Rotating seat, distance measuring device and mobile robot

Abstract

In the embodiment of the present application, a rotating seat, a distance measuring device and a mobile robot are disclosed, which include a base, a driving member and a processing module. The base is provided with an enclosed receiving section, and a receiving groove is opened in the receiving section. The driving member includes a rotor provided in the receiving groove and a rotating part connected to the rotor. The processing module is provided on the base and connected to the driving member, and is arranged to detect the commutation signal of the driving member so as to obtain the rotation speed and rotation angle of the rotating part. By canceling the photoelectric encoder disk and improving the functionality of the processing module, the structure of the rotating seat can be made compact and have a small outer dimension, and the structure is simple, which not only saves costs but also reduces the risk of component assembly failure. In addition, by eliminating the process of detecting optical communication between the photoelectric encoder disk and the driving member, the data transmission efficiency can be improved, and the stability of data transmission can be improved, allowing the processing module to accurately obtain the rotation data.

Description

[Technical field]

[0001] (CROSS REFERENCE TO RELATED APPLICATIONS) This application claims partial priority from a Chinese patent application with application number 202211146069.6 (title: "Rotary seat, ranging device and mobile robot") filed with the China Patent Office on September 20, 2022, the entire contents of which are incorporated herein by reference.

[0002] TECHNICAL FIELD Embodiments of the present application relate to the field of optical ranging technology, and in particular to a rotating platform, a ranging device, and a mobile robot. [Background technology]

[0003] Ranging devices can be used to measure targets and are widely used in the robotics field, where the generated point cloud information including angle, distance, brightness, etc. is sent to the robot to enable the robot to build a map.

[0004] The distance measuring device is equipped with a photoelectric encoder disk. During operation, the photoelectric encoder disk detects rotation data (including rotation speed information and rotation angle information) of the distance measuring device, and the photoelectric encoder disk transmits the rotation data to the processing module of the distance measuring device via optical communication, and then sends it to the robot. As a result, the processing module acquires the rotation data with low efficiency, and the data transfer is unstable, making the rotation data obtained by the processing module inaccurate. In addition, the photoelectric encoder disk occupies a large space, which makes the structure of the distance measuring device complicated and difficult to miniaturize. Summary of the Invention

[0005] The embodiments of the present application aim to provide a rotating seat, a ranging device, and a mobile robot to improve at least the technical problems of low efficiency in the ranging device acquiring rotation data, unstable data transfer, and difficulty in miniaturizing the ranging device.

[0006] The embodiments of the present application adopt the following technical solutions to solve the technical problems.

[0007] In a first aspect, an embodiment of the present application proposes a rotating seat comprising a base, a drive member and a processing module, the base being provided with an enclosed receiving section, the receiving section being provided with a receiving groove, the drive member including a rotor provided in the receiving groove and a rotating part connected to the rotor, the processing module being provided on the base and connected to the drive member, the processing module being arranged to detect a commutation signal of the drive member so as to obtain a rotation speed and a rotation angle of the rotating part.

[0008] According to some embodiments of the present application, the drive member is provided with a first marker portion, and when the rotating part is rotated to a predetermined position, the processing module is arranged to detect the first marker portion so as to determine a starting angle and a rotation speed of the rotating part.

[0009] According to some embodiments of the present application, the processing module is used to determine an angle value corresponding to each commutation signal according to the number of commutations within one period of the drive member, thereby determining a rotation angle of the rotating part.

[0010] According to some embodiments of the present application, the processing module is further used for determining an angle change value between two adjacent commutation signals according to a total rotation angle and a commutation number within one period, determining a start angle when the first mark portion is detected, and determining a real-time angle value corresponding to a commutation signal according to the angle change value each time a commutation signal is detected.

[0011] According to some embodiments of the present application, the processing module is further used for obtaining a time difference between a current time and a previous commutation signal, calculating a product of the time difference and the rotation speed, and summing the product and an angle value corresponding to the previous commutation signal as a real-time angle value corresponding to a non-commutation signal.

[0012] According to some embodiments of the present application, the rotating base further includes a first coil and a second coil, the first coil being fitted in the receiving portion and the second coil being fitted in the rotor.

[0013] According to some embodiments of the present application, the second coil is arranged coaxially with the first coil, and the second coil and the first coil are arranged in this order along a direction from the second coil to the accommodating portion.

[0014] According to some embodiments of the present application, an opening is provided in the housing portion, the rotor protrudes from the housing groove through the opening, and the second coil is fitted to the rotor outside the housing groove. The first coil and the second coil are provided in this order along a direction from a groove bottom of the housing groove to the opening.

[0015] According to some embodiments of the present application, the rotor further includes an outer cylinder body, the outer cylinder body protruding from the accommodating groove and surrounding the accommodating portion, and the second coil being fitted to the outer cylinder body.

[0016] According to some embodiments of the present application, the base further includes a seat body, the seat body having a mounting surface, the receiving portion protruding from the mounting surface along a first direction, the length of the receiving portion being smaller than the length of the seat body along a second direction, and the width of the receiving portion being smaller than the width of the seat body along a third direction, where the first direction is parallel to an axis of the receiving groove, and two of the first direction, the second direction, and the third direction are perpendicular to each other.

[0017] According to some embodiments of the present application, the rotating part is provided coaxially with the rotor, and the rotating part and the rotor are integrally formed.

