A rotating laser device

Abstract

The application discloses a rotating laser device, comprising: a base bearing a laser emitting unit and a laser receiving unit; a rotating part provided with a first transmitting light waveguide and a first receiving light waveguide and rotatable relative to the base; the first transmitting light waveguide and the first receiving light waveguide are designed in a ring shape, and laser signal transmission is realized; the laser emitting unit and the laser receiving unit are integrated in the base, and the rotating part is only provided with a passive element, so that the number of parts is reduced, the assembly complexity and the production and maintenance cost are reduced, and the reliability of the device is improved; the light waveguide is designed in a ring shape, so that low-loss transmission of laser signals is ensured at any angle of the rotating part, signal transmission interruption or attenuation is avoided, and the positioning precision is effectively improved.

Description

Technical Field

[0001] This application relates to the field of laser devices, and more specifically to a rotating laser device. Background Technology

[0002] For mobile robots, localization is fundamental to their various operational functions. Currently, indoor mobile robots primarily employ various localization methods, including inertial navigation, visual positioning, single-line laser positioning, and multi-line laser positioning. Among these, single-line laser positioning is widely used in service robots, warehouse robots, and other indoor mobile robots due to its advantages such as relatively low cost, high positioning accuracy, and minimal susceptibility to ambient light interference.

[0003] However, existing single-line laser positioning devices mainly consist of two parts: the first part is a data processing circuit board and motor drive board located at the bottom, and the second part is a rotatable laser emission and reception processing board located at the top. These two parts typically require wireless energy transmission and data transmission via infrared signals or other wireless methods. This traditional structure suffers from high overall structural complexity, a large number of components, and high manufacturing costs. For example, in Chinese patent application number "CN201721106057.5", entitled "A Rotating Distance Sensing Device and Robot", the distance sensor is placed on the base of a non-rotating body, and a reflective part that rotates with the body is set on the rotating body. The reflective part uses a plane mirror. Although placing the distance sensor on the base reduces hardware costs, the plane mirror as a reflective part still suffers from problems such as easy interruption or high loss in laser signal transmission. Utility Model Content

[0004] This application provides a rotating laser device, the specific technical solution of which is as follows: the rotating laser device includes: a rotating part, which is provided with a first emitting optical waveguide and a first receiving optical waveguide, and is mounted on a base and can rotate relative to the base; the base supports a laser emitting unit and a laser receiving unit; the laser emitting unit is used to transmit the emitted laser emission signal to the first emitting optical waveguide; the laser receiving unit is used to acquire the laser reception signal transmitted by the first receiving optical waveguide; wherein, the first emitting optical waveguide and the first receiving optical waveguide are arranged in a ring within the rotating part.

[0005] Furthermore, the first transmitting waveguide and the first receiving waveguide are arranged in concentric circles within the rotating part, and the first transmitting waveguide and the first receiving waveguide rotate coaxially with the rotating part; wherein, the diameter of the circle containing the first transmitting waveguide is larger than the diameter of the circle containing the first receiving waveguide.

[0006] Furthermore, the base has an opening, and the inner wall of the opening is provided with a bearing; the rotating laser device also includes: a motor, connected to a motor shaft, disposed at the bottom of the base, for providing power for the rotation of the motor shaft; the motor shaft, passing through the opening of the base and through the bearing, is connected to the rotating part, so as to drive the rotating part to rotate based on the power provided by the motor; a control unit, connected to the motor, mounted at the bottom of the base, for controlling the speed and direction of the motor, so as to control the variable speed rotation and direction of the rotating part.

[0007] Furthermore, a second transmitting optical waveguide is mounted on the base, and the second transmitting optical waveguide is arranged in a ring on the base; wherein, the lower end face of the first transmitting optical waveguide is aligned with the upper end face of the second transmitting optical waveguide in a ring, for transmitting the laser emission signal emitted by the laser emitting unit from the second transmitting optical waveguide to the first transmitting optical waveguide; when the rotating part rotates, the first transmitting optical waveguide rotates relative to the second transmitting optical waveguide.

[0008] Furthermore, a second receiving optical waveguide is mounted on the base, and the second receiving optical waveguide is arranged in a ring on the base; wherein, the lower end face of the first receiving optical waveguide is aligned with the upper end face of the second receiving optical waveguide in a ring, for transmitting the laser receiving signal sequentially through the first receiving optical waveguide and the second receiving optical waveguide to the laser receiving unit; when the rotating part rotates, the first receiving optical waveguide rotates relative to the second receiving optical waveguide.

[0009] Furthermore, the diameter of the circle containing the second transmitting waveguide is equal to the diameter of the circle containing the first transmitting waveguide; the diameter of the circle containing the second receiving waveguide is equal to the diameter of the circle containing the first receiving waveguide.

[0010] Furthermore, the vertical distance between the lower end face of the first transmitting waveguide and the upper end face of the second transmitting waveguide ranges from 0.05 mm to 1 mm; the vertical distance between the lower end face of the first receiving waveguide and the upper end face of the second receiving waveguide ranges from 0.05 mm to 1 mm.

