TWI891125B - Sensor device having air curtain barrier, and autonomous mobile robot having sensor device having air curtain barrier - Google Patents

Abstract

A sensor device having air curtain barrier is provided, which includes first base, second base, sensor and airflow producing assembly for producing airflow. First base is disposed in concave which is formed by inner wall of flange and first top of first base. First angle between inner wall and first top is bigger than 90 degrees and smaller than 135 degrees. Ring of outer wall which is toward down and inclined is formed between second top and second bottom of second base. First gap is formed between second bottom and first top. Second gap is formed between outer wall and inner wall. Sensor is disposed on second top. Airflow goes through penetration part which is disposed between first top and first bottom then goes through first and second gap then formed air curtain barrier around sensor. Furthermore, an autonomous mobile robot having sensor device having air curtain barrier is proposed.

Description

Sensor device with air curtain barrier and self-propelled vehicle including the sensor device with air curtain barrier

This disclosure relates to the field of processing technology, and more particularly to a sensor device with an air curtain barrier and a self-propelled vehicle including the sensor device with an air curtain barrier.

A sensor generally refers to a component or device that converts collected information into a signal that can be processed by a device. Depending on the physical properties of the object being sensed, sensors include distance sensors, angle sensors, temperature sensors, pressure sensors, and more, with users selecting the right sensor based on their specific needs. For example, LiDAR (Light Detection and Ranging), which has been widely used in various fields in recent years, can be used to measure distance and depth.

To ensure accurate sensing, the distance between the sensor and the object being sensed must be free from external interference. For example, in distance measurement, the sensor emits a light beam to illuminate the object and uses the reflected light to measure the distance. Contamination on the sensor's light-emitting surface can severely impact sensing accuracy.

In practical applications, for example, in pesticide spraying operations, many businesses are currently using self-propelled vehicles (such as walking robots) to carry out pesticide spraying, replacing manual labor. These vehicles are equipped with distance sensors and, after being programmed to follow a set path, can move along it and spray the pesticides they carry on the plants, thus preventing workers from being contaminated by pesticides.

However, during the pesticide spraying process, pesticides can fall freely or be blown away by the wind and adhere to the sensors, thus affecting sensing and the movement of the autonomous vehicle.

To protect the sensor from contamination, a commonly known solution is to add a transparent protective cover to the sensor.

While the protective cover protects the sensor from direct pesticide contamination, pesticides that land on it can still indirectly obscure the sensor, necessitating frequent wiping or cleaning to maintain proper operation. Furthermore, prolonged exposure to pesticides can degrade the cover's material, necessitating replacement.

Therefore, developing a sensor device with an air curtain barrier and a self-propelled vehicle incorporating the same that can reliably protect the sensor from contamination and ensure the normal operation of the self-propelled vehicle is an urgent challenge for those in the relevant technical field.

In one embodiment, the present disclosure provides a sensor device with an air curtain barrier, comprising: a first base having a first top portion and a first bottom portion facing each other; an annular rim surrounding the first top portion; an inner sidewall of the rim and the first top portion forming a recess; the inner sidewall being an inclined surface extending upward and outward from the first top portion; a first angle between the inner sidewall and the first top portion; the first angle being greater than 90 degrees and less than 135 degrees; a through portion connecting the first bottom portion and the first top portion; and a second base having a second top portion and a second bottom portion facing each other; an annular outer sidewall between the second top portion and the second bottom portion; the outer sidewall being an inclined surface extending upward and outward from the first top portion. The inclined surface extends downward from the second top portion and retracts inward. The second base is disposed within the recess of the first base, defining a first gap between the second bottom portion and the first top portion, and an annular second gap between the outer wall and the inner wall. The first gap, the second gap, and the through-portion are interconnected. A sensor is disposed on the second top portion, with the sensing surface of the sensor located on the side of the sensor. An airflow generating assembly is disposed on the first bottom portion, with the airflow generating surface of the airflow generating assembly facing the through-portion. A driving assembly drives the airflow generating assembly to generate airflow and the sensor for sensing. The airflow passes through the through-portion, enters the first gap, and then flows out of the second gap, forming an air curtain barrier surrounding the sensor.

