WO2021087697A1

WO2021087697A1 - Sensor and movable platform

Info

Publication number: WO2021087697A1
Application number: PCT/CN2019/115442
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: KR20210057010A; CN112204415A

Abstract

A sensor and a movable platform. The sensor comprises: an electric motor (10), wherein the electric motor (10) comprises a housing (11) having an accommodating cavity, the housing (11) being provided with a wire outlet hole (111) and a wire inlet hole (112); a first communication assembly, wherein the first communication assembly is located in the accommodating cavity and comprises a first communication board (20) and a first control board (21), the first communication board (20) and the first control board (21) being fixedly connected to the housing (11) and oppositely arranged; and a first electric connector (30), wherein one end of the first electric connector (30) is connected to the first control board (21), and the other end penetrates out of the accommodating cavity from the wire outlet hole (111) and penetrates into the accommodating cavity from the wire inlet hole (112) to be connected to the first communication board (20), such that the first control board (21) is in communication connection with the first communication board (20) by means of the first electric connector (30); and therefore, the structural layout of the sensor is more rational, the space utilization rate is greatly improved, the size of the sensor is reduced, the interference of rotating parts on a wiring form of the sensor is avoided, and the wiring reliability of the sensor is improved.

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. For example, radar can use the secondary radiation of electromagnetic waves to forward or fix radiation to detect targets, and measure the target's spatial coordinates, speed, acceleration, and trajectory information.

Most of the radar equipment currently in use includes a motor and multiple electrical modules, and multiple electrical modules are connected to form a radar system. When in use, the motor will drive part of the electrical module to rotate. In the prior art, in order to avoid the interference of the rotating components on the radar wiring, the wiring methods between the electrical modules are relatively complicated, messy, and occupy a large space, resulting in an increase in the overall volume of the radar. The radar needs to occupy a large space, which is not conducive to the miniaturization and lightness of the entire device.

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 includes a housing with an accommodating cavity, and a wire outlet hole and a wire inlet hole are provided on the housing;

The first communication component, the first communication component is located in the accommodating cavity, and includes a first communication board and a first control board; both the first communication board and the first control board are fixed to the housing Connect, and the two are set relative to each other;

The first electrical connector, one end of the first electrical connector is connected to the first control board, and the other end passes through the accommodating cavity from the outlet hole, and penetrates into the accommodating cavity from the wire inlet hole. The accommodating cavity is connected with the first communication board, so that the first control board and the first communication board are communicatively connected through the first electrical connector.

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:

A motor, the motor includes a housing with an accommodating cavity, the housing is connected to the movable platform body, and the housing is provided with a wire outlet hole and a wire inlet hole;

In the technical solution provided by the embodiments of the present application, the first communication component is divided into two parts, so that the components of the first communication component can be dispersedly arranged, thereby reducing the space occupied by the first communication component. The first communication component is arranged in the housing of the motor, making full use of the space occupied by the motor, so that the structural layout of the sensor is more reasonable, the space utilization rate is greatly improved, and the volume of the sensor is reduced. The wiring method of the first electrical connector can avoid the rotating parts, thereby avoiding the interference of the rotating parts on the wiring form of the sensor, and improving the reliability of the sensor wiring.

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 a cross-sectional structure of a sensor provided by an embodiment of the application;

Fig. 3 is an enlarged schematic diagram of the dotted part in Fig. 2;

Fig. 4 is a schematic structural diagram of a radar provided by another embodiment of the present invention.

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.

In the radar equipment currently used, in order to avoid the interference of the rotating components on the radar wiring, the wiring methods between the various electrical modules are relatively complicated, messy, and occupy a large space, which causes the overall volume of the sensor to become larger. The sensor needs to occupy a large space, which 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 reduces the volume of the sensor while avoiding the interference of the rotating parts on the wiring form of the sensor, and improving the reliability of the sensor wiring.

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 this application, FIG. 2 is a schematic cross-sectional structure diagram of a sensor provided by an embodiment of this application, and FIG. 3 is an enlarged schematic diagram of the dotted part in FIG. 2, as shown in FIGS. 1 to 3 .

