Distance measuring device and mobile robot

Abstract

The utility model relates to the technical field of radars, and discloses a distance measuring device and a mobile robot, the distance measuring device comprises a base, a rotating table, a distance measuring module, a wireless power supply assembly, a rotor, a printed circuit board stator and a driver; the rotating table is rotatably connected to the base; the distance measuring module is fixedly arranged on the rotating table; the wireless power supply assembly is electrically connected with the distance measuring module, and the wireless power supply assembly is configured to provide electric energy for the distance measuring module; the rotor is fixedly arranged on the rotating table; the printed circuit board stator is integrated with a stator winding; the printed circuit board stator is fixedly arranged on the base; and the driver is configured to provide a driving signal to the stator winding in a power-on state to drive the rotor to rotate relative to the printed circuit board stator so as to drive the rotary table to rotate synchronously. In this way, the problem that in the prior art, a distance measuring device uses a traditional winding type brushless motor, and the size is large can be solved; meanwhile, compared with a centralized winding mode, efficiency is higher, heating is lower, torque fluctuation and noise are small, and the winding device is suitable for high-precision application.

Description

Technical Field

[0001] This application relates to the field of radar technology, and in particular to a ranging device and a mobile robot. Background Technology

[0002] Existing ranging devices contain a base and a rotating platform positioned opposite each other. A ranging module is fixed to the side of the rotating platform facing away from the base. A wound-rotor motor (with stator windings wound on stator teeth) is mounted on the base. The wound-rotor motor drives the rotating platform to rotate via a transmission mechanism, causing the ranging module to rotate synchronously for wide-range detection. However, the wound-rotor motor itself is relatively large, resulting in a large volume of space occupied by the ranging device. Utility Model Content

[0003] The purpose of this application is to provide a ranging device and a mobile robot, thereby improving the problem of the large volume occupied by the ranging device in the related art due to the use of a wound-rotor motor.

[0004] According to a first aspect of this application, a ranging device is provided, comprising:

[0005] Base;

[0006] A rotating platform is rotatably connected to the base.

[0007] The ranging module is fixedly mounted on the rotating platform;

[0008] A wireless power supply component is electrically connected to the ranging module, and the wireless power supply component is configured to provide power to the ranging module.

[0009] The rotor is fixedly mounted on the rotary table;

[0010] A printed circuit board stator, integrating stator windings; the printed circuit board stator is fixed to the base;

[0011] The driver is configured to provide a drive signal to the stator winding when energized, driving the rotor to rotate relative to the printed circuit board stator, thereby causing the rotary table to rotate synchronously.

[0012] Optionally, the rotor is a ring-shaped permanent magnet, the circumference of which is evenly divided into multiple sectors, each sector being axially magnetized and adjacent sectors having opposite polarities.

[0013] The stator winding is a distributed lap winding made of three-phase wires; or, the stator winding is a single-layer chain-cross winding made of three-phase wires.

[0014] Optionally, the stator winding is a three-phase symmetrical disc winding; the rotor is a printed circuit board rotor.

[0015] Optionally, the wireless power supply component includes a power supply transmitting circuit board and a power supply receiving circuit board; the power supply transmitting circuit board integrates a transmitting coil, and the power supply receiving circuit board integrates a receiving coil;

[0016] The power supply transmitting circuit board is fixed to the base, and the power supply receiving circuit board is fixed to the rotating platform; the power supply receiving circuit board is configured to provide power to the ranging module while rotating synchronously with the ranging module.

[0017] Optionally, the ranging device has a central axis; along the direction of the central axis, the power supply transmitting circuit board, the power supply receiving circuit board, the rotor, and the printed circuit board stator are all coaxial and spaced apart;

[0018] The rotor rotates relative to the printed circuit board stator around the central axis, thereby driving the rotary table to rotate synchronously relative to the base around the central axis.

[0019] Optionally, the power supply receiving circuit board is configured to rotate synchronously with the ranging module and supply power to the ranging module while outputting a periodic voltage signal;

[0020] The ranging device includes a controller configured to acquire the periodic voltage signal to obtain the rotational speed and rotation angle of the ranging module relative to the base.