[0011] Furthermore, a laser emission port and a laser receiving port are provided on the outer side of the rotating part; a first emitting part is provided on the annular edge of the first emitting waveguide facing the laser emission port to guide the lateral transmission of the laser emission signal; a first receiving opening is provided on the annular edge of the first emitting waveguide facing the laser receiving port, and a first receiving part is provided on the annular edge of the first receiving waveguide facing the laser receiving port to guide the lateral transmission of the laser receiving signal; wherein, the first receiving part passes through the first receiving opening and points towards the laser receiving port.

[0012] Furthermore, the rotating part further includes: a transmitting collimating lens group and a receiving focusing lens group; wherein, the transmitting collimating lens group is disposed between the first transmitting part and the laser emission port, and is used to collimate the laser emission signal before it is transmitted to the laser emission port; the receiving focusing lens group is disposed between the laser receiving port and the first receiving part, and is used to focus the reflected laser receiving signal on the incident end face of the first receiving part, so as to transmit it through the first receiving part in the first receiving optical waveguide.

[0013] Furthermore, the transmitting collimating lens group and the receiving focusing lens group are arranged side by side in the rotating part, and the optical axes of the transmitting collimating lens group and the receiving focusing lens group are parallel to each other; the center of the emitting end of the first emitting part is aligned with the optical axis of the transmitting collimating lens group, and the distance between the transmitting collimating lens group and the emitting end of the first emitting part is in the range of 1 mm to 3 mm; the center of the receiving end of the first receiving part is aligned with the optical axis of the receiving focusing lens group, and the distance between the receiving focusing lens group and the receiving end of the first receiving part is in the range of 1 mm to 3 mm.

[0014] Furthermore, a second transmitting part is provided on the annular edge of the second transmitting waveguide facing the exit port of the laser transmitting unit to guide the lateral transmission of the laser transmitting signal; a second receiving opening is provided on the annular edge of the second transmitting waveguide facing the receiving port of the laser receiving unit, and a second receiving part is provided on the annular edge of the second receiving waveguide facing the receiving port of the laser receiving unit to guide the lateral transmission of the laser receiving signal; wherein, the second receiving part passes through the second receiving opening and points towards the laser receiving unit.

[0015] Furthermore, the center of the receiving end of the second transmitting unit is aligned with the center of the emission port of the laser emitting unit, and the distance between the emission port of the laser emitting unit and the receiving end of the second transmitting unit is in the range of 1 mm to 3 mm; the center of the emission end of the second receiving unit is aligned with the center of the receiving port of the laser receiving unit, and the distance between the receiving port of the laser receiving unit and the emission end of the second receiving unit is in the range of 1 mm to 3 mm.

[0016] The rotating laser device described in this application integrates the laser emitting unit and the laser receiving unit on the base of the non-rotating part, while only passive components for signal receiving and transmitting are installed on the rotating part. This reduces the number of parts, lowers assembly complexity, reduces production and maintenance costs, and improves device reliability. By utilizing an optical waveguide ring design, it ensures that the laser emitting / receiving signals can be transmitted with low loss at any angle of the rotating part, avoiding signal transmission interruption or attenuation and effectively improving positioning accuracy. Attached Figure Description

[0017] Figure 1 This is a cross-sectional view of the rotating laser device according to one embodiment of this application.

[0018] Figure 2This is a concentric circular cross-sectional view of the transmitting optical waveguide and the receiving optical wave according to one embodiment of this application.

[0019] Explanation of the labels in the diagram: 101-Base; 102-Motor; 103-Motor shaft; 104-Emitting waveguide; 1041-First transmitting waveguide; 1042-Second transmitting waveguide; 1043-First transmitting unit; 1044-Second transmitting unit; 105-Receiving waveguide; 1051-First receiving waveguide; 1052-Second receiving waveguide; 1053-First receiving unit; 1054-Second receiving unit; 106-Emitting collimating lens group; 107-Receiving focusing lens group; 108-Laser emitting unit; 109-Laser receiving unit; 110-Signal processing unit; 111-Bearing. Detailed Implementation

[0020] The embodiments of this application will now be described in detail with reference to the accompanying drawings. It should be understood that the specific embodiments described below are for illustrative purposes only and are not intended to limit the scope of this application.

[0021] To overcome the drawbacks of existing single-line laser positioning devices, such as complex structure and high cost, this application provides a laser rotation device. The aim is to simplify the structure and reduce costs by optimizing component layout and signal transmission methods, while ensuring stable laser signal transmission and positioning accuracy. Specifically, as shown... Figure 1 As shown, the rotating laser device includes: a rotating part, a base 101, a laser emitting unit 108, and a laser receiving unit 109; wherein, The rotating part is provided with a first transmitting optical waveguide 1041 and a receiving optical waveguide 1051, which are assembled on the base 101 and can rotate relative to the base 101. The base 101 carries a laser emitting unit 108 and a laser receiving unit 109; the laser emitting unit 108 is used to transmit the emitted laser emission signal to the first emitting optical waveguide 1041; the laser receiving unit 109 is used to acquire the laser receiving signal transmitted by the first receiving optical waveguide 1051; wherein, the first emitting optical waveguide 1041 and the first receiving optical waveguide 1051 are arranged in a ring within the rotating part.