In an embodiment of the present application, a sensor is provided, which includes a motor 10, a first communication component, and a first electrical connector 30.

Wherein, the motor 10 includes a housing 11 with an accommodating cavity, and the housing 11 is provided with a wire outlet hole 111 and a wire inlet hole 112. The first communication component is located in the accommodating cavity and includes a first communication board 20 and a first control board 21; both the first communication board 20 and the first control board 21 are fixedly connected to the housing 11, and they are arranged oppositely. One end of the first electrical connector 30 is connected to the first control board 21, and the other end passes through the accommodating cavity from the outlet hole 111, and penetrates the accommodating cavity from the inlet hole 112 to be connected to the first communication board 20, The control board 21 and the first communication board 20 are communicatively connected through the first electrical connector 30.

In the technical solution provided by the embodiments of the present application, the first communication component is divided into two parts, so that the components of the first communication component can be dispersedly arranged, thereby reducing the space occupied by the first communication component. The first communication component is arranged in the housing 11 of the motor 10, which makes full use of the space occupied by the motor 10, so that the structural layout of the sensor is more reasonable, the space utilization rate is greatly improved, and the volume of the sensor is reduced. The wiring mode of the first electrical connection member 30 passing out from the accommodating cavity and then passing in can avoid rotating parts, thereby avoiding interference of the rotating parts with the sensor wiring form, and improving the reliability of sensor wiring.

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. The sensor can be installed on other devices through the housing 11 of the motor 10, such as unmanned aerial vehicles, unmanned vehicles, and ground remote controllers. The first electrical connector 30 includes, but is not limited to, an FPC (Flexible Printed Circuit). The FPC has the characteristics of high wiring density, light weight, thin thickness, and good bendability. The first electrical connector 30 formed by the FPC can effectively ensure the reliability of the communication connection between the first control board 21 and the first communication board 20.

Further, referring to FIGS. 1 to 3 continuously, in an implementable embodiment of the present application, the motor 10 further includes a stator 12 and a rotor 13. The accommodating cavity has an opening at one end, the stator 12 is connected to the housing 11 and covers the opening, the stator 12 has a mounting hole, and the stator 12 and the first communication board 20 are communicatively connected through a second electrical connector 31. The rotor 13 includes a connecting shaft 131, a first rotating disk 132 and a second rotating disk 133 disposed at opposite ends of the connecting shaft 131. Wherein, the connecting shaft 131 is rotatably sleeved with the mounting hole, the first turntable 132 is located inside the accommodating cavity, the second turntable 133 is located outside the accommodating cavity, and the connecting shaft 131, the first turntable 132 and the second turntable 133 can rotate synchronously . The first turntable 132 is suspended between the first communication board 20 and the first control board 21. In this arrangement, a part of the rotor 13 is sunk in the housing 11, 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 second electrical connection member 31 includes, but is not limited to, an FPC.

When the rotor 13 rotates, the first turntable 132 rotates in the accommodating cavity portion of the housing 11. In order to avoid the interference of the first turntable 132 on the first electrical connector 30, in the embodiment of the present application, an achievable way is , The first electrical connector 30 uses the gap in the housing 11 for wiring, so as to avoid the first turntable 132. Specifically, referring to FIG. 3, there is a first gap 14 between the first turntable 132 and the first control board 21, and a second gap 15 is provided between the first turntable 132 and the first communication board 20. The position of the outlet hole 111 corresponds to the first gap 14, and the position of the inlet hole 112 corresponds to the second gap 15. After avoiding the first turntable 132 through the first gap 14 and the second gap 15 respectively, both ends of the first electrical connection member 30 are connected to the first control board 21 and the first communication board 20 respectively. The first turntable 132 is suspended between the first communication board 20 and the first control board 21. In order to ensure that the first turntable 132 can rotate, the first turntable 132 and the first communication board 20 and the first control board 21 will meet There are gaps, namely the first gap 14 and the second gap 15. When the two ends of the first electrical connector 30 are connected to the first communication board 20 and the first control board 21, the first gap 14 and the second gap 15 can be used to prevent contact with the first turntable 132. When the first turntable 132 rotates, it will not interfere with the two ends of the first electrical connector 30. At the same time, the first electrical connector 30 first penetrates the accommodating cavity from the wire outlet hole 111 and then penetrates the accommodating cavity from the wire inlet 112 to make the first electrical connector 30 bypass the first turntable 132 as a whole. When the first turntable 132 rotates, it will not interfere with the first electrical connector 30. In order to avoid magnetic leakage in the outlet hole 111 and the inlet hole 112, in the embodiment of the present application, a shielding paper is provided on the outside of the housing 11, and the outlet hole 111 and the inlet hole 112 are blocked by the shielding paper to prevent the motor 10 from passing through the outlet. Magnetic leakage occurs in the hole 111 and the wire-in hole 112, and the shielding paper includes but is not limited to copper foil paper, silicon steel paper, and the like.

