WO2021087690A1

WO2021087690A1 - Sensor and movable platform

Info

Publication number: WO2021087690A1
Application number: PCT/CN2019/115425
Authority: WO
Inventors: 黄稀荻
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2019-11-04
Filing date: 2019-11-04
Publication date: 2021-05-14
Also published as: CN112204416A

Abstract

A sensor and a movable platform. The sensor comprises: a motor (10), the motor (10) comprising a stator (11) and a rotor (12) rotatably connected to the stator (11); and a rotating body (20), the rotating body (20) comprising an intermediate connection plate (21) and at least one side plate (22) connected to the intermediate connection plate (21), and the intermediate connection plate (21) being connected to the rotor (12). When the rotor (12) drives the intermediate connection plate (21) to rotate, the intermediate connection plate (21) drives the side plate (22) to rotate in the circumferential direction of the motor (10), the intermediate connection plate (21) and the side plate (22) form a rotation space, and at least a part of the motor (10) is located in the rotation space. In this way, the structural layout of the sensor is more reasonable, greatly improving the space utilization rate, and effectively reducing the space occupied by the sensor.

Description

Sensor and movable platform

Technical field

This application relates to the technical field of remote sensing equipment, in particular to sensors and movable platforms.

Background technique

Radar is an active remote sensing device that can be applied to UAVs and vehicles to realize the obstacle avoidance function of UAVs and vehicles.

Most of the radar equipment currently in use includes a motor and a radar module connected to the motor. Due to the structural layout has certain defects, the existing radar equipment needs to occupy a large space, which is not conducive to the miniaturization and miniaturization of the entire device. Lightweight. On some platforms that have requirements on the size of the equipment, the radar equipment cannot be installed or the installation process is very troublesome, resulting in a smaller application range of the radar equipment.

Application content

In view of the above-mentioned problems, this application is proposed to provide a sensor and a movable platform that solves the above-mentioned problems.

In an embodiment of the present application, a sensor is provided, including:

A motor, the motor including a stator and a rotor rotatably connected with the stator;

A rotating body, the rotating body includes an intermediate connecting plate and at least one side plate connected to the intermediate connecting plate, and the intermediate connecting plate is connected to the rotor;

When the rotor drives the middle connecting plate to rotate, the middle connecting plate drives the side plate to rotate around the circumference of the motor, the middle connecting plate and the side plate form a rotation space, and the motor is at least Part of it is located in the rotating space.

Correspondingly, an embodiment of the present application also provides a movable platform, including a movable platform body and a sensor provided on the movable platform body;

The sensor includes:

In the technical solution provided by the embodiments of the present application, the rotating space formed when the rotating body rotates is the largest space occupied by the rotating body during use. The motor is at least partially located in the rotating space, that is, the motor is at least partially embedded in the rotating space. In the space occupied by the body, the structural layout between the motor and the rotating body makes full use of the space, which makes the structural layout of the sensor more reasonable, greatly improves the space utilization rate, and effectively reduces the space occupied by the sensor, making the sensor applicable On more platforms.

Description of the drawings

In order to more clearly describe the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description These are some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative work.

FIG. 1 is a schematic structural diagram of a sensor provided by an embodiment of the application;

2 is a schematic diagram of the structure of a rotating body provided by an embodiment of the application;

3 is a schematic diagram of a cross-sectional structure of a rotating body provided by an embodiment of the application;

4 is a schematic diagram of a cross-sectional structure of a sensor provided by an embodiment of the application;

FIG. 5 is an enlarged schematic diagram of the dotted part in FIG. 4.

Detailed ways

In order to enable those skilled in the art to better understand the solutions of the present application, the technical solutions in the embodiments of the present application will be described clearly and completely in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

It should be noted that in the description of the present invention, the terms "first" and "second" are only used to facilitate the description of different components, and cannot be understood as indicating or implying the order relationship, relative importance or implicitly indicating that The number of technical features. Therefore, the features defined with "first" and "second" may explicitly or implicitly include at least one of the features.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field of the present invention. The terms used in the description of the present invention herein are only for the purpose of describing specific embodiments, and are not intended to limit the present invention.

