A laser radar scanning detection device

Abstract

The present invention relates to the field of laser radar technology, and discloses a laser radar scanning and detection device, including a rotating platform, a rotating shaft extending downward from the center of the rotating platform, a bottom plate arranged below the rotating shaft, and a receiving seat arranged at a place on the bottom plate corresponding to the rotating shaft; a fixed platform is arranged between the bottom plate and the rotating platform, a centrifugal impeller is arranged on the rotating shaft, the centrifugal impeller is located below the fixed platform, an impeller housing is arranged outside the centrifugal impeller, an air inlet is arranged at the center of the impeller housing, a windshield is arranged below the rotating platform, and a plurality of air outlets are arranged in a circular array on the fixed platform. The laser radar scanning and detection device drives the rotating shaft to rotate by rotating the rotating platform, so that the centrifugal impeller draws air from the lower air outlet and transports it upward, so that the air acts on the bottom of the windshield through the air outlet, provides a part of lift for the windshield, offsets a part of the gravity of the equipment on the rotating platform, and reduces the pressure at the bottom of the rotating shaft to reduce friction.

Description

Technical Field

[0001] The present invention relates to the technical field of laser radar, and in particular to a laser radar scanning detection device. Background Art

[0002] LiDAR is a technology that measures the distance between a target object and a device by emitting laser light and receiving reflected signals. LiDAR uses the time-of-flight principle of lasers to accurately draw the contours of objects in three-dimensional space and generate point cloud data for applications such as environmental perception, navigation, and mapping.

[0003] A laser radar is disclosed in the patent publication number CN109991617A. The laser radar in this application includes: a main shaft, a radar rotor, an upper storage plate, a top cover and a base; the upper storage plate is fixedly arranged relative to the radar rotor, and the upper storage plate is relatively closer to the base and farther away from the top cover in the axial direction of the laser radar; the main shaft is arranged perpendicular to the base and is located between the upper storage plate and the base.

[0004] The prior art has the following defects:

[0005] Existing mechanical LiDARs rely on mechanical rotating parts to achieve 360-degree laser scanning, so wear and aging problems are inevitable during long-term use, which has a direct impact on their reliability and life. Mechanical LiDARs usually contain rotating motors, bearings, and friction contact points between rotating parts. These parts will continue to generate friction during high-speed rotation, causing the material to gradually wear out. The result of wear may cause deformation of rotating parts, increased friction, and uneven rotation, which will ultimately affect the scanning accuracy and stability of the LiDAR. During the movement or operation of the robot, the mechanical LiDAR may be subject to external vibration or impact. Under these conditions, the rotating parts are susceptible to additional loads, which intensifies wear. Vibration may also cause mechanical parts to be misaligned or loose, affecting the stability of long-term operation. Summary of the invention

[0006] In view of the above problems in the prior art, a laser radar scanning detection device is proposed.

[0007] The present application provides a laser radar scanning detection device, the purpose of which is to reduce the friction and vibration problems of a mechanical laser radar during rotation.

[0008] The technical solution of the present invention is: a laser radar scanning and detection equipment, including a rotating platform, in which a laser emitting device and a signal receiving device are arranged, and the characteristics are: a rotating shaft is extended downward from the center of the rotating platform, the bottom of the rotating shaft is an arc bottom, a bottom plate is arranged below the rotating shaft, a receiving seat is arranged at a place on the bottom plate corresponding to the rotating shaft, and the receiving seat is in sliding contact with the arc bottom; a fixed platform is arranged between the bottom plate and the rotating platform, the fixed platform is connected to the bottom plate, the rotating shaft passes through the fixed platform, a centrifugal impeller is arranged on the rotating shaft, the centrifugal impeller is located below the fixed platform, an impeller housing is arranged on the outer side of the centrifugal impeller, an air inlet is arranged at the center of the impeller housing, a wind shield is arranged below the rotating platform, a plurality of air outlets are arranged in a circular array on the fixed platform, and the wind shield covers above the air outlet.