It should be noted that, in the embodiment of the present application, in order to realize the rational utilization of the space of the accommodating cavity of the housing 11, the first communication board 20 and the first control board 21 can be respectively connected to the top or bottom of the accommodating cavity, for example, The first communication board 20 is connected to the top of the accommodating cavity, and the first control board 21 is connected to the bottom of the accommodating cavity. Alternatively, the first communication board 20 may be fixedly connected to the stator 12, and the first control board 21 may be fixedly connected to the housing 11. In addition to the communication connection between the first communication board 20 and the first control board 21 through the first electrical connector 30, it can also be connected wirelessly. For example, the first communication board 20 can be connected via wireless local area network, Bluetooth or The wireless transmission of signals is realized in the form of microwaves.

Further, continuing to refer to FIGS. 1 to 3, in the embodiment of the present application, the sensor further includes a second communication component, and the second communication component is in communication connection with the first communication component. One possible implementation is that the first communication component is used to send a control signal to the second communication component, and the second communication component is used to send a radar data signal to the first communication component. The first communication component can receive the control signal of the external device through a cable or wirelessly, and wirelessly transmit the control signal to the second communication component. The second communication component is connected with the signal processing module of the sensor, 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 communication component, the second communication component wirelessly transmits the radar data signal to the first communication component, and the first communication component further transmits the radar data signal to the outside through cable or wireless means equipment.

In an implementable embodiment of the present application, the sensor further includes a third electrical connection member 32. The second communication component includes a second communication board 40 and a second control board 41. The second communication board 40 is located inside the accommodating cavity and arranged on the first turntable 132. The second control board 41 is located outside the accommodating cavity and can rotate synchronously with the second turntable 133. The connecting shaft 131 has a through connection cavity 1311. One end of the third electrical connector 32 is connected to the second communication board 40, and the other end passes through the connection cavity 1311 to connect to the second control board 41, so that the second communication board 40 is connected to the second communication board 41. The two control boards 41 are communicatively connected through the third electrical connector 32. The second communication board 40 of the second communication assembly is arranged in the housing 11 of the motor 10, which can make full use of the space of the accommodating cavity, thereby further reducing the space occupied by the sensor. The second communication component is divided into two parts, and the components on the second communication component can be dispersedly arranged, which reduces the space occupied by the second communication component in the lateral direction, and is more conducive to space utilization. The second communication board 40 and the second control board 41 need to rotate synchronously, and the third electrical connector 32 passes through the connection cavity 1311 to realize the connection between the second communication board 40 and the second control board 41, which can effectively use the space at the same time, It can also avoid interference to the third electrical connector 32 when the rotor 13 rotates. In order to facilitate the third electrical connection member 32 to pass through the connection cavity 1311, an achievable way is that the second communication board 40 is arranged on the side of the first turntable 132 facing the stator 12.

It should be noted that, in addition to the communication connection between the second communication board 40 and the second control board 41 through the third electrical connector 32, the communication connection can also be performed in a wireless manner. For example, the second communication board 40 can be connected through The wireless transmission of signals is realized in the form of wireless local area network, Bluetooth or microwave. In the embodiment of the present application, the second communication component rotates with the rotation of the rotor 13 of the motor 10, and the first communication component is fixed. In other embodiments, it can be understood that the first communication component and the second communication component may both rotate as the rotor 13 rotates. For example, when the first communication component is connected to an external device in a wireless manner, the first communication component may also rotate with the rotation of the rotor 13, which is not limited in the embodiment of the present application. In order to ensure continuous and stable signal transmission between the first communication component and the second communication component when rotating, in the embodiment of the present application, both the first communication component and the second communication component are substantially disc-shaped.

