第二信号组件包括第二通信芯片和第二天线，所述第一天线和所述第二天线均为板上天线。
可选的，在一种可能的实现方式中，所述固定部件包括电机的定子，所述转动部件包括电机的转子，带动所述电能接收组件旋转，且带动所述第二信号组件旋转。
可选的，在一种可能的实现方式中，还包括安装在所述固定部件的第一串口链路、以及第一以太网链路，所述第一串口链路、以及第一以太网链路 均与所述第一信号组件电连接。
可选的，在一种可能的实现方式中，所述第一串口链路用于传输控制指令。
可选的，在一种可能的实现方式中，所述第一以太网链路用于传输如下数据：图像数据，距离传感器的感测数据。
可选的，在一种可能的实现方式中，还包括安装在所述转动部件的第二串口链路、以及第二以太网链路，所述第二串口链路、以及第二以太网链路均与所述第二信号组件电连接。
可选的，在一种可能的实现方式中，所述第二串口链路用于传输控制指令。
可选的，在一种可能的实现方式中，所述第二以太网链路用于传输如下数据：图像数据，距离传感器的感测数据。
可选的，在一种可能的实现方式中，还包括处理器；
所述第二信号组件用于接收所述第一信号组件发送的第一时间轴信息与第一运动参数，所述第一运动参数对应于所述第一时间轴信息，并且用于表示第一信号组件与所述第二信号组件之间的运动关系；
所述处理器，用于在本地的第二时间轴中，确定与所述第一运动参数对应的第二时间轴信息；
所述处理器，用于根据所述第一时间轴信息与所述第二时间轴信息，调整所述第二时间轴，使得所述第二时间轴与第一时间轴同步。
可选的，在一种可能的实现方式中，所述第二信号组件与所述第一信号组件能够相对转动，所述第一运动参数包括旋转绝对角度。
可选的，在一种可能的实现方式中，所述第二信号组件相对于所述第一信号组件能够相对转动的角度大于或者等于360度。
可选的，在一种可能的实现方式中，所述第二信号组件相对于所述第一信号组件沿第一预设方向连续转动；或者，
所述第二信号组件相对于所述第一信号组件间歇地转动。
可选的，在一种可能的实现方式中，所述第二信号组件相对于所述第一信号组件能够相对转动的角度小于360度。
可选的，在一种可能的实现方式中，所述第二信号组件相对于所述第一 信号组件做往复运动。
可选的，在一种可能的实现方式中，所述第一运动参数还包括如下至少一种：旋转相对角度，旋转速度，旋转加速度。
第二方面，本发明提供一种传感器，包括：
本发明第一方面任一实施方式提供的旋转系统；以及
感测部件，安装在所述转动部件，
其中，所述感测部件与所述电能接收组件电连接，被所述电能接收组件供电；所述感测部件与所述第二信号组件电连接，通过所述第二信号组件、以及所述第一信号组件将感测数据回传。
可选的，在一种可能的实现方式中，所述传感器包括如下至少一种：激光雷达，微波雷达，超声波传感器，红外传感器，图像传感器。
本发明提供一种旋转系统和传感器，通过电磁感应供电组件和无线通信组件可以分别实现无线供电和无线数据传输，实现了旋转系统的全方位转动，扩展了旋转系统的应用场景，提升了旋转系统的使用寿命。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图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。
图1为本发明实施例提供的旋转系统的结构示意图；
图2为本发明实施例提供的旋转系统中的电路结构示意图。
具体实施方式
为使本发明实施例的目的、技术方案和优点更加清楚，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。
图1为本发明实施例提供的旋转系统的结构示意图。如图1所示，本实 施例提供的旋转系统，可以包括：旋转组件、电磁感应供电组件和无线通信组件。
旋转组件包括固定部件101、以及相对于固定部件101可转动的转动部件102。
电磁感应供电组件包括电能发送组件201和电能接收组件202，电能接收组件202安装在转动部件102，并且随着转动部件102的旋转而旋转。电能发送组件201安装在固定部件101，并且与电能接收组件202之间通过电磁感应供电传输电能。
