CN109426267A - From mobile device - Google Patents
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- CN109426267A CN109426267A CN201811000785.7A CN201811000785A CN109426267A CN 109426267 A CN109426267 A CN 109426267A CN 201811000785 A CN201811000785 A CN 201811000785A CN 109426267 A CN109426267 A CN 109426267A
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- 230000015572 biosynthetic process Effects 0.000 claims description 4
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Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/08—Systems for measuring distance only
- G01S15/10—Systems for measuring distance only using transmission of interrupted, pulse-modulated waves
- G01S15/102—Systems for measuring distance only using transmission of interrupted, pulse-modulated waves using transmission of pulses having some particular characteristics
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/87—Combinations of sonar systems
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/521—Constructional features
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Acoustics & Sound (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention relates to one kind from mobile device, comprising: shell；Mobile module；Drive module；Control module；It is arranged on the shell to identify the supersonic sensing device assembly from mobile device direction of advance barrier, supersonic sensing device assembly to cognitive disorders object is set on the shell, the supersonic sensing device assembly include the first ultrasonic sensor and the second ultrasonic sensor, first ultrasonic sensor and second ultrasonic sensor it is at an angle to each other arrange on the housing.Compared with prior art, by the present invention in that realizing the detection of barrier with ultrasonic sensor, and by being arranged at an angle two ultrasonic sensors, the coverage area of ultrasonic wave on case width direction is increased, the range of case width direction detection of obstacles is increased.
Description
Technical field
The present invention relates to one kind from mobile device, especially a kind of contactless avoidance from mobile device.
Background technique
With being constantly progressive for computer technology and artificial intelligence technology, similar to smart machine self-movement robot
Through start slowly come into people's lives.The companies such as Samsung, Electrolux develop automatic dust catcher and have been put into
Market.This usual compact of automatic dust catcher is integrated with environmental sensor, from drive system, dust collecting system, battery and fills
Electric system can be not necessarily to manual control, and voluntarily automatic cruising and dust suction in working region, when energy is low, auto-returned charges
It stands, dock and charges, then proceed to cruise and dust suction.Meanwhile the companies such as Haas Ke Wana develop similar intelligent grass-removing,
It can mow in the lawn of user automatically, charge, and interfere without user.Since this self-movement robot is once being arranged
Investment energy management is just no longer needed to later, will be solved in user's housework work uninteresting and time-consuming and laborious from cleaning, lawn maintenance etc.
It releases, therefore is greatly welcome.
Usually there is the barrier for hindering self-movement robot mobile in working region, self-movement robot needs to have knowledge
The function of other barrier, and then avoid when encountering barrier or avoided automatically before encountering barrier automatically.
In routine techniques, self-movement robot uses contact avoidance means.In the art, self-movement robot
Fuselage is equipped with crash sensor, and when self-movement robot collides with barrier, crash sensor generates collision alarm,
The control module of self-movement robot receives collision alarm, judges in the direction of advance of self-movement robot there are barrier,
And then control self-movement robot and turn to or retreat, carry out avoidance.Under contact avoidance mode, self-movement robot needs are touched
When bumping against barrier, barrier just can recognize that.This mode not only needs the fuselage of self-movement robot to have higher touch
Intensity is hit, the cost of self-movement robot is increased, but also does not adapt to some operating conditions for being not suitable for colliding.
Summary of the invention
The present invention provide it is a kind of can be realized contactless avoidance from mobile device.
To achieve the above object, the technical scheme is that
One kind is from mobile device comprising:
Shell；
Mobile module is set on the shell, for driving the shell mobile；
Drive module, for driving the mobile module mobile；
Control module, it is described from mobile device for controlling；
Supersonic sensing device assembly to identify shell front obstacle, the supersonic sensing are set on the shell
Device assembly includes the first ultrasonic sensor and the second ultrasonic sensor, first ultrasonic sensor and described the second is surpassed
Sonic sensor is arranged on the housing at an angle to each otherly.
Further, first ultrasonic sensor has first axle, and the second ultrasonic sensor has the second axis
Line, the first axle and second axis have projection intersection point from depression angle, and the first axle is the first ultrasonic wave biography
The axis of the ultrasonic sound field of sensor transmitting, the second axis are the axis of the ultrasonic sound field of the second ultrasonic sensor transmitting
Line.
Further, the angular range that the first axle and second axis projection are mutually is 60 ° -110 °.
Further, the angular range that the first axle and second axis projection are mutually is 70 ° -90 °.
Further, the shell has shell axis, between the first axle and/or second axis and shell axis
Projection angle range be 10 ° -80 °.
Further, the projection angle range between the first axle and/or second axis and shell axis be 25 °-
55°。
Further, the first axle and second axis are coplanar in the height direction.
Further, first ultrasonic sensor is received and transmitting ultrasonic wave the first transmitting-receiving region is inscribed, and described the
Two ultrasonic sensors are in the inscribed receipts in the second transmitting-receiving region and transmitting ultrasonic wave, first ultrasonic sensor and described second
Ultrasonic sensor is at an angle to each other to be arranged such that the first transmitting-receiving region and second transmitting-receiving region partly overlap, thus shape
At three detection zones, wherein the first transmitting-receiving region and the second overlapped part in transmitting-receiving region are third detection zone, the
Part except being overlapped in one transmitting-receiving region is the first detection zone, and the part except being overlapped in the second transmitting-receiving region is the second inspection
Survey region.
Further, the third detection zone at least while covers the first ranging of part in first transmitting-receiving region
The second range hole of part in blind area and second transmitting-receiving region, first range hole are the first ultrasonic sensor
The aftershock of a period of time after transmitting ultrasonic signal, within this period, ultrasonic echo signal can not be with transmitting
Ultrasonic signal distinguish, second range hole be the second ultrasonic sensor emit ultrasonic signal after one section
The aftershock of time, within this period, ultrasonic echo signal can not be distinguished with the ultrasonic signal of transmitting.
