Laser radar and robot thereof

Abstract

The embodiment of the utility model relates to the technical field of distance measuring equipment, and discloses a laser radar and a robot thereof. The laser radar comprises a radar base which is provided with a control module; the motor is fixedly arranged on the radar base, and the motor comprises a motor output shaft extending along the axis of the motor; the distance measuring device is fixedly arranged at one end of the output shaft of the motor and rotates along with the output shaft of the motor; and the communication device is arranged around the axis of the motor, and the communication device is configured to be used for information transmission between the distance measuring device and the control module. According to the laser radar, the distance measuring device is fixedly arranged at one end of the output shaft of the motor, the motor directly drives the distance measuring device to rotate around the axis of the motor, a traditional transmission mechanism can be omitted, cost is effectively reduced, and reliability is improved.

Description

Technical Field

[0001] This application relates to the field of ranging equipment technology, and in particular to a lidar and its robot. Background Technology

[0002] LiDAR (Light Detection and Ranging) is a widely used sensor device. A typical LiDAR system usually consists of a stationary radar base and a ranging module that rotates circumferentially around an axis relative to the radar base. The radar base contains a motor and a transmission mechanism, which drive the ranging module to rotate.

[0003] Figure 1 This is a typical schematic diagram of a lidar system. (Example:) Figure 1 As shown, the ranging module 1 is connected to the fixed radar base 3 via the bearing 2. The motor 4 is arranged on one side of the radar base 3 and drives the ranging module 1 to rotate around the axis x1 via a transmission method such as belt drive.

[0004] Such lidar systems have many shortcomings and defects. For example, the transmission mechanism has a complex structure, requiring the installation of various components such as bearings, bearing housings, belt covers, and transmission belts, resulting in higher overall costs, larger size, and higher failure rates. Utility Model Content

[0005] The lidar provided in this application can solve at least some of the problems existing in existing lidar.

[0006] In a first aspect, this application provides a lidar. The lidar includes: a lidar base on which a control module is mounted; a motor fixedly mounted on the lidar base, the motor including: a motor output shaft extending along a motor axis; a ranging device fixedly mounted at one end of the motor output shaft and rotating with the motor output shaft; and a communication device arranged around the motor axis, the communication device being configured for information transmission between the ranging device and the control module.

[0007] Optionally, the ranging device is fixedly connected to one end of the motor output shaft; or the lidar further includes a carrier; the carrier is fixedly connected to one end of the motor output shaft, and the ranging device is fixedly mounted on the carrier.

[0008] Optionally, the distance measuring device comprises: a device body having a first end face and a second end face facing away from each other, the first end face of the device body being proximate to the radar base; an end of the motor output shaft forms an anti-rotation structure, and the first end face of the device body is provided with a receiving hole matched with the anti-rotation structure; wherein the anti-rotation structure is assembled into the receiving hole to limit relative rotation between the device body and the motor output shaft.

[0009] Optionally, the motor output shaft is connected and fixed in the receiving hole of the device body through a connecting component, or the motor output shaft is in interference fit with the receiving hole of the device body.

[0010] Optionally, the radar base further comprises: a base body having a third end face and a fourth end face facing away from each other, the third end face being proximate to the distance measuring device; the control module comprises a second circuit board, which is fixed on the fourth end face of the base body or the motor; wherein a motor receiving area is formed in the center of the base body, and the motor is fixed and received in the motor receiving area.

[0011] Optionally, the communication device is an optical communication device or a wireless coil carrier wave communication device.

[0012] Optionally, the optical communication device comprises: one or more transmitting units; and one or more receiving units; the receiving unit is arranged on the second circuit board, and the base body is provided with a first channel at a position opposite to each receiving unit.

[0013] Optionally, the optical communication device is configured to determine the rotation speed and position information of the distance measuring device through signal transmission between the transmitting unit and the receiving unit.

[0014] Optionally, the distance measuring device further comprises: a first circuit board fixed on the first end face of the device body; wherein the transmitting unit is arranged on the first circuit board, and the center of the first circuit board is provided with a through hole for the motor output shaft to pass through.

[0015] Optionally, when the optical communication device comprises a plurality of transmitting units, the plurality of transmitting units are arranged non-uniformly along the circumferential direction of the motor axis, or the plurality of transmitting units are arranged uniformly along the circumferential direction of the motor axis.

[0016] Optionally, when the optical communication device comprises a plurality of receiving units, the plurality of receiving units are arranged non-uniformly along the circumferential direction of the motor axis, or the plurality of receiving units are arranged uniformly along the circumferential direction of the motor axis.

