CN114485407A - Optical signal receiving device and mobile robot - Google Patents
Optical signal receiving device and mobile robot Download PDFInfo
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- CN114485407A CN114485407A CN202210214213.9A CN202210214213A CN114485407A CN 114485407 A CN114485407 A CN 114485407A CN 202210214213 A CN202210214213 A CN 202210214213A CN 114485407 A CN114485407 A CN 114485407A
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- 230000003287 optical effect Effects 0.000 title claims abstract description 82
- 230000005540 biological transmission Effects 0.000 claims abstract description 28
- 238000001514 detection method Methods 0.000 claims description 6
- 230000000903 blocking effect Effects 0.000 claims description 5
- 210000001503 joint Anatomy 0.000 abstract description 12
- 230000009286 beneficial effect Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000002146 bilateral effect Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 229920000297 Rayon Polymers 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Optical Communication System (AREA)
Abstract
The invention discloses an optical signal receiving device and a mobile robot, wherein the optical signal receiving device comprises an optical signal receiving component and a shading component, the shading component is arranged at the front end of the optical signal receiving component, the optical signal receiving component comprises a bottom plate and a plurality of infrared receiving units, and light transmitting channels which correspond to the infrared receiving units one by one are arranged on the shading component; the front ends of the adjacent positions of the openings of the light transmission channels are provided with positive baffles, the positive baffles shield a part of the openings of the light transmission channels, and the openings of the opposite sides of the light transmission channels and the positive baffles are provided with inclined planes, so that the light transmission channels can receive light signals emitted from the front and the outer sides. Through two or more infrared sensor, the corresponding shading structure of cooperation has replaced external limit structure, improves the butt joint precision of two devices.
Description
Technical Field
The invention relates to the technical field of intelligent robots, in particular to an optical signal receiving device and a mobile robot.
Background
At present, mobile robots with various functions are increasing, and when the robots move autonomously, the determination of the moving direction is indispensable. Infrared positioning is used as one of the target positioning methods, and is applied more. However, the current infrared positioning schemes mainly adopt one-to-one point-to-point positioning of the source and the receiving device, which can only determine the linear direction between the movable device and the target device. For an application scene with a relatively strict requirement on the angle of the movable device, for example, two devices are butted, infrared positioning cannot meet the requirement, and only a limiting structure is additionally arranged for correction. The limiting structures not only increase the size of the target device, but also influence the appearance of a user.
Disclosure of Invention
In order to solve the problems, the invention provides an optical signal receiving device and a mobile robot, wherein two or more infrared sensors are matched with corresponding shading structures to replace external limiting structures, so that the butt joint accuracy of the two devices is improved. The specific technical scheme of the invention is as follows:
an optical signal receiving device comprises an optical signal receiving component and a shading component, wherein the shading component is arranged at the front end of the optical signal receiving component, the optical signal receiving component comprises a plurality of optical signal receiving units, and the shading component is provided with optical transmission channels which are in one-to-one correspondence with the optical signal receiving units; the front ends of the adjacent positions of the openings of the light transmission channels are provided with positive baffles, the positive baffles shield a part of the openings of the light transmission channels, and the openings of the opposite sides of the light transmission channels and the positive baffles are provided with inclined planes, so that the light transmission channels can receive light signals emitted from the front and the outer sides.
Further, the optical signal receiving device comprises a bottom plate and two optical signal receiving units, the bottom plate is vertically arranged, the optical signal receiving units are arranged on the bottom plate in a bilateral symmetry mode, and the optical signal receiving units are infrared receiving units.
Furthermore, the bottom plate includes detection circuitry unit and PCB board, infrared receiving unit and detection circuitry unit set up on the PCB board, the PCB board with bottom plate fixed connection constitutes an infrared receiving module.
Furthermore, be equipped with the through-hole that leaks hopper-shaped in the shading subassembly, be equipped with the lateral wall in the through-hole, the lateral wall separates the through-hole for two biography light passageways.
Furthermore, the side wall between the two light transmission channels and the positive baffle form a T-shaped light blocking structure.
Further, the side wall between the two light transmission channels is provided with a light reflecting layer for reflecting the light signal entering the light transmission channels.
Furthermore, a vertical supporting plate is arranged on the shading assembly and used for attaching the bottom plate, so that the optical signal receiving assembly is fixed on the shading assembly.
Furthermore, screw holes are formed in two sides of the shading component.
Further, the right front of the shading component is an arc surface.
A mobile robot is provided with the optical signal receiving device.