无线通信组件包括第一信号组件301和第二信号组件302，第二信号组件302安装在转动部件102，并且随着转动部件102的旋转而旋转。第一信号组件301安装在固定部件101，并且与第二信号组件302之间建立无线通信连接。
具体的，旋转系统包括旋转组件。通过旋转组件，旋转系统上与转动部件102连接的一部分，相对于旋转系统上与固定部件101连接的一部分可以相对转动。在本实施例中，与转动部件102连接的部分包括电能接收组件202和第二信号组件302。与固定部件101连接的部分包括电能发送组件201和第一信号组件301。
其中，电能发送组件201与电能接收组件202组成电磁感应供电组件。随着旋转组件的转动，电能接收组件202相对于电能发送组件201可以进行相对转动。电能发送组件201与电能接收组件202之间，可以通过电磁感应供电传输电能。从而，电能接收组件202可以为与转动部件102连接的其他部件供电。
在供电原理上，由于通过电能发送组件201与电能接收组件202实现了电磁感应供电，避免了使用供电线缆，因此，在旋转组件进行转动的过程中，转动部件102可以实现360°全方位转动，不需要周期性正反方向进行旋转，在确保为旋转系统提供电能的前提下，扩大了旋转角度，提升了旋转的灵活性，扩展了旋转系统的应用场景。
其中，第一信号组件301与第二信号组件302组成无线通信组件。随着旋转组件的转动，第二信号组件302相对于第一信号组件301可以进行相对转动。第一信号组件301与第二信号组件302可以建立无线通信连接，因此， 第一信号组件301与第二信号组件302之间可以通过无线通信的方式传输数据。具体的，第一信号组件301可以向第二信号组件302发送数据。相应的，第二信号组件302接收到第一信号组件301发送的数据后，可以传输给与转动部件102连接的其他部件进行后续处理。反之类似。第二信号组件302可以向第一信号组件301发送数据。需要说明的是，本实施例对于数据的类型以及数据包括的具体内容不做限定。
在数据传输原理上，由于通过第一信号组件301与第二信号组件302实现了无线通信，避免了使用传输线缆，因此，在旋转组件进行转动的过程中，可以实现360°全方位转动，不需要周期性正反方向进行旋转，在确保为旋转系统提供数据传输功能的前提下，扩大了旋转角度，提升了旋转的灵活性，扩展了旋转系统的应用场景。
可见，本实施例提供的旋转系统，通过电磁感应供电组件和无线通信组件可以分别实现无线供电和无线数据传输，实现了全方位转动，扩展了旋转系统的应用场景，提升了旋转系统的使用寿命。
需要说明的是，本实施例对于旋转系统的形状、体积不做限定。对于旋转系统中还包括的其他部件不做限定。对于固定部件101和转动部件102分别连接的其他部件不做限定。
可选的，固定部件101可以包括电机的定子，转动部件102可以包括电机的转子，带动电能接收组件202旋转，且带动第二信号组件302旋转。
需要说明的是，本实施例对于电机的实现方式不做限定。
可选的，电磁感应供电传输电能使用的频段与无线通信使用的频段不同。
由于电磁感应供电传输电能使用的频段与无线通信使用的频段不同，因此，在同时实现无线供电和无线数据传输时，有效降低了两者之间的干扰，同时提升了供电质量和数据传输质量。
需要说明的是，本实施例对于电磁感应供电传输电能使用的具体频段、无线通信使用的具体频段不做限定。
可选的，电磁感应供电传输电能使用的频段范围可以为120KHz～150KHz。
可选的，无线通信组件可以包括如下至少一种：WIFI通信组件，蓝牙通信组件，近距离无线通讯(Near Field Counication，NFC)通信组件。
其中，无线通信组件的类型不同，使用的频段可以不同。本实施例对于 每种类型的无线通信组件使用的具体频段不做限定。
可选的，无线通信组件为WIFI通信组件。
由于WIFI通信组件可以采用自定义协议通讯，同时兼容TCP/IP协议和串口透传协议，也可以进行无线固件升级，增强了旋转系统的适用扩展性。
可选的，当无线通信组件为WIFI通信组件时，WIFI通信组件通信使用的频段可以为5.2GHz。
通过在发射端和接收端都采用5.2Ghz的WIFI芯片，可以实现近距离高速率无线通信。
