LOW COST POSITION SENSOR AND MOBILITY DEVICE USING THE SAME

Abstract

A low cost position sensor and a mobility device using the same are provided. The low cost position sensor comprises a rollable object, a container and a control circuit. The rollable object comprises a specific material. The container has a non-planar inner bottom portion. At least one sensor for detecting coordinates is disposed inside the container. The rollable object is disposed in the container. The sensor can detect the specific material. The control circuit is coupled to the sensor. The sensor detects the specific material to determine a coordinate position of the rollable object, and sends the coordinate position of the rollable object back to the control circuit. The control circuit determines a tilt angle of the container according to the coordinate position of the rollable object.

Claims

1. A low cost position sensor, comprising: a rollable object comprising a specific material; a container having a non-planar inner bottom portion, wherein at least one sensor for detecting coordinates is disposed inside the container, the rollable object is disposed in the container, and the sensor detects the specific material; and a control circuit coupled to the sensor, wherein the sensor detects the specific material to determine a coordinate position of the rollable object, and sends the coordinate position of the rollable object back to the control circuit, wherein the control circuit determines a tilt angle of the container according to the coordinate position of the rollable object.

2. The low cost position sensor according to claim 1, wherein the rollable object is an elliptic sphere, and the inner bottom portion of the container has a polygonal inner surface.

3. The low cost position sensor according to claim 1, wherein the rollable object is a circular sphere, and the inner bottom portion of the container has a hemispherical inner surface.

4. The low cost position sensor according to claim 1, wherein the sensor comprises: a first electroconductive strip disposed annularly from a top portion of the container to the inner bottom portion of the container, wherein the first electroconductive strip has a resistive property, wherein a first end of the first electroconductive strip is coupled to a power voltage, and a second end of the first electroconductive strip is coupled to a common voltage; and a second electroconductive strip disposed annularly from the top portion of the container to the inner bottom portion of the container, wherein the second electroconductive strip is parallel to and does not intersect with the first electroconductive strip, wherein the control circuit comprises: an analog-to-digital converter comprising an input terminal and an output terminal, wherein the input terminal of the analog-to-digital converter is coupled to the second electroconductive strip, wherein the rollable object is made of an electroconductive material, wherein when the rollable object contacts the first electroconductive strip and the second electroconductive strip, the output terminal of the analog-to-digital converter outputs a corresponding digital signal according to the first electroconductive strip through voltage dividing of the rollable object to determine the coordinate position of the rollable object inside the container.

5. The low cost position sensor according to claim 1, wherein the sensor comprises: a surface capacitive sensor disposed inside the container and coupled to the control circuit; wherein the rollable object is made of an electroconductive material, wherein the surface capacitive sensor sends coordinates of the electroconductive material back to the control circuit according to a capacitive change, wherein the control circuit determines the coordinate position of the rollable object inside the container according to the sent coordinates.

6. A mobility device, comprising: at least one motor; a low cost position sensor, comprising: a rollable object comprising a specific material; and a container having a non-planar inner bottom portion, wherein at least one sensor for detecting coordinates is disposed inside the container, the rollable object is disposed in the container, and the sensor detects the specific material; and a control circuit coupled to the motor and the sensor, wherein the sensor detects the specific material to determine a coordinate position of the rollable object, and sends the coordinate position of the rollable object back to the control circuit, wherein the control circuit determines a tilt angle of the container according to the coordinate position of the rollable object, wherein the control circuit controls the motor according to the tilt angle of the container.

7. The mobility device according to claim 6, wherein the rollable object is an elliptic sphere, and the inner bottom portion of the container has a bowl shape.

8. The mobility device according to claim 6, wherein the rollable object is an elliptic sphere, and the inner bottom portion of the container has a hemispherical shape.

