M437450 五、新型說明： 【新型所屬之技術領域】 本創作係與環境掃描測距裝置有關，更詳而言之，乃特指一種可應用 於無人搬運車或掃地機器人之環境掃描測距裝置，並具有整鱧結構薄形 化’以及便於安裝、不易造成機體遮擋問題之優點。 【先前技術】 • 習知之無人搬運車或掃地機器人，為能自動進行搬運或清掃之動作， 需預先針對所在環境進行掃描偵測，以記錄所在環境之邊界及障礙物等位 " 置資訊。然而，習知偵測方法係於無人搬運車或掃地機器人上裝設紅外線 _ 近接感應器，利用迴圈狀等移動方式，邊移動邊記錄上述位置資訊，其所 需耗費時間長，且當環境常改變時（如環境中具有椅子或移動櫃等常變換 位置之家具），更須重新記錄位置資訊。 因此，申請人欲進行研發一種於機體(如應用於無人搬運車或掃地機器 • 人)上設置可水平360度轉動之雷射掃描儀，利用其内的雷射測距模組測量 於各角度與週邊環境的距離值，即可計算出環境位置資訊，具有省時、快 速之優點。而研發過程中發現除了前述問題外，雷射掃描儀更需要具有整 體結構便於安裝，以及不易造成機體遮擋等優點，才能真正具有商品化之 價值。 【新型内容】 综合上開先前技術的，大致上包括習知技術掃描環境速度過慢、 境變動時無法立即應變等問題。而鑑於解決上述缺點，本案提出一種薄 3 形化雷射掃描_方案，财案具有掃描環境速度快、便於安裝、不易造 成機趙遮擋及動作時可_該等訊絲與訊號輸出端電性導通不絞線之 優點。 本創作一種動態環境測距儀，其包含有： —殼趙，其内具有-容置空間，且其上開設有至少一旋轉孔； 一轉動座，該轉動座係設置於該旋轉孔内，且該轉動座週緣設有一傳 動輪；其中’該轉動座之側邊壁面上設有一開口，且該開口係突露於殼體 一設於該轉動座内之雷射測距模組，其係可往開口方向發射及接收一 雷射光’以測量與一目標物間之距離； 至少一訊號輸出端； βχ於該殼趙内之動力源，該動力源具有一與傳動輪動力連結之動力 軸，以帶動轉動座於旋轉孔内自由轉動；以及 一轉動導電環，其係以至少一訊號線連接於該雷射測距模組，以及連 接於訊號輸出端，並可於轉動座轉動時保持該等訊號線與訊號輸出端電性 導通。 本創作之主要目的在於：當動力源帶動轉動座轉動之同時，雷射測距 模組之雷射光透過開口處投射至週邊環境目標物，雷射光沿來時路徑反射 回雷射測距模組’即可得知各點與本創作之距離。隨著轉動座之轉動角度 之改變’雷射測距模組可作出36〇度環繞掃描之動作，以達到快速掃描環 M437450 境之目的。 本創作之次要目的在於：該轉動導電環可於轉動座轉動時保持該等訊 號線與訊號輸出端電性導通，辦避免訊號線因轉動發生絞線之問題。 【實施方式】 為便於說明本案於上述新型内容_攔中所表示的中心思想兹以具趙 實施例表達。實施例中各種不_件係、按適於例舉說明之比例而非按實 際元件的比例予以繪製，合先敘明。 如第-圖~第三圖圖面所示’本創作係為一種動態環境測距儀其主要 包含有： -殼體1G，其内具有-容置空間u，且其上開設有至少―旋轉孔 12及一座孔13 ; -轉動座2〇，該轉動座2〇係設置於該旋轉孔η内該轉動座2〇 與旋轉孔12間設有-轴承21。且該轉動座2〇週緣設有一傳動輪 22 ’該傳動輪22係'可為一皮帶輪；其中，該轉動座2〇之側邊壁面上設 有一開口 23 ’且該開口 23係自該座孔13處突露於殼體10外； -設於該轉動座20内之雷射測距模組3〇，其係可往開口 23方向 發射及接收-雷射光’以測量與一目標物間之距離；該雷射測距模組3〇係 可為脈衝雷射測距模組或相位雷射測距模組其中之一者。 至少一訊號輸出端40 ; -設於該殼雜10内之動力源5G，該動力源5G具有_與傳動輪22 5 M437450 動力連結之動力轴51 ，以帶動轉動座20於旋轉孔12内自由轉動；其 中’該動力源50係為一電動馬達，且該傳動輪22與動力轴51間係可 以一傳動皮帶52連結。以及 一轉動導電環60，其係以至少一訊號線70連接於該雷射測距模組 3〇，以及連接於訊號輸出端40，其中，該轉動導電環60係包含有一外 環體61及一可轉動地設於外環體61内之内環體62，且該外環趙61 與内環體62之相臨面處各設有至少一相對之電環63與電刷64，該電 環63與電刷64分別連接於訊號線70與訊號輸出端40 »藉此，該轉 動導電環60可於轉動座20轉動時保持該等訊號線70與訊號輸出端 40電性導通。 再者，該轉動座20上設有一原點彳貞測裝置80，該原點備測裝置go 係包含一設於轉動座20之感應片81 ,以及一設於殼體10處之偵測器 82，以供轉動座20轉動歸零對位偵測之用。該偵測器82係可為遮斷感 應器、磁性感應器或近接感應器等習知感應手段。 明瞭上述本案詳細結構後，以下係針對本案之動作原理逐—詳細說明： 如第四圖所示，該雷射測距模組30往該開口 23處發射雷射光，以 投射至週邊環境目標物。當雷射光照射到目標物表面時會產生反射使雷 射光沿來時路徑反射回雷射測距模組30 (如第四圖圖面所示），經由計 算後即可得知各點與本創作之距離。 而如第五關面所示’其為本創作實施於—無人搬運車或掃地機器人 6 之機體90上之示意圖，隨著轉動座 20轉動角度之改變，雷射測距模組30 以達到快速掃描環境之目的。且本創作實 ’可於移動同時偵測環境變化，以因應環 可作出360度環繞掃描之動作， 施於無人搬運車或掃地機器人時 境障礙物之改變。 再者’如第三圖圖面所示，當鼓 田轉動座20轉動時訊號線7〇會被帶動 扭轉，此時藉由該轉動導電環6〇之#番各,m , U之叹置，利用外環體61與内環體62間 之轉動效果，可防止職輸出端4G亦被帶動扭轉杜朋轉動座2〇轉 動而造成訊號線70與訊號輸出端4〇絞線之問題。且該等電環w與電 刷64可進-步保持該等峨線7〇與訊號輸出端*電性導通。 雖然本案;佳實施槪綱，但胁此技藝者能在不脫離本 案精神與範鳴下做各種不_式的改變1上所舉實施例僅用以說明本案 而已非用以限制本案之範圍。舉凡不違本案精神所從事的種種修改或變 化，俱屬本案申請專利範圍。 【圖式簡單說明】 第一圖係本創作之立體外觀示意圖。 第二圖係本創作之剖面示意圖。 第三圖係本創作之局部剖面示意圖。 第四圖係本創作雷射測距模組之動作示意圖。 第五圖係本創作之實施示意圖》 【主要元件符號說明】 殼體10 傳動皮帶52 M437450 容置空間11 旋轉孔12 座孔13 轉動座20 轴承21 傳動輪22 開口 23 雷射測距模組30 訊號輸出端40 動力源50 轉動導電環60 外環體61 内環體62 電環63 電刷64 訊號線70 原點偵測裝置80 感應片81 偵測器82 機體90 動力轴51M437450 V. New description: [New technology field] This creation department is related to environmental scanning distance measuring device. More specifically, it refers to an environmental scanning distance measuring device that can be applied to an unmanned vehicle or a sweeping robot. The utility model has the advantages of thinness of the whole structure and easy installation, and