可选的，电能发送组件201可以包括第一芯片、第一谐振电容和发送线圈，电能接收组件202包括第二芯片、第二谐振电容和接收线圈。
第一芯片输出方波，第一谐振电容和发送线圈形成谐振电路。发送线圈与接收线圈之间通过电磁感应供电传输电能。第二谐振电容和接收线圈形成谐振电路。第二芯片输出直流电压。
下面结合示例进行说明。
示例性的，图2为本发明实施例提供的旋转系统中的电路结构示意图。需要说明，图2中所示的具体数值、连接接口类型等，仅是一种示例，并不限定本发明的保护范围。例如，第一芯片12与处理器13之间通过集成电路总线(Inter-Integrated Circuit，IIC)连接。处理器13与第一通信芯片14之间通过异步收发传输器(Universal Asynchronous Receiver/Transmitter，UART)连接。第一通信芯片14与第一以太网链路16之间通过简化媒体独立接口(Reduced Media Independent Interface，RMII)连接。
如图2所示，第一芯片12调制输出具有一定频率的方波。可选的，方波的频率范围可以为120KHz～150KHz。通过第一谐振电容(未示出)和发送线圈11形成的谐振电路，输出交流正弦波。在转动部件102侧，通过第二谐振电容(未示出)和接收线圈21形成的谐振电路，发射的电磁场在接收回路上形成感应正弦振荡，再由第二芯片22通过同步整流技术输出直流电压。示例性的，第一芯片12的输入电压可以为15V。第二芯片22的输出电压可以为12V或者1.2V。
需要说明的是，本实施例对于第一谐振电容、第二谐振电容的电容取值，发送线圈11和接收线圈21的电感取值不做限定。比如，第一谐振电容的电 容取值可以为310nF。发送线圈11的电感取值范围可以为8.5uH～11uH。可选的，发送线圈11的电感取值可以为10uH。接收线圈21的电感取值可以为8.2uH。第二谐振电容的电容取值可以为500nF。
可选的，为了通过合理的磁屏蔽设计减少漏感，提高电能传输效率，发送线圈11与接收线圈21之间的距离范围可以为1.5毫米～5毫米。
可选的，发送线圈11与接收线圈21之间的距离可以为3毫米。
可选的，发送线圈11与接收线圈21为圆盘状。
通过设置发送线圈与接收线圈为圆盘状，可以保证旋转组件旋转时，电能接收组件和电能发送组件之间能够持续稳定地传输电能。
可选的，第一芯片与第一信号组件包括的通信芯片集成在同一个电路板上，第二芯片与第二信号组件包括的通信芯片集成在同一个电路板上。
参见图2。第一芯片12与第一信号组件包括的第一通信芯片14集成在第一电路板10上。第二芯片22与第二信号组件包括的第二通信芯片23集成在第二电路板20上。提升了芯片的集成度，缩小了占用空间。
可选的，第一信号组件包括第一通信芯片和第一天线，第二信号组件包括第二通信芯片和第二天线，第一天线和第二天线均为板上天线。
通过高集成度的通信芯片结合对旋转状态下优化的板上天线，降低了旋转后接收的信号的波动，降低了丢包率和延时。实现了稳定通信，提升了数据传输性能。
可选的，参见图2，本实施例提供的旋转系统，还可以包括安装在固定部件的第一串口链路15、以及第一以太网链路16，第一串口链路15、以及第一以太网链路16均与第一信号组件301电连接。
可选的，第一串口链路15用于传输控制指令。
可选的，第一以太网链路16用于传输如下数据：图像数据，距离传感器的感测数据。
通过在固定部件侧设置第一串口链路和第一以太网链路，对于不同带宽和实时性要求的数据进行分流，提升了旋转系统的组网拓展和数据传输方式的多样性。
可选的，参见图2，本实施例提供的旋转系统，还可以包括安装在转动部件的第二串口链路25、以及第二以太网链路26，第二串口链路25、以及 第二以太网链路26均与第二信号组件302电连接。
可选的，第二串口链路25用于传输控制指令。
可选的，第二以太网链路26用于传输如下数据：图像数据，距离传感器的感测数据。
通过在转动部件侧设置第二串口链路和第二以太网链路，对于不同带宽和实时性要求的数据进行分流，提升了旋转系统的组网拓展和数据传输方式的多样性。
