FR3062931B3 - AUTONOMOUS MOBILE DEVICE - Google Patents

Abstract

A self-propelled equipment, comprising an envelope, a displacement mechanism, supporting and causing the displacement of said self-propelled equipment, a control device controlling the movement and operation of said self-propelled equipment and a state detection device, said displacement mechanism comprising driving wheels and the driven wheel, said state detection device comprising at least two magnetic trigger elements, a signal inductor and a detection device, at least two magnetic trigger elements are arranged on said driven wheel and rotate with said wheel driven, further said adjacent magnetic trigger elements on the same side on one end of said driven wheel are of different polarities, said signal inductor induces the generation of magnetic field signals by the magnetic trigger elements and generates signals of i nduction; said detection device determines the rotational state of said driven wheel from said induction signals, and thus determines whether said self-propelling equipment is moving normally.

Description

Autonomous mobile device

Technical area

This utility model concerns the technical field of displacement equipment, and in particular self-propelled equipment.

State of the art

As a result of the constant progress of scientific techniques, all kinds of self-propelled equipment gradually began to penetrate our lives, such as robot vacuums and self-propelled lawn mowers. This type of self-propelled equipment is equipped with a moving device, a task device and an automatic control device, which allows it to be independent of a human operator, and to make displacements. and tasks automatically in a certain extent.

Self-propelled equipment generally encounters obstacles in their work perimeter, these obstacles affect the work of self-propelled equipment or even damage them. One of the current methods of resolution consists in arranging a floating element on the base of the self-propelled equipment, when the self-propelled equipment hits an obstacle, the floating element makes a displacement with respect to the base, the sensor of displacement detects the relative displacement situation and identifies the obstacles encountered by the self-propelled equipment in order to avoid them, however this solution is complex in terms of installation and expensive.

Content of the utility model

It is therefore necessary to provide low-cost, easy-to-install self-propelled equipment and a method for detecting its condition in order to solve the problem of the installation complexity and the high cost of the current state detection devices.

This utility model uses the following technical plan:

Self-propelled equipment, including:

An envelope ;

A moving mechanism supporting and causing the displacement of said self-propelled equipment, said moving mechanism comprising drive wheels and driven wheels;

A control device for controlling the movement and operation of said self-propelled equipment; said self-propelled equipment further comprises a state detection device, said state detection device comprising:

At least two magnetic trigger elements, said magnetic trigger elements being arranged on said driven wheel, and rotating with said driven wheel, said magnetic trigger elements adjacent on the same side on one end of said driven wheel being of different polarities;

A signal inductor for sensing the magnetic field signals produced by said magnetic trigger elements and generating induction signals;

A detection device for determining the rotational state of said driven wheel from said induction signals, and thereby determining whether said self-propelled equipment is moving normally.

Preferably, said signal inductor is arranged on said envelope.

Preferably, said signal inductor is a Hall effect sensor or a reed switch.

Preferably, said signal inductor is a linear Hall effect sensor.

Preferably, when said driven wheel rotates, said signal inductor generates induction signals including reverse-phase waves appearing alternately.

Preferably, said detection device converts the waves generated by said signal inductor into square wave signals, it obtains the rotational state of said wheel driven from the square waves, and determines from said rotational state whether said self-propelled equipment normally moves.

Preferably, said detection device comprises:

A comparator for comparing said induction signals with the default or default threshold values, and outputting a first square wave signal from the comparison results;

A logic gate circuit for performing a logic operation on said first square wave signal to transmit a second square wave signal;

A processor for obtaining the state of rotation of said driven wheel from said second square wave signal and determining from said rotational state whether said self-propelling equipment is moving normally.

Preferably, said processor is used to obtain the actual count by counting in a determined time from said second square wave signal, and to compare said actual count with the determined value to obtain the rotational state of said driven wheel.

Preferably, said state detecting device further comprises an amplifier, said amplifier being connected between said signal inductor and said detecting device, for amplifying said detected signals.

Preferably, said detection device comprises:

An acquisition unit AD, for acquiring said induction signals in a predetermined time, and performing an AD transformation to obtain actual acquisition values;

A processor, for obtaining the rotational state of said driven wheel from the conversion rate of said actual acquisition values, and for detecting from said rotational state whether said self-propelling equipment is moving normally.

