CN106842170A - A kind of new multi-thread 360 ° of scanning type laser radars and its implementation - Google Patents
A kind of new multi-thread 360 ° of scanning type laser radars and its implementation Download PDFInfo
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- CN106842170A CN106842170A CN201710156560.XA CN201710156560A CN106842170A CN 106842170 A CN106842170 A CN 106842170A CN 201710156560 A CN201710156560 A CN 201710156560A CN 106842170 A CN106842170 A CN 106842170A
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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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
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- Arrangements For Transmission Of Measured Signals (AREA)
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Abstract
A kind of new multi-thread 360 ° of scanning type laser radars and its implementation,The laser radar includes the annular generator being made up of ring-shaped rotor and annular stator,It is connected in the multi-thread laser ranging subsystem on annular generator rotor,Multi-thread range finding subsystem can launch multi-thread laser ranging function of the multiple laser realization to target,Power transmission coil and receiving coil constitute wireless energy transfer path for multi-thread range finding subsystem provides electric energy,One group of wireless data is received and sending module realizes wireless communication function between multi-thread laser ranging subsystem and central management module,The angle information that photoelectric code disk and optoelectronic switch measure annular motor are rotated,Be mapped for multi-thread ranging information and outer corner measurement information by central management module,Just obtain one group of detection data of multi-line laser radar,With the continuous rotation of annular generator,The detection data in the range of 360 ° can be obtained；The present invention need not be the contactless transmission that is capable of achieving energy and signal using slip ring, with reliability is high, long lifespan, with low cost, simple structure, it is easy to accomplish advantage.
Description
Technical field
The present invention relates to multi-thread scanning type laser field of radar, and in particular to a kind of new 360 ° of scanning type laser radars and
Its implementation.
Background technology
Multi-thread 360 ° of scanning laser radars have a very important role on pilotless automobile, current the type swash
The sweeping scheme of multi-thread Laser emission/reception integration that optical radar is mainly developed using Velodyne companies of the U.S., the program
The transmission of energy and signal is realized using high-performance slip ring, but high-performance slip ring quality and volume ratio are larger, and very price
Costliness, causes the price of multi-thread 360 ° of laser radars very high.
The content of the invention
For the problem that above-mentioned prior art is present, it is an object of the invention to provide a kind of based on the multi-thread of annular generator
360 ° of scanning type laser radars and its implementation, the program need not be the noncontact of achievable energy and signal using slip ring
Formula is transmitted, and, with low cost, simple structure, it is easy to accomplish.
In order to achieve the above object, the present invention is adopted the following technical scheme that：
A kind of new multi-thread 360 ° of scanning type laser radars, including annular generator 4, annular generator 4 include rotor 14
With motor stator 13,14 points of rotor is mutually nested inner hollow tubular structure and external hollow tubular structure and company
Connect the part of hollow annular structure three of inner hollow tubular structure and external hollow tubular structure, inner hollow tubular structure is from axle
The center for holding 15 is passed through, and is connected with the inner ring of bearing 15, and magnetic sheet 16 is inlaid with the inwall of external hollow tubular structure；Motor
Stator 13 is hollow cylindrical, and its inwall is connected with the outer shroud of bearing 15, and multiple coils 17 are uniformly wrapped on outer wall；Multi-thread survey
It is fixed in the hollow annular structure of rotor 14 away from subsystem 2, the first wireless data transmission is fixed on electricity with receiver module 3
The center of the hollow annular structure of machine rotor 14, and be connected by wire with multi-thread range finding subsystem 2；Hollow structure support 18 is consolidated
Due to the bottom of motor stator 13, power transmission coil 5 is fixed in hollow structure support 18, and positioned at the top of receiving coil 6, receives line
Circle 6 is fixed on coil panel 7, and is connected with multi-thread range finding subsystem 2 by wire, and coil panel 7 is open circles ring-type, is fixed on electricity
The inner hollow bottom part of tubular structure outside of machine rotor 14, coil panel 7 is rotated with the rotation of rotor 14, photoelectric code disk 9
For open circles ring-type and be connected in the bottom of coil panel 7, and photoelectric code disk 9 rotated with coil panel 7, optoelectronic switch 8 is consolidated
It is connected in central management module 11, and the turn signal of photoelectric code disk 9 can be detected, optoelectronic switch 8 and central management module
11 connections；Second wireless data transmission is connected in central management module 11 with receiver module 10, and positioned at rotor 14
On the symmetry axis of hollow tube-shape, the second wireless data transmission is connected by wire with receiver module 10 with central management module 11,
Coil 17 and power transmission coil 5 on motor stator 13 are also connected with central management module 11；
The motor stator 13, rotor 14, bearing 15, power transmission coil 5, receiving coil 6, coil panel 7 and light
Code disc 9 is hollow symmetrical structure, and symmetry axis overlaps, the first wireless data transmission and the nothing of receiver module 3 and second
Line number carries out wireless data communication according to transmitting and receiver module 10 using hollow structure.