[0021] Optionally, both the transmitting coil and the receiving coil include a plurality of petal coils, which are connected end to end in sequence to form a plum blossom-shaped structure arranged around the central axis, and the wire diameter of each petal coil is the same.

[0022] The power supply receiving circuit board is configured to rotate synchronously with the ranging module and provide power to the ranging module, while causing the projected overlap area between the transmitting coil and the receiving coil to change periodically, so as to output a periodic voltage signal.

[0023] Optionally, the central angle of one of the petal coils is different from the central angles of the other petal coils, and the central angles of the other petal coils are all the same; or,

[0024] The central angles of all the petal coils are the same; the ranging device includes a first magnetic blocking plate; the first magnetic blocking plate is partially disposed within the projection range of any of the petal coils.

[0025] Optionally, both the transmitting coil and the receiving coil have an elliptical structure;

[0026] The power supply receiving circuit board is configured to rotate synchronously with the ranging module and provide power to the ranging module, while causing the projected overlap area between the transmitting coil and the receiving coil to change periodically, so as to output a periodic voltage signal.

[0027] Optionally, the ranging device includes a second magnetically obstructing baffle; the second magnetically obstructing baffle is partially disposed within the projection range of the elliptical structure.

[0028] Optionally, the ranging device includes a controller and a magnetic encoding chip; the magnetic encoding chip is integrated into the stator of the printed circuit board and is electrically connected to the controller;

[0029] The controller is configured to obtain the rotational speed and rotation angle of the ranging module relative to the base by acquiring the change in the magnetic flux of the rotor detected by the magnetic encoding chip when the rotor rotates.

[0030] Optionally, the ranging device includes a code disk, a photoelectric encoder, and a controller; the code disk is fixed on the rotary table and surrounds the central axis, and the code disk includes a plurality of code teeth that extend toward the base and are spaced apart from each other.

[0031] The photoelectric encoder is fixed to the base and is electrically connected to the controller. The photoelectric encoder is used to emit and receive measurement light, and the path of the measurement light is perpendicular to the central axis.

[0032] The controller is configured to obtain the number of teeth swept by the measuring light as the encoder rotates with the rotary table, thereby obtaining the rotational speed and rotation angle of the ranging module relative to the base.

[0033] Optionally, the ranging device includes a controller; the controller is fixed to the base and electrically connected to the driver, and the controller is configured to obtain the rotational speed and rotation angle of the ranging module relative to the base by acquiring the changing trend of the back electromotive force on the stator of the printed circuit board.

[0034] According to a second aspect of this application, a mobile robot is provided, including the ranging device described above.

[0035] The beneficial effects of this embodiment are: the printed circuit board stator and rotor work together to drive the rotary table with the fixed rotor to rotate relative to the base, thus achieving transmission; while the wireless power supply component operates independently, providing the power required for the ranging module to work. Compared to a wound-rotor motor ranging device, this replaces the stator windings originally wound on the stator teeth with a printed circuit board stator, thereby integrating the stator and rotor inside the ranging device, reducing the motor size, and thus reducing the volume occupied by the ranging device. Attached Figure Description

[0036] To more clearly illustrate the technical solutions in the specific embodiments of this application or the prior art, the accompanying drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn to scale.

[0037] Figure 1 An exploded view of the structure of a ranging device provided in one embodiment of this application;

[0038] Figure 2 for Figure 1 An exploded view of part of the structure of the ranging device is shown.

[0039] Figure 3 for Figure 1 A cross-sectional view of the ranging device is shown;

[0040] Figure 4 for Figure 1 A schematic diagram of the rotating platform in the ranging device is shown.

[0041] Figure 5 for Figure 1 A top view of the transmitting coil of the power supply transmitting circuit board and the receiving coil of the power supply receiving circuit board shown;

[0042] Figure 6 for Figure 1 The diagram shows the wiring diagram of one phase of the stator winding of the printed circuit board stator. Detailed Implementation

[0043] To facilitate understanding of this application, a more detailed description is provided below with reference to the accompanying drawings and specific embodiments. It should be noted that when an element is described as being "fixed to" another element, it can be directly on the other element, or one or more intermediate elements may exist between them. When an element is described as being "connected" to another element, it can be directly connected to the other element, or one or more intermediate elements may exist between them. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this specification are for illustrative purposes only.