Further, referring to FIG. 1 and FIG. 2, in the embodiment of the present application, the sensor further includes a rotating body 50. The rotating body 50 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 50. In the foregoing or following embodiments, the rotating body 50 may refer to a bracket for mounting a signal processing module, or may refer to a signal processing module.

It should be noted that the first communication component and the second communication component can be used to transfer communication signals between the signal processing module and the external device, for example, to transfer the control signal of the external device to the signal processing module, and the radar generated by the signal processing module The data signal is transmitted to an external device, for example, the external device includes, but is not limited to, the overall controller of the drone.

In an achievable embodiment of the present application, continuing to refer to FIGS. 1 and 2, the rotating body 50 includes a middle connecting plate 51 and a first side plate 52 and a second side plate 52 connected to opposite ends of the middle connecting plate 51.边板53。 Side board 53. The motor 10 is located between the first side plate 52 and the second side plate 53 and is fixedly connected to the middle of the middle connecting plate 51 through the rotor 13. The second control board 41 is fixedly arranged in the middle of the middle connecting plate 51. The motor 10 is located between the first side plate 52 and the second side plate 53, which can effectively reduce the space occupied by the sensor in the vertical direction. The motor 10 is at least partially embedded in the space occupied by the rotating body 50. The structural layout between the rotating bodies 50 makes full use of the space, 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 applied to more platforms.

According to different installation requirements, in the embodiment of the present application, the first side plate 52 and the second side plate 53 can be connected to the middle connecting plate 51 through the ends; or the first side plate 52 and the second side plate 53 can be connected to both The middle area of the end is connected to the middle connecting plate 51. Of course, the embodiment of the present application does not limit the connection manner of the first side plate 52 and the second side plate 53 and the intermediate connecting plate 51.

The rotating body 50 is located outside the accommodating cavity. When the rotating body 50 rotates, it will interfere with the first electrical connector 30 located outside the accommodating cavity. In order to prevent the rotating body 50 from interfering with the first electrical connector 30, this In the application embodiment, an achievable way is that the first electrical connector 30 uses the gap between the housing 11 and the rotating body 50 for wiring, so as to avoid the rotating body 50. Specifically, referring to FIG. 2, there is a third gap 16 between the housing 11 and the first side plate 52 and the second side plate 53. The first electrical connection member 30 is located at a part outside the accommodating cavity and is closely attached to the housing 11 to avoid the first side plate 52 and the second side plate 53 through the third gap 16. In order to ensure that the rotating body 50 can rotate, there will be a gap between the side plate and the housing 11 of the motor 10, that is, the third gap 16. The first electrical connector 30 is closely attached to the housing 11, so that the first electrical connector 30 is located in the third gap 16, so that the first electrical connector 30 uses the third gap 16 to avoid the first side plate 52 and the first side plate 52. Two side board 53. When the rotating body 50 rotates, the first side plate 52 and the second side plate 53 will not interfere with the first electrical connector 30.

Take the rotating body 50 as a bracket for installing the signal processing module as an example. 2 and 4, in an achievable embodiment of the present application, a digital board 54 is provided on the side of the first side plate 52 facing away from the motor 10, and the second side plate 53 is facing away from a side of the motor 10. A radio frequency board 55 is provided on the side. The first communication component is wirelessly connected to the radio frequency board 55 and the digital board 54 respectively. The second control board 41 is in communication connection with the digital board 54. The radio frequency board 55 is in communication connection with the digital board 54. The radio frequency board 55 and the digital board 54 constitute a signal processing module. In order to achieve communication with the outside, an antenna board is also provided on the middle board. The antenna board includes a transmitting antenna and a receiving antenna. The radio frequency board 55 radiates radar signals outward through the transmitting antenna, and the receiving antenna receives the echo signal and sends it to the digital signal processing board. The digital signal processing board processes the received echo signal, for example, amplifies it. Wave signal, filter interference signal, convert echo signal into radar data signal, etc. The converted radar data signal can be used for back-end equipment control, terminal observation and/or recording, etc.