[0022] This embodiment integrates the laser emitting unit and the laser receiving unit on the base 101 of the non-rotating part. Only passive components for signal transmission and reception, such as a first transmitting waveguide and a first receiving waveguide, are installed on the rotating part. The rotating part has no electrical components, eliminating the need for a wireless power supply module, an infrared transceiver module, etc., reducing the number of parts, lowering assembly complexity, reducing production and maintenance costs, and improving device reliability. The ring design of the transmitting and receiving waveguides ensures low-loss transmission of laser transmission / reception signals at any angle of the rotating part, avoiding signal interruption or attenuation and effectively improving positioning accuracy. As one embodiment of this application, such as... Figure 2 As shown, Figure 2 A cross-sectional schematic diagram of the transmitting waveguide 104 and the receiving waveguide 105 is shown. The first transmitting waveguide 1041 and the first receiving waveguide 1051 are arranged concentrically within the rotating part, and they rotate coaxially with the rotating part. The diameter of the circle containing the first transmitting waveguide is larger than the diameter of the circle containing the first receiving waveguide. Specifically, the rotating part is provided with positioning bosses to define the first transmitting waveguide 1041 and the first receiving waveguide 1051 at corresponding positions, ensuring they are concentrically positioned. By defining the first transmitting waveguide 1041 and the first receiving waveguide 1051 to rotate coaxially with the rotating part, stable coaxial rotation of the first transmitting waveguide 1041 and the first receiving waveguide 1051 during signal transmission / reception by the rotating part is ensured, effectively optimizing the signal transmission stability of the ring waveguide. In this embodiment, the first transmitting waveguide 1041 and the first receiving waveguide 1051 are arranged in concentric circles, so that the waveguide region is a ring, rather than a traditional local point or line. At the same time, the diameters of the two are defined to separate the transmission paths of the laser transmitting signal and the laser receiving signal, so as to avoid signal crosstalk between the two.

[0023] As one embodiment of this application, such as Figure 1 As shown, the base 101 has an opening, and a bearing 111 is provided on the inner wall of the opening to reduce the rotational friction of the motor shaft 103; the rotating laser device also includes: Motor 102, connected to motor shaft 103, is located at the bottom of base 101 and is used to provide power for the rotation of motor shaft; The motor shaft 103 passes through the bearing 111 via the opening in the base 101 and is connected to the rotating part so as to drive the rotating part to rotate based on the power provided by the motor 102; the connection between the motor shaft 103 and the rotating part can be, but is not limited to, a key connection or a flange connection.

[0024] The control unit, connected to the motor 102 and mounted on the bottom of the base, is used to control the motor's speed and direction of rotation, thereby controlling the variable speed and direction of the rotating part. In this embodiment, the motor 102 directly controls the motor shaft 103 connected to the rotating part, achieving precise adjustment of the rotating lidar's speed through the motor's own speed control. The structure is simple and the rotation control response is fast.

[0025] Preferably, in some embodiments of this application, the rotation of the rotating part can also be achieved by a transmission structure such as a belt drive mechanism or a gear drive mechanism to assist in driving the rotating part.

[0026] As one embodiment of this application, such as Figure 1 As shown, the first transmitting waveguide 1041 is annularly assembled within the rotating part, and the second transmitting waveguide 1042 is annularly assembled within the base 101. The lower end face of the first transmitting waveguide 1041 is annularly aligned with the upper end face of the second transmitting waveguide 1042, used to transmit the laser emission signal emitted by the laser emitting unit 108 from the second transmitting waveguide 1042 to the first transmitting waveguide 1041. When the rotating part rotates, the first transmitting waveguide 1041 rotates relative to the second transmitting waveguide 1042. When the rotating laser device performs laser emission, the laser emission signal emitted by the laser emitting unit is first transmitted to the second transmitting waveguide 1042, then transmitted in the annular waveguide path of the second transmitting waveguide 1042, and finally transmitted from the second transmitting waveguide 1042 to the annular waveguide path of the first transmitting waveguide 1041, which is annularly aligned with it, thus realizing the transmission of the laser emission signal from the non-rotating part (base) to the rotating part. This embodiment defines the alignment area of ​​the first emitting waveguide 1041 located in the rotating part and the second emitting waveguide 1042 located in the base as a ring, rather than a traditional local point or line. During the 360° rotation of the rotating part, the alignment area of ​​the first emitting waveguide and the second emitting waveguide remains unchanged, avoiding the loss of laser emission signal due to rotation and optimizing the positioning continuity of the rotating laser device.

