CN105785384A - Laser scanning distance measuring device - Google Patents
Laser scanning distance measuring device Download PDFInfo
- Publication number
- CN105785384A CN105785384A CN201610334015.0A CN201610334015A CN105785384A CN 105785384 A CN105785384 A CN 105785384A CN 201610334015 A CN201610334015 A CN 201610334015A CN 105785384 A CN105785384 A CN 105785384A
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- China
- Prior art keywords
- laser
- laser scanning
- scanning range
- finding device
- rotation platform
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention provides a laser scanning distance measuring device. A rotation platform and a fixed platform are connected through a shaft bearing. The plane where a laser transmitter axis resides in and the plane where a laser receiver axis resides in are vertical to a rotation shaft of the rotation platform; the laser transmitter and the laser receiver are installed on the rotation platform and rotates with the rotation platform. rotors are installed on the rotation platform; stators are installed on the fixed platform and are positioned under the rotators; a drive transmitting circuit board is installed on the fixed platform; a receiving circuit board is installed on the rotation platform; internal coils and external coils are positioned in the hollow region between the receiving circuit board and the drive transmitting circuit board. Compared with the prior art, the rotation of the rotation platform is drive by the electromagnetic induction between the stators and the rotators; the stators and the rotators are distributed in an up-down mode in a direction paralleled to the rotation shaft; and therefore, the horizontal width of the laser scanning distance measuring device is reduced so that the occupation volume of the whole laser scanning distance measuring device is reduced.
Description
Technical field
The present invention relates to a kind of Robot Design technology and laser scanner technique, particularly relate to a kind of laser scanning range-finding device.
Background technology
Robot (Robot) is the installations automatically performing work, and it both can accept mankind commander, can run again the program of layout in advance, is also based on the principle guiding principle action that artificial intelligence technology is formulated.In general, the task of robot is to assist or replace the work of the mankind, for instance produce the work of industry, building industry or dangerous industry.Mobile apparatus people is the integrated system integrating the several functions such as environment sensing, dynamic decision and planning, Behavior-Based control and execution, people can be replaced to execution task in dangerous, severe or extreme environment, complete scouting, patrol, warning, anti-terrorism, explosive, scientific investigation and sampling etc., thus such as requiring assistance, scientific investigation, the field such as military affairs there is huge using value.
In existing mobile apparatus people applies, consideration for walking secure context, generally require the detection mobile apparatus people Obstacle Position in course front, in advance anticipation also controls robot and takes the measure of dodging or detour of necessity, such as, at the laser scanning range-finding device of robot body correspondence installed above.But, existing laser scanning range-finding device adopts slip ring mostly when transmitting signal and transmission electric energy, the mode engaged by belt or gear realizes transmission, there is the shortcoming that such as equipment volume is big, the life-span is short, noise is big, significantly limit the application scenario of device.Such as, for special cleaning type mobile apparatus people, volume is the smaller the better, if it is highly relatively big, complete machine cannot move to isogonism at the bottom of such as bed, below sofa and drop into row cleaning operation.And for example, for the unmanned plane of flight, the more little weight of volume is more light, and required power is more few, if its volume increase, corresponding weight strengthens, and the Dynamic response increase of consumption causes that flying power declines to a great extent.In addition, in more existing laser scanning and ranging instrument, overall structure adopts rotating top and non-rotatable bottom to constitute, top is connected by bearing with bottom, top is utilized to rotate the laser transmitting-receiving direction changing scanning rangefinder, but the volume of current structure still has the space of improvement further, in order to be adapted to multiple different application scenario.
In view of this, a kind of laser scanning range-finding device how is designed so that it is volume is smaller and more exquisite, application scenario is more extensive, promote its flying power, thus the drawbacks described above solved in the laser scanning range-finding device of prior art and deficiency, be the problem that person skilled is urgently to be resolved hurrily in the industry.
Summary of the invention
For the drawbacks described above existing for laser scanning range-finding device of the prior art, the present invention provides the laser scanning range-finding device that a kind of compact structure, contour structures are compact.
According to one aspect of the present invention, it is provided that a kind of laser scanning range-finding device, including generating laser, laser pickoff, circuit board for receiving, inner-outer coil, rotation platform, stator, rotor, fixed platform, driving radiating circuit plate, bearing,
Wherein, rotation platform is connected by bearing with fixed platform, rotor is arranged on rotation platform, stator is installed on the stationary platform and is positioned at the lower section of rotor, generating laser is perpendicular with laser pickoff each plane at axis place and the rotating shaft of rotation platform, generating laser and laser pickoff are arranged on rotation platform and rotate together with rotation platform, radiating circuit plate is driven to install on the stationary platform, circuit board for receiving is arranged on rotation platform, inner-outer coil is at circuit board for receiving and drives the hollow region between radiating circuit plate
Wherein, stator and rotor are be distributed up and down on the direction being parallel to described rotating shaft, thus reducing the transverse width of described laser scanning range-finding device.