In one embodiment, the present disclosure provides a self-propelled vehicle including a sensor device with an air curtain barrier, comprising: a self-propelled vehicle that can be driven to move along a set path; and a sensor device with an air curtain barrier disposed on the self-propelled vehicle, wherein the sensor device with an air curtain barrier comprises: a first base having a first top portion and a first bottom portion opposite to each other, The periphery of the device comprises an annular ridge, the inner sidewall of the ridge and the first top forming a recessed portion. The inner sidewall is an inclined surface, extending upward and outward from the first top. The inner sidewall and the first top form a first angle, the first angle being greater than 90 degrees and less than 135 degrees. A through portion is provided between the first bottom and the first top, interconnecting them. A second base having an opposing second top. and a second bottom portion, an annular outer sidewall being provided between the second top portion and the second bottom portion, the outer sidewall being an inclined surface, the outer sidewall being inclined in a direction extending downward from the second top portion and contracting inward; the second base being disposed within the recess of the first base portion, a first gap being provided between the second bottom portion and the first top portion, and an annular second gap being provided between the outer sidewall and the inner sidewall, the first gap, the second gap, and the through portion being interconnected; A sensor is disposed on the second top portion, with the sensing surface of the sensor located on the side of the sensor; an airflow generating assembly is disposed on the first bottom portion, with the airflow generating surface of the airflow generating assembly facing the through-hole; and a driving assembly drives the airflow generating assembly to generate airflow and drive the sensor for sensing. The airflow passes through the through-hole, enters the first gap, and then flows out of the second gap to form an air curtain barrier surrounding the sensor.

100: Sensor device with air curtain barrier

10: First seat

11: First top

12: First Bottom

13: Flange

131: Medial wall

14: concave part

15: Penetration

20: Second seat

21: Second top

22: Second bottom

23: Outer wall

30: Sensor

31: Sensing surface

40: Airflow generating component

41: The surface that generates airflow

200: Self-propelled vehicle

202: Sprayer

204:Liquid

AF: Airflow

CUR: Air Curtain Barrier

DR: Sensing range

G1: First Gap

G2: Second Gap

H13, H21, H31: Horizontal Height

θ1: First angle

Figure 1 is a schematic diagram of the three-dimensional structure of an embodiment of a sensor device with an air curtain barrier disclosed herein.

Figure 2 is a schematic diagram of the exploded structure of the embodiment of Figure 1.

Figure 3 is a schematic diagram of the A-A cross-sectional structure of Figure 1.

Figure 4 is a schematic diagram of the cross-sectional structure of Figure 3.

Figure 5 is an enlarged schematic diagram of the structure of area B in Figure 3.

Figures 6 to 8 are schematic diagrams of the air curtain barrier and sensor sensing in the embodiment of Figure 1.

FIG9 is a schematic structural diagram of an embodiment of a self-propelled vehicle including a sensor device with an air curtain barrier according to the present disclosure.

Figures 10A and 10B are tubular streamline projection diagrams of the air curtain barrier simulation test conducted in this disclosure.

Figures 11A and 11B are diagrams illustrating the particle dynamics during the air curtain barrier simulation test conducted in this disclosure.

1 and 2 , the sensor device 100 with an air curtain barrier disclosed herein includes a first base 10, a second base 20, a sensor 30, and an airflow generating assembly 40.

As shown in Figures 2 to 5 , the first base 10 has a first top portion 11 and a first bottom portion 12 (as shown in Figures 3 to 5 ) facing each other. An annular rim 13 is formed around the periphery of the first top portion 11. The inner sidewall 131 of the rim 13 and the first top portion 11 form a recess 14.

The inner sidewall 131 is an inclined surface, extending upward and outward from the first top portion 11. A first angle θ1 is defined between the inner sidewall 131 and the first top portion 11. The first angle θ1 (as shown in FIG. 4 ) is greater than 90 degrees and less than 135 degrees.