The power transmission coil 5 is connected by hollow structure support 18 with motor stator 13, and receiving coil 6 passes through coil panel 7
It is connected with rotor 14, and hollow structure using motor stator 13 and rotor 14 realizes wireless energy transfer.
First wireless data transmission is fixed on the center of the hollow annular structure of rotor 14 with receiver module 3；
Second wireless data transmission and receiver module 10 are connected in central management module 11, and with the first wireless data transmission with receive
Module 3 is respectively positioned on the symmetry axis of annular generator 4.
All parts of multi-thread 360 ° of scanning type laser radars are coated in shell 1.
First wireless data transmission and receiver module 3, the second wireless data transmission is with receiver module 10 as preferred
Scheme, uses wireless data transmission and receiver module based on light.
New multi-thread 360 ° of scanning type laser radars realize 360 ° of methods of scanning, comprise the following steps：
Step one：Central management module 11 is powered by wire to the coil 17 on the motor stator 13 of annular generator 4, and
The rotor 14 of annular generator 4 is driven to rotate；
Step 2：Central management module 11 feeds electric coil 5 and is powered and produces electromagnetic wave by wire, and electric energy is transferred to
Receiving coil 6, multi-thread laser ranging subsystem 2 is connected with receiving coil 6, and carries out shaping to the electric current that receiving coil 6 is exported,
It is final to obtain galvanic current source；
Step 3：The rotor 14 of annular generator 4 is rotated, and drives coil panel 7 and photoelectric code disk 9 to rotate, photoelectric code disk 9
The rotation triggering generation pulse signal of optoelectronic switch 8, central management module 11 reads the pulse signal and measures the position of rotor
Confidence ceases；
Step 4：After central management module 11 receives the pulse signal of the output of optoelectronic switch 8, the second wireless data is triggered
Delivery and reception module 10 sends a Laser emission command signal to the first wireless data delivery and reception module 3；
Step 5：Laser emission instruction is sent to multi-thread laser ranging by the first wireless data delivery and reception module 3
System 2, multi-thread laser ranging subsystem 2 launches multiple laser to target, and detects the laser signal returned from target, surveys
Measure the range information of target；
Step 6：The multichannel target range information that multi-thread laser ranging subsystem 2 will be measured is sent to first without line number
According to delivery and reception module 3, the first wireless data delivery and reception module 3 send that information to the second wireless data send and
Receiver module 10, the second wireless data delivery and reception module 10, central management mould is sent to by the positional information of multichannel target
Block 11；
Step 7：The rotor-position letter that central management module 11 will be measured in the range information and step 3 of multichannel target
Breath is mapped, and just obtains one group of detection data of laser radar；
Step 8：Annular generator 4 constantly rotates, repeat step three to step 7, it becomes possible to obtain in 360 ° of field ranges
Target range and positional information.
Compared with prior art, the invention has the advantages that：
Rotor and motor stator are designed to hollow structure by the present invention, and realize information by wireless data communication
Transmission, the transmission of energy is realized using power transmission coil and receiving coil, it is to avoid using the slip ring in traditional scheme, so as to improve be
The reliability and service life of system, while contributing to the quality and cost of reduction system.
