CN109893035B - Signal transmission device and mobile robot - Google Patents
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- CN109893035B CN109893035B CN201910219408.0A CN201910219408A CN109893035B CN 109893035 B CN109893035 B CN 109893035B CN 201910219408 A CN201910219408 A CN 201910219408A CN 109893035 B CN109893035 B CN 109893035B
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- 230000008054 signal transmission Effects 0.000 title claims abstract description 119
- 238000001514 detection method Methods 0.000 claims abstract description 28
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- 230000001276 controlling effect Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
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Abstract
The invention discloses a signal transmission device, which comprises a base, a rotating assembly and a signal transmission assembly, wherein the rotating assembly and the signal transmission assembly are arranged on the base and can rotate, the signal transmission assembly comprises a first component, a second component, a first signal transmission unit and a second signal transmission unit, the first component is arranged in the first component, the first signal transmission unit is configured to transmit signals from the position of a hollow structure of the second component, and the second signal transmission unit is configured to transmit signals from the position of a gap between the first component and the second component. The invention also discloses a mobile robot which comprises a main body, a driving wheel, an environment detection sensor and a signal transmission device. The invention has the advantages of mutually independent signal transmission, reducing interference among signals, eliminating signal transmission blind areas, effectively transmitting signals to the mobile robot and improving the performance of the mobile robot.
Description
Technical Field
The present invention relates to a robot technology and a signal transmission technology, and more particularly, to a signal transmission device and a mobile robot including the same.
Background
The mobile robot is a comprehensive system integrating the functions of environment sensing, dynamic decision and planning, behavior control and execution and the like. The system integrates the research results of multiple disciplines such as sensor technology, information processing, electronic engineering, computer engineering, automatic control engineering, artificial intelligence and the like. With the continuous perfection of the performance of the robot, the application range of the mobile robot is greatly expanded, so that the mobile robot is widely applied to industries such as industry, agriculture, medical treatment, service and the like, gradually enters the intelligent home industry, and is well applied to occasions such as indoor cleaning and indoor safety monitoring.
At present, indoor mobile robots are mainly applied to cleaning surfaces to be cleaned, more households are arranged in the living rooms of people, the shapes of the households are different, certain difficulty is brought to the mobile robots in cleaning the rooms, and most of the existing mobile robots are provided with laser radars at the tops so as to more accurately identify the environmental arrangement of the rooms, and map and plan proper routes by means of components. However, after the laser radar detects information of a room, the information needs to be transmitted to the mobile robot, the mobile robot also needs to feed back the information or control information to the laser radar after receiving the related information, and on one hand, the data between the existing laser radar and the mobile robot are transmitted by adopting a conductive slip ring, but the conductive slip ring is easy to mechanically wear and lose efficacy in electrical connection, so that the service life of the radar is shortened. On the other hand, a wireless communication bidirectional transmission mode is adopted, but the defects of the design of a transmission structure and the installation positions of the transmitters and the receivers lead to dead zones in signal transmission, and signals between the two groups of transmitters and the receivers have interference, so that the detection signals of the laser radar received by the mobile robot have certain errors, and even error information is received.
Disclosure of Invention
The invention aims to solve the technical problem of providing a signal transmission device and a mobile robot comprising the signal transmission device, wherein the signal transmission device can accurately transmit signals to the mobile robot, and can avoid interference between two or more groups of signals.
In order to solve the technical problems, the embodiment of the invention adopts the following technical scheme:
in one aspect, the present invention provides a signal transmission apparatus comprising:
a base;
the rotating assembly is arranged on the base and can be driven to rotate around a rotating shaft;
a signal transmission assembly, comprising:
a first member mounted to the base, the first member formed with a first inner wall;
a second member configured to rotate with the rotating assembly, the second member formed with a second inner wall and a second outer wall, the second inner wall surrounding to form a hollow structure, the first member at least partially surrounding the second member, the first inner wall and the second outer wall having a gap therebetween;
the first signal transmission unit comprises a first signal transmitter and a first signal receiver, and is configured to transmit signals from the hollow structure position formed by surrounding the second inner wall;
a second signal transmission unit including a second signal transmitter and a second signal receiver, the second signal transmission unit configured to transmit a signal from a gap position between the first inner wall and the second outer wall.