In the embodiment of the present application, the communication connection between the second control board 41 and the digital board 54 includes, but is not limited to, a cable connection. Specifically, referring to FIG. 2 and FIG. 4, the sensor further includes a fourth electrical connector 33. The digital board 54 has a first digital connection port. One end of the fourth electrical connector 33 is connected to the second control board 41, and the other end extends along the surface of the middle board and/or the second side board 53 and passes through the first side board 52 to be connected to the first digital connection port. The second control board 41 and the digital board 54 are communicatively connected through the fourth electrical connector 33. The fourth electrical connector 33 includes, but is not limited to, an FPC. The second control board 41 and the digital board 54 both rotate synchronously with the rotor 13, and the dynamic balance can be effectively ensured through the fourth electrical connection piece 33. At the same time, the fourth electrical connector 33 ensures a stable communication connection between the second control board 41 and the digital board 54, and the fourth electrical connector 33 extends along the surface of the middle board and/or the second side board 53. Therefore, the instability caused by the shaking of the fourth electrical connection member 33 can be effectively reduced.

Further, referring to FIG. 4, in order to ensure the dynamic balance design, in the embodiment of the present application, the sensor further includes a fifth electrical connector 34 and a sixth electrical connector 35. The opposite ends of the digital board 54 are respectively provided with a second digital connection port and a third digital connection port. The radio frequency board 55 is provided with a first radio frequency connection port and a second radio frequency connection port at positions corresponding to the second digital connection port and the third digital connection port. One end of the fifth electrical connector 34 passes through the first side plate 52 to connect to the second digital connection port, and the other end passes through the second side plate 53 to connect to the first radio frequency interface. One end of the sixth electrical connector 35 passes through the first side plate 52 to connect to the third digital connection port, and the other end passes through the second side plate 53 to connect to the second radio frequency interface. In this way, the digital board 54 and the radio frequency board 55 are communicatively connected through the fifth electrical connector 34 and the sixth electrical connector 35. The fifth electrical connector 34 and the sixth electrical connector 35 include but are not limited to FPC. Through the fifth electrical connector 34 and the sixth electrical connector 35, the connection between the digital board 54 and the radio frequency board 55 is evenly split into two, one is responsible for the transmission of the intermediate frequency signal of the radio frequency board 55, and the other is responsible for power supply and control The signal output ensures the dynamic balance of the digital board 54 and the radio frequency board 55.

In order to reduce the instability caused by the shaking of the fifth electrical connector 34 and the sixth electrical connector 35, referring to FIG. 4, in the embodiment of the present application, the fifth electrical connector 34 and the sixth electrical connector 35 are respectively A reinforcing plate 37 is provided, and two ends of the reinforcing plate 37 are respectively fixedly connected to the first side plate 52 and the second side plate 53. Both the radio frequency board 55 and the digital board 54 rotate with the rotor 13 synchronously, so dynamic balance needs to be ensured, and the instability caused by the shaking of the fifth electrical connector 34 and the sixth electrical connector 35 needs to be reduced as much as possible. Therefore, the fifth electrical connector 34 and the sixth electrical connector 35 can be fixed by the reinforcing plate 37, and the reinforcing plate 37 is equivalent to a wire bridge. The two ends of the reinforcing plate 37 are fixed on the first side plate 52 and the second side plate 53, and the reinforcing plate 37 will not shake when the rotating body 50 rotates. The fifth electrical connection piece 34 and the sixth electrical connection piece 35 are pasted on the reinforcing plate 37 through adhesive, and the fifth electrical connection piece 34 and the sixth electrical connection piece 35 are closely attached to the reinforcing plate 37, thereby increasing the fifth The electrical connector 34 and the sixth electrical connector 35 are structurally stable.

