KR960000295B1 - Scanning device of ultra sonic sensor - Google Patents

Abstract

an assembling body for supporting a sensor supporting bar in which an ultrasonic sensor is mounted by a supporting shaft which establishes a rotary shaft; a driving unit for generating a driving force which enables the ultrasonic sensor to be displaced; and a speed change member for transmitting the driving force of the driving unit to the ultrasonic sensor. The assembling body comprises a stopping shaft which prevents an excessive displacement of the ultrasonic sensor at a displacement starting time point of the ultrasonic sensor and a reference shaft which establishes a displacement reference point of the ultrasonic sensor.

Description

Ultrasonic Sensor Scanning Device

1 is a block diagram of a conventional ultrasonic sensor scanning self-government.

2 is a perspective view of the ultrasonic sensor scanning device of the present invention.

3 is an exploded perspective view of one embodiment of the present invention shown in FIG.

Figure 4 (a) to (c) is a view showing a process of setting the configuration position of the ultrasonic sensor of the present invention.

5 is an operational state diagram of the ultrasonic sensor scanning apparatus of the present invention.

* Explanation of symbols for main parts of the drawings

1: Assembly 2: Upper Body

3: lower body 4, 5: opposite end

6, 7: bore 8, 9: shaft bearing

10 cable 11 ultrasonic sensor

12, 13 bend 14: sensor support

15: insertion groove 17, 18: support shaft

19: vertical wall 20: stepping motor

21, 22: hole 23: motor shaft

The present invention relates to an ultrasonic sensor mounted on a robot to mount an object, and more particularly, to freely vary the scanning frequency of the rotating ultrasonic sensor and to accurately detect the direction in which the ultrasonic sensor is directed. It relates to an ultrasonic sensor scanning device.

In general, ultrasonic sensors are used to detect objects on mobile robots mounted on robots. That is, the supersonic sensor converts the pulse signal into ultrasonic energy and radiates it in the searched area, and converts the ultrasonic energy reflected from the object into an echo signal and transmits the echo signal to the microcomputer, and the microcomputer records and analyzes the echo signal. The distance to the object and the propensity of the object are determined.

However, since the ultrasonic sensor is directed and the range of detecting the object is less than 30 °, in the conventional scanning structure in which the ultrasonic sensor is fixedly used, at least six ultrasonic sensors are used to detect a range of 180 ° from the left and right relative to the front. Was used.

In the conventional object detecting apparatus having such a structure, it can be seen that the ultrasonic sensor can effectively detect the object to some extent, but it has a drawback that the price is expensive as many ultrasonic sensors are used. In addition, in order to analyze the timing of the output pulse signal and the echo signal reflected from the object, an expensive multiplexer must be installed in each path of the signal from each ultrasonic sensor, and in particular, a larger space is required to mount all of them. There was a problem that it is difficult to miniaturize the design.

In order to solve the above problem, conventionally, as shown in FIG. 1, a pair of spiral springs 52 having a restoring force are installed on the upper and lower sides of one ultrasonic sensor 51, and the rear surface of the ultrasonic sensor 61 is provided. Permanent magnet 53 is mounted on the vertical wall 54 to install a magnet coil 55 having an offset relation with the permanent magnet 53 at a predetermined interval to detect the front 180 ° range with one ultrasonic sensor A rotating ultrasonic sensor scanning device was constructed. That is, by using the electromagnetic force generated between the permanent magnet 53 and the magnet coil 55 and the restoring force of the helical spring 52 has developed a device for scanning the object while rotating the ultrasonic sensor 51 180 degrees left and right . However, since the conventional ultrasonic sensor scanning device is configured to rotate the ultrasonic sensor using the free vibration force of the spring, when the robot equipped with the robot moves to the inclined place or passes the uneven ground state or sudden rotation As the spring itself is deformed, the offset relationship between the fraudulent magnet coil and permanent stone becomes unstable. In addition, since the deformation of the spring occurs, there is a problem that the rotation period is changed according to the surrounding environment.

In particular, it is necessary to adjust the vibration frequency according to the use, but the conventional ultrasonic sensor scanning device has a problem that it is difficult to adjust the vibration frequency since the elastic modulus of the spiral spring is determined once.

Accordingly, the present invention has been made in order to improve the conventional problems as described above, an object of the present invention is to accurately recognize the direction of the ultrasonic sensor direction and also to freely vary the scanning frequency of the ultrasonic sensor according to the intended use The present invention provides an ultrasonic sensor scanning device.

