Laser radar obstacle avoidance device

Abstract

The invention relates to the technical field of laser detection, and discloses a laser radar obstacle avoidance device which comprises a motor driving device, a laser, a motor device, an annular laser receiving and processing device, a triangular prism, a semi-automatic lifting device and a shell, the motor driving device comprises the motor device and a driving clamping base, the motor device comprises a stator, a rotor and an electric brush, and the laser is annular. The annular laser receiving and processing device is in a semi-ring shape matched with the laser and is located in the middle of the shell, the shell is semi-hollow, the semi-automatic lifting device is located in the shell, the triangular prism is embedded in the middle of the driving clamping base, and the driving clamping base is driven through the motor device. The rotating device is arranged in the hollow shell, so that the weight driven by the rotating device is smaller, the probability that the rotating device breaks down is lower, laser emitted by the laser device is conveniently emitted out in the hollow shell through the hollow design, the heat dissipation performance of the hollow design is good, the extrusion shell can be shrunk into the sleeve through the annular magnet, the magnet bolt and the spring, and storage is convenient and fast.

Description

Technical Field

[0001] The invention relates to the field of laser detection technology, and in particular to a laser radar obstacle avoidance device. Background Art

[0002] LiDAR (Light Detection and Ranging) is an important remote sensing technology that mainly relies on emitting laser pulses and measuring the time it takes for the reflected light to calculate the distance. In recent years, with the maturity of LiDAR detection technology, some fields, such as autonomous driving, obstacle-free industrial systems, and 3D point clouds, have gradually used LiDAR as an important technology to detect the surrounding environment and the position and distance of objects.

[0003] However, the traditional laser radar uses an integral mechanical rotating device to scan the radar beam, which means that the radar has a scanning blind spot, and the risk of failure of the mechanical parts that drive the overall rotation of the radar is relatively high; at the same time, the traditional laser radar shell is relatively closed, and the heat generated by laser irradiation is stored inside the radar, which cannot be dissipated well. In addition, due to the extremely complex internal structure and large size, the traditional laser radar also has the defect of being relatively inconvenient to store. Therefore, a laser radar obstacle avoidance alarm device is proposed to solve the above problems.

[0004] The patent with announcement number CN202110640401 discloses a multi-line laser radar obstacle avoidance device and method, including a brim. The brim can reflect the laser. After reflection through the reflective membrane on the inner wall of the brim, the laser radar can detect obstacles at different distances, effectively solving the problem of limited bird's-eye view; the brim increases the incident angle to the ground, solving the problem that ordinary laser radars are difficult to detect cliffs; the above-mentioned scheme makes the area within the scanning range wider through the brim, reduces the detection blind spot of the laser radar, and does not require additional multiple radars to achieve vehicle obstacle avoidance, saving costs; the buckle structure of the buckle on the brim makes the brim easy to load and unload. When the obstacle avoidance distance needs to be adjusted, only the brim needs to be replaced. The structure is simple and easy to replace; the differential GPS antenna mounting boss is provided, so that the laser emission area of ​​this structure is small. When laser reception is performed, leakage reception may occur, affecting signal transmission.

[0005] Therefore, a new technical solution is needed to solve the above technical problems. Summary of the invention

[0006] In order to solve the above problems, the present invention discloses a laser radar obstacle avoidance device to solve the problem of inconvenient carrying. A large amount of internal heat is dissipated to reduce the internal temperature. The semi-circular laser receiver and processor can increase the receiving area to prevent missed signals.

[0007] The technical solution of the present invention is: a laser radar obstacle avoidance device, including a motor drive device, a motor device and a drive card seat are arranged inside the motor drive device, a laser is arranged outside the motor drive device, a ring laser receiver and processor is arranged between the laser and the shell, the motor drive device includes a motor device and a drive card seat, the drive card seat is located outside the motor device, a prism is arranged inside the drive card seat, a stator and a rotor are arranged inside the drive card seat, the stator is located in a circle outside the rotor, a brush is arranged outside the rotor, the upper part of the brush is located between the stators and the lower part passes through the stator, the laser is annular and located in the middle of the shell, the ring laser receiver and processor is a semi-ring adapted to the laser, the shell is semi-hollow, a semi-automatic lifting device is located in the shell, the prism is embedded in the middle of the drive card seat, and the drive card seat is driven by the motor device.