Compared with the prior art, the invention has the beneficial effects that: according to the application, the incident angle of an infrared signal is limited by the opening structure of the shading component of the optical signal receiving device, and then the relative position of a signal emission source relative to the infrared receiving component is determined according to the condition of receiving the optical signal of a plurality of infrared receiving units of the infrared receiving component, so that when the mobile device is in butt joint with a target, the butt joint angle is effectively adjusted, and the butt joint accuracy is improved; and an additional limiting structure is not needed, so that the production cost is reduced.
Drawings
Fig. 1 is an exploded view of an optical signal receiving apparatus according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a shading assembly according to an embodiment of the present invention;
fig. 3 is an exploded view of a light shield assembly according to an embodiment of the invention.
Detailed Description
Reference will now be made in detail to the embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar functions throughout.
In the description of the present invention, it should be noted that, for the terms of orientation, such as "central", "lateral", "longitudinal", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., it indicates that the orientation and positional relationship shown in the drawings are based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, but does not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated without limiting the specific scope of protection of the present invention.
Furthermore, if the terms "first" and "second" are used for descriptive purposes only, they are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features. Thus, a definition of "a first" or "a second" feature may explicitly or implicitly include one or more of the feature, and in the description of the invention, "at least" means one or more unless specifically defined otherwise.
In the present invention, unless otherwise expressly specified or limited, the terms "assembled", "connected", and "connected" are to be construed broadly, e.g., as meaning fixedly connected, detachably connected, or integrally connected; or may be a mechanical connection; the two elements can be directly connected or connected through an intermediate medium, and the two elements can be communicated with each other. The specific meanings of the above terms in the present invention can be understood by those of ordinary skill in the art according to specific situations.
In the present invention, unless otherwise specified and limited, "above" or "below" a first feature may include the first and second features being in direct contact, and may also include the first and second features not being in direct contact but being in contact with each other through another feature therebetween. Also, the first feature being "above," "below," and "above" the second feature includes the first feature being directly above and obliquely above the second feature, or simply an elevation which indicates a level of the first feature being higher than an elevation of the second feature. The first feature being "above", "below" and "beneath" the second feature includes the first feature being directly below or obliquely below the second feature, or merely means that the first feature is at a lower level than the second feature.
The technical scheme and the beneficial effects of the invention are clearer and clearer by further describing the specific embodiment of the invention with the accompanying drawings of the specification. The embodiments described below are exemplary and are intended to be illustrative of the invention, but are not to be construed as limiting the invention.
Referring to fig. 1 to 3, an optical signal receiving apparatus includes an optical signal receiving component and a light shielding component 1, where the light shielding component 1 is disposed at a front end of the optical signal receiving component, the optical signal receiving component includes a plurality of optical signal receiving units, and the light shielding component 1 is provided with light transmitting channels 4 corresponding to the optical signal receiving units one to one; the front ends of the adjacent positions of the openings of the light transmission channels 4 are provided with positive baffles 5, the openings of the light transmission channels 4 are partially shielded by the positive baffles 5, the openings of one sides of the light transmission channels 4 opposite to the positive baffles 5 are provided with inclined planes 6, so that the light transmission channels 4 can receive light signals emitted from the front and the outer side directions (namely the same side with the light transmission channels), and the positive baffles 5 can block the light signals emitted from the inner side direction (namely the other side). The incident angle of the optical signal is limited, so that the optical signal receiving device can judge the source of the optical signal.
As one embodiment, the optical signal receiving apparatus includes a bottom plate 2 and two optical signal receiving units 3, the bottom plate 2 is vertically disposed, the optical signal receiving units 3 are disposed on the bottom plate 2 in bilateral symmetry, and the optical signal receiving units are infrared receiving units. The distance between the two infrared receiving units 3 is a set distance, and the set distance is a set value and can be changed according to actual conditions. The optical signal receiving unit may also be a photosensor, or the like, as long as the optical signal receiving unit is a receiving sensor that can receive an optical signal.
As one embodiment, the bottom plate 2 includes a detection circuit unit and a PCB, the infrared receiving unit 3 and the detection circuit unit are disposed on the PCB, and the PCB is fixedly connected to the bottom plate 2 to form an infrared receiving module. The integrity of the product is improved, and the product is convenient to assemble and maintain after sale.
As one of the embodiments, a funnel-shaped through hole is provided in the light shielding assembly 1, a side wall 7 is provided in the through hole, and the side wall 7 divides the through hole into two light transmitting channels 4. The two light transmission channels 4 correspond to the two infrared receiving units 3, and the two light transmission channels 4 do not influence each other. The inclined surfaces 6 of the two light transmission channels 4 form a funnel-shaped opening of the through hole.