A through-hole 15 is provided between the first bottom portion 12 and the first top portion 11 to connect them. The through-holes 15 shown in Figure 2 are multiple symmetrically arranged holes. However, their shape and number are not limited to those shown in Figure 2 and can be designed according to actual needs, as long as they allow the first bottom portion 12 and the first top portion 11 to penetrate and connect with each other.

As shown in Figures 2 to 5 , the second base 20 has a second top portion 21 and a second bottom portion 22 . An annular outer sidewall 23 is formed between the second top portion 21 and the second bottom portion 22 . The outer sidewall 23 is an inclined surface, extending downward from the second top portion 21 and converging inward.

As shown in Figure 5 , the second base 20 is disposed within the recess 14 of the first base 10 . The first and second bases 10 and 20 can be connected by bolts, hooks, or any other suitable method or mechanism. A first gap G1 is defined between the second bottom 22 and the first top 11 , and a second gap G2 is defined between the outer wall 23 and the inner wall 131 . The first gap G1 is larger than the second gap G2 . The first gap G1, the second gap G2, and the through-portion 15 are interconnected.

As shown in Figure 2, in this embodiment, both the first base 10 and the second base 20 are circular. Therefore, the first top portion 11 is a circular plane, the recess 14 is an upwardly expanding cone, and the outer wall 23 and second bottom 22 of the second base 20 form a downwardly contracting cone. That is, when the second base 20 is placed within the recess 14 of the first base 10, both the first gap G1 and the second gap G2 are annular. Figure 5 only shows a partial cross-sectional structure.

Furthermore, Figure 5 shows that the second bottom portion 22 is parallel to the first top portion 11, so the first gap G1 is an annular ring with uniform width. Furthermore, the outer sidewall 23 of the second base 20 and the inner sidewall 131 of the first base 10 are parallel to each other, so the second gap G2 is an annular ring with uniform width.

It should be noted that the first gap G1 and the second gap G2 do not necessarily need to be annular with uniform width, nor is the first gap G1 necessarily larger than the second gap G2. The present disclosure is characterized in that the first angle θ1 (as shown in FIG. 4 ) between the inner sidewall 131 of the annular flange 13 and the first top portion 11 is greater than 90 degrees and less than 135 degrees, resulting in an annular second gap G2.

As shown in Figures 3, 4, and 6, the sensor 30 is mounted on the second top portion 21 of the second base 20. The sensor 30 and the second base 20 can be connected using bolts, hooks, or any other suitable method or mechanism. The sensor 30 has a sensing range DR. The sensing surface 31 of the sensor 30 is located on the side of the sensor 30 and has a height H31 that is higher than the height H21 of the second top portion 21 and the height H13 of the top portion of the flange 13. In this embodiment, the heights H13 and H21 are equal.

The type of sensor 30 is not limited and depends on the object to be sensed. For example, it can be an optical sensor, including lidar.

As shown in Figures 3, 4, and 6, an airflow generating assembly 40 is disposed on the first bottom portion 12 of the first base 10. The airflow generating assembly 40 and the first base 10 can be connected by bolts, hooks, or any other suitable means or mechanism. The airflow generating surface 41 of the airflow generating assembly 40 faces the through-portion 15. The type of airflow generating assembly 40 is not limited, as long as it can generate airflow. For example, Figure 2 shows a fan, and the number of airflow generating assembly 40 is not limited to one.

Both the sensor 30 and the airflow generating assembly 40 are driven by a driver assembly (not shown). The driver assembly can be of any form, such as a program or software, and can be wirelessly or wiredly electrically connected to the sensor and airflow generating assembly to drive the airflow generating assembly 40 to generate airflow and the sensor 30 to perform sensing.

As shown in Figures 6 to 8 , the airflow generating assembly 40 generates airflow AF when driven. The airflow AF enters the first gap G1 through the through-hole 15 and then flows out through the second gap G2 to form the air curtain barrier CUR.

