CN109893035A - Signal transmitting apparatus and mobile robot - Google Patents
Signal transmitting apparatus and mobile robot Download PDFInfo
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- CN109893035A CN109893035A CN201910219408.0A CN201910219408A CN109893035A CN 109893035 A CN109893035 A CN 109893035A CN 201910219408 A CN201910219408 A CN 201910219408A CN 109893035 A CN109893035 A CN 109893035A
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- 230000008054 signal transmission Effects 0.000 claims abstract description 70
- 238000001514 detection method Methods 0.000 claims abstract description 30
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 28
- 230000005540 biological transmission Effects 0.000 claims abstract description 21
- 238000009434 installation Methods 0.000 claims description 21
- 230000003287 optical effect Effects 0.000 claims description 13
- 238000004140 cleaning Methods 0.000 description 19
- 230000000712 assembly Effects 0.000 description 10
- 238000000429 assembly Methods 0.000 description 10
- 238000003860 storage Methods 0.000 description 9
- 238000012545 processing Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 230000007613 environmental effect Effects 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 239000002360 explosive Substances 0.000 description 3
- 230000002452 interceptive effect Effects 0.000 description 3
- 230000001681 protective effect Effects 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 238000005253 cladding Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- 230000010365 information processing Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 238000003825 pressing Methods 0.000 description 1
- 238000012372 quality testing Methods 0.000 description 1
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- 238000003756 stirring Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Abstract
The invention discloses a kind of signal transmitting apparatus, the signal transmitting apparatus includes pedestal, it is set on the pedestal and rotatable rotary components and signal transmission assembly, the signal transmission assembly includes the first component for being installed on the pedestal, the second component being installed in the first component, first signal transmission unit and second signal transmission unit, first signal transmission unit is configured as the hollow structure location transmission signal from the second component, the second signal transmission unit is configured as the transmission signal of the interstitial site between the first component and the second component.The invention also discloses a kind of mobile robot, the mobile robot includes main body, driving wheel, environment detection sensor and signal transmitting apparatus.Using the present invention, there is independent mutually between signal transmission interference between reduction signal, eliminate signal and transmit blind area, effectively transmit a signal to the mobile robot, improve the performance of mobile robot.
Description
Technical field
The present invention relates to robot technology and signal transmission technology more particularly to a kind of signal transmitting apparatus and include signal
The mobile robot of transmitting device.
Background technique
Mobile robot is one, and to collect environment sensing, dynamic decision and planning, behaviour control and execution etc. multi-functional in one
The integrated system of body.It concentrated sensor technology, information processing, electronic engineering, computer engineering, automation control engineering with
And the multi-disciplinary research achievement such as artificial intelligence.As robot performance is constantly perfect, the application range of mobile robot is big
It for extension, is not only widely used in the industries such as industry, agricultural, medical treatment, service, but also steps into smart home row
Industry cleans and monitors indoors the occasions such as indoor security and applied well.
Current indoor mobile robot, is mainly used in cleaning face to be cleaned, and the room that people live be equipped with compared with
More households, household it is different, certain difficulty is brought to mobile robot clean room, existing mobile robot exists mostly
Laser radar is installed at top, and more accurately to identify the environment arrangement in room, component goes out map and cooks up suitable route.
But laser radar needs to transmit information to mobile robot, mobile robot receives phase after the information in detection room
It is also required to information or control information feeding back to laser radar after closing information, the number between existing laser radar and mobile robot
It is transmitted according to one side using conducting slip ring, but the easy mechanical wear of conducting slip ring and electrical connection failure, shorten radar service life.
On the other hand, by the way of wirelessly communicating transmitted in both directions, but the design of transmission structure and the installation of transmitter and receiver
The defect of position, so that there are blind areas for signal transmission, and there is interference in two groups of signals between transmitter and receiver, so that moving
There is a certain error for the detectable signal for the laser radar that mobile robot receives, and even receives error message.
Summary of the invention
Technical problem to be solved by the present invention lies in provide a kind of signal transmitting apparatus and comprising signal transmitting apparatus
Signal can be accurately transferred to mobile robot by mobile robot, the signal transmitting apparatus, and can to avoid two groups or
Interference between multiple groups signal.