[0008] By adopting the above technical solution, the semi-circular laser receiver and processor is designed as a semi-circular fixed structure to increase the laser receiving area. The built-in APD laser receiving layer receives the laser reflected from the outside and converts it into an electrical signal. The electrical signal processor layer calculates the position and distance of the surrounding objects based on the electrical signal. When the distance exceeds the set threshold, the current passes through the wire to trigger the alarm of the buzzer on the top of the hollow shell.

[0009] Preferably, the prism is embedded in the triangular slot in the middle of the driving card base, the driving card base is located in the housing of the motor driving device, the driving card base and the motor device are tightly coupled, the motor device is located in the middle of the driving card base, and the driving card base fixed to the top of the motor driving device is driven to rotate at high speed through the principle of electromagnetism.

[0010] By adopting the above technical solution, the motor device drives the driving card seat fixed on the top of the motor driving device to rotate at a high speed through the principle of electromagnetism, thereby driving the prism embedded in the triangular groove in the middle of the driving card seat to rotate, thereby causing the prism in the driving card seat to rotate, and the laser emitted by the laser is reflected by the high-speed rotating prism and emitted from the hollow part of the semi-hollow shell at different angles.

[0011] Preferably, the internal structure of the ring laser receiver and processor is divided into two layers, namely a laser receiving layer composed of avalanche diodes APD and an electrical signal processor layer.

[0012] By adopting the above technical solution, the laser receiving layer receives the laser and converts it into an electrical signal. When avalanche photodiode made of silicon or germanium is applied with a high reverse bias voltage, the incident light is absorbed by the PN junction to form a photocurrent. After applying the reverse bias voltage, an avalanche ionization effect will be generated, which can show the internal current gain effect, thereby realizing the amplification of the detection effect. The generated current will be used to calculate the position and distance of surrounding objects through the electrical signal processor layer. If the distance exceeds the set threshold, the alarm signal of the buzzer will be triggered.

[0013] Preferably, the top and bottom of the semi-automatic lifting device are coupled to the driving card seat and the shell respectively, and the semi-automatic lifting device includes a magnet latch, a double hollow cylindrical shell and an annular magnet.

[0014] Preferably, the double hollow cylindrical shell has a built-in spring and an annular magnet, the inner circle radius of the annular magnet is slightly smaller than the radius of the spring, the magnet latch is located at the bottom of the double hollow cylindrical shell, and the magnetic pole of the magnet latch is opposite to the magnetic pole of the annular magnet.

[0015] Preferably, the double hollow cylindrical shell includes a magnet pin and a sleeve and an extruded shell around the annular magnet. The diameter of the extruded shell is adapted to the sleeve and can be retracted into the sleeve. The bottom of the extruded shell is located on the upper surface of the annular magnet.

[0016] By adopting the above technical solution, when the top of the double hollow cylindrical shell is pressed, the extruded shell of the double hollow cylindrical shell will shrink back into its sleeve, and the spring will be compressed into the inner diameter of the annular magnet. The extruded shell of the double hollow cylindrical shell is stuck in its sleeve because of the mutual magnetic attraction between the magnet pin and the annular magnet, and cannot be ejected out by the built-in spring, thereby enabling the semi-automatic lifting device to achieve a dust-proof storage effect; when the magnet pin is pulled out, the magnetic force between the magnet pin and the annular magnet disappears, and the double hollow cylindrical shell is ejected by the built-in spring, supporting the hollow shell of the semi-hollow shell.

[0017] Preferably, the shell comprises a solid shell in the lower half and a hollow shell in the upper half, the solid shell is located on one side of the hollow shell, and a buzzer is fixed on the top of the hollow shell.

[0018] By adopting the above technical solution, the hollow shell makes it convenient for the laser emitted by the laser to be reflected by the prism and emitted from the hollow shell at different angles.

[0019] Preferably, a steering gear is provided on the rotor, the steering gear is connected to a brush, the direction of current in the steering gear controls the rotation direction of the rotor, and the rotor is connected to a ball bearing.

[0020] Preferably, the ball bearing is located in the motor drive device, the inside of the ball bearing is connected to the drive card seat, and the outside of the ball bearing is connected to the housing of the motor drive device, and the ball bearing drives the drive card seat to rotate.

