TWI623768B - Rotary distance sensing device - Google Patents

Abstract

A rotary distance sensing device mainly drives a linkage structure through a driver to drive a rotating chassis to rotate, and then transmits a signal signal to the signal transmitter through a control module fixed to the rotating chassis, and receives a signal through the control module. The device receives the reflected signal to measure the ambient state of the surroundings, and then the control module analyzes the reflected measurement signal and transmits it by the wireless transmitter, or directly reflects the reflected signal and transmits a reflected signal. The information of the measurement signal is transmitted by the wireless transmitter to avoid the signal line being broken due to excessive entanglement, and the wear of the general slip ring structure after a long period of operation is affected, thereby affecting the transmission quality of the signal line.

Description

Rotary distance sensing device

The invention relates to a range detecting device for an automatic sweeping robot, in particular to a rotary distance sensing device capable of avoiding damage caused by excessive winding of an internal signal line and avoiding abrasion caused by a slip ring structure after a long period of operation.

With the maturity of automatic sweeping robot technology, related products are gradually becoming popular in the living environment of homes, providing users with the service of automatically cleaning the home environment.

In order to effectively carry out the environmental cleaning operation, the automatic cleaning robot at the current stage firstly detects the spatial layout of the space by using a range detecting device (such as a distance measuring device), and sets the cleaning path of the automatic cleaning robot according to the detected data. Record the cleaned area to perform the cleaning operation effectively.

A conventional range detecting device, such as US Publication No. US 2010/0030380, detects a surrounding environment through a 360-degree rotating distance measuring device, and transmits the detected data to the automatic cleaning robot via a signal line. The control system performs processing. Due to the improper rotation of the distance measuring device during the surround detection, the signal line is broken due to excessive winding, which affects the transmission quality of the signal line, and this situation is more likely to jeopardize the operation of the automatic cleaning robot. The service quality of the sweeping robot is greatly reduced.

In summary, it is a technical problem in the art to provide a range detection device with a 360 degree rotation range detection and which can avoid the internal signal line from being affected by improper rotation and breakage.

In order to solve the technical problems of the prior art, it is an object of the present invention to provide a range detecting device with a 360 degree rotation and to solve the problem of excessive entanglement of a conventional signal line.

In order to achieve the above, the present invention provides a rotary distance sensing device, which mainly includes a fixing base, a rotating chassis and a control module. The fixing base includes a guiding hole and a positioning ring, and the positioning ring and the positioning ring The guiding hole is coaxial, and the positioning ring is disposed at the outer edge of the guiding hole, and the rotating chassis has a positioning hole pivotally connected to the outer edge of the positioning ring, so that the rotating chassis is pivotally connected to the fixing base The control module is fixed above the rotating chassis.

The outer edge of the positioning ring is provided with a bearing for pivoting the rotating chassis.

The bottom of one side of the fixing base is provided with a driver for driving a rotating structure to drive the rotating chassis to rotate.

Wherein, the driver is a motor or other power transmitter.

Wherein, the interlocking structure is a structure of a pulley structure, a gear structure or other equivalent driven by a drive to drive the rotating chassis to rotate.

Wherein, the fixing seat defines a position for the driving shaft of the motor to have a through hole for the driving shaft to pass through and connect with a pulley, the rotating chassis shaft has a positioning hole pivotally connected to the bearing, and the rotating chassis and the rotating chassis The belt outer sleeve is provided with a belt.

A wireless receiver connected to the control system of the automatic cleaning robot is disposed in the guiding hole of the fixing base.

The control module includes at least one signal transmitter, at least one signal receiver and a wireless transmitter. The signal transmitter is configured to transmit a measuring signal, and the signal receiver is configured to receive the reflected signal. The wireless transmitter is disposed under the control module and penetrates into the guiding hole. The control module parses the measuring signal received by the signal receiver and transmits the wireless signal to the wireless receiver. .

The bottom of the control module is provided with two power receiving structures, and the power receiving structures are at least two concentric conducting rings concentric with the rotating chassis.

A power transmission structure is disposed between the positioning ring and the guiding hole, the power transmission structure includes a positive conductive structure and a negative conductive structure, and the positive conductive structure and the negative conductive structure are fixed to the positioning ring and the guiding hole And the positive electrode conductive structure and the negative electrode conductive structure are disposed coaxially with the power receiving structures, and the positive conductive structure and the negative conductive structure are connected in series with at least two electrical conductors by a power transmission line, and the positive conductive structure The conductive systems are respectively in contact with the equal power receiving structure, and the conductive systems of the negative conductive structure are respectively in contact with the power receiving structures, and the surfaces of the conductive bodies in contact with the power receiving structure are arc surfaces.