In order to solve the above-mentioned technical problem, the embodiment of the present invention uses following technical scheme:
On the one hand, the present invention provides a kind of signal transmitting apparatus, comprising:
Pedestal；
Rotary components are set on the pedestal and can drivingly be rotated around a rotary shaft；
Signal transmission assembly, comprising:
The first component, is installed on the pedestal, and the first component is formed with the first inner wall；
Second component is configured as rotating together with the rotary components, the second component be formed with the second inner wall and
Second outer wall, second inner wall, which encloses, to be set to form hollow structure, and the first component at least partly surrounds the second component, institute
Stating has certain gap between the first inner wall and second outer wall；
First signal transmission unit, including the first signal projector and the first signal receiver, the first signal transmission
Unit is configured as enclosing the hollow structure location transmission signal for setting and being formed from second inner wall；
Second signal transmission unit, including second signal transmitter and second signal receiver, the second signal transmission
Unit is configured as the transmission signal of the interstitial site between first inner wall and second outer wall.
First signal projector is installed on the bottom of the first component in one of the embodiments, and described
One signal receiver corresponds to the top that first signal projector is installed on the second component, the second signal transmitting
Device is installed on second outer wall, and the second signal receiver correspondence is installed on installation identical as the second signal transmitter
First inner wall of height.
The second signal receiver is multiple and is evenly arranged in first inner wall in one of the embodiments,.
First signal projector is installed on the top of the second component in one of the embodiments, and described
One signal receiver corresponds to the bottom that first signal projector is installed on the first component, and the second signal receives
Device is installed on second outer wall, and the second signal transmitter correspondence is installed on installation identical as the second signal receiver
First inner wall of height.
The second signal transmitter is multiple and is evenly arranged in first inner wall in one of the embodiments,.
First signal projector and the second signal transmitter are configured as emitting in one of the embodiments,
Optical signal.
The first component and the second component are cylindric in one of the embodiments,.
The pedestal is also equipped with driving motor in one of the embodiments, and the driving motor is driven by belt,
To drive the rotary components to rotate.
The center of the pedestal is provided with protrusion, the outside peace of the protrusion in one of the embodiments,
Equipped with first bearing, the rotary components are equipped with second bearing, and the second bearing is installed on the outside of the first bearing,
The rotary components are installed on the pedestal.
On the other hand, the present invention also provides a kind of mobile robots, including main body, the driving mobile robot are to clear
The environment detection sensor and letter described in any of the above embodiments of the mobile driving wheel of face cleaning, the detection mobile robot environment
Number transmitting device.
Compared with prior art, the technical solution of the embodiment of the present invention at least has the advantages that
The invention discloses a kind of signal transmitting apparatus, the signal transmitting apparatus includes pedestal, is set to the pedestal
Upper and rotatable rotary components and signal transmission assembly, the signal transmission assembly include be installed on the pedestal first
Component, the second component that can be rotated together with the rotary components, the first signal transmission unit and second signal transmission unit,
The second component is installed in the first component, between having centainly between the first component and the second component
Gap, the second component are hollow structure, and first signal transmission unit is configured as from the hollow structure location transmission
Signal, the second signal transmission unit are configured as transmitting signal from the interstitial site.In addition, the invention also discloses one
Kind of mobile robot, the mobile robot include main body, driving wheel, environment detection sensor and signal transmitting apparatus, described
Two signal transmission units of signal transmitting apparatus are respectively from different location transmission signals, so that two or more sets signals transmit
Between it is independent mutually, reduce the interference between signal, this kind of transmission mode can also eliminate signal transmission blind area, can effectively by
Signal is transferred to the mobile robot, improves the performance of mobile robot.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
Other variants are obtained according to these attached drawings.