[0009] By adopting the above scheme, the rotating platform drives the rotating shaft to rotate, and the rotating shaft drives the centrifugal impeller connected thereto to rotate. The centrifugal impeller draws air from the air outlet below and transports it upward, so that the air acts on the bottom of the wind shield through the air outlet, providing a part of lift for the wind shield, offsetting a part of the gravity of the rotating platform and the equipment arranged on the rotating platform, reducing the pressure at the bottom of the rotating shaft, thereby reducing friction.

[0010] Furthermore, the fixed platform and the rotating shaft are clearance-matched.

[0011] By adopting the above solution, the friction contact between the fixed platform and the rotating shaft is reduced through clearance fit.

[0012] Furthermore, the rotating platform is connected to the wind shield via an annular plate, a plurality of pressure reducing holes are provided in an annular array on the wind shield and located on the outer side of the annular plate, an annular groove is provided on the fixed platform at a location corresponding to the air outlet, the annular groove connects the air inlet and the pressure reducing holes, and the wind shield covers the annular groove.

[0013] By adopting the above scheme, by setting the pressure reducing hole, air enters the annular groove from the air inlet and acts on the wind shield, the air pressure in the annular groove increases, and part of the air is discharged from the pressure reducing hole to prevent airflow short circuit.

[0014] Furthermore, the outer side of the annular plate and the edge of the fixed platform form a cavity 1, and a slit is provided between the edge of the fixed platform and the edge of the rotating platform.

[0015] By adopting the above scheme, by setting the slit, air enters cavity one from the pressure reducing hole and is discharged through the slit, so that an air curtain is formed between the edge of the fixed platform and the edge of the rotating platform, reducing the friction contact between the fixed platform and the rotating platform.

[0016] Furthermore, a thrust bearing is provided between the wind shield and the fixed platform.

[0017] By adopting the above solution, the friction between the wind deflector and the fixed platform is reduced by arranging the thrust bearing.

[0018] Furthermore, a ring frame 1 is extended upward from the inner edge of the wind shield, and a ring frame 2 is provided on the fixed platform and located inside the ring frame 1, with a gap between the ring frame 1 and the ring frame 2, the inner wall of the ring frame 1 has a plurality of magnets 1 in a ring array at equal intervals, and the outer wall of the ring frame 2 has a plurality of magnets 2 in a ring array at equal intervals, the magnet 1 repels the magnet 2, and the number of the magnet 1 is one more than the number of the magnet 2.

[0019] By adopting the above scheme, by setting up two circles of arrays of repelling magnets, when the system rotates, the inner circle of magnets and the outer circle of magnets will not be completely aligned, which will form a step-rotating magnetic field in the system, thereby driving the rotation, causing the ring frame one and the ring frame two to rotate in suspension, and further forming an asymmetric magnetic field distribution, so that the rotational torque can continue to act. This asymmetry also helps to improve rotation efficiency and reduce friction.

[0020] Furthermore, a ball is provided at the bottom of the inner cavity of the receiving seat, and a pit cooperating with the ball is provided at the bottom of the inner cavity of the receiving seat and the bottom of the arc bottom.

[0021] By adopting the above solution, the friction between the arc bottom and the inner cavity of the receiving seat is reduced by arranging the balls.

[0022] Furthermore, it also includes a driving component, which includes a driving motor arranged on the fixed platform, a pulley arranged on the main shaft of the driving motor, a belt groove arranged on the edge of the rotating platform, and a transmission belt connecting the belt groove and the pulley.

[0023] By adopting the above solution, the entire laser module is fixed on the rotating platform by setting a driving component, and the entire module is driven to rotate by the driving motor, thereby realizing an all-round scanning of the surrounding environment.

[0024] Beneficial effects of the present invention:

[0025] The rotating platform rotates to drive the rotating shaft to rotate, and the rotating shaft drives the centrifugal impeller connected thereto to rotate. The centrifugal impeller draws air from the air outlet below and transports it upward, so that the air acts on the bottom of the wind shield through the air outlet, providing a part of lift for the wind shield, offsetting a part of the gravity of the rotating platform and the equipment arranged on the rotating platform, reducing the pressure at the bottom of the rotating shaft, thereby reducing the axial friction.