In one embodiment, the first signal transmitter is mounted at the bottom of the first component, the first signal receiver is mounted at the top of the second component corresponding to the first signal transmitter, the second signal transmitter is mounted at the second outer wall, and the second signal receiver is mounted at the first inner wall at the same mounting height as the second signal transmitter.
In one embodiment, the second signal receivers are plural and uniformly arranged on the first inner wall.
In one embodiment, the first signal transmitter is mounted on the top of the second component, the first signal receiver is mounted on the bottom of the first component corresponding to the first signal transmitter, the second signal receiver is mounted on the second outer wall, and the second signal transmitter is mounted on the first inner wall at the same mounting height as the second signal receiver.
In one embodiment, the second signal emitters are a plurality of and uniformly arranged on the first inner wall.
In one embodiment, the first signal emitter and the second signal emitter are configured to emit optical signals.
In one embodiment, the first and second members are cylindrical.
In one embodiment, the base is further provided with a driving motor, and the driving motor is driven by a belt to drive the rotating assembly to rotate.
In one embodiment, a protruding portion is provided at a central position of the base, a first bearing is mounted at an outer side of the protruding portion, and a second bearing is mounted at the rotating assembly, and is mounted at an outer side of the first bearing, so that the rotating assembly is mounted at the base.
On the other hand, the invention also provides a mobile robot, which comprises a main body, a driving wheel for driving the mobile robot to move on a surface to be cleaned, an environment detection sensor for detecting the environment of the mobile robot, and a signal transmission device of any one of the above.
Compared with the prior art, the technical scheme of the embodiment of the invention has at least the following beneficial effects:
the invention discloses a signal transmission device, which comprises a base, a rotating assembly and a signal transmission assembly, wherein the rotating assembly and the signal transmission assembly are arranged on the base and can rotate, the signal transmission assembly comprises a first component, a second component, a first signal transmission unit and a second signal transmission unit, the first component is arranged on the base, the second component can rotate together with the rotating assembly, the second component is arranged in the first component, a certain gap is reserved between the first component and the second component, the second component is of a hollow structure, the first signal transmission unit is configured to transmit signals from the position of the hollow structure, and the second signal transmission unit is configured to transmit signals from the position of the gap. In addition, the invention also discloses a mobile robot, which comprises a main body, a driving wheel, an environment detection sensor and a signal transmission device, wherein two signal transmission units of the signal transmission device respectively transmit signals from different positions, so that two or more groups of signal transmission are mutually independent, interference among signals is reduced, a signal transmission blind area can be eliminated by the transmission mode, the signals can be effectively transmitted to the mobile robot, and the performance of the mobile robot is improved.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the description below are only some embodiments of the invention, and that other variants can be obtained according to these drawings without the aid of inventive efforts to a person skilled in the art.
FIG. 1 is a perspective view of a mobile robot in an embodiment of the present invention;
FIG. 2 is an exploded view of a mobile robot in an embodiment of the present invention;
FIG. 3 is a perspective view of a signal transmission device according to an embodiment of the present invention;
FIG. 4 is a schematic plan view of a signal transmission device according to an embodiment of the invention;
FIG. 5 is a schematic diagram of a signal transmission assembly according to an embodiment of the present invention;
FIG. 6 is a cross-sectional view of a signal transmission assembly in an embodiment of the invention;
fig. 7 is a schematic diagram of installation positions of a second signal transmitter 401 and a second signal receiver 402 in an embodiment of the present invention;
fig. 8 is a schematic diagram illustrating installation positions of a second signal transmitter 401 and a second signal receiver 402 in another embodiment of the present invention;
fig. 9 is a schematic diagram showing installation positions of a second signal transmitter 401 and a second signal receiver 402 in still another embodiment of the present invention;
FIG. 10 is a cross-sectional view of a signal transmission assembly in another embodiment of the invention;
FIG. 11 is a schematic view of a mobile robot according to an embodiment of the present invention;
FIG. 12 is a control flow diagram of the signal transmission from the environmental detection sensor to the mobile robot in one embodiment of the invention;
FIG. 13 is a control flow diagram of a mobile robot signal transmission to an environmental detection sensor in an embodiment of the present invention.