可选的，本实施例提供的旋转系统，还可以包括处理器。
第二信号组件用于接收第一信号组件发送的第一时间轴信息与第一运动参数，第一运动参数对应于第一时间轴信息，并且用于表示第一信号组件与第二信号组件之间的运动关系。
处理器，用于在本地的第二时间轴中，确定与第一运动参数对应的第二时间轴信息。
处理器，用于根据第一时间轴信息与第二时间轴信息，调整第二时间轴，使得第二时间轴与第一时间轴同步。
具体的，第一信号组件与第二信号组件可以分别在本地维护时间轴，该时间轴由多个不同的时刻构成。除此之外，本实施例是基于第一信号组件与第二信号组件在相对运动到某一物理位置时二者的运动参数之差固定(一些实现场景中其差值可固定为0)而构成的，因此，第一信号组件与第二信号组件在维护各自时间轴的同时，还需要记录各时刻(或部分时刻)对应的运动参数。
也就是，第一信号组件与第二信号组件分别维护本地时间轴与运动参数之间的对应关系。其中，第一信号组件维护第一时间轴与第一运动参数之间的对应关系，第二信号组件维护第二时间轴与第二运动参数之间的对应关系。需要说明的是，第一运动参数与第二运动参数为同一类别或同一类型的参数，也就是，若第一运动参数为旋转相对角度，则第二运动参数也为旋转相对角度。
可见，本实施例是利用第一信号组件与第二信号组件在同一时刻运动到同一物理位置时，二者各自记录的第一运动参数与第二运动参数之间的关系来实现时间同步的。由于加入了时间同步机制，改善了由于无线通信引入的 延时不确定性，使其可以用在对传输时延敏感的领域。
需要说明的是，本实施例中“第一”、“第二”等并不用于限定数目，而是用以区分时间轴等。可知，在实际实现场景中，第一时间轴也可以称之为第二时间轴，第二时间轴也可以称之为第一时间轴。
本实施例中，运动参数用以标识第一信号组件与第二信号组件之间的运动关系。在具体进行时间轴与运动参数的维护时，具体记录何种参数与第一信号组件与第二信号组件的相对运动方式有关。
第一信号组件与第二信号组件能够相对转动，第一运动参数包括旋转绝对角度。
在一种可能的设计中，第一信号组件与第二信号组件均可实现转动，二者的转轴相同，但是，二者的转动速度或转动加速度不同，导致第一信号组件与第二信号组件能够相对转动。
此时，当第一信号组件与第二信号组件在同一时刻转动到同一物理位置时，二者的转轴相同，二者的旋转绝对角度相等，此时，可以根据该旋转角度各自对应的第一时间轴时刻和第二时间轴时刻，确定两个时间轴的差值，进而，实现对第一时间轴与第二时间轴的同步。
或者，
另一可能的设计中，第一信号组件不能够转动，其位置相对固定，而第二信号组件可转动，此时，第二信号组件相对于第一信号组件可转动。例如，第一信号组件为定子，第二信号组件为转子的情况。
此时，第一信号组件记录的第一运动参数可以为第二信号组件围绕转轴转动的旋转绝对角度；同理，第二信号组件记录的第二运动参数也是第二信号组件围绕同一转轴转动的旋转绝对角度，也就是，第一运动参数与第二运动参数的物理意义相同，但是，二者分别对应的第一时间轴与第二时间轴可能不同，因此，当二者在同一时刻转动到同一角度时，通过与第一时间轴与第二时间轴的对应关系，可以确定两个时间轴之间的差值，进而，调整第二时间轴以实现对第一时间轴与第二时间轴的同步。
在前述任一种设计中，第一信号组件与第二信号组件的相对转动角度的范围可以大于或者等于360度，或者，小于360度。该可转动范围对第一信号组件与第二信号组件的相对运动方式也存在影响。
其中，若第二信号组件相对于第一信号组件能够相对转动的角度大于或者等于360度，则第二信号组件相对于第一信号组件的转动范围是圆形，则其在转动时，可相对于第一信号组件做单一方向的转圈式转动，或者，也可以相对于第一信号组件做可变方向的转圈式转动，此外，可以连续转动，还可以间歇式转动。具体的，第二信号组件可相对于第一信号组件沿第一预设方向连续转动；或者，所述第二信号组件相对于所述第一信号组件间歇地转动。其中，若间歇式转动，则每次都可按照一个第一预设方向(例如，逆时针方向或顺时针方向)转动，或者，每次转动的方式可以不同，例如，任意相邻的两次间歇式转动的方向不同。