Fig. 1 is the perspective view of mobile robot in one embodiment of the invention；
Fig. 2 is the explosive view of mobile robot in one embodiment of the invention；
Fig. 3 is the perspective view of signal transmitting apparatus in one embodiment of the invention；
Fig. 4 is the floor map of signal transmitting apparatus in one embodiment of the invention；
Fig. 5 is the schematic diagram of signal transmission assembly in one embodiment of the invention；
Fig. 6 is the cross-sectional view of signal transmission assembly in one embodiment of the invention；
Fig. 7 is that the installation site of second signal transmitter 401 and second signal receiver 402 is shown in one embodiment of the invention
It is intended to；
Fig. 8 is the installation site of second signal transmitter 401 and second signal receiver 402 in another embodiment of the present invention
Schematic diagram；
Fig. 9 is the installation site of second signal transmitter 401 and second signal receiver 402 in further embodiment of this invention
Schematic diagram；
Figure 10 is the cross-sectional view of signal transmission assembly in another embodiment of the present invention；
Figure 11 is the structural schematic diagram of mobile robot in one embodiment of the invention；
Figure 12 is that the signal of environment detection sensor in one embodiment of the invention is transmitted to the control flow of mobile robot
Figure；
Figure 13 is that the signal of mobile robot in one embodiment of the invention is transmitted to the control flow of environment detection sensor
Figure.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention is clearly retouched
It states, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Based on the present invention
In embodiment, every other implementation obtained by those of ordinary skill in the art without making creative efforts
Example, shall fall within the protection scope of the present invention.
Noun of locality "front", "rear" described herein, "left", "right" are with self-movement robot direction of advance for reference side
To when "top" described herein, "bottom", "upper", "lower", " cross ", " perpendicular " are with self-movement robot normal work
State be reference.
The invention patent is illustrated by clean robot of self-movement robot, in other embodiments,
The self-movement robot can be security robot or other intelligent robots etc..
Fig. 1 and Fig. 2 are please referred to, Fig. 1 is the perspective view of mobile robot in one embodiment of the invention；Fig. 2 is the present invention one
The explosive view of mobile robot in embodiment.Self-movement robot of the present invention includes main body 10, for driving the shifting
Driving wheel 20 that mobile robot moves on face to be cleaned is installed on self-movement robot described in 10 inside of main body and real-time control
The controller 30 of walking, the obstacle detector 40 for being set to 10 front of the main body and it is installed on 10 top of main body,
For detecting the environment detection sensor 80 of the mobile robot environment.It is envisioned that, it is of the present invention from moving machine
Device people is to illustrate by taking clean robot as an example to all parts and function, and the self-movement robot further includes
Storage device 60 for cleaning the cleaning assemblies 50 in face to be cleaned and for collecting cleaning object.
The driving wheel 20 is installed on the main body 10 towards the side in the face to be cleaned, and the driving wheel 20 includes peace
Left and right sidesing driving wheel loaded on 10 left and right sides of main body, left and right sidesing driving wheel telescopically designs, preferably to carry the master
Body 10, the driving wheel 20 can also include the omni-directional wheel 21 of position before or after being set to the main body 10.The left and right driving
The installation site distribution triangular in shape of wheel and omni-directional wheel 21, to improve the stabilization walked in the self-movement robot course of work
Property.During the self-movement robot straight trip, the left and right sidesing driving wheel drives the self-movement robot with identical speed
Walking；If the environment detection sensor 80 or the obstacle detector 40 generate signal intensity, the controller 30
It controls 20 differential of the driving wheel traveling or is travelled with identical velocity reversal, so that the self-movement robot can be according to work
Environmental aspect executes corresponding movement.
Cleaning assemblies 50 may include the first cleaning assemblies and the second cleaning assemblies, and the bottom of the main body 10 is provided with appearance
Receive the groove of first cleaning assemblies, the groove is provided with suction inlet, and the suction inlet is connected to the storage device 60 through air duct.
First cleaning assemblies may include being installed on the groove by the hairbrush of front position and being installed on groove position rearward
Scraping article, motor, the rotation of hairbrush described in the motor driven, by the cleaning pair on the ground are installed inside the main body 10
As being pushed into the suction inlet.Fan assembly is additionally provided in the air duct, the fan assembly generates suction for the cleaning object
Suck the storage device 60.Second cleaning assemblies is set to the marginal position of the main body 10, to clean described first
Cleaning assemblies can not clean position, and by the suction inlet cleaning object stir so that the cleaning object is easier quilt
Fan assembly sucks the storage device 60.The cleaning assemblies is also communicated with the controller, is issued according to the controller
Information, adjust and revolving speed or stop working.