Detailed Description
The technical solutions of the embodiments of the present invention will be clearly described below with reference to the drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The azimuth words "front", "back", "left" and "right" as used herein refer to the advancing direction of the self-moving robot, and the terms "top", "bottom", "upper", "lower", "transverse" and "vertical" as used herein refer to the state of the self-moving robot when it is operating normally.
The present invention is exemplified by a self-moving robot, which may be a security robot or other intelligent robot, among other embodiments.
Referring to fig. 1 and 2, fig. 1 is a perspective view of a mobile robot according to an embodiment of the invention; fig. 2 is an exploded view of a mobile robot in an embodiment of the present invention. The self-moving robot of the present invention includes a main body 10, a driving wheel 20 for driving the moving robot to move on a surface to be cleaned, a controller 30 installed inside the main body 10 and controlling the moving of the self-moving robot in real time, an obstacle detecting device 40 provided in front of the main body 10, and an environment detecting sensor 80 installed at the top of the main body 10 for detecting the environment of the moving robot. It is conceivable that the self-moving robot according to the present invention, which exemplifies various components and functions by taking a cleaning robot as an example, further includes a cleaning assembly 50 for cleaning a surface to be cleaned and a storage device 60 for collecting cleaning objects.
The driving wheel 20 is mounted on a side of the main body 10 facing the surface to be cleaned, the driving wheel 20 includes left and right driving wheels mounted on left and right sides of the main body 10, the left and right driving wheels are telescopically designed to better bear the main body 10, and the driving wheel 20 may further include an omni-wheel 21 disposed at a front or rear position of the main body 10. The mounting positions of the left and right driving wheels and the omni-wheel 21 are distributed in a triangle shape, so that the walking stability of the self-moving robot in the working process is improved. In the straight running process of the self-moving robot, the left driving wheel and the right driving wheel drive the self-moving robot to walk at the same speed; if the environmental detection sensor 80 or the obstacle detection device 40 generates a signal change, the controller 30 controls the driving wheels 20 to travel in a differential speed or in a reverse direction at the same speed, so that the self-moving robot can perform a corresponding action according to the working environmental condition.
The cleaning assembly 50 may include a first cleaning assembly and a second cleaning assembly, and the bottom of the main body 10 is provided with a groove for accommodating the first cleaning assembly, and the groove is provided with a suction port, and the suction port is communicated with the accommodating device 60 through an air duct. The first cleaning assembly may include a brush installed at a front position of the recess and a scraping bar installed at a rear position of the recess, and the main body 10 may be internally installed with a motor driving the brush to rotate so as to push the cleaning object on the floor into the suction port. A blower assembly is further disposed in the air duct, and generates suction force to suck the cleaning object into the storage device 60. The second cleaning assembly is disposed at an edge position of the main body 10 to clean a position where the first cleaning assembly cannot clean and agitate the cleaning object at the suction port, so that the cleaning object is more easily sucked into the receiving device 60 by the blower assembly. The cleaning component is also communicated with the controller, and adjusts the rotating speed or stops working according to the information sent by the controller.
The storage device 60 is mounted at a rear position of the main body 10, a key is provided at an edge of the storage device 60, and the storage device 60 can be moved out of the main body 10 toward the rear by pressing the key. In other embodiments, the storage device 60 may be further installed at a middle portion or other positions of the main body 10, and the storage device 60 may further include a dust collecting box and a water tank for collecting the cleaning object and performing wet mopping operation, respectively. The self-moving robot may further include a mop assembly mounted at the rear of the main body 10, and the mop assembly may dry mop the ground, or wet mop the ground after the mop assembly is soaked by the water drops from the water tank.