[0044] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of this application. The term "and / or" as used in this specification includes any and all combinations of one or more of the associated listed items.

[0045] The technical features involved in the different embodiments of this application described below can be combined with each other as long as they do not conflict with each other.

[0046] Please see also Figures 1 to 6 One embodiment of this application provides a ranging device, which includes a base 1, a rotating stage 2, a ranging module 3, a wireless power supply component 4, a rotor 5, a printed circuit board stator 6, and a driver (not shown).

[0047] The rotating platform 2 and the base 1 are arranged in an upper and lower structure, and the rotating platform 2 is rotatably connected to the base 1.

[0048] The rotating stage 2 serves as the mounting support structure for the ranging module 3, which is fixedly mounted on it. Specifically, the ranging module 3 includes a bracket 301, a light emitting component (not shown), and a light receiving component (not shown). The bracket 301 is fixed on the rotating stage 2, and both the light emitting component and the light receiving component are fixed on the bracket 301. Its working principle is as follows: the light emitting component emits an outgoing laser beam for detection into the detection area, and then the light receiving component receives the reflected laser beam from the object within the detection area. By comparing the reflected laser beam with the outgoing laser beam and processing the data, parameters such as distance, orientation, height, speed, attitude, and even shape of the object can be obtained.

[0049] The wireless power supply component 4 is located between the rotating platform 2 and the base 1. The wireless power supply component 4 is electrically connected to the ranging module 3 and is configured to provide power to the ranging module 3.

[0050] The rotor 5 is fixed inside the rotary table 2 and located below the wireless power supply component 4.

[0051] The printed circuit board stator 6 is fixed to the base 1 and located below the rotor 5. The printed circuit board stator 6 is opposite to the rotor 5 and spaced apart.

[0052] The printed circuit board stator 6 integrates a stator winding 601. The driver is configured to provide a drive signal to the stator winding 601 when energized, driving the rotor 5 to rotate relative to the printed circuit board stator 6, thereby driving the rotary table 2 to rotate synchronously.

[0053] The ranging device involved in this application has a printed circuit board stator 6 and a rotor 5 working together to drive the rotary table 2, which is fixed to the rotor 5, to rotate relative to the base 1, thereby achieving transmission. The wireless power supply component 4 operates independently, providing the electrical energy required for the ranging module to operate. Compared with a wound-rotor motor ranging device, this method replaces the stator windings that were originally wound on the stator teeth with a printed circuit board stator 6, thereby integrating the rotor 5 and the printed circuit board 6 inside the ranging device, reducing the size of the motor, and thus reducing the volume occupied by the ranging device.

[0054] like Figure 1 or Figure 3 As shown, in some embodiments, the ranging device includes a top cover 7. The top cover 7 covers the base 1 and together with the base 1 defines a receiving space. The rotating stage 2, the ranging module 3, the wireless power supply component 4, the rotor 5, and the printed circuit board stator 6 are all housed within the receiving space to provide protection such as waterproofing and dustproofing.

[0055] like Figures 1 to 3 As shown, in some embodiments, the ranging device includes an upper circuit board 8 and a lower circuit board 9.

[0056] The upper circuit board 8 is housed within the receiving space and fixed to the top of the ranging module 3. Both the wireless power supply component 4 and the ranging module 3 are electrically connected to the upper circuit board 8. The upper circuit board 8 is equipped with a power management circuit, allowing the wireless power supply component 4 to provide power to the upper circuit board 8, which is then processed by the power management circuit into a current suitable for the ranging module 3. Furthermore, the upper circuit board 8 can also process the raw data collected by the ranging module 3 to determine the distance and position of the detected object.