[0021] By adopting the above technical solution, the driving card seat fixed on the top of the motor driving device is driven to rotate at high speed through the principle of electromagnetism, and the prism is embedded in the middle triangular card groove of the driving card seat and rotates in the same direction and speed with the driving card seat.

[0022] The benefits of the present invention are as follows: 1. The prism of the present invention is located in the triangular slot of the driving card seat, and the driving card seat is driven by the motor device to drive the prism to rotate. The way the prism rotates improves the way the radar rotates as a whole, so that the weight driven by the rotating device is smaller and the probability of failure of the rotating device is lower.

[0023] 2. The laser radar housing of the present invention adopts a hollow design, which facilitates the laser emitted by the laser to be emitted in the hollow housing, and the hollow design has good heat dissipation performance, which reduces the internal temperature, prevents damage to the device caused by excessive internal temperature, and extends the service life of the device.

[0024] 3. The present invention adopts a semi-circular laser receiver and processor. Compared with the traditional rectangular receiver, the laser receiving area is larger, so that the laser can be emitted to the outside world from different angles. The buzzer is used to alarm when the object attached to the laser radar is too close to the obstacle.

[0025] 4. The present invention adopts a semi-automatic lifting device to store the laser radar, which reduces the space occupied by the radar when not working, and has a dust-proof effect. The spring is compressed through the attraction between the annular magnet and the magnet pin, and then the extruded shell on the top of the magnet pin is just received into the sleeve, which has the effect of preventing dust from the storage box. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is an exploded diagram of the laser radar obstacle avoidance alarm device of the present invention; Figure 2 is a top view of the motor device of the motor drive device of the present invention; Figure 3 is a top view of a drive card seat of a motor drive device of the present invention; Figure 4 It is a structural diagram of a semi-ring laser receiver and processor of the present invention; Figure 5 It is a working structure diagram of the laser receiver layer of the semi-ring laser receiver and processor of the present invention; Figure 6 is a cross-sectional view of the semi-automatic lifting device of the present invention; Figure 7 It is a structural schematic diagram of the annular magnet of the semi-automatic lifting device in the present invention.

[0027] Among them: 1. Motor drive device, 11. Motor device, 12. Drive card seat, 13. Brush, 14. Stator, 15. Rotor, 16. Steering gear, 17. Triangular card slot, 18. Ball bearing, 2. Laser, 3. Ring laser receiver and processor, 31. Laser receiving layer, 32. Electrical signal processing layer, 4. Prism, 5. Semi-automatic lifting device, 51. Magnet latch, 52. Double hollow cylindrical shell, 521 sleeve, 522 extrusion shell, 54, spring, 53. Ring magnet, 6. Semi-hollow shell, 61. Solid shell, 62. Hollow shell, 7. Buzzer. DETAILED DESCRIPTION

[0028] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0029] like Figure 1 As shown, a laser radar obstacle avoidance device includes a motor drive device with a motor device and a drive card seat inside, a laser is arranged outside, and a ring laser receiver and processor is arranged between the laser and the shell. The motor drive device 1 includes a motor device 11 and a drive card seat 12, the drive card seat is located outside the motor device, a prism is arranged inside the drive card seat, a stator and a rotor are arranged inside the drive card seat, the stator is located in a circle outside the rotor, a brush is arranged outside the rotor, the upper part of the brush is located between the stators and the lower part passes through the stator, the laser 2 is annular and is located in the middle of the shell 6, and the ring laser receiver and processor 3 is connected to the laser. 2 is a semi-circular shape adapted to each other, the shell 6 is semi-hollow, the semi-automatic lifting device 5 is located in the shell 6, the prism 4 is embedded in the middle of the driving card seat 12, the driving card seat 12 is driven by the motor device 11, the semi-circular laser receiving and processor 3 is designed as a semi-circular fixed structure to increase the laser receiving area, the internal APD laser receiving layer 31 receives the laser reflected from the outside and converts it into an electrical signal, the electrical signal processor layer 32 calculates the position and distance of the surrounding objects according to the electrical signal, and when the distance exceeds the set threshold, the current passes through the wire to trigger the alarm behavior of the buzzer 7 on the top of the hollow shell 6.