[0027] As one embodiment of this application, such as Figure 1As shown, the first receiving optical waveguide 1051 is annularly assembled within the rotating part, and the second receiving optical waveguide 1052 is annularly assembled on the base. The lower end face of the first receiving optical waveguide 1051 and the upper end face of the second receiving optical waveguide 1052 are annularly aligned, allowing the laser received signal to be transmitted sequentially via the first and second receiving optical waveguides 1051 to the laser receiving unit 109. When the rotating part rotates, the first receiving optical waveguide 1051 rotates relative to the second receiving optical waveguide 1052. When the rotating laser device performs laser receiving operations, the laser received signal received by the first receiving optical waveguide 1051 is transmitted to the second receiving optical waveguide 1052, propagated within the annular waveguide path of the second receiving optical waveguide 1052, and then transmitted by the second receiving optical waveguide 1052 to the laser receiving unit 109, thus realizing the transmission of the laser received signal from the rotating part to the non-rotating part (base). This embodiment defines the alignment area of ​​the first receiving waveguide 1051 in the rotating part and the second receiving waveguide 1052 in the base as a ring, rather than a traditional local point or line. During the 360° rotation of the rotating part, the alignment area of ​​the first receiving waveguide 1051 and the second receiving waveguide 1052 remains unchanged, avoiding the loss of laser receiving signal due to rotation and optimizing the positioning continuity of the rotating laser device.

[0028] As one embodiment of this application, such as Figure 2 As shown, the diameter of the circle containing the second transmitting waveguide 1042 is equal to the diameter of the circle containing the first transmitting waveguide 1041; the diameter of the circle containing the second receiving waveguide 1052 is equal to the diameter of the circle containing the first receiving waveguide 1051. Specifically, in this embodiment, the transmitting / receiving waveguides located in the rotating part and the transmitting / receiving waveguides located in the non-rotating part (base) are configured as the same concentric ring shape and are limited to having the same diameter. This ensures that the first transmitting waveguide 1041 and the first receiving waveguide 1051 in the rotating part are aligned vertically with the second transmitting waveguide 1042 and the second receiving waveguide 1052 in the base 101. Regardless of the angle to which the rotating part rotates, the laser emission signal can be efficiently coupled from the second transmitting waveguide 1042 to the first transmitting waveguide 1041, and the reflected laser reception signal can also be efficiently coupled from the first receiving waveguide 1051 to the second receiving waveguide 1052.

[0029] As one embodiment of this application, such as Figure 1As shown, the lower end face of the first emitting waveguide 1041 and the upper end face of the second emitting waveguide 1042 are annularly aligned, and the vertical distance between them ranges from 0.05 mm to 1 mm. This embodiment, by limiting the vertical distance between the first emitting waveguide located in the rotating part and the second emitting waveguide in the non-rotating part (base) while maintaining an annular alignment, effectively avoids the wear problem that may occur due to physical contact between the first and second emitting waveguides, thus optimizing the service life and operational stability of the rotating laser device. Simultaneously, by reducing the air gap caused by the limited vertical distance, energy loss due to reflection, scattering, and other divergences during laser signal transmission is reduced, allowing the laser signal transmitted between the first and second emitting waveguides to be transmitted more completely and efficiently, improving the overall signal transmission quality and efficiency.

[0030] As one embodiment of this application, such as Figure 1 As shown, the lower end face of the first receiving optical waveguide 1051 and the upper end face of the second receiving optical waveguide 1052 are annularly aligned, and the vertical distance between them ranges from 0.05 mm to 1 mm. This embodiment, by limiting the vertical distance between the first receiving optical waveguide 1051 in the rotating part and the second receiving optical waveguide in the non-rotating part (base) while maintaining an annular alignment, effectively avoids wear problems that may occur due to physical contact between the first and second receiving optical waveguides, optimizing the service life and operational stability of the rotating laser device. Simultaneously, by reducing the air gap caused by the limited vertical distance, energy loss due to reflection, scattering, and other divergences in the transmission of the laser received optical signal is reduced, allowing the laser emission signal transmitted between the first and second emitting optical waveguides to be transmitted more completely and efficiently, improving the overall signal transmission quality and efficiency.