[0018] According to some embodiments of the present application, the rotating part is provided coaxially with the rotor, and the rotating part and the rotor are detachably connected to each other.

[0019] According to some embodiments of the present application, a positioning hole is provided in the rotating part, and a positioning pillar is protruded from the end face of the rotor facing the rotating part, and the positioning pillar is inserted into the positioning hole so that the rotating part and the rotor are detachably connected.

[0020] According to some embodiments of the present application, the rotor includes a drum, a shaft, and a winding. The drum is axially aligned with the drum, and has an open end at one end and a connecting wall at the other end. A shaft is coaxially connected to the drum, and has one end connected to the connecting wall and the other end protruding from the open end. A winding is provided within the drum and connected to the shaft. Here, the driving member further includes a stator, and the stator is located between the inner wall of the drum and the winding.

[0021] According to some embodiments of the present application, a shaft cylinder is provided in the housing, and the shaft of the rotor is rotatably provided in the shaft cylinder. A first annular groove is provided in an outer surface of the housing along a circumferential direction of the housing, and the first coil is fitted in the first annular groove, and / or a second annular groove is provided in an outer surface of the rotor along a circumferential direction of the rotor, and the second coil is fitted in the second annular groove.

[0022] According to some embodiments of the present application, the processing module and the driving member communicate with each other in the manner of connecting wires, or the processing module and the driving member communicate with each other in the manner of optical communication.

[0023] According to some embodiments of the present application, in a second aspect, the embodiments of the present application further propose a distance measuring device including the rotating base according to any one of the above embodiments, a bracket, a transmitting member, and a receiving member. The bracket is connected to the rotating part, and a transmitting port and a receiving port are provided on the bracket. The transmitting member is provided at the transmitting port and is for transmitting a signal. The receiving member is provided at the receiving port and is for receiving a signal.

[0024] According to some embodiments of the present application, the distance measuring device further includes a cover member, the cover member is connected to the base, and the cover member is configured to cover the storage section, the transmitting member, and the receiving member. A first connecting portion and a second connecting portion are provided on an end surface of the cover member facing the base, and a first positioning portion and a second positioning portion are provided on an end surface of the base facing the cover member. An outer contour of the first connecting portion is configured to match the first positioning portion, and the first connecting portion is configured to be positioned and connected to the first positioning portion. An outer contour of the second connecting portion is configured to match the second positioning portion, and the second connecting portion is configured to be positioned and connected to the second positioning portion.

[0025] According to some embodiments of the present application, in a third aspect, the embodiments of the present application further propose a mobile robot including the distance measuring device according to any one of the above-mentioned embodiments.

[0026] The beneficial effects of the embodiments of the present application are as follows:

[0027] In the embodiment of the present application, the commutation signal of the driving member is directly detected by the processing module, and then the rotation speed and rotation angle of the rotating part are determined, the photoelectric encoder disk is canceled, and the functionality of the processing module is improved, so that the structure of the rotating seat in the present application can be made compact and have a small external dimension, and the structure is simple, not only can it save costs, but also can reduce the risk of component assembly failure. In addition, by omitting the process of detecting optical communication between the photoelectric encoder disk and the driving member, it can not only improve the data transmission efficiency, but also improve the stability of data transmission, so that the processing module can accurately obtain the rotation data of the rotating part.

[0028] The above description is only an outline of the technical solution of the present application, which can be implemented according to the contents of the specification, in order to make the technical means of the present application more clearly understandable. In order to make the above objectives and other objectives, features and advantages of the present application more obvious and understandable, the following provides specific embodiments of the present application. [Brief description of the drawings]

[0029] One or more embodiments are illustratively described with reference to accompanying drawings, which illustrative description is not intended to be limiting of the embodiments, in which elements having the same reference numbers in the drawings are intended to represent similar elements, and in which the figures in the drawings are not intended to be limiting in scale unless otherwise specified. [Figure 1] FIG. 2 is a structural schematic diagram of a rotating seat according to some embodiments of the present application. [Diagram 2] FIG. 2 is an exploded view of a rotating base according to some embodiments of the present application. [Diagram 3] FIG. 2 is a structural schematic diagram of a base according to some embodiments of the present application. [Figure 4] FIG. 2 is a structural schematic diagram of a rotor according to some embodiments of the present application. [Diagram 5] 1 is a schematic diagram showing an installation of a rotating part according to some embodiments of the present application. [Figure 6]FIG. 2 is a schematic diagram of an installation of a processing module according to some embodiments of the present application. [Figure 7] FIG. 2 is a schematic diagram of detection of a commutation signal according to some embodiments of the present application. [Figure 8] FIG. 2 is a structural schematic diagram of a rotor according to some embodiments of the present application. [Figure 9] 1 is a schematic diagram of a partial structure of a distance measuring device according to some embodiments of the present application. [Figure 10] 1 is a schematic diagram of an installation of a bracket, a rotating part, and a rotor according to some embodiments of the present application. [Figure 11] 1 is a structural schematic diagram of a distance measuring device according to some embodiments of the present application; [Figure 12] 1 is an exploded view of a distance measuring device according to some embodiments of the present application. [Figure 13] 1 is an exploded view of a distance measuring device according to some embodiments of the present application. [Figure 14] 1 is a structural schematic diagram of a cover member according to some embodiments of the present application. [Figure 15] 1 is a cross-sectional view of a distance measuring device according to some embodiments of the present application. [Figure 16] FIG. 2 is a top view of a cover member according to some embodiments of the present application. [Figure 17] FIG. 2 is a structural schematic diagram of a rotating seat according to some embodiments of the present application. [Figure 18] FIG. 2 is an exploded view of a rotating base according to some embodiments of the present application. [Figure 19] FIG. 2 is a structural schematic diagram of a rotating seat according to some embodiments of the present application. [Figure 20] 20 is a cross-sectional view taken along the line AA in FIG. 19. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0030] The embodiments of the technical solution of the present application are described in detail below with reference to the drawings. The following embodiments are merely examples, and are not intended to limit the scope of protection of the present application.