Brief description of the drawings
The multi-thread 360 ° of scanning lasers radar arrangement schematic diagram of Fig. 1 present invention.
The multi-thread 360 ° of scanning lasers radar assembling schematic diagram of Fig. 2 present invention.
The multi-thread 360 ° of scanning lasers radar workflow schematic diagram of Fig. 3 present invention.
Fig. 4 annular generator generalized sections of the present invention.
Specific embodiment
As shown in Figure 1, Figure 2 and Figure 4, a kind of new multi-thread 360 ° of scanning type laser radars of the present invention, including annular generator
4, annular generator 4 includes rotor 14 and motor stator 13, and 14 points of rotor is mutually nested inner hollow tubular knot
The hollow annular structure of structure and external hollow tubular structure and connection inner hollow tubular structure and external hollow tubular structure
Three parts, inner hollow tubular structure is passed through from the center of bearing 15, and is connected with the inner ring of bearing 15, external hollow tubular knot
Magnetic sheet 16 is inlaid with the inwall of structure；Motor stator 13 is hollow cylindrical, and its inwall is connected with the outer shroud of bearing 15, on outer wall
Even is wrapped multiple coils 17, and multi-thread range finding subsystem 2 is fixed in the hollow annular structure of rotor 14, and first is wireless
Data launch the center of the inner hollow tubular structure that rotor 14 is fixed on receiver module 3, and positioned at symmetrical configuration axle
On, and be connected by wire with multi-thread range finding subsystem 2；The bottom of motor stator 13, power transmission are fixed on hollow structure support 18
Coil 5 is fixed in hollow structure support 18, and receiving coil 6 is fixed on coil panel 7, and by wire and multi-thread range finding subsystem
2 connections, coil panel 7 is open circles ring-type, is fixed on the inner hollow bottom part of tubular structure outside of rotor 14, coil panel 7
Rotated with the rotation of rotor 14, photoelectric code disk 9 is hollow discoid and be connected in the bottom of coil panel 7, and photoelectric code
Disk 9 being rotated with coil panel 7 and rotated, and optoelectronic switch 8 is connected in central management module, and by wire and central management module
11 connections, optoelectronic switch 8 can detect the turn signal of photoelectric code disk 9；Second wireless data transmission and receiver module 10 with
Central management module 11 is connected, and on the symmetry axis of hollow cylindrical configuration positioned at rotor 14, the second wireless data transmission
It is connected in central management module 11 with receiver module 10, and on the symmetry axis of hollow tube-shape positioned at rotor 14, motor
Coil 17 and power transmission coil 5 on stator 13 are also connected with central management module 11；The motor stator 13, rotor
14th, bearing 15, power transmission coil 5, receiving coil 6, coil panel 7 and photoelectric code disk 9 are hollow symmetrical structure, and symmetry axis is equal
Overlap, the first wireless data transmission and the wireless data transmission of receiver module 3 and second and receiver module 10 are entered using hollow structure
Row wireless data communication.
The power transmission coil 5 is connected by hollow structure support 18 with motor stator 13, and receiving coil 6 passes through coil panel 7
It is connected with rotor 14, and hollow structure using motor stator 13 and rotor 14 realizes wireless energy transfer.
Used as the preferred embodiment of the present invention, first wireless data transmission is fixed on motor and turns with receiver module 3
The hollow annular structure center of son 14；Second wireless data transmission is connected in central management module 11 with receiver module 10, and
It is respectively positioned on the symmetry axis of annular generator 4 with the first wireless data transmission and receiver module 3.
Used as the preferred embodiment of the present invention, all parts of multi-thread 360 ° of scanning type laser radars are coated on
In shell 1.
First wireless data transmission and receiver module 3, the second wireless data transmission is with receiver module 10 as preferred
Scheme, uses wireless data transmission and receiver module based on light.