The obstacle detecting device 40 is disposed at the front of the body 10 of the self-moving robot, the obstacle detecting device 40 extends from the front of the body 10 to the rear of the body 10 and at least partially covers the side edge position of the self-moving robot to detect obstacle information in the robot working environment, and the controller controls the self-moving robot to walk according to the environment information fed back by the obstacle detecting device 40.
The controller 30 is provided inside the main body 10, and communicates with the cleaning assembly 50, the driving wheel 20, the environment detection sensor 80, the obstacle detection device 40, and the like of the self-moving robot to control the self-moving robot to operate. The controller may include a plurality of components for controlling the respective components, or may be provided with only one component for controlling all the components. The controller can be a micro-control unit such as a singlechip, FPGA, ASIC, DSP and the like.
In the mobile robot of the present invention, an environment detection sensor 80 for detecting the working environment of the mobile robot is mounted on the top, the environment detection sensor 80 is preferably a laser sensor, and in order to accurately transmit the environment information detected by the laser sensor 80 to the mobile robot and accurately transmit the indication of the mobile robot to the laser sensor 80, the mobile robot of the present invention is further mounted with a signal transmission device 90, and the laser sensor 80 is mounted on the signal transmission device 90.
Referring to fig. 2 to 4, fig. 2 is an exploded view of a mobile robot according to an embodiment of the present invention, fig. 3 is a perspective view of a signal transmission device according to an embodiment of the present invention, and fig. 4 is a schematic plan view of the signal transmission device according to an embodiment of the present invention. The signal transmission device 90 may include a base 91, a swivel assembly 92, a mounting 93, and a protective cover 94. The base 91 is mounted on the main body 10, the driving motor 910 is mounted on the base 91, a driving shaft of the driving motor 910 penetrates out of the base 91, a mounting block 911 is arranged on the driving shaft, the mounting block 911 is cylindrical, a recessed portion is formed in one circle of the wall surface by 360 degrees, and the rotating assembly 92 is connected with the mounting block through a belt 912 so as to be capable of being driven to rotate. A laser sensor 80 is mounted on the upper portion of the rotating assembly, and the laser sensor 80 can rotate with the rotating assembly 92. Mounting holes 931 are formed in the mounting frame 93, mounting columns 11 are arranged at positions of the main body 10 corresponding to the mounting holes 931, internal threads are arranged in the mounting columns 11, and after the base 91 and the rotating assembly 92 are mounted on the main body, the mounting frame 93 fixedly mounts the base 91 on the main body 10 through screws 932.
Install on the rotating assembly 92 with round platform 921, round platform 921 is inside to bear laser sensor 80, round platform 921 is followed the central point of mounting bracket 93 puts out, for avoiding mobile robot course of working, round platform 921 collides with the barrier, leads to laser sensor 80 impaired, safety cover 94 is installed on the upper portion of mounting bracket 93, round platform 921 at least partially extends to the inside of safety cover 94.
In an embodiment of the present invention, the mounting frame 931 may be integrally formed with the base 91, a protruding portion 915 is disposed at a central position of the base 91, a first bearing 914 is mounted on an outer side of the protruding portion 915, a second bearing 924 is mounted on the rotating assembly 92, and the second bearing 924 is mounted on an outer side of the first bearing 914, so that the rotating assembly 92 is rotatably mounted on the base 91. The signal transmission assembly 95 is installed at the center of the protruding portion 915. In an embodiment of the present invention, the first signal transmitter 301 and the second signal transmitter 401 are configured to transmit optical signals, and correspondingly, the first signal receiver 302 and the second signal receiver 402 are configured to receive optical signals, and the first signal transmitter 301 and the second signal transmitter 401 are infrared sensors. In other embodiments, the first signal transmitter 301 and the second signal transmitter 401 may be other sensors for transmitting signals. The first member 100 and the second member 200 are cylindrical so that the second member 200 is rotatably mounted to the first member 100.