9. The mobility device according to claim 6, wherein the sensor comprises: a first electroconductive strip disposed annularly from a top portion of the container to the inner bottom portion of the container, wherein the first electroconductive strip has a resistive property, wherein a first end of the first electroconductive strip is coupled to a power voltage, and a second end of the first electroconductive strip is coupled to a common voltage; and a second electroconductive strip disposed annularly from the top portion of the container to the inner bottom portion of the container, wherein the second electroconductive strip is parallel to and does not intersect with the first electroconductive strip, wherein the control circuit comprises an analog-to-digital converter comprising an input terminal and an output terminal, wherein the input terminal of the analog-to-digital converter is coupled to the second electroconductive strip, wherein the rollable object is made of an electroconductive material, wherein when the rollable object contacts the first electroconductive strip and the second electroconductive strip, the output terminal of the analog-to-digital converter outputs a corresponding digital signal according to the first electroconductive strip through voltage dividing of the rollable object to determine the coordinate position of the rollable object inside the container.

10. The mobility device according to claim 6, wherein the sensor comprises: a surface capacitive sensor disposed inside the container and coupled to the control circuit; wherein the rollable object is a spherical electroconductive material, wherein the surface capacitive sensor sends coordinates of the spherical electroconductive material back to the control circuit according to a capacitive change, wherein the control circuit determines the coordinate position of the rollable object inside the container according to the sent coordinates.

11. The mobility device according to claim 6, wherein the mobility device is a four-rotor rotorcraft, and the mobility device has four motors each coupled to the control circuit.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0013] FIG. 1 is a schematic view showing a mobility device according to a preferred embodiment of the present invention.

[0014] FIG. 2 is a schematic view showing a low cost position sensor according to a preferred embodiment of the present invention.

[0015] FIG. 3A is a schematic structure view showing a sensor 203 for detecting coordinates of the low cost position sensor according to a preferred embodiment of the present invention.

[0016] FIG. 3B is a schematic structure view showing a sensor 203 for detecting coordinates of the low cost position sensor according to a preferred embodiment of the present invention.

[0017] FIG. 4A is a schematic structure view showing a sensor 203 for detecting coordinates of the low cost position sensor according to another preferred embodiment of the present invention.

[0018] FIG. 4B is a circuit block diagram showing a sensor 203 for detecting coordinates of the low cost position sensor according to another preferred embodiment of the present invention.

DETAILED DESCRIPTION OF THE INVENTION

[0019] FIG. 1 is a schematic view showing a mobility device according to a preferred embodiment of the present invention. Referring to FIG. 1, the mobility device comprises four motors 101 to 104, a control circuit 105 and a position sensor 106 according to the preferred embodiment of the present invention. FIG. 2 is a schematic view showing a low cost position sensor according to a preferred embodiment of the present invention. Referring to FIG. 2, the position sensor 106 in this embodiment comprises a container 201 and a rollable object 202. The container 201 has a non-planar inner bottom portion, wherein the inner bottom portion having a bowl shape is illustrated in this embodiment. At least one sensor 203 for detecting coordinates is disposed inside the container 201. The rollable object 202 is disposed in the container 201. In this embodiment, the rollable object 202 comprises a specific material, and the sensor 203 for detecting coordinates can detect the specific material. The sensor 203 for detecting coordinates is coupled to the control circuit 105, and sends the detected coordinates of the rollable object 202 back to the control circuit 105.

[0020] FIG. 3A is a schematic structure view showing a sensor 203 for detecting coordinates of the low cost position sensor according to a preferred embodiment of the present invention. As shown in FIG. 3A, the sensor 203 for detecting coordinates in this embodiment is implemented by a capacitive sensor 301, and is disposed on the inner bottom portion of the container 201. FIG. 3B is a schematic structure view showing a sensor 203 for detecting coordinates of the low cost position sensor according to a preferred embodiment of the present invention. Referring to FIG. 3B, the capacitive sensor 301 comprises multiple X coordinate sensors Xi, Xi+1, Xi+2, Xi+3 and Xi+4, and multiple Y coordinate sensors Yj, Yj+1, Yj+2, Yj+3 and Yj+4. In addition, the rollable object 202 is a metallic ball 302, for example. Each of the X coordinate sensors Xi, Xi+1, Xi+2, Xi+3 and Xi+4 and each of the Y coordinate sensors Yj, Yj+1, Yj+2, Yj+3 and Yj+4 are coupled to the control circuit 105. The control circuit 105 performs the capacitive detection. Because the capacitive detection belongs to the prior art, detailed descriptions thereof will be omitted.