[0017] Optionally, when the plurality of emitting units are arranged uniformly along the circumferential direction of the motor axis, the rotation speed of the ranging device is represented by the following formula:

[0018]

[0019] wherein ω is the rotation angular velocity of the ranging device, θ min is the minimum common angular interval between the emitting unit and the receiving unit, and T is the time difference of the receiving unit receiving the optical signal of the emitting unit.

[0020] Optionally, the laser radar further comprises a wireless power supply device, wherein the wireless power supply device comprises a first coil arranged on the first circuit board or the first end face and surrounding the motor axis, and a second coil fixed on the motor or the third end face and arranged opposite to the first coil; the second coil is electrically connected to the second circuit board through a connecting wire, and the base body is provided with a second channel for the connecting wire to pass through; the first coil and the second coil are electromagnetically coupled to form an electric energy transmission path between the ranging device and the control module.

[0021] Optionally, the second circuit board is arranged on the motor, and the center of the second circuit board is provided with a through hole for the motor output shaft to pass through; the second coil is arranged on the second circuit board.

[0022] Optionally, the shapes of the first coil and the second coil are different to form a specific overlap area change rule; by detecting the overlap area change of the first coil and the second coil during the rotation of the ranging device, the rotation speed and the angular position of the ranging device are determined.

[0023] Optionally, the first coil and the second coil serve as the wireless coil carrier communication device to transmit information between the ranging device and the radar base through carrier modulation.

[0024] Optionally, the ranging device comprises one or more laser emitting units, and the angle between the laser emitted by at least one laser emitting unit in the ranging device and the horizontal plane is within 10°.

[0025] Optionally, the laser radar further comprises a photoelectric switch fixedly arranged on the ranging device, and a gear disc circumferentially arranged on the radar base and formed by alternately arranging a plurality of teeth and grooves; when the photoelectric switch rotates through the gear disc, a pulse signal is generated; by detecting the pulse signal, the rotation speed and the angular information of the ranging device are determined.

[0026] In a second aspect, the application provides a robot. The robot includes the laser radar as described above.

[0027] The laser radar provided by the embodiment of the application has the advantages that the ranging device is fixedly arranged at one end of the motor output shaft, and the ranging device is directly driven by the motor to rotate around the motor axis, so that the traditional transmission mechanism can be saved, the cost is effectively reduced, and the reliability is improved. Moreover, the motor can be directly arranged at the middle part of the radar base, which is beneficial to reducing the size of the laser radar. BRIEF DESCRIPTION OF DRAWINGS

[0028] One or more embodiments are illustrated by way of example with reference to the accompanying drawings, which are schematic and not intended to be limiting of the embodiments, and in which like reference numerals designate similar elements in the figures and wherein:

[0029] Figure 1 is a typical exploded structural schematic diagram of a laser radar;

[0030] Figure 2 is an exploded structural schematic diagram of the laser radar according to the embodiment of the application;

[0031] Figure 3 is an exploded structural schematic diagram of the ranging device according to the embodiment of the application;

[0032] Figure 4 is an exploded structural schematic diagram of the radar base according to the embodiment of the application;

[0033] Figure 5 is a partial sectional view of the laser radar according to the embodiment of the application;

[0034] Figure 6 is a partial sectional view of the radar base according to the embodiment of the application;

[0035] Figure 7 is a schematic diagram of the laser radar according to the embodiment of the application;

[0036] Figure 8 is a schematic diagram of the laser radar according to another embodiment of the application, showing a case where the device body is removed;

[0037] Figure 9 is a circuit schematic diagram of the transmitting unit according to the embodiment of the application;

[0038] Figure 10 is a circuit schematic diagram of the receiving unit according to the embodiment of the application.

[0039] BRIEF DESCRIPTION OF DRAWINGS

[0040] Radar base 11, base body 111, second circuit board 112, first channel S1, second channel S2, motor wire gap S3;

[0041] Motor 12, main body part 121, motor output shaft 122, anti-rotation structure 123;

[0042] Distance measuring device 13, device main body 131, first circuit board 132, accommodating hole 133, through hole 134;

[0043] Transmitting unit 141, receiving unit 142, photoelectric switch 143, toothed disc 144;

[0044] First coil 151, second coil 152, connecting wire 153;

[0045] Light shield 16, locking component 18, screw 19;

[0046] First resistor R1, second resistor R2, third resistor R3, fourth resistor R4, fifth resistor R5, sixth resistor R6, seventh resistor R7, eighth resistor R8, ninth resistor R9, tenth resistor R10, first capacitor C1, second capacitor C2, third capacitor C3, first switch tube Q1, comparator U, light emitting diode LED, photosensitive diode D, direct current voltage source V, control end Tx, voltage input end VIN, output end out-put, reference ground GND. DETAILED DESCRIPTION

[0047] The application will be described in detail below with specific examples. It should be emphasized that the following description is only exemplary and is not intended to limit the scope of the application and its applications.