[0031] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains, and the terms used herein are for the purpose of describing specific embodiments only and are not intended to limit this application, and the terms "including" and "having" and any variations thereof in the specification, claims, and description of the drawings above of this application are intended to cover a non-exclusive inclusion.

[0032] In the description of the embodiments of the present application, the term "and / or" is merely a relational relationship describing related objects, and indicates that there are three relations, for example, A and / or B may indicate three cases, that is, A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " in this specification generally indicates that the related objects before and after it are in an "or" relationship.

[0033] In the description of the embodiments of the present application, technical terms such as "first" and "second" are only intended to distinguish different objects, and should not be understood as indicating or implying relative importance, or implying the number, specific order, or primary / subordinate relationship of the technical features shown. In the description of the embodiments of the present application, the meaning of "plurality" is two or more, unless otherwise specifically limited.

[0034] Reference herein to an "embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the present application. The appearances of the term in various places throughout this specification do not necessarily refer to the same embodiment, nor do they refer to separate or alternative embodiments that are mutually exclusive of other embodiments.

[0035] In a first aspect, an embodiment of the present application proposes a rotating base 100, which, with reference to Figures 1 and 2, comprises a base 10, a first coil 20, a driving member 30, a second coil 40, and a processing module 50.

[0036] 1 to 3, the base 10 may be a support structure, and the first coil 20, the driving member 30, the second coil 40, and the processing module 50 may all be provided on the base 10. The base 10 may include a base body 11 and a storage section 12, the base body 11 may be provided with a mounting surface 111, and the driving member 30 may be provided on the mounting surface 111. Specifically, the mounting surface 111 of the base 10 may be provided with the enclosed storage section 12, and a storage groove 121 may be opened in the storage section 12, the storage groove 121 may extend toward the base body 11 at a certain depth, and an opening (not shown) of the storage groove 121 may be provided away from the base body 11. Optionally, the base body 11 and the storage section 12 may be integrally molded to increase the overall strength of the base 10.

[0037] In some other embodiments, referring to FIG. 3, the base 10 may have a rectangular structure, the receiving portion 12 may be columnar, and the receiving groove 121 may be a columnar recessed groove as well. The receiving portion 12 protrudes from the mounting surface 111 along the first direction Z, the length of the receiving portion 12 is smaller than the length of the base body 11 along the second direction X, and the width of the receiving portion 12 is smaller than the width of the base body 11 along the third direction Y, where the first direction Z is parallel to the axis of the receiving groove 121, and two of the first direction Z, the second direction X, and the third direction Y are perpendicular to each other. In this embodiment, the outer dimensions of the receiving portion 12 are smaller than the outer dimensions of the base body 11, thereby reducing the space occupied by the receiving portion 12 and reducing the overall volume of the base 10.

[0038] 1 and 3, the first coil 20 is fitted into the outer surface of the accommodating portion 12. Specifically, a first annular groove 122 is provided in the outer surface of the accommodating portion 12 along the circumferential direction of the accommodating portion 12, and the first coil 20 is fitted into the first annular groove 122 to accommodate the first coil 20. This prevents the first coil 20 from occupying more space than necessary, ensuring a compact structure of the rotating seat 100.

[0039] 1 and 2, the driving member 30 may be a DC brushless motor, for example, the driving member 30 includes a rotor 31 and a rotating part 32. The rotor 31 is disposed in the accommodating groove 121 and is coaxial with the accommodating groove 121 to ensure that the rotor 31 can rotate in the accommodating groove 121.

[0040] In some embodiments, referring to Figures 2 to 4, the rotor 31 includes a drum 311, a shaft 312, and a winding (not shown). The drum 311 is a cylindrical structure having an open end, specifically, an open end (not shown) is opened at one end of the drum 311 along the axial direction of the drum 311, and a connecting wall 3111 is provided at the other end. The shaft 312 is coaxially connected to the drum 311, specifically, one end of the shaft 312 is connected to the connecting wall 3111, and the other end protrudes from the open end. Optionally, a shaft cylinder 123 is provided within the housing 12, and the shaft cylinder 123 may be provided coaxially with the housing 12, and the shaft 312 may be provided within the shaft cylinder 123, thereby protecting the shaft 312. A winding is provided within the drum 311 and connected to the shaft 312, the winding includes a winding groove 313 and a wire harness (not shown), the winding groove 313 is connected to the shaft 312, and the wire harness is wound around the winding groove 313, whereby the driving member 30 further includes a stator 33, the stator 33 is located between the inner wall of the drum 311 and the winding, and when the driving member 30 operates, the stator 33 is fixed and the rotor 31 rotates.