[0057] The lower circuit board 9 is fixed to the bottom of the ranging module 3 and is communicatively connected to the upper circuit board 8. Data collected in real time by the upper circuit board 8 (such as distance and reflection intensity) is transmitted to the lower circuit board 9. The lower circuit board 9 processes the collected data, generates a point cloud, and performs complex calculations such as target recognition and object tracking. Furthermore, both the wireless power supply component 4 and the driver are electrically connected to the power supply via the lower circuit board 9, providing power for the stable operation of the wireless power supply component 4 and the printed circuit board stator 6. The driver is also integrated into the lower circuit board 9.

[0058] For base 1, as Figure 2 As shown, in some embodiments, the base 1 is generally square, and four connecting parts 101 extend outward from each of the four sides of the base 1. Two of the four connecting parts 101 are arranged side by side on one side of the base 1, and the ranging device can be installed and fixed to the mobile robot by means of the four connecting parts 101.

[0059] The top and bottom of the base 1 are recessed inward to form a first cavity (not shown) and a second cavity (not shown); the first cavity is used to accommodate part of the rotating stage 2; the shape of the second cavity matches the shape of the lower circuit board 9, and the lower circuit board 9 is fixed in the second cavity.

[0060] The top cover 7 is placed on the top of the base 1 and together with the first recess defines the receiving space. For example, the top of the base 1 has screw holes at the four corners around the first recess, and the top cover 7 has mounting holes at the corresponding positions of the screw holes. Multiple threaded fasteners pass through the multiple mounting holes and are screwed and fixed to the screw holes respectively, so that the top cover 7 is placed on the bottom of the base 1, thereby defining the receiving space together with the first recess.

[0061] A bottom wall 102 is provided between the first cavity and the second cavity. The middle part of the bottom wall 102 protrudes outward from the first cavity to form a circular support cylinder 103. The circular support cylinder 103 is hollow inside and penetrates the bottom wall 102 to connect the first cavity and the second cavity. The outer circumferential surface of the circular support cylinder 103 is provided with a first step 1031 and a second step 1032. The first step 1031 and the second step 1032 are spaced apart, and the first step 1031 is close to the end of the circular support cylinder 103. The first step 1031 is used to support the power transmission circuit board 401 in the wireless power supply assembly 4, which will be described in detail below. The second step 1032 is close to the root of the circular support cylinder 103 and is used to support the printed circuit board stator 6.

[0062] Furthermore, the bottom wall 102 is also provided with multiple through holes for the three phase lines of the stator winding 601 to pass through, so as to avoid short circuits in the three phase lines of the stator winding 601 when the ranging device is under vibration or other operating conditions.

[0063] like Figure 1 and Figure 2 As shown, a notch is provided at the bottom of one side wall of the base 1 to expose the data interface on the lower circuit board 9. The data interface can be any existing data interface, such as a ZH1.5T-4P1.5mm connector, a USB interface, or a Type-C interface.

[0064] It is understood that the specific structure of the base 1 is not limited to this, as long as it can fix the printed circuit board stator 6 and the power transmission circuit board 401 of the wireless power supply assembly 4. For example, in some other embodiments, the support cylinder can replace the base 1 as a separate structural component, while fixing the printed circuit board stator 6 and the power transmission circuit board 401 of the wireless power supply assembly 4.

[0065] For rotary table 2, such as Figure 4 As shown, in some embodiments, the rotary table 2 is generally cylindrical in shape and includes a cover plate 201 and a cover wall 202 that surrounds and is connected to the cover plate 201 and extends partially into the first cavity.

[0066] A shaft hole is provided in the middle of the cover plate 201 for the shaft rod 10, which will be described in detail below, to pass through. Two fixing posts extend upward from the top surface of the cover plate 201. The two fixing posts are located on opposite sides of the shaft hole. The two fixing posts pass through the bracket 301 of the ranging module 3, which will be described in detail below, to engage with fasteners and fix the top circuit board to the top of the ranging module 3.

[0067] The top surface of the cover plate 201 has grooves that match the profile of the bracket 301 of the ranging module 3, which will be described in detail below, so as to facilitate the mounting of the ranging module 3 onto the rotary table 2.

