CN221174975U - Underwater ranging or obstacle avoidance sensor and cleaning device using same - Google Patents
Underwater ranging or obstacle avoidance sensor and cleaning device using same Download PDFInfo
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- CN221174975U CN221174975U CN202322794899.6U CN202322794899U CN221174975U CN 221174975 U CN221174975 U CN 221174975U CN 202322794899 U CN202322794899 U CN 202322794899U CN 221174975 U CN221174975 U CN 221174975U
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- 238000004140 cleaning Methods 0.000 title claims description 55
- 238000007789 sealing Methods 0.000 claims abstract description 8
- 238000004806 packaging method and process Methods 0.000 claims abstract description 7
- 239000000463 material Substances 0.000 claims description 3
- 229920003023 plastic Polymers 0.000 claims description 3
- 239000004033 plastic Substances 0.000 claims description 3
- 238000012360 testing method Methods 0.000 claims description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 14
- 230000007613 environmental effect Effects 0.000 abstract description 2
- 238000005286 illumination Methods 0.000 abstract description 2
- 230000009182 swimming Effects 0.000 description 9
- 238000001514 detection method Methods 0.000 description 5
- 239000012535 impurity Substances 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 238000001914 filtration Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 239000007921 spray Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
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- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The utility model relates to an underwater ranging or obstacle avoidance sensor, comprising: an ultrasonic transducer, a control unit and a housing for sealing the package; the ultrasonic transducer comprises at least one transceiver module for converting an electric signal into an ultrasonic signal, transmitting the ultrasonic signal outwards, receiving the ultrasonic signal reflected from a target object and converting the signal into an electric signal for output, and the shell adopts a sealed waterproof packaging structure; the working frequency of the ultrasonic transducer is set to be 150KHz-700KHz; the control unit also comprises a self-checking module for sending out an alarm signal when the sensor is shielded for a long time without a signal. The sensor of the utility model utilizes ultrasonic waves to measure the distance, has high precision and has no requirement on the environmental illumination condition; no special requirement on water quality, and can work under various water quality conditions; the automatic obstacle avoidance function can be realized, and the autonomous navigation capability of the underwater sports equipment is assisted; the self-checking module is arranged, and when the sensor is shielded for a long time, no signal is generated, an alarm signal can be sent to remind a user.
Description
Technical Field
The application belongs to the technical field of underwater sensors, and particularly relates to an underwater ranging or obstacle avoidance sensor and a cleaning device using the same.
Background
The underwater environment has special requirements for distance measurement and obstacle avoidance due to the special medium characteristics. Traditional underwater ranging and obstacle avoidance methods mainly rely on sonar, laser radar, vision sensors and the like. However, these methods have problems of insufficient accuracy, requirements for ambient light conditions, requirements for water quality, and the like in some cases. Although some existing swimming pool cleaning robots use ultrasonic waves for ranging and obstacle avoidance, there are many places where improvement is needed, such as limited ranging or obstacle avoidance range, incapability of sensing when covered by foreign objects, and the like. The utility model provides a novel and creative ultrasonic sensor which can accurately measure underwater distance and avoid obstacles.
Disclosure of utility model
The utility model aims to solve the technical problems that: in order to solve the defects in the prior art, the underwater ranging or obstacle avoidance sensor is provided, and the sensor can accurately assist the mobile equipment to perform underwater ranging and obstacle avoidance by arranging a self-checking module and a unidirectional or wide-angle detection range.
The technical scheme adopted for solving the technical problems is as follows:
An underwater ranging or obstacle avoidance sensor comprising: an ultrasonic transducer, a control unit and a housing for sealing the package;
The ultrasonic transducer comprises at least one emitter for converting an electric signal into an ultrasonic signal to be emitted outwards, a transceiver module for receiving the ultrasonic signal reflected from the target object and converting the ultrasonic signal into an electric signal to be output, and the control unit is used for calculating the distance between the target object and the sensor according to the received electric signal and assisting the cleaning equipment to adjust the moving direction and the moving speed according to the distance information calculated by the sensor so as to realize the obstacle avoidance function;
The shell adopts a sealing waterproof packaging structure;
The working frequency of the ultrasonic transducer is set to be 150KHz-700KHz;
the control unit also comprises a self-checking module, wherein the self-checking module is used for sending out an alarm signal when the sensor is shielded for a long time and has no signal.