1‧‧‧ fixed seat

11‧‧‧ Guide hole

12‧‧‧ positioning ring

13‧‧‧Perforation

14‧‧‧ bearing

15‧‧‧Wireless Receiver

2‧‧‧Rotating chassis

21‧‧‧Positioning holes

22‧‧‧through holes

3‧‧‧Control Module

31‧‧‧Wireless transmitter

32‧‧‧First Concentric Circle Conductive Ring

33‧‧‧Second concentric conductive ring

4‧‧‧ positive conductive structure

41‧‧‧First power transmission line

42‧‧‧First conductor

43‧‧‧Second conductor

5‧‧‧Negative conductive structure

51‧‧‧Second power transmission line

52‧‧‧ Third conductor

53‧‧‧fourth conductor

6‧‧‧Motor

61‧‧‧ Pulley

62‧‧‧Land

7‧‧‧Signal transmitter

8‧‧‧Signal Receiver

9‧‧‧Electrical structure

91‧‧‧Power receiving structure

911‧‧‧Transmission unit

912‧‧‧Circular conductor

913‧‧‧ 内孔

92‧‧‧Power transmission structure

921‧‧‧ positive brush

922‧‧‧Negative brush

923‧‧‧Shrap

1 is a perspective view of the present invention; FIG. 2 is a partial perspective view of the present invention; FIG. 3 is a partial exploded view of FIG. Figure 4 is a partial exploded view of Figure 3; Figure 5 is a further partial exploded view of Figure 4; Figure 6 is a perspective view of another perspective of the present invention; Figure 7 is a bottom view of the control module of the present invention Figure 8 is a schematic view of the positive conductive structure and the negative conductive structure of the present invention; Figure 9 is a bottom view of the relative position of the control module and the positive conductive structure and the negative conductive structure of the present invention; Figure 10 is a fixed seat and wireless of the present invention Figure 11 is a partial perspective view of another embodiment of the present invention; Figure 12 is a partial exploded view of Figure 11; Figure 13 is a further partial exploded view of Figure 12; And Figure 14 is a further partial exploded view of Figure 13.

The specific embodiments are described below to illustrate the embodiments of the invention, but are not intended to limit the scope of the invention.

Referring to FIG. 1 to FIG. 10, the rotary distance sensor of the present invention mainly includes a fixing base 1, a rotating chassis 2, and a control module 3. The fixing base 1 has a guiding hole 11 extending through the fixing base 1 and a positioning ring 12 coaxial with the guiding hole 11 and surrounding the outer edge of the guiding hole 11, wherein the guiding hole 11 is provided with a wireless receiver 15 connected to a control system (not shown) of the automatic cleaning robot, the positioning A bearing 14 is disposed on the outer edge of the ring 12, and a motor 6 is disposed on the bottom of one side of the fixing base 1. The fixing base 1 defines a position corresponding to the driving shaft of the motor 6 for the driving shaft to pass through and is connected with a pulley 61. a perforation 13 , the pivoting chassis 2 has a positioning hole 21 pivotally connected to the bearing 14 , the rotating chassis 2 is a belt 62 and the pulley 61 The control module 3 is fixed to the rotating chassis 2, and the control module 3 includes at least one signal transmitter 7, at least one signal receiver 8 and a wireless transmitter 31. The control module 3 is a The control circuit board, the signal transmitter 7 and the signal receiver 8 are disposed on the control module 3, and the wireless transmitter 31 is disposed under the control module 3 and penetrates into the guiding hole 11, the control The bottom of the module 3 is provided with two power receiving structures corresponding to the positioning holes 21 of the rotating chassis 2, and the power receiving structures are a first concentric conducting ring 32 and a second concentric metal ring concentric with the positioning hole 21.

In addition, a positive conductive structure 4 and a negative conductive structure 5 are disposed between the guiding hole 11 of the fixing base 1 and the positioning ring 12, and the positive conductive structure 4 is connected by a first power transmission line 41 and a power supply (not shown). The positive electrode is connected to the negative electrode of the power supply. The first power transmission line 41 is connected in series with a first conductor 42 and a second conductor 43. A third conductor 52 and a fourth conductor 53 are connected in series with the power transmission line 51. The top surfaces of the first conductor 42 and the second conductor 43 are in contact with the first concentric conducting ring 32. The top surface of the third conductor 52 and the fourth conductor 53 is in contact with the second concentric conducting ring 33, wherein the first conductor 42, the second conductor 43, the third conductor 52, and the The top surface of the fourth electric conductor 53 contacting the first concentric circular conducting ring 32 and the second concentric circular conducting ring 33 is a circular arc surface, and the rotary distance sensor of the present invention transmits the positive electric current by using the first power transmission line 41. Transmitting the negative electrode with the second power transmission line 51 and connecting it to the first power source in series The first conductor 42 and the second conductor 43 of the transmission line 41 and the third conductor 52 and the fourth conductor 53 connected in series to the second power transmission line 51 provide the positive and negative electrodes to the control mode through the power receiving structure. Group 3 is used by the signal transmitter 7, the signal receiver 8 and the wireless transmitter 31 of the control module 3.