或者，若第二信号组件相对于第一信号组件能够相对转动的角度小于360度，则第二信号组件相对于第一信号组件能够转动的范围为一个扇形。此时，能够实现的相对转动方式包括：第二信号组件相对于所述第一信号组件做往复运动。
除前述旋转绝对角度之外，还可以通过如下至少一种运动参数作为辅助参数以实现第一时间轴与第二时间轴的同步：旋转相对角度，旋转速度，旋转加速度。
基于前述设计，无论第一信号组件与第二信号组件之间作何种相对运动，都能够用第一运动参数(第一信号组件采集获得)与第二运动参数(第二信号组件采集获得)来表征二者之间的相对运动关系。而第一信号组件与第二信号组件在同一时刻运动到同一位置时，其运动参数之间的差值固定(在一些场景中该差值可能相等)，因此，以此作为桥梁，实现第一时间轴与第二时间轴的同步。
此外，本实施例还给出前述各运动参数的获取方式：第一运动参数的获取可以通过设置于固定部件上的第一传感器感测得到，第二运动参数可以由设置于转动部件上的第二传感器感测得到。
从功能上讲，本实施例所涉及到的传感器类型可以包括但不限于如下至少一种：角度传感器，距离传感器，速度传感器，加速度传感器。其中，角度传感器用于采集并获取旋转角度(相对角度或绝对角度与零点位置有关，后续具体说明)，其可具体表现为：光栅角度传感器、霍尔角度传感器等。
此外，前述各功能类传感器在具体实现时，可以具备不同的表现形式， 其可包括但不限于如下至少一种：电位传感器，光电传感器，电磁传感器，力传感器。
需要说明的是，本实施例虽然限定了第一运动参数与第二运动参数为同一类型的数据，但是，对于采集这些数据所采用的传感器是否相同则无特别限定。例如，若第一运动参数与第二运动参数为旋转绝对角度，则第一信号组件则通过其上设置的霍尔角度传感器实现第一运动参数的采集，而第二信号组件则通过其上设置的光栅角度传感器实现第二运动参数的采集。又例如，二者均采用霍尔角度传感器实现旋转绝对角度的采集。
可选的，处理器可以为设置在转动部件侧的处理器，示例性的，如图2中的处理器23。
可选的，参见图2，本实施例提供的旋转系统，还可以包括惯性测量单元(Inertial measurement unit，IMU,19，IMU19安装在固定部件。
通过IMU，可以独立的感知旋转系统目前的俯仰角度信息，有效的补偿旋转系统姿态变化的的影响。
可选的，参照图2，本实施例提供的旋转系统，电机控制部分可以采用基于电流、角度反馈的磁场定向控制(Field oriented control，FOC)控制技术，可以对转速、角度电流进行精确闭环控制，降低功耗和抖动。
本实施例提供一种旋转系统，包括旋转组件、电磁感应供电组件和无线通信组件。通过电磁感应供电组件和无线通信组件可以分别实现无线供电和无线数据传输，实现了全方位转动，扩展了旋转系统的应用场景，提升了旋转系统的使用寿命和旋转效果。
本发明实施例还提供一种传感器，包括：图1～图2所示实施例中任一实现方式提供的旋转系统。以及，感测部件，安装在转动部件。
其中，感测部件与电能接收组件电连接，被电能接收组件供电。感测部件与第二信号组件电连接，通过第二信号组件、以及第一信号组件将感测数据回传。
可见，本实施例提供的传感器，通过旋转系统中包括的电磁感应供电组件，可以通过无线供电的方式为感测部件供电。通过旋转系统中包括的无线通信组件，可以通过无线数据传输的方式传输感测部件感测到的数据。而且， 感测部件可以全方位转动，扩展了旋转系统的应用场景，提升了旋转系统的使用寿命和旋转效果。
可选的，传感器可以包括如下至少一种：激光雷达，微波雷达，超声波传感器，红外传感器，图像传感器。
本领域普通技术人员可以理解：实现上述各方法实施例的全部或部分步骤可以通过程序指令相关的硬件来完成。前述的程序可以存储于一计算机可读取存储介质中。该程序在执行时，执行包括上述各方法实施例的步骤；而前述的存储介质包括：ROM、RAM、磁碟或者光盘等各种可以存储程序代码的介质。
最后应说明的是：以上各实施例仅用以说明本发明实施例的技术方案，而非对其限制；尽管参照前述各实施例对本发明实施例进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明实施例技术方案的范围。