[0026] By setting up two circles of arrays of repelling magnets, when the system rotates, the inner circle magnets will not be completely aligned with the outer circle magnets, which will form a step-rotating magnetic field in the system, thereby driving the rotation, causing the ring frame one and the ring frame two to rotate in suspension, and further forming an asymmetric magnetic field distribution, so that the rotational torque can continue to act. This asymmetry also helps to improve rotation efficiency and reduce radial friction. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 A stereoscopic diagram of the laser radar scanning detection device of the present invention;

[0028] Figure 2 A top view of the laser radar scanning detection device of the present invention;

[0029] Figure 3 It is a front view of the laser radar scanning detection device of the present invention;

[0030] Figure 4 For the present invention Figure 2 Sectional view at AA;

[0031] Figure 5 For the present invention Figure 3 Cross-sectional view at the middle BB

[0032] Figure 6 It is a partial cutaway view of the present invention.

[0033] In the figure:

[0034] 1. Rotating platform; 2. Protective shell; 3. Laser emitting device; 4. Signal receiving device; 5. Rotating shaft; 6. Arc bottom; 7. Bottom plate; 8. Socket; 9. Fixed platform; 10. Centrifugal impeller; 11. Impeller housing; 12. Air inlet; 13. Air outlet; 14. Wind shield; 15. Annular plate; 16. Pressure relief hole; 17. Annular groove; 18. Cavity 1; 19. Slit; 20. Thrust bearing; 21. Annular frame 1; 22. Annular frame 2; 23. Magnet 1; 24. Magnet 2; 25. Ball; 26. Driving motor; 27. Pulley; 28. Belt groove; 29. ​​Transmission belt. DETAILED DESCRIPTION

[0035] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings.

[0036] Example, see Figure 1-6, is an embodiment of the present invention, and provides a laser radar scanning detection device, including a rotating platform 1, a laser emitting device 3 and a signal receiving device 4 are arranged in the rotating platform 1, a rotating shaft 5 is extended downward from the center of the rotating platform 1, the bottom of the rotating shaft 5 is an arc bottom 6, a bottom plate 7 is arranged below the rotating shaft 5, a receiving seat 8 is arranged at a place corresponding to the rotating shaft 5 on the bottom plate 7, and the receiving seat 8 is in sliding contact with the arc bottom 6; a fixed platform 9 is arranged between the bottom plate 7 and the rotating platform 1, the fixed platform 9 is connected to the bottom plate 7, the rotating shaft 5 passes through the fixed platform 9, a centrifugal impeller 10 is arranged on the rotating shaft 5, the centrifugal impeller 10 is located below the fixed platform 9, an impeller housing 11 is arranged on the outer side of the centrifugal impeller 10, an air inlet 12 is arranged at the center of the impeller housing 11, a wind shield 14 is arranged below the rotating platform 1, and a plurality of air outlets 13 are arranged in a circular array on the fixed platform 9, and the wind shield 14 covers the air outlet 13.

[0037] Here, a protective shell 2 is provided on the rotating platform 1, and a laser emitting device 3 and a signal receiving device 4 connected to the rotating platform 1 are provided in the protective shell 2, or other detection components are not described here. The rotating platform 1 is truncated cone-shaped, and the fixed platform 9 is composed of a bottom surface part and a side surface part. The bottom surface part can be of any shape, and its size must be sufficient to cover the rotating platform 1. The side surface part can also be of any shape, but its internal cavity must be circular to match the rotating platform 1. The impeller housing 11 is divided into a central part and an edge part. The central part wraps the centrifugal impeller 10, and the edge part is thinner and connected to the air outlet 13. When the centrifugal impeller 10 rotates at a high speed, the center of the centrifugal impeller 10 (at the air inlet 12) is low-pressure area generated by the rotation, and the gas enters between the blades of the centrifugal impeller 10 from the air inlet 12 at the center of the centrifugal impeller 10. Due to the rotation of the centrifugal impeller 10, the gas is thrown to the outer edge (radial direction) of the centrifugal impeller 10 by the centrifugal force. In this process, the speed of the gas is gradually increased, and the pressure is also increased. After being thrown out from the outer edge of the impeller, the high-speed gas enters the edge of the impeller housing 11. The edge of the impeller housing 11 converts the velocity of the gas into pressure, so that the gas obtains a higher pressure and is discharged through the air outlet 13. The inner cavity of the receiving seat 8 is set to an arc shape that matches the arc bottom 6. Setting the bottom of the rotating shaft 5 to an arc shape is a structural optimization method to reduce friction. By designing the contact surface to be an arc shape, the distribution of force can be adjusted, the contact area can be reduced, the lubrication effect can be improved, and the friction can be reduced.

