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 (invention title: "Rotating 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 field of robotics. Ranging devices send point cloud information, including the generated angle, distance, brightness, etc., to robots, allowing them to build maps.

[0004] The distance measuring device is equipped with a photoelectric encoder disk. During operation, the photoelectric encoder disk detects the 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. This results in low efficiency in the processing module acquiring the rotation data, poor stability in data transmission, and inaccurate rotation data obtained by the processing module. Furthermore, the photoelectric encoder disk occupies a large space, making the structure of the distance measuring device complex 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 that address at least the technical issues of low efficiency in the ranging device in 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 rotary seat including a base, a drive member, and a processing module, the base being provided with an enclosed receiving section, the receiving section having 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 to obtain the rotation speed and 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 portion 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 portion.

[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 the rotation angle of the rotating part.

[0010] According to some embodiments of the present application, the processing module is further used to determine an angle change value between two adjacent commutation signals according to a total rotation angle and a commutation number within one period, determine a start angle when the first mark portion is detected, and determine 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 to obtain a time difference between the current time and the previous commutation signal, calculate the product of the time difference and the rotation speed, and calculate the sum of the product and the angle value corresponding to the previous commutation signal as a real-time angle value corresponding to the 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 housing 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 the direction from the second coil to the accommodating portion.

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

[0015] According to some embodiments of the present application, the rotor further includes an outer cylinder body, the outer cylinder body extending 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, wherein the first direction is parallel to the axis of the receiving groove, and two of the first direction, second direction, and third direction are perpendicular to each other.

[0017] According to some embodiments of the present application, the rotating portion is provided coaxially with the rotor, and the rotating portion 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 opened in the rotating part, and a positioning pillar is protruded from the 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.

[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 an open mouth at one end and a connecting wall at the other end. A shaft is coaxially connected to the drum, with one end connected to the connecting wall and the other end extending from the open mouth. A winding is provided within the drum and connected to the shaft. Here, the driving member further includes a stator, which 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 within the housing, and the rotor shaft is rotatably provided within the shaft cylinder. A first annular groove is provided in the outer surface of the housing along the circumferential direction of the housing, and the first coil is fitted within the first annular groove, and / or a second annular groove is provided in the outer surface of the rotor along the circumferential direction of the rotor, and the second coil is fitted within 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 form of connecting wires, or the processing module and the driving member communicate with each other in the form 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 opened on the bracket. The transmitting member is provided in the transmitting port and is for transmitting signals. The receiving member is provided in the receiving port and is for receiving signals.

[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 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 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-described 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, eliminating the need for a photoelectric encoder disk and improving the functionality of the processing module. This allows the structure of the rotating seat in the present application to be compact, with a small external dimension, a simple structure, cost savings, and a reduced risk of component assembly errors. In addition, the elimination of the process of optical communication detection between the photoelectric encoder disk and the driving member not only improves data transmission efficiency, but also improves data transmission stability, allowing the processing module to accurately obtain rotation data of the rotating part.

[0028] The above description is only a summary of the technical solution of the present application, which can be implemented according to the content of the specification, in order to make the technical means of the present application more clearly understandable. In addition, 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 explanation of the drawings]

[0029] One or more embodiments are illustratively described by the accompanying drawings, which illustrative description does not constitute a limitation of the embodiments, and in the drawings, elements having the same reference numerals are intended to represent similar elements, and unless otherwise specified, the figures in the drawings are not intended to constitute a limitation of proportion. [Figure 1] 1 is a structural schematic diagram of a rotating seat according to some embodiments of the present application. [Figure 2] FIG. 2 is an exploded view of a rotating seat according to some embodiments of the present application. [Figure 3] 1 is a structural schematic diagram of a base according to some embodiments of the present application. [Figure 4] 1 is a structural schematic diagram of a rotor according to some embodiments of the present application. [Figure 5] 1 is a schematic view illustrating the installation of a rotating part according to some embodiments of the present application. [Figure 6]1 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 a detection of a commutation signal according to some embodiments of the present application. [Figure 8] 1 is a structural schematic diagram of a rotor according to some embodiments of the present application. [Figure 9] 1 is a partial structural schematic diagram of a distance measuring device according to some embodiments of the present application. [Figure 10] 1 is a schematic diagram illustrating the 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] 1 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 seat according to some embodiments of the present application. [Figure 19] 1 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 INVENTION

[0030] The following detailed description of the embodiments of the technical solution of the present application will be given with reference to the accompanying 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 particular embodiments only and are not intended to limit this application, and the terms "comprises" and "having" and any variations thereof in the specification, claims, and above description of the drawings of this application are intended to cover a non-exclusive inclusion.