[0031] As one embodiment of this application, such as Figure 1 and Figure 2 As shown, Figure 2A cross-sectional schematic diagram of a transmitting optical waveguide 104 and a receiving optical waveguide 105 is shown. The transmitting optical waveguide includes a first transmitting optical waveguide 1041 and a second receiving optical waveguide 1042, and the receiving optical waveguide 105 includes a first receiving optical waveguide 1051 and a second receiving optical waveguide 1052. The first transmitting optical waveguide 1041 and the first receiving optical waveguide 1051 are arranged concentrically within a rotating part, and the rotating part rotates coaxially. The diameter of the circle containing the first transmitting optical waveguide 1041 is larger than the diameter of the circle containing the first receiving optical waveguide 1051. The diameter of the circle containing the first transmitting waveguide 1041 is equal to the diameter of the circle containing the second transmitting waveguide 1041. The lower end face of the first transmitting waveguide 1041 is annularly aligned with the upper end face of the second transmitting waveguide 1042, and the distance between the two end faces is 0.05 mm to 1 mm. The diameter of the circle containing the first receiving waveguide 1051 is equal to the diameter of the circle containing the second receiving waveguide 1052. The lower end face of the first receiving waveguide 1051 is annularly aligned with the upper end face of the second receiving waveguide 1052, and the distance between the two end faces is 0.05 mm to 1 mm. Specifically, the rotating part is provided with a positioning boss to define the first transmitting waveguide 1041 and the first receiving waveguide 1051 in corresponding positions, so that they are in a concentric circular position. This embodiment arranges the first transmitting waveguide 1041 and the first receiving waveguide 1051 in a concentric circle, ensuring that the alignment area between the waveguides of the rotating and non-rotating parts is always annular, rather than a local point or line as in traditional methods. During the 360° rotation of the rotating part, the alignment area between the waveguides of the rotating and non-rotating parts remains constant, avoiding signal loss due to rotation and optimizing the positioning continuity of the rotating laser device. Simultaneously, the different diameters of the two waveguides separate the transmission paths of the laser transmitting and receiving signals, preventing signal crosstalk between them.

[0032] In one embodiment of this application, the outer region of the rotating part is provided with a laser emission port and a laser receiving port; the laser emission port is used for the first emitting waveguide to transmit the laser emission signal emitted by the laser emitting unit to the outside of the rotating laser device; the laser receiving port is used to receive the laser receiving signal reflected by the external environment.

[0033] To optimize the laser emission signal transmission path between the first emitting waveguide and the laser exit port, such as Figure 1As shown, a first emitting part 1043 is provided on the annular edge of the first emitting waveguide 1041 facing the laser emission port. The first emitting part 1043 is used to guide the laser emission signal that is transmitted in the annular direction in the first emitting waveguide 1041 into lateral transmission, thereby realizing the lateral transmission of the laser emission signal to the laser emission port. The first emitting part 1043 can be, but is not limited to, a steering device such as a grating structure or an optical element with specific refractive characteristics. Its core function is to modulate the direction of the laser emission signal that originally propagates in the annular direction, so that it is converted into a lateral direction and accurately emitted from the outside of the rotating laser device through the laser emission port.

[0034] Similarly, in order to optimize the laser signal transmission path between the first receiving optical waveguide and the laser receiving port, such as Figure 1 As shown, since the first transmitting waveguide and the first receiving waveguide adopt a concentric ring design, and the diameter of the circle containing the first receiving waveguide is smaller than the diameter of the circle containing the first transmitting waveguide, in order to enable the ring-shaped first receiving waveguide to connect with the laser receiving port, a first receiving opening is provided on the ring edge of the first transmitting waveguide 1041 facing the laser receiving port, and a first receiving part 1053 is provided on the ring edge of the first receiving waveguide 1051 facing the laser receiving port. The first receiving part 1053 is used to guide the laser receiving signal entering the rotating laser device from the laser receiving port to be converted from the lateral direction to the ring transmission path of the first receiving waveguide 1051 for transmission. The first receiving part 1053 can be, but is not limited to, a steering device such as a grating structure or an optical element with specific refractive properties. Its core function is to modulate the direction of the laser receiving signal incident on the rotating laser device through the laser receiving port, so that it is converted into a ring direction and accurately transmitted through the laser receiving port to the ring transmission path of the first receiving waveguide. This embodiment achieves efficient transmission direction modulation and sensitive reception of laser emission and reception signals by setting a first transmitting unit 1041 and a first receiving unit, ensuring that the rotating laser device can still stably complete the emission / reception operation of laser emission and reception signals in the rotating state.

[0035] As one embodiment of this application, such as Figure 1As shown, the rotating part further includes: a transmitting collimating lens group 106 and a receiving focusing lens group 107; wherein, the transmitting collimating lens group 106 is disposed between the first transmitting part 1043 and the laser emission port, that is, disposed in the laser emission optical path of the rotating part, and is used to collimate the laser emission signal output from the first transmitting optical waveguide 1041 before it is modulated to the lateral direction by the first transmitting part 1043 and transmitted to the laser emission port; the receiving focusing lens group 107 is disposed between the laser receiving port and the first receiving part 1053, that is, disposed in the laser receiving optical path, and is used to focus the laser receiving signal reflected back from the external object and couple it into the first receiving part 1053, so that the transmission direction is modulated by the first receiving part 1053 and transmitted into the annular transmission path of the first receiving optical waveguide 1051. Specifically, the transmitting collimating lens group 106 is usually composed of at least two optical lenses, which is used to achieve precise collimation processing of the laser emission signal, effectively reduce its divergence angle, and ensure that the laser emission signal maintains good directionality and energy concentration during the emission process. The receiving focusing lens group 107 typically employs an optical structure suitable for focusing applications, such as a plano-convex lens. It is used to efficiently converge the laser received after reflection from the external environment, focusing it into a fine spot, thereby improving the detection stability of the rotating laser device, increasing utilization, and reducing interference from ambient stray light.