Preferably, said signal inductor comprises at least two, said signal inductor can respectively be triggered by said adjacent magnetic trigger elements in order to generate a square wave signal, said detection device obtains the rotational state of said driven wheel from said square wave signal, and determines from said rotational state whether said self-propelled equipment is moving normally.

Preferably, said signal inductor is a digital Hall effect sensor.

Preferably, said detection device comprises:

A logic gate circuit for performing a logic operation on said square wave signal for transmitting a third square wave signal;

A processor, for obtaining the rotational state of said driven wheel from said third square wave signal, and determining from said rotational state whether said self-propelling equipment is moving normally.

Preferably, said processor is used to obtain the actual count by counting in a determined time from said third square wave signal, and to compare said actual count with the determined value to obtain the rotational state of said driven wheel.

Preferably, said magnetic trigger element is an electromagnet or a permanent magnet.

Preferably, said magnetic trigger elements are arranged spaced apart around the circumference of said driven wheel.

Preferably, said magnetic trigger elements are arranged at equidistant intervals on the circumference of said driven wheel.

Preferably, said magnetic trigger elements are oriented towards the rotational center of said driven wheel.

Preferably, said self-propelled equipment comprises a main shaft, said driven wheel is an omnidirectional wheel rotatable eccentrically about said main shaft, said magnetic trigger elements are arranged laterally to said main shaft and said driven wheel.

Preferably, the distance from said signal inductor to said driven wheels is constant.

The present utility model further uses the following technical plan: a state detection device, comprising:

A signal transmission component arranged in a fixed manner on said driven wheel and transmitting frequency signals relating to the state of displacement of said driven wheel;

A signal inductor for receiving changes of said frequency signals, wherein said signal inductor has a first change receiving state of said frequency signals, and a second non-receiving state of change of said signals. frequency, said first and said second state respectively corresponding to the state of motion and the stopping state of said driven wheel;

A detection device, electrically connected to the signal inductor, further wherein when said signal inductor is in a second state, it issues an obstacle avoidance instruction.

Preferably, said signal transmitting component consists of a plurality of magnetic trigger elements, said frequency signals being magnetic field change curves.

Preferably, the polarity of two adjacent magnetic triggers is opposite.

Preferably, said signal transmitting component is arranged at any location on the circumference of said driven wheel.

Preferably, said adjacent magnetic trigger elements are arranged at equidistant intervals on the circumference of said driven wheel.

Preferably, said signal inductor is arranged correspondingly to the circumference on which said magnetic trigger elements are, said signal inductor is a Hall effect sensor, linear Hall effect sensor or a reed switch capable of receiving the magnetic signals. emitted by the magnetic triggers.

Preferably, said signal inductor is fixedly arranged on the body of the vehicle, in addition its position corresponds to the upper end of the circumference where said driven wheel is located.

This utility model uses the following technical plan: self-propelled equipment including the aforementioned state detection device.

Preferably, said driven wheel is an omnidirectional wheel rotatable eccentrically around said main shaft.

Preferably, said magnetic trigger elements are arranged laterally to said main shaft and to the upper part of said driven wheel.

Since the polarities of the magnetic trip elements of the aforementioned self-propelled equipment are alternately arranged, the signal inductor generates different induction signals, said induction signals follow said driven wheel and have a certain regularity and a switching. according to a certain frequency. When the self-propelled device hits something, said driven wheel rotates at a slowed speed or stops, the regularity of the induction signals is broken, which enables it to determine that the self-propelled device has struck something, to control the turn automatic mower or reverse gear. Compared with the traditional use of floating elements and position sensors detecting clashes, the structure is simple, easy to install and production costs are reduced.

Related drawings

Drawing 1 shows the structural diagram of the self-propelled equipment of the first embodiment of this utility model;

Drawing 2 shows a partial enlargement of the state detection device of the first embodiment of this utility model;

Drawing 3 represents the arrangement scheme of the magnetic trigger elements of the first embodiment of this utility model;

Drawing 4 shows the circuit diagram of the magnetic trigger elements and the driven wheel of the second embodiment of this utility model;

Drawing 5 shows the connection relationship diagram of the signal sensor and the detection device of the second embodiment of this utility model;

Drawing 6 shows the connection relationship diagram of the signal sensor and the detection device of the third embodiment of this utility model;

Drawing 7 shows the connection relationship diagram of the signal sensor and the detection device of the fourth embodiment of this utility model;

Modes of realization

In order to facilitate the understanding of this utility model, a full description of this utility model with reference to the accompanying drawings is given below. The accompanying drawings represent the preferred embodiments of this utility model. However, the present utility model can be embodied in many different forms, and is not limited to the embodiments described herein. Conversely, the purpose of the provided embodiments is to provide an integral understanding of the content of this utility model made public.