Referring to FIG. 2 and FIG. 4, the sensor further includes a fixed height board 56 and a seventh electrical connection member 36. The two ends of the fixed height plate 56 are respectively fixedly connected to the first side plate 52 and the second side plate 53. The digital board 54 is provided with a fourth digital connection port. One end of the seventh electrical connector 36 is connected to the fixed height board 56, and the other end extends along the surface of the fixed height board 56 and passes through the first side plate 52 to connect to the fourth digital connection port, so that the fixed height board 56 is connected to the digital board. 54 is communicatively connected through the seventh electrical connector 36. The fixed height board 56 can be used to measure the height of the sensor. The seventh electrical connector 36 includes, but is not limited to, an FPC. The seventh electrical connector 36 can be arranged along the surface of the fixed height board 56 to reduce the instability caused by the shaking of the seventh electrical connector 36.

Further, referring to FIG. 3, in an achievable embodiment of the present application, a wireless power supply assembly 60 is also provided in the accommodating cavity. The wireless power supply component 60 includes a power transmitting terminal 61 and a power receiving terminal 62. The power transmitting terminal 61 is fixedly connected to the housing 11. The power receiving end 62 is arranged on the side of the second turntable 133 facing the power sending end 61 and is arranged opposite to the power sending end 61. The lead wire of the power receiving end 62 passes through the connection cavity 1311 and is electrically connected to the second control board 41. The wireless power supply assembly 60 is arranged in the housing 11 of the motor 10, which can make full use of space, thereby further reducing the space occupied by the sensor. The power transmitting terminal 61 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 61 can transmit power to the power receiving terminal 62 in a wireless manner. The power receiving terminal 62 is electrically connected to the second control board 41, receives the power transmitted by the power sending terminal 61, and provides the power to the second control board 41, provides power to the second control board 41, and then uses the second control board 41 as The rotating body 50 provides electrical energy.

The lead of the power receiving end 62 passes through the connection cavity 1311 to provide power to the second control board 41. The power receiving end 62 and the second control board 41 need to rotate synchronously. The lead of the power receiving end 62 passes through the connection cavity 1311 to realize the power receiving end The connection between 62 and the second control board 41 can effectively use the space while avoiding interference to the power receiving end 62 when the rotor 13 rotates. Of course, the power receiving terminal 62 can also provide power to the second control board 41 in a wireless manner.

In the embodiment of the present application, the electric energy transmitting terminal 61 includes but is not limited to a transmitting coil, and the electric energy receiving terminal 62 includes but is not limited to a receiving coil, and the transmitting coil and the receiving coil transmit electric energy 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 61 to the electric energy receiving terminal 62. Another achievable way is that the electric energy can be transmitted between the electric energy transmitting terminal 61 and the electric energy receiving terminal 62 in the form of magnetic resonance or other forms.

An achievable way for the power transmitting terminal 61 to be fixedly connected to the housing 11 is that the power transmitting terminal 61 further includes a transmitting coil former, the transmitting coil former supports the transmitting coil, and the transmitting coil former is fixedly connected to the housing 11. The power receiving end 62 is glued or connected to the first turntable 132 by a fastener. Or the power receiving terminal 62 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 132. The transmitting coil and the receiving coil are arranged oppositely, the distance between the electric energy transmitting terminal 61 and the electric energy receiving terminal 62 is small, the transmission effect is good, and it is not easily affected by other components. As shown in the figure, the power transmitting terminal 61 may be located below the power receiving terminal 62, that is, the power transmitting terminal 61 is located on the side of the power receiving terminal 62 away from the second turntable 133. Alternatively, the power transmitting terminal 61 is located above the power receiving terminal 62, that is, the power transmitting terminal 61 is located on the side of the power receiving terminal 62 close to the second turntable 133.