In addition, referring to FIG. 1 and FIG. 11 to FIG. 14 , it is another embodiment of the rotary distance sensing device of the present invention. In this embodiment, the rotary distance sensor of the present invention mainly includes a fixing base 1 and a rotation. a rotating chassis 2 and a control module 3 and a conductive structure 9 , the fixing base 1 includes a guiding hole 11 extending through the middle of the fixing base 1 and a bearing 14 disposed above the outer edge of the guiding hole 11 , the fixing seat 1 One of the bottom portions is provided with a motor 6, which is provided with a through hole 13 for the drive shaft to pass through and is connected to a pulley 61 at a position corresponding to the drive shaft of the motor 6.

The rotating chassis 2 is pivotally connected to the bearing 14 . The rotating chassis 2 has a positioning hole 21 , and the rotating chassis 2 is provided with at least a permanent through hole 22 extending through the rotating chassis 2 at a periphery of the positioning hole 21 . The rotating chassis 2 is coupled to the pulley 61 by a belt 62. The control module 3 is fixed to the rotating chassis 2. The control module 3 includes at least one signal transmitter 7, at least one signal receiver 8 and a wireless transmitter 31, the control module 3 is a control circuit board, the signal transmitter 7 and the signal receiver 8 are disposed on the control module 3, and the wireless transmitter 31 is disposed in the control module. Below the group 3 and penetrated into the positioning hole 21.

The conductive structure 9 includes a power receiving structure 91 and a plurality of power transmission structures 92. The power receiving device 91 includes at least one pair of transmission units 911 that should rotate the position of the through holes 22 of the chassis 2, and at least two rings are disposed on the power receiving device 91. An outer ring-shaped conductor 912 and an inner hole 913 are disposed at a position of the power receiving device 91 corresponding to the positioning hole 21 of the rotating chassis 2, and the inner hole 913 is penetrated through the power receiving device 91. The top and bottom surfaces of the inner hole 913 have a wireless receiver 15 that penetrates the guide hole 1 from the bottom of the fixing base 1 and is placed in the inner hole 913.

The transmission unit 911 is connected to the control module 3 through the through hole 22 of the rotating chassis 2, and the power transmission structure 92 includes at least one positive electrode brush 921 connected to a power supply device (not shown). And the at least one negative electrode brush 922, the positive electrode brush 921 and the negative electrode brush 922 are fixed to the inner edge wall surface of the guiding hole 11 of the fixing base 1 by a resilient piece 923, and the fixing is performed. The positive electrode brush 921 and the negative electrode brush 922 are respectively connected to the surface of the two annular conductors 912 of the power receiving device 91. The touch is used to transmit the power of the power supply to the control module 3 via the transmission unit 911 for use by the signal transmitter 7, the signal receiver 8 and the wireless transmitter 31 of the control module 3.

When the rotary distance sensor of the present invention is actuated, the motor 6 drives the pulley 61 to rotate, and the pulley 61 drives the rotary chassis 2 to rotate around the bearing 14 through the belt 62, and is fixed to the rotary chassis 2 at this time. The control module 3 transmits a measurement signal through the signal transmitter 7, and receives the reflected signal from the signal receiver 8 to measure the ambient state of the surroundings, and then the control module 3 transmits the measured signal reflected by the reflection. After (for example, the measurement signal transmitted by the signal transmitter 7 and the signal phase difference, time difference or frequency variation of the signal received by the signal receiver 8), the wireless signal is used by the wireless transmitter 31 to analyze the measured signal by wireless. The transmitter transmits to the wireless receiver 15 connected to the control system of the automatic cleaning robot, so that the control system of the automatic cleaning robot sets the path according to the analyzed signal and records the scanned area.

As described above, the present invention has the following advantages and effects as compared with the conventional automatic sweeping robot for measuring the environmental state of the surrounding environment:

1. The present invention is characterized in that the signal receiver receives the measurement signal reflected by the reflected signal transmitter, and then the reflected measurement signal is analyzed by the control module, and then the analyzed measurement signal is transmitted to the wireless transmitter to the wireless transmitter. The wireless receiver, for the control system of the automatic cleaning robot, sets the path according to the analyzed signal and records the scanned area. Therefore, the method for transmitting the signal of the present invention is not transmitted by the transmission wire, so there is no conventional knowledge. The transmission line of technology twists the signal line due to excessive rotation, and there is no problem of general slip ring structure wear.