It should be noted that in the descriptions of this utility model, guidance or position report indications using terms such as "central", "above", "below", "left", "right", " vertical "," horizontal "," interior "," exterior "are orientation or position report indications based on the accompanying Drawings intended only to describe this utility model and to simplify the description, they do not refer to neither suggest a specific orientation necessary for the device or element they designate, nor a specific construction or operation orientation, so they can not be understood as constituting limits to this utility model . In addition, the terms "first", "second" and "third" are for description only, they are not an indication or suggestion of relative importance. Moreover, when an element is described as "fixed on" another element, it can be directly on the other element, but also be in the center of it. When an element is considered "connected" to another element, it may be a direct connection to the other element or simultaneously an arrangement in the center of that element.

It should be noted that in the descriptions of this utility model, in addition to being clearly defined or limited, the terms "layout", "connected", "connected" are to be interpreted broadly, for example, a fixed connection, a removable connection or a monoblock connection; it can also be a mechanical connection, or electrical; a direct or indirect connection via an intermediary, or a communication between two internal elements. Those skilled in the art can understand the meaning of these terms regarding this utility model depending on the circumstances.

Besides when defined otherwise, all the technical and scientific terms used herein are accepted acceptances known to those skilled in the technical field of this utility model. All the terms used in the description of this utility model are only intended to concretely describe the embodiments, and do not constitute a limit to this utility model. The terms "and / or" used herein include any or all combinations of one or more mentioned elements.

In addition, all the technical features of the various embodiments of the present utility model described below can be mutually combined provided that they are not contradictory.

Drawings 1 and 2 constitute a first embodiment of this utility model. The present embodiment provides a mower sensing device 100, mainly comprising a signal transmitting component, a signal inductor 3, and a sensing device electrically connected to the signal inductor, wherein the transmitting component signal is fixedly arranged on the driven wheel 2 and serves to transmit frequency signals relative to the rotational frequency of the driven wheel 2, specifically said frequency signals reflect the state of movement or not of the driven wheel 2 If the signal inductor 3 can receive said frequency signals, it means that the driven wheel is in normal motion; when it can not receive a frequency signal, it can be determined that the mower has encountered an obstacle or that for some other reason it has stopped moving, an avoidance action must be taken, at that time the device detecting signal emits an avoidance signal, and controls the mower's avoidance action. Depending on the different mowers, the aforementioned avoidance action may be different, for example: a displacement action to avoid the obstacle, or an avoidance action by raising the operating mechanism so that it avoids the obstacle , concerning the type of action that specifically denotes the action of avoidance when using the aforementioned avoidance device by the skilled person to detect and control the action of avoidance of the mower, the one skilled in the art can make the adaptive adjustments according to the concrete needs of design, which are not described one by one.

The aforementioned embodiment constitutes the central technical plan of the present embodiment, the signal transmitting component, the signal inductor and the detection device act synergistically, the detection of the state of movement of the wheel. driven means that the mower has encountered an obstacle or is stopped for some other reason, so when the driven wheel encounters an obstacle or is at a standstill, an obstacle avoidance action may be taken. Furthermore, the signal transmitting component can be arranged fixedly on the wheels, which makes it possible not to occupy any installation space on the equipment, and concerning the signal inductors, the use of sensors such as a Hall effect sensor, a linear Hall effect sensor or a reed switch, the signals can be received in comparison with the mechanical detection structures, the signal inductor of this utility model being small volume, and located on the side of the main shaft 5 and the upper part of the driven wheel 2, it does not occupy installation space on the equipment, effectively solving the technical defect of an important installation space required for obstacle avoidance devices in prior techniques.