Further, the control module controls first ultrasonic sensor and second ultrasonic sensor exists
Alternate emission ultrasonic wave on time, the control module control first ultrasonic sensor emit super in first time period
Sound wave, first ultrasonic sensor and second ultrasonic sensor receive back echo in first time period,
The control module, which controls, emits ultrasonic wave in the second time period of second ultrasonic sensor after the first period of time,
First ultrasonic sensor and second ultrasonic sensor receive back echo in second time period.
Further, the control module is according to the first ultrasonic sensor and second in the supersonic sensing device assembly
Ultrasonic sensor emits and receives the combined situation of back echo, the orientation of disturbance in judgement object.
Further, when only the first ultrasonic sensor transmitting ultrasonic wave in the supersonic sensing device assembly, and
When only the first ultrasonic sensor receives back echo, the control module disturbance in judgement level is in first detection zone
Domain；When only the second ultrasonic sensor emits ultrasonic wave, and only the second ultrasonic wave in the supersonic sensing device assembly
When sensor receives back echo, the control module disturbance in judgement level is in second detection zone；When the ultrasound
The first ultrasonic sensor transmitting ultrasonic wave, the first ultrasonic sensor and the second ultrasonic sensor connect in wave sensor component
When receiving back echo, the control module disturbance in judgement level is in the third detection zone；When the ultrasonic sensor
The second ultrasonic sensor transmitting ultrasonic wave, the first ultrasonic sensor and the second ultrasonic sensor receive barrier in component
When echo, the control module disturbance in judgement level is in the third detection zone；When in the supersonic sensing device assembly
When one ultrasonic sensor emits ultrasonic wave, the second ultrasonic sensor receives back echo, the control module judgement barrier
Hinder level in the third detection zone；When in the supersonic sensing device assembly the second ultrasonic sensor transmitting ultrasonic wave,
When first ultrasonic sensor receives back echo, the control module disturbance in judgement level is in the third detection zone.
Further, transmitting ultrasonic wave and reception barrier of the control module according to the supersonic sensing device assembly
The time difference of echo calculates barrier from from a distance from mobile device.
Further, when the ultrasonic sensor of collaborative work is 3 or more, multiple transmitting ultrasonic/sonic waves are passed
The non-overlapping ultrasonic sensor of defeated range using and meanwhile emit the mode of ultrasonic wave, sonic transmissions range has wherein the one of overlapping
When a ultrasonic sensor and the non-overlapping ultrasonic sensor of sonic transmissions range emit ultrasonic wave simultaneously, remaining ultrasonic wave is passed
Sensor receives ultrasonic wave.
Further, when the ultrasonic sensor of collaborative work is 3 or more, multiple transmitting ultrasonic/sonic waves are passed
For the non-overlapping ultrasonic sensor of defeated range using the mode for emitting ultrasonic wave in turn, sonic transmissions range has wherein the one of overlapping
When a ultrasonic sensor transmitting ultrasonic wave, remaining ultrasonic sensor receives ultrasonic wave, and sonic transmissions range is non-overlapping to be surpassed
When sonic sensor emits ultrasonic wave, remaining ultrasonic sensor receives ultrasonic wave.
Further, the ultrasonic sensor is set to the first half from mobile device length direction.
Further, the ultrasonic sensor is 19 centimetres to 20 centimetres relative to the mounting height range on ground.
Further, the ultrasonic sensor has beam of sound axis, and the beam of sound axis is in horizontally disposed.
Further, the ultrasonic sensor has the transmitting-receiving region for receiving and emitting ultrasonic wave, transmitting-receiving region tool
There is the first borderline neighbouring with housing forward end, there is the adjoining wall with the first transmitting-receiving region adjacent, the neighbour on the shell
The upper surface of wall is connect lower than the first borderline.
Further, the axis perpendicular to the ultrasound beamformer of first ultrasonic sensor transmitting does a section and obtains
To wavy surface, the wavy surface has a long axis direction and a short-axis direction, described to be equipped with bottom surface from mobile device, described
Bottom surface be from mobile device work when with ground face contact several contact points formed datum level, the long axis direction be installed as and
Bottom surface is substantially parallel, and the short-axis direction is installed as and the substantially vertical ultrasonic sensor in bottom surface.
Further, the wavy surface is oval.
Further, the wavy surface for the ultrasound beamformer that first ultrasonic sensor itself emits is non-circular.
Further, the wavy surface for the ultrasound beamformer that described ultrasonic sensor itself emits be it is round, described first
One end of ultrasonic sensor transmitting ultrasonic wave is equipped with the ultrasound beamformer to adjust the first ultrasonic sensor transmitting
The wavy surface of the beam adjuster of shape, the ultrasound beamformer obtained after the beam adjuster adjustment is non-circular.
Further, the supersonic sensing device assembly further includes pcb board and fixes pcb board and ultrasonic sensor
Protective shell, the ultrasonic sensor has outside sounding face, and the protective shell has end face, and the sounding face is no more than
End face.
Further, it is described from mobile device be intelligent grass-removing, the intelligent grass-removing have cutterhead, the ultrasonic wave
The difference range between cutterhead height when the mounting height and work of sensor is 100mm to 300mm.
Further, described from mobile device is intelligent grass-removing, and the intelligent grass-removing has cutterhead, and the cutterhead exists
It works on when mobile close to barrier from mobile device.
Compared with prior art, by the present invention in that realizing the detection of barrier with ultrasonic sensor, and by using
Ultrasonic sensor realizes the detection of barrier, and by being arranged at an angle two ultrasonic sensors, it is wide to increase shell
The coverage area for spending ultrasonic wave on direction, increases the range of case width direction detection of obstacles.
Detailed description of the invention
The invention will be further described with embodiment with reference to the accompanying drawing.
Fig. 1 is the module diagram of intelligent grass-removing of the present invention.
Fig. 2 is the schematic top plan view of the intelligent grass-removing 100 of first embodiment of the invention.