An embodiment wherein, inner-outer coil includes inside and outside nested interior loop and exterior loop on the direction being perpendicular to described rotating shaft.
An embodiment wherein, exterior loop is installed on fixed platform and is connected to drive radiating circuit plate, and interior loop is installed on rotation platform and is connected to circuit board for receiving.
An embodiment wherein, described laser scanning range-finding device also includes shell, encoder and side's tooth, and wherein, side's tooth is arranged at shell, and encoder is arranged on circuit board for receiving, by turned position and the number of turns of side's tooth and encoder record rotation platform.
An embodiment wherein, laser pickoff also includes lens and photo-sensitive cell, after the light of generating laser injection arrives barrier, reflects at described blocking surfaces, and the light reflected can coalescence be absorbed by photo-sensitive cell via lens.
An embodiment wherein, drives radiating circuit plate and circuit board for receiving to carry out information transmission in the way of opto-electronic conversion.
An embodiment wherein, radiating circuit plate is driven to include the first light emitting diode and the first sense diode, circuit board for receiving includes the second light emitting diode and the second sense diode, wherein, described first light emitting diode and described second sense diode form the first wireless propagation path, and described first sense diode and described second light emitting diode form the second wireless propagation path, and described first wireless propagation path and described second wireless propagation path realize full-duplex data transmission in a synchronous manner.
An embodiment wherein, described first light emitting diode has a first wave length spectrum, described second light emitting diode has a second wave length spectrum, described first sense diode senses the light of described second wave length spectrum, described second sense diode senses the light of described first wave length spectrum, wherein, described first wave length spectrum is different from described second wave length spectrum.
An embodiment wherein, the rotating speed of rotation platform depends on the dutycycle numerical value of the pwm signal of externally input.
An embodiment wherein, the angle of generating laser and laser pickoff is between 3 °～5 °.It is preferred that the angle of generating laser and laser pickoff is 4 °.
Adopt the laser scanning range-finding device of the present invention, including generating laser, laser pickoff, circuit board for receiving, inner-outer coil, rotation platform, stator, rotor, fixed platform, driving radiating circuit plate, bearing.Rotation platform is connected by bearing with fixed platform, rotor is arranged on rotation platform, stator is installed on the stationary platform and is positioned at the lower section of rotor, radiating circuit plate is driven to install on the stationary platform, circuit board for receiving is arranged on rotation platform, and inner-outer coil is at circuit board for receiving and drives the hollow region between radiating circuit plate.Compared to prior art, the present invention makes rotation platform rotate by the electromagnetic induction between stator and rotor, and stator and rotor are be distributed up and down in the direction being parallel to rotating shaft, thus the transverse width of laser scanning range-finding device can be reduced, and then reduce the volume shared by laser scanning range-finding device overall structure.In addition, only small angle and less distance is adopted between generating laser and the laser pickoff of the present invention, not only compact structure, contour structures are compact, overcome the noise caused by existing belt or gear drive greatly, not environmentally, many defects such as service life is short.
Accompanying drawing explanation
Reader is after having read the specific embodiment of the present invention with reference to accompanying drawing, it will more clearly understand various aspects of the invention.Wherein,
Fig. 1 is shown according to the structural representation of the laser scanning range-finding device of an embodiment of the present invention；
Fig. 2 illustrates the structural representation of the stator in the laser scanning range-finding device of Fig. 1 and rotor；
Fig. 3 illustrates in the laser scanning range-finding device of Fig. 1, for the profile schematic diagram of the interior loop of wireless power and exterior loop；
Fig. 4 illustrates in the laser scanning range-finding device of Fig. 1, launches and receive the light path schematic diagram of light between generating laser and laser pickoff；And
Fig. 5 A to Fig. 5 C is shown respectively the principle schematic adopting full duplex mode, half-duplex mode and simplex mode to carry out data transmission.
Detailed description of the invention
In order to make techniques disclosed in this application content more detailed and complete, can refer to the following various specific embodiments of accompanying drawing and the present invention, labelling identical in accompanying drawing represents same or analogous assembly.But, it will be understood by those within the art that, embodiment provided hereinafter is not used for limiting the scope that the present invention contains.Additionally, accompanying drawing is used only for schematically being illustrated, and draw not according to its life size.