As a preference for the above-mentioned embodiment, the signal-transmitting component is a plurality of magnetic trigger elements 1, distributed at any point in the circumference of the driven wheel 2, in which the polarity of elements Magnetic triggers 1 adjacent is opposite. If the magnetic triggers are arranged on the driving wheels 4, when the driving wheels meet an obstacle and they continue to turn in the vacuum, a magnetic field change is always generated, the signal sensor 3 continues to receive signals of change, when in fact the mower is stopped, that is why the arrangement of magnetic triggers 1 on the drive wheels 4 can obviously emit a precise warning of obstacle to avoid. While the problem of rotation of the wheel driven in the vacuum does not arise, so the state of movement of the driven wheel is identical to that of the integral apparatus. Thus, during the rotation of the driven wheel 2, the signals emitted by the magnetic trigger elements 1 are a magnetic field change curve, monitored by the signal inductor 3, which is why when the mower (the driven wheel) normally moves and stops, the magnetic field change curve becomes static, the signal inducer 3 can not monitor magnetic field change, the detection device via the command center instructs the mower to perform a avoidance action.

In combination with Drawing 3, in order for the signal transmitting component to emit a homogeneous magnetic field change curve when the mower moves at a constant speed, the present utility model arranges the adjacent magnetic trigger elements 1 at equidistant intervals. on the circumference of the driven wheel 2, arranging the magnetic trigger elements 1 on the same circumference and at equidistant intervals ensures that when the driven wheel rotates at any position, the magnetic field changes can all be monitored by the signal inductor 3.

As a preferred embodiment, the signal inductor 3 is arranged on the body of the vehicle, furthermore, its position corresponds to the upper end of the circumference where the driven wheel is located. Of course, the position of the signal inductor 3 can also correspond to any position on which the magnetic trigger elements 1 are located, because the body of the vehicle constitutes an easier place to install a component corresponding to the upper end of the driven wheel, the aforementioned plane is preferred for the present embodiment.

As a preferred embodiment, the driven wheel is an omnidirectional wheel that is eccentrically rotatable about its shaft, thereby providing equipment support and facilitating cornering, the combination of such omni-directional wheels with the avoidance device. The present embodiment of the present invention makes it possible to perform turns in a flexible manner by performing an obstacle avoidance action.

Drawings 4 to 5 show the second embodiment of this utility model. In this utility model, a self-propelled equipment performs its tasks by moving automatically in a work area, specifically said self-propelled equipment may be an automatic mower, or an automatic vacuum cleaner. They move automatically on a lawn or on the surface of a soil, to mow the lawn or suck dust. Of course, the self-propelled equipment of this utility model is not limited to lawnmowers and automatic vacuums, it can also be other types of equipment, such as automatic irrigation equipment or monitoring equipment automatic, self-propelled equipment performing all kinds of tasks while moving without a human operator.

In the present embodiment, said self-propelled equipment is an automatic mower, its working area is the lawn, said self-propelled equipment comprises an envelope, a movement mechanism, a task mechanism, an energy storage device, a device control and a detection device. The self-propelled equipment performs its tasks by moving in a work area, a stopping station is arranged in the work area, the stopping station is equipped with an electric loading module, when the electricity stored in the energy storage module becomes insufficient, the self-propelled equipment returns to the stop station in order to perform an electric recharge via the electric charging module.

With reference to Drawing 4, said displacement mechanism serves to carry out the movement of the self-propelled equipment, and comprises driving wheels (not shown in the drawing) as well as the driven wheel 20 supporting in an auxiliary way the self-propelled equipment, in a preferred embodiment, said driving wheels comprise two, constituting the base of forward movement of the self-propelled equipment, the drive wheels are arranged on the left and right of the rear part of the body of the self-propelled equipment, the driven wheel is arranged at the front middle part of the body of the self-propelled equipment. Said state detection device is arranged on the driven wheel of said self-propelled equipment, in case of collision or slippage, the driven wheel 20 rotates at an idle speed or stops, from the state of rotation of the wheel driven 20 it is possible to detect whether the self-propelled equipment is moving normally.

It should be understood that the arrangement position and the combination form of said driving wheels and said driven wheel is a function of real situations, each of the examples not being described.