Referring to fig. 5 and 6, fig. 5 is a schematic diagram of a signal transmission assembly according to an embodiment of the invention, and fig. 6 is a cross-sectional view of the signal transmission assembly according to an embodiment of the invention. The signal transmission assembly 95 includes a first member 100, a second member 200 at least partially surrounded by the first member 100, a first signal transmission unit 300, and a second signal transmission unit 400. The first member 100 is mounted on the base 91, the first member 100 is formed with a first inner wall 101, the second member 200 is configured to rotate together with the rotating assembly 92, the second member 200 is formed with a second inner wall 201 and a second outer wall 202, the second inner wall 201 is surrounded to form a hollow structure, the second member 200 is at least partially surrounded by the first member 100, and a certain gap is provided between the first inner wall 101 and the second outer wall 202.
The first signal transmission unit 300 includes a first signal transmitter 301 and a first signal receiver 302, and the first signal transmission unit 300 is configured to transmit signals from a hollow structure formed by surrounding the second inner wall 201. The second signal transmission unit 400 comprises a second signal transmitter 401 and a second signal receiver 402, the second signal transmission unit 400 being configured to transmit signals from a gap position between the first inner wall 101 and the second outer wall 202. In this embodiment, the first signal transmitter 301 is mounted on the bottom of the first component 100, the first signal receiver 302 is mounted on the top of the second component 200 corresponding to the first signal transmitter 301, the second signal transmitter 401 is mounted on the second outer wall 202, and the second signal receiver 402 is mounted on the first inner wall 101 with the same mounting height as the second signal transmitter 401.
The first signal transmission unit 300 is mounted at the position of the rotation axis L0, the first signal transmitter 301 is fixed, the first signal receiver 302 rotates along the rotation axis L0, and during the signal transmission process, the first signal receiver 302 can always receive the signal transmitted from the first signal transmitter 301. The second signal transmitter 401 of the second signal transmission unit 400 is mounted on the second component 200, the second signal receiver 402 is mounted on the first component 100, the second signal transmitter 401 rotates along with the second component 200, so that the signal transmitted by the second signal transmitter 401 can be received by the second signal receiver 402 in real time, and the second signal receiver 402 is uniformly mounted with a plurality of second signal receivers 402 along the first inner wall 101.
Referring to fig. 7, 8 and 9, fig. 7 is a schematic diagram illustrating mounting positions of a second signal transmitter 401 and a second signal receiver 402 according to an embodiment of the invention, fig. 8 is a schematic diagram illustrating mounting positions of the second signal transmitter 401 and the second signal receiver 402 according to another embodiment of the invention, and fig. 9 is a schematic diagram illustrating mounting positions of the second signal transmitter 401 and the second signal receiver 402 according to another embodiment of the invention. In a preferred embodiment of the present invention, the second signal transmitter 401 is mounted on the second outer wall 202, the second signal transmitter 401 rotates around a rotation axis L0 as a central axis, and the second signal receiver 402 is mounted on the rotation axis L0 as a central axis, and three hundred sixty degrees ranges are mounted on each thirty degrees, and twelve second signal receivers 402 are mounted in total, so that the signal transmitted by the second signal transmitter 401 can be received in real time. In other embodiments, the second signal receiver 402 may be mounted centered on the rotational axis L0, with one second signal receiver 402 mounted every forty-five degrees or every ninety degrees in the three hundred sixty degrees range. Of course, the specific installation number and the installation position are affected by the gap width between the first component 100 and the second component 200, and also affected by the strength of the signal emitted by the signal emitter, and when the installation position and the installation number of the second signal receiver 402 are specifically arranged, the strength of the signal emitted by the second signal emitter 401 and the gap distance between the first component 100 and the second component 200 should be comprehensively considered to determine. The mounting locations between the second signal receivers 402 may also be arranged at other angles. In other embodiments, the second signal emitters 401 may be uniformly disposed on the second outer wall 202, and the second signal receivers 402 may be disposed on the first inner wall 101.