In one embodiment, the side wall 7 between the two light transmission channels 4 and the positive baffle 5 form a T-shaped light blocking structure. The T style of calligraphy structure that is in the light separates the through-hole for two biography light passageway 4 promptly, and positive baffle 5 shelters from the partial light path in two biography light passageway 4 dead ahead, and the outside opening that leaks hopper-shaped can make two biography light passageways 4 receive the light signal of both sides respectively, and when one side passed light passageway 4 and received the outside light signal of this side, positive baffle 5 can play the effect of sheltering from, makes the biography light passageway 4 of opposite side can not receive the light signal, and the light signal receiving device of being convenient for determines the incident angle of light signal. Only if the optical signal comes from right in front of the optical signal receiving apparatus, both infrared receiving units 3 of the optical signal receiving apparatus receive the optical signal.
As an example, the side wall 7 between the two light transmission channels 4 has a light reflecting layer for reflecting the light signal entering into the light transmission channel 4. The side wall 7 has a light reflecting effect, so that the outer light signal can be better received by the light transmitting channel 4 on the side.
As one embodiment, a vertical supporting plate 8 is arranged on the shading component 1, and the supporting plate 8 is used for attaching the bottom plate 2, so that the infrared receiving component is fixed on the shading component 1. The bearing plate 8 can increase the stress area of the bottom plate 2, reduce the pressure on the bottom plate 2, and the bearing plate 8 can be mechanically connected with the bottom plate 2 through viscose glue, screws or buckles and the like.
As one of the embodiments, screw holes 9 are provided at both sides of the light shield assembly 1. The infrared receiving assembly is arranged between the screw holes 9 on the two sides, so that the infrared receiving assembly is reinforced when the optical signal receiving device is installed on an external device. The shading component can be arranged into an upper cover structure and a lower cover structure, and can also be arranged into an integrated structure or other assembly structures. Fig. 3 is an exploded view of the shade assembly for better illustrating the internal structure of the shade assembly, and is not intended to limit the shade assembly to an upper and lower cover configuration.
In one embodiment, the front of the shading component 1 is an arc surface. When the front of the shading component 1 is an arc, the front baffle 5 is also arc, which can better help the light transmission channel 4 to shield the light signal from the other side.
As one embodiment, when the optical signal receiving apparatus is provided with three infrared receiving units, the three infrared receiving units may be arranged horizontally, and the opening of the light transmitting channel of the middle infrared receiving unit may be a normal opening or an opening that is half-blocked by the positive baffle. When the signal is detected, the position of the signal source can be judged according to the signal receiving condition of each infrared receiving unit, and a more accurate angle can be obtained.
As one embodiment, when the optical signal receiving device is provided with four infrared receiving units, the four infrared receiving units can be arranged in a straight line, and on the basis of the structures of the two infrared receiving units, two identical light transmitting channels are arranged side by side on two sides, so that the optical signal receiving device can receive outside optical signals with wider range, and the position of a signal source can be judged according to the receiving signal condition of each infrared receiving unit, so that more accurate angle information can be obtained. The four infrared receiving units can also be arranged in a cross structure, on the basis of the two infrared receiving unit structures, light transmitting channels with the same structure are added in the upper direction and the lower direction, and the T-shaped light blocking structure is changed into an umbrella-shaped light blocking structure, so that the optical signal receiving device can judge the upper and lower emission angles of the signal source.
A mobile robot is provided with the optical signal receiving device.
When the mobile robot uses the optical signal receiving device to be in butt joint with the charging seat, if the infrared receiving unit 3 receives the optical signal, the charging seat is near the mobile robot, and the mobile robot can determine the direction of the charging seat according to the signal receiving condition of the infrared receiving unit 3. If the left infrared receiving unit 3 of the optical signal receiving device receives the optical signal and the right infrared receiving unit 3 does not receive the optical signal, the charging seat is located on the left side of the mobile robot, the mobile robot rotates to the left until both the two infrared receiving units 3 receive the optical signal, which indicates that the charging seat is located right in front of or right behind the mobile robot, and the mobile robot can be in butt joint with the charging seat when moving forward or backward linearly.
When the charging seat is used for setting the optical signal receiving device to be in butt joint with the mobile terminal, if the infrared receiving unit 3 of the charging seat receives the infrared light signal, the charging seat transmits corresponding information according to the condition that the infrared receiving unit 3 receives the infrared light signal to control the mobile terminal to carry out corresponding position adjustment. When the right infrared receiving unit 3 of the charging seat receives the infrared light signal and the left infrared receiving unit 3 does not receive the infrared light signal, it indicates that the mobile terminal is located on the right side of the charging seat, at this time, the charging seat transmits a corresponding control signal to the mobile terminal, so that the mobile terminal rotates, and the charging seat continues to receive the infrared light signal through the infrared receiving unit 3 during the rotation of the mobile terminal. When two infrared receiving units of the charging seat receive the infrared light signals, the mobile terminal is positioned right in front of the charging seat, and at the moment, the charging seat sends corresponding control signals to the mobile terminal to stop the mobile terminal from rotating, and then the mobile terminal moves forwards or backwards linearly to be in butt joint with the charging seat.