[0048] It should be noted that, unless otherwise explicitly specified and limited, the terms "center", "longitudinal", "transverse", "upper", "lower", "vertical", "horizontal", "inner", "outer" and the like used in the specification indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. The terms "mounting", "connecting", "connecting", "fixing" and the like should be interpreted broadly, for example, they can be fixed connection, or detachable connection, or integral connection; can be mechanical connection, or electrical connection; can be directly connected, or indirectly connected through intermediate medium. In addition, the terms "first", "second" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated; therefore, the features limited by "first", "second" can be explicitly or implicitly include one or more features; "multiple" means two or more; "and / or" includes any and all combinations of one or more related listed items. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0049] Figure 2 is a schematic diagram of the exploded structure of the laser radar provided by the embodiments of the present application. As shown in the figure, the laser radar comprises a radar base 11, a motor 12, a ranging device 13 and a communication device. Figure 2

[0050] Among them, the radar base 11 is the part that does not move in the laser radar. Its specific size or shape is according to the actual situation and needs. The control module is provided on the radar base 11, which is used to provide driving signal to the motor 12 to control the rotating speed and direction of the motor 12, and further control the rotating movement of the ranging device 13; also used to receive and process the signal sent by the ranging device 13 received by the communication device.

[0051] The motor 12 is a device that can convert electrical energy into output torque. The motor 12 is fixedly arranged on the radar base 11, and the output torque drives the ranging device 13 to rotate. The motor 12 comprises a substantially cylindrical main body part 121 and a motor output shaft 122. The motor output shaft 122 extends along the motor axis x2, which is the torque output component of the motor 12.

[0052] The ranging device 13 is a part independent of the radar base 11. It is directly fixedly connected with the motor output shaft 122, so as to rotate with the motor output shaft 122. In the present application, "fixedly connected" means the relative fixation between two components, which can transmit torque. ​

[0053] The ranging device 13 comprises one or more laser emitting units. At least one laser emitting unit of the ranging device 13 emits laser light within 10° from the horizontal plane, for example, the laser light emitted by the at least one laser emitting unit is within 2° from the horizontal plane, so as to collect the information of the environment in front for mapping. When the ranging device 13 comprises a plurality of laser emitting units, the other laser emitting units can emit laser light upward, downward or horizontally, so as to detect the obstacles above, below and in front, respectively.

[0054] In other embodiments, the laser radar further comprises a carrier, the carrier is fixedly connected with one end of the motor output shaft 122, and the ranging device 13 is fixedly arranged on the carrier.

[0055] The communication device is a sensor assembly arranged around the motor shaft x2. It can realize information transmission between the ranging device 13 and the control module.

[0056] In some embodiments, the communication device 14 is an optical communication device, as shown in FIGS. 11 and 12. The optical communication device comprises one or more emitting units 141 and one or more receiving units 142. The optical communication device is configured to realize information transmission between the ranging device 13 and the control module through signal transmission between the emitting units 141 and the receiving units 142, and the rotation speed and position information of the ranging device 13 can be determined through periodic changes of signals between the emitting units 141 and the receiving units 142. Figure 3 Figure 6

[0057] The emitting units 141 are arranged on the ranging device 13 and rotate with the ranging device 13. They are used to emit light of a specific wavelength. The receiving units 142 are arranged on the radar base 11 and remain unchanged in position. They are used to perceive the light emitted by the emitting units 141 and convert it into corresponding electrical signals.

[0058] Thus, the position information and rotation of the emitting units 141 are estimated and determined through the electrical signals generated by the receiving units 142, so as to determine the specific motion conditions such as the rotation speed and position information of the ranging device 13 itself.

[0059] Alternatively, as shown in FIGS. 13 and 14, in addition to the emitting units 141 and the receiving units 142, a photoelectric switch 143 and a toothed disc 144 can also be used to determine the rotation speed and angle information of the ranging device. Figure 8

[0060] The photoelectric switch 143 is arranged on the second circuit board 132 of the ranging device 13 and comprises an infrared emitting end and a receiving end. The toothed disc 144 is arranged circumferentially on the radar base 11 and is formed by alternately arranging a plurality of teeth and grooves. ​​​

[0061] Thus, when the photoelectric switch 143 rotates through the toothed disc 144, the teeth grooves on the toothed disc 144 will periodically pass through the photoelectric signal, so that the photoelectric switch 143 generates a high-low change pulse signal. Each detection of a pulse represents that the ranging device 13 rotates a corresponding angle.