Fig. 3 is the first arrangement side of the supersonic sensing device assembly of the intelligent grass-removing 100 of first embodiment of the invention
The schematic diagram of formula.
Fig. 4 is the ultrasonic sensor of the supersonic sensing device assembly of the intelligent grass-removing 100 of first embodiment of the invention
The angled relationships schematic diagram of axis between component.
Fig. 5 is the ultrasonic sensor of the supersonic sensing device assembly of the intelligent grass-removing 100 of first embodiment of the invention
Angled relationships schematic diagram between component and shell axis.
Fig. 6 is that the supersonic sensing device assembly of the intelligent grass-removing 100 of first embodiment of the invention is triangle wave beam
The detection range schematic diagram of the first arrangement.
Fig. 7 is that the supersonic sensing device assembly of the intelligent grass-removing 100 of first embodiment of the invention is triangle wave beam
The detection range schematic diagram of second of arrangement.
Fig. 8 is that the supersonic sensing device assembly of the intelligent grass-removing 100 of first embodiment of the invention is oval wave beam
The detection range schematic diagram of the first arrangement.
Fig. 9 is that the supersonic sensing device assembly of the intelligent grass-removing 100 of first embodiment of the invention is oval wave beam
The detection range schematic diagram of second of arrangement.
Figure 10 is that the supersonic sensing device assembly of the intelligent grass-removing 100 of first embodiment of the invention includes three ultrasonic waves
The arrangement schematic diagram of ultrasonic sensor.
Figure 11 is that the supersonic sensing device assembly of the intelligent grass-removing 100 of first embodiment of the invention includes four ultrasonic waves
The arrangement schematic diagram of ultrasonic sensor.
Figure 12 is the coaxial relationship signal of the supersonic sensing device assembly of the intelligent grass-removing 200 of second embodiment of the invention
Figure.
Figure 13 is the first arrangement side of the supersonic sensing device assembly of the intelligent grass-removing 200 of second embodiment of the invention
The detection range schematic diagram of formula.
Figure 14 is second of arrangement side of the supersonic sensing device assembly of the intelligent grass-removing 200 of second embodiment of the invention
The detection range schematic diagram of formula.
Figure 15 is that the supersonic sensing device assembly of the intelligent grass-removing 200 of second embodiment of the invention includes three ultrasonic waves
The arrangement schematic diagram of ultrasonic sensor.
Figure 16 is that the supersonic sensing device assembly of the intelligent grass-removing 200 of second embodiment of the invention includes four ultrasonic waves
The arrangement schematic diagram of ultrasonic sensor.
Figure 17 is the coaxial relationship signal of the supersonic sensing device assembly of the intelligent grass-removing 300 of third embodiment of the invention
Figure.
Figure 18 is the first arrangement side of the supersonic sensing device assembly of the intelligent grass-removing 300 of third embodiment of the invention
The detection range schematic diagram of formula.
Figure 19 is second of arrangement side of the supersonic sensing device assembly of the intelligent grass-removing 300 of third embodiment of the invention
The detection range schematic diagram of formula.
Figure 20 is another detection model of the supersonic sensing device assembly of the intelligent grass-removing 300 of third embodiment of the invention
The schematic diagram enclosed.
Figure 21 is the ultrasound that the supersonic sensing device assembly of the intelligent grass-removing 400 of fourth embodiment of the invention includes two
The coaxial relationship schematic diagram of wave sensor component.
Figure 22 is the ultrasound that the supersonic sensing device assembly of the intelligent grass-removing 400 of fourth embodiment of the invention includes three
The coaxial relationship schematic diagram of wave sensor component.
Figure 23 be Figure 22 in fourth embodiment of the invention intelligent grass-removing 400 supersonic sensing device assembly the first
The detection range schematic diagram of arrangement.
Figure 24 is second of the supersonic sensing device assembly of the intelligent grass-removing 400 of fourth embodiment of the invention in Figure 22
The detection range schematic diagram of arrangement.
Figure 25 is that control module 30 controls the transmitting of supersonic sensing device assembly and received flow chart.
Figure 26 is obstacle principle condition difference institute in the valid analysing range of the intelligent grass-removing 100 of first embodiment of the invention
Corresponding supersonic sensing device assembly receives signal condition schematic diagram.
Figure 27 is the schematic diagram of the oval wave beam of ultrasonic sensor of the present invention.
Figure 28 is the cross-sectional view of oval wave beam in Figure 27.
Figure 29 is that the wavy surface of the ultrasound beamformer of ultrasonic sensor itself is non-circular schematic diagram.
Figure 30 is that wavy surface is adjusted to ellipse after the wavy surface of ultrasound beamformer is round and setting beam adjuster
Schematic diagram.
Figure 31 is the unmigrated schematic diagram of ultrasonic sensor in intelligent grass-removing of the invention.
Figure 32 is the schematic diagram that ultrasonic sensor offsets downward the angle β in intelligent grass-removing of the invention.
Figure 33 is the schematic diagram that ultrasonic sensor offsets up the angle β in intelligent grass-removing of the invention.
Figure 34 is that the wall closed on shell with ultrasonic sensor visual field in intelligent grass-removing of the invention is showing for inclined-plane
It is intended to.
Figure 35 is that the wall closed on shell with ultrasonic sensor visual field in intelligent grass-removing of the invention is showing for cambered surface
It is intended to.
Figure 36 is the schematic diagram of the 5th ultrasonic sensor on intelligent grass-removing of the present invention setting identification slope.
Figure 37 be intelligent grass-removing of the invention in the operating condition for encountering slope just to ultrasonic sensor axle center under slope foot with
Slope distance is the schematic diagram of S.
Figure 38 is that intelligent grass-removing of the invention just starts the schematic diagram to go up a slope in the operating condition for encountering slope.
Figure 39 be intelligent grass-removing of the invention in the operating condition for encountering slope just under slope foot when ultrasonic sensor axis
With the schematic diagram of the angle of slope surface.