[0030] like Figure 3As shown, the prism 4 is embedded in the triangular groove 17 in the middle of the driving card seat 12, the driving card seat 12 is located in the shell of the motor driving device 1, the driving card seat 12 and the motor device 11 are tightly coupled, the motor device 11 is located in the middle of the driving card seat 12, and the driving card seat 12 fixed on the top of the motor driving device 1 is driven to rotate at a high speed through the electromagnetism principle. The motor device 11 drives the driving card seat 12 fixed on the top of the motor driving device 1 to rotate at a high speed through the electromagnetism principle, driving the prism 4 embedded in the triangular groove 17 in the middle of the driving card seat 12 to rotate, thereby causing the prism 4 in the driving card seat 12 to rotate, and the laser emitted by the laser 2 is reflected by the high-speed rotating prism 4 and emitted from the hollow part of the semi-hollow shell 6 at different angles.

[0031] like Figure 4-5 As shown, the internal structure of the ring laser receiver and processor 3 is divided into two layers, namely a laser receiving layer 31 composed of an avalanche diode APD and an electrical signal processor layer 32. The laser receiving layer 31 receives laser light and converts it into an electrical signal. When avalanche photodiodes made of silicon or germanium are subjected to a high reverse bias voltage, the incident light is absorbed by the PN junction to form a photocurrent. After the reverse bias voltage is applied, an avalanche ionization effect is generated, which can show an internal current gain effect, thereby realizing the amplification of the detection effect. The generated current passes through the electrical signal processor layer 32 and will be used to calculate the position and distance of surrounding objects. If the distance exceeds the set threshold, the alarm signal of the buzzer 7 will be triggered.

[0032] like Figure 6 As shown, the top and bottom of the semi-automatic lifting device 5 are coupled to the driving card seat 12 and the shell 6 respectively. The semi-automatic lifting device 5 includes a magnet latch 51, a double hollow cylindrical shell 52 and a ring magnet 53. Figure 7 As shown, the double hollow cylindrical shell 52 has a built-in spring 54 and an annular magnet 53 , the inner circle radius of the annular magnet 53 is slightly smaller than the radius of the spring 54 , and the magnet latch 51 is located at the bottom of the double hollow cylindrical shell 52 , and its magnetic pole is opposite to that of the annular magnet 53 .

[0033] The double hollow cylindrical shell 52 includes a sleeve 521 and an extrusion shell 522 around the magnet pin 51 and the annular magnet 53. The diameter of the extrusion shell 522 is adapted to the sleeve 521 and can be retracted into the sleeve 521. The bottom of the extrusion shell 522 is located on the upper surface of the annular magnet 53.

[0034] When the top of the double hollow cylindrical shell 52 is pressed, the extruded shell 522 of the double hollow cylindrical shell 52 will shrink back into its sleeve 521, and the spring 54 will be compressed into the inner diameter of the annular magnet 53. The extruded shell 522 of the double hollow cylindrical shell 52 is stuck in its sleeve 521 due to the mutual magnetic attraction between the magnet pin 51 and the annular magnet 53, and cannot be ejected by the built-in spring 54, thereby enabling the semi-automatic lifting device 5 to achieve a dust-proof storage effect; when the magnet pin 51 is pulled out, the magnetic force between the magnet pin 51 and the annular magnet 53 disappears, and the double hollow cylindrical shell 52 is ejected by the built-in spring 54, propping up the hollow shell 62 of the semi-hollow shell 6.

[0035] The shell 6 includes a solid shell 61 in the lower part and a hollow shell 62 in the upper part. The solid shell 61 is located in the lower part of the shell 6. A buzzer 7 is fixed on the top of the hollow shell 62. The hollow shell 6 facilitates the laser emitted by the laser 2 to be reflected by the prism 4 and emitted from the hollow shell 62 at different angles. The hollowing is conducive to heat dissipation when the device is working.

[0036] like Figure 2 As shown, a stator 14 and a rotor 15 are disposed in the driving seat 12 , the stator 14 is located in a circle around the outer periphery of the rotor 15 , and a brush 13 is disposed outside the rotor 15 .

[0037] A steering gear 16 is provided on the rotor 15 . The steering gear 16 is connected to the brush 13 . The direction of the current in the steering gear 16 controls the rotation direction of the rotor 15 . The rotor 15 is connected to a ball bearing 18 .