[0038] The arc-shaped design easily forms a wedge-shaped or arc-shaped space. In some scenarios, a lubricant (such as an oil film) is introduced. After the lubricant is evenly distributed in the arc-shaped area, a fluid lubrication film will be formed between the contact surfaces, separating the rotating shaft 5 and the inner surface of the socket 8, thereby significantly reducing friction.

[0039] The rotating platform 1 rotates to drive the rotating shaft 5 to rotate, and the rotating shaft 5 drives the centrifugal impeller 10 connected thereto to rotate. The centrifugal impeller 10 draws air from the air outlet 13 below and transports it upward, so that the air acts on the bottom of the wind shield 14 through the air outlet 13, providing a part of lift for the wind shield 14, offsetting a part of the gravity of the rotating platform 1 and the equipment arranged on the rotating platform 1, reducing the pressure at the bottom of the rotating shaft 5, thereby reducing the friction.

[0040] Reference Figure 4 , there is clearance fit between the fixed platform 9 and the rotating shaft 5. The frictional contact between the fixed platform 9 and the rotating shaft 5 is reduced by the clearance fit.

[0041] Reference Figure 4 The rotating platform 1 is connected to the wind shield 14 through an annular plate 15. A plurality of pressure reducing holes 16 are arranged in an annular array on the wind shield 14 and located outside the annular plate 15. An annular groove 17 is arranged on the fixed platform 9 at a position corresponding to the air outlet 13. The annular groove 17 connects the air inlet 12 and the pressure reducing holes 16, and the wind shield 14 covers the annular groove 17.

[0042] Here, the wind shield 14 is annular and completely covers the annular groove 17. After passing through the air outlet 13, the air is evenly applied to the bottom surface of the wind shield 14 through the annular groove 17. This pressure is not enough to move the wind shield 14 upward, but it can offset part of the gravity of the rotating platform 1 and the equipment arranged on the rotating platform 1, reduce the pressure at the bottom of the rotating shaft 5, and thus reduce the friction.

[0043] By providing the pressure reducing hole 16, air enters the annular groove 17 from the air inlet 12 and acts on the wind shield 14, the pressure of the air in the annular groove 17 increases, and part of the air is discharged from the pressure reducing hole 16 to prevent airflow short circuit.

[0044] Reference Figure 4 The outer side of the annular plate 15 and the edge of the fixed platform 9 form a cavity 18, and a slit 19 is provided between the edge of the fixed platform 9 and the edge of the rotating platform 1.

[0045] Here, the slit 19 between the edge and the edge of the rotating platform 1 is set to be narrow, and the friction is reduced by forming a wind curtain between the two relatively rotating bodies. The core of this technology is to use high-speed airflow to form a gas barrier between the two, converting the direct contact between the solid surfaces into gas support, thereby significantly reducing friction. The principle of this technology is similar to the air film lubrication system. Between the relatively rotating fixed platform 9 and the rotating platform 1, the rotating platform 1 drives the centrifugal impeller 10 to rotate to generate a high-speed airflow. The airflow forms a stable air film to separate the two surfaces, thereby reducing or completely avoiding mechanical contact and reducing friction. In addition, the air curtain can significantly reduce the heat accumulation between solids and reduce material wear caused by frictional heating.

[0046] By setting the slit 19, air enters the cavity 18 from the pressure reducing hole 16 and is discharged through the slit 19, so that an air curtain is formed between the edge of the fixed platform 9 and the edge of the rotating platform 1, thereby reducing the friction contact between the fixed platform 9 and the rotating platform 1.

[0047] Reference Figure 4 A thrust bearing 20 is provided between the wind shield 14 and the fixed platform 9 .

[0048] By providing the thrust bearing 20 , the friction between the wind deflector 14 and the fixed platform 9 is reduced.