Figure 40 is ultrasonic sensor axis when intelligent grass-removing of the invention just starts to go up a slope in the operating condition for encountering slope
With the schematic diagram of the angle of slope surface
Figure 41 be intelligent grass-removing of the invention when going up a slope completely in the operating condition for encountering slope ultrasonic sensor axis with
The parallel schematic diagram of slope surface.
Figure 42 is the schematic diagram of the ultrasonic sensor blind area of intelligent grass-removing of the invention.
Figure 43 is distance and phase in the prior art between the ultrasonic sensor and barrier of intelligent grass-removing of the invention
Isostructural intelligent grass-removing does not solve the contrast schematic diagram of distance between the ultrasonic sensor of blind zone problem and barrier.
Figure 44 is that intelligent grass-removing of the invention detects slope and mutually isostructural intelligent grass-removing detection phase in the prior art
With the comparison schematic diagram of the common barrier of position.
Figure 45 is showing using the ultrasonic sensor component detection wall of the intelligent grass-removing 100 of first embodiment of the invention
It is intended to.
Figure 46 is showing using the ultrasonic sensor component detection wall of the intelligent grass-removing 200 of second embodiment of the invention
It is intended to.
Figure 47 is to be led to using the supersonic sensing device assembly of the intelligent grass-removing 100 of first embodiment of the invention by narrow
The schematic diagram in road.
Figure 48 is the schematic diagram of intelligent grass-removing subregion avoidance of the invention.
Figure 49 is the schematic diagram of intelligent grass-removing subregion avoidance of the invention.
Figure 50 is the trajectory diagram of intelligent grass-removing avoiding obstacles of the invention.
Figure 51 is the structure chart of the ultrasonic sensor of intelligent grass-removing of the invention.
Figure 52 is the structure chart of another angle of ultrasonic sensor of intelligent grass-removing of the invention.
Figure 53 is that intelligent grass-removing of the invention sets up defences crosstalk structure structure identical as intelligent grass-removing in the prior art not
The structural schematic diagram of the visual field crosstalk for crosstalk structure of setting up defences.
Figure 54 is a kind of stereoscopic schematic diagram of anti-crosstalk structure in intelligent grass-removing of the invention.
Figure 55 is the schematic side view of anti-crosstalk structure in Figure 54.
Figure 56 is the schematic top plan view of anti-crosstalk structure in Figure 54.
Figure 57 is the cross-sectional view of line A-A in Figure 56.
Figure 58 is the schematic front view of anti-crosstalk structure in intelligent grass-removing of the invention.
Figure 59 is that the control module of first embodiment controls the circuit unit schematic diagram of ultrasonic module.
Figure 60 is that the control module of second embodiment controls the circuit unit schematic diagram of ultrasonic module.
Figure 61 is the signal for another embodiment that the control module of second embodiment controls the circuit unit of ultrasonic module
Figure.
Figure 62 is another anti-crosstalk structure of intelligent grass-removing of the invention and showing for ultrasound senor position relationship
It is intended to.
Figure 63 is the schematic diagram of another angle of Figure 62.
Figure 64 is the schematic diagram of intelligent grass-removing ultrasonic sensor receiving and transmitting signal detection method of the present invention.
Figure 65 is control block diagram of the invention.
Figure 66 is the flow chart of intelligent grass-removing cognitive disorders object space method of the present invention.
Wherein,
1,100,200,300,400,10 shell, 84 mobile module intelligent grass-removing
86 operational module, 88 energy module, 20 supersonic sensing device assembly
21,41,61,81 the 1st, 43,63,83 the 2nd 30 control modules
Ultrasonic sensor ultrasonic sensor
A first receives and dispatches region B second and receives and dispatches region C third transmitting-receiving region
D the 4th receives and dispatches 11 first detection zone of region, 12 second detection zone
The 5th detection zone of 13 the 4th detection zone 15 of third detection zone 14
The 8th detection zone of 16 the 6th the 7th detection zone 18 of detection zone 17
31a, 31b driving circuit 33a, 33b transformer 35a, 35b ADC
25,45,65,85 the 3rd 27,47,67 the 4th ultrasound of 37a, 37b data processing unit
Ultrasonic sensor wave sensor
92 the 5th ultrasonic sensor, 211,411,611 first axle, 231,431,631 second axis
210 shell axis, 651 third axis, 671 four axistyle
80,89 anti-crosstalk structure, 801 stop wall, 90 beam adjuster
91 adjacent 97 boundary line of wall, 98 visual fields
99 barrier, 201 ultrasonic sensor, 2011 sounding face
203 transformer of 202PCB plate, 204 capacitor
205 protective shell, 2051 end face, 802 mounting hole
803, connecting pin on 804 parallel surface 805 of top surface
806 lower 807 hole center of connecting pin, 808 front end faces
809 joint face, 8,011 first retaining wall, 8,012 second retaining wall
71 first position, 72 second position, 73 the third place
891 first at 892 second 96 connection lines
893 first anti-crosstalk face of 21a first circuit board 23a second circuit board
894 second anti-crosstalk face, 87 reception device, 701 amplification circuit module
705 sensor microcontroller, 708 pulse circuit module, 704 data cache module
702 analog-to-digital conversion module, 703 filter module, 709 back wave threshold value
706 data processing module, 707 master controller
Specific embodiment
The invention discloses the intelligent grass-removing for being able to achieve contactless avoidance, the intelligent grass-removing in each embodiment is adopted
The identification of barrier is carried out with ultrasonic sensor.Also, overlap detection area is formed by the arrangement of ultrasonic sensor, is mentioned
The high accessibility of intelligent grass-removing, may be implemented the contactless avoidance of short distance.