The working mechanism includes a lawn mowing blade cutting motor for mowing the lawn. Of course, the working mechanisms of the various self-propelled equipment are particular, for example the working mechanism of an automatic vacuum cleaner comprises working components intended for dust extraction tasks such as a dust suction motor. , a dust suction port or a dust collecting device. The energy storage device generally consists of a rechargeable battery supplying electricity to the self-propelled equipment, which can also perform an electric recharge when the stored electricity falls below a predefined value, of course, the device energy storage can also consist of another type of power supply device, such as for example a solar energy supply device, a gasoline engine or a fuel cell.

With reference to Drawing 5, said state detection device comprises magnetic trigger elements 12, a signal sensor 14 and a detection device (not shown in the drawing). Said magnetic triggering elements 12 comprise at least 2, at least two magnetic triggering elements 12 are arranged on the driven wheel 20, and rotate according to the rotation of the driven wheel 20, said magnetic trigger elements adjacent to one side on a end of said driven wheel being of different polarities, that is to say that the arrangement consists of an alternation of polarities N and S along one side of the driven wheel 20. Said inductor 14 serves to induce the trigger signals emitted by said magnetic trigger elements 12, and to generate induction signals, the detection device serves to receive said induction signals, and to determine from said induction signals whether the self-propelled equipment is moving normally.

In which, said magnetic trigger elements 12 are permanent magnets, but may also be electromagnets, said magnetic triggers 12 are arranged along the circumference of the driven wheel 20 on the driven wheel 20 at equidistant intervals, that is, that is to say that at least two magnetic triggers 12 are arranged on the same concentric circle. In the present embodiment, said magnetic trigger elements 12 comprise three of them, and are arranged equidistantly on the rim of the driven wheel 20, the signal inductor 14 is arranged on the envelope of the self-propelled equipment, and its distance from the driven wheel is constant, being within the range of the magnetic field of the magnetic trigger elements 12. In a specific embodiment, on the three magnetic trigger elements 12 the polarities S of the magnetic trigger elements 12 on both sides is oriented towards the signal inductor 14, the polarity N of the magnetic trigger elements 12 of the medium is oriented towards the signal inductor 14, in order to achieve an alternating arrangement, said state detection device comprises in in addition to an electrical circuit, the signal inductor 14 being electrically connected to said electric circuit. It is to be understood that because of the alternating polarity arrangement of the magnetic trip elements 12, the signal inductor 14 generates different induction signals, said induction signals follow the driven wheel 20 and have a certain regularity and switching at a certain frequency, when the self-propelled device strikes an object, the driven wheel rotates at an idle speed or stops, the regularity of the induction signals is broken, which enables it to determine that the self-propelled device struck something, to control the turning of the automatic mower or its reverse.

Compared with the conventional use of floating elements and position sensors detecting normal or non-normal movement, the structure is simple, its easy installation and the production costs are reduced.

It should be pointed out that the state detection device of this utility model can further detect whether said self-propelled equipment has been lifted or overturned by a person, when a person is lifting and that the driven wheel is turning under the machine. As a result of the effect of gravity, the signal inductor 14 generates induction signals for determining whether it is an uplift and thus controls the stopping of the self-propelled equipment.

In one embodiment, said signal inductor 14 is a linear Hall effect sensor, said signal inductor 14 generates induction signals similar to sinusoidal waves from at least two magnetic triggers 12 following the change in position of the driven wheel 20, said induction signals comprise alternating phase waveforms appearing alternately.

In the present embodiment, said detection device comprises a comparator 182, a logic gate circuit 184 and a processor 186.

Said comparator 182, is used to compare said induction signals with the default values or default threshold values, and to emit a first square wave signal, said logic gate circuit 184, is used to perform a logic operation on said first square wave signal, to emit a second square wave signal. Said processor 186 serves to obtain the actual counting in a determined time from said second square wave signal, and to compare the actual count with the determined value in order to obtain the rotational state of said driven wheel 20, and to determine from the rotational state if the self-propelled equipment is moving normally. It should be indicated that the rising edge input or the falling edge input mode can be used for the square wave detection method, and the counting of the second square wave.

It should be pointed out that said logic gate circuit 184 is concretely used to perform a positive operation on the first square waves. That is to say also that said logic gate circuit 184 is concretely used to obtain a waveform whose amplitude is greater than 0.