[0062] The laser radar provided in the embodiments of the present application fixes the motor output shaft and the ranging device, directly drives the ranging device to rotate around the motor axis by the motor, can reduce the traditional transmission mechanism, effectively reduces the cost and improves the reliability. Moreover, the motor can be directly arranged at the middle part of the radar base, which is beneficial to reduce the size of the laser radar.

[0063] In some embodiments, please continue to refer to Figure 2 The laser radar further comprises a light shield 16. The light shield 16 is fixed on the radar base 11 by buckle connection, and covers the entire ranging device 13.

[0064] Alternatively, the light shield 16 can also be fixedly connected with the radar base 11 by other detachable connection modes (for example, threaded connection), which is not specifically limited here.

[0065] The embodiments of the present application provide the additionally arranged light shield 16, which can reduce the interference of external environment light on the ranging device, can optimize the emission and reception of the laser signal of the ranging device by reducing scattering and the like, and provides mechanical protection to protect the optical elements inside the light shield.

[0066] In some embodiments, as Figure 3 shown, the ranging device 13 comprises a device body 131 and a first circuit board 132.

[0067] The device body 131 is the main structural part of the ranging device 13. It comprises but is not limited to components such as laser emission devices for ranging and supports for carrying the laser emission devices.

[0068] The device body 131 has a corresponding shape, size or structure according to the actual needs. For convenience of statement, the two end faces of the device body 131 away from each other on the motor axis x2 are respectively referred to as “first end face” and “second end face”. The first end face of the device body is the end face close to the radar base 11.

[0069] The first circuit board 132 is a structure integrating and carrying one or more electronic devices. The functional circuits required by the ranging device 13 are integrated and arranged on the first circuit board 132. For example, the emission unit 141 of the optical communication device is arranged on the first circuit board 132.

[0070] The first circuit board 132 is fixed on the first end surface of the device body 131, and a through hole 134 is formed in the center of the first circuit board 132 for the motor output shaft 122 to pass through. The motor output shaft 122 is fixedly connected to the device body 131 via the through hole 134 and the first circuit board 132.

[0071] In some other embodiments, as shown in Figure 4 , the radar base 11 comprises a base body 111 and a control module, and the control module comprises a second circuit board 112.

[0072] The base body 111 is the main structural part of the radar base 11. A motor accommodating area is formed in the center of the base body 111, providing a fixed mounting position for the motor 12. For the sake of convenience, the two end surfaces of the base body 111 facing away from each other on the motor axis x2 are referred to as the "third end surface" and the "fourth end surface". The third end surface of the base body 111 is the end surface approached by the distance measuring device 13.

[0073] The motor 12 is fixedly accommodated in the motor accommodating area of the base body 111, and at least a part of the motor output shaft 122 of the motor 12 protrudes from the third end surface of the base body and is fixedly connected to the distance measuring device 13.

[0074] The second circuit board 112 is also a structure that integrates and carries one or more electronic devices. It is referred to as a "second circuit board" because it integrates and is provided with functional circuits (such as motor drive circuits and power management circuits) that are different from those of the first circuit board 132.

[0075] Please continue to refer to Figure 5 , the second circuit board 112 is fixed on the fourth end surface of the base body 111, and the receiving unit 142 is arranged on the second circuit board 112.

[0076] Specifically, in order to form an optical communication channel, the base body 111 is provided with a first channel S1 at a position corresponding to the receiving unit 142, so that the receiving unit 142 is not blocked by the base body 111 and can receive the optical signal of the transmitting unit 141.

[0077] Exemplarily, Figure 3 and Figure 4 show that the second circuit board 112 is fixed on the fourth end surface of the base body 111, and also show the way of fixing the first circuit board 132 and the second circuit board 112 using screws 19. However, those skilled in the art can understand that the second circuit board can also be fixed at other positions, such as forming a through hole in the center of the second circuit board 112 for the motor output shaft to pass through, so that the second circuit board 112 is fixed above the motor; other suitable types of fixing methods can also be used to fix the first circuit board 132 and the second circuit board 112, which are not limited here.

[0078] In some embodiments, as shown in Figure 6 The end of the motor output shaft 122 forms an anti-rotation structure 123. Accordingly, as shown in Figure 3 The first end surface of the device body 131 is provided with a receiving hole 133 that is adapted to the anti-rotation structure.

[0079] The anti-rotation structure 123 refers to a structure feature that can form mechanical interference to prevent relative rotation between the device body 131 and the motor output shaft 122.