[0036] In one embodiment of this application, the transmitting collimating lens group 106 and the receiving focusing lens group 107 are arranged side by side within the rotating part, and the optical axes of the transmitting collimating lens group 106 and the receiving focusing lens group 107 are parallel to each other. This ensures that the transmitting and receiving optical paths have a consistent directional reference in space, avoiding signal loss due to optical axis misalignment and guaranteeing the coordinated operation and measurement accuracy of the entire rotating laser device. This embodiment, by limiting the parallelism of the transmitting and receiving optical axes, ensures that the emission direction of the laser signal is completely consistent with the incident direction of the laser signal, allowing reflective objects to reflect the emitted signal at all angles and reducing positioning blind spots.

[0037] In one embodiment of this application, the first emitting unit includes an incident end and an exiting end. The incident end of the first emitting unit is connected to the annular edge of the first emitting optical waveguide to receive the laser emission signal transmitted by the first emitting optical waveguide. The exiting end of the first emitting unit is located on the side close to the emitting collimating lens group. Specifically, the center of the exiting end of the first emitting unit 1043 is aligned with the optical axis of the emitting collimating lens group 106, and the distance between the emitting collimating lens group 106 and the exiting end of the first emitting unit 1043 ranges from 1 mm to 3 mm. This embodiment ensures that the laser emission signal can enter the effective optical aperture of the emitting collimating lens group to the maximum extent through the first emitting unit by limiting the alignment of the center of the exiting end of the first emitting unit 1043 with the optical axis of the emitting collimating lens group 106, thus avoiding laser emission signal loss or collimation effect caused by optical axis offset.

[0038] In one embodiment of this application, the first receiving unit 1053 includes a receiving end and an emitting end. The emitting end of the first receiving unit 1053 is connected to the annular edge of the first receiving optical waveguide to output the laser reflection signal reflected from the external environment into the annular transmission path of the first receiving optical waveguide. The receiving end of the first receiving unit is located on the side close to the focusing lens group. Specifically, the center of the receiving end of the first receiving unit 1053 is aligned with the optical axis of the receiving focusing lens group, and the distance between the receiving focusing lens group and the receiving end of the first receiving unit is in the range of 1 mm to 3 mm. This embodiment ensures that the reflected laser receiving signal can be efficiently coupled to the first receiving unit and the first receiving optical waveguide by limiting the alignment of the center of the receiving end of the first receiving unit with the optical axis of the receiving focusing lens group, ensuring that the laser spot focused by the receiving focusing lens group can completely cover the effective area of ​​the receiving end of the first receiving unit, and reducing the energy loss of the laser receiving signal. At the same time, by limiting the distance range between the receiving focusing lens group and the receiving end of the first receiving unit, the size of the focused spot after the receiving focusing lens group is precisely matched with the effective aperture of the receiving end, avoiding excessive divergence or positional shift of the focused spot.

[0039] In one embodiment of this application, a second transmitting part 1044 is provided on the annular edge of the second transmitting waveguide 1042 facing the emission port of the laser transmitting unit 108 to guide the lateral transmission of the laser emission signal; a second receiving opening is provided on the annular edge of the second transmitting waveguide 1042 facing the receiving port of the laser receiving unit, and a second receiving part is provided on the annular edge of the second receiving waveguide facing the receiving port of the laser receiving unit to guide the lateral transmission of the laser receiving signal; wherein, the second receiving part passes through the second receiving opening and points towards the laser receiving unit.

[0040] Specifically, in order to optimize the laser emission signal transmission path between the second emitting waveguide and the laser emitting unit, such as Figure 1As shown, a second transmitting part 1044 is provided on the annular edge of the second transmitting waveguide 1042 facing the laser transmitting unit. The second transmitting part 1044 is used to guide the laser emission signal emitted from the laser transmitting unit into the annular transmission path of the second transmitting waveguide 1042. The second transmitting part 1044 can be, but is not limited to, a steering device such as a grating structure or an optical element with specific refractive characteristics. Its core function is to modulate the direction of the laser emission signal emitted from the laser transmitting unit so that it enters the annular transmission path of the second transmitting waveguide 1042.