Preferably, the underwater ranging or obstacle avoidance sensor of the present utility model, the control unit is connected with an ultrasonic transducer.
Preferably, the self-checking module is used for detecting whether the distance between the sensor and the obstacle is within a set value or not, so as to judge whether the sensor is shielded or not.
Preferably, according to the underwater ranging or obstacle avoidance sensor, the ultrasonic transducer and the control unit are further connected with a power line and a signal line, and the power line and the signal line penetrate through the shell and are in sealing and waterproof connection with the shell.
Preferably, the underwater ranging or obstacle avoidance sensor provided by the utility model is characterized in that the shell is made of plastic materials, and the waterproof packaging grade of IP68 is adopted.
Preferably, in the underwater ranging or obstacle avoidance sensor of the present utility model, a transceiver module is disposed on an outer contour surface of the ultrasonic transducer, and is used for detecting an area in front of the sensor.
Preferably, in the underwater ranging or obstacle avoidance sensor provided by the utility model, a plurality of transceiver modules are arranged on the outer contour surface of the ultrasonic transducer and are used for detecting sector areas with a central angle of 320 degrees or less.
The cleaning device comprises a cleaning main body and a ranging or obstacle avoidance sensor, wherein the cleaning main body is used for cleaning a swimming pool and is arranged on the cleaning main body, and the ranging or obstacle avoidance sensor is used for detecting distance information of the cleaning main body and an entity and assisting the cleaning main body to adjust the moving direction so as to achieve an obstacle avoidance function.
The beneficial effects of the utility model are as follows:
(1) The sensor of the utility model utilizes ultrasonic waves to measure the distance, has high precision and has no requirement on the environmental illumination condition;
(2) The sensor has no special requirement on water quality, and can work under various water quality conditions;
(3) The sensor can assist the underwater cleaning equipment to realize an automatic obstacle avoidance function, and help the cleaning equipment to realize autonomous navigation capability;
(4) The self-checking module is arranged, and when the sensor is shielded for a long time, no signal is generated, an alarm signal can be sent to remind a user.
Drawings
The technical scheme of the application is further described below with reference to the accompanying drawings and examples.
FIG. 1 is a schematic view of the three-dimensional structure of the bottom of the cleaning device of the present application;
FIG. 2 is a schematic top three-dimensional view of the cleaning apparatus of the present application;
FIG. 3 is a schematic structural view of embodiment 1 of the present application;
FIG. 4 is a schematic three-dimensional structure of embodiment 2 of the present application;
FIG. 5 is a schematic top view of embodiment 2 of the present application;
FIG. 6 is a schematic diagram of module connection relationships according to an embodiment of the present application;
The reference numerals in the figures are:
The cleaning device comprises an ultrasonic transducer 10, a shell 20, a cleaning main body 30, a water spraying driving device 31, a travelling driving wheel 32, a cleaning roller 33, a water suction port 34 and a water outlet 35.
Detailed Description
It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other.
In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the drawings, are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the scope of the present application. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first", "a second", etc. may explicitly or implicitly include one or more such feature. In the description of the application, unless otherwise indicated, the meaning of "a plurality" is two or more.
In the description of the present application, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art in a specific case.
The technical scheme of the present application will be described in detail below with reference to the accompanying drawings in combination with embodiments.
Examples
Example 1: the present embodiment provides an underwater ranging or obstacle avoidance sensor, referring to fig. 3 and 6, the structure of which includes: an ultrasonic transducer 10, a control unit and a housing 20 for sealing the package.
Specifically, the ultrasonic transducer 10 includes an ultrasonic transceiver for converting an electrical signal into an ultrasonic signal, transmitting the ultrasonic signal to the outside, receiving the ultrasonic signal reflected from the target object, and converting the signal into an electrical signal for output, and a control unit for calculating a distance between the target object and the sensor based on the received electrical signal, and assisting the cleaning apparatus to adjust a moving direction and a moving speed according to the calculated distance information to realize an obstacle avoidance function, the control unit being electrically connected to the ultrasonic transducer.