[0080] When the anti-rotation structure at the end of the motor output shaft 122 is inserted and assembled into the receiving hole 133, the two cooperate to limit relative rotation between the device body 131 and the motor output shaft 122, thereby achieving fixed connection between the distance measuring device 13 and the motor output shaft 122.

[0081] Specifically, the anti-rotation structure 123 is a structure feature with a non-circular cross section. For example, it is a flat or "D" shaped shaft.

[0082] Alternatively, the anti-rotation structure 123 can also be a key or other similar protrusion from the shaft, which forms a key connection with the adapted receiving hole 133.

[0083] In other embodiments, as shown in Figure 5 and Figure 7 The motor output shaft 122 is also connected and fixed in the receiving hole 133 of the device body by a connecting component 18, which cooperates with the aforementioned anti-rotation structure to achieve stable and reliable fixed connection. The connecting component includes but is not limited to a flange, a sleeve, and a retainer ring, etc.; the connection method includes but is not limited to key connection, flange connection, pin connection, and threaded connection, etc.

[0084] Figure 7 Exemplarily, the use of a screw as a connecting component 18 is shown. Based on the same connection principle, those skilled in the art can also use other types of connecting components, which are not specifically limited here.

[0085] Alternatively, the end of the motor output shaft 122 is connected and fixed between the device body 131 by interference fit with the receiving hole 133.

[0086] The fixed connection between the motor output shaft 122 and the device body 131 provided by the embodiments of the present application has good structural strength and can stably and reliably support the device 131 to rotate around the motor axis x2.

[0087] As mentioned before, the ranging device 13 is a structure component rotating independently from the radar base 11, which has a freedom of movement of 360° rotation around the circumferential direction of the motor axis x2. Such freedom of movement brings challenges to the power supply of the first circuit board 132. Traditional wire connection method is difficult to be used due to the twisting and winding when rotating.

[0088] In some embodiments, in order to overcome the aforementioned challenges of power supply, the laser radar further comprises a wireless power supply device using electromagnetic coupling between coils to establish an electric energy transmission channel. As shown in Figure 3 and Figure 5 The wireless power supply device comprises a first coil 151 and a second coil 152.

[0089] The first coil 151 is arranged on the first circuit board 132 and used as an electric energy receiving coil. The second coil 152 is fixed on the motor 12 and located opposite to the first coil 151, and used as an electric energy transmitting coil. The two coils form an electric energy transmission channel between the first circuit board 132 and the second circuit board 112 through electromagnetic coupling.

[0090] The second coil 152 located at the top of the motor 12 is electrically connected to the second circuit board 112 through a connecting wire 153. The base body 111 is provided with a second channel S2 for the connecting wire 153 to pass through the base body 111 and connect to the second circuit board 112.

[0091] In actual application, the related functional circuit (for example, an inverter bridge) integrated on the second circuit board 112 can provide an alternating voltage to the second coil 152 through the connecting wire 153. The first coil 151 draws electric energy from the second coil 152 through electromagnetic coupling between the two coils, and converts it into appropriate direct current through rectification and other conversion processes to supply power to the functional circuit on the first circuit board 132.

[0092] In other embodiments, the base body 111 can further be provided with other notches to meet the wiring needs of other connecting wires. For example, the base body 111 can be further provided with a motor wiring notch S3 to allow the functional circuit of the second circuit board 112 to connect to the motor 12 through the motor wiring notch S3 using corresponding motor connecting wires to drive the motor 12 to operate.

[0093] The aforementioned second circuit board 112 can be arranged on the motor 12, under which premise, the second coil 152 can be directly arranged on the second circuit board.

[0094] In other embodiments, the first coil 151 and the second coil 152 are used as wireless coil carrier communication devices to transmit information between the ranging device 13 and the control module through carrier modulation.

[0095] It should be noted that when the first coil 151 and the second coil 152 are used as wireless coil carrier communication devices, the first coil 151 can replace the first circuit board 132 and be directly mounted on the first end face of the device body 131, surrounding the motor axis.

[0096] In other embodiments, the first coil 151 and the second coil 152 have different shapes to form a specific pattern of overlapping area change. By detecting the change in the overlapping area of ​​the first coil 151 and the second coil 152 during the rotation of the ranging device 13, the rotation speed and angular position of the ranging device 13 are determined.

[0097] The number of transmitting units 141 and receiving units 142 can be set according to actual needs (e.g., the size of the lidar), and is not specifically limited here. For ease of description, N is used to represent the number of transmitting units, and M is used to represent the number of receiving units. N and M are both positive integers greater than or equal to 1.