Before the embodiment that the present invention will be described in detail, it should be noted that, in the description of the present invention, it is such as left and
The right side, upper and lower, front and rear, first and second etc relational terms are used merely to distinguish an entity or movement and another reality
Body or movement, and not necessarily require or imply any actual this relationship or sequence between this entity or movement.Term
"include", "comprise" or any other variant are intended to cover non-exclusive inclusion, so that including the mistake of a series of elements
Journey, method, article or equipment not only include these elements, but also include other elements that are not explicitly listed, Huo Zhewei
Elements inherent to such a process, method, article, or device.
In the description of the present invention, " preceding " represents the direction that the ultrasonic wave of ultrasonic sensor transmission is propagated, and defines " preceding "
For the moving direction of machine, " rear " to represent the direction opposite with " preceding ", " left side " represents the left side on moving direction, " right side " representative and
Right side on " left side " opposite moving direction, "upper" represent the direction in work far from machine operation face, and "lower" represents and "upper"
The opposite direction close to machine operation face.
For purpose disclosed by the invention, term " transmitting-receiving region " refers to that the ultrasonic sensor of transceiver sends ultrasound
Wave and the region where the barrier of ultrasonic echo can be received." transceiver " refers to ultrasonic sensor while undertaking transmission
The work of ultrasonic wave also undertakes the work for receiving back echo." sending zone " refers to the ultrasound that ultrasonic sensor issues
The region that wave can reach." receiving area " refers to that ultrasonic sensor can receive the area where the barrier of back echo
Domain." visual field " refers to that ultrasonic sensor sends ultrasonic wave and can receive the range where the barrier of ultrasonic echo.For
Only it is responsible for for the ultrasonic sensor for receiving back echo, " visual field " receiving sensor can emit signal if referring to,
The emission sensor can receive the region where the barrier of back echo." sonic transmissions range " refers to supersonic sensing
The region that the ultrasonic energy that device is sent reaches." sounding face " refer to ultrasonic sensor transmitting ultrasonic wave face, ultrasonic wave from this
Surface launching is gone out." overlapping detection regions " refer to that the ultrasound beamformer that two ultrasonic sensors issue is capable of the place of juxtaposition.
" determining section " refers to the section selected in visual field, which is wavy surface." ultrasound beamformer " refers to ultrasonic sensor
Distribution of the sound field that the ultrasonic pulse of transmitting is formed in imaging field domain." wavy surface " refers to the ultrasound along ultrasonic sensor transmitting
The axis of wave wave beam does the face that a section obtains." beam of sound axis " refers to wave beam most intense radiation direction.The moving direction is certainly
The forward driving direction of mobile device.The axis of ultrasonic sensor is the axis of the ultrasonic sound field of ultrasonic sensor transmitting
Line does a section to sound field, and the sound intensity of position of the axis where go section is greater than the sound intensity of other positions, what defines with this
For axial location." the first range hole " refer to the first ultrasonic sensor transmitting ultrasonic signal after a period of time it is remaining
Shake, within this period, ultrasonic echo signal can not distinguish ", the second range hole " with the ultrasonic signal of transmitting and refer to the
The aftershock of a period of time after two ultrasonic sensors transmitting ultrasonic signal, within this period, ultrasonic echo
Signal can not be distinguished with the ultrasonic signal of transmitting.
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
As shown in FIG. 1, FIG. 1 is the module diagrams from mobile device 1 of the contactless avoidance of the present invention.Intelligent grass-removing
Including shell 10, supersonic sensing device assembly 20 on shell 10, the mobile module 84 positioned at 10 bottom of shell is used for
The operational module 86 for executing work for controlling intelligent grass-removing automatic work and mobile control module 30, and is intelligence
The energy module 88 of grass trimmer offer energy.The specific physical form of control module 30 be disposed with one or more processors,
The control circuit board of memory, other related components and respective peripheral circuit.Control module 30 is built-in with control program, with
Scheduled instruction is executed, intelligent grass-removing is controlled in working region and automatically moves and execute work.It is of the present invention certainly mobile
Equipment can be intelligent grass-removing or intelligent sweeping robot.So the element about Fig. 1 describes under the equally applicable present invention
State such as the intelligent grass-removing of each embodiment or from description as described in mobile device.
The contactless avoidance of the present invention includes at least one ultrasonic wave from supersonic sensing device assembly 20 in mobile device 1
Sensor.Supersonic sensing device assembly 20 is located at the front end of shell 10, for detecting whether 100 direction of advance of intelligent grass-removing deposits
In barrier and barrier from from a distance from mobile device 1.Supersonic sensing device assembly 20 includes at least one transceiver
Ultrasonic sensor, or including at least one ultrasonic wave send sensor and one and send sensor field of view with ultrasonic wave and hand over
The ultrasonic receiver sensor of fork.
The ultrasonic transducer of multiple groups transmission-receiving function separation.For the ultrasonic transducer of transmission-receiving function separation, wherein extremely
A few transmission ultrasonic wave, remaining receives back echo.
As shown in Figure 51 and Figure 52, the contactless avoidance of the present invention from the supersonic sensing device assembly in mobile device 1
20 include ultrasonic sensor 201, pcb board 202, the capacitor 204 being installed on pcb board and positioning pcb board 202 and ultrasound
The protective shell 205 of wave sensor 201.Ultrasonic sensor 201 has outside sounding face 2011, and protective shell 205 has end face
2051, sounding face 2011 is equal with end face 2051 or 2051 indent of opposing end surface is set in protective shell 205, i.e. sounding face 2011
No more than end face 2051.As shown in figure 52, in other embodiments of the present invention, when ultrasonic sensor needs high pressure to send ultrasound
Transformer 203 is also set up when wave, on pcb board.