Claims (21)

  1. 一种旋转系统，其特征在于，包括：旋转组件、电磁感应供电组件和无线通信组件；
    所述旋转组件包括固定部件、以及相对于所述固定部件可转动的转动部件；
    所述电磁感应供电组件包括电能发送组件和电能接收组件，所述电能接收组件安装在所述转动部件，并且随着所述转动部件的旋转而旋转；所述电能发送组件安装在所述固定部件，并且与所述电能接收组件之间通过电磁感应供电传输电能；
    所述无线通信组件包括第一信号组件和第二信号组件，所述第二信号组件安装在所述转动部件，并且随着所述转动部件的旋转而旋转；所述第一信号组件安装在所述固定部件，并且与所述第二信号组件之间建立无线通信连接。
  2. 根据权利要求1所述的旋转系统，其特征在于，所述电磁感应供电传输电能使用的频段与无线通信使用的频段不同。
  3. 根据权利要求2所述的旋转系统，其特征在于，所述电磁感应供电传输电能使用的频段范围为120KHz～150KHz。
  4. 根据权利要求2所述的旋转系统，其特征在于，所述无线通信组件包括如下至少一种：WIFI通信组件，蓝牙通信组件，近距离无线通讯NFC通信组件。
  5. 根据权利要求2所述的旋转系统，其特征在于，所述无线通信组件为WIFI通信组件。
  6. 根据权利要求5所述的旋转系统，其特征在于，所述WIFI通信组件通信使用的频段为5.2GHz。
  7. 根据权利要求1所述的旋转系统，其特征在于，所述电能发送组件包括第一芯片、第一谐振电容和发送线圈，所述电能接收组件包括第二芯片、第二谐振电容和接收线圈；
    所述第一芯片输出方波，所述第一谐振电容和所述发送线圈形成谐振电路；所述发送线圈与所述接收线圈之间通过电磁感应供电传输电能；所述第二谐振电容和所述接收线圈形成谐振电路；所述第二芯片输出直流电压。
  8. 根据权利要求7所述的旋转系统，其特征在于，所述发送线圈与所述接收线圈之间的距离范围为1.5毫米～5毫米。
  9. 根据权利要求7所述的旋转系统，其特征在于，所述发送线圈与所述接收线圈为圆盘状。
  10. 根据权利要求7所述的旋转系统，其特征在于，所述第一芯片与所述第一信号组件包括的通信芯片集成在同一个电路板上，所述第二芯片与所述第二信号组件包括的通信芯片集成在同一个电路板上。
  11. 根据权利要求1所述的旋转系统，其特征在于，所述第一信号组件包括第一通信芯片和第一天线，所述第二信号组件包括第二通信芯片和第二天线，所述第一天线和所述第二天线均为板上天线。
  12. 根据权利要求1-11任一项所述的旋转系统，其特征在于，所述固定部件包括电机的定子，所述转动部件包括电机的转子，带动所述电能接收组件旋转，且带动所述第二信号组件旋转。
  13. 根据权利要求1-11任一项所述的旋转系统，其特征在于，还包括安装在所述固定部件的第一串口链路、以及第一以太网链路，所述第一串口链路、以及第一以太网链路均与所述第一信号组件电连接。
  14. 根据权利要求13所述的旋转系统，其特征在于，所述第一串口链路 用于传输控制指令。
  15. 根据权利要求13所述的旋转系统，其特征在于，所述第一以太网链路用于传输如下数据：图像数据，距离传感器的感测数据。
  16. 根据权利要求1-11任一项所述的旋转系统，其特征在于，还包括安装在所述转动部件的第二串口链路、以及第二以太网链路，所述第二串口链路、以及第二以太网链路均与所述第二信号组件电连接。
  17. 根据权利要求16所述的旋转系统，其特征在于，所述第二串口链路用于传输控制指令。
  18. 根据权利要求16所述的旋转系统，其特征在于，所述第二以太网链路用于传输如下数据：图像数据，距离传感器的感测数据。
  19. 根据权利要求1所述的旋转系统，其特征在于，还包括处理器；
    所述第二信号组件用于接收所述第一信号组件发送的第一时间轴信息与第一运动参数，所述第一运动参数对应于所述第一时间轴信息，并且用于表示第一信号组件与所述第二信号组件之间的运动关系；
    所述处理器，用于在本地的第二时间轴中，确定与所述第一运动参数对应的第二时间轴信息；
    所述处理器，用于根据所述第一时间轴信息与所述第二时间轴信息，调整所述第二时间轴，使得所述第二时间轴与第一时间轴同步。
  20. 一种传感器，其特征在于，包括：
    如权利要求1-19任一项所述的旋转系统；以及
    感测部件，安装在所述转动部件，
    其中，所述感测部件与所述电能接收组件电连接，被所述电能接收组件供电；所述感测部件与所述第二信号组件电连接，通过所述第二信号组件、以及所述第一信号组件将感测数据回传。
  21. 根据权利要求20所述的传感器，其特征在于，所述传感器包括如下至少一种：激光雷达，微波雷达，超声波传感器，红外传感器，图像传感器。
PCT/CN2018/119245 2018-12-04 2018-12-04 旋转系统和传感器 Ceased WO2020113448A1 (zh)