As shown in figure 3, the new multi-thread 360 ° of scanning type laser radars of the present invention realize 360 ° of methods of scanning, including it is as follows
Step：
Step one：Central management module 11 is powered by wire to the coil 17 on the motor stator 13 of annular generator 4, and
The rotor 14 of annular generator 4 is driven to rotate；
Step 2：Central management module 11 feeds electric coil 5 and is powered and produces electromagnetic wave by wire, and electric energy is transferred to
Receiving coil 6, multi-thread laser ranging subsystem 2 is connected with receiving coil 6, and carries out shaping to the electric current that receiving coil 6 is exported,
It is final to obtain galvanic current source；
Step 3：The rotor 14 of annular generator 4 is rotated, and drives coil panel 7 and photoelectric code disk 9 to rotate, photoelectric code disk 9
The rotation triggering generation pulse signal of optoelectronic switch 8, central management module 11 reads the pulse signal and measures the position of rotor
Confidence ceases；
Step 4：After central management module 11 receives the pulse signal of the output of optoelectronic switch 8, the second wireless data is triggered
Delivery and reception module 10 sends a Laser emission command signal to the first wireless data delivery and reception module 3；
Step 5：Laser emission instruction is sent to multi-thread laser ranging by the first wireless data delivery and reception module 3
System 2, multi-thread laser ranging subsystem 2 launches multiple laser to target, and detects the laser signal returned from target, surveys
Measure the range information of target；
Step 6：The multichannel target range information that multi-thread laser ranging subsystem 2 will be measured is sent to first without line number
According to delivery and reception module 3, the first wireless data delivery and reception module 3 send that information to the second wireless data send and
Receiver module 10, the second wireless data delivery and reception module 10, central management mould is sent to by the positional information of multichannel target
Block 11；
Step 7：The rotor-position letter that central management module 11 will be measured in the range information and step 3 of multichannel target
Breath is mapped, and just obtains one group of detection data of laser radar；
Step 8：Annular generator 4 constantly rotates, repeat step three to step 7, it becomes possible to obtain in 360 ° of field ranges
Target range and positional information.
Claims (6)
1. a kind of new multi-thread 360 ° of scanning type laser radars, it is characterised in that：Including annular generator (4), annular generator (4) bag
Rotor (14) and motor stator (13) are included, rotor (14) is divided into mutually nested inner hollow tubular structure and outside
The part of hollow annular structure three of hollow cylindrical configuration and connection inner hollow tubular structure and external hollow tubular structure, it is interior
Portion's hollow cylindrical configuration is passed through from the center of bearing (15), and is connected with the inner ring of bearing (15), external hollow tubular structure
Magnetic sheet (16) is inlaid with inwall；Motor stator (13) is hollow cylindrical, and its inwall is connected with bearing (15) outer shroud, on outer wall
Uniformly it is wrapped multiple coils (17)；Multi-thread range finding subsystem (2) is fixed in the hollow annular structure of rotor (14),
First wireless data transmission and receiver module (3) are fixed on the center of the hollow annular structure of rotor (14), and with it is multi-thread
Range finding subsystem (2) is connected by wire；Hollow structure support (18) is fixed on motor stator (13) bottom, power transmission coil (5)
It is fixed in hollow structure support (18), and positioned at receiving coil (6) top, receiving coil (6) is fixed on coil panel (7), and
It is connected with multi-thread range finding subsystem (2) by wire, coil panel (7) is open circles ring-type, is fixed on the interior of rotor (14)
Portion's hollow cylindrical configuration bottom outside, coil panel (7) is rotated with the rotation of rotor (14), and photoelectric code disk (9) is hollow
It is circular and be connected in coil panel (7) bottom, and photoelectric code disk (9) is rotated and rotated with coil panel (7), optoelectronic switch (8)
Be connected in central management module (11), and the turn signal of photoelectric code disk (9) can be detected, optoelectronic switch (8) with center
Management module (11) is connected；Second wireless data transmission is connected in central management module (11) with receiver module (10), and position
In on annular generator (4) symmetry axis, the second wireless data transmission is with receiver module (10) by wire and central management module
(11) connect, coil (17) and power transmission coil (5) on motor stator (13) are also connected with central management module (11)；
The motor stator (13), rotor (14), bearing (15), power transmission coil (5), receiving coil (6), coil panel (7)
Hollow symmetrical structure is with photoelectric code disk (9), and symmetry axis overlaps, the first wireless data transmission and receiver module (3)
With the second wireless data transmission and receiver module (10) wireless data communication is carried out using hollow structure.