Concretely, said processor 186 counts the second square waves in a predefined duration, if the equipment moves normally, the counting of the second square waves is consistent with the predefined values, when the actual counting of the second square waves is less than the predefined values, the fact that the self-propelled equipment encounters an obstacle can be detected. For example, in a predefined time period, the number of second square waves is often 3, however the actual count of the second square waves is 2, it is then detected that there is no normal movement.

It should be understood that in the present embodiment, said processor 186 is an MCU, the processor 186 can not identify the first square waves emitted by the comparator 182, after having been processed by the logic gate circuit 184, the second square waves can be identified as square wave signals by processor 186.

In one embodiment, said state detecting device further comprises an amplifier 16, said amplifier being connected between said signal inductor 14 and said detecting device, for amplifying said detected signals. In a specific embodiment, said amplifier 16 is connected between said signal inductor 14 and said comparator 182, in order to amplify the induction signals. Thus the signal power is guaranteed as well as the degree of detection accuracy.

The third embodiment of this utility model provides self-propelled equipment, having a structure similar to the self-propelled equipment of the first embodiment, the difference is described in the concrete embodiment. The difference between the self-propelled equipment of the present embodiment and that of the first embodiment relates to the mode of obtaining the state of rotation of the wheel driven by the detection device from the induction signals. For reasons of simplification of the description, the reference numbers of the identical elements are not changed.

In the present embodiment, as shown in Drawing 6, said detection device comprises an AD acquisition unit 282 and a processor 284, said AD acquisition unit 282 for acquiring said induction signals in a determined period of time , and perform an AD transformation to output the sampled values. Said processor 284 serves to obtain the state of rotation of said driven wheel 20 from the rate of transformation of the sampled values, and to detect from the rotational state whether the self-propelled equipment is moving normally.

In one embodiment, said processor 284 furthermore serves to compare the actual sampled values output by the AD acquisition unit 282 with the predefined sampled values, in order to obtain the state of rotation of the driven wheel 20, and to detect from the rotational state if the self-propelled equipment is moving normally. Specifically, said AD acquisition unit 282 regularly samples the induction signals amplified by the amplifier 16, and compares said sampled values with the sampled values during the normal displacement of the self-propelled equipment, if the sampled values vary according to a certain regularity, said self-propelled equipment is in a state of normal displacement, if the sampled values vary irregularly or do not change steadily for a certain time, it is then detected that the driven wheel 20 is affected or has ceased to turn, it is then detected that the self-propelled equipment is moving normally.

In another embodiment, said processor 284 further serves to obtain the linear correlation diagram between the actual sampled values and the time from the actual sampled values transmitted by the AD acquisition unit 282, the rotational state of the driven wheel 20 is obtained from the linear correlation diagram, and to detect whether the self-propelled equipment is normally moving from the rotational state. In concrete terms, said AD acquisition unit 282 regularly samples the amplified induction signals by the amplifier 16 and converts the collected simulation values into digital values. When the self-propelled equipment is moving normally, the rate of transformation (the slope) of the linear correlation diagram between said sampled values and the time has a certain regularity, when the slope undergoes a change, or when the slope is of long duration, it can be detected that the rotation of the driven wheel 20 is affected or has ceased, and therefore the self-propelled equipment is moving normally.

The fourth embodiment of this utility model further provides a self-propelled equipment whose structure is similar to the self-propelled equipment of the first embodiment, the difference is described in the concrete embodiment. The difference between the self-propelled equipment of the present embodiment and that of the first embodiment relates to a different type and quantity of signal sensor 14, the mode of acquisition of the state of rotation of the wheel driven by the Detection device from the induction signals is also different.

Specifically, as shown in Drawing 7, in the present embodiment, said signal inductor 14 is a digital Hall effect sensor, said signal inductor 14 comprises at least two, at least two signal inductors 14 can be triggered by magnetic trigger elements 12 having corresponding alternating polarities on one side of the driven wheel 20, and generating square wave signals. Said detection device comprises a logic gate circuit 382 and a processor 384, said logic gate circuit 382 is used to perform a logic calculation on the square wave signals to emit a third square wave signal. Said processor 384 serves to obtain the actual counting in a determined time from the third square wave signal, and to compare said actual count with the determined values in order to obtain the state of rotation of said driven wheel 20, and to detect whether the self-propelled equipment is moving normally from the rotational state. Specifically, said logic gate circuit 184 performs a positive operation on the first square waves, that is to say said logic gate circuit 184 serves to obtain a waveform whose amplitude is greater than 0.