It should be noted that, in the embodiment of the present application, the power receiving end 62 rotates with the rotation of the rotor 13 of the motor 10, and the power sending end 61 is fixed. The power receiving end 62 is fixedly connected to the rotor 13 of the motor 10. The rotor 13 drives the power receiving end 62 to rotate, causing the power receiving end 62 to rotate together with the rotating body 50 to ensure the electrical connection between the power receiving end 62 and the rotating body 50. In other embodiments, it can be understood that the power receiving end 62 and the power sending end 61 may both rotate as the rotating body 50 rotates. For example, the power input of the power transmitting terminal 61 itself is obtained by wirelessly connecting with an external power source, and the power transmitting terminal 61 can also rotate with the rotation of the rotating body 50, which is not limited in the embodiment of the present application. In order to ensure continuous and stable power transmission between the power receiving terminal 62 and the power sending terminal 61 during rotation, in the embodiment of the present application, the power receiving terminal 62 and the power sending terminal 61 are both roughly 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.

Wherein, the sensor includes: a motor 10, a first communication component, and a first electrical connector 30. Wherein, the motor 10 includes a housing 11 with an accommodating cavity, the housing 11 is connected with the movable platform body, and the housing 11 is provided with a wire outlet 111 and a wire inlet 112. The first communication component is located in the accommodating cavity and includes a first communication board 20 and a first control board 21; both the first communication board 20 and the first control board 21 are fixedly connected to the housing 11, and they are arranged oppositely. One end of the first electrical connector 30 is connected to the first control board 21, and the other end passes through the accommodating cavity from the outlet hole 111, and penetrates the accommodating cavity from the inlet hole 112 to be connected to the first communication board 20, The control board 21 and the first communication board 20 are communicatively connected through the first electrical connector 30.

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 first communication component is divided into two parts, and the components of the first communication component can be dispersedly arranged, thereby reducing the space occupied by the first communication component. The first communication component is arranged in the housing 11 of the motor 10, which makes full use of the space occupied by the motor 10, so that the structural layout of the sensor is more reasonable, the space utilization rate is greatly improved, and the volume of the sensor is reduced. The wiring method of the first electrical connector 30 can avoid rotating components, thereby avoiding interference of the rotating components with the wiring form of the sensor, and improving the reliability of the sensor wiring.

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, the technical solutions provided by the embodiments of the present application make the structural layout of the sensor more reasonable, greatly improve the space utilization rate, reduce the volume of the sensor, and avoid the interference of the rotating parts on the sensor wiring form, and improve the sensor. Reliability of wiring.

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 includes a housing with an accommodating cavity, and a wire outlet hole and a wire inlet hole are provided on the housing;

The first communication component, the first communication component is located in the accommodating cavity, and includes a first communication board and a first control board; both the first communication board and the first control board are fixed to the housing Connect, and the two are set relative to each other;

The first electrical connector, one end of the first electrical connector is connected to the first control board, and the other end passes through the accommodating cavity from the outlet hole, and penetrates into the accommodating cavity from the wire inlet hole. The accommodating cavity is connected with the first communication board, so that the first control board and the first communication board are communicatively connected through the first electrical connector.
The sensor according to claim 1, wherein the motor further comprises a stator and a rotor;

The accommodating cavity has an opening at one end, the stator is connected to the housing and covers the opening, the stator is provided with a mounting hole, and the stator communicates with the first communication board through a second electrical connector connection;

The rotor includes a connecting shaft, a first turntable and a second turntable disposed 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 container. Inside the accommodating 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 first turntable is suspended between the first communication board and the first control board.
The sensor according to claim 2, wherein there is a first gap between the first turntable and the first control board, and a second gap is provided between the first turntable and the first communication board. ；

The position of the wire outlet hole corresponds to the first gap, and the position of the wire inlet hole corresponds to the second gap;

After avoiding the first turntable through the first gap and the second gap, both ends of the first electrical connection member are respectively connected to the first control board and the first communication board.
The sensor according to claim 2, further comprising a second communication component, and the second communication component is in communication connection with the first communication component.
The sensor according to claim 4, further comprising a third electrical connector;

The second communication component includes a second communication board and a second control board;

The second communication board is located inside the accommodating cavity and is arranged on the first turntable;

The second control board is located outside the accommodating cavity and can rotate synchronously with the second turntable;