[0032] In describing the embodiments of the present application, the term "and / or" is merely a relational relationship describing related objects, and indicates that there are three relationships. For example, A and / or B may indicate three cases: A exists alone, A and B exist simultaneously, or 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 used to distinguish different objects, and should not be understood as indicating or implying relative importance, or the number, specific order, or primary / subordinate relationship of the technical features shown. In the description of the embodiments of the present application, "plurality" means two or more, unless otherwise specifically limited.

[0034] References herein to an "embodiment" mean that a particular feature, structure, or characteristic described in connection with an 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 serve as a support structure, and the first coil 20, the driving member 30, the second coil 40, and the processing module 50 may all be mounted on the base 10. The base 10 may include a base body 11 and a housing 12, the base body 11 may be provided with a mounting surface 111, and the driving member 30 may be mounted on the mounting surface 111. Specifically, the mounting surface 111 of the base 10 may be provided with the enclosed housing 12, and the housing 12 may have a housing groove 121 formed therein, the housing groove 121 extending toward the base body 11 at a certain depth, and the opening (not shown) of the housing groove 121 being spaced apart from the base body 11. Optionally, the base body 11 and the housing 12 may be integrally molded to increase the overall strength of the base 10.

[0037] In 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 similarly be a columnar recess. 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 the overall volume of the base 10.

[0038] 1 and 3, the first coil 20 is fitted to the outer surface of the accommodating portion 12. Specifically, a first annular groove 122 is formed 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 for 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 receiving groove 121 and is coaxial with the receiving groove 121, thereby ensuring that the rotor 31 can rotate within the receiving groove 121.

[0040] 2 to 4, in some embodiments, the rotor 31 includes a drum 311, a shaft 312, and a winding (not shown). The drum 311 has a cylindrical structure with an open end. Specifically, the open end (not shown) is formed 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 may be 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 inside 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, which 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 this disk structure and the rotation axis thereof overlap, that is, the rotating part 32 can rotate 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 integrally molded, which improves the connection stability between the rotating part 32 and the rotor 31, allowing the rotor 31 to rotate the rotating part 32 stably.

[0043] 5, in some other embodiments, 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 protruding from the end surface 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 for maintenance or replacement.

[0044] 2 and 4, the second coil 40 is fitted on the outer surface of the rotor 31. Specifically, a second annular groove 3112 is formed in the outer surface of the drum 311 along the circumferential direction of the drum 311, and the second coil 40 is fitted into this second annular groove 3112 to accommodate the second coil 40. This prevents the second coil 40 from occupying more space than necessary, ensuring a compact structure of the rotor seat 100. The second coil 40 is arranged coaxially with the first coil 20, and the second coil 40 and the first coil 20 are arranged in this order along the direction of the second coil 40 and the accommodating portion 12. In other words, the second coil 40 and the first coil 20 are arranged in an inner-outer arrangement.

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

[0046] In some other embodiments, the second coil 40 and the first coil 20 may be arranged in an outer-inner arrangement, i.e., 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, thereby ensuring that the dimensions of the rotor 31 are as small as possible. At the same time, the double protection of the outer cylinder 315 and the accommodating section 12 can further reduce the intrusion of external water vapor into the accommodating groove 121, and this 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, transmitting member 70 and receiving member 80, see Figure 9) to rotate stably.

[0047] In an embodiment of the present application, the rotating base may adopt wireless power supply, with the first coil 20 located outside the receiving groove 121 and serving as a stator coil, such as a wireless power supply coil, and the second coil 40 located inside the receiving groove 121 and attached to the rotor 31, serving as a rotor coil, such as a wireless power receiving coil. The first coil 20 and the second coil 40 form a wireless power supply member, and power is supplied to the driving member 30 based on wireless power supply technology, thereby driving the rotor 31 to rotate, thereby rotating the rotating part 32.