[0098] In some embodiments, when N is greater than 1, the N transmitting units are uniformly arranged along the circumference of the motor axis x2. That is, the arc between any two adjacent transmitting units is equal. In other embodiments, the N transmitting units may also be arranged non-uniformly along the circumference of the motor axis x2. That is, there may be cases where the arc between two adjacent transmitting units is not equal.

[0099] Specifically, the aforementioned transmitting unit 141 and receiving unit 142 can also be implemented using any suitable type of electronic device as needed. Those skilled in the art will understand that, based on the specific electronic device used, one or more functional circuits can also be integrated on the first and second circuit boards.

[0100] To fully describe the inventive concept of the embodiments of this application, the following is combined with Figure 9 and Figure 10 Taking the setup of 4 transmitting units 141 and 1 receiving unit as an example, the specific implementation of the optical communication device is described in detail.

[0101] like Figure 9 As shown, the emitting unit 141 is implemented using light-emitting diodes. The four light-emitting diodes are labeled LED1, LED2, LED3, and LED4, respectively. The functional circuitry associated with the emitting unit 141 includes: a first resistor R1, a second resistor R2, a third resistor R3, a fourth resistor R4, a first capacitor C1, and a first switching transistor Q1.

[0102] In this configuration, one end of the first resistor R1 is connected to the control terminal Tx, and the other end of the first resistor R1 is connected to one end of the second resistor R2 and the control terminal of the first switching transistor Q1. The other end of the second resistor R2 is connected to the first connection terminal of the first switching transistor Q1.

[0103] The first terminal of the first switch Q1 is also connected to a DC voltage source V (e.g., 3.3V). One end of the first capacitor C1 is connected to the DC voltage source V, and the other end of the first capacitor C1 is connected to the reference ground GND.

[0104] One end of the third resistor R3 is connected to the second terminal of the first switching transistor Q1, and the other end of the third resistor R3 is connected to the negative terminals of the four light-emitting diodes LED1, LED2, LED3 and LED4 respectively.

[0105] One end of the fourth resistor R4 is connected to the second terminal of the first switching transistor Q1, and the other end of the fourth resistor R4 is connected to the positive terminals of the four light-emitting diodes LED1, LED2, LED3, and LED4, respectively. The negative terminals of the four light-emitting diodes LED1, LED2, LED3, and LED4 are all connected to the reference ground GND.

[0106] When the control terminal Tx provides a low level, the first switch Q1 is turned on. At this time, the DC voltage source V provides current to the four LEDs LED1, LED2, LED3, and LED4 through the parallel third resistor R3 and fourth resistor R4, causing the LEDs to light up and operate. When the control terminal Tx provides a high level, the first switch Q1 is turned off, and the LEDs turn off and stop working.

[0107] like Figure 10 As shown, the receiving unit 142 is implemented by a photodiode D. The functional circuits associated with the receiving unit 142 include: a fifth resistor R5, a sixth resistor R6, a seventh resistor R7, an eighth resistor R8, a ninth resistor R9, a tenth resistor R10, a second capacitor C2, a third capacitor C3, and a comparator U.

[0108] In this circuit, the negative terminal of photodiode D is connected to the voltage input terminal VIN, the positive terminal of photodiode D is connected to one end of the fifth resistor R5, and the other end of the fifth resistor R5 is connected to the reference ground GND. The negative terminal of photodiode D is also connected to the inverting input terminal of comparator U.

[0109] One end of the sixth resistor R6 is connected to the DC voltage source V, and the other end of the sixth resistor R6 is connected to the reference ground GND through the second capacitor C2 and the seventh resistor R7. The other end of the sixth resistor R6 is also connected to the non-inverting input of the comparator U.

[0110] One end of the eighth resistor R8 is connected to the non-inverting input terminal of the comparator U, and the other end of the eighth resistor R8 is connected to the output terminal of the comparator U. One end of the ninth resistor R9 is connected to the output terminal of the comparator U, and the other end of the ninth resistor R9 is connected to the reference ground GND.

[0111] One end of the tenth resistor R10 is connected to the output terminal of the comparator U, and the other end of the tenth resistor R10 is connected to the direct current voltage source V. The power supply terminal of the comparator U is connected to the direct current voltage source V, and the power supply terminal of the comparator U is also connected to the reference ground GND through the third capacitor C3.

[0112] When the photosensitive diode does not receive the light signal, the voltage provided to the reverse input terminal of the comparator U is higher than the reference voltage of the non-inverting input terminal of the comparator U, at this time, the output terminal of the comparator U outputs a low level, and the output terminal output outputs a low level signal.