The storage device 60 is installed on the rear positions of the main body 10, the edge of the storage device 60 be provided with by
Key, pressing the key can remove the storage device 60 from the main body 10 towards rear portion.In other embodiments, institute
Middle part or other positions that storage device 60 can also be installed on the main body 10 are stated, the storage device 60 can also include collection
Dirt box and water tank are respectively used to collect cleaning object and carry out wet dragging work.The self-movement robot can also include accordingly
Mopping component, the mopping component are installed on the rear portion of the main body 10, the mopping component ground can be carried out it is dry drag,
It can be dripped by the water tank and wet drag is carried out to ground after soaking the mopping component.
The obstacle detector 40 is set to the front of the main body 10 of the self-movement robot, the obstacle quality testing
It surveys device 40 to extend from the front of the main body 10 to the rear portion of the main body 10, and at least partly cladding is described from mobile machine
People's lateral edge position, to detect the obstacle information in the self-movement robot working environment, the controller is according to institute
The environmental information for stating the feedback of obstacle detector 40 controls the self-movement robot walking.
The controller 30 is set to the inside of the main body 10, cleaning assemblies 50, drive with the self-movement robot
The component communications such as driving wheel 20, environment detection sensor 80 and obstacle detector 40, to control the self-movement robot work
Make.The controller may include it is multiple control all parts respectively, can also only setting one, control all components.It is described
Controller can be the micro-control units such as single-chip microcontroller, FPGA, ASIC, DSP.
Mobile robot of the present invention, top are equipped with the environment detection for detecting the mobile work robot environment
Sensor 80, the environment detection sensor 80 is preferably laser sensor, in order to enable the laser sensor 80 is detected
Environmental information be accurately delivered to the mobile robot and the accurate instruction for conveying mobile robot to the laser sensing
Device 80 is originally that the invention mobile robot is also equipped with signal transmitting apparatus 90, and the laser sensor 80 is installed on institute
State signal transmitting apparatus 90.
Please see Fig. 2 to Fig. 4, Fig. 2 is the explosive view of mobile robot in one embodiment of the invention, and Fig. 3 is the present invention one
The perspective view of signal transmitting apparatus in embodiment, Fig. 4 are the floor map of signal transmitting apparatus in one embodiment of the invention.Institute
Stating signal transmitting apparatus 90 may include pedestal 91, rotary components 92, mounting rack 93 and protective cover 94.The pedestal 91 is installed on
The main body 10, pedestal 91 are equipped with driving motor 910, and the drive shaft of the driving motor 910 is pierced by the pedestal 91, driving
A mounting blocks 911 are provided on axis, the mounting blocks 911 are strong in cylinder, and wall surface one encloses 360 degree and is provided with recessed portion, the rotation
Turn component 92 to connect by belt 912 with the mounting blocks, can drivingly be rotated.The top of the rotary components is equipped with
Laser sensor 80, the laser sensor 80 can rotate together with rotary components 92.It is offered on the mounting rack 93
Mounting hole 931, the position that the main body 10 corresponds to the mounting hole 931 are provided with mounting post 11, the mounting post 11 it is interior
Portion is provided with internal screw thread, and after the pedestal 91 and the rotary components 92 are installed on the main body, the mounting rack 93 passes through spiral shell
The pedestal 91 is fixedly installed in the main body 10 by silk 932.
It is equipped on the rotary components 92 with rotary table 921, carries laser sensor 80 inside the rotary table 921, circle
Platform 921 is pierced by from the center of the mounting rack 93, during avoiding the mobile work robot, the rotary table 921
It collides with barrier, causes laser sensor 80 impaired, the top of the mounting rack 93 is equipped with protective cover 94, the circle
Platform 921 extends at least partially into the inside of the protective cover 94.