Priority Applications (3)

Application Number Priority Date Filing Date Title
CN201880072147.8A CN111433626B (zh) 2018-12-04 2018-12-04 旋转系统和传感器
PCT/CN2018/119245 WO2020113448A1 (zh) 2018-12-04 2018-12-04 旋转系统和传感器
US17/337,409 US20210286046A1 (en) 2018-12-04 2021-06-02 Rotation system and sensor

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2018/119245 WO2020113448A1 (zh) 2018-12-04 2018-12-04 旋转系统和传感器

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US17/337,409 Continuation US20210286046A1 (en) 2018-12-04 2021-06-02 Rotation system and sensor

Publications (1)

Publication Number Publication Date
WO2020113448A1 true WO2020113448A1 (zh) 2020-06-11

Family

ID=70975209

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2018/119245 Ceased WO2020113448A1 (zh) 2018-12-04 2018-12-04 旋转系统和传感器

Country Status (3)

Country Link
US (1) US20210286046A1 (zh)
CN (1) CN111433626B (zh)
WO (1) WO2020113448A1 (zh)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114828472B (zh) * 2022-03-25 2023-12-08 中国航空工业集团公司金城南京机电液压工程研究中心 一种小型化液压泵无线通讯介入装置

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6181235B1 (en) * 1994-09-02 2001-01-30 Ultra Electronics Limited Rotary apparatus
CN204696811U (zh) * 2015-07-01 2015-10-07 肇庆市衡艺实业有限公司 可旋转式电器的供电装置和旋转设备
CN108700657A (zh) * 2017-12-18 2018-10-23 深圳市大疆创新科技有限公司 雷达和具有该雷达的可移动设备
CN108885248A (zh) * 2017-12-18 2018-11-23 深圳市大疆创新科技有限公司 雷达装置、雷达的无线旋转装置及无人机
CN109073742A (zh) * 2017-12-18 2018-12-21 深圳市大疆创新科技有限公司 雷达装置、无线旋转装置及无人机

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8630314B2 (en) * 2010-01-11 2014-01-14 Faro Technologies, Inc. Method and apparatus for synchronizing measurements taken by multiple metrology devices
CN105323029B (zh) * 2015-11-12 2017-11-21 哈尔滨工程大学 基于声链路测距、测速的水声通信动态时钟同步方法

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6181235B1 (en) * 1994-09-02 2001-01-30 Ultra Electronics Limited Rotary apparatus
CN204696811U (zh) * 2015-07-01 2015-10-07 肇庆市衡艺实业有限公司 可旋转式电器的供电装置和旋转设备
CN108700657A (zh) * 2017-12-18 2018-10-23 深圳市大疆创新科技有限公司 雷达和具有该雷达的可移动设备