Because the inner wall 131 and the first top portion 11 form a first angle θ1 greater than 90 degrees and less than 135 degrees (as shown in FIG4 ), and the second gap G2 is annular, an upwardly expanding conical air curtain barrier CUR is formed around the periphery of the sensor 30 , as shown in FIG8 .

The dimensions of the first base 10 and the second base 20 can be determined based on the sensing range DR of the sensor 30. For example, as shown in Figure 7 , the outer diameters of the first base 10 and the second base 20 should not interfere with the sensing range DR.

This disclosure utilizes differential gas pressure flow technology to create an air curtain barrier around the sensor. While the airflow rate remains constant per unit time, the flow rate changes as the cross-sectional area changes. For example, as airflow AF sequentially passes through the through portion 15, the first gap G1, and the second gap G2, its cross-sectional area gradually decreases, increasing its velocity. When airflow AF is ejected at high speed from the second gap G2, it forms an air curtain barrier CUR, protecting the sensor 30 from interference and adhesion by foreign objects such as organic solvents and fine particles. Furthermore, the air curtain barrier CUR prevents shielding or obstructing the sensor 30.

Referring to FIG. 9 , the present disclosure shows a self-propelled vehicle 200 including a sensor device 100 with an air curtain barrier. The self-propelled vehicle 200 can be driven along a set path by a drive assembly (not shown). For example, the drive assembly can be integrated with the drive assembly that drives the sensor 30 and airflow generating assembly 40 shown in FIG. 5 or FIG. 6 , or it can be a separate drive assembly with a program or software that drives the self-propelled vehicle 200.

A sensor device 100 with an air curtain barrier and a sprayer 202 are installed on a self-propelled vehicle 200. The sprayer 202 is used to spray a liquid 204, which can be an organic solvent or water, for example.

The self-propelled vehicle 200 carries the sensor device 100 and the sprayer 202 and moves. The sensor 30 senses the distance of an object (not shown) and the sprayer 202 sprays liquid 204 onto the object.

The air curtain barrier CUR shields sensor 30, preventing contamination of sensor 30 by liquid 204 and potential misjudgment. Furthermore, although the air curtain barrier CUR overlaps with the sensing range DR, this does not affect the sensor 30's sensing information, as demonstrated in the following simulation verification.

Please refer to Figures 10A and 10B for tubular streamline projections from the air curtain barrier simulation test conducted in this disclosure. Figure 10A is a front view of the sensor device with an air curtain barrier, and Figure 10B is a side view of the sensor device with an air curtain barrier. The bars in Figures 10A and 10B represent the flow path of the air curtain barrier.

Please refer to Figures 11A and 11B for particle dynamics simulation diagrams from the air curtain barrier simulation test conducted in this disclosure. Figure 11A is a front view of the sensor device with an air curtain barrier, and Figure 11B is a side view of the sensor device with an air curtain barrier. The dots in Figures 11A and 11B represent the dynamic distribution paths of particles in the air curtain barrier.

Figures 10A and 10B, and Figures 11A and 11B show that the present disclosure can indeed form an air curtain barrier around the sensor.

In summary, the present disclosure provides a sensor device with an air curtain barrier and a self-propelled vehicle including the sensor device. Airflow generated by an airflow generating assembly flows through the tiny gap formed between the second base and the first base, creating a conical air curtain barrier that surrounds the sensor, isolating the sensor from external pollutants without affecting the sensor's sensing information.

Although the present disclosure has been disclosed above through embodiments, they are not intended to limit the present disclosure. Anyone with ordinary skill in the art may make minor modifications and improvements without departing from the spirit and scope of the present disclosure. Therefore, the scope of protection of the present disclosure shall be determined by the scope of the attached patent application.