[0049] Reference Figure 4-Figure 5 An annular frame 1 21 is extended upward from the inner edge of the windshield 14, and an annular frame 22 is provided on the fixed platform 9 and inside the annular frame 1 21. There is a gap between the annular frame 1 21 and the annular frame 22. The inner wall of the annular frame 1 21 has a plurality of magnets 1 23 in an annular array at equal intervals, and the outer wall of the annular frame 22 has a plurality of magnets 24 in an annular array at equal intervals. The magnets 1 23 and the magnets 2 24 repel each other, and the number of the magnets 1 23 is one more than the number of the magnets 2 24.

[0050] Here, the windshield 14 is fixedly connected to the annular frame 1 21, the fixed platform 9 is fixedly connected to the annular frame 2 22, the annular frame 1 21 and the annular frame 2 22 are at the same height, the outer ring has 25 magnets, and the inner ring has 24 magnets. The reason behind this design is closely related to the balance, symmetry and effective rotation of the magnetic levitation system. If the number of inner and outer ring magnets is equal, the magnetic forces may cancel or interfere with each other, thereby affecting the balance of the magnetic levitation system. One less inner ring magnet can break this symmetry, thereby forming a stable torque difference, ensuring smooth rotation and avoiding system jamming or oscillation.

[0051] By setting up two circles of arrays of repelling magnets, when the annular frame 1 21 rotates relative to the annular frame 22, the inner circle of magnets and the outer circle of magnets will not be completely aligned, which will form a step-rotating magnetic field in the system, thereby driving the rotation to occur, causing the annular frame 1 21 and the annular frame 2 22 to rotate in suspension, further forming an asymmetric magnetic field distribution, so that the rotational torque can continue to act, and this asymmetry also helps to improve the rotation efficiency and reduce friction.

[0052] Reference Figure 4 A ball 25 is arranged at the bottom of the inner cavity of the receiving seat 8 , and pits cooperating with the ball 25 are arranged at the bottom of the inner cavity of the receiving seat 8 and the bottom of the arc bottom 6 .

[0053] By adopting the above solution and providing the ball 25 , the friction between the arc bottom 6 and the inner cavity of the receiving seat 8 can be reduced.

[0054] Reference Figure 1-Figure 3 , also includes a driving component for driving the rotating platform 1 to rotate, the driving component includes a driving motor 26 arranged on the fixed platform 9, a pulley 27 arranged on the main shaft of the driving motor 26, a belt groove 28 arranged on the edge of the rotating platform 1, and a transmission belt 29 connecting the belt groove 28 and the pulley 27.

[0055] Here, the pulley 27 is kept flush with the belt groove 28 to prevent the transmission belt 29 from falling out of the groove. At the same time, the tension of the transmission belt 29 should not be too high, and it is sufficient to transmit the power to avoid affecting the rotation of the rotating platform 1.

[0056] In other possible embodiments, the drive motor 26 can be set on the rotating shaft 5, the motor rotor is set on the rotating shaft 5, and the motor stator is set on the fixed platform 9. This method limits the size of the motor and is suitable for a scanning speed of 5Hz~10Hz. For high-dynamic scenes (such as high-speed unmanned vehicles and drones), 20Hz~30Hz is required, and real-time capture of rapidly changing environmental information is required, which is more suitable for an external motor method.

[0057] By setting a driving component, the entire laser module is fixed on the rotating platform 1, and the entire module is driven to rotate by the driving motor 26, thereby achieving an all-round scanning of the surrounding environment.

[0058] Working principle of the present invention:

[0059] The rotating platform 1 rotates to drive the rotating shaft 5 to rotate, and the rotating shaft 5 drives the centrifugal impeller 10 connected thereto to rotate. The centrifugal impeller 10 extracts air from the lower air outlet 13 and transports it upward, so that the air acts on the bottom of the windshield 14 through the air outlet 13, providing a part of the lift for the windshield 14, offsetting a part of the gravity of the rotating platform 1 and the equipment arranged on the rotating platform 1, reducing the pressure at the bottom of the rotating shaft 5, thereby reducing the axial friction. At the same time, the air enters the cavity 18 through the pressure reducing hole 16, and is discharged through the slit 19, so that an air curtain is formed between the edge of the fixed platform 9 and the edge of the rotating platform 1, thereby reducing the friction contact between the fixed platform 9 and the rotating platform 1. By setting two circles of arrays of repelling magnets, when the system rotates, the inner circle magnets and the outer circle magnets will not be completely aligned, which will form a step-rotating magnetic field in the system, thereby driving the occurrence of rotation, so that the ring frame 1 21 and the ring frame 2 22 are suspended and rotated, and further forming an asymmetric magnetic field distribution, so that the torque of rotation can act continuously, and this asymmetry also helps to improve the rotation efficiency and reduce the radial friction. The reduction in friction reduces wear and vibration of rotating parts and extends the service life of the equipment.