[0068] The inner circumferential surface of the cover 202 is provided with a plurality of limiting protrusions 2021, which are arranged adjacent to the cover plate 201 and surrounding the shaft hole to engage the wireless receiving circuit board of the wireless power supply assembly 4, which will be described in detail below. The inner circumferential surface of the cover 202 is also provided with a limiting plane 2022 perpendicular to the inner circumferential surface. The limiting plane 2022 is further away from the cover plate 201 relative to the plurality of limiting protrusions 2021 and is used to abut against the rotor 5.

[0069] like Figures 1 to 3 As shown, in some embodiments, the ranging device includes a shaft 10. One end of the shaft 10 is embedded in the bracket 301 of the ranging module 3, and the other end of the shaft 10 extends through the shaft hole and the circular support cylinder 103 to the top of the lower circuit board 9. The rotating platform 2 is directly sleeved on the portion of the shaft 10, and a bearing is provided between the circular support cylinder 103 and the shaft 10. The bearing is embedded in the inner circumferential wall of the circular support cylinder 103 and sleeved on the shaft 10. Thus, the rotating platform 2 is rotatably connected to the base 1 via the bearing.

[0070] Furthermore, a limiting ring 104 is integrally formed on the periphery of the shaft 10. The limiting ring 104 abuts against the top surface of the cover plate 201. The other end of the shaft 10 is fastened to the bottom surface of one of the bearings by a snap fastener to restrict the axial movement of the shaft 10.

[0071] It is understood that the rotatable connection between the base 1 and the rotating platform 2 is not limited to this. For example, in some embodiments, the rotatable connection between the rotating platform 2 and the base 1 can be achieved without the aid of the shaft 10. Specifically, a bearing can be provided between the outer peripheral surface of the cover wall 202 and the inner peripheral wall of the first cavity, so that the rotating platform 2 is connected to the base 1 through the bearing. Alternatively, in some embodiments, both the base 1 and the rotating platform 2 are made of wear-resistant material, and the base 1 and the rotating platform 2 are in direct contact to achieve rotation between them.

[0072] Continue as Figure 3As shown, to achieve communication connection between the upper and lower circuit boards, in some embodiments, the shaft 10 has a hollow structure, and the ranging device includes an optical communication receiver 11 and an optical communication transmitter 12. The optical communication receiver 11 is integrated into the lower circuit board 9 and is disposed on the surface of the lower circuit board 9 facing the upper circuit board 8. The optical communication transmitter 12 is integrated into the upper circuit board 8 and is disposed on the surface of the upper circuit board 8 facing the lower circuit board 9. The light carrying information emitted by the optical communication transmitter 12 can pass through the interior of the shaft 10 without obstruction and be transmitted to the optical communication receiver 11, thereby ensuring the quality of optical communication between the optical communication transmitter 12 and the optical communication receiver 11.

[0073] Furthermore, the bracket 301 of the ranging module 3 has a docking hole 3011 coaxial with the shaft 10, and the optical communication receiver 11 is housed in the docking hole 3011.

[0074] For wireless power supply component 4, such as Figure 1 or Figure 3 As shown, in some embodiments, the wireless power supply assembly 4 includes a power supply transmitting circuit board 401 and a power supply receiving circuit board 402. The power supply transmitting circuit board 401 is electrically connected to the lower circuit board 9, and the power supply receiving circuit board 402 is electrically connected to the upper circuit board 8.

[0075] Both the power supply transmitting circuit board 401 and the power supply receiving circuit board 402 have a ring-shaped structure. The periphery of the power supply receiving circuit board 402 is fastened by multiple limiting protrusions 2021. The power supply transmitting circuit board 401 is supported on the first step 1031 and is fastened by multiple latches at the end of the support cylinder. The power supply transmitting circuit board 401 and the power supply receiving circuit board 402 are coaxial and spaced apart along the central axis X. The power supply transmitting circuit board 401 integrates a transmitting coil, and the power supply receiving circuit board 402 integrates a receiving coil. The side of the power supply transmitting circuit board 401 with the integrated transmitting coil is positioned opposite to the side of the power supply receiving circuit board 402.

[0076] It should be noted that the central axis mentioned here refers to the central axis of the shaft 10, or the central axis of the ranging device.

