CN107315426A - One kind rotation ranging sensing device and robot - Google Patents
One kind rotation ranging sensing device and robot Download PDFInfo
- Publication number
- CN107315426A CN107315426A CN201710770773.1A CN201710770773A CN107315426A CN 107315426 A CN107315426 A CN 107315426A CN 201710770773 A CN201710770773 A CN 201710770773A CN 107315426 A CN107315426 A CN 107315426A
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- distance measuring
- rotary body
- rotation
- reflecting part
- ranging
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- 230000011514 reflex Effects 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 5
- 230000006698 induction Effects 0.000 abstract description 4
- 230000005693 optoelectronics Effects 0.000 abstract description 4
- 230000008054 signal transmission Effects 0.000 abstract description 3
- 230000004888 barrier function Effects 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 3
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000005036 potential barrier Methods 0.000 description 1
- 238000009987 spinning Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
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- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Optical Radar Systems And Details Thereof (AREA)
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Abstract
The present invention relates to one kind rotation ranging sensing device and robot, by setting a reflecting part that can be rotated with rotary body, to carry out signal transmission to the distance measuring sensor on base so that distance measuring sensor can realize 360 ° of comprehensive ranging without being arranged in rotary body, also.With respect to existing structure, rotation ranging sensing device of the present invention, what it is due to rotation is reflecting part, so slip ring or optoelectronic induction device need not be set to connect the electronic component of a rotating body, so as to reduce the hardware cost of device, meanwhile, the structure of device is simpler, and assembly process is also greatly simplified.
Description
Technical field
The present invention relates to robot field, and in particular to one kind rotation ranging sensing device and robot.
Background technology
Distance measuring sensor is widely used in various kinematic robots and equipment, wherein the letter that rotation distance measuring sensor is obtained
Breath is most, is able to know that the range information of 360 degree of barrier.And by way of rotation, needing to obtain multi-party potential barrier
When hindering thing information, also only equipment cost is reduced with one group of rotation distance measuring sensor.But, using rotational structure, it can increase
Plus the complexity of component, at present, the related sensor and sensing circuit of ranging are all placed on rotation platform, for controlling rotary flat
The motor of platform and the circuit of connection processor are set in the base, due to the spinning movement of rotation platform, if straight with data wire
Sensor is connect in succession, data wire is easily caused and twists off, so needing to set slip ring or by way of optoelectronic induction come the meeting of connection
The sensor of rotation, to realize the transmission of electric energy and signal, which results in it is existing rotation distance measuring sensor it is complicated,
Produce assembly difficulty big, cost is also of a relatively high.
The content of the invention
To solve the above problems, should the invention provides a kind of rotation ranging sensing device relatively simple for structure and use
The robot of device, assemble up it is more convenient, while cost is relatively low.The concrete technical scheme of the present invention is as follows：
One kind rotation ranging sensing device, including base, rotary body and the motor rotated for driving rotating bodies on base, institute
Base is stated to be provided with distance measuring sensor, the rotary body provided with the reflecting part that can be rotated with the rotary body, the reflection
The distance measuring signal that portion is used to send distance measuring sensor reflects rotary body, and the distance measuring signal for injecting a rotating body is reflected
To distance measuring sensor.
Further, the side wall of the rotary body is provided with opening, is provided with from opening to the inside of the side wall of the rotary body
The transverse holes radially extended, from the bottom surface of the rotary body to internal provided with the vertical hole axially extended, the transverse holes
It is connected with the vertical hole, the reflecting part is arranged at the connectivity part in the transverse holes and the vertical hole.
Further, the distance measuring sensor includes transmitting ranging signals portion and ranging signal reception portion, the ranging letter
Number emission part and the ranging signal reception portion are all fixedly installed on base, and positioned at the lower section in the vertical hole；It is described to survey
The distance measuring signal sent away from signal emission part reaches the reflecting part by the vertical hole, and the reflecting part believes the ranging
Number reflect the rotary body from the transverse holes；The distance measuring signal injected from the transverse holes reaches the reflecting part,
The distance measuring signal is reflexed to the ranging signal reception portion by the reflecting part by the vertical hole.
Further, the rotary body is cylindric, and the transverse holes extend for horizontal direction, the vertical Kong Weiyu water
Square extend to vertical vertical direction.
Further, the rotary body includes rotary shaft and turntable, and the turntable is set in outside the rotary shaft,
The vertical hole and the reflecting part are arranged in the rotary shaft, and the transverse holes are arranged in the turntable, the rotation
The side wall of rotating shaft is additionally provided with the areole connected with the vertical hole, and the areole is also communicated to the transverse holes, the electricity
Machine drives the rotary shaft rotation, and the rotary shaft drives the turntable rotation.
Further, the drive end of the motor directly with the rotary shaft drive connection.