The radar equipment currently in use needs to take up a lot of space. For example, the arrangement of the radar module and the motor is structured up and down. The height of the radar equipment is the height of the radar module plus the motor. In the height direction, the space occupied by the radar equipment Larger, it is not conducive to the miniaturization and lightness of the entire device. On some platforms that have requirements on the size of the equipment, the radar equipment cannot be installed or the installation process is very troublesome, resulting in a smaller application range of the radar equipment.

In response to the above-mentioned problems, the present application provides a sensor and a movable platform, which makes the structural layout of the sensor more reasonable, greatly improves the space utilization rate, and effectively reduces the space occupied by the sensor.

The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. In the case of no conflict, the following embodiments and features in the embodiments can be combined with each other. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative work shall fall within the protection scope of this application.

Example 1

Fig. 1 is a schematic structural diagram of a sensor provided by an embodiment of the application, as shown in Fig. 1.

In an embodiment of the present application, a sensor is provided, which includes a motor 10 and a rotating body 20. The motor 10 is used to drive the rotating body 20 to rotate. Among them, referring to FIGS. 1 to 3, the motor 10 includes a stator 11 and a rotor 12 rotatably connected with the stator 11. The rotating body 20 includes an intermediate connecting plate 21 and at least one side plate 22 connected to the intermediate connecting plate 21, and the intermediate connecting plate 21 is connected to the rotor 12. When the rotor 12 drives the middle connecting plate 21 to rotate, the middle connecting plate 21 drives the side plate 22 to rotate around the circumference of the motor 10. The middle connecting plate 21 and the side plate 22 form a rotating space, and the motor 10 is at least partially located in the rotating space.

According to the technical solution provided by the embodiments of the present application, the rotating space formed by the rotating body 20 when rotating is the largest space occupied by the rotating body 20 during use, and the motor 10 is at least partially located in the rotating space, that is to say, the motor 10 is at least partially located in the rotating space. Embedded in the space occupied by the rotating body 20, the structural layout between the motor 10 and the rotating body 20 makes full use of the space, which makes the sensor's structural layout more reasonable, greatly improves the space utilization, and effectively reduces the sensor's footprint. Occupies space, so that the sensor can be applied to more platforms. For example, the height of the sensor is the height of the rotating body 20 plus part of the height of part of the motor 10. For example, when the motor 10 is all located in the rotating space, the height of the sensor is only the height of the rotating body 20.

In the embodiments of the present application, the sensors include but are not limited to microwave radar, millimeter wave radar, and lidar. The sensor can be used to detect objects, such as obstacles, to measure the distance from the object to the sensor's launch point, the rate of change of distance, the azimuth, and the height. In some embodiments, the sensor may be used in unmanned aerial vehicles, such as agricultural drones. It can also be used on equipment such as unmanned vehicles and ground remote controllers, but it is not limited to this. The sensor can also be used on other devices or equipment.

Further, referring to FIG. 2 and FIG. 3, an achievable arrangement of the side plate 22 is that the side plate 22 is arranged opposite to the side surface of the motor 10 and extends along the height direction of the motor 10. In this arrangement, along the radial direction of the rotation circle of the rotor 12, the motor 10 and the side plate 22 are arranged side by side, and the extension direction of the side plate 22 is the same as the height direction of the motor 10. When 22 rotates, the side plate 22 rotates around the side of the motor 10, and the motor 10 is at least partially wrapped in the rotating space formed by the side plate 22 and the middle connecting plate 21, which greatly improves the space utilization rate and effectively reduces the total area of the sensor. Take up space.

In an achievable embodiment of the present application, as shown in FIGS. 1 to 3, there are two side plates 22, and the two side plates 22 are connected to opposite ends of the middle connecting plate 21, respectively. The motor 10 is located between the two side plates 22 and is fixedly connected to the middle of the middle connecting plate 21 through the rotor 12. The motor 10 is located between the two side plates 22, which can effectively reduce the space occupied by the sensor in the vertical direction. For example, the height of the sensor is the height of the rotating body 20 plus part of the height of the part of the motor 10, for example, the motor 10 is all located When in the rotating space, the height of the sensor is only the height of the rotating body 20. The rotor 12 and the stator 11 of the motor 10 are both located in the rotating space formed when the rotating body 20 rotates, which will not occupy additional space, reduce the overall volume of the sensor, and make it easier to apply the sensor to volume-sensitive equipment. The scope of application of the sensor.