[0021] It is assumed that when the container 201 is not tilted, the position of the metallic ball 302 is at the intersection of the X coordinate sensor Xi+2 and the Y coordinate sensor Yj+2. The control circuit 105 determines that the position of the metallic ball 302 is at the intersection of the X coordinate sensor Xi+1 and the Y coordinate sensor Yj+1 at this time by performing the capacitive detection. The control circuit 105 can determine the tilt direction and the tilt angle of the container 201 according to the position of the metallic ball 302. Thus, the position sensing effect can be achieved.

[0022] FIG. 4A is a schematic structure view showing a sensor 203 for detecting coordinates of the low cost position sensor according to another preferred embodiment of the present invention. As shown in FIG. 4A, a first electroconductive strip 401 and a second electroconductive strip 402 are disposed inside the container 201 in this embodiment. The first electroconductive strip 401 and the second electroconductive strip 402 do not intersect each other. In addition, the first electroconductive strip 401 and the second electroconductive strip 402 are disposed annularly from the top portion of the container to the inner bottom portion of the container.

[0023] FIG. 4B is a circuit block diagram showing a sensor 203 for detecting coordinates of the low cost position sensor according to another preferred embodiment of the present invention. As shown in FIG. 4B, the first electroconductive strip 401 is a resistive wire, a first end of the first electroconductive strip 401 is coupled to a power voltage VDD, and a second end of the first electroconductive strip 401 is coupled to a common voltage GND. The second electroconductive strip 402 is coupled to an input terminal of an analog-to-digital converter 403 inside the control circuit 105. When the rollable object 202 contacts the first electroconductive strip 401 and the second electroconductive strip 402 concurrently, the second electroconductive strip 402 receives the resistor-divided voltage (VDD×R401÷(R401+R402)) constituted by the resistor R401 and the resistor R402. The analog-to-digital converter 403 converts the resistor-divided voltage (VDD×R401÷(R401+R402)) into the digital value. The control circuit can determine the coordinate position of the rollable object 202 according to the digital value, and can thus determine the tilt direction and the tilt angle of the container 201.

[0024] In addition, the surface composition material of the rollable object 202 in this embodiment is an electroconductive material, and may be typically a metal material. In addition, the rollable object 202 needs not to have the spherical shape, and may have an elliptic shape or a deformable shape. The main reason is that the rollable object 202 must contact the first electroconductive strip 401 and the second electroconductive strip 402 in the container 201 concurrently. Furthermore, although the illustrated container 201 in the embodiment of FIG. 1 has the bowl shape, the inside of the container 201 may also be polygonal. As long as the special is made, even the spherical rollable object 202 can contact the first electroconductive strip 401 and the second electroconductive strip 402 concurrently. So, the present invention does not intend to restrict the container to have the bowl shape.

[0025] Similarly, the best shape of the metallic ball 302 used in the embodiment of FIGS. 3A and 3B is not regular spherical, but is similar to an ellipse, so that the contact between the metallic ball 302 and the container 201 is not only the one point-like portion having a very small area. In addition, a flexible electroconductive sphere is preferred so that the contact portion between the flexible electroconductive sphere and the inner surface of the container 201 has the larger surface contact area, and the capacitive sensing value also can be relatively increased to prevent the misjudgement.

[0026] Furthermore, although a four-rotor unmanned aerial vehicle is described as an example in the embodiment of FIG. 1, those skilled in the art should know that the low cost position sensor of the present invention can be applied to a four-rotor unmanned aerial vehicle, and may also be applied to a balance vehicle, such as an electric personal assistive mobility device (EPAMD). When being applied to the EPAMD, it can assist the device enter the dynamic stabilization state to assist the automatic balance ability of the EPAMD itself.

[0027] In summary, the essence of the present invention is to provide a container, a sensor disposed in the container, and an object, which is disposed in the container and is made of a material that can be sensed by the sensor. When the container is tilted, the object can move in the container. At this time, the coordinates of the above-mentioned object are acquired by the sensor inside the container, so that the tilt angle of the whole device can be obtained.

[0028] While the present invention has been described by way of examples and in terms of preferred embodiments, it is to be understood that the present invention is not limited thereto. To the contrary, it is intended to cover various modifications. Therefore, the scope of the appended claims should be accorded the broadest interpretation so as to encompass all such modifications.