2. new multi-thread 360 ° of scanning type laser radars of one kind according to claim 1, it is characterised in that：The power transmission line
Circle (5) is connected by hollow structure support (18) and motor stator (13), and receiving coil (6) is turned by coil panel (7) and motor
Sub (14) are connected, and utilize motor stator (13) and the hollow structure of rotor (14) to realize wireless energy transfer.
3. new multi-thread 360 ° of scanning type laser radars of one kind according to claim 1, it is characterised in that：First nothing
Line number is respectively positioned on the right of annular generator (4) with receiver module (3) and the second wireless data transmission according to transmitting with receiver module (10)
Claim on axle.
4. new multi-thread 360 ° of scanning type laser radars of one kind according to claim 1, it is characterised in that：It is described multi-thread
All parts of 360 ° of scanning type laser radars are coated in shell (1).
5. new multi-thread 360 ° of scanning type laser radars of one kind according to claim 1, it is characterised in that：First nothing
Line number is sent out with receiver module (10) according to transmitting and receiver module (3), the second wireless data transmission using the wireless data based on light
Penetrate and receiver module.
6. new multi-thread 360 ° of scanning type laser radars described in any one of claim 1 to 5 realize 360 ° of methods of scanning, and it is special
Levy and be：Comprise the following steps：
Step one：Coil (17) on motor stator (13) of the central management module (11) by wire to annular generator (4) leads to
Electricity, and drive the rotor (14) of annular generator (4) to rotate；
Step 2：Central management module (11) feeds electric coil (5) and is powered and produces electromagnetic wave by wire, and electric energy is transferred to
Receiving coil (6), multi-thread laser ranging subsystem (2) is connected with receiving coil (6), and to the electric current of receiving coil (6) output
Shaping is carried out, it is final to obtain galvanic current source；
Step 3：The rotor (14) of annular generator (4) is rotated, and drives coil panel (7) and photoelectric code disk (9) to rotate, photoelectricity
The rotation of code-disc (9) triggers optoelectronic switch (8) generation pulse signal, and central management module (11) reads the pulse signal and measures
Go out the positional information of rotor；
Step 4：After central management module (11) receives the pulse signal of optoelectronic switch (8) output, the second wireless data is triggered
Delivery and reception module (10) sends a Laser emission command signal to the first wireless data delivery and reception module (3)；
Step 5：Laser emission instruction is sent to multi-thread laser ranging subsystem by the first wireless data delivery and reception module (3)
System (2), multi-thread laser ranging subsystem (2) launches multiple laser to target, and detects the laser signal returned from target,
Measure the range information of target；
Step 6：The multichannel target range information that multi-thread laser ranging subsystem (2) will measure is sent to the first wireless data
Delivery and reception module (3), the first wireless data delivery and reception module (3) sends that information to the transmission of the second wireless data
With receiver module (10), the positional information of multichannel target is sent to center by the second wireless data delivery and reception module (10)
Management module (11)；
Step 7：The rotor position information that central management module (11) will be measured in the range information and step 3 of multichannel target
It is mapped, just obtains one group of detection data of laser radar；
Step 8：Annular generator (4) constantly rotates, repeat step three to step 7, it becomes possible to obtain in 360 ° of field ranges
Target range and positional information.
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| CN108885248A (en) * | 2017-12-18 | 2018-11-23 | 深圳市大疆创新科技有限公司 | The wireless rotating device and unmanned plane of radar installations, radar |
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