CN214474621U

CN214474621U - Obstacle direction sensing device and self-moving equipment with same

Info

Publication number: CN214474621U
Application number: CN202022949764.9U
Authority: CN
Inventors: 杨勇
Original assignee: Shenzhen 3irobotix Co Ltd
Current assignee: Shenzhen 3irobotix Co Ltd
Priority date: 2020-12-08
Filing date: 2020-12-08
Publication date: 2021-10-22
Anticipated expiration: 2030-12-08

Abstract

The utility model discloses an obstacle direction sensing device and have its from mobile device. The obstacle direction sensing device includes: the obstacle detection assembly is used for detecting the relative displacement between the floating cover of the self-moving equipment and the base, and comprises magnetic steel arranged on the floating cover, a plurality of Hall elements arranged on the base, and at least a first Hall element, a second Hall element and a third Hall element; the third Hall element is positioned between the first Hall element and the second Hall element and used for detecting whether a collision event occurs or not; the first Hall element and the second Hall element are both linear Hall elements, and the control circuit receives the sensing signals of the first Hall element and the second Hall element and outputs a control signal for adjusting the running direction of the self-moving equipment. The obstacle direction sensing device provided by the application can accurately identify the direction of the obstacle, and can accurately avoid the obstacle.

Description

Obstacle direction sensing device and self-moving equipment with same

[ technical field ] A method for producing a semiconductor device

The utility model relates to an automatic working equipment field especially relates to a be used for from mobile device's obstacle direction sensing device and have its from mobile device.

[ background of the invention ]

The self-moving equipment is used as a robot which automatically works in a working area, such as an automatic mower, an automatic dust collector and the like, and the self-moving equipment has high automation degree, so that people can get rid of various labors, and the time of the people is greatly saved. In the working scenario of a self-moving device, an obstacle is often encountered, and a collision event is usually detected from the self-moving device, or a series of collision reactions, such as control actions of reversing, changing direction, etc., are performed.

Currently, a self-moving apparatus generally implements detection and judgment of an obstacle through floating cover collision detection, and avoids the obstacle based on the result of the detection and judgment. However, the detection accuracy of this detection method is not enough and the direction of the obstacle cannot be identified, and when a collision occurs, the direction is randomly adjusted from the mobile device, so that multiple collisions caused by incorrect steering direction or angular deviation are inevitable, and the work efficiency is reduced.

[ Utility model ] content

To the shortcomings in the technology, the obstacle direction sensing device capable of identifying the direction of the obstacle is provided.

In order to solve the technical problem, the technical scheme adopted by the application is as follows:

an obstacle direction sensing apparatus for a self-moving device, the self-moving device comprising: the floating cover can generate relative displacement in a two-dimensional plane relative to the base under the action of external force; the obstacle direction sensing device includes:

an obstacle detection component for detecting the relative displacement; the obstacle detection assembly comprises magnetic steel arranged on the floating cover and a plurality of Hall elements arranged on the base, the Hall elements are positioned below the magnetic steel and used for sensing the magnetic field intensity of the magnetic steel, and the obstacle detection assembly at least comprises a first Hall element, a second Hall element and a third Hall element;

the third Hall element is positioned between the first Hall element and the second Hall element and used for detecting whether an impact event occurs or not; the first Hall element and the second Hall element are both linear Hall elements, and the induction signals of the first Hall element and the second Hall element are used for determining the distance between the first Hall element and the second Hall element and the magnetic steel respectively under the condition of collision events;

the control circuit is electrically connected with the obstacle detection assembly, receives the induction signals of the first Hall element and the second Hall element and determines the direction information of an obstacle relative to the self-moving equipment by combining the driving direction of the self-moving equipment under the condition of a collision event, and outputs a control signal which is used for controlling the self-moving equipment to adjust the direction so as to avoid the obstacle.

In one embodiment, the first, second and third hall elements are arranged in a straight line.

In one embodiment, the arrangement direction of the first, second and third hall elements is approximately perpendicular to the advancing direction of the self-moving device.