[0077] Furthermore, along the central axis direction X, the power supply transmitting circuit board 401, the power supply receiving circuit board 402, the rotor 5, and the printed circuit board stator 6 are all coaxially arranged and spaced apart, thereby ensuring the coaxiality between the components and thus ensuring the rotational accuracy of the rotary table.

[0078] like Figure 5As shown, both the transmitting coil and the receiving coil include several petal coils, which are connected end to end to form a plum blossom-shaped structure arranged around the central axis. The wire diameter of each petal coil is the same. The power supply receiving circuit board 402 is configured to rotate synchronously with the ranging module 3 and supply power to the ranging module 3, while causing the projected overlap area between the transmitting coil and the receiving coil to change periodically, so as to output a periodic voltage signal.

[0079] To determine the initial position (zero-degree angle) of the transmitting and receiving coils, which employ a quincunx structure, the central angle of one of the petal coils can be different from the central angles of the other petal coils, while the central angles of the other petal coils are the same. Alternatively, the central angles of all petal coils can be the same, and the ranging device includes a first magnetically obstructing baffle. The first magnetically obstructing baffle is partially located within the projection range of any petal coil.

[0080] Alternatively, in some embodiments, both the transmitting coil and the receiving coil are elliptical in shape. The power supply receiving circuit board 402 is configured to rotate synchronously with the ranging module 3 and supply power to the ranging module 3, while periodically changing the projected overlap area between the transmitting coil and the receiving coil to output a periodic voltage signal.

[0081] In order to determine the initial position (zero degree angle) of the transmitting and receiving coils with an elliptical structure, the ranging device may also include a second magnetically obstructing plate, which is partially located within the projection range of the elliptical structure.

[0082] In some embodiments, the power supply receiving circuit board 402 is configured to rotate synchronously with the ranging module 3 and supply power to the ranging module 3 while outputting a periodic voltage signal. The controller is configured to acquire the periodic voltage signal to obtain the rotational speed and rotational angle of the ranging module 3 relative to the base 1. Specifically, when the power supply receiving circuit board 402 rotates synchronously with the rotor 5, the magnetic field strength of different sectors within the same circumference of the receiving coil and the transmitting coil exhibits periodic changes, that is, the position information of the rotation of the power supply receiving circuit board 402 is converted into an electrical signal, enabling the power supply receiving circuit board 402 to output a periodic voltage signal, which is then processed by the microcontroller unit (MCU) of the controller. The MCU calculates the rotational speed and angle of the ranging module 3 based on the periodic voltage signal. Therefore, there is no need to additionally set up components such as the code teeth 1301 and the photoelectric encoder 14, making the internal stacking of the ranging device more compact.

[0083] In some embodiments, both the rotor 5 and the printed circuit board stator 6 are annular structures. The rotor 5 can be fixed to the limiting plane 2022 and the inner circumferential surface of the cover wall 202 by means of, but not limited to, adhesive and / or interference fit. The printed circuit board stator 6 can also be fixed to the outer circumferential surface of the second step 1032 or the circular support cylinder 103 by means of, but not limited to, adhesive and / or interference fit. The side of the printed circuit board stator 6 with the stator winding 601 is disposed opposite to the rotor 5.

[0084] For example, the rotor 5 is a ring-shaped permanent magnet. The circumference of the ring-shaped permanent magnet is evenly divided into multiple sectors. All sectors are axially magnetized and the polarities of adjacent sectors are opposite.

[0085] Stator winding 601 is as follows Figure 6 The stator winding 601 is a distributed lap winding made of three-phase wires. Alternatively, the stator winding 601 can be a single-layer chain-cross winding made of three-phase wires. Compared to a concentrated winding, this structure of the stator winding 601 has the advantage of making the magnetic field and current more evenly distributed, reducing uneven electromagnetic forces, and making the rotation speed of the rotor 5 smoother and more accurate. In addition, these winding structures optimize the coil distribution density, reduce overheating and overload, and further improve the operational reliability of the ranging device.

[0086] Alternatively, the stator winding 601 can be a three-phase symmetrical disc winding, and the rotor 5 can be a printed circuit board rotor. When the rotor 5 is a printed circuit board rotor, the printed circuit board rotor is electrically connected to the upper circuit board 8, thereby eliminating the permanent magnet rotor. The printed circuit board rotor can rotate relative to the printed circuit board stator 6 according to the principle of an AC induction motor through changes in magnetic flux.