In one embodiment of the invention, the mounting rack 931 can be integrally formed with the pedestal 91, in the pedestal 91
Heart position is provided with protrusion 915, and the outside of the protrusion 915 is equipped with first bearing 914, and the rotary components 92 are installed
There is second bearing 924, the second bearing 924 is installed on the outside of the first bearing 914, can by the rotary components 92
Rotation is installed on the pedestal 91.The signal transmission assembly 95 is installed on the center of the protrusion 915.The present invention
Embodiment in, first signal projector 301 and the second signal transmitter 401 are configured as transmitting optical signal, phase
Ying Di, first signal receiver 302 and the second signal receiver 402 be configured as receive optical signal, described first
Signal projector 301 and the second signal transmitter 401 are infrared sensor.In other embodiments, first signal
Transmitter 301 and the second signal transmitter 401 can also be that other are used for transmission the sensor of signal.The first component
100 and the second component 200 be it is cylindric, in order to which the second component 200 is rotatably mounted in the first component
100。
Fig. 5 and Fig. 6 are please referred to, Fig. 5 is the schematic diagram of signal transmission assembly in one embodiment of the invention, and Fig. 6 is the present invention
The cross-sectional view of signal transmission assembly in one embodiment.The signal transmission assembly 95 includes the first component 100, at least partly by institute
State second component 200, the first signal transmission unit 300 and the second signal transmission unit 400 of the encirclement of the first component 100.It is described
The first component 100 is installed on the pedestal 91, and the first component 100 is formed with the first inner wall 101, the second component 200
It is configured as rotating together with the rotary components 92, the second component 200 is formed with the second inner wall 201 and the second outer wall
202, second inner wall 201, which encloses, to be set to form hollow structure, and the second component 200 is at least partly by the first component 100
It surrounds, there is certain gap between first inner wall 101 and second outer wall 202.
First signal transmission unit 300 includes the first signal projector 301 and the first signal receiver 302, described
First signal transmission unit 300 is configured as enclosing the hollow structure location transmission signal for setting and being formed from second inner wall 201.Institute
Stating second signal transmission unit 400 includes second signal transmitter 401 and second signal receiver 402, and the second signal passes
Defeated unit 400 is configured as the transmission signal of the interstitial site between first inner wall 101 and second outer wall 202.This
In embodiment, first signal projector 301 is installed on the bottom of the first component 100, first signal receiver
302 correspond to the top that first signal projector 301 is installed on the second component 200, the second signal transmitter
401 are installed on second outer wall 202, and the correspondence of second signal receiver 402 is installed on and the second signal transmitter
First inner wall 101 of 401 identical mounting heights.
First signal transmission unit 300 is installed on the position of the rotary shaft L0, first signal projector 301
Fixed, first signal receiver 302 is along rotary shaft L0 rotation, and in signals transmission, first signal is connect
The signal come from first signal projector 301 transmitting can be received always by receiving device 302.The second signal transmission unit
400 second signal transmitter 401 is installed on the second component 200, and the second signal receiver 402 is installed on described
One component 100, the second signal transmitter 401 follow the second component 200 to rotate, to emit the second signal
The signal that device 401 is emitted can be received by the second signal receiver 402 in real time, the second signal receiver 402
Multiple second signal receivers 402 are uniformly installed along first inner wall 101.
Fig. 7, Fig. 8 and Fig. 9 are please referred to, Fig. 7 is that second signal transmitter 401 and second signal connect in one embodiment of the invention
The schematic view of the mounting position of device 402 is received, Fig. 8 is that second signal transmitter 401 and second signal connect in another embodiment of the present invention
The schematic view of the mounting position of device 402 is received, Fig. 9 is that second signal transmitter 401 and second signal connect in further embodiment of this invention
Receive the schematic view of the mounting position of device 402.In a preferred embodiment of the invention, the second signal transmitter 401 is installed on institute
The second outer wall 202 is stated, the second signal transmitter 401 is rotated by center axis of rotary shaft L0, the second signal receiver
402 centered on the rotary shaft L0, and every 30 degree of 360 deg range are installed one, installs 12 second signals altogether
Receiver 402, so that the signal that the second signal transmitter 401 is emitted can be received in real time.In other embodiments
In, the installation of the second signal receiver 402 can spin centered on shaft L0,360 deg range it is every 45 degree or
One second signal receiver 402 of every 90 degree of installations.Certainly specific installation number and position are by 100 He of the first component
The influence of gap width between the second component 200, the signal strength also emitted by signal projector is influenced, specific
When arranging the installation site and installation number of second signal receiver 402, second signal transmitter 401 should be comprehensively considered and emitted
Clearance distance between the intensity of signal and the first component 100 and the second component 200 determines.The second signal
Installation site between receiver 402 is also possible at other angles arrange.In other embodiments, the second signal hair
Emitter 401 can be uniformly arranged it is multiple be installed on second outer wall 202, the second signal receiver 402 can be set one
It is a to be installed on first inner wall 101.