is not easy to cause the body to block. [Prior Art] • For the unmanned van or sweeping robot, the automatic scanning or cleaning operation is required to scan the environment in advance to record the boundary of the environment and the obstacles. However, the conventional detection method is to install an infrared ray proximity sensor on an unmanned vehicle or a cleaning robot, and to record the position information while moving by using a loop-like moving method, which takes a long time and is an environment. When changing frequently (such as furniture with changing positions such as chairs or moving cabinets in the environment), it is necessary to re-record the position information. Therefore, the applicant wants to develop a laser scanner that can be horizontally rotated 360 degrees on the body (such as applied to an unmanned van or a sweeping machine), and uses the laser ranging module to measure at various angles. The distance value from the surrounding environment can be used to calculate the environmental location information, which has the advantages of saving time and speed. In addition to the aforementioned problems, the laser scanner needs to have the advantages of an overall structure for easy installation and a occlusion of the body, so that it can be truly commercialized. [New content] Comprehensively, the prior art technology generally includes problems such as the slow scanning speed of the conventional technology scanning environment and the inability to immediately respond when the environment changes. In view of the above shortcomings, the present invention proposes a thin 3-shaped laser scanning _ scheme, which has a scanning environment with a fast speed, is easy to install, and is not easy to cause the camera to block and operate when the signal and the signal output are electrically The advantage of turning on the untwisted line. The present invention relates to a dynamic environment range finder, which comprises: a shell, having a accommodating space therein, and having at least one rotating hole formed therein; a rotating seat, the rotating seat is disposed in the rotating hole, And a driving wheel is disposed on a periphery of the rotating seat; wherein an opening is formed on a side wall of the rotating seat, and the opening is exposed to a laser ranging module disposed in the rotating seat of the housing, and the system is A laser light can be emitted and received in the direction of the opening to measure the distance from a target; at least one signal output terminal; a power source that is in the casing, the power source has a power shaft coupled to the transmission wheel a rotating seat is freely rotatable in the rotating hole; and a rotating conductive ring is connected to the laser ranging module by at least one signal line, and is connected to the signal output end, and can be maintained when the rotating seat rotates The signal lines are electrically connected to the signal output terminals. The main purpose of this creation is: when the power source drives the rotating seat to rotate, the laser light of the laser ranging module is projected through the opening to the surrounding environment target, and the path of the laser light is reflected back to the laser ranging module. 