[0113] When the photosensitive diode D receives the light signal, a corresponding current signal is generated, so that the voltage provided to the reverse input terminal of the comparator U is reduced. At this time, the output of the comparator U flips, thereby generating a corresponding electrical signal at the output terminal out-put.

[0114] Therefore, when the transmitting unit 141 rotates to the position opposite to the receiving unit following the ranging device 13, the output terminal out-put can correspondingly generate an electrical signal. And when the transmitting unit 141 does not rotate to the position opposite to the receiving unit 142, the output terminal out-put does not generate an electrical signal.

[0115] In actual use of the laser radar, the angle zero point of the ranging device is determined in advance, and the angle of the ranging device relative to the angle zero point is used to represent the position information of the ranging device.

[0116] In some embodiments, when the transmitting unit adopts the aforementioned uniform arrangement along the circumferential direction, the differences between different transmitting units cannot be simply distinguished. Therefore, the angle zero point of the ranging device can be set by adding a baffle, and the baffle is used as the angle zero point of the ranging device.

[0117] Alternatively, without adding an additional baffle, the angle zero point can also be determined by using 1 transmitting lamp LED1; plus N receiving modules, and setting different serial numbers or marks for each receiving unit. At this time, based on the coding or serial number of the receiving unit, different transmitting units can be distinguished and one of the transmitting units is selected as the angle zero point of the ranging device.

[0118] In other embodiments, when the receiving units are arranged in the aforementioned circumferentially non-uniform manner, the differences between the different receiving units can be simply distinguished. Thus, one of the receiving units can be simply selected as the angle zero point of the distance measuring device 13.

[0119] In other embodiments, the rotation speed of the distance measuring device can be detected using the photoelectric switch and code disc manner. In some embodiments, based on the aforementioned one or more embodiments, the rotation speed of the distance measuring device can be calculated based on the time interval T between the light signals received by the receiving units.

[0120] As mentioned previously, the output end out-put can generate a corresponding electrical signal when the receiving unit 142 receives the light from the transmitting unit 141. Thus, the aforementioned time interval T can be determined by timing the time interval between the two electrical signals output by the output end out-put.

[0121] Specifically, when two or more receiving units are provided, the time difference T refers to the time length between the starting time when any one of the receiving units receives a light signal and the time when any one of the receiving units receives the next light signal.

[0122] The rotation speed of the distance measuring device is represented by the following equation (1):

[0123]

[0124] where ω is the rotation angular speed of the distance measuring device, θ min is the minimum common angular interval between the transmitting unit and the receiving unit, and T is the time difference between the light signals received by the receiving units.

[0125] Specifically, the minimum common angular interval θ min is determined by the specific number and arrangement of the transmitting units and the receiving units, and reflects the shortest repeating angular interval between the transmitting units and the receiving units.

[0126] The minimum common angular interval θ min represents the greatest common divisor of the angular interval of the transmitting units and the angular interval of the receiving units, and is represented by the following equation (2):

[0127]

[0128] where gcd represents the greatest common divisor between the two.

[0129] As understood by those skilled in the art, when the N transmitting units and the M receiving units are arranged in the aforementioned circumferentially uniform manner, the angular interval between the two adjacent transmitting units is represented by The interval angle between two adjacent transmitting units is represented as Thus, the minimum common interval angle θ can be calculated by directly using equation (2) min .

[0130] When N transmitting units or M receiving units are arranged non-uniformly along the circumferential direction, the interval angle between two adjacent transmitting units or receiving units is a set of two or more angle values.

[0131] At this time, the set of two or more angle values is substituted into equation (2) to extend equation (1) to the case where N transmitting units or M receiving units are arranged non-uniformly along the circumferential direction, so as to calculate the rotation speed of the ranging device.

[0132] The light communication module provided by the embodiments of the present application can calculate the rotation speed of the ranging device, and saves the photoelectric switch and code disc used by the traditional laser radar, effectively reducing the manufacturing cost and volume.

[0133] In some embodiments of the present application, a robot is also provided, which comprises the laser radar provided by the above embodiments.

[0134] The above is a further detailed description of the present application in combination with specific / preferred embodiments, and cannot be deemed as limiting the specific implementation of the present application to these descriptions. For those skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, and these all belong to the protection scope of the present application.​​

Claims

1. A lidar, comprising: The laser radar comprises: a radar base provided with a control module; a motor fixedly arranged on the radar base, the motor comprising a motor output shaft extending along a motor axis; a ranging device fixedly arranged at one end of the motor output shaft and rotating with the motor output shaft; a communication device arranged around the motor axis, the communication device being configured to transmit information between the ranging device and the control module.