[0048] 2 and 6, the processing module 50 has a mounting groove 112 formed on the end face 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 may be communicatively connected to the driving member 30 via a connecting wire, and may be configured 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 may communicate via 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 via optical communication, but this optical communication does not affect the detection of the rotation speed and rotation angle.

[0049] The drive member 30 may employ a DC brushless motor. Because the commutation signal of a 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 FIGS. 2 and 8, a first marker 34 is provided on the drive member 30. When the rotating part 32 is rotated to a predetermined position, the processing module 50 is arranged to detect the first marker 34 so as to determine the starting angle and rotation speed of the rotating part 32. The first marker 34 may be provided on an end face of the rotor 31 away from the rotating part 32, and the first marker 34 may be provided close to the processing module. The first marker 34 may be different from other parts of the rotor 31. For example, the rotor 31 may be painted or grooved to form the first marker 34, and the position of the first marker 34 may be set as the zero-degree angle of rotation of the drive member 30. When the processing module 50 detects the first marker 34, it sets the angle at the first marker 34 as zero degrees, records the time of one rotation cycle (i.e., the second time the first marker 34 is detected), and can calculate the rotation speed of the rotating part 32 according to the total rotation angle and time within one cycle.

[0050] The first marker 34 may be detected using a photoelectric switch (not shown), which is connected to the processing module 50, for example, by a connecting wire, thereby ensuring stable 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 a detected signal to the processing module 50, which then recognizes the position as a zero-degree angle. In other embodiments, a magnetic mark (not shown) may be provided at a predetermined position on the rotor 31, for example, a magnet may be provided as the first marker 34, and a Hall element (not shown) may be attached to the corresponding position on the processing module 50 to detect the first marker 34. There are many different detection methods, none of which are listed here.

[0051] Regarding the determination of the rotation angle of the rotator 32, the processing module 50 can determine an angle value corresponding to each commutation signal according to the number of commutations within one cycle of the drive member 30, thereby determining the rotation angle of the rotator 32. In some embodiments, the processing module 50 is provided with an MCU (not shown), which is a microcontroller unit (MCU), for detecting the commutation signals of the drive member 30 and calculating the rotation speed and angle of the rotator 32 from the commutation signals. Specifically, the processing module 50 determines an angle change value between two adjacent commutation signals according to the total rotation angle and the number of commutations within one cycle, determines a start angle when the first mark 34 is detected, and determines a real-time angle value corresponding to a 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 per revolution (one rotation period), and the MCU records the total time of these 14 signals, thereby determining the period and frequency (i.e., rotation speed) of the rotation of the driving member 30. 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 34 is detected), allowing the real-time angle value corresponding to each commutation signal of the driving member 30 to be calculated. This method allows the angle value corresponding to each commutation signal to be obtained easily and accurately.

[0052] To detect angle values ​​at other times, the processing module 50 obtains the time difference between the current time and the previous commutation signal, calculates the product of the time difference and the rotation speed, and then calculates the sum of the product and the angle value corresponding to the previous commutation signal as the real-time angle value corresponding to the non-commutation signal. For example, referring further to FIG. 7, if A is designated as the zero-degree angle position, the rising and falling edges are each set to a fixed angle, and there is no commutation signal trigger, the instantaneous angle is the sum of the angle of the previous frame and the product of the time difference and rotation speed of the previous frame, i.e., angleN (instantaneous angle) = angleO (angle of the previous frame) + speeds (rotation speed) * TIME (time difference). This method allows the angle of the rotating unit 32 at each time to be easily and accurately obtained.

[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, eliminating the need for a photoelectric encoder disc and improving the functionality of the processing module 50. This allows the structure of the rotating base 100 in the present application to be compact, have a small external size, and be simple in structure, not only saving costs but also reducing the risk of component assembly errors. Furthermore, by eliminating the process of optical communication detection between the photoelectric encoder disc and the driving member 30, not only can the data transmission efficiency be improved, but also the data transmission stability can be improved, 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 one 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 the 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 signals, and the receiving member 80 is for receiving signals reflected by the 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 unit 32, and the transmitting member 70 and the receiving member 80 are rotated cyclically by 360 degrees, allowing distance measurement in all directions.