In the present embodiment, referring to fig. 1, an ultrasonic transceiver is provided on the outer contour surface of the ultrasonic transducer 10 for detecting an obstacle in front of the sensor, and the detection distance is set to 0-12m.
Note that the package structure and the outer shape of the ultrasonic transducer are not limited, and in this embodiment, the ultrasonic transducer is provided in a cylindrical shape.
Preferably, in the underwater ranging or obstacle avoidance sensor of the present embodiment, the housing 20 adopts a sealed waterproof packaging structure for protecting the internal structure thereof, the housing 20 adopts a plastic material, and adopts an IP68 waterproof packaging grade.
In actual use, the working frequency of the ultrasonic transducer 10 is set to 150KHz-700KHz, the working frequency of the ultrasonic transducer 10 is adjusted according to the required detection distance, and when the working frequency of the ultrasonic transducer 10 increases, the detection distance increases.
Preferably, the underwater ranging or obstacle avoidance sensor of the embodiment, the control unit further includes a self-checking module, and the self-checking module is used for sending an alarm signal when the sensor is shielded for a long time and has no signal.
Specifically, a distance set value is set, in this embodiment, the distance set value is smaller than 20cm, when the control unit calculates that the distance between the target object and the sensor is smaller than the set value according to the received electric signal, and the duration exceeds 30s, the self-checking module determines that the sensor is blocked, and sends out an alarm signal, and the alarm signal can be an electric signal, or can be an acoustic signal or a light signal reflected by an alarm device arranged outside the device, so as to remind a user that the sensor or the underwater device has a problem.
Preferably, in the underwater ranging or obstacle avoidance sensor of the present embodiment, the ultrasonic transducer 10 and the control unit are further connected with a power line and a signal line, and the power line and the signal line penetrate through the housing 20 and are connected with the housing 20 in a sealing manner.
The working process of the sensor of the utility model is as follows: firstly, a transmitting unit of an ultrasonic transducer transmits a test signal, a receiving unit receives the reflected signal, and a control unit detects and analyzes the characteristics of the signal to judge the distance between the sensor and an entity so as to realize distance measurement; and when the sensor is shielded for a long time, the self-checking module sends out an alarm signal.
The present embodiment also provides a cleaning device for an underwater ranging or obstacle avoidance sensor, the cleaning device comprising a cleaning body 30 for movably cleaning a swimming pool and a ranging or obstacle avoidance sensor.
Specifically, referring to fig. 1 and 2, the cleaning main body 30 includes a water spray driving device 31 and a traveling driving wheel 32 for driving the movement of the swimming pool robot, a cleaning roller 33 and a water suction port 34 for cleaning impurities and dirt in the swimming pool, and a filter screen and a water outlet 35 for filtering the impurities and dirt.
The front end and two sides of the cleaning main body are respectively provided with a distance measuring or obstacle avoidance sensor which is respectively used for detecting the distance information between the front or two sides of the cleaning main body and an entity, a control unit on the sensor analyzes the data measured by the ultrasonic transducer, and when the distance in a certain direction is smaller than the distance set by the cleaning equipment, the movement mechanism of the cleaning main body realizes steering according to the measured data, so that the obstacle avoidance function is realized; also provided in the cleaning main body 30 are a control board for the movement and cleaning operation of the pool cleaning robot and a storage power supply for supplying power.
Example 2: unlike embodiment 1, this embodiment provides an underwater ranging or obstacle avoidance sensor, referring to fig. 4 and 5, five ultrasonic transceivers are distributed on the outer contour surface of the ultrasonic transducer 10, the central angles of two adjacent ultrasonic transceivers are 60 ° -80 °, and in operation, the five ultrasonic transceivers detect the range of the sector area with the central angle within 300 ° -320 °, and the detection distance is set to 0-12m.
The present embodiment also provides a cleaning device for an underwater ranging or obstacle avoidance sensor, the cleaning device comprising a cleaning body 30 for movably cleaning a swimming pool and a ranging or obstacle avoidance sensor.