According to different installation requirements, in the embodiment of the present application, the side plate 22 may be connected to the middle connecting plate 21 through the ends; or the side plate 22 may be connected to the middle connecting plate 21 through the middle area at both ends. Of course, the embodiment of the present application does not limit the connection manner of the side plate 22 and the middle connecting plate 21.

In the embodiment of the present application, the rotating body 20 may be a bracket for installing a signal processing module, and the signal processing module may be used to transmit radar signals and receive echo signals. Or the signal processing module is composed of at least two sub-components, and the at least two sub-components surround the rotating body 20. In the foregoing or following embodiments, the rotating body 20 may refer to a bracket for mounting a signal processing module, or may refer to a signal processing module.

Take the rotating body 20 as a bracket for installing the signal processing module as an example. In an achievable embodiment of the present application, an antenna board, a digital signal processing board, and a radio frequency board are respectively provided on the middle connecting plate 21 and the side plates 22. The antenna board, the digital signal processing board and the radio frequency board are coupled to each other to form a signal processing module. For example, the rotating body 20 includes a middle connecting plate 21 and two side plates 22. The middle connecting plate 21 is provided with an antenna plate, one side plate 22 is provided with a digital signal processing board, and the other side plate 22 is provided with a radio frequency board. . The antenna board includes a transmitting antenna and a receiving antenna. The radio frequency board radiates radar signals outward through the transmitting antenna, and the receiving antenna receives the echo signal to the digital signal processing board. The digital signal processing board processes the received echo signal, for example, amplifies the echo Signals, filter out interference signals, convert echo signals into radar data signals, etc. The converted radar data signals can be used for back-end equipment control, terminal observation and/or recording, etc.

Further, referring to FIG. 4, the sensor is also provided with a height-fixing plate 23, which is arranged on the side plate 22 and coupled with the digital signal processing board, and can be used to measure the height of the sensor. In order to better realize the object detection function of the sensor, in an achievable embodiment of the present application, the rotation axis of the rotating body 20 is parallel to the yaw axis of the movable platform body. In this setting mode, the sensor can more accurately measure the distance from the object to the sensor’s emission point, the rate of change of distance, the azimuth, and the height when detecting an object.

Referring to FIGS. 4 and 5, in an achievable embodiment of the present application, the motor 10 further includes a housing 13 having an accommodating cavity with an opening at one end. The stator 11 is connected to the housing 13 and covers the opening, and the stator 11 has a mounting hole. The rotor 12 includes a connecting shaft 121, a first rotating disk 122 and a second rotating disk 123 disposed at opposite ends of the connecting shaft 121. The connecting shaft 121 is rotatably sleeved with the mounting hole, the first turntable 122 is located inside the accommodating cavity, the second turntable 123 is located outside the accommodating cavity, and the connecting shaft 121, the first turntable 122 and the second turntable 123 can rotate synchronously. The middle connecting plate 21 is connected to the second turntable 123. In this arrangement, a part of the rotor 12 is sunk in the housing 13, which can effectively reduce the height of the motor 10, thereby further reducing the height of the sensor, reducing the overall volume of the sensor, and effectively reducing the sensor The occupied space in the vertical direction. The sensor can be installed on other equipment through the housing 13 of the motor 10, such as unmanned aerial vehicles, unmanned vehicles, and ground remote controllers.

Further, continuing to refer to FIGS. 4 and 5, a wireless power supply assembly 30 is also provided in the accommodating cavity, and the wireless power supply assembly 30 is electrically connected to the rotating body 20. The wireless power supply assembly 30 is used to provide electrical energy for the rotating body 20. The wireless power supply assembly 30 is arranged in the housing 13 of the motor 10, which can make full use of space, thereby further reducing the space occupied by the sensor. The wireless power supply component 30 may be connected to an external power source through a cable, or the wireless power supply component 30 may be electrically connected to an external power source through a wireless manner. For example, when the wireless power supply component 30 can be connected to an external power source through a cable, the wireless power supply component 30 can be electrically connected to the cable through a coupler, the cable transmits the power provided by the external power source to the wireless power supply component 30, and the wireless power supply component 30 connects The electric energy is wirelessly transmitted to the rotating body 20. Of course, the wireless power supply assembly 30 can also transmit electrical energy to other components of the sensor that require electrical energy.