[0087] Alternatively, in some embodiments, the ranging device further includes a magnetic encoding chip. The magnetic encoding chip is integrated into the stator of a printed circuit board and electrically connected to a controller. The controller is configured to obtain the rotational speed and rotation angle of the ranging module 3 relative to the base 1 by acquiring the change in magnetic flux of the rotor 5 detected by the magnetic encoding chip as the rotor 5 rotates.

[0088] Alternatively, in other embodiments, the controller may also be configured to obtain the rotational speed and rotation angle of the ranging module 3 relative to the base 1 by acquiring the trend of change of the back electromotive force on the printed circuit board stator 6.

[0089] To determine the initial position (zero-degree angle) of the ranging module relative to the base, a fixed obstruction can be placed within the detection range of the ranging module. When the ranging module rotates to this position, the emitted laser light from the light emitting component is blocked by the fixed obstruction, and the position of the fixed obstruction is taken as the zero-degree angle. For example, the fixed obstruction is a baffle, fixed to the base or the mobile robot, to partially block the emitted laser light from the light emitting component. Therefore, combined with the relevant algorithms of the controller, the rotational speed and rotation angle of the ranging module relative to the base can be obtained.

[0090] like Figure 1 , Figure 3 as well as Figure 4 As shown, in some embodiments, the ranging device further includes a code disk 13 and a photoelectric encoder 14. The code disk 13 is integrally formed on the end of the cover wall 202 extending into the first cavity, and the code disk 13 includes a plurality of code teeth 1301 extending toward the bottom wall 102 and spaced apart from each other. The photoelectric encoder 14 is fixed to the bottom wall 102 and electrically connected to the controller. The photoelectric encoder 14 is used to emit and receive measurement light, the path of which is perpendicular to the central axis. The controller is configured to obtain the number of code teeth 1301 swept by the measurement light as the code disk 13 rotates with the rotary table 2, thereby obtaining the rotational speed and rotation angle of the ranging module 3 relative to the base 1.

[0091] In order to determine the initial position of the rotary table 2 in this embodiment, the width of one of the code teeth 1301 can be smaller than the width of the other code teeth 1301. Specifically, the width of the other code teeth 1301 can be twice that of the narrower code tooth 1301.

[0092] It is understood that the specific placement of the controller is not limited in any of the embodiments of this application. It can be adapted to the actual use requirements. The controller can be specifically integrated into one of the upper circuit board 8 and the lower circuit board 9.

[0093] Based on the same technical concept, this application also provides a mobile robot, including a ranging device as described in any of the above embodiments. The specific structure and function of the ranging device can be found in the above descriptions and will not be repeated here.

[0094] It should be noted that while preferred embodiments of this application are provided in the specification and accompanying drawings, this application can be implemented in many different forms and is not limited to the embodiments described herein. These embodiments are not intended to impose additional limitations on the content of this application; their purpose is to provide a more thorough and comprehensive understanding of the disclosure of this application. Furthermore, the above-described technical features can be combined with each other to form various embodiments not listed above, all of which are considered to be within the scope of this application's specification. Moreover, those skilled in the art can make improvements or modifications based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims.

Claims

1. A ranging device, characterized in that, include: Base; A rotating platform is rotatably connected to the base. The ranging module is fixedly mounted on the rotating platform; A wireless power supply component is electrically connected to the ranging module, and the wireless power supply component is configured to provide power to the ranging module. The rotor is fixedly mounted on the rotary table; A printed circuit board stator, integrating stator windings; the printed circuit board stator is fixed to the base; The driver is configured to provide a drive signal to the stator winding when energized, driving the rotor to rotate relative to the printed circuit board stator, thereby causing the rotary table to rotate synchronously.

2. The ranging device according to claim 1, characterized in that, The rotor is a ring-shaped permanent magnet. The circumference of the ring-shaped permanent magnet is evenly divided into multiple sectors. All of the multiple sectors are axially magnetized and the polarities of adjacent sectors are opposite. The stator winding is a distributed lap winding made of three-phase wires; or, the stator winding is a single-layer chain-cross winding made of three-phase wires.