With reference to the accompanying drawings, the detailed description of the invention of various aspects of the present invention is described in further detail.
Fig. 1 is shown according to the structural representation of the laser scanning range-finding device of an embodiment of the present invention.Fig. 2 illustrates the structural representation of the stator in the laser scanning range-finding device of Fig. 1 and rotor.Fig. 3 illustrates in the laser scanning range-finding device of Fig. 1, for the profile schematic diagram of the interior loop of wireless power and exterior loop.
As described in the background section, in more existing laser scanning and ranging instrument, overall structure adopts rotating top and non-rotatable bottom to constitute, and top is connected by bearing with bottom, utilizes top to rotate the laser transmitting-receiving direction changing scanning rangefinder.Mostly adopt slip ring when transmitting signal and transmission electric energy, realize transmission by belt, this shortcoming that will cause that equipment volume is big, the life-span is short, noise is big, limit application scenario.In general, the volume of laser scanning range-finding device is more little, and the more light and required power of weight is more few；Otherwise, if volume increase, corresponding weight strengthens, and the power of consumption increases will cause that flying power declines to a great extent.
With reference to Fig. 1, in this embodiment, the laser scanning range-finding device of the present invention at least includes Laser emission receiver module 1, circuit board for receiving 4, inner-outer coil 5, rotation platform 6, stator 7, rotor 8, fixed platform 9, drives radiating circuit plate 10 and bearing 13.
Specifically, Laser emission receiver module 1 includes generating laser 2 and laser pickoff 3.Generating laser 2 and the plane (plane of such as horizontal direction) at the respective axis place of laser pickoff 3 are perpendicular with the rotating shaft (such as vertical direction) of rotation platform 6.Generating laser 2 and laser pickoff 3 are arranged on rotation platform 6 and rotate together with rotation platform 6.It is preferred that the rotating speed of rotation platform 6 depends on the dutycycle numerical value of the pwm signal of externally input.Rotation platform 6 is connected by bearing 13 with fixed platform 9.Driving radiating circuit plate 10 to be arranged in fixed platform 9, circuit board for receiving 4 is arranged on rotation platform 6, and inner-outer coil 5 is at circuit board for receiving 4 and drives the hollow region between radiating circuit plate 10.
It is pointed out that stator 7 and rotor 8 are be distributed up and down on the direction be parallel to rotating shaft, thus reducing the transverse width of laser scanning range-finding device.As in figure 2 it is shown, rotor 8 is arranged on rotation platform 6, stator 7 is arranged in fixed platform 9 and is positioned at the lower section of rotor 8.
At a specific embodiment, as it is shown on figure 3, inner-outer coil 5 includes inside and outside nested interior loop 16 and exterior loop 17 on the direction be perpendicular to rotating shaft.Wherein, exterior loop 17 is installed on fixed platform 9 and is connected to radiating circuit plate 10, and interior loop 16 is installed on rotation platform 6 and is connected to circuit board for receiving 4.Radiating circuit plate 10 applies the alternating voltage of rule change to produce alternation induction field in exterior loop 17 so that interior loop 16 produces induction electromotive force, thus realizing wireless power by the induction field between exterior loop 17 and interior loop 16.As it is shown on figure 3, interior loop 16 and exterior loop 17 are the cylindrical-shaped structure of nested.Owing to adopting wireless power mode between radiating circuit plate 10 and circuit board for receiving 4, then it is positioned at the generating laser 2 on rotation platform 6 and laser pickoff 3 and obtains power supply each through wireless mode.
At a specific embodiment, laser scanning range-finding device also includes shell 11, encoder 12 and side's tooth 14.Wherein, side's tooth 14 is arranged at shell 11, and encoder 12 is arranged on circuit board for receiving 4, records turned position and the number of turns of rotation platform 6 by side's tooth 14 and encoder 12.
Fig. 4 illustrates in the laser scanning range-finding device of Fig. 1, launches and receive the light path schematic diagram of light between generating laser and laser pickoff.