In one embodiment, the third hall element is at the same distance from the first hall element and the second hall element.

In one embodiment, the third hall element is a linear hall or a switched hall.

In one embodiment, the third hall element is a dual hall element.

In one embodiment, one of the dual hall elements is located directly below the other hall element.

In one embodiment, when the floating cover is not relatively displaced with respect to the base, the third hall element is located directly below the magnetic steel.

The present application further provides a self-moving device, comprising: the mobile equipment comprises a base and a floating cover arranged on the base, wherein the floating cover can move relatively to the base in a two-dimensional plane under the action of external force, and the self-moving equipment comprises the obstacle direction sensing device in any embodiment.

In one embodiment, the self-moving device further comprises a traveling mechanism, the control circuit is electrically connected with the traveling mechanism, and the traveling mechanism receives the control signal and adjusts the traveling direction of the self-moving device according to the control signal.

Compared with the prior art, the application has the beneficial effects that:

the application provides an obstacle direction sensing device and have its from mobile device can obtain obstacle position information based on obstacle detection assembly's obstacle detected signal, has higher detection precision and can discern the direction that the obstacle is located to accurate obstacle avoidance.

[ description of the drawings ]

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts. Wherein:

fig. 1 is a schematic perspective exploded view of a self-moving device according to a first embodiment of the present application;

FIG. 2 is a schematic cross-sectional view of an obstacle detection assembly of the self-propelled device of the embodiment of FIG. 1;

FIG. 3 is a schematic top view of the obstacle detection assembly of the self-moving apparatus of the embodiment shown in FIG. 2;

FIG. 4 is a schematic top view of the obstacle detection assembly of the embodiment of FIG. 2 after the self-propelled device collides with an obstacle in an orientation;

FIG. 5 is a schematic top view of the obstacle detection assembly of the embodiment of FIG. 2 after the self-propelled device collides with another differently oriented obstacle;

FIG. 6 is a cross-sectional schematic view of an obstacle detection assembly from a mobile device provided by another embodiment of the present application;

FIG. 7 is a schematic top view of the obstacle detection assembly of the self-moving apparatus of the embodiment shown in FIG. 6;

[ detailed description ] embodiments

In order to make the aforementioned objects, features and advantages of the present application more comprehensible, embodiments accompanying the present application are described in detail below with reference to the accompanying drawings. It is to be understood that the specific embodiments described herein are merely illustrative of the application and are not limiting of the application. It should be further noted that, for the convenience of description, only some of the structures related to the present application are shown in the drawings, not all of the structures. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

The terms "comprising" and "having," as well as any variations thereof, in this application are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.

An embodiment of the present application provides an obstacle direction sensing apparatus for a self-moving device. Fig. 1 shows a self-moving device 100, specifically a robotic lawnmower, and the obstacle direction sensing apparatus is applied to the self-moving device 100 for illustration.

As shown in fig. 1, the self-moving apparatus 100 includes a base 51, a traveling mechanism 50, and a floating cover 10.

The traveling mechanism 50 is mounted on the base 51, and is configured to drive the self-moving device 100 to travel and turn. In the embodiment shown in fig. 1, the traveling mechanism 50 includes 4 wheels (one of which is not shown), wherein two front wheels are universal wheels and two rear wheels are driving wheels for driving the self-moving apparatus 100 to move forward.

The floating cover 10 is mounted to the base 51, specifically, above the base 51 and may substantially cover the base 51. When the floating cover 10 is acted by an external force, the floating cover 10 can be displaced relative to the base 51 under the action of the external force, specifically, when a collision occurs, the floating cover 10 is relatively displaced relative to the base under the action of pushing an obstacle in a two-dimensional plane, which is a collision plane and is substantially parallel to the current working plane of the self-moving device. The floating cover 10 is connected with the base 51 through an elastic member 30, and the elastic member 30 includes a rubber swing leg, a spring rod, a torsion spring or other connection members having elasticity. In this embodiment, four corners of the floating cover 10 are connected to the housing 51 by four rubber swing legs. One end of the rubber swinging foot is fixed on the mounting lug plate 40 of the machine base 51 through the pressing plate 20, and the other end of the rubber swinging foot is fixed on the floating cover 10 through a bolt. When the mobile device 100 collides, the swing leg is deformed, the floating cover 10 is displaced with respect to the housing 51, and swings back and forth or left and right in a two-dimensional plane, and when the external force disappears, the floating cover 10 is automatically restored by the elastic member 30.