In this embodiment, the signals are independently transmitted between the first signal transmission unit 300 and the second signal transmission unit 400, so that the signal transmitted by the second signal transmitter 401 or the first signal transmitter 301 is prevented from being received by the first signal receiver 302 or the second signal receiver 402, mutual interference of bidirectional signal transmission is avoided, the signal transmitted by the first signal transmitter 301 can be continuously received by the first signal receiver 302, and the signal transmitted by the second signal transmitter 401 can be continuously received by the second signal receiver 402, thereby eliminating signal transmission blind areas and improving signal transmission efficiency.
Another embodiment
Referring to fig. 10, fig. 10 is a cross-sectional view of a signal transmission assembly according to another embodiment of the invention. The structure and function of the mobile robot provided in this embodiment are substantially the same as those of the mobile robot described in the foregoing embodiments. The difference is that: the first signal transmission unit 300 is installed at a position of the rotation axis L0, the first signal transmitter 301 is installed at the top of the second member 200, and the first signal receiver 302 is installed at the bottom of the first member 100 corresponding to the first signal transmitter 301. The second signal receiver 402 is mounted on the second outer wall 202, and the second signal transmitter 401 is correspondingly mounted on the first inner wall 101 with the same mounting height as the second signal receiver 402. The first signal receiver 302 is fixed, the first signal transmitter 301 rotates along the rotation axis L0, and the first signal receiver 302 can always receive the signal transmitted from the first signal transmitter 301 during the signal transmission process. A second signal transmitter 401 of the second signal transmission unit 400 is mounted to the first member 100, and the second signal receiver 402 is mounted to the second member 200, and the second signal receiver 401 rotates following the second member 200.
In order to enable the signal transmitted by the second signal transmitter 401 to be received by the second signal receiver 402 in real time, the second signal receiver 402 is uniformly provided with a plurality of second signal receivers 402 along the second outer wall 202. The second signal receivers 402 are preferably mounted at positions centered on the rotation axis L0, one for every thirty degrees in the range of three hundred sixty degrees, and twelve second signal receivers 402 are mounted in total, so that the signals transmitted from the second signal transmitters 401 can be received in real time. In other embodiments, the second signal receiver 402 may be mounted with respect to the rotation axis L0, and the second signal receiver 402 may be mounted every forty-five degrees or every ninety degrees within the range of three hundred and sixty degrees, where, of course, the specific number of mounting positions and arrangement positions are affected by the width of the gap between the first component 100 and the second component 200, and also by the strength of the signal transmitted by the signal transmitter, and the strength of the signal transmitted by the second signal transmitter 401 and the gap distance between the first component 100 and the second component 200 should be comprehensively considered when the mounting positions and the number of mounting positions of the second signal receiver 402 are specifically arranged. In other embodiments, a plurality of second signal transmitters 401 may be uniformly mounted on the first inner wall 102, and one second signal receiver 402 may be mounted on the second outer wall 202.
In this embodiment, the signals are independently transmitted between the first signal transmission unit 300 and the second signal transmission unit 400, so that the signal transmitted by the second signal transmitter 401 or the first signal transmitter 301 is prevented from being received by the first signal receiver 302 or the second signal receiver 402, mutual interference of bidirectional signal transmission is avoided, the signal transmitted by the first signal transmitter 301 can be continuously received by the first signal receiver 302, and the signal transmitted by the second signal transmitter 401 can be continuously received by the second signal receiver 402, thereby eliminating signal transmission blind areas and improving signal transmission efficiency.
Yet another embodiment
Referring to fig. 11 and 12, fig. 11 is a schematic structural diagram of a mobile robot according to an embodiment of the invention, and fig. 12 is a control flow chart of the mobile robot according to an embodiment of the invention. The mobile robot starts to work, and the environmental detection sensor 80 detects the working environmental information of the mobile robot in step 901, where the environmental detection sensor 80 is a laser sensor, and the environmental detection sensor 80 rotationally scans the environmental information, including but not limited to detecting the degree of intensity of furniture and the height of furniture, and can further identify the corner information of the furniture, and further use the information to construct an environmental map and plan the walking path of the mobile robot. Of course, the information detected by the environment detection sensor 80 can also further identify the mess degree of the surface to be cleaned, and the mobile robot can determine the cleaning time of the area according to the mess degree.