In the description of the present invention, the description of the axis of all about ultrasonic sensor is referred to through sounding face 2011
Axis.All intelligent grass-removings refer to two ultrasonic waves and pass about two ultrasonic sensors are at an angle to each other between each other
It is flat to refer to two ultrasonic sensor axis about two ultrasonic sensors in parallel for the angle being mutually between sensor axis
Row.The axis of shell 10 refers to the axis on 10 front-rear direction of shell, about angulation mutual between ultrasonic sensor and shell axis
Degree refers to the angle between the axis of ultrasonic sensor and shell axis, about between ultrasonic sensor and shell axis
Refer to that the axis of ultrasonic sensor is parallel to each other with shell axis in parallel.In the description of the present invention, ultrasonic sensor
What the distance between barrier referred to is all at a distance from the axle center to barrier of sounding face 2011.Between shell 10 and barrier
What distance referred to is all the distance between shell front end and barrier.The distance between intelligent grass-removing and barrier refer to be also
The distance between shell front end and barrier.
In the description of the present invention, the width range of fuselage is the width of shell 10 and the width of mobile module 84.Ultrasound
The valid analysing range of wave sensor component 20 at least covers the width range of fuselage.Supersonic sensing device assembly 20 has above-mentioned
Valid analysing range, so that supersonic sensing device assembly 20 is able to detect that the obstacle in front in intelligent grass-removing moving process
Object avoids intelligent grass-removing from colliding barrier in moving process.
The intelligent grass-removing of contactless avoidance disclosed by the invention carries out obstacle recognition, institute by ultrasonic sensor
Ultrasonic sensor transmitting ultrasonic wave is stated, can be reflected when ultrasonic wave encounters front obstacle, ultrasonic sensor receives anti-
It is emitted back towards the ultrasonic echo come, intelligent grass-removing judges ultrasonic wave by emitting the ultrasonic time difference for involving reception back echo
The distance between sensor and barrier；The movement limit that pre-determined distance carries out intelligent grass-removing is arranged by control module 30 again
System, when being less than pre-determined distance at a distance from ultrasonic sensor is between barrier, the control module 30 of intelligent grass-removing judges
Front has the barrier for needing to avoid, and control module 30 controls intelligent grass-removing and takes avoidance measure, finally realizes non-contact
Formula avoidance.
The present invention has multiple embodiments about the arrangement of supersonic sensing device assembly 20, and then forms multiple embodiments
Contactless avoidance intelligent grass-removing, below for the contactless avoidance of different embodiments intelligent grass-removing carry out it is detailed
Thin narration.
First embodiment:
As shown in Fig. 2, Fig. 2 is the schematic top plan view of the intelligent grass-removing 100 of first embodiment of the invention.This is intelligently mowed
The length direction of machine 100 is front-rear direction.
As shown in Figures 3 and 4, in the intelligent grass-removing of the first embodiment 100, supersonic sensing device assembly 20 includes
First ultrasonic sensor 21 and the second ultrasonic sensor 23.First ultrasonic sensor 21 and the second ultrasonic sensor 23
Setting at an angle to each other.First ultrasonic sensor 21 has first axle 211, and the second ultrasonic sensor 23 has the second axis
Line 231, the shell axis 210 that there is intelligent grass-removing 100 front and back to extend.First axle 211 is the first ultrasonic sensor 21
The axis of the ultrasonic sound field of transmitting, second axis 231 are the axis of the ultrasonic sound field of the second ultrasonic sensor 23 transmitting.
As shown in Figures 3 and 4, first axle 211 and the intersection at an angle to each other of second axis 231, from depression angle, first axle
In the front cross of shell 10, the projection intersection point of intersection can be located at any immediately ahead of shell 10 for line 211 and second axis 231
Position.First ultrasonic sensor 21 and the second ultrasonic sensor 23 protrude shell 10.So set, by by ultrasonic wave
Sensor, which protrudes shell 10, to be installed, so that the sound wave that ultrasonic sensor issues not will receive the blocking of shell 10, expands sound
The transmitting range of wave ensures that ultrasonic sensor can be detected from the barrier immediately ahead of mobile device, can also examine
Measure the barrier from two sides in front of mobile device.
The range for the angle σ 1 that first ultrasonic sensor 21 and the second ultrasonic sensor 23 are mutually is 60 ° -110 °.
In the preferred embodiment of the intelligent grass-removing 100 of the first embodiment, the first ultrasonic sensor 21 and the second ultrasonic wave are passed
The range of the cross angle σ 1 of sensor 23 is 70 ° -90 °.First ultrasonic sensor 21 and second of 70 ° of -90 ° of numberical ranges
The intersection of ultrasonic sensor 23, it is ensured that while obtaining overlap detection area, moreover it is possible to allow overlap detection area closer to intelligence
Can grass trimmer 100 front, and avoid the ultrasonic wave of one of ultrasonic sensor transmitting without barrier reflection and
It is directly received by another ultrasonic sensor, reduces the first ultrasonic sensor 21 and 23 the two of the second ultrasonic sensor
Between signal cross-talk, improve the accuracy of obstacle recognition.The first above-mentioned ultrasonic sensor 21 and the second ultrasonic wave pass
The angle that sensor 23 is mutually refers to first axle 211 and the angle that second axis 231 is mutually.First axle 211 and the second axis
The angle that line 231 is mutually is smaller and smaller along intelligent grass-removing direction of advance.
As shown in figure 5, relative to shell axis 210, the model of the angle ω 1 between first axle 211 and shell axis 210
Enclosing is 10 ° -80 °, in the preferred embodiment of the intelligent grass-removing 100 of the first embodiment, first axle 211 and shell axis
The range of angle ω 1 between 210 is 25 ° -55 °.The range of angle ω 2 between second axis 231 and shell axis 210
It is 10 ° -80 °, in the preferred embodiment of the intelligent grass-removing 100 of the first embodiment, second axis 231 and shell axis
The range of angle ω 2 between 210 is 25 ° -55 °.In the angular range, while ensuring to obtain overlap detection area,
Overlap detection area can also be allowed closer to the front of intelligent grass-removing 100, and one of ultrasonic sensor is avoided to send out
The ultrasonic wave penetrated is reflected without barrier and is directly received by another ultrasonic sensor, reduces by the first ultrasonic sensor
21 and second signal cross-talk between the two of ultrasonic sensor 23, improve the accuracy of obstacle recognition.