[0060] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A laser radar scanning detection device, comprising a rotating platform (1), wherein a laser emitting device (3) and a signal receiving device (4) are arranged in the rotating platform (1), characterized in that: A rotating shaft (5) is provided extending downward from the center of the rotating platform (1); the bottom of the rotating shaft (5) is an arc bottom (6); a bottom plate (7) is provided below the rotating shaft (5); a receiving seat (8) is provided at a location on the bottom plate (7) corresponding to the rotating shaft (5); the receiving seat (8) is in sliding contact with the arc bottom (6); a fixed platform (9) is provided between the bottom plate (7) and the rotating platform (1); the fixed platform (9) is connected to the bottom plate (7); the rotating shaft (5) ) passes through the fixed platform (9), a centrifugal impeller (10) is arranged on the rotating shaft (5), the centrifugal impeller (10) is located below the fixed platform (9), an impeller housing (11) is arranged on the outer side of the centrifugal impeller (10), an air inlet (12) is arranged at the center of the impeller housing (11), a wind shield (14) is arranged below the rotating platform (1), a plurality of air outlets (13) are arranged in a circular array on the fixed platform (9), and the wind shield (14) covers the air outlet (13); An annular frame 1 (21) is provided on the inner edge of the windshield plate (14) extending upward, and an annular frame 2 (22) is provided on the fixed platform (9) and located inside the annular frame 1 (21), with a gap between the annular frame 1 (21) and the annular frame 2 (22), the inner wall of the annular frame 1 (21) having a plurality of magnets 1 (23) in an annular array at equal intervals, and the outer wall of the annular frame 2 (22) having a plurality of magnets 2 (24) in an annular array at equal intervals, the magnets 1 (23) and the magnets 2 (24) repel each other, and the number of the magnets 1 (23) is one more than the number of the magnets 2 (24).

2. The laser radar scanning detection device according to claim 1, characterized in that: There is a clearance fit between the fixed platform (9) and the rotating shaft (5).

3. The laser radar scanning detection device according to claim 1, characterized in that: The rotating platform (1) and the wind shield (14) are connected via an annular plate (15); a plurality of pressure relief holes (16) are provided on the wind shield (14) and in an annular array outside the annular plate (15); an annular groove (17) is provided on the fixed platform (9) at a location corresponding to the air outlet (13); the annular groove (17) is connected to the air inlet (12) and the pressure relief holes (16); and the wind shield (14) covers the annular groove (17).

4. The laser radar scanning detection device according to claim 3, characterized in that: The outer side of the annular plate (15) and the edge of the fixed platform (9) form a cavity (18), and a slit (19) is provided between the edge of the fixed platform (9) and the edge of the rotating platform (1).

5. The laser radar scanning detection device according to claim 1, characterized in that: A thrust bearing (20) is provided between the wind deflector (14) and the fixed platform (9).

6. The laser radar scanning detection device according to claim 1, characterized in that: A ball (25) is arranged at the bottom of the inner cavity of the receiving seat (8), and a recess that cooperates with the ball (25) is arranged at the bottom of the inner cavity of the receiving seat (8) and the bottom of the arc bottom (6).

7. The laser radar scanning detection device according to claim 1, characterized in that: The invention also comprises a driving assembly, wherein the driving assembly comprises a driving motor (26) arranged on the fixed platform (9), a pulley (27) arranged on the main shaft of the driving motor (26), a belt groove (28) arranged on the edge of the rotating platform (1), and a transmission belt (29) connecting the belt groove (28) and the pulley (27).

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