In the present embodiment, independently passed between first signal transmission unit 300 and the second signal transmission unit 400
Defeated signal, the signal for preventing second signal transmitter 401 or the first signal projector 301 from emitting is by first signal receiver
302 or the second signal receiver 402 receive, avoid interfering with each other for signal transmitted in both directions, and the first signal projector
The signal of 301 transmittings can be received continuously by first signal receiver 302, the letter that second signal transmitter 401 emits
Number can continuously by the second signal receiver 402, thus eliminate signal transmission blind area, improve signal transmission effect
Rate.
Another embodiment
Referring to Fig. 10, Figure 10 is the cross-sectional view of signal transmission assembly in another embodiment of the present invention.The present embodiment is mentioned
The structure of the mobile robot of confession and its structurally and functionally basic phase of effect and mobile robot described in previous embodiment
Together.The difference is that: first signal transmission unit 300 is installed on the position of the rotary shaft L0, first signal
Transmitter 301 is installed on the top of the second component 200, and first signal receiver 302 corresponds to first signal
Transmitter 301 is installed on the bottom of the first component 100.The second signal receiver 402 is installed on second outer wall
202, the correspondence of second signal transmitter 401 is installed on the first of mounting height identical as the second signal receiver 402
Inner wall 101.First signal receiver 302 is fixed, first signal projector 301 along rotary shaft L0 rotation,
In signals transmission, first signal receiver 302 can receive always to be emitted from first signal projector 301
The signal come.The second signal transmitter 401 of the second signal transmission unit 400 is installed on the first component 100, described
Second signal receiver 402 is installed on the second component 200, and the second signal receiver device 401 follows described second
Part 200 rotates.
For the second signal transmitter 401 is emitted signal in real time by the second signal receiver
402 receive, and the second signal receiver 402 is uniformly equipped with multiple second signal receivers along second outer wall 202
402.The installation site of the second signal receiver 402 preferably spins centered on shaft L0,360 deg range every three
Ten degree are installed one, 12 second signal receivers 402 are installed altogether, so that the second signal transmitter 401 is emitted
Signal can be received in real time.In other embodiments, the installation of the second signal receiver 402 can spin shaft
Centered on L0,360 deg range every 45 degree or one second signal receiver 402 of every 90 degree of installations are certainly specific
Installation number and position influenced by gap width between the first component 100 and the second component 200, also by signal
The influence for the signal strength that transmitter is emitted, in the installation site and installation number of specifically arrangement second signal receiver 402
When, the intensity and the first component 100 and the second component of the emitted signal of second signal transmitter 401 should be comprehensively considered
Clearance distance between 200 determines.In other embodiments, the second signal transmitter 401 can be set multiple, uniformly
It is installed on first inner wall 102, the second signal receiver 402 can be set one and be installed on second outer wall 202.
In the present embodiment, independently passed between first signal transmission unit 300 and the second signal transmission unit 400
Defeated signal, the signal for preventing second signal transmitter 401 or the first signal projector 301 from emitting is by first signal receiver
302 or the second signal receiver 402 receive, avoid interfering with each other for signal transmitted in both directions, and the first signal projector
The signal of 301 transmittings can be received continuously by first signal receiver 302, the letter that second signal transmitter 401 emits
Number can continuously by the second signal receiver 402, thus eliminate signal transmission blind area, improve signal transmission effect
Rate.