100: Sensor device with air curtain barrier 10: First base 20: Second base 30: Sensor 40: Airflow generating assembly

Claims (10)

A sensor device with an air curtain barrier comprises: A first base having a first top portion and a first bottom portion facing each other, an annular rim surrounding the first top portion, an inner sidewall of the rim and the first top portion forming a recess, the inner sidewall being an inclined surface extending upward and outward from the first top portion, a first angle being formed between the inner sidewall and the first top portion, the first angle being greater than 90 degrees and less than 135 degrees, and a through portion being provided between the first bottom portion and the first top portion for interconnection; A second base having a second top portion and a second bottom portion facing each other, an annular outer wall between the second top portion and the second bottom portion, the outer wall being an inclined surface extending downward and inward from the second top portion; the second base being disposed within the recess of the first base, a first gap being defined between the second bottom portion and the first top portion, and an annular second gap being defined between the outer wall and the inner wall, the first gap, the second gap, and the through-portion being interconnected; A sensor disposed on the second top portion, the sensing surface of the sensor being located on a side surface of the sensor; An airflow generating assembly disposed on the first bottom portion, the airflow generating surface of the airflow generating assembly facing the through-portion; and A driving assembly drives the airflow generating assembly to generate airflow and drives the sensor to perform sensing. The airflow passes through the through portion, enters the first gap, and then flows out of the second gap to form an air curtain barrier surrounding the sensor. As in claim 1, the sensor device with an air curtain barrier, wherein the inner wall of the first base and the outer wall of the second base are parallel to each other. A sensor device with an air curtain barrier as claimed in claim 1, wherein the first top of the first base and the second bottom of the second base are parallel to each other. A sensor device with an air curtain barrier as claimed in claim 1, wherein the level of the sensing surface of the sensor is higher than the level of the second top surface and the level of the top of the flange. A sensor device with an air curtain barrier as claimed in claim 1, wherein the first gap is larger than the second gap. A self-propelled vehicle including a sensor device with an air curtain barrier comprises: A self-propelled vehicle capable of being driven to move along a set path; and A sensor device with an air curtain barrier disposed on the self-propelled vehicle, the sensor device with an air curtain barrier comprising: A first base having a first top portion and a first bottom portion facing each other. An annular rim is formed around the periphery of the first top portion. The inner sidewall of the rim and the first top portion form a recess. The inner sidewall is an inclined surface, extending upward and outward from the first top portion. A first angle is formed between the inner sidewall and the first top portion, the first angle being greater than 90 degrees and less than 135 degrees. A through portion is provided between the first bottom portion and the first top portion, interconnecting the two portions. A second base having a second top portion and a second bottom portion facing each other, an annular outer wall between the second top portion and the second bottom portion, the outer wall being an inclined surface extending downward and inward from the second top portion; the second base being disposed within the recess of the first base, a first gap being defined between the second bottom portion and the first top portion, and an annular second gap being defined between the outer wall and the inner wall, the first gap, the second gap, and the through-portion being interconnected; A sensor disposed on the second top portion, the sensing surface of the sensor being located on a side surface of the sensor; An airflow generating assembly disposed on the first bottom portion, the airflow generating surface of the airflow generating assembly facing the through-portion; and A driving assembly drives the airflow generating assembly to generate airflow and drives the sensor to perform sensing. The airflow passes through the through portion, enters the first gap, and then flows out of the second gap to form an air curtain barrier surrounding the sensor. As claimed in claim 6, the self-propelled vehicle includes a sensor device with an air curtain barrier, wherein the inner wall of the first base and the outer wall of the second base are parallel to each other. A self-propelled vehicle as claimed in claim 6, comprising a sensor device having an air curtain barrier, wherein the first top of the first base and the second bottom of the second base are parallel to each other. A self-propelled vehicle as claimed in claim 6, comprising a sensor device having an air curtain barrier, wherein the horizontal height of the sensing surface of the sensor is higher than the horizontal height of the second top surface and the horizontal height of the top of the flange. A self-propelled vehicle as claimed in claim 6 comprising a sensor device having an air curtain barrier, wherein the first gap is larger than the second gap.