[0041] The rotating part 32 is connected to one end of the rotor 31 that is remote from the base 10, and the rotation of the rotor 31 rotates the rotating part 32. In some embodiments, the rotating part 32 has a disk structure, and the axis of the disk structure and the rotation axis overlap each other, that is, the rotating part 32 is rotatable around its own axis.

[0042] Optionally, in some embodiments, the rotating part 32 is arranged coaxially with the rotor 31, and the rotating part 32 and the rotor 31 are molded as a single unit. By forming them as a single unit, the connection stability between the rotating part 32 and the rotor 31 is improved, and the rotor 31 can rotate the rotating part 32 stably.

[0043] Optionally, in some other embodiments, referring to Fig. 5, the rotating part 32 is provided coaxially with the rotor 31, and the rotating part 32 and the rotor 31 are detachably connected. Specifically, a positioning hole 321 is formed in the rotating part 32, a positioning post 314 is protrudingly provided on an end face of the rotor 31 facing the rotating part 32, and the positioning post 314 is inserted into the positioning hole 321, thereby detachably connecting the rotating part 32 and the rotor 31. The detachable connection makes it easy to later remove the rotating part 32 and perform maintenance or replacement.

[0044] 2 and 4, the second coil 40 is fitted to the outer surface of the rotor 31, specifically, a second annular groove 3112 is provided in the outer surface of the drum 311 along the circumferential direction of the drum 311, and the second coil 40 is fitted into the second annular groove 3112 to accommodate the second coil 40, so that the second coil 40 does not occupy more space than necessary, ensuring a compact structure of the rotor seat 100. The second coil 40 is provided coaxially with the first coil 20, and here, the second coil 40 and the first coil 20 are provided in this order along the direction of the second coil 40 and the housing portion 12, that is, the second coil 40 and the first coil 20 are provided in an inner-outer arrangement.

[0045] 17, for example, an opening (not shown) is provided in the accommodation section 12, the rotor 31 protrudes from the accommodation groove 121 through the opening, the second coil 40 is fitted to the rotor 31 outside the accommodation groove 121, and the first coil 20 and the first coil 40 are provided in this order along the direction from the groove bottom of the accommodation groove 121 to the opening (i.e., the first direction Z). In this embodiment, the dimension of the portion of the rotor 31 in the accommodation groove 121 can be reduced, for example, by reducing the radius of that portion to reduce the dimension of the accommodation section 12.

[0046] In some other embodiments, the second coil 40 and the first coil 20 may be arranged in an outer-inner arrangement, that is, the second coil 40 is on the outer side and the first coil 20 is on the inner side. Specifically, referring to Figs. 18 to 20, the rotor 31 further includes an outer cylinder 315, which protrudes from the housing groove 121 and surrounds the housing portion 12, and has a gap space between the outer cylinder 315 and the housing portion 12 so that the outer cylinder 315 can easily rotate, and the second coil 40 is fitted into the outer cylinder 315, thus forming an outer-inner arrangement of the second coil 40 and the first coil 20. In this embodiment, a clearance area (not shown) may be opened outside the housing portion 12, and the outer cylinder 315 may be provided in the clearance area to ensure that the size of the rotor 31 is as small as possible. At the same time, the double protection of the outer cylinder 315 and the accommodating section 12 further reduces the intrusion of external water vapor into the accommodating groove 121, and such a structure also allows the area of ​​the upper surface of the rotor 31 to be increased, thereby allowing the ranging means (including the bracket 60, the transmitting member 70 and the receiving member 80, see Figure 9) to rotate stably.

[0047] In the embodiment of the present application, the rotating seat may adopt wireless power supply, the first coil 20 is outside the receiving groove 121 and is a stator coil, for example a wireless power supply coil, and the second coil 40 is inside the receiving groove 121 and is provided on the rotor 31 and is a rotor coil, for example a wireless power receiving coil. The first coil 20 and the second coil 40 form a wireless power supply member, and based on the wireless power supply technology, power is supplied to the driving member 30, that is, the rotor 31 is driven to rotate, so that the rotating part 32 can be rotated.

[0048] 2 and 6, the processing module 50 has a mounting groove 112 on the end surface of the base 10 away from the receiving portion 12, and the processing module 50 can be placed in the mounting groove 112 to accommodate the processing module 50. The processing module 50 can be communicatively connected to the driving member 30 by a connecting wire, and the processing module 50 is arranged to directly detect the commutation signal of the driving member 30 to obtain the rotation speed and rotation angle of the rotating part 32. Optionally, the processing module 50 and the driving member 30 can communicate with each other by optical communication to reduce the space occupied by the connecting wire. In this embodiment, the processing module 50 controls the start / stop of the driving member 30 by optical communication, but the optical communication does not affect the detection of the rotation speed and rotation angle.