Another embodiment
Figure 11 and Figure 12 are please referred to, Figure 11 is the structural schematic diagram of mobile robot in one embodiment of the invention, Tu12Shi
The control flow chart of mobile robot in one embodiment of the invention.The mobile robot is started to work, and step 901 environment is executed
Detection sensor 80 detects the working environment information of mobile robot, and the environment detection sensor 80 is laser sensor, ring
Border detection sensor 80 rotatably go back by scanning circumstance information, the including but not limited to concentration of detection furniture, the height of furniture
It can further identify the corner angle information of furniture, further with component environmental map and movement can be cooked up using these information
The walking path of robot.The information that certain environment detection sensor 80 is detected can also further identify to be cleaned
The dirty and messy degree in face, mobile robot can determine the length to the region clean time according to dirty and messy degree.
Execute the mobile robot that step 902 second signal processing unit 210 detects the environment detection sensor 80
Working environment information be converted into the first optical signal.The signal transmitting apparatus 90 is including rotatable second component 200 and admittedly
The first component 100 of Dingan County's dress, the first component 100 at least partly surround the second component 200, the first component
There is certain gap, the second component 200 is hollow structure between 100 and the second component 200.The signal transmission
Device 90 carries out 80 He of environment detection sensor by the first signal transmission unit 300 and second signal transmission unit 400
Signal transmission between the controller 30, first signal transmission unit 300 are configured as from the second component 200
Hollow structure location transmission signal, the second signal transmission unit 400 are configured as from the first component 100 and described
Interstitial site between two components 200 transmits signal.Specifically, first signal transmission unit 300 may include being installed on
The first signal projector 301 and second signal receiver 402 of the second component 200, second signal transmission unit 400 can be with
The first signal receiver 302 and second signal transmitter 401 including being installed on the first component 100.The first component
100 are also equipped with the first signal processing unit 110, and the second component 200 is equipped with second signal processing unit 210.
The first signal projector 301 the first optical signal of transmitting that step 903 is installed on second component 200 is executed, is installed on
First signal receiver 302 of the first component 100 receives the first optical signal, and the environment detection sensor 80 is detected
Environmental information is transmitted to the first component 100 of the fixed installation from the rotatable second component 200.
It executes first signal processing unit of step 904 110 and converts the first electric signal for first optical signal, further
Step 905 is executed by the controller 30 of the first electric signal transmission to the mobile robot.The controller of the mobile robot
30 signals identified are the first electric signal, in signals transmission, first signal projector 301 and first signal
It is to be transmitted with the first optical signal between receiver 302, so first believes after signal is transmitted to the first component 100
Number processing unit 110, which needs that the signal come will be transmitted from the environment detection sensor 80, be converted into the controller 30 and can know
Other first electric signal.After the mobile robot receives the first electric signal, map structure is carried out using the information of the first electric signal
Part or path planning can also further send information to driving wheel 20, control the steering or walking speed of the driving wheel 20
Degree.
Figure 13 is please referred to, Figure 13 is that the signal of mobile robot in one embodiment of the invention is transmitted to environment detection sensor
Control flow chart.When the mobile robot needs to control the environment detection sensor 80, then need that signal will be controlled
It is transferred to the environment detection sensor 80.The transmission process for controlling signal is as follows: executing step 911 mobile robot and issues control
Signal processed.The control signal can be revolving speed control or the elevating control of environment detection sensor 80.Further execute step
The control signal is converted the second optical signal by 912 first signal processing units 110, and signals transmission is all with optical signal
It is transmitted, so needing to convert control signal.It further executes step 913 and is installed on the second of the first component 100
Signal projector 401 emits the second optical signal, and the second signal receiver 402 for being installed on second component 200 receives the second light letter
Number.It executes step 914 second signal processing unit 210 and converts the second electric signal for second optical signal, execute step 915
Second electric signal transmission controls the environment detection sensor to the environment detection sensor 30.