It should be pointed out that in the present embodiment, said two signal inductors 14 are arranged inside the magnetic fields of at least two magnetic trigger elements 12, however one of them can only be triggered under the induction of the magnetic field of polarity N of a magnetic trigger element 12, the other signal inductor 14 can only be triggered under the induction of the magnetic polarity field S of a magnetic trigger element 12. During the rotation of the driven wheel 20, two signal inductors 14 may be induced alternately, and thus emit respectively square wave signals of certain frequencies.

Thus, the two digital Hall effect sensors can simultaneously detect the rotation of the driven wheel 20, which not only avoids the impossibility of detection due to the damage of a signal inductor 14, but also avoids an increase in accuracy and manufacturing cost due to the simultaneous use of two independent magnetic inductive elements and the signal inductor 14.

Based on the aforementioned self-propelled equipment, the present embodiment further provides a status detection precedence of the self-propelled equipment, comprising the steps below:

Step S110: the signal inductor 14 induces the magnetic field signals of the magnetic trigger elements 12, and generates induction signals;

In which, said self-propelled equipment performs its tasks while moving in a work area, the magnetic trigger elements 12 trigger the signal inductor 14 following the rotation of the driven wheel 20, said signal inductor 14 is triggered by the signals magnetic field magnetic triggers 12 and generates induction signals. S120: the detection device receives the induction signals, and determines the state of rotation of the driven wheel from the induction signals;

In which the amplifier amplifies the induction signals generated by the signal inductor 14, in one embodiment, the detection device further performs a transformation of the square waves of the induction signals processed by the amplifier. , and transforms them into square wave signals identifiable by the processor (MCU).

In one embodiment, the detection device performs an identifiable square wave detection count that has been processed via a rising edge or falling edge mode, and compares with the predefined count values if the actual count is less than at said predefined count values, this means that the driven wheel 20 is idling or has stopped rotating. Step S 130: the normal or not moving of the self-propelled equipment is determined from the state of rotation of said driven wheel 20;

Specifically, if the driven wheel 20 idles or has stopped rotating, it means that a collision has occurred.

In one embodiment, the method for detecting the state of said self-propelled equipment further comprises: Step S140: When said self-propelled equipment encounters an obstacle, the removal of said self-propelled equipment from the obstacle is controlled;

In one embodiment, when said self-propelled equipment encounters an obstacle, the passage of said self-propelled equipment from a linear mode of travel to a mode of cornering is controlled, which makes it possible to circumvent the obstacle and to avoid damage the equipment.

In the self-propelled equipment and its state detection mode mentioned above, because of the arrangement of the magnetic trip elements by alternating polarity, the signal inductor 14 generates different induction signals, said induction signals follow the wheel driven 20 and have a certain regularity and switching at a certain frequency. When the self-propelled equipment is moving normally, and the driven wheel rotates at an idle speed or stops, the regularity of the detection signals is broken, it can be determined that the self-propelled equipment is moving normally, the turn or the reverse of the automatic mower can be ordered. Compared with the traditional use of floating elements and position sensors detecting clashes, the structure is simple, easy to install and production costs are reduced.

All the above mentioned technical characteristics may be combined, for reasons of simplification of the descriptions, the combinations of the different technical characteristics of the above-mentioned embodiments are not all described, so all the combinations of these technical characteristics are considered as covered by the scope. of the present description provided that it does not contain any contradiction.

The aforementioned embodiments constitute only some embodiments of this utility model, their descriptions are concrete and detailed, but do not constitute a limit to the scope of the patent of this utility model. It must be pointed out that a person skilled in the art, provided they do not deviate from the concept of this utility model, may make all kinds of variations and modifications, all of which are within the scope of the protection of the utility. present utility model. This is why the claims attached to the scope of patent protection of this utility model take precedence.