[0049] The driving member 30 may adopt a DC brushless motor, and since the commutation signal of the DC brushless motor is uniform, it is difficult to distinguish the zero degree angle of the rotating part 32, therefore, in some embodiments, referring to FIG. 2 and FIG. 8, the driving member 30 is provided with a first marking 34. When the rotating part 32 is rotated to a predetermined position, the processing module 50 is arranged to detect the first marking 34 so as to determine the starting angle and rotation speed of the rotating part 32. The first marking 34 may be provided on an end face of the rotor 31 away from the rotating part 32, and the first marking 34 is provided close to the processing module, and the first marking 34 is different from other parts of the rotor 31, for example, the rotor 31 is colored or grooved to form the first marking 34, and the position of the first marking 34 can be the zero degree angle of rotation of the driving member 30. When the processing module 50 detects the first marker portion 34, it sets the angle at the first marker portion 34 as zero degrees, records the time of one rotation cycle (i.e., the second time the first marker portion 34 is detected), and can calculate the rotation speed of the rotating portion 32 according to the total rotation angle and time within one cycle.

[0050] Regarding the detection of the first marker 34, a photoelectric switch (not shown) may be used to detect the first marker 34, and the photoelectric switch is connected to the processing module 50, for example, the photoelectric switch communicates with the processing module 50 in the form of a connecting wire, thereby ensuring the stability of data transmission. When the first marker 34 moves to a position corresponding to the photoelectric switch, the photoelectric switch detects the first marker 34 and transmits the detected signal to the processing module 50, and the processing module 50 recognizes the position as a zero degree angle. In some other embodiments, a magnetic mark (not shown) may be provided at a predetermined position of the rotor 31, for example, a magnet is provided as the first marker 34, and a Hall element (not shown) is attached to the corresponding position of the processing module 50 to detect the first marker 34. There are many detection methods, which are not listed in this application.

[0051] Regarding the determination of the rotation angle of the rotating part 32, the processing module 50 can determine an angle value corresponding to each commutation signal according to the commutation number in one period of the driving member 30 to determine the rotation angle of the rotating part 32. In some embodiments, the processing module 50 is provided with an MCU (not shown), the MCU is a microcontroller unit, the MCU is for detecting the commutation signal of the driving member 30, and calculates the rotation speed and angle of the rotating part 32 from the commutation signal. Specifically, the processing module 50 determines an angle change value between two adjacent commutation signals according to the total rotation angle and the commutation number in one period, determines a start angle when the first mark part 34 is detected, and determines a real-time angle value corresponding to the commutation signal according to the angle change value each time a commutation signal is detected. For example, if a 14-pole DC brushless motor is used for the driving member 30, 14 commutation signals are generated when the driving member 30 rotates once (rotates in one period), and the MCU records the total time of these 14 signals, thereby making it possible to know the period and frequency (i.e., rotation speed) at which the driving member 30 rotates. Each time one of these 14 signals arrives, the driving member 30 rotates 360 / 14=25.7 degrees, and the angle is cleared when it passes through the zero point (zero degree angle, i.e., when the first mark portion 34 is detected), and a real-time angle value corresponding to each commutation signal of the driving member 30 can be calculated. With this method, the angle value corresponding to each commutation signal can be obtained easily and accurately.

[0052] For detecting the angle value at other time, the processing module 50 can obtain the time difference between the current time and the previous commutation signal, calculate the product of the time difference and the rotation speed, and the sum of the angle value corresponding to the previous commutation signal and the product can be the real-time angle value corresponding to the non-commutation signal. For example, further referring to FIG. 7, where A is described as the zero degree angle position, the rising edge and the falling edge are each set to a certain angle, and there is no trigger of the commutation signal, the instantaneous angle is the sum of the angle of the previous frame and the product of the time difference and the rotation speed of the previous frame, that is, angleN (instantaneous angle)=angleO (angle of the previous frame)+speeds (rotation speed)*TIME (time difference). By this method, the angle of the rotating part 32 at each time can be obtained simply and accurately.

[0053] In the embodiment of the present application, the commutation signal of the driving member 30 is directly detected by the processing module 50, and then the rotation speed and rotation angle of the rotating part 32 are determined, the photoelectric encoder disk is eliminated, and the functionality of the processing module 50 is improved, so that the structure of the rotating base 100 in the present application is compact, has a small external dimension, and is simple in structure, which not only saves costs but also reduces the risk of component assembly defects. In addition, the process of detecting optical communication between the photoelectric encoder disk and the driving member 30 is eliminated, which not only improves data transmission efficiency but also improves data transmission stability, allowing the processing module 50 to accurately obtain the rotation data of the rotating part 32.

[0054] In a second aspect, an embodiment of the present application further proposes a distance measuring device 1000, which includes the rotating base 100 according to any of the above embodiments. Referring to Fig. 9, the distance measuring device 1000 further includes a bracket 60, and a transmitting member 70 and a receiving member 80 provided on the bracket 60.

[0055] 9, the bracket 60 serves as a support structure for the transmitting member 70 and the receiving member 80, and has a transmitting port 61 and a receiving port 62 formed therein, the transmitting port 61 being for setting the transmitting member 70, and the receiving port 62 being for attaching the receiving member 80. The bracket 60 is connected to an end face of the rotating part 32 that is remote from the base 10, and the rotating part 32 rotates to rotate the bracket 60.

[0056] 9, the transmitting member 70 and the receiving member 80 are provided at the transmitting port 61 of the bracket 60, and the receiving member 80 is provided at the receiving port 62. The transmitting member 70 is for transmitting a signal, and the receiving member 80 is for receiving a signal reflected by an object to be measured, and the transmitting member 70 and the receiving member 80 form a radar member of the distance measuring device 1000 to perform distance measurement. The bracket 60 is rotated by the rotating part 32, and the transmitting member 70 and the receiving member 80 are periodically rotated by 360 degrees, so that distance measurement in all directions can be performed.