Compared with the prior art, the invention has the beneficial effects that: the opening structure of the shading component 1 of the optical signal receiving device limits the incident angle of the infrared signal, and then determines the relative position of a signal emission source relative to the infrared receiving component according to the condition of receiving the optical signal of a plurality of infrared receiving units 3 of the infrared receiving component, so that the butt joint angle is effectively adjusted when the mobile device is in butt joint with a target, and the butt joint accuracy is improved; and an additional limiting structure is not needed, so that the production cost is reduced.
In the description of the specification, reference to the description of "one embodiment", "preferably", "an example", "a specific example" 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 invention, and schematic representations of the terms in this specification do not necessarily refer to the same embodiment or example. 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 connection mode connected in the description of the specification has obvious effects and practical effectiveness.
With the above structure and principle in mind, those skilled in the art should understand that the present invention is not limited to the above embodiments, and modifications and substitutions based on the known technology in the field are within the scope of the present invention, which should be limited by the claims.
Claims (10)
1. An optical signal receiving device is characterized by comprising an optical signal receiving component and a shading component, wherein the shading component is arranged at the front end of the optical signal receiving component, the optical signal receiving component comprises a plurality of optical signal receiving units, and the shading component is provided with light transmitting channels which correspond to the optical signal receiving units one to one;
the front ends of the adjacent positions of the openings of the light transmission channels are provided with positive baffles, the positive baffles shield a part of the openings of the light transmission channels, and the openings of the opposite sides of the light transmission channels and the positive baffles are provided with inclined planes, so that the light transmission channels can receive light signals emitted from the front and the outer sides.
2. The optical signal receiving device according to claim 1, wherein the optical signal receiving device comprises a bottom plate and two optical signal receiving units, the bottom plate is vertically arranged, and the optical signal receiving units are arranged on the bottom plate in a left-right symmetrical manner;
the optical signal receiving unit is an infrared receiving unit.
3. The optical signal receiving device according to claim 2, wherein the bottom board comprises a detection circuit unit and a PCB board, the infrared receiving unit and the detection circuit unit are disposed on the PCB board, and the PCB board is fixedly connected to the bottom board to form an infrared receiving module.
4. The optical signal receiving device according to claim 2, wherein the light shielding assembly has a funnel-shaped through hole, and a sidewall is disposed in the through hole, and the sidewall separates the through hole into two light transmitting channels.
5. The optical signal receiving device according to claim 4, wherein the side wall between the two light transmitting channels and the positive baffle form a T-shaped light blocking structure.
6. The optical signal receiving device of claim 2, wherein the sidewall between the two light transmitting channels has a light reflecting layer for reflecting the optical signal entering into the light transmitting channels.
7. The optical signal receiving device of claim 1, wherein the light shielding assembly is provided with a vertical supporting plate, and the supporting plate is used for attaching the bottom plate so as to fix the optical signal receiving assembly on the light shielding assembly.
8. The optical signal receiving device of claim 1, wherein screw holes are provided on both sides of the light shielding assembly.
9. The optical signal receiving device according to claim 1, wherein a front side of the light shielding member is a curved surface.
10. A mobile robot characterized by being provided with the optical signal receiving apparatus according to any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210214213.9A CN114485407A (en) | 2022-03-04 | 2022-03-04 | Optical signal receiving device and mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210214213.9A CN114485407A (en) | 2022-03-04 | 2022-03-04 | Optical signal receiving device and mobile robot |
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| Publication Number | Publication Date |
|---|---|
| CN114485407A true CN114485407A (en) | 2022-05-13 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210214213.9A Pending CN114485407A (en) | 2022-03-04 | 2022-03-04 | Optical signal receiving device and mobile robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115138016A (en) * | 2022-07-11 | 2022-10-04 | 秦皇岛锐安科技有限公司 | Fire water monitor and infrared positioning device used for same |
-
2022
- 2022-03-04 CN CN202210214213.9A patent/CN114485407A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115138016A (en) * | 2022-07-11 | 2022-10-04 | 秦皇岛锐安科技有限公司 | Fire water monitor and infrared positioning device used for same |
| CN115138016B (en) * | 2022-07-11 | 2023-02-24 | 秦皇岛锐安科技有限公司 | Fire water monitor and infrared positioning device used for same |
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