Claims (20)

claims 1. Self-propelled equipment, comprising: An envelope; A moving mechanism supporting and causing the displacement of said self-propelled equipment, said moving mechanism comprising drive wheels and driven wheels; A control device for controlling the movement and operation of said self-propelled equipment; Characterized in that said self-propelled equipment further comprises a state detection device, said state detection device comprising: At least two magnetic trigger elements, said magnetic trigger elements being arranged on said driven wheel, and rotating with said wheel driven, said magnetic trigger elements adjacent on the same side on one end of said driven wheel being of different polarities; A signal inductor for sensing the magnetic field signals produced by said magnetic trigger elements and generating induction signals; A detection device for determining the rotational state of said driven wheel from said induction signals, and thereby determining whether said self-propelled equipment is moving normally. 2. Self-propelled equipment according to claim 1, characterized in that: said signal inductor is arranged on said envelope. 3. Self-propelled equipment according to claim 1, characterized in that said signal inductor is a Hall effect sensor or a reed switch. 4. Self-propelled equipment according to claim 1, characterized in that: said signal inductor is a linear Hall effect sensor. 5. Self-propelled equipment according to claim 4, characterized in that when said driven wheel rotates, said signal inductor generates induction signals comprising reverse-phase waves appearing alternately. 6. A self-propelled equipment according to claim 4 or 5, characterized in that: said detection device converts the waves generated by said signal inductor into square wave signals, it obtains the rotational state of said wheel driven from said square wave, and determines from said rotational state whether said self-propelled equipment is moving normally. 7. A self-propelled equipment according to claim 4, characterized in that: said detection device comprises: a comparator, for comparing said induction signals with the default values or the default threshold values, and to emit a first signal square wave from the comparison results; A logic gate circuit for performing a logic operation on said first square wave signal to transmit a second square wave signal; A processor for obtaining the state of rotation of said driven wheel from said second square wave signal and determining from said rotational state whether said self-propelling equipment is moving normally. 8. A self-propelled equipment according to claim 7, characterized in that: said processor is used to obtain the actual count by counting in a determined time from said second square wave signal, and to compare said actual count with the determined value so to obtain the rotational state of said driven wheel. 9. Self-propelled equipment according to claim 7, characterized in that: said state detection device further comprises an amplifier, said amplifier being connected between said signal inductor and said detection device, in order to amplify said detected signals . 10. Self-propelled equipment according to claim 4, characterized in that: said detection device comprises: an acquisition unit AD, used to acquire said induction signals in a determined duration, and to carry out an AD transformation in order to obtain actual acquisition values; A processor, for obtaining the rotational state of said driven wheel from the conversion rate of said actual acquisition values, and for detecting from said rotational state whether said self-propelling equipment is moving normally. 11. A self-propelled equipment according to claim 1, characterized in that: said signal inductor comprises at least two of said signal inductor can respectively be triggered by said adjacent magnetic trigger elements to generate a square wave signal, said detection device obtains the rotational state of said driven wheel from said square wave signal, and determines from said rotational state whether said self-propelled equipment is moving normally. Self-propelled equipment according to claim 11, characterized in that said signal inductor is a digital Hall effect sensor. 13. Self-propelled equipment according to claim 12, characterized in that: said detection device comprises: a logic gate circuit, respectively used to perform a logic operation on said square wave signal, in order to emit a third signal of square waves; A processor, for obtaining the rotational state of said driven wheel from said third square wave signal, and determining from said rotational state whether said self-propelling equipment is moving normally. 14. A self-propelled equipment according to claim 13, characterized in that: said processor is used to obtain the actual count by counting in a determined time from said third square wave signal, and to compare said actual count with the determined value so to obtain the rotational state of said driven wheel. 15. A self-propelled equipment according to claim 1, characterized in that: said magnetic trigger element is an electromagnet or a permanent magnet. 16. Self-propelled equipment according to claim 1, characterized in that: said magnetic trigger elements are arranged spaced apart on the circumference of said driven wheel. 17. A self-propelled equipment according to claim 16, characterized in that: said magnetic trigger elements are arranged at equidistant intervals on the circumference of said driven wheel. 18. A self-propelled equipment according to claim 16, characterized in that: said magnetic trigger elements are oriented towards the rotational center of said driven wheel. 19. A self-propelled equipment according to claim 1, characterized in that: said self-propelled equipment comprises a main shaft, said driven wheel is an omnidirectional wheel rotatable eccentrically around said main shaft, said magnetic actuators are arranged laterally. said main shaft and the upper part of said driven wheel. 20. Self-propelled equipment according to claim 1, characterized in that: the distance from said signal inductor to said driven wheels is constant.