Step 902 is performed in which the second signal processing unit 210 converts the working environment information of the mobile robot detected by the environment detection sensor 80 into a first optical signal. The signal transmission device 90 includes a rotatable second member 200 and a fixedly mounted first member 100, the first member 100 at least partially encloses the second member 200, a certain gap is provided between the first member 100 and the second member 200, and the second member 200 is a hollow structure. The signal transmission device 90 performs signal transmission between the environment detection sensor 80 and the controller 30 through a first signal transmission unit 300 and a second signal transmission unit 400, the first signal transmission unit 300 being configured to transmit a signal from a hollow structure position of the second member 200, and the second signal transmission unit 400 being configured to transmit a signal from a gap position between the first member 100 and the second member 200. In particular, the first signal transmission unit 300 may include a first signal transmitter 301 and a second signal receiver 402 mounted to the second component 200, and the second signal transmission unit 400 may include a first signal receiver 302 and a second signal transmitter 401 mounted to the first component 100. The first component 100 is also mounted with a first signal processing unit 110, and the second component 200 is mounted with a second signal processing unit 210.
The first signal transmitter 301 mounted to the second component 200 transmits a first optical signal and the first signal receiver 302 mounted to the first component 100 receives the first optical signal to transmit the environmental information detected by the environmental detection sensor 80 from the rotatable second component 200 to the fixedly mounted first component 100, which is performed in step 903.
The first signal processing unit 110 converts the first optical signal into a first electrical signal in step 904, and further performs step 905 to transmit the first electrical signal to the controller 30 of the mobile robot. The signal identified by the controller 30 of the mobile robot is a first electrical signal, and in the signal transmission process, a first optical signal is transmitted between the first signal transmitter 301 and the first signal receiver 302, so after the signal is transmitted to the first component 100, the first signal processing unit 110 needs to convert the signal transmitted from the environment detection sensor 80 into the first electrical signal that can be identified by the controller 30. After the mobile robot receives the first electrical signal, it performs map component or path planning by using the information of the first electrical signal, and may further send information to the driving wheel 20 to control the steering or walking speed of the driving wheel 20.
Referring to fig. 13, fig. 13 is a control flow chart of a signal transmitted from a mobile robot to an environment detection sensor according to an embodiment of the invention. When the mobile robot needs to control the environment detection sensor 80, a control signal needs to be transmitted to the environment detection sensor 80. The transmission process of the control signal is as follows: the mobile robot issues a control signal, step 911. The control signal may be a rotational speed control or a lift control of the environment detection sensor 80. Further to step 912, the first signal processing unit 110 converts the control signal into a second optical signal, and the signal transmission process is performed by using the optical signal, so that the control signal needs to be converted. Further, step 913 is performed in which the second signal transmitter 401 mounted on the first component 100 transmits a second optical signal and the second signal receiver 402 mounted on the second component 200 receives the second optical signal. The second signal processing unit 210 converts the second optical signal into a second electrical signal in step 914, and transmits the second electrical signal to the environment detection sensor 30 to control the environment detection sensor in step 915.
In the disclosed embodiment, the signal transmission is realized by the signal transmission device 90 between the environment detection sensor 80 and the controller 30 of the mobile robot, the signal transmission assembly includes a fixedly installed first component 100, a rotatably installed second component 200, a first signal transmission unit 300 and a second signal transmission unit 400, the second component 200 is installed in the first component 100, a certain gap is formed between the first component 100 and the second component 200, the second component 200 is of a hollow structure, the first signal transmission unit 300 is configured to transmit signals from the position of the hollow structure, and the second signal transmission unit 400 is configured to transmit signals from the position of the gap. The independent transmission of signals between the first signal transmission unit 300 and the second signal transmission unit 400 is realized, so that the signal transmitted by the second signal transmitter 401 or the first signal transmitter 301 is prevented from being received by the first signal receiver 302 or the second signal receiver 402, mutual interference of bidirectional signal transmission is avoided, and the signal transmission efficiency is improved.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above-described embodiments do not limit the scope of the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the above embodiments should be included in the scope of the present invention.