It is still another object of the present invention to provide an ultrasonic sensor scanning device capable of accurately detecting a distance to an object and its propensity by detecting the directing direction of the ultrasonic sensor for each rotation step of the stepping motor.

In order to achieve the above object, the present invention provides a sensor assembly for supporting the ultrasonic sensor in space by a support shaft for setting the rotation axis, and a drive source means for generating a driving force that the ultrasonic sensor can be displaced; Characterized in that the transmission member for transmitting a driving force of the drive source means to the ultrasonic sensor.

Hereinafter, an embodiment of the present invention will be described in detail with reference to the accompanying drawings.

Figure 2 is a combined perspective view showing a combined state of the ultrasonic sensor scanning apparatus of the present invention, Figure 3 shows an exploded perspective view showing an exploded embodiment of the embodiment shown in FIG.

In FIG. 2, reference numeral 1 denotes an assembly constituting the assembled outline of an embodiment of the present invention, wherein the assembly 1 is composed of an upper body 2 and a lower body 3, and the upper and lower parts thereof. The bodies 2, 3 have opposite ends 4, 5 in the form of a bent shape which are spaced parallel to one another. Holes 6 and 7 are formed in the opposing ends 4 and 5, respectively, in a straight line orthogonal to the longitudinal axis of the assembly 1, as shown in FIG. (8, 9) is coupled to set the rotation axis of the ultrasonic sensor (11).

The ultrasonic sensor 11 is fixedly installed on the sensor support 14 formed with the bent portions 12 and 13 at the upper side and the lower side, and the insertion portions 15 are formed at the bent portions 12 and 13 to support the upper end. One end of the shaft 17 and the lower support shaft 18 is fitted, and at the same time, the other end of each of the support shafts 17 and 18 is fitted to the shaft bearings 8 and 9 on the space of the assembly 1. The upper and lower bodies 2 and 3 are mutually connected by fasteners 29 made of screws, bolts, nuts, and the like, so that the ultrasonic sensor 11 is rotatable using the support shafts 17 and 18 as rotation axes. And the ultrasonic sensor 11 is connected to a sensor interface (not shown) using the cable 10 as a lead wire.

Next, a description will be given of the installation structure of the composition means for imparting the displacement force to the sensor support 14 mounted with the ultrasonic sensor 11.

A stepping motor 20 is fastened to the vertical wall 19 which is integral with the opposite end 5 of the lower body 3 to provide a displacement force for displacing the ultrasonic sensor 11. The vertical wall 19 The through hole 21 and the fastening hole 22 are respectively formed in the through hole 29. The motor shaft 23 of the stepping motor 20 is inserted into the through hole 29, and the stepping motor 22 is inserted into the fastening hole 22. A fastening screw 24 for fixing 20 to the vertical wall 19 is installed. Meanwhile, the worm gear 25 constituting the shifting member is coupled to the motor shaft 23 of the stepping motor 20. Next, a shifting member for transmitting a displacement force of the stepping motor 20 to the ultrasonic sensor 11 is provided. The structure of will be described.

The lower support shaft 18 coupled to the lower portion of the sensor support 14 to form a rotating shaft is coupled via the flat difference 26 when coupled to the lower bent portion 13 of the sensor support 14 and the flat difference. 26 is gear-coupled with the worm gear 25 provided on the shaft of the stepping motor 20. A projection 28 forming a + -shaped groove 27 is formed on one surface of the flat difference 26, and a + -shaped protrusion is formed on the bent portion 13 of the sensor support 14. When the + -shaped groove 27 of the car 26 is fitted, the sensor support 14 can be rotated without slipping on the lower support shaft 18 when the driving force of the stamping motor 20 is applied through the shift member. To help.

The following describes the operation and effect of the embodiment of the present invention.

When the stamping motor 20 shown in FIG. 2 is driven, the worm gear 25 installed on the motor shaft 23 rotates, and the motor driving force is a flat gear 26 in which the worm gear 25 is gear-engaged. When the flat car 26 is rotated, the sensor support 14 coupled to the flat car 26 through the protrusion 28 is rotated.

Therefore, the ultrasonic sensor 11 fixed to the sensor support 14 rotates 180 ° left and right as shown in FIG. 5 by driving the stepping motor 20 to emit ultrasonic energy or receive reflected waves. Since it proceeds repeatedly, the rotation angle and scanning speed of the ultrasonic sensor 11 can be arbitrarily changed as the rotation speed and speed of the stepping motor 20 are varied.

The following describes the process of setting the driving position of the ultrasonic sensor during the initial operation.