[0057] In some embodiments, referring to FIG. 10, a positioning groove 63 is provided at one end of the bracket 60 facing the rotating part 32, a positioning post 314 is provided at the end surface of the rotor 31 facing the bracket 60, and a positioning hole 321 is provided through the rotating part 32, and the positions of the positioning groove 63, the positioning post 314 and the positioning hole 321 correspond to each other in the first direction Z, and the positioning post 314 of the rotor 31 can protrude from the positioning hole 321 of the rotating part 32 and be inserted into the positioning groove 63, facilitating the positioning connection of the bracket 60, the rotating part 32 and the rotor 31. Optionally, the number of the positioning grooves 63 may be multiple to improve the accuracy of the positioning connection, and similarly, the number of the positioning posts 314 and the positioning holes 321 is the same as the number of the positioning grooves 63 to accommodate the insertion. In some other embodiments, the bracket 60, the rotating part 32 and the rotor 31 may be integrally formed to improve the overall strength.

[0058] 9, 11 and 12, the cover member 90 is connected to the base 10 and covers the housing 12, the bracket 60, the transmitting member 70 and the receiving member 80. In this embodiment, the cover member 90 is provided to prevent foreign matter such as rainwater or dust from the outside from corroding the driving member 30, the bracket 60, the transmitting member 70 and the receiving member 80 in the housing 12.

[0059] Further, with reference to FIG. 11, a cover member 90 includes a first cover 91 and a second cover 92 that are connected together.

[0060] 9, 11 and 12, the first cover 91 is configured to cover the bracket 60, the transmitting member 70 and the receiving member 80. Optionally, the first cover 91 may be cylindrical, and the axis of the first cover 91 and the axis of rotation of the rotating part 32 may overlap each other, so that the distances of the transmitting member 70 and the receiving member 80 from the inner wall of the first cover 91 become equal when the rotating part 32 rotates, thereby facilitating signal transmission between the transmitting member 70 and the receiving member 80.

[0061] Regarding the second cover 92, one end of the second cover 92 is connected to the first cover 91, and the other end is connected to the base 10, and the second cover 92 covers the circumferential side of the housing portion 12 to protect the driving member 30 in the housing portion 12. As an option, the second cover 92 and the first cover 91 are integrally molded to improve the connection stability between the first cover 91 and the second cover 92 and improve the overall strength. Here, the inner cavity of the first cover 91 communicates with the inner cavity of the second cover 92, so that the transmitting member 70 and the receiving member 80 pass through the second cover 92 and are provided inside the first cover 91 when attached.

[0062] 13 and 14, in some embodiments, a first connecting portion 921 and a second connecting portion 922 are provided on an end surface of the second cover 92 that is away from the first cover 91, and a first positioning portion 13 and a second positioning portion 14 are provided on an end surface of the base 10 that faces the second cover 92. The outer contour of the first connecting portion 921 matches the first positioning portion 13, and the first connecting portion 921 is configured to be positioned and connected to the first positioning portion 13, and the outer contour of the second connecting portion 922 matches the second positioning portion 14, and the second connecting portion 922 is configured to be positioned and connected to the second positioning portion 14.

[0063] For example, the first positioning portion 13 and the second positioning portion 14 are both insertion columns protruding from the base 10, and the first connection portion 921 and the second connection portion 922 are both fasteners provided on the second cover 92, and this fastener is provided with an enclosed clamping space 923 that can be opened and closed. In the natural state of the fastener, the radius of the clamping space 923 can be made smaller than the radius of the insertion column, and when the insertion column is inserted into the clamping space 923 of the fastener, the insertion column is pressed against the inner wall of the fastener, enlarging the clamping space 923, and the insertion column can be inserted into the clamping space 923 of the fastener for clamping. Here, the clamp space 923 of the first connection portion 921 and the clamp space 923 of the second connection portion 922 have different depths along the direction from the base 10 to the second cover 92 (first direction Z). For example, the height at which the first positioning portion 13 protrudes from the base 10 is greater than the height at which the second positioning portion 14 protrudes from the base 10. In order to connect each positioning portion to match each connection portion, the depth of the first connection portion 921 is greater than the depth of the second connection portion 922. Here, the depth of the first connection portion 921 is the same as the protruding height of the first positioning portion 13 (which is the same as being within a preset error range, and is considered to be the same when the difference is, for example, 0 to 1 mm), and the depth of the second connection portion 922 is the same as the protruding height of the second positioning portion 14. This facilitates the positioning and connection of the first connection portion 921 and the first positioning portion 13, and the positioning and connection of the second connection portion 922 and the second positioning portion 14. In this embodiment, the first connecting portion 921 and the second connecting portion 922 are fasteners, and the fasteners have a clamp space 923 that can be opened and closed, thereby accommodating insertion posts of different thicknesses.