In an achievable embodiment, the wireless power supply component 30 includes a power transmitting terminal 31 and a power receiving terminal 32. The power transmitting terminal 31 is fixedly connected to the housing 13. The power receiving end 32 is disposed on the side of the first turntable 122 facing the power sending end 31 and is opposite to the power sending end 31, and the power receiving end 32 is electrically connected to the rotating body 20. The power transmitting terminal 31 is electrically connected to an external power source, for example, is connected to the external power source through a cable or is electrically connected to the external power source in a wireless manner. The power transmitting terminal 31 can transmit power to the power receiving terminal 32 in a wireless manner. The electric energy receiving terminal 32 is electrically connected to the rotating body 20, receives electric energy transmitted by the electric power transmitting terminal 31, and provides electric energy to the rotating body 20 to provide electric energy for the rotating body 20. The power receiving end 32 can provide power to the rotating body 20 through a cable or provide power to the rotating body 20 in a wireless manner.

For example, the power transmitting terminal 31 includes but is not limited to a transmitting coil, and the power receiving terminal 32 includes but is not limited to a receiving coil, and the transmitting coil and the receiving coil transmit power through wireless power supply. One possible way is to transmit electrical energy between the transmitting coil and the receiving coil through electromagnetic induction. The transmitting coil is connected with alternating current, and electric current is generated on the receiving coil through electromagnetic induction, thereby transmitting electric energy from the electric energy transmitting terminal 31 to the electric energy receiving terminal 32. Another achievable way is that the electric energy can be transmitted between the electric energy transmitting terminal 31 and the electric energy receiving terminal 32 in the form of magnetic resonance or other forms.

An achievable way for the power transmission terminal 31 to be fixedly connected to the housing 13 is that the power transmission terminal 31 further includes a transmission coil former, the transmission coil former supports the transmission coil, and the transmission coil former is fixedly connected to the housing 13. The power receiving end 32 is glued or connected to the first turntable 122 by a fastener. Or the power receiving terminal 32 includes a receiving coil frame, the receiving coil frame supports the receiving coil, and the receiving coil frame is fixedly connected to the first turntable 122. The sending coil and the receiving coil are arranged oppositely, the distance between the power sending end 31 and the power receiving end 32 is small, the transmission effect is good, and it is not easily affected by other components. As shown in FIG. 5, the power transmitting terminal 31 may be located below the power receiving terminal 32, that is, the power transmitting terminal 31 is located on the side of the power receiving terminal 32 away from the second turntable 123. Alternatively, the power transmitting terminal 31 is located above the power receiving terminal 32, that is, the power transmitting terminal 31 is located on the side of the power receiving terminal 32 close to the second turntable 123.

It should be noted that, in the embodiment of the present application, the power receiving end 32 rotates with the rotation of the rotor 12 of the motor 10, and the power sending end 31 is fixed. The power receiving end 32 is fixedly connected to the rotor 12 of the motor 10. The rotor 12 drives the power receiving end 32 to rotate, so that the power receiving end 32 and the rotating body 20 rotate together to ensure the electrical connection between the power receiving end 32 and the rotating body 20. In other embodiments, it can be understood that the power receiving end 32 and the power sending end 31 may both rotate with the rotation of the rotating body 20. For example, the power input of the power transmitting terminal 31 itself is obtained by wirelessly connecting to an external power source, and the power transmitting terminal 31 can also rotate with the rotation of the rotating body 20, which is not limited in the embodiment of the present application. In order to ensure that the power receiving terminal 32 and the power sending terminal 31 can continuously and stably transmit power during rotation, in the embodiment of the present application, the power receiving terminal 32 and the power sending terminal 31 are both substantially disk-shaped.

Further, referring to FIG. 4 and FIG. 5 continuously, in the embodiment of the present application, the sensor further includes a wireless communication component, and the wireless communication component is electrically connected to the wireless power supply component 30 and the rotating body 20 respectively. The wireless communication component can be used to transfer communication signals between the signal processing module and the external device, for example, transfer the control signal of the external device to the signal processing module, and transfer the radar data signal generated by the signal processing module to the external device. For example, the external device includes But it is not limited to the overall controller of the UAV.