Claims (11)
1. A signal transmission device, comprising:
a base;
the rotating assembly is arranged on the base and can be driven to rotate around a rotating shaft;
a signal transmission assembly, comprising:
a first member mounted to the base, the first member formed with a first inner wall;
a second member configured to rotate with the rotating assembly, the second member formed with a second inner wall and a second outer wall, the second inner wall surrounding to form a hollow structure, the first member at least partially surrounding the second member, the first inner wall and the second outer wall having a gap therebetween; the first and second members are cylindrical;
the first signal transmission unit comprises a first signal transmitter and a first signal receiver, and is configured to transmit signals from the hollow structure position formed by surrounding the second inner wall; the first signal transmitter is mounted at the bottom of the first component, and the first signal receiver is mounted at the top of the second component corresponding to the first signal transmitter;
a second signal transmission unit including a second signal transmitter and a second signal receiver, the second signal transmission unit configured to transmit a signal from a gap position between the first inner wall and the second outer wall; the second signal transmitter is installed on the second outer wall, and the second signal receiver is correspondingly installed on the first inner wall with the same installation height as the second signal transmitter.
2. The signal transmission device of claim 1, wherein the second signal receivers are a plurality and uniformly arranged on the first inner wall.
3. The signal transmission device of claim 1, wherein the first signal transmitter and the second signal transmitter are configured to transmit an optical signal.
4. The signal transmission device of claim 1, wherein the base is further provided with a driving motor, and the driving motor is driven by a belt to drive the rotating assembly to rotate.
5. The signal transmission device of claim 1, wherein a protrusion is provided at a central position of the base, a first bearing is mounted at an outer side of the protrusion, and a second bearing is mounted at the rotating assembly, the second bearing being mounted at an outer side of the first bearing to mount the rotating assembly to the base.
6. A signal transmission device, comprising:
a base;
the rotating assembly is arranged on the base and can be driven to rotate around a rotating shaft;
a signal transmission assembly, comprising:
a first member mounted to the base, the first member formed with a first inner wall;
a second member configured to rotate with the rotating assembly, the second member formed with a second inner wall and a second outer wall, the second inner wall surrounding to form a hollow structure, the first member at least partially surrounding the second member, the first inner wall and the second outer wall having a gap therebetween; the first and second members are cylindrical;
the first signal transmission unit comprises a first signal transmitter and a first signal receiver, and is configured to transmit signals from the hollow structure position formed by surrounding the second inner wall; the first signal transmitter is mounted on the top of the second component, and the first signal receiver is mounted on the bottom of the first component corresponding to the first signal transmitter;
a second signal transmission unit including a second signal transmitter and a second signal receiver, the second signal transmission unit configured to transmit a signal from a gap position between the first inner wall and the second outer wall; the second signal receiver is installed on the second outer wall, and the second signal transmitter is correspondingly installed on the first inner wall with the same installation height as the second signal receiver.
7. The signal transmission device of claim 6, wherein the second signal emitters are a plurality and uniformly disposed on the first inner wall.
8. The signal transmission device of claim 6, wherein the first signal transmitter and the second signal transmitter are configured to transmit an optical signal.
9. The signal transmission device of claim 6, wherein the base is further provided with a driving motor, and the driving motor is driven by a belt to drive the rotating assembly to rotate.
10. The signal transmission device of claim 6, wherein a protrusion is provided at a central position of the base, a first bearing is mounted at an outer side of the protrusion, and a second bearing is mounted at the rotating assembly, the second bearing being mounted at an outer side of the first bearing to mount the rotating assembly to the base.
11. A mobile robot comprising a main body, a driving wheel for driving the mobile robot to move on a surface to be cleaned, an environment detection sensor for detecting an environment in which the mobile robot operates, and the signal transmission device according to any one of claims 1 to 5 or 6 to 10.
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| CN201910219408.0A CN109893035B (en) | 2019-03-21 | 2019-03-21 | Signal transmission device and mobile robot |
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| CN109893035A (en) | 2019-06-18 |
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