[0064] In some other embodiments, the first connection portion 921 and the second connection portion 922 are both insertion holes opened in the second cover 92, and the first positioning portion 13 and the second positioning portion 14 are both insertion pillars protruding from the base 10. In order to facilitate the positioning and connection between the first connection portion 921 and the first positioning portion 13 and the second connection portion 922 and the second positioning portion 14, the first connection portion 921 and the second connection portion 922 have different depths along the first direction Z, that is, the heights at which the first positioning portion 13 and the second positioning portion 14 protrude from the base 10 are different, or the first connection portion 921 and the second connection portion 922 have different lengths along the second direction X, that is, the lengths of the first positioning portion 13 and the second positioning portion 14 are different, or the first connection portion 921 and the second connection portion 922 have different widths along the third direction Y, that is, the widths of the second positioning portion 14 and the second positioning portion 14 are different. Note that the first direction Z in this embodiment is the depth direction of the insertion hole, and two of the first direction Z, the second direction X, and the third direction Y are perpendicular to each other.

[0065] Optionally, referring to Figures 15 and 16, the length of the first cover 91 along the second direction X is equal to or less than the length of the second cover 92, and the width of the first cover 91 along the third direction Y is equal to or less than the width of the second cover 92, and two of the second direction X, the third direction Y and the axial direction of the first cover 91 are perpendicular to each other. In this embodiment, the overall dimension of the first cover 91 can be smaller than the overall dimension of the second cover 92, thereby reducing the space occupied by the cover member 90 and realizing a compact design of the distance measuring device 1000.

[0066] In an embodiment of the present application, a first positioning portion 13 and a second positioning portion 14 are provided on the base 10, and a first connecting portion 921 and a second connecting portion 922 are provided on the second cover 92, so that the first connecting portion 921 is configured to be positioned and inserted into the first positioning portion 13, and the second connecting portion 922 is configured to be positioned and inserted into the second positioning portion 14, which facilitates accurate positioning and connection between the second cover 92 and the base 10 and improves the mounting accuracy between the second cover 92 and the base 10. In addition, in the embodiment of the present application, the commutation signal of the driving member 30 is detected by the processing module 50 to obtain the rotation speed and angle of the rotating part 32, thereby canceling the photoelectric encoder disk, and the first coil 20 is directly fitted into the first annular groove 122 of the accommodating part 12, so that the rotating base 100 can have a small outer dimension, and therefore a cover member 90 with a small dimension can be correspondingly provided, thereby making the overall structure of the distance measuring device 1000 compact, having a small outer dimension, and reducing the space occupied by the distance measuring device 1000.

[0067] In a third aspect, an embodiment of the present application further proposes a mobile robot including a distance measuring device 1000 according to any of the embodiments in the second aspect.

[0068] Finally, the above embodiments are only for illustrating the technical solution of the present application, and do not limit the technical solution of the present application. Based on the concept of the present application, the technical features in the above embodiments or different embodiments can also be combined, and these steps can be realized in any order, and there are many other variations in different aspects of the present application as described above, which are not provided in detail for the sake of brevity. Although the present application has been described in detail with reference to the above embodiments, those skilled in the art should understand that the technical solutions described in each of the above embodiments can still be modified or some of the technical features thereof can be equally replaced, and these modifications or replacements do not deviate from the essence of the corresponding technical solution from the scope of the technical solutions of each of the embodiments of the present application. [Explanation of symbols]

[0069] 1000, ranging equipment; 100, swivel seat; 10, pedestal; 11, seat body; 111, mounting surface; 112, mounting groove; 12, storage section; 121, containment trench; 122, first annular groove; 123, shaft cylinder; 13, the first positioning part; 14, the second positioning part; 20, first coil; 30, driving member; 31, rotor; 311, drums; 3111, connecting wall; 3112, second annular groove; 312, shaft; 313, winding groove; 314, positioning pillar; 315, outer barrel; 32, rotating part; 321, positioning hole; 33, stator; 34, first sign section; 40, second coil; 50, processing module; 60, bracket; 61, transmission port; 62, receiving port; 63, positioning groove; 70, transmitting member; 80, receiving member; 90, cover member; 91, 1st cover; 92, second cover; 921, first connection; 922, second connection; 923, clamp space.

Claims

1. A base having an enclosed receiving portion and a receiving groove formed in the receiving portion; a drive member including a rotor provided in the accommodation groove and a rotating part connected to the rotor; a processing module provided on the base and connected to the driving member, and configured to detect a commutation signal of the driving member so as to obtain a rotation speed and a rotation angle of the rotating part; A rotating seat comprising:

2. The rotating seat further includes a wireless power supply member, The rotating base according to claim 1, characterized in that the wireless power supply member includes a first coil and a second coil, the first coil being fitted into the housing portion, and the second coil being fitted into the rotor.

3. a first marker portion is provided on the driving member, and the processing module is arranged to detect the first marker portion when the rotating portion is rotated to a predetermined position; The rotating base according to claim 1, characterized in that the processing module is arranged to detect a commutation signal of the driving member and, after detecting a first mark portion, determine a rotation speed and a rotation angle of the rotating portion according to a rotation period and a commutation number of the driving member.

4. The rotating base according to claim 3, wherein the processing module is used to determine an angle value corresponding to each commutation signal according to the number of commutations in one period of the driving member, thereby determining a rotation angle of the rotating part.

5. The processing module further comprises: determining an angle change value between two adjacent commutation signals according to a total rotation angle and a number of commutations in one period; determining a start angle when the first sign portion is detected; 5. The rotor of claim 4, wherein each time a commutation signal is detected, the angle change value is used to determine a real-time angle value corresponding to the commutation signal.