In disclosed embodiment of this invention, the controller 30 of the environment detection sensor 80 and the mobile robot
Between by signal transmitting apparatus 90 realize signal transmitted in both directions, the signal transmission assembly include be fixedly mounted the first component
100, rotatably mounted second component 200, the first signal transmission unit 300 and second signal transmission unit 400, described second
Component 200 is installed in the first component 100, is had centainly between the first component 100 and the second component 200
Gap, the second component 200 are hollow structure, and first signal transmission unit 300 is configured as from the hollow structure
Location transmission signal, the second signal transmission unit 400 are configured as transmitting signal from the interstitial site.Realize first
Individual transmission signal between signal transmission unit 300 and the second signal transmission unit 400, prevents second signal transmitter
401 or first signal projector 301 emit signal by first signal receiver 302 or the second signal receiver
402 receive, and avoid interfering with each other for signal transmitted in both directions, improve the efficiency of transmission of signal.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means particular features, structures, materials, or characteristics described in conjunction with this embodiment or example
It is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are different
Surely identical embodiment or example is referred to.Moreover, the particular features, structures, materials, or characteristics of description can be any one
It can be combined in any suitable manner in a or multiple embodiment or examples.
Embodiments described above does not constitute the restriction to the technical solution protection scope.It is any in above-mentioned implementation
Made modifications, equivalent substitutions and improvements etc., should be included in the protection model of the technical solution within the spirit and principle of mode
Within enclosing.
Claims (10)
1. a kind of signal transmitting apparatus characterized by comprising
Pedestal；
Rotary components are set on the pedestal and can drivingly be rotated around a rotary shaft；
Signal transmission assembly, comprising:
The first component, is installed on the pedestal, and the first component is formed with the first inner wall；
Second component is configured as rotating together with the rotary components, and the second component is formed with the second inner wall and second
Outer wall, second inner wall, which encloses, to be set to form hollow structure, and the first component at least partly surrounds the second component, and described
There is certain gap between one inner wall and second outer wall；
First signal transmission unit, including the first signal projector and the first signal receiver, first signal transmission unit
It is configured as enclosing the hollow structure location transmission signal for setting and being formed from second inner wall；
Second signal transmission unit, including second signal transmitter and second signal receiver, the second signal transmission unit
The interstitial site transmission signal being configured as between first inner wall and second outer wall.
2. signal transmitting apparatus according to claim 1, which is characterized in that first signal projector is installed on described
The bottom of the first component, first signal receiver correspond to first signal projector and are installed on the second component
Top, the second signal transmitter are installed on second outer wall, the second signal receiver is corresponding be installed on it is described
First inner wall of the identical mounting height of second signal transmitter.
3. signal transmitting apparatus according to claim 2, which is characterized in that the second signal receiver is multiple and equal
It is even to be arranged in first inner wall.
4. signal transmitting apparatus according to claim 1, which is characterized in that first signal projector is installed on described
The top of second component, first signal receiver correspond to first signal projector and are installed on the first component
Bottom, the second signal receiver are installed on second outer wall, the second signal transmitter is corresponding be installed on it is described
First inner wall of the identical mounting height of second signal receiver.
5. signal transmitting apparatus according to claim 4, which is characterized in that the second signal transmitter is multiple and equal
It is even to be arranged in first inner wall.
6. signal transmitting apparatus according to claim 1, which is characterized in that first signal projector and described second
Signal projector is configured as transmitting optical signal.
7. signal transmitting apparatus according to claim 1, which is characterized in that the first component and the second component are
It is cylindric.
8. signal transmitting apparatus according to claim 1, which is characterized in that the pedestal is also equipped with driving motor, institute
It states driving motor to be driven by belt, to drive the rotary components to rotate.
9. signal transmitting apparatus according to claim 1, which is characterized in that the center of the pedestal is provided with protrusion
Portion, first bearing is equipped on the outside of the protrusion, and the rotary components are equipped with second bearing, the second bearing installation
In the outside of the first bearing, the rotary components are installed on the pedestal.
10. a kind of mobile robot, which is characterized in that mobile in face to be cleaned including main body, the driving mobile robot
Driving wheel, the environment detection sensor of the detection mobile work robot environment and claim 1 to 9 are described in any item
Signal transmitting apparatus.
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| CN201910219408.0A CN109893035B (en) | 2019-03-21 | 2019-03-21 | Signal transmission device and mobile robot |
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| CN201910219408.0A CN109893035B (en) | 2019-03-21 | 2019-03-21 | Signal transmission device and mobile robot |
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| CN109893035B CN109893035B (en) | 2024-04-12 |
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| CN109893035B (en) | 2024-04-12 |
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