[0038] The ball bearing 18 is located in the motor drive device 1 . The ball bearing 18 is internally connected to the drive base 12 , and externally connected to the housing of the motor drive device 1 . The ball bearing 18 drives the drive base 12 to rotate.

[0039] The driving card base 12 fixed on the top of the motor driving device 1 is driven to rotate at high speed by the electromagnetism principle. The prism 4 is embedded in the central triangular card groove 17 of the driving card base 12 and rotates in the same direction and speed with the driving card base 12 .

[0040] It should be understood by those skilled in the art that the embodiments of the present invention described above and shown in the accompanying drawings are only examples and do not limit the present invention, and the purpose of the present invention has been fully and effectively achieved. The functional and structural principles of the present invention have been demonstrated and explained in the embodiments, and the embodiments of the present invention may be deformed or modified in any way without departing from the principles.

Claims

1. A laser radar obstacle avoidance device, comprising a motor drive device, wherein a motor device and a drive card holder are arranged inside the motor drive device, a laser is arranged outside the motor drive device, a ring laser receiver and processor is arranged between the laser and the housing, the motor drive device comprises a motor device and a drive card holder, the drive card holder is located outside the motor device, a prism is arranged inside the drive card holder, a stator and a rotor are arranged inside the drive card holder, the stator is located in a circle outside the rotor, a brush is arranged outside the rotor, the upper part of the brush is located between the stators and the lower part passes through the stator, and the characteristics are: The laser is annular and located in the middle of the shell. The annular laser receiver and processor is a semi-annular shape adapted to the laser. The shell is semi-hollow. The semi-automatic lifting device is located inside the shell. The prism is embedded in the middle of the driving card seat. The driving card seat is driven by a motor device.

2. A laser radar obstacle avoidance device according to claim 1, characterized in that: The prism is embedded in the triangular slot in the middle of the driving card seat, the driving card seat is located in the shell of the motor driving device, the driving card seat and the motor device are tightly coupled, the motor device is located in the middle of the driving card seat, and the driving card seat fixed to the top of the motor driving device is driven to rotate at high speed through the principle of electromagnetism.

3. A laser radar obstacle avoidance device according to claim 1, characterized in that: The internal structure of the ring laser receiver and processor is divided into two layers, namely a laser receiving layer composed of avalanche diodes APD and an electrical signal processor layer.

4. The laser radar obstacle avoidance device according to claim 1, characterized in that: The top and bottom of the semi-automatic lifting device are coupled with the driving card seat and the shell respectively. The semi-automatic lifting device includes a magnet latch, a double hollow cylindrical shell and an annular magnet.

5. A laser radar obstacle avoidance device according to claim 4, characterized in that: The double hollow cylindrical shell has a built-in spring and an annular magnet. The inner circle radius of the annular magnet is slightly smaller than the spring radius. The magnet latch is located at the bottom of the double hollow cylindrical shell. The magnetic pole of the magnet latch is opposite to that of the annular magnet.

6. A laser radar obstacle avoidance device according to claim 5, characterized in that: The double hollow cylindrical shell includes a magnet latch and a sleeve and an extruded shell around the annular magnet, and the diameter of the extruded shell is adapted to the sleeve.

7. A laser radar obstacle avoidance device according to claim 6, characterized in that: The extrusion shell is located in the sleeve, and the extrusion shell and the sleeve are connected by a snap-fitting and sliding connection. After the magnet latch is taken away, the extrusion shell is just retracted into the sleeve, and the bottom of the extrusion shell is located on the upper surface of the annular magnet.

8. The laser radar obstacle avoidance device according to claim 5, characterized in that: The shell comprises a solid shell in the lower part and a hollow shell in the upper part, the solid shell is located at one side of the hollow shell, and a buzzer is fixed on the top of the hollow shell.

9. A laser radar obstacle avoidance device according to claim 8, characterized in that: A steering gear is provided on the rotor, the steering gear is connected to a brush, the current direction in the steering gear controls the rotation direction of the rotor, and the rotor is connected to a ball bearing.

10. The laser radar obstacle avoidance device according to claim 9, characterized in that: The ball bearing is located in the motor drive device. The inside of the ball bearing is connected to the drive seat, and the outside of the ball bearing is connected to the housing of the motor drive device. The ball bearing drives the drive seat to rotate.

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