With reference to Fig. 4, the distance between generating laser 2 and laser pickoff is d, and the angle between generating laser 2 and laser pickoff 3 is β.In this embodiment, laser pickoff 3 also includes lens 18 and photo-sensitive cell 19.After the light of generating laser 2 injection arrives barrier, reflecting at blocking surfaces, the light reflected can coalescence be absorbed by photo-sensitive cell 19 via lens 18.It is preferred that the angle β between generating laser 2 and laser pickoff 3 is 3 ° to 5 °.This angle is preferably 4 °.When distance remains unchanged, the angle between generating laser 2 and laser pickoff 3 is relatively big, and the light of generating laser 2 injection arrives the barrier of closer distance；Angle between generating laser 2 and laser pickoff 3 is less, and the light of generating laser 2 injection arrives longer-distance barrier.
Fig. 5 A to Fig. 5 C is shown respectively the principle schematic adopting full duplex mode, half-duplex mode and simplex mode to carry out data transmission.
As is well known, data transmission generally comprises full duplex mode, half-duplex mode and simplex mode.Transmitting both sides A, B for data, wherein, full duplex mode refers to, while B is launched data by A, to A synchronized transmissions data and can be properly received (as shown in Figure 5A) by A by B.Half-duplex is then A when B is launched data, and B can only receive data and can not launch data (as shown in Figure 5 B).Full duplex transmission is faster than half-duplex, because without waiting for.Simplex mode is then sent data by A to B folk prescription, or is sent data (as shown in Figure 5 C) by B to A folk prescription.
In the signals transmission of the present invention, radiating circuit plate 10 and circuit board for receiving 4 carry out information transmission in the way of opto-electronic conversion.It is preferred that radiating circuit plate 10 includes the first light emitting diode and the first sense diode, circuit board for receiving 4 includes the second light emitting diode and the second sense diode.Wherein, first light emitting diode and the second sense diode form the first wireless propagation path, first sense diode and the second light emitting diode form the second wireless propagation path, and the first wireless propagation path and the second wireless propagation path realize full-duplex data transmission in a synchronous manner.
At a specific embodiment, first light emitting diode has a first wave length spectrum, second light emitting diode has a second wave length spectrum, the light of the first sense diode sensing second wave length spectrum, the light of the second sense diode sensing first wave length spectrum, wherein first wave length spectrum is different from second wave length spectrum.
Adopt the laser scanning range-finding device of the present invention, including generating laser, laser pickoff, circuit board for receiving, inner-outer coil, rotation platform, stator, rotor, fixed platform, driving radiating circuit plate, bearing.Rotation platform is connected by bearing with fixed platform, rotor is arranged on rotation platform, stator is installed on the stationary platform and is positioned at the lower section of rotor, radiating circuit plate is driven to install on the stationary platform, circuit board for receiving is arranged on rotation platform, and inner-outer coil is at circuit board for receiving and drives the hollow region between radiating circuit plate.Compared to prior art, the present invention makes rotation platform rotate by the electromagnetic induction between stator and rotor, and stator and rotor are be distributed up and down in the direction being parallel to rotating shaft, thus the transverse width of laser scanning range-finding device can be reduced, and then reduce the volume shared by laser scanning range-finding device overall structure.In addition, only small angle and less distance is adopted between generating laser and the laser pickoff of the present invention, not only compact structure, contour structures are compact, overcome the noise caused by existing belt or gear drive greatly, not environmentally, many defects such as service life is short.
Above, the specific embodiment of the present invention is described with reference to the accompanying drawings.But, those skilled in the art are it is understood that when without departing from the spirit and scope of the present invention, it is also possible to the specific embodiment of the present invention is done various change and replacement.These change and replace and all drop in claims of the present invention limited range.
Claims (11)
1. a laser scanning range-finding device, it is characterized in that, described laser scanning range-finding device includes generating laser (2), laser pickoff (3), circuit board for receiving (4), inner-outer coil (5), rotation platform (6), stator (7), rotor (8), fixed platform (9), drives radiating circuit plate (10), bearing (13)
Wherein, rotation platform (6) is connected by bearing (13) with fixed platform (9), rotor (8) is arranged on rotation platform (6), stator (7) is arranged in fixed platform (9) and is positioned at the lower section of rotor (8), generating laser (2) and laser pickoff (3) each plane at axis place and the rotating shaft of rotation platform (6) are perpendicular, generating laser (2) and laser pickoff (3) are arranged on rotation platform (6) and rotate together with rotation platform (6), radiating circuit plate (10) is driven to be arranged in fixed platform (9), circuit board for receiving (4) is arranged on rotation platform (6), inner-outer coil (5) is positioned at circuit board for receiving (4) and drives the hollow region between radiating circuit plate (10),
Wherein, stator (7) and rotor (8) are be distributed up and down on the direction being parallel to described rotating shaft, thus reducing the transverse width of described laser scanning range-finding device.