The obstacle direction sensing means is used to detect the relative displacement of the floating cover 10 with respect to the housing 51 in a two-dimensional plane. The obstacle direction sensing device includes an obstacle detection assembly, and a control circuit (not shown) electrically connected to the obstacle detection assembly.

The obstacle detection component is used for detecting obstacles in a work area where the mobile device 100 is located; when the floating cover 10 is positionally deviated with respect to the housing 51, the obstacle detecting unit generates an obstacle detecting signal. With continued reference to fig. 2 and 3, a cross-sectional view and a top view of an obstruction detection assembly of the present application. In this embodiment, the obstacle detecting assembly includes a magnetic steel 60 and a plurality of hall elements including a first hall element 62, a second hall element 66, and a third hall element 64. The magnetic steel 60 is mounted on the floating cover 10, specifically, a mounting column extends from the lower surface of the floating cover 10, and the magnetic steel 60 is embedded in the mounting column. The first hall element 62, the second hall element 66 and the third hall element 64 are mounted on the base 51 and are located substantially on the same plane, and the third hall element 64 is disposed between the first hall element 62 and the second hall element 66. Preferably, a hall plate 63 is disposed between the plurality of hall elements and the base 51. The third hall element 64 is aligned with the magnetic steel 60 along the upper and lower axes a-a, and the third hall element 64 is located directly below the magnetic steel 60 when the floating cover 10 is not relatively displaced with respect to the housing 51. The magnetic steel 60 is located right above the third hall element 64, and the height from the third hall element 64 is D. The third hall element 64 is used for detecting the occurrence of a collision event, that is, detecting whether the floating cover 10 is offset relative to the base 51, when the displacement of the magnetic steel 60 relative to the third hall element 64 exceeds a preset threshold, the third hall element 64 sends out an identification signal, and the control circuit receives the identification signal and judges the occurrence of the collision event.

The first hall element 62 and the second hall element 66 are linear hall elements, and can sense the magnetic field signal of the magnetic steel 60 to output voltages with different amplitudes, and the distance between the magnetic steel 60 and the first hall element 62 and the second hall element 66 can be calculated according to the voltage value. The position of the magnetic steel 60 is determined from the point at which the distances from the first hall element 62 and the second hall element 66 are satisfied simultaneously.

Specifically, referring to fig. 4, the control circuit is configured to calculate a distance r1 between the magnetic steel 60 and the first hall element 62 and a distance r2 between the magnetic steel 60 and the second hall element 66 in the event of a collision, simulate a track coordinate of a first positioning circle 72 with a radius of r1 as a center of the first hall element 62 and a track coordinate of a second positioning circle 73 with a radius of r2 as a center of the second hall element 66 in a two-dimensional plane, and calculate an intersection coordinate of the first positioning circle 72 and the second positioning circle 73. Specifically, when the third hall element 64 is triggered, the control circuit recognizes that a collision event occurs, and locks the position coordinates of the magnetic steel 60 by calculating the coordinates of the intersection of the first positioning circle 72 and the second positioning circle 73. It can be understood that, in the case of normal data, the first positioning circle 72 and the second positioning circle 73 intersect or are tangent to each other, and therefore have at least one intersection coordinate, there may be two intersection coordinates, or there may be one intersection coordinate, when there is only one intersection coordinate, that is, the first positioning circle 72 and the second positioning circle 73 are tangent to each other, the intersection coordinate is taken as the position coordinate of the magnetic steel 60, if there are two intersection coordinates, the position coordinate of the magnetic steel 60 is one of the two intersection coordinates, in order to determine the position coordinate of the magnetic steel 60, the control circuit determines one intersection coordinate from the two intersection coordinates as the position coordinate of the magnetic steel 60 according to the driving direction of the self-moving device 100, and the control circuit outputs a control signal for controlling the self-moving device 100 to adjust the direction to avoid an obstacle. Specifically, when the self-propelled device hits an obstacle while traveling in the forward direction F, the coordinates of the intersection located rearward in the front-rear direction of the body are the position coordinates of the magnetic steel 60, and when the self-propelled device 100 hits an obstacle while moving rearward (see the rearward direction T shown in fig. 5), the coordinates of the intersection located forward in the front-rear direction of the body are the position coordinates of the magnetic steel 60.