[0057] 10 , in some embodiments, a positioning groove 63 is formed on one end of the bracket 60 facing the rotating part 32, a positioning post 314 is provided on the end surface of the rotor 31 facing the bracket 60, and a positioning hole 321 is formed through the rotating part 32, the positions of the positioning groove 63, the positioning post 314, and the positioning hole 321 correspond to one another in the first direction Z, and the positioning post 314 of the rotor 31 protrudes from the positioning hole 321 of the rotating part 32 and can be inserted into the positioning groove 63, facilitating the positioning connection of the bracket 60, the rotating part 32, and the rotor 31. Optionally, to improve the accuracy of the positioning connection, the number of positioning grooves 63 may be multiple, and similarly, the number of positioning posts 314 and positioning holes 321 may be the same as the number of positioning grooves 63 to accommodate the insertion. In other embodiments, the bracket 60, the rotating part 32, and the rotor 31 may be integrally molded to improve 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 prevents external foreign matter such as rainwater or dust from corroding the driving member 30, the bracket 60, the transmitting member 70 and the receiving member 80 inside the housing 12.

[0059] Further, referring to FIG. 11, a cover member 90 includes a first cover 91 and a second cover 92 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 may overlap with the rotation axis of the rotating part 32 so that the distances of the transmitting member 70 and the receiving member 80 from the inner wall of the first cover 91 are equal when the rotating part 32 rotates, thereby facilitating signal transmission between the transmitting member 70 and the receiving member 80.

[0061] One end of the second cover 92 is connected to the first cover 91, and the other end is connected to the base 10. The second cover 92 surrounds and covers the circumferential side of the housing 12 to protect the drive member 30 inside the housing 12. Optionally, the second cover 92 and the first cover 91 may be integrally molded to improve the connection stability between the first cover 91 and the second cover 92 and increase 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 disposed inside the first cover 91 during installation.

[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 posts protruding from the base 10, and the first connecting portion 921 and the second connecting portion 922 are both fasteners provided on the second cover 92, and this fastener has 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 posts, and when the insertion posts are inserted into the clamping space 923 of the fastener, the insertion posts are pressed against the inner wall of the fastener, enlarging the clamping space 923, so that the insertion posts can be inserted into the clamping space 923 of the fastener for clamping. Here, the clamping space 923 of the first connecting portion 921 and the clamping space 923 of the second connecting 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 connecting portion, the depth of the first connecting portion 921 is greater than the depth of the second connecting portion 922. Here, the depth of the first connecting portion 921 is the same as the protruding height of the first positioning portion 13 (within a preset error range, and considered to be the same when there is a difference of, for example, 0 to 1 mm), and the depth of the second connecting portion 922 is the same as the protruding height of the second positioning portion 14. This facilitates the positioning and connection between the first connecting portion 921 and the first positioning portion 13, and the positioning and connection between the second connecting 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. To facilitate the positioning and connection between the first connecting portion 921 and the first positioning portion 13 and the second connecting portion 922 and the second positioning portion 14, the first connecting portion 921 and the second connecting portion 922 have different depths along the first direction Z, i.e., the first positioning portion 13 and the second positioning portion 14 protrude from the base 10 at different heights, or the first connecting portion 921 and the second connecting portion 922 have different lengths along the second direction X, i.e., the first positioning portion 13 and the second positioning portion 14 have different lengths, or the first connecting portion 921 and the second connecting portion 922 have different widths along the third direction Y, i.e., the second positioning portion 14 and the second positioning portion 14 have different widths. Note that in this embodiment, the first direction Z 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] 15 and 16 , optionally, the length of the first cover 91 along the second direction X is less than or equal to the length of the second cover 92, and the width of the first cover 91 along the third direction Y is less than or equal to the width of the second cover 92, and two of the second direction X, the third direction Y, and the axial directions of the first cover 91 are perpendicular to each other. In this embodiment, the overall dimensions of the first cover 91 can be smaller than the overall dimensions 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 installation 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 provided correspondingly, 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 the distance measuring device 1000 according to any one of the embodiments in the second aspect.