In an implementable embodiment of the present application, the wireless communication component includes a first signal terminal 40 and a second signal terminal 41. The first signal terminal 40 and the second signal terminal 41 are arranged oppositely, and the first signal terminal 40 and the second signal terminal 41 are connected in a wireless communication. For example, an achievable way is that the first signal terminal 40 is used to send a control signal to the second signal terminal 41, and the second signal terminal 41 is used to send a radar data signal to the first signal terminal 40. The first signal terminal 40 may receive the control signal of the external device through a cable or wirelessly, and wirelessly transmit the control signal to the second signal terminal 41. The second signal terminal 41 is connected to the signal processing module on the rotating body 20, and transmits the control signal to the signal processing module to control the signal processing module. The signal processing module transmits the generated radar data signal to the second signal terminal 41. The second signal terminal 41 wirelessly transmits the radar data signal to the first signal terminal 40. The first signal terminal 40 then transmits the radar data via cable or wirelessly. The signal is transmitted to external equipment.

Continuing to refer to FIGS. 4 and 5, in an achievable embodiment of the present application, the first signal terminal 40 is located in the accommodating cavity and includes a first communication board 401 and a first control board 402. The first communication board 401 is fixedly connected to the stator 11. The first control board 402 is fixedly connected to the housing 13, and the first control board 402 is communicatively connected with the first communication board 401. The first signal terminal 40 is arranged in the housing 13 of the motor 10, which can make full use of the space of the housing 13, thereby further reducing the space occupied by the sensor. At the same time, the first signal terminal 40 is divided into two parts, the components on the first signal terminal 40 can be dispersedly arranged, which reduces the space occupied by the first signal terminal 40 in the lateral direction, and is more conducive to space utilization. The first communication board 401 and the first control board 402 may be connected by a cable or wirelessly. The first signal terminal 40 performs wireless communication with external devices and the second signal terminal 41 through the first communication board 401, and performs signal processing through the first control board 402. The first communication board 401 can realize the wireless transmission of signals in the form of wireless local area network, Bluetooth or microwave.

Continuing to refer to FIGS. 4 and 5, in an achievable embodiment of the present application, the second signal terminal 41 includes a second communication board 411 and a second control board 412. The second communication board 411 is located in the accommodating cavity and is arranged on the side of the first rotating disk 122 facing the stator 11. The second control board 412 is fixedly connected to the middle board, and the second control board 412 is communicatively connected with the second communication board 411. The second communication board 411 of the second signal terminal 41 is arranged in the housing 13 of the motor 10, which can make full use of the space of the housing 13, thereby further reducing the space occupied by the sensor. The second signal terminal 41 is divided into two parts, and the components on the second signal terminal 41 can be dispersedly arranged, which reduces the space occupied by the second signal terminal 41 in the lateral direction, which is more conducive to space utilization.

The second communication board 411 and the second control board 412 may be connected by cable or wirelessly, and the second communication board 411 and the signal processing module on the rotating body 20 may be connected by cable or wirelessly. The second signal terminal 41 performs wireless communication with the signal processing module on the rotating body 20 and the first signal terminal 40 through the second communication board 411, and performs signal processing through the second control board 412. The second communication board 411 can realize the wireless transmission of signals in the form of wireless local area network, Bluetooth or microwave.

It should be noted that, in the embodiment of the present application, the second signal terminal 41 rotates with the rotation of the rotor 12 of the motor 10, and the first signal terminal 40 is fixed. In other embodiments, it can be understood that the first signal terminal 40 and the second signal terminal 41 may both rotate with the rotation of the rotor 12. For example, when the first signal terminal 40 is connected to an external device in a wireless manner, the first signal terminal 40 may also rotate with the rotation of the rotor 12, which is not limited in the embodiment of the present application. In order to ensure continuous and stable signal transmission between the first signal terminal 40 and the second signal terminal 41 during rotation, in the embodiment of the present application, both the first signal terminal 40 and the second signal terminal 41 are substantially disc-shaped.

Example 2

On the basis of Embodiment 1, an embodiment of the present application also provides a movable platform, including a movable platform body and a sensor provided on the movable platform body. The sensor can be realized by the sensor described in the first embodiment above. Movable platforms include, but are not limited to, unmanned aerial vehicles, unmanned vehicles, and ground remote controllers.