In order to ensure the identification accuracy, when the first positioning circle 72 and the second positioning circle 73 are intersected, the coordinates of the two intersection points are distributed along the front-back direction, so that the forward or backward reliable judgment of which intersection point the magnetic steel 60 is specifically located is conveniently combined. Referring to fig. 2, the first hall element 62, the second hall element 66, and the third hall element 64 are arranged in a straight line, as shown by an axis C-C in the figure, the arrangement direction is substantially perpendicular to the front-back direction of the mobile device 100, as shown by an axis B-B, and the axis C-C is perpendicular to the axis B-B. The axis C-C extends through the first hall element 62, the second hall element 66, and the third hall element 64, and more specifically, the geometric centers of the first hall element 62, the second hall element 66, and the third hall element 64 are located substantially on the axis C-C. The third hall element 64 is located between the first hall element 62 and the second hall element 66. The third hall element 64 is located between the first hall element 62 and the second hall element 66. In order to ensure that the effective recognition ranges of the hall elements are evenly distributed, more specifically, the third hall element 64 is at the same distance from the first hall element 62 and the second hall element 66. As shown in fig. 2 and 3, the first hall element 64, the second hall element 62, and the third hall element 66 are equally distributed along the same axis C-C.

The first hall element 62, the second hall element 66, and the third hall element 64 are converted into output voltages by receiving the magnetic induction of the magnetic steel 60. The first hall element 62 and the second hall element 66 are linear hall. The first hall element 62 generates a first output voltage and the second hall element 66 generates a second output voltage. The magnetic induction intensity induced by the Hall element and the output voltage are in a linear relation in a certain range. When the magnetic steel 60 is displaced relative to the base 51, the first output voltage and the second output voltage are also changed, that is, the output voltage is related to the distance between the magnetic steel and the first hall element and the distance between the magnetic steel 60 and the second hall element, and the distance between the hall element and the magnetic steel 60 can be correspondingly calculated according to the voltage value induced by each hall element, that is, the distance r1 between the first hall element and the magnetic steel 60 and the distance r2 between the second hall element 66 and the magnetic steel 60 can be obtained according to the induced voltages of the first hall element 62 and the second hall element 66.

The third hall element 64 may be a linear hall or a switch hall, and when the third hall element is a linear hall, the output voltage is set to be a third output voltage, and if the third output voltage exceeds a preset voltage threshold, the control circuit determines that a collision event occurs. In the event of a collision event, the control unit calculates r1 and r2, and calculates the coordinates of the intersection of first positioning circle 72 and second positioning circle 73, as previously described.

In another embodiment, as shown in fig. 6 and 7, the third hall element 64 is a dual hall element, i.e. two hall elements, including a hall 641 of the dual hall element and B hall 643 of the dual hall element, in the embodiment shown in fig. 6 and 7, the two

hall elements

641 and 643 are arranged side by side and symmetrically arranged along the center line B-B, which both serve as the detection collision event, and the two hall elements can reduce the risk of failure of the collision detection function due to damage of the hall elements in the case of only one hall element. In another embodiment, the two

hall elements

641 and 643 may also be arranged along the up-down direction, i.e. along the axis a-a, and one of the hall elements is located directly below the other hall element, so that in the case of no collision, the two hall elements are both located directly below the magnetic steel 60, and the signal strength of the magnetic steel 60 sensed by the two hall elements is substantially the same, which is beneficial to ensure the reliability and consistency of the collision events detected by the two hall elements.