2. The wireless transmitter of the present invention penetrates into the guide hole of the fixed seat, and the wireless receiver is disposed in the guide hole of the fixed seat. Therefore, the present invention is guided by the measured signal after transmitting the analysis. Direct transmission within the hole, without being affected by other signals.

The detailed description of the preferred embodiments of the present invention is intended to be limited to the scope of the invention, and is not intended to limit the scope of the invention. The patent scope of this case.

Claims (14)

A rotary distance sensing device, comprising: a fixing base, comprising a guiding hole and a positioning ring, wherein the positioning ring and the guiding hole are concentric, and the positioning ring ring is disposed at an outer edge of the guiding hole a rotating chassis pivotally connected to the fixing base; a linkage structure, the linkage structure is driven by a driver to rotate and rotate the rotating chassis; a control module, the control module is disposed at the rotation The control module includes at least one signal transmitter and at least one signal receiver. The signal transmitter is configured to transmit a measurement signal, and the signal receiver is configured to receive and reflect the measurement signal. The rotary distance sensing device of claim 1, wherein a wireless transmitter is disposed at the bottom of the control module, and the wireless transmitter penetrates into the guiding hole of the fixing seat to transmit the reflection received by the signal receiver. The measuring signal is given to one of the wireless receivers provided in the guiding hole. The rotary distance sensing device of claim 1, wherein the outer edge of the positioning ring is sleeved with a bearing, and the pivot center of the rotating chassis is provided with a positioning hole pivotally connected to the bearing. The rotary distance sensing device of claim 1, wherein the linkage structure is a pulley structure, a gear structure or other equivalent drive-driven structure that drives the rotary chassis to rotate. The rotary distance sensing device of claim 1, further comprising a conductive structure, the conductive structure comprising a power transmission structure and a power receiving structure, wherein the power transmission structure is disposed on the positioning ring and the guiding hole And being connected to a power supply device for providing power. The power receiving structure is disposed on the control module for receiving power provided by the power transmission structure for use by the control module. The rotary distance sensing device of claim 5, wherein the power transmission structure comprises a positive conductive structure and a negative conductive structure, wherein the positive conductive structure and the negative conductive structure are connected in series by at least two power transmission lines The power receiving structure contacts the electrical conductors of the structure. The rotary distance sensing device of claim 5, wherein the power receiving structure is at least two concentric conducting rings. The rotary distance sensing device of claim 6, wherein the surface of the electrical conductor in contact with the power receiving structure is a circular arc surface. A rotary distance sensor, comprising: a fixing base, comprising a guiding hole extending through the bottom of the fixing base; and a bearing disposed on the outer edge of the guiding hole; a rotating chassis, the rotating chassis is pivotally connected thereto a control structure, the interlocking structure is driven by a driver to rotate and rotate the rotating chassis; a control module, the control module is disposed on the rotating chassis, the control module includes at least one signal transmitter and At least one signal receiver is configured to transmit a measurement signal, and the signal receiver is configured to receive and reflect the measurement signal. The rotary distance sensing device of claim 9, wherein the axis of the rotating chassis has a positioning hole, and a wireless transmitter is disposed at the bottom of the control module, and the wireless transmitter penetrates into the positioning hole to The reflected signal received by the transmission signal receiver is transmitted from a bottom of the fixing base into a wireless receiver in the guiding hole. The rotary distance sensing device of claim 9, wherein the linkage structure is a pulley structure, a gear structure or other equivalent drive-driven structure that drives the rotary chassis to rotate. The rotary distance sensing device of claim 9, further comprising a conductive structure, the conductive structure comprising a plurality of power transmission structures and a power receiving structure, wherein the power transmission structures are disposed on the inner side wall of the via hole and a power supply device is connected to provide power, and the power receiving structure is disposed in the guide hole and connected to the control module through the rotating chassis for receiving power provided by the power transmission structure to the control module use. The rotary distance sensing device of claim 12, wherein the power receiving device comprises at least two annular electrical conductors disposed on an outer edge of the power receiving device, and the power transmission structures respectively comprise the annular conductive The positive electrode brush and the negative electrode brush are both disposed on the inner wall surface of the guide hole and are in contact with the power supply device through the elastic piece and the at least one negative electrode brush. The rotary distance sensing device of claim 12, wherein the power receiving device is provided with at least one transmission unit, the rotating chassis is provided with at least a consistent perforation corresponding to the position of the transmission unit, and the transmission unit passes through the through The hole is connected to the control module for providing power to the control module.