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

Among them, the sensor includes: a motor 10 and a rotating body 20. The motor 10 includes a stator 11 and a rotor 12 rotatably connected with the stator 11. The rotating body 20 includes an intermediate connecting plate 21 and at least one side plate 22 connected to the intermediate connecting plate 21, and the intermediate connecting plate 21 is connected to the rotor 12. When the rotor 12 drives the middle connecting plate 21 to rotate, the middle connecting plate 21 drives the side plate 22 to rotate around the circumference of the motor 10. The middle connecting plate 21 and the side plate 22 form a rotating space, and the motor 10 is at least partially located in the rotating space.

The technical solution provided by the embodiment of the present application can realize the obstacle avoidance function of the movable platform through the sensor. The rotating space formed when the rotating body 20 in the sensor rotates is the largest space occupied by the rotating body 20 during use. The motor 10 is at least partially located in the rotating space, that is to say, the motor 10 is at least partially embedded in the rotating body 20. In the occupied space, the structural layout between the motor 10 and the rotating body 20 makes full use of the space, which makes the structural layout of the sensor more reasonable, greatly improves the space utilization rate, and effectively reduces the space occupied by the sensor, so that the sensor can be Applicable to more platforms. For example, the height of the sensor is the height of the rotating body 20 plus part of the height of part of the motor 10. For example, when the motor 10 is all located in the rotating space, the height of the sensor is only the height of the rotating body 20.

Further, the motor 10 further includes a housing 13 having a housing cavity with an open end. The stator 11 is connected to the housing 13 and covers the opening, and the stator 11 has a mounting hole. The rotor 12 includes a connecting shaft 121, a first rotating disk 122 and a second rotating disk 123 disposed at opposite ends of the connecting shaft 121. Wherein, the connecting shaft 121 is rotatably socketed with the mounting hole, the first turntable 122 is located inside the accommodating cavity, the second turntable 123 is located outside the accommodating cavity, and the connecting shaft 121, the first turntable 122 and the second turntable 123 can rotate synchronously; The middle connecting plate 21 is connected to the second turntable 123. In this arrangement, a part of the rotor 12 is sunk in the housing 13, which can effectively reduce the height of the motor 10, thereby further reducing the height of the sensor, reducing the overall volume of the sensor, and effectively reducing the sensor The occupied space in the vertical direction. The sensor is connected to the movable platform body through the housing 13. The movable platform body includes, but is not limited to, the body of an unmanned aerial vehicle, the body of an unmanned vehicle, and the body of a ground remote controller.

In order to better realize the object detection function of the sensor, in an achievable embodiment of the present application, the rotation axis of the rotating body 20 is parallel to the yaw axis of the movable platform body. In this setting mode, the sensor can more accurately measure the distance from the object to the sensor's emission point, the rate of change of distance, the azimuth, and the height when detecting an object.

It should be noted that the technical solutions of the related sensors described in Embodiment 2 and the technical solutions described in Embodiment 1 can be referred to each other for reference, and will not be repeated here.

In summary, in the technical solutions provided by the embodiments of the present application, the rotating space formed when the rotating body rotates is the largest space occupied by the rotating body during use, and the motor is at least partially located in the rotating space, that is, the motor is at least Part of it is embedded in the space occupied by the rotating body. The structural layout between the motor and the rotating body makes full use of the space, which makes the structural layout of the sensor more rational, greatly improves the space utilization rate, and effectively reduces the space occupied by the sensor , So that the sensor can be applied to more platforms. For example, the height of the sensor is the height of the rotating body plus part of the height of some motors. For example, when the motors are all located in the rotating space, the height of the sensor is only the height of the rotating body.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the application, not to limit them; although the application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: The technical solutions recorded in the foregoing embodiments are modified, or some of the technical features are equivalently replaced; these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

A sensor, characterized in that it comprises:

A motor, the motor including a stator and a rotor rotatably connected with the stator;

A rotating body, the rotating body includes an intermediate connecting plate and at least one side plate connected to the intermediate connecting plate, and the intermediate connecting plate is connected to the rotor;

When the rotor drives the middle connecting plate to rotate, the middle connecting plate drives the side plate to rotate around the circumference of the motor, the middle connecting plate and the side plate form a rotation space, and the motor is at least Part of it is located in the rotating space.
The sensor according to claim 1, wherein the side plate is disposed opposite to the side surface of the motor and extends along the height direction of the motor.
The sensor according to claim 1, wherein there are two side plates, and the two side plates are respectively connected to opposite ends of the middle connecting plate;