The connecting shaft has a through-type connecting cavity, one end of the third electrical connector is connected to the second communication board, and the other end passes through the connecting cavity to connect to the second control board, so that the first The second communication board is communicatively connected with the second control board through the third electrical connector.
The sensor according to claim 5, wherein the second communication board is arranged on a side of the first turntable facing the stator.
The sensor according to claim 5, further comprising a rotating body, the rotating body comprising a middle connecting plate and a first side plate and a second side plate connected to opposite ends of the middle connecting plate;

The motor is located between the first side plate and the second side plate, and is fixedly connected to the middle of the middle connecting plate through the rotor;

The second control board is fixedly arranged in the middle of the middle connecting board.
The sensor according to claim 7, wherein a third gap is formed between the housing and the first side plate and the second side plate;

The part of the first electrical connector located outside the accommodating cavity is tightly attached to the housing, so as to avoid the first side plate and the second side plate through the third gap.
The sensor according to claim 7, wherein a digital board is arranged on the side of the first side plate facing away from the motor, and a digital board is arranged on the side of the second side plate facing away from the motor. RF board;

The first communication component is respectively connected to the radio frequency board and the digital board in wireless communication;

The second control board is in communication connection with the digital board;

The radio frequency board is in communication connection with the digital board.
The sensor according to claim 9, further comprising a fourth electrical connection member;

The digital board has a first digital connection port;

One end of the fourth electrical connector is connected to the second control board, and the other end extends along the surface of the middle board and/or the second side board and passes through the first side board and the second control board. The first digital connection port is connected, so that the second control board and the digital board are communicatively connected through the fourth electrical connector.
The sensor according to claim 9, further comprising a fifth electrical connection piece and a sixth electrical connection piece;

The opposite ends of the digital board are respectively provided with a second digital connection port and a third digital connection port;

The radio frequency board is provided with a first radio frequency connection port and a second radio frequency connection port at positions corresponding to the second digital connection port and the third digital connection port;

One end of the fifth electrical connector passes through the first side plate to connect to the second digital connection port, and the other end passes through the second side plate to connect to the first radio frequency interface;

One end of the sixth electrical connector passes through the first side plate to connect to the third digital connection port, and the other end passes through the second side plate to connect to the second radio frequency interface;

So that the digital board and the radio frequency board are communicatively connected through the fifth electrical connector and the sixth electrical connector.
The sensor according to claim 11, wherein the fifth electrical connection piece and the sixth electrical connection piece are respectively provided with a reinforcing plate, and two ends of the reinforcing plate are respectively connected to the first side plate And the second side plate are fixedly connected.
The sensor according to claim 9, further comprising a fixed height board and a seventh electrical connection member;

Two ends of the fixed height board are respectively fixedly connected with the first side board and the second side board;

The digital board is provided with a fourth digital connection port;

One end of the seventh electrical connector is connected to the fixed height plate, and the other end extends along the surface of the fixed height plate and passes through the first side plate to be connected to the fourth digital connection port. The fixed height board and the digital board are communicatively connected through the seventh electrical connector.
The sensor according to claim 5, wherein a wireless power supply component is further provided in the accommodating cavity;

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 power receiving end is arranged on a surface of the second turntable facing the power sending end, and is arranged opposite to the power sending end;

The lead wire of the power receiving end passes through the connection cavity and is electrically connected to the second control board.
The sensor according to claim 14, wherein the power transmitting terminal includes a transmitting coil, the power receiving terminal includes a receiving coil, and the transmitting coil and the receiving coil transmit electric energy through wireless power supply.
The sensor according to any one of claims 1 to 15, 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 includes a housing with an accommodating cavity, the housing is connected to the movable platform body, and the housing is provided with an outlet hole and an inlet hole;

The first communication component, the first communication component is located in the accommodating cavity, and includes a first communication board and a first control board; both the first communication board and the first control board are fixed to the housing Connected, and the two are set relative to each other;

The first electrical connector, one end of the first electrical connector is connected to the first control board, and the other end passes through the accommodating cavity from the outlet hole, and penetrates into the accommodating cavity from the wire inlet hole. The accommodating cavity is connected with the first communication board, so that the first control board and the first communication board are communicatively connected through the first electrical connector.
The movable platform according to claim 17, wherein the movable platform comprises an unmanned aerial vehicle, an unmanned vehicle, and a ground remote control robot.