2. The lidar of claim 1, wherein, The ranging device is fixedly connected to one end of the motor output shaft. Or the laser radar further comprises: a bearing fixedly connected to one end of the motor output shaft, and the ranging device is fixedly arranged on the bearing.

3. The lidar of claim 2, wherein, The ranging device comprises: a device body having a first end face and a second end face facing away from each other, the first end face of the device body being proximate to the radar base; an end portion of the motor output shaft forms an anti-rotation structure, and the first end face of the device body is provided with a receiving hole matched with the anti-rotation structure; wherein the anti-rotation structure is assembled into the receiving hole to limit relative rotation between the device body and the motor output shaft.

4. The lidar of claim 3, wherein, The motor output shaft is connected and fixed in the receiving hole of the device body through a connecting component, or the motor output shaft is in interference fit with the receiving hole of the device body.

5. The lidar of claim 3, wherein, The radar base further comprises: a base body having a third end face and a fourth end face facing away from each other, the third end face being proximate to the ranging device; the control module comprises a second circuit board fixed on the fourth end face of the base body or the motor; wherein a motor receiving area is formed in the center of the base body, and the motor is fixedly received in the motor receiving area.

6. The laser radar according to claim 5, wherein the communication device is an optical communication device or a wireless coil carrier communication device.

7. The lidar of claim 6, wherein, The optical communication device comprises one or more transmitting units and one or more receiving units; the receiving unit is arranged on the second circuit board, and the base body is provided with a first channel at a position opposite to each receiving unit.

8. The lidar of claim 7, wherein, The optical communication device is configured to determine the rotation speed and position information of the ranging device through signal transmission between the transmitting unit and the receiving unit.

9. The lidar of claim 7, wherein, The ranging device further comprises: a first circuit board fixed on the first end face of the device body; wherein the transmitting unit is arranged on the first circuit board, and a through hole is formed in the center of the first circuit board for the motor output shaft to pass through.

10. The lidar of claim 9, wherein, When the optical communication device comprises a plurality of transmitting units, wherein the plurality of transmitting units are arranged non-uniformly along the circumferential direction of the motor axis, or the plurality of transmitting units are arranged uniformly along the circumferential direction of the motor axis.

11. The lidar of claim 9, wherein, When the optical communication device comprises a plurality of receiving units, wherein the plurality of receiving units are arranged non-uniformly along the circumferential direction of the motor axis, or the plurality of receiving units are arranged uniformly along the circumferential direction of the motor axis.

12. The lidar of claim 11, wherein, When the plurality of laser emitting units are arranged uniformly along the circumferential direction of the motor axis, the rotation speed of the ranging device is represented by the following formula: wherein ω is the rotational angular velocity of the ranging device, θ min is the minimum common angular separation between the transmitting unit and the receiving unit, and T is the time difference between the receiving unit receiving the optical signal from the transmitting unit.

13. The lidar of claim 6, wherein, Further comprising: A wireless power supply device, comprising: A first coil disposed on the first circuit board or the first end surface, surrounding the motor axis; A second coil fixed on the motor or the third end surface, disposed opposite to the first coil; Wherein the second coil is electrically connected to the second circuit board through a connecting wire, and the base body is provided with a second channel for the connecting wire to pass through; The first coil and the second coil are electromagnetically coupled to form an electric energy transmission path between the ranging device and the control module.

14. The lidar of claim 13, wherein, The second circuit board is disposed on the motor, and the center of the second circuit board is provided with a through hole for the motor output shaft to pass through, and the second coil is disposed on the second circuit board.

15. The lidar of claim 13, wherein, The shapes of the first coil and the second coil are different to form a specific overlap area change rule, and by detecting the overlap area change of the first coil and the second coil during the rotation of the ranging device, the rotation speed and angular position of the ranging device are determined.

16. The lidar of claim 15, wherein, The first coil and the second coil serve as the wireless coil carrier communication device, and information is transmitted between the ranging device and the radar base through carrier modulation.

17. The lidar of claim 3, wherein, The ranging device includes one or more laser emitting units, and the included laser emitting unit emits laser within 10° from the horizontal plane.

18. The lidar of any one of claims 1-5, wherein, Further comprising: A photoelectric switch fixedly disposed on the ranging device; And A toothed disc circumferentially disposed on the radar base and formed by alternately arranging a plurality of teeth and grooves; Wherein the photoelectric switch generates a pulse signal when rotating through the toothed disc, and the rotation speed and angular information of the ranging device are determined by detecting the pulse signal.

19. A robot, characterized in that Including: The laser radar of any one of claims 1-18.

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