'You can know the distance between each point and this creation. With the change of the rotation angle of the rotating seat, the laser ranging module can perform a 36-degree surround scan to achieve the purpose of quickly scanning the ring M437450. The secondary purpose of the creation is that the rotating conductive ring can keep the signal lines and the signal output end electrically connected when the rotating base rotates, so as to avoid the problem that the signal line is twisted due to rotation. [Embodiment] For the convenience of description, the central idea expressed in the above-mentioned novel content_block is expressed by the embodiment of Zhao. The various components in the embodiments are drawn in proportions that are suitable for illustration and not in proportion to actual components, and are described in the foregoing. As shown in the figure of Fig. 3 to Fig. 3, the author is a dynamic environment range finder which mainly includes: - a casing 1G having a accommodating space u therein and having at least a rotation thereon a hole 12 and a hole 13; a rotating base 2, the rotating base 2 is disposed in the rotating hole η, and a bearing 21 is disposed between the rotating base 2 and the rotating hole 12. And the rotating wheel 2 is provided with a transmission wheel 22'. The transmission wheel 22 can be a pulley; wherein the side wall of the rotating base 2 is provided with an opening 23' and the opening 23 is from the seat hole 13 is exposed outside the casing 10; - a laser ranging module 3A disposed in the rotating base 20, which is capable of transmitting and receiving - laser light in the direction of the opening 23 to measure between a target and a target The laser ranging module 3 can be one of a pulsed laser ranging module or a phase laser ranging module. At least one signal output end 40; a power source 5G disposed in the housing 10, the power source 5G having a power shaft 51 coupled to the transmission wheel 22 5 M437450 to drive the rotating base 20 into the rotating hole 12 Rotating; wherein the power source 50 is an electric motor, and the transmission wheel 22 and the power shaft 51 can be coupled by a transmission belt 52. And a rotating conductive ring 60 connected to the laser ranging module 3〇 by at least one signal line 70 and connected to the signal output end 40, wherein the rotating conductive ring 60 includes an outer ring body 61 and An inner ring body 62 rotatably disposed in the outer ring body 61, and at least one opposite electric ring 63 and a brush 64 are disposed at the opposite sides of the outer ring 63 and the inner ring body 62. The ring 63 and the brush 64 are respectively connected to the signal line 70 and the signal output end 40. Thereby, the rotating conductive ring 60 can keep the signal line 70 electrically connected to the signal output end 40 when the rotating base 20 rotates. Furthermore, the rotating base 20 is provided with an origin detecting device 80, and the origin detecting device GO includes a sensing piece 81 disposed on the rotating base 20 and a detector disposed at the housing 10. 