Further, the sensing circuit being connected with the distance measuring sensor is arranged in the base.
Further, the clamping structure for being used for fixing the reflecting part is provided with the rotary body.
Further, the reflecting part is level crossing, and/or the distance measuring sensor is to fly laser sensor or time
Line sensor.
A kind of robot, including rotation ranging sensing device, the rotation ranging sensing device is above-mentioned rotation ranging
Sensing device.
The beneficial effects of the present invention are：By setting a reflecting part that can be rotated with rotary body, on base
Distance measuring sensor carry out signal transmission so that distance measuring sensor can realize 360 ° of full side without being arranged in rotary body, also
Position ranging.With respect to existing structure, rotation ranging sensing device of the present invention, what it is due to rotation is reflecting part, so need not
Slip ring or optoelectronic induction device is set to connect the electronic component of a rotating body, so as to reduce the hardware cost of device, together
When, the structure of device is simpler, and assembly process is also greatly simplified.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention for rotating ranging sensing device.
Fig. 2 is the structural representation that base of the present invention assembles distance measuring sensor.
Embodiment
The embodiment to the present invention is described further below in conjunction with the accompanying drawings：
Rotation ranging sensing device of the present invention includes base 101, rotary body and for driving rotating bodies in base 101
The motor 110 of rotation.The base 101, which is provided with, to be provided with distance measuring sensor, the rotary body and can be revolved with the rotary body
The reflecting part 103 turned, the distance measuring signal 108 that the reflecting part 103 is used to send distance measuring sensor reflects rotary body, and
The distance measuring signal 108 for injecting a rotating body is reflexed into distance measuring sensor.By set one can be rotated with rotary body it is anti-
Portion 103 is penetrated, signal transmission is carried out to the distance measuring sensor on base 101 so that distance measuring sensor is without being arranged on rotary body
In, it can also realize 360 ° of comprehensive ranging.With respect to existing structure, rotation ranging sensing device of the present invention, due to rotation
Be reflecting part 103, so slip ring or optoelectronic induction device need not be set to connect the electronic component of a rotating body so that
The hardware cost of device is reduced, meanwhile, the structure of device is simpler, and assembly process is also greatly simplified.
It is preferred that, the side wall of the rotary body is provided with opening, and edge is provided with from opening to the inside of the side wall of the rotary body
The transverse holes 107 radially extended.From the bottom surface of the rotary body to internal provided with the vertical hole axially extended, the transverse holes
107 are connected with the vertical hole, and the reflecting part 103 is arranged at the connectivity part in the transverse holes 107 and the vertical hole.It is logical
Setting transverse holes 107 and vertical hole are crossed, to rotary body external reflectance distance measuring signal 108 and extraneous barrier successfully can be received
109 distance measuring signals 108 reflected.
It is preferred that, the distance measuring sensor includes transmitting ranging signals portion 105 and ranging signal reception portion 106, described to survey
All it is fixedly installed on base 101 away from signal emission part 105 and the ranging signal reception portion 106, and positioned at the vertical hole
Lower section.The distance measuring signal 108 that the transmitting ranging signals portion 105 is sent reaches the reflecting part 103 by the vertical hole,
The distance measuring signal 108 is reflected the rotary body by the reflecting part 103 from the transverse holes 107, and extraneous barrier 109 is anti-
The distance measuring signal 108 is penetrated, the distance measuring signal 108 reflected is injected from the transverse holes 107 and reaches the reflecting part
103, the distance measuring signal 108 is reflexed to the ranging signal reception portion 106 by the reflecting part 103 by the vertical hole.
It is preferred that, the rotary body is cylindric, and the transverse holes 107 extend for horizontal direction, the vertical Kong Weiyu
The vertical vertical direction extension of horizontal direction.Using cylindrical-shaped structure so that rotary body rotates to be regarded with more preferable user
Feel effect, meanwhile, the through hole of horizontal direction and vertical direction, the transmission of processing and signal to product is more favourable.
It is preferred that, the rotary body includes rotary shaft 104 and turntable 102, and the turntable 102 is set in the rotation
Outside axle 104, the vertical hole and the reflecting part 103 are arranged in the rotary shaft 104, and the transverse holes 107 are arranged on
In the turntable 102, the side wall of the rotary shaft 104 is additionally provided with the areole connected with the vertical hole, the areole
The transverse holes 107 are also communicated to, the motor 110 drives the rotary shaft 104 to rotate, the rotary shaft 104 drives described
Turntable 102 rotates., can be in order to vertical hole and horizontal stroke by the way that rotary body is divided into rotary shaft 104 and the two parts of turntable 102
To the processing in hole 107, meanwhile, it is also beneficial to the assembling of reflecting part 103.