[0041] Similarly, in order to optimize the laser signal transmission path between the second receiving optical waveguide 1052 and the laser receiving unit, such as Figure 1 As shown, since the second transmitting waveguide and the second receiving waveguide adopt a concentric ring design, and the diameter of the circle containing the second receiving waveguide is smaller than the diameter of the circle containing the second transmitting waveguide, in order to enable the ring-shaped second receiving waveguide to connect with the laser receiving port, a second receiving opening is provided on the ring edge of the second transmitting waveguide 1041 facing the laser receiving unit, and a second receiving part 1054 is provided on the ring edge of the second receiving waveguide 1052 facing the laser receiving unit. The second receiving part 1054 is used to guide the transmission direction of the laser transmitting signal transmitted in the ring path of the second receiving waveguide 1052 to be converted into a transverse direction so as to be transmitted to the laser receiving unit. The second receiving part 1054 can be, but is not limited to, a steering device such as a grating structure or an optical element with specific refractive characteristics. Its core function is to modulate the direction of the laser receiving signal transmitted through the ring transmission path of the second receiving waveguide so as to convert it into a transverse direction and transmit it accurately to the laser receiving unit. This embodiment achieves efficient transmission direction modulation and sensitive reception of laser emission and reception signals by setting a second transmitting unit 1044 and a second receiving unit 1054, ensuring that the rotating laser device can still stably complete the emission / reception operation of laser emission and reception signals in the rotating state.

[0042] In one embodiment of this application, the center of the receiving end of the second transmitting unit is aligned with the center of the emission port of the laser emitting unit, and the distance between the emission port of the laser emitting unit and the receiving end of the second transmitting unit ranges from 1 mm to 3 mm; the center of the emission end of the second receiving unit is aligned with the center of the receiving port of the laser receiving unit, and the distance between the receiving port of the laser receiving unit and the emission end of the second receiving unit ranges from 1 mm to 3 mm. This embodiment ensures that the laser emission signal emitted by the laser emitting unit can be accurately transmitted to the second transmitting unit by aligning the center of the receiving end of the second transmitting unit with the center of the emission port of the laser emitting unit. It also ensures that the reflected laser reception signal can be efficiently coupled to the laser receiving unit by aligning the center of the emission end of the second receiving unit with the center of the receiving port of the laser receiving unit, reducing energy loss of the laser reception signal. Furthermore, by limiting the distance range between the laser emitting unit and the receiving end of the second transmitting unit, and the distance range between the laser receiving unit and the emission end of the second receiving unit, the laser emission signal emitted by the laser emitting unit is precisely matched with the effective aperture of the receiving end of the second transmitting unit, ensuring that the laser reception signal emitted by the second receiving unit is accurately transmitted to the laser receiving unit, reducing signal loss.

[0043] In one embodiment of this application, the second transmitting waveguide 1042 and the second receiving waveguide 1052 are fixed to the upper surface of the base 101 by a slot or epoxy resin adhesive. The upper surface of the base 101 is provided with two concentric annular grooves, and the second transmitting waveguide 1042 and the second receiving waveguide 1052 are respectively embedded in the corresponding annular grooves, with the depth of the grooves matching the diameter of the waveguides. This embodiment uses the grooves to fix the second transmitting waveguide 1042 and the second receiving waveguide 1052 to the base 101, making the waveguides firmly fixed and less prone to displacement, thus reducing the frequency of periodic calibration of the waveguides.

[0044] As one embodiment of this application, such as Figure 1 As shown, the rotating laser device further includes a signal processing unit 110, mounted on the base 101 and connected to the laser emission and reception unit, used for modulating the laser emission signal and demodulating the laser reception signal. Specifically, the signal processing unit 110 is used to modulate the laser emission signal provided by the laser emission unit 108, receive the transmitted laser reception signal acquired by the laser reception unit 109, and perform demodulation analysis processing, thereby completing the functions of distance measurement and target recognition of the rotating laser device.

[0045] As one embodiment of this application, the rotating laser device further includes a control unit mounted on the bottom of the base 101 and connected to the motor 102, used to precisely control the rotation speed and direction of the motor 102, thereby realizing variable speed rotation and direction control of the rotating part. Specifically, the control unit may, but is not limited to, controlling the motor 102 to rotate at a uniform speed or at a variable speed, or controlling the motor 102 to rotate only within a specified angle, so as to control the rotating laser device to repeatedly scan a specified range.

[0046] Although embodiments of this application have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of this application. The scope of this application is defined by the appended claims and their equivalents. The above descriptions are merely preferred embodiments of this application and are not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A rotating laser device, characterized in that, The rotating laser device includes: The rotating part is provided with a first transmitting optical waveguide and a first receiving optical waveguide, which are assembled on the base and can rotate relative to the base; The base supports the laser emitting unit and the laser receiving unit; The laser emitting unit is used to transmit the emitted laser emission signal to the first emitting optical waveguide; The laser receiving unit is used to acquire the laser receiving signal transmitted through the first receiving optical waveguide; The first transmitting optical waveguide and the first receiving optical waveguide are arranged in a ring within the rotating part.

2. The rotating laser device according to claim 1, characterized in that, The first transmitting waveguide and the first receiving waveguide are arranged in concentric circles inside the rotating part, and the first transmitting waveguide and the first receiving waveguide rotate coaxially with the rotating part; wherein, the diameter of the circle containing the first transmitting waveguide is larger than the diameter of the circle containing the first receiving waveguide.