2. laser scanning range-finding device according to claim 1, it is characterised in that inner-outer coil (5) includes inside and outside nested interior loop (16) and exterior loop (17) on the direction being perpendicular to described rotating shaft.
3. laser scanning range-finding device according to claim 2, it is characterized in that, exterior loop (17) is installed on fixed platform (9) and is connected to drive radiating circuit plate (10), and interior loop (16) is installed on rotation platform (6) and is connected to circuit board for receiving (4).
4. laser scanning range-finding device according to claim 1, it is characterized in that, described laser scanning range-finding device also includes shell (11), encoder (12) and side's tooth (14), wherein, side's tooth (14) is arranged at shell (11), encoder (12) is arranged on circuit board for receiving (4), records turned position and the number of turns of rotation platform (6) by square tooth (14) and encoder (12).
5. laser scanning range-finding device according to claim 1, it is characterized in that, laser pickoff (3) also includes lens (18) and photo-sensitive cell (19), when after the light arrival barrier that generating laser (2) penetrates, reflecting at described blocking surfaces, the light reflected can coalescence be absorbed by photo-sensitive cell (19) via lens (18).
6. laser scanning range-finding device according to claim 1, it is characterised in that drive radiating circuit plate (10) and circuit board for receiving (4) to carry out information transmission in the way of opto-electronic conversion.
7. laser scanning range-finding device according to claim 6, it is characterized in that, driving radiating circuit plate (12) to include the first light emitting diode and the first sense diode, circuit board for receiving (4) includes the second light emitting diode and the second sense diode
Wherein, described first light emitting diode and described second sense diode form the first wireless propagation path, and described first sense diode and described second light emitting diode form the second wireless propagation path, and described first wireless propagation path and described second wireless propagation path realize full-duplex data transmission in a synchronous manner.
8. laser scanning range-finding device according to claim 7, it is characterized in that, described first light emitting diode has a first wave length spectrum, described second light emitting diode has a second wave length spectrum, described first sense diode senses the light of described second wave length spectrum, described second sense diode senses the light of described first wave length spectrum, and wherein, described first wave length spectrum is different from described second wave length spectrum.
9. laser scanning range-finding device according to claim 1, it is characterised in that the rotating speed of rotation platform (6) depends on the dutycycle numerical value of the pwm signal of externally input.
10. laser scanning range-finding device according to claim 1, it is characterised in that the angle of generating laser (2) and laser pickoff (3) is between 3 °～5 °.
11. laser scanning range-finding device according to claim 10, it is characterised in that the angle of generating laser (2) and laser pickoff (3) is 4 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610334015.0A CN105785384A (en) | 2016-05-19 | 2016-05-19 | Laser scanning distance measuring device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610334015.0A CN105785384A (en) | 2016-05-19 | 2016-05-19 | Laser scanning distance measuring device |
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| CN105785384A true CN105785384A (en) | 2016-07-20 |
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| CN201610334015.0A Pending CN105785384A (en) | 2016-05-19 | 2016-05-19 | Laser scanning distance measuring device |
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| CN106249248A (en) * | 2016-08-31 | 2016-12-21 | 北京创想智控科技有限公司 | Rotary optical scanning range unit and method |
| CN106383353A (en) * | 2016-08-31 | 2017-02-08 | 北京创想智控科技有限公司 | Laser scanning distance measurement device and method |
| CN106655535A (en) * | 2016-11-07 | 2017-05-10 | 深圳市镭神智能***有限公司 | 360-DEG TOF laser scanning radar based on wireless transmission |
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| WO2017197878A1 (en) * | 2016-05-19 | 2017-11-23 | 上海思岚科技有限公司 | Laser scanning range unit |
| WO2018077286A1 (en) * | 2016-10-31 | 2018-05-03 | 张舒怡 | Sensor for automatic driving |
| CN109725322A (en) * | 2017-10-30 | 2019-05-07 | 光宝电子(广州)有限公司 | Distance sensing device |
| CN111486784A (en) * | 2020-06-02 | 2020-08-04 | 向军 | Road bridge detects uses road surface crack degree of depth measuring device |
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| CN111486784A (en) * | 2020-06-02 | 2020-08-04 | 向军 | Road bridge detects uses road surface crack degree of depth measuring device |
| CN111486784B (en) * | 2020-06-02 | 2021-10-01 | 湖南省交通建设质量监督检测有限公司 | Road bridge detects uses road surface crack degree of depth measuring device |
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Application publication date: 20160720 |