It is preferred that, the drive end of the motor 110 directly with the drive connection of rotary shaft 104.Due to existing rotation
Sensor is all the drive connection that motor 110 and rotation platform are realized by belt, still, and the service life of belt is shorter,
And easily there is the phenomenon skidded, so, the quality of turn-sensitive device can be reduced.The present invention is by by the driving of motor 110
End is directly connected with rotary shaft 104, it is not necessary to pass through the connection of intermediate member so that transmission efficiency is higher, product quality more may be used
Lean on.
It is preferred that, the sensing circuit being connected with the distance measuring sensor is arranged in the base 101.By the way that ranging is passed
Sensor and with distance measuring sensor connect sensing circuit together be fixed in base 101, the modularization of product can be improved, work as machine
When the rotation ranging sensing device of device people is damaged, whole module can be directly changed, it is not necessary to taken out inside teardown of engine people
Sensing circuit, thus improves maintenance efficiency, while being also beneficial to the modularization assembling of robot product.
It is preferred that, the clamping structure for being used for fixing the reflecting part 103 is provided with the rotary body.Using the structure of fixing
Form, is conducive to improving the efficiency of assembling and assembling quality of reflecting part 103, it is to avoid brought cumbersome process is assembled using screw
And using barbola work brought easily come off the problems such as.
It is preferred that, the reflecting part 103 is level crossing, effectively ligh-ranging signal can be carried out using level crossing anti-
Penetrate, while reducing products-hardware cost.
It is preferred that, the distance measuring sensor is laser sensor or time flight sensor, using both sensors
Accurate range measurement can be realized, different sensor types can be selected according to different product demand and product orientation.
As depicted in figs. 1 and 2, rotary shaft 104 and turntable 102 are all disposed within base 101, constitute a cylindric knot
Structure.Motor 110 is arranged on the lower surface of base 101, and its drive end is directly connected to rotary shaft 104.Rotary shaft 104 by bottom towards
One vertical hole of sunken inside formation, its side wall also is provided with an areole connected with vertical hole, the lateral through aperture also with institute
The transverse holes 107 for stating turntable 102 are connected.Transmitting ranging signals portion 105 and ranging signal reception portion 106 are arranged on vertical blind
The bottom in hole, the distance measuring signal 108 that the transmitting ranging signals portion 105 is sent reaches the reflecting part by the vertical hole
103, the distance measuring signal 108 is reflected the rotary body, extraneous barrier by the reflecting part 103 from the transverse holes 107
The 109 reflection distance measuring signals 108, the distance measuring signal 108 reflected is injected from the transverse holes 107 and reaches described anti-
Portion 103 is penetrated, the distance measuring signal 108 is reflexed to the ranging signal reception portion by the reflecting part 103 by the vertical hole
106.Described device only needs to the comprehensive ranging that rotary reflection portion 103 can be achieved with 360 °, and structure is simpler, and cost is lower.
Robot of the present invention, including rotation ranging sensing device, the rotation ranging sensing device is above-mentioned
Rotate ranging sensing device.Wherein, the processor of robot interior is electrically connected with the rotation ranging sensing device, the rotation
The data detected are transferred to processor by ranging sensing device, and processor is according to the action of the data control machine people.Institute
State rotation ranging sensing device base 101 can be robot body shell a part or one it is independent
The part of base 101, if independent part, then needs to be fixed on the body shell of robot by fixture.By
Rotation ranging sensing device of the present invention is set in robot, the production cost of robot can be reduced, simplify robot
Assembly technology, while while 360 ° of omnibearing distances detection function is ensured, making product quality more reliable.
Above example is only that abundant disclosure is not intended to limit the present invention, all based on creation purport of the invention, without creating
Property work equivalence techniques feature replacement, should be considered as the application exposure scope.
Claims (10)
1. one kind rotation ranging sensing device, including base, rotary body and the motor rotated for driving rotating bodies on base,
It is characterized in that：The base is provided with distance measuring sensor, the rotary body anti-provided with what can be rotated with the rotary body
Portion is penetrated, the distance measuring signal that the reflecting part is used to send distance measuring sensor reflects rotary body, and will inject a rotating body
Distance measuring signal reflex to distance measuring sensor.
2. device according to claim 1, it is characterised in that：The side wall of the rotary body is provided with opening, from the rotation
The opening of the side wall of body, provided with the transverse holes radially extended, is provided with vertically to internal from the bottom surface of the rotary body to inside
The vertical hole of extension, the transverse holes are connected with the vertical hole, and the reflecting part is arranged at the transverse holes and described perpendicular
To the connectivity part in hole.
3. device according to claim 2, it is characterised in that：The distance measuring sensor includes transmitting ranging signals portion and survey
Away from signal receiving part, the transmitting ranging signals portion and the ranging signal reception portion are all fixedly installed on base, and are located at
The lower section in the vertical hole；The distance measuring signal that the transmitting ranging signals portion is sent reaches the reflection by the vertical hole
The distance measuring signal is reflected the rotary body by portion, the reflecting part from the transverse holes；The institute injected from the transverse holes
State distance measuring signal and reach the reflecting part, the distance measuring signal is reflexed to the ranging by the reflecting part by the vertical hole
Signal receiving part.