3. The rotating laser device according to claim 1, characterized in that, The base has an opening, and a bearing is installed on the inner wall of the opening; the rotating laser device also includes: An electric motor, connected to a motor shaft, is located at the bottom of a base and is used to provide power for the rotation of the motor shaft; The motor shaft passes through the bearing via an opening in the base and is connected to the rotating part, so as to drive the rotating part to rotate based on the power provided by the motor. The control unit, connected to the motor and mounted on the bottom of the base, is used to control the speed and direction of the motor, so as to control the variable speed rotation and direction of the rotating part.

4. The rotating laser device according to claim 2, characterized in that, A second transmitting optical waveguide is mounted on the base, and the second transmitting optical waveguide is arranged in a ring on the base; wherein, the lower end face of the first transmitting optical waveguide is aligned with the upper end face of the second transmitting optical waveguide in a ring, for transmitting the laser emission signal emitted by the laser emitting unit from the second transmitting optical waveguide to the first transmitting optical waveguide; when the rotating part rotates, the first transmitting optical waveguide rotates relative to the second transmitting optical waveguide.

5. The rotating laser device according to claim 4, characterized in that, A second receiving optical waveguide is mounted on the base, and the second receiving optical waveguide is arranged in a ring on the base; wherein, the lower end face of the first receiving optical waveguide is aligned with the upper end face of the second receiving optical waveguide in a ring, for transmitting the laser receiving signal sequentially through the first receiving optical waveguide and the second receiving optical waveguide to the laser receiving unit; when the rotating part rotates, the first receiving optical waveguide rotates relative to the second receiving optical waveguide.

6. The rotating laser device according to claim 5, characterized in that, The diameter of the circle containing the second transmitting waveguide is equal to the diameter of the circle containing the first transmitting waveguide; the diameter of the circle containing the second receiving waveguide is equal to the diameter of the circle containing the first receiving waveguide.

7. The rotating laser device according to claim 5, characterized in that, The vertical distance between the lower end face of the first transmitting waveguide and the upper end face of the second transmitting waveguide ranges from 0.05 mm to 1 mm; the vertical distance between the lower end face of the first receiving waveguide and the upper end face of the second receiving waveguide ranges from 0.05 mm to 1 mm.

8. The rotating laser device according to claim 5, characterized in that, The outer side of the rotating part is provided with a laser emission port and a laser receiving port; a first emitting part is provided on the annular edge of the first emitting waveguide facing the laser emission port to guide the lateral transmission of the laser emission signal; a first receiving opening is provided on the annular edge of the first emitting waveguide facing the laser receiving port, and a first receiving part is provided on the annular edge of the first receiving waveguide facing the laser receiving port to guide the lateral transmission of the laser receiving signal; wherein, the first receiving part passes through the first receiving opening and points towards the laser receiving port.

9. The rotating laser device according to claim 8, characterized in that, The rotating part further includes: a transmitting collimating lens group and a receiving focusing lens group; wherein... The laser emitting collimating lens group is located between the first emitting part and the laser emission port, and is used to collimate the laser emission signal before it is transmitted to the laser emission port; A receiving focusing lens group is disposed between the laser receiving port and the first receiving part, and is used to focus the reflected laser receiving signal onto the incident end face of the first receiving part so that it can be transmitted through the first receiving part in the first receiving optical waveguide.

10. The rotating laser device according to claim 9, characterized in that, The transmitting collimating lens group and the receiving focusing lens group are arranged side by side in the rotating part, and the optical axis of the transmitting collimating lens group and the optical axis of the receiving focusing lens group are parallel to each other; The center of the emitting end of the first emitting part is aligned with the optical axis of the emitting collimating lens group, and the distance between the emitting collimating lens group and the emitting end of the first emitting part is between 1 mm and 3 mm. The center of the receiving end of the first receiving unit is aligned with the optical axis of the receiving focusing lens group, and the distance between the receiving focusing lens group and the receiving end of the first receiving unit ranges from 1 mm to 3 mm.

11. The rotating laser device according to claim 5, characterized in that, A second transmitting part is provided on the annular edge of the second transmitting waveguide facing the exit port of the laser transmitting unit to guide the lateral transmission of the laser transmitting signal; a second receiving opening is provided on the annular edge of the second transmitting waveguide facing the receiving port of the laser receiving unit, and a second receiving part is provided on the annular edge of the second receiving waveguide facing the receiving port of the laser receiving unit to guide the lateral transmission of the laser receiving signal; wherein, the second receiving part passes through the second receiving opening and points towards the laser receiving unit.

12. The rotating laser device according to claim 11, characterized in that, The center of the receiving end of the second transmitting unit is aligned with the center of the emission port of the laser emitting unit, and the distance between the emission port of the laser emitting unit and the receiving end of the second transmitting unit is between 1 mm and 3 mm; the center of the emission end of the second receiving unit is aligned with the center of the receiving port of the laser receiving unit, and the distance between the receiving port of the laser receiving unit and the emission end of the second receiving unit is between 1 mm and 3 mm.

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