When the stepping motor 20 performs one cycle step operation in the forward or reverse direction, the number of rotations corresponds to the amount of 180 ° displacement of the ultrasonic sensor 11, and thus, the ultrasonic sensor 11 starts scanning at the correct position during the initial operation. If not, it should be corrected.

That is, since the displacement start point at which the ultrasonic sensor 11 starts to rotate may be started at an arbitrary position as shown in FIG. 4 (a), the displacement starts at the time when the ultrasonic sensor 11 starts to rotate. The reference shaft 31 and the stop shaft 32 are respectively provided on the lower body 3 as an adjustable means.

In particular, when setting the horizontal axis (H) passing through the center of the ultrasonic sensor and the vertical axis (V) perpendicular to the vertical axis (V) and the virtual line (I) that the ultrasonic sensor 11 is directed from the sensor center The angle α forms an angle of one stem movement, that is, an angle of 7.5 ° to 15 °. The step motor 20 controlled by a microcomputer (not shown) rotates the ultrasonic sensor 11 to a range exceeding one step from 180 °, which is the normal scanning angle of the ultrasonic sensor 11, only for one rotation left and right at the time of initial driving. do.

The reference axis 31 is the fourth sensor when the ultrasonic sensor 11 is out of a certain displacement range at the time when the ultrasonic sensor 11 receives a driving force from the step motor 20 and is displaced in the left axial direction from the initial position. As shown in (a), the displacement of the ultrasonic sensor 11 is blocked to prevent further displacement.

That is, when the stepping motor 20 is rotated forward by the step operation of one cycle of the initial driving, the ultrasonic sensor 11 is displaced at an angle of 1 step sum at 180 ° in the right direction, but the displacement starts at an arbitrary position. When the ultrasonic sensor 11 reaches the reference axis 31 when the ultrasonic sensor 11 reaches the reference axis 31, the ultrasonic sensor 11 no longer rotates due to the blocking action of the reference axis 31 as shown in FIG. At the same time the stepping motor 20 is idle.

As such, when the idling of the step motor 20 is completed, the reference axis 31 is shifted to the first step sum angle at 180 ° in the reverse direction, and thus the ultrasonic sensor is shown in FIG. 4 (b). As such, a normal scanning start point is reached.

In the above description, the process of setting the driving position of the ultrasonic sensor when the ultrasonic sensor is displaced to the right during the initial operation has been described. That is, when the ultrasonic sensor 11 reaches the stop shaft 32 which performs the same function as the reference axis 31, the ultrasonic sensor 11 is no longer able to rotate due to the blocking action of the stop shaft 32. At the same time, the stepping motor 20 is idle. Thereafter, when the ultrasonic sensor 11 is displaced at an angle of one step combined from 180 ° to the left axis, the ultrasonic sensor 11 reaches a normal scanning start point as shown in FIG.

As described above, the ultrasonic sensor 11 reaching the normal scanning start point repeats the right and left scanning operations by 180 ° exactly as shown in FIG. 5 from this time along a predetermined path.

The range in which the ultrasonic sensor 11 is displaced is made possible by adjusting the duty ratio of the driving pulse applied to the stepping motor 20, and the displacement speed can be adjusted by varying the frequency of the driving pulse.

As described above, according to the present invention, the ultrasonic sensor is rotated by the stepping motor and the shifting member so that the ultrasonic sensor is mechanically robust, and the stepping motor can adjust the amount of rotation according to the duty ratio and frequency of the driving pulse applied. Therefore, it is possible to freely adjust the displacement range and the displacement speed of the ultrasonic sensor.

Claims (4)

An ultrasonic sensor scanning device for displacing a direction in which an ultrasonic sensor is directed, comprising: an assembly for supporting a sensor support in which an ultrasonic sensor is accommodated in a space by a support shaft for setting a rotation axis; Ultrasonic sensor scanning device comprising a driving means for generating a driving force for displacing the ultrasonic sensor, and a transmission member for transmitting the driving force of the driving source means to the ultrasonic sensor. The ultrasonic sensor scanning apparatus according to claim 1, wherein the assembly comprises a stop shaft for preventing excessive displacement of the ultrasonic sensor at the start point of displacement of the ultrasonic sensor, and a reference axis for setting a displacement reference point of the ultrasonic sensor. The ultrasonic sensor scanning device according to claim 1, wherein the transmission member comprises a worm gear provided with a rotation shaft of the driving means, and a flat gear engaged with the worm gear. The ultrasonic sensor of claim 3, wherein the sensor support constituting the assembly is provided with a + -shaped protrusion and the flat support prevents slipping when the sensor support forming a + -shaped groove into which the + -shaped protrusion is fitted is rotated. Sensor scanning device.