4. device according to claim 3, it is characterised in that：The rotary body is cylindric, and the transverse holes are level
Direction extends, the vertical vertical direction extension of the vertical Kong Weiyu horizontal directions.
5. device according to claim 4, it is characterised in that：The rotary body includes rotary shaft and turntable, the rotation
Turntable is set in outside the rotary shaft, and the vertical hole and the reflecting part are arranged in the rotary shaft, the transverse holes
It is arranged in the turntable, the side wall of the rotary shaft is additionally provided with the areole connected with the vertical hole, the areole
The transverse holes are also communicated to, the motor drives the rotary shaft rotation, and the rotary shaft drives the turntable rotation.
6. device according to claim 5, it is characterised in that：The drive end of the motor directly drives with the rotary shaft
Connection.
7. the device according to any one of claim 1 to 6, it is characterised in that：The sensing being connected with the distance measuring sensor
Circuit is arranged in the base.
8. the device according to any one of claim 1 to 6, it is characterised in that：Being provided with the rotary body is used to fix institute
State the clamping structure of reflecting part.
9. the device according to any one of claim 1 to 6, it is characterised in that：The reflecting part is level crossing, and/or institute
Distance measuring sensor is stated for laser sensor or time flight sensor.
10. a kind of robot, including rotation ranging sensing device, it is characterised in that：The rotation ranging sensing device is right
It is required that the rotation ranging sensing device described in 1 to 9 any one.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710770773.1A CN107315426A (en) | 2017-08-31 | 2017-08-31 | One kind rotation ranging sensing device and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710770773.1A CN107315426A (en) | 2017-08-31 | 2017-08-31 | One kind rotation ranging sensing device and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107315426A true CN107315426A (en) | 2017-11-03 |
Family
ID=60176133
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710770773.1A Withdrawn CN107315426A (en) | 2017-08-31 | 2017-08-31 | One kind rotation ranging sensing device and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107315426A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020042426A1 (en) * | 2018-08-27 | 2020-03-05 | 珠海市一微半导体有限公司 | Method for detecting straight side by robot, and method for screening reference wall side by cleaning robot |
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| CN206296920U (en) * | 2016-12-29 | 2017-07-04 | 牟咨诚 | A kind of supermarket shopping guide robot |
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2017
- 2017-08-31 CN CN201710770773.1A patent/CN107315426A/en not_active Withdrawn
Patent Citations (10)
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|---|---|---|---|---|
| KR20050091549A (en) * | 2004-03-12 | 2005-09-15 | 학교법인 포항공과대학교 | Method for detecting a position of mobile robot using of odometry |
| JP2008070199A (en) * | 2006-09-13 | 2008-03-27 | Hokuyo Automatic Co | Scanning range finder |
| CN201971077U (en) * | 2010-12-14 | 2011-09-14 | 上海师范大学 | Combined moving mechanism of robot |
| CN103386554A (en) * | 2012-10-19 | 2013-11-13 | 南通大学 | Tracking system for movable welding line stress eliminating robot |
| CN103512579A (en) * | 2013-10-22 | 2014-01-15 | 武汉科技大学 | Map building method based on thermal infrared camera and laser range finder |
| CN105774941A (en) * | 2016-04-21 | 2016-07-20 | 奇弩（北京）科技有限公司 | Hexapod universal walking robot |
| CN106005383A (en) * | 2016-06-02 | 2016-10-12 | 中国矿业大学(北京) | Underground roadway high-precision three-dimensional model scanning device and method |
| CN106019296A (en) * | 2016-07-26 | 2016-10-12 | 北醒（北京）光子科技有限公司 | Hybrid solid-state multiline optical scanning and distance measuring device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2020042426A1 (en) * | 2018-08-27 | 2020-03-05 | 珠海市一微半导体有限公司 | Method for detecting straight side by robot, and method for screening reference wall side by cleaning robot |
| US11977390B2 (en) | 2018-08-27 | 2024-05-07 | Amicro Semiconductor Co., Ltd. | Method for straight edge detection by robot and method for reference wall edge selection by cleaning robot |
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| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 519000 2706, No. 3000, Huandao East Road, Hengqin new area, Zhuhai, Guangdong Applicant after: Zhuhai Yiwei Semiconductor Co.,Ltd. Address before: Room 105-514, No.6 Baohua Road, Hengqin New District, Zhuhai City, Guangdong Province Applicant before: AMICRO SEMICONDUCTOR Co.,Ltd. |
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Application publication date: 20171103 |