82, for rotating the rotation of the rotating seat 20 for zero-position detection. The detector 82 can be a conventional sensing means such as an occlusion sensor, a magnetic sensor or a proximity sensor. After clarifying the detailed structure of the above case, the following is a detailed description of the action principle of the present case: As shown in the fourth figure, the laser ranging module 30 emits laser light to the opening 23 to project to the surrounding environment target. . When the laser light is irradiated onto the surface of the target, a reflection is generated to reflect the path of the laser light back to the laser ranging module 30 (as shown in the fourth figure), and the points and the present are known after calculation. The distance of creation. As shown in the fifth level, it is a schematic diagram of the creation of the body 90 of the unmanned vehicle or the sweeping robot 6, and the laser ranging module 30 is fast as the angle of rotation of the rotating base 20 changes. The purpose of scanning the environment. And this creation can detect the environmental changes while moving, in order to make a 360-degree surround scan action, and apply to the obstacles of the unmanned truck or the sweeping robot. Furthermore, as shown in the figure of the third figure, when the drum base rotating seat 20 rotates, the signal line 7〇 will be driven to twist, and at this time, by the rotating conductive ring 6 #, each, m, U sigh By utilizing the rotation effect between the outer ring body 61 and the inner ring body 62, the problem that the service output terminal 4G is also driven to rotate the twisting Dupon rotating seat 2〇 causes the signal line 70 and the signal output terminal 4 to be twisted. The electric ring w and the brush 64 can further maintain the electrical line 7 〇 and the signal output terminal* electrically. Although this case; the best implementation of the program, but the artist can do all kinds of changes without departing from the spirit of the case and Fan Ming. The examples given are only used to illustrate the case and are not intended to limit the scope of the case. All kinds of modifications or changes that are not in violation of the spirit of this case are the scope of patent application in this case. [Simple description of the diagram] The first picture is a three-dimensional appearance of the creation. The second picture is a schematic cross-section of the creation. The third figure is a partial cross-sectional view of the creation. The fourth picture is a schematic diagram of the action of the laser ranging module. The fifth diagram is a schematic diagram of the implementation of this creation. [Description of main components] Housing 10 Drive belt 52 M437450 Housing space 11 Rotating hole 12 Seat hole 13 Rotating seat 20 Bearing 21 Transmission wheel 22 Opening 23 Laser ranging module 30 Signal output 40 Power source 50 Rotating conductive ring 60 Outer ring body 61 Inner ring body 62 Electric ring 63 Brush 64 Signal line 70 Origin detecting device 80 Sensing piece 81 Detector 82 Body 90 Power shaft 51