3. The ranging device according to claim 1, characterized in that, The stator winding is a three-phase symmetrical disc winding; the rotor is a printed circuit board rotor.

4. The ranging device according to any one of claims 1-3, characterized in that, The wireless power supply component includes a power supply transmitting circuit board and a power supply receiving circuit board; the power supply transmitting circuit board integrates a transmitting coil, and the power supply receiving circuit board integrates a receiving coil. The power supply transmitting circuit board is fixed to the base, and the power supply receiving circuit board is fixed to the rotating platform; the power supply receiving circuit board is configured to provide power to the ranging module while rotating synchronously with the ranging module.

5. The ranging device according to claim 4, characterized in that, The ranging device has a central axis; along the direction of the central axis, the power supply transmitting circuit board, the power supply receiving circuit board, the rotor, and the printed circuit board stator are all coaxial and spaced apart. The rotor rotates relative to the printed circuit board stator around the central axis, thereby driving the rotary table to rotate synchronously relative to the base around the central axis.

6. The ranging device according to claim 5, characterized in that, The power supply receiving circuit board is configured to rotate synchronously with the ranging module and provide power to the ranging module while outputting a periodic voltage signal. The ranging device includes a controller configured to acquire the periodic voltage signal to obtain the rotational speed and rotation angle of the ranging module relative to the base.

7. The ranging device according to claim 6, characterized in that, Both the transmitting coil and the receiving coil include several petal coils, which are connected end to end to form a plum blossom-shaped structure arranged around the central axis. The wire diameter of each petal coil is the same. The power supply receiving circuit board is configured to rotate synchronously with the ranging module and provide power to the ranging module, while causing the projected overlap area between the transmitting coil and the receiving coil to change periodically, so as to output a periodic voltage signal.

8. The ranging device according to claim 7, characterized in that, The central angle of one of the petal coils differs from the central angles of the other petal coils, while the central angles of the other petal coils are the same; or, The central angles of all the petal coils are the same; the ranging device includes a first magnetic blocking plate; the first magnetic blocking plate is partially disposed within the projection range of any of the petal coils.

9. The ranging device according to claim 6, characterized in that, Both the transmitting coil and the receiving coil have an elliptical structure. The power supply receiving circuit board is configured to rotate synchronously with the ranging module and provide power to the ranging module, while causing the projected overlap area between the transmitting coil and the receiving coil to change periodically, so as to output a periodic voltage signal.

10. The ranging device according to claim 9, characterized in that, The ranging device includes a second magnetically obstructing baffle; the second magnetically obstructing baffle is partially disposed within the projection range of the elliptical structure.

11. The ranging device according to claim 5, characterized in that, The ranging device includes a controller and a magnetic encoding chip; the magnetic encoding chip is integrated into the stator of the printed circuit board and is electrically connected to the controller. The controller is configured to obtain the rotational speed and rotation angle of the ranging module relative to the base by acquiring the change in the magnetic flux of the rotor detected by the magnetic encoding chip when the rotor rotates.

12. The ranging device according to claim 5, characterized in that, The ranging device includes a code disk, a photoelectric encoder, and a controller; the code disk is fixed on the rotating platform and surrounds the central axis, and the code disk includes multiple code teeth that extend toward the base and are spaced apart from each other. The photoelectric encoder is fixed to the base and is electrically connected to the controller. The photoelectric encoder is used to emit and receive measurement light, and the path of the measurement light is perpendicular to the central axis. The controller is configured to obtain the number of teeth swept by the measuring light as the encoder rotates with the rotary table, thereby obtaining the rotational speed and rotation angle of the ranging module relative to the base.

13. The ranging device according to claim 5, characterized in that, The ranging device includes a controller; the controller is electrically connected to the driver, and the controller is configured to obtain the rotational speed and rotation angle of the ranging module relative to the base by acquiring the changing trend of the back electromotive force on the stator of the printed circuit board.

14. A mobile robot, characterized in that, Includes the ranging device as described in any one of claims 1-13.

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