The motor is located between the two side plates, and is fixedly connected to the middle of the middle connecting plate through the rotor.
The sensor according to claim 3, wherein the side plate is connected to the middle connecting plate through an end; or

The side plates are connected with the intermediate connecting plates through the middle regions at the two ends.
The sensor according to claim 1, wherein the middle connecting plate and the side plate are respectively provided with an antenna board, a digital signal processing board and a radio frequency board;

The antenna board, the digital signal processing board and the radio frequency board are coupled to each other to form a signal processing module.
The sensor according to any one of claims 1 to 5, wherein the motor further comprises a housing, and the housing has a accommodating cavity with an opening at one end;

The stator is connected to the housing and covers the opening, and the stator has a mounting hole;

The rotor includes a connecting shaft, a first turntable and a second turntable arranged at opposite ends of the connecting shaft; wherein the connecting shaft is rotatably sleeved with the mounting hole, and the first turntable is located in the accommodating Inside the cavity, the second turntable is located outside the accommodating cavity, and the connecting shaft, the first turntable and the second turntable can rotate synchronously;

The middle connecting plate is connected with the second turntable.
7. The sensor according to claim 6, wherein a wireless power supply component is further provided in the accommodating cavity, and the wireless power supply component is electrically connected to the rotating body.
The sensor according to claim 7, wherein the wireless power supply component includes a power transmitting terminal and a power receiving terminal;

The power transmitting end is fixedly connected to the housing;

The electric energy receiving end is arranged on a surface of the first turntable facing the electric energy transmitting end, and is arranged opposite to the electric energy transmitting end, and the electric energy receiving end is electrically connected with the rotating body.
The sensor according to claim 7, wherein the sensor further comprises a wireless communication component, and the wireless communication component is electrically connected with the wireless power supply component and the rotating body, respectively.
The sensor according to claim 9, wherein the wireless communication component comprises a first signal terminal and a second signal terminal;

The first signal terminal and the second signal terminal are arranged opposite to each other, and the first signal terminal is wirelessly connected to the second signal terminal.
The sensor according to claim 10, wherein the first signal terminal is located in the containing cavity and includes a first communication board and a first control board;

The first communication board is fixedly connected to the stator;

The first control board is fixedly connected to the housing, and the first control board is communicatively connected with the first communication board.
The sensor according to claim 10, wherein the second signal terminal comprises a second communication board and a second control board;

The second communication board is located in the accommodating cavity, and is arranged on the side of the first turntable facing the stator;

The second control board is fixedly connected to the intermediate board, and the second control board is communicatively connected with the second communication board.
The sensor according to any one of claims 1 to 5, wherein the sensor includes microwave radar, millimeter wave radar, and lidar.
A movable platform, characterized by comprising a movable platform body and a sensor arranged on the movable platform body;

The sensor includes:

A motor, the motor including a stator and a rotor rotatably connected with the stator;

A rotating body, the rotating body includes an intermediate connecting plate and at least one side plate connected to the intermediate connecting plate, and the intermediate connecting plate is connected to the rotor;

When the rotor drives the middle connecting plate to rotate, the middle connecting plate drives the side plate to rotate around the circumference of the motor, the middle connecting plate and the side plate form a rotation space, and the motor is at least Part of it is located in the rotating space.
The movable platform according to claim 14, wherein the motor further comprises a housing, and the housing has a accommodating cavity with an opening at one end;

The stator is connected to the housing and covers the opening, and the stator has a mounting hole;

The rotor includes a connecting shaft, a first turntable and a second turntable arranged at opposite ends of the connecting shaft; wherein the connecting shaft is rotatably sleeved with the mounting hole, and the first turntable is located in the accommodating Inside the cavity, the second turntable is located outside the accommodating cavity, the connecting shaft, the first turntable, and the second turntable can rotate synchronously; the intermediate connecting plate is connected to the second turntable;

The sensor is connected to the movable platform body through the housing.
The movable platform according to claim 14, wherein the movable platform includes an unmanned aerial vehicle, an unmanned vehicle, and a ground remote controller.
The movable platform according to claim 14, wherein the rotation axis of the rotating body is parallel to the yaw axis of the movable platform body.