In another preferred embodiment, which is described with reference to fig. 3, the plurality of hall elements further includes a fourth hall element (not shown) which is disposed directly above the third hall element 64, with the upper side of the drawing sheet shown in fig. 3 being the top and the lower side being the bottom. The combination of the fourth hall element can accurately identify whether the magnetic steel 60 moves upwards or downwards, and the combination of the forward direction or the backward direction of the self-moving device 100 is not needed.

In another embodiment, referring to fig. 5, fig. 5 shows a situation where the mobile device 100 travels in a reverse direction T, hitting an obstacle. When the first positioning circle 72 is away from the second positioning circle 73, the calculation module calculates the distance between the third hall element 64 and the magnetic steel 60, and uses the third hall element 64 as a center of circle and uses the distance as a radius to make the third positioning circle 71, and calculates a track coordinate where the third positioning circle 71 does not fall within the range of the first positioning circle 72 and the second positioning circle 73, where the track coordinate is usually two position coordinate sequences, and determines which position coordinate sequence the magnetic steel 60 is located in by combining the driving direction, that is, when the self-moving device 100 is in the forward state, the midpoint of the position coordinate sequence located at the rear is used as the position coordinate of the magnetic steel 60, and when the self-moving device 100 is in the backward state, the midpoint of the position coordinate sequence located at the front is used as the position coordinate of the magnetic steel 60. And calculating the displacement of the floating cover 10 relative to the base 51 according to the position coordinates of the magnetic steel 60, and further obtaining the direction information of the obstacle relative to the mobile equipment 100.

The present application further provides a self-moving apparatus 100, please refer to fig. 1, in which the self-moving apparatus 100 includes a base 51, a floating cover 10 mounted on the base 51, and the floating cover 10 can be relatively displaced in a two-dimensional plane with respect to the base 51 under an external force, and further includes the obstacle direction sensing device provided in any of the above embodiments.

The self-moving device 100 further comprises a traveling mechanism 50, the control circuit is electrically connected with the traveling mechanism, the control circuit outputs a control signal according to the scheme described in the above embodiment, and the traveling mechanism 50 receives the control signal to adjust the traveling direction, so as to accurately avoid the obstacle.

The above description is only for the purpose of illustrating embodiments of the present invention and is not intended to limit the scope of the present invention, and all modifications, equivalents, and equivalent structures or equivalent processes that can be used directly or indirectly in other related fields of technology shall be encompassed by the present invention.

Claims

1. An obstacle direction sensing apparatus, a self-moving device comprising: the floating cover can generate relative displacement in a two-dimensional plane relative to the base under the action of external force; characterized in that the obstacle direction sensing device comprises:

2. The obstruction direction sensing device of claim 1, wherein the first, second and third hall elements are arranged in a straight line.

3. The obstacle direction sensing device according to claim 2, wherein the first, second, and third hall elements are arranged in a direction substantially perpendicular to a forward direction of the self-moving apparatus.

4. The obstacle direction sensing device according to claim 2 or 3, wherein the third hall element is at the same distance from the first hall element and the second hall element.

5. The obstacle direction sensing device of claim 1, wherein the third hall element is a linear hall or a switched hall.

6. The obstacle direction sensing device of claim 1, wherein the third hall element is a dual hall element.

7. The obstacle direction sensing device of claim 6, wherein one of the dual hall elements is located directly below the other of the hall elements.

8. The obstruction direction sensing device of claim 1, wherein the third hall element is located directly below the magnetic steel when the floating cover is not relatively displaced with respect to the housing.

9. An autonomous mobile device comprising: a housing, a floating cover mounted on the housing, the floating cover being capable of relative displacement in a two-dimensional plane with respect to the housing under the action of an external force, wherein the self-moving device comprises the obstacle direction sensing apparatus of any one of claims 1 to 8.

10. The self-moving device as claimed in claim 9, further comprising a traveling mechanism, wherein the control circuit is electrically connected to the traveling mechanism, and the traveling mechanism receives the control signal and adjusts a traveling direction of the self-moving device according to the control signal.