As shown in Figures 3 and 4, in the intelligent grass-removing 100 of the first embodiment of the invention, the first ultrasonic sensor
21 and second ultrasonic sensor 23 be transceiver ultrasonic sensor, i.e. a ultrasonic sensor can undertake hair
It send ultrasonic wave and receives the ultrasonic sensor of two functions of back echo.In other embodiments, the first supersonic sensing
Device 21 and the second ultrasonic sensor 23 are also possible to the combination of two standalone ultrasound wave sensors, and one in this two undertakes
The function of ultrasonic wave is sent, another in this two undertakes the function of receiving ultrasonic wave.In other embodiments, the first ultrasound
Wave sensor 21 and the second ultrasonic sensor 23 are also possible to the combination of multiple standalone ultrasound wave sensors, both the first ultrasound
Wave sensor 21 is the ultrasonic sensor of transmission-receiving function separation, multiple independent ultrasonic sensor wherein at least one hair
Send ultrasonic wave, remaining reception back echo of multiple independent ultrasonic sensor.
As shown in Fig. 6 and Fig. 8, Fig. 6 and Fig. 8 show the ultrasonic wave of the intelligent grass-removing 100 of first embodiment of the invention
Detection range schematic diagram of the sensor module under the first arrangement, the difference of two figures are ultrasound beamformer difference,
The ultrasound beamformer of the supersonic sensing device assembly shown in Fig. 6 is triangle or close to triangle, supersonic sensing in Fig. 8
The wave beam of device assembly is ellipse or close ellipse.In the embodiment of the first arrangement, the first ultrasonic wave is passed
Sensor 21 is consistent with the hardware parameter of the second ultrasonic sensor 23.First ultrasonic sensor 21 has the first transmitting-receiving region
A.Second ultrasonic sensor 23 has the second transmitting-receiving region B.First transmitting-receiving region A and the second transmitting-receiving region B are in intelligent mowing
The front of machine 100 is formed with overlap detection area.First ultrasonic sensor 21 and second in the overlap detection area
Ultrasonic sensor 23 can receive ultrasonic echo, i.e., send in overlap detection area if it is the first ultrasonic sensor 21
Ultrasonic wave, then the first ultrasonic sensor 21 and the second ultrasonic sensor 23 can receive ultrasonic echo；If it is the second surpassing
Sonic sensor 23 sends ultrasonic wave, then the first ultrasonic sensor 21 and the second ultrasonic sensor 23 can receive ultrasound and return
Wave.
As shown in Fig. 6 and Fig. 8, in the first arrangement of the intelligent grass-removing 100 of first embodiment of the invention
In embodiment, the first ultrasonic sensor 21 and the second ultrasonic sensor 23 it is at an angle to each other the front end of shell 10 is set,
To the first transmitting-receiving region A of the first ultrasonic sensor 21 and the second transmitting-receiving region part B of the second ultrasonic sensor 23
Overlapping.The underlapped part of first transmitting-receiving region A is the first detection zone 11 of sensor module 20, the second transmitting-receiving region B's
Underlapped part is the second detection zone 12 of sensor module 20, the portion of the first transmitting-receiving region A and the second transmitting-receiving region B overlapping
It is divided into the third detection zone 13 of sensor module 20.
As shown in Fig. 7 and Fig. 9, Fig. 7 and Fig. 9 show the ultrasonic wave of the intelligent grass-removing 100 of first embodiment of the invention
Detection range schematic diagram of the sensor module under second of arrangement.Second of arrangement side of supersonic sensing device assembly
Formula and the difference of the first arrangement are that supersonic sensing device assembly 20 is installed on apart from housing forward end in a distance D
Position.It is specifically described as, in the embodiment of second of arrangement, supersonic sensing device assembly 20 includes the first ultrasound
Wave sensor 21 and the second ultrasonic sensor 23.First ultrasonic sensor 21 and the second ultrasonic sensor 23 are at an angle to each other
The front end of opposite shell 10 and the position with housing forward end in a distance D is arranged in ground.First ultrasonic sensor 21 has
First transmitting-receiving region A.Second ultrasonic sensor 23 has the second transmitting-receiving region B.The first of first ultrasonic sensor 21 is received
Second transmitting-receiving region B of hair region A and the second ultrasonic sensor 23 still partly overlaps, still formation ultrasonic sensor group
Three detection zones of part 20.The first ultrasonic sensor 21 and the second ultrasonic sensor 23 are equal in the overlap detection area
Ultrasonic echo can be received, i.e., ultrasonic wave is sent if it is the first ultrasonic sensor 21, then 21 He of the first ultrasonic sensor
Second ultrasonic sensor 23 can receive ultrasonic echo；Ultrasonic wave is sent if it is the second ultrasonic sensor 23, then the
One ultrasonic sensor 21 and the second ultrasonic sensor 23 can receive ultrasonic echo.The underlapped portion of first transmitting-receiving region A
It is divided into the first detection zone 11 of sensor module 20, the underlapped part of the second transmitting-receiving region B is the of sensor module 20
The part of two detection zones 12, the first transmitting-receiving region A and the second transmitting-receiving region B overlapping is the third detection zone of sensor module 20
Domain 13.
As shown in Fig. 7 and Fig. 9, in second of arrangement of the intelligent grass-removing 100 of first embodiment of the invention,
First ultrasonic sensor 21 and the second ultrasonic sensor 23 can be set any on 10 length direction of shell in principle
Position, if the first ultrasonic sensor 21 and the second ultrasonic sensor 23 are arranged on the housing 10 closer to rear end
Place, then can be improved in order to guarantee that ultrasonic sensor sends ultrasonic wave and reception back echo is unaffected
The shape of shell ultrasonic sensor is arranged higher.In a preferred embodiment of the invention, while in view of ultrasound
The factor for sending and receiving and occupying little space of wave, the first ultrasonic sensor 21 and the setting of the second ultrasonic sensor 23
In the first half of 10 length direction of shell, distance D is less than or equal to the half of 10 length of shell, so set, can be more square
Just the range improved by the structure to housing forward end to be suitble to visual field, avoids generating blocking to ultrasonic wave.