6. The processing module further comprises: Obtain the time difference between the current time and the previous commutation signal, Calculating the product of the time difference and the rotation speed; 6. The rotor according to claim 5, wherein the sum of the product and an angle value corresponding to a previous commutation signal is used to obtain a real-time angle value corresponding to a non-commutation signal.

7. The rotating base according to claim 2, characterized in that the second coil is arranged coaxially with the first coil, and the second coil and the first coil are arranged in this order along a direction from the second coil to the accommodating portion.

8. an opening is provided in the housing portion, the rotor protrudes from the housing groove through the opening, and the second coil is fitted to the rotor outside the housing groove; 3. The rotating seat according to claim 2, wherein the first coil and the second coil are provided in this order along a direction from a groove bottom to an opening of the accommodation groove.

9. The rotor seat according to claim 2, further comprising an outer cylinder body, the outer cylinder body protruding from the accommodating groove and surrounding the accommodating portion, and the second coil being fitted to the outer cylinder body.

10. The base further includes a seat body, and the storage portion is provided in the seat body, The storage portion protrudes from a surface of the seat body along a first direction, The length of the storage portion is smaller than the length of the seat body along the second direction, The width of the storage portion is smaller than the width of the seat body along the third direction, 2. The rotating seat according to claim 1, wherein the first direction is parallel to an axis of the receiving groove, and two of the first direction, the second direction and the third direction are perpendicular to each other.

11. A shaft cylinder is provided in the housing, and a shaft of the rotor is rotatably provided in the shaft cylinder, A first annular groove is provided in an outer surface of the housing along a circumferential direction of the housing, and the first coil is fitted into the first annular groove; and / or The rotor seat according to claim 7, characterized in that a second annular groove is provided annularly on an outer surface of the rotor along a circumferential direction of the rotor, and the second coil is fitted into the second annular groove.

12. 2. The rotating base according to claim 1, wherein the processing module and the driving member communicate with each other in the form of a connecting wire, or the processing module and the driving member communicate with each other in the form of optical communication.

13. 2. The rotating seat according to claim 1, wherein a rotating part is provided coaxially with the rotor, and the rotating part and the rotor are detachably connected to each other.

14. The rotating seat according to claim 13, characterized in that a positioning hole is provided in the rotating part, a positioning pillar is protruded from an end surface of the rotor facing the rotating part, and the positioning pillar is inserted into the positioning hole so that the rotating part and the rotor are detachably connected.

15. A rotating seat according to any one of claims 1 to 14, a bracket connected to the rotating part and having a transmission port and a reception port; a transmitting member provided at the transmitting port for transmitting a signal; a receiving member provided at the receiving port for receiving a signal,

16. A positioning groove is formed in one end of the bracket facing the rotating part, 16. The distance measuring device according to claim 15, wherein a positioning post of the rotor protrudes from a positioning hole of the rotating portion and is inserted into the positioning groove.

17. the distance measuring device further includes a cover member, the cover member is connected to the base, and the cover member is configured to cover the housing portion, the transmitting member, and the receiving member; a first connecting portion and a second connecting portion are provided on an end surface of the cover member facing the base, and a first positioning portion and a second positioning portion are provided on an end surface of the base facing the cover member, An outer contour of the first connection portion is configured to match the first positioning portion, and the first connection portion is configured to be positioned and connected to the first positioning portion, 16. The distance measuring device according to claim 15, wherein an outer contour of the second connection portion matches the second positioning portion, and the second connection portion is configured to be positioned and connected to the second positioning portion.

18. The cover member is a first cover that covers the bracket, the transmitting member, and the receiving member; The distance measuring device of claim 17, further comprising: a second cover having one end connected to the first cover and the other end connected to the base, and surrounding and covering the circumferential side of the accommodating portion, and having both the first connection portion and the second connection portion provided thereon.

19. The first positioning portion and the second positioning portion are both insertion posts protruding from the base, the first connection portion and the second connection portion are both fasteners provided on the second cover, and an enclosed clamping space that can be opened and closed is provided in the fastener, and the clamping space of the first connection portion and the clamping space of the second connection portion have different depths along the direction from the base to the second cover, or The distance measuring device described in claim 18, characterized in that the first connection portion and the second connection portion are both insertion posts protruding from the second cover, the first positioning portion and the second positioning portion are both fasteners provided on the base, the fastener has an enclosed clamp space that can be opened and closed, and the first positioning portion and the second positioning portion have different depths along the direction from the second cover to the base.

20. the first connection portion and the second connection portion are both insertion holes formed in the second cover, and the first positioning portion and the second positioning portion are both insertion posts protruding from the base, The first connection portion and the second connection portion satisfy at least one of the following conditions a, b, and c: a. the first connection portion and the second connection portion have different depths along a first direction; b. the first connection portion and the second connection portion have different lengths along a second direction; c. the first connecting portion and the second connecting portion have different widths along a third direction; 19. The distance measuring device according to claim 18, wherein the first direction is a depth direction of the insertion hole, and two of the first direction, second direction, and third direction are perpendicular to each other.

21. 20. The distance measuring device according to claim 18, wherein the first cover and the second cover are integrally formed.

22. A mobile robot comprising the distance measuring device according to any one of claims 15 to 21.

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