CN108885248A (zh) * 2017-12-18 2018-11-23 深圳市大疆创新科技有限公司 雷达装置、雷达的无线旋转装置及无人机
CN109073742A (zh) * 2017-12-18 2018-12-21 深圳市大疆创新科技有限公司 雷达装置、无线旋转装置及无人机

Also Published As

Publication number Publication date
US20210286046A1 (en) 2021-09-16
CN111433626B (zh) 2023-11-10
CN111433626A (zh) 2020-07-17

Similar Documents

Publication Publication Date Title
JP6535761B2 (ja) 無線電力伝送機能のための機器の既存の構成要素の利用方法
KR102931703B1 (ko) 무선 전력 전송 시스템에서 블루투스를 이용하여 통신을 수행하는 방법 및 이를 지원하는 장치
US9860677B1 (en) Internet-of-things gateway coordination
CN110024478B (zh) 自适应性网络拓扑结构
US11252786B2 (en) IoT networking extension with bi-directional packet relay
US11876872B2 (en) Method, device and computer program for communicating information relating to wireless power transmission, and recording medium thereof
US20250227438A1 (en) Method, apparatus, and computer program for connectionless asset tracking in wireless communication system, and recording medium thereof
WO2019023902A1 (zh) 通信方式控制方法及设备
EP3854118B1 (en) Bluetooth connectionless slave broadcast burst mode
WO2020103054A1 (zh) 时间同步方法、装置及系统、存储介质
WO2019067633A1 (en) DEVICE ENERGY MANAGEMENT ON SEQUENCES, AND COMMUNICATION CONTROL FOR WIRELESS POWER TRANSFER
CN107134253A (zh) 基于NB‑IoT的旋转LED显示屏的控制装置及系统
KR20180062837A (ko) IoT 복합 모듈러 디바이스의 스마트 동글 시스템 및 그 방법
CN110832887B (zh) 内部通信链路系统和无人飞行器
CN111433626B (zh) 旋转系统和传感器
CN110809863B (zh) 通信链路系统、数据传输方法、无人飞行器和存储介质
JP2020167564A (ja) 通信システム及び通信システムの制御方法
KR102931701B1 (ko) 무선 전력 전송 시스템에서 블루투스를 이용하여 통신을 수행하는 방법 및 이를 지원하는 장치
KR101404013B1 (ko) 무선전력 송수신기를 포함하는 모바일 단말기 및 무선 충전 시스템
CN210041841U (zh) 天线参数监测设备及天线系统
KR20240155682A (ko) 블루투스 통신 시간을 결정하는 전자 장치 및 그 동작 방법
CN114980235A (zh) 一种通信方法、电子设备和存储介质
CN107224742B (zh) 一种基于无线通信的玩具和管理方法
US10355536B1 (en) Wireless power receiver localization
CN115336201A (zh) 用于测量来自外部的通信信号的电子装置和操作其的方法

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 18942445

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 18942445

Country of ref document: EP

Kind code of ref document: A1