Specifically, the cleaning main body 30 includes a water spray driving device and a traveling driving wheel for driving the swimming pool robot to move, a cleaning roller and a water suction port for cleaning impurities and dirt in the swimming pool, and a filter screen and a water outlet for filtering the impurities and dirt.
Unlike embodiment 1, the above-mentioned ranging or obstacle avoidance sensor is installed at the front end of the cleaning main body, for detecting the distance information of the entity within the range of the sector area with a central angle of 320 ° or less in front of the cleaning main body, and assisting the cleaning main body to adjust the moving direction to realize the obstacle avoidance function, and a control board for the movement and cleaning work of the swimming pool cleaning robot and a storage power supply for supplying power are also provided in the cleaning main body 30.
With the above-described preferred embodiments according to the present application as a teaching, the worker skilled in the art could make various changes and modifications without departing from the scope of the technical idea of the present application. The technical scope of the present application is not limited to the contents of the specification, and must be determined according to the scope of claims.
Claims (8)
1. An underwater ranging or obstacle avoidance sensor, comprising: an ultrasonic transducer (10), a control unit and a housing (20) for a hermetic package;
the ultrasonic transducer (10) comprises at least one transceiver module for converting an electric signal into an ultrasonic signal, transmitting the ultrasonic signal outwards, receiving the ultrasonic signal reflected from the target object and converting the ultrasonic signal into an electric signal for output, and the control unit is used for calculating the distance between the target object and the sensor according to the received electric signal and assisting the cleaning equipment to adjust the moving direction and the moving speed according to the distance information calculated by the sensor so as to realize the obstacle avoidance function;
the shell (20) adopts a sealing waterproof packaging structure;
The working frequency of the ultrasonic transducer (10) is set to be 150KHz-700KHz;
the control unit also comprises a self-checking module, wherein the self-checking module is used for sending out an alarm signal when the sensor is shielded for a long time and has no signal.
2. An underwater ranging or obstacle avoidance sensor as claimed in claim 1 wherein the control unit is connected to an ultrasonic transducer.
3. The underwater ranging or obstacle avoidance sensor of claim 2 wherein the self-test module is configured to detect whether the spacing between the sensor and the obstacle is within a set point to determine whether the sensor is occluded.
4. An underwater ranging or obstacle avoidance sensor as claimed in claim 3 wherein the ultrasonic transducer (10) and control unit are also connected to power and signal lines which extend through the housing (20) and are in sealing and watertight connection with the housing (20).
5. An underwater ranging or obstacle avoidance sensor as claimed in claim 4 wherein said housing (20) is of plastics material and is of IP68 waterproof packaging grade.
6. An underwater ranging or obstacle avoidance sensor as claimed in claim 1 wherein a transceiver module is provided on the outer contoured surface of the ultrasonic transducer (10) for detecting the area in front of the sensor.
7. An underwater ranging or obstacle avoidance sensor as claimed in claim 1 wherein a plurality of transceiver modules are provided on the outer profile surface of the ultrasonic transducer (10) for detecting sector areas having a central angle of 320 ° or less.
8. A cleaning device using an underwater ranging or obstacle avoidance sensor as claimed in claim 6 or 7, characterised in that the cleaning device comprises a cleaning body (30) for movable cleaning of the pool and a ranging or obstacle avoidance sensor provided on the cleaning body for detecting distance information of the cleaning body from the entity and assisting the cleaning body in adjusting the direction of movement to achieve the obstacle avoidance function.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322794899.6U CN221174975U (en) | 2023-10-18 | 2023-10-18 | Underwater ranging or obstacle avoidance sensor and cleaning device using same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322794899.6U CN221174975U (en) | 2023-10-18 | 2023-10-18 | Underwater ranging or obstacle avoidance sensor and cleaning device using same |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN221174975U true CN221174975U (en) | 2024-06-18 |
Family
ID=91437801
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202322794899.6U Active CN221174975U (en) | 2023-10-18 | 2023-10-18 | Underwater ranging or obstacle avoidance sensor and cleaning device using same |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN221174975U (en) |
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2023
- 2023-10-18 CN CN202322794899.6U patent/CN221174975U/en active Active
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