[0068] Finally, the above embodiments are only for illustrating the technical solutions of the present application, and do not limit the technical solutions 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. There are also 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 they can still modify the technical solutions described in each of the above embodiments or equally replace some of the technical features, and these modifications or substitutions will not deviate from the essence of the corresponding technical solutions and the scope of the technical solutions of each of the embodiments of the present application. [Explanation of symbols]

[0069] 1000, ranging equipment; 100, rotating seat; 10, pedestal; 11, seat body; 111, mounting surface; 112, mounting groove; 12, accommodation 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, locating 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 provided with an enclosed receiving portion and an receiving groove formed in the receiving portion; a drive member including a rotor provided in the accommodation groove and a rotating portion connected to the rotor, the drive member having a first marking portion; a processing module provided on the base and connected to the drive member, the processing module being arranged to detect the first marker when the rotary part is rotated to a predetermined position, the processing module detecting a commutation signal of the drive member and determining, after detecting the first marker, a rotation speed and a rotation angle of the rotary part according to a rotation period and a number of commutations of the drive member, wherein the processing module is arranged 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 the rotation angle of the rotary part.

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

3. The processing module further comprises: determining an angle change value between two adjacent commutation signals according to the total rotation angle and the number of commutations within one period; determining a start angle when the first sign portion is detected; 2. The rotor of claim 1, 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.

4. 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; 4. The rotor according to claim 3, wherein the sum of the angle value corresponding to the immediately preceding commutation signal and the product is used to obtain a real-time angle value corresponding to a non-commutation signal.

5. 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 housing portion.

6. an opening is provided in the accommodation portion, the rotor protrudes from the accommodation groove through the opening, and the second coil is fitted to the rotor outside the accommodation 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.

7. 3. The rotor seat according to claim 2, wherein the rotor further includes an outer cylindrical body, the outer cylindrical body protruding from the accommodating groove and surrounding the accommodating portion, and the second coil fitted to the outer cylindrical body.

8. The base further includes a seat body, and the storage portion is provided in the seat body, The receiving portion protrudes from the surface of the seat body along a first direction, The length of the storage portion along the second direction is shorter than the length of the seat body, 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 the axis of the receiving groove, and two of the first direction, the second direction, and the third direction are perpendicular to each other.

9. A shaft cylinder is provided in the housing portion, and the rotor shaft is rotatably provided in the shaft cylinder, a first annular groove is provided in the outer surface of the housing along the circumferential direction of the housing, and the first coil is fitted into the first annular groove; and / or 6. The rotor seat according to claim 5, wherein a second annular groove is provided in the outer surface of the rotor along the circumferential direction of the rotor, and the second coil is fitted into the second annular groove.

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

11. 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.

12. The rotating seat according to claim 11, characterized in that a positioning hole is opened 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.

13. A rotating seat according to any one of claims 1 to 12, a bracket connected to the rotating part and having a transmitting port and a receiving 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,

14. A positioning groove is formed in one end of the bracket facing the rotating part, 14. The distance measuring device according to claim 13, wherein a positioning post of the rotor projects from a positioning hole of the rotating portion and is inserted into the positioning groove.

15. the distance measuring device further includes a cover member, the cover member being connected to the base and 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; 14. The distance measuring device according to claim 13, wherein the 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.

16. The cover member is a first cover that covers the bracket, the transmitting member, and the receiving member; The distance measuring device according to claim 15, characterized in that it includes 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.

17. The first positioning portion and the second positioning portion are both insertion posts protruding from the base, the first connecting portion and the second connecting 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 connecting portion and the clamping space of the second connecting portion have different depths along the direction from the base to the second cover, or The distance measuring device described in claim 16, 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 fasteners have 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.

18. the first connecting portion and the second connecting 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 connecting portion and the second connecting portion have different depths along a first direction; b) the first connecting portion and the second connecting 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; 17. The distance measuring device according to claim 16, 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.

19. 17. The distance measuring device according to claim 16, wherein the first cover and the second cover are integrally formed.

20. A mobile robot comprising the distance measuring device according to claim 13.

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