In a preferred embodiment of the intelligent grass-removing 100 of first embodiment of the invention, the control of control module 30 first
Ultrasonic sensor 21 and the second ultrasonic sensor 23 alternate emission ultrasonic wave in time.The control of control module 30 the first surpasses
Sonic sensor 21 emits ultrasonic wave in first time period, and the first ultrasonic sensor 21 and the second ultrasonic sensor 23 exist
Receive back echo in first time period, control module 30 controls the second ultrasonic sensor 23 after the first period of time
It is inscribed in second time period to emit ultrasonic wave, the first ultrasonic sensor 21 and the second ultrasonic sensor 23 in second time period
Receive back echo.
In a preferred embodiment of the intelligent grass-removing 100 of first embodiment of the invention, control module 30 is according to ultrasound
First ultrasonic sensor 21 and the second ultrasonic sensor 23 emit and receive back echo in wave sensor component 20
Combined situation, the orientation of disturbance in judgement object.It is specifically described as, when only the first ultrasonic wave passes in supersonic sensing device assembly 20
When sensor 21 emits ultrasonic wave, and only the first ultrasonic sensor 21 receives back echo, the judgement barrier of control module 30
Hinder level in the first detection zone.When only the second ultrasonic sensor 23 emits ultrasonic wave in supersonic sensing device assembly 20
When, and when only the second ultrasonic sensor 23 reception back echo, 30 disturbance in judgement level of control module is in described second
Detection zone.When first ultrasonic sensor 21 emits ultrasonic wave, the first ultrasonic sensor in supersonic sensing device assembly 20
21 and second ultrasonic sensor 23 receive back echo when, 30 disturbance in judgement level of control module is in the third detection zone
Domain.When the second ultrasonic sensor 23 transmitting ultrasonic wave, the first ultrasonic sensor 21 and the in supersonic sensing device assembly 20
When two ultrasonic sensors 23 receive back echo, 30 disturbance in judgement level of control module is in the third detection zone.When
First ultrasonic sensor 21 transmitting ultrasonic wave, the second ultrasonic sensor 23 receive barrier in supersonic sensing device assembly 20
When echo, 30 disturbance in judgement level of control module is in the third detection zone.When the second surpassing in supersonic sensing device assembly 20
When sonic sensor 23 emits ultrasonic wave, the first ultrasonic sensor 21 receives back echo, 30 disturbance in judgement of control module
Level is in the third detection zone.
In the preferred embodiment of the intelligent grass-removing 100 of first embodiment of the invention, control module 30 is passed according to ultrasonic wave
The transmitting ultrasonic wave of sensor component 20 and the time difference for receiving back echo calculate barrier with a distance from intelligent grass-removing.
In a preferred embodiment of the intelligent grass-removing 100 of first embodiment of the invention, the first ultrasonic sensor 21
With first axle, the second ultrasonic sensor 23 has second axis, and the first axle and second axis are in short transverse
It is upper coplanar, so set, intelligent grass-removing can be allowed to obtain the overlap detection area area of maximum magnitude, also, due to selection
Ultrasonic sensor it is identical, axis co-planar can be conducive to 10 mounting structure of arrangement and shell of ultrasonic sensor structure
Design.
In a preferred embodiment of the intelligent grass-removing 100 of first embodiment of the invention, to ensure first embodiment
Intelligent grass-removing 100 can identify the barrier in direction of advance, it is necessary to make effective detection model of supersonic sensing device assembly 20
Enclose the region immediately ahead of covering 100 fuselage of intelligent grass-removing.One in the intelligent grass-removing 100 of first embodiment of the invention is excellent
It selects in embodiment, the valid analysing range of supersonic sensing device assembly 20 is the first detection zone, the second detection zone and third
The summation of detection zone.Specifically, using the left and right directions of intelligent grass-removing 100 as width direction, supersonic sensing device assembly 20
Effective detection width covering fuselage width range.
In other preferred embodiments of the intelligent grass-removing 100 of first embodiment of the invention, the supersonic sensing that uses
Device assembly 20 includes more than two ultrasonic sensor, i.e. supersonic sensing device assembly 20 may include three or more ultrasounds
Wave sensor, when ultrasonic sensor is more than two, to the transmission ultrasonic wave of ultrasonic sensor in different deployment scenarios
Under have different requirements.In principle, it when the ultrasonic sensor more than two and other sensors have overlap detection area, needs
Ultrasonic wave is sent with replacing in time in turn there are other of overlap detection area ultrasonic sensor, the ultrasound more than two
When wave sensor and other ultrasonic sensors do not have overlap detection area, it can choose and sent out simultaneously with other ultrasonic sensors
Ultrasonic wave is sent, also can choose and replace transmission ultrasonic wave in time in turn with other ultrasonic sensors.Below in conjunction with tool
The transmission situation of arrangement and ultrasonic wave more than two ultrasonic sensors is described in the attached drawing and embodiment of body.
As shown in Figure 10, it includes three ultrasonic sensors that Figure 10, which is the intelligent grass-removing 100 of first embodiment of the invention,
Embodiment, be specifically described as, supersonic sensing device assembly 20 include the first ultrasonic sensor 21, the second supersonic sensing
Device 23 and third ultrasonic sensor 25.Wherein, the first ultrasonic sensor 21 and the second ultrasonic sensor 23 keep angulation
Spend intersect arrangement, and the front of shell 10 formed visual field overlap detection area, third ultrasonic sensor 25 with
Shell axis is parallel.Such as the first arrangement, third ultrasonic sensor 25 not with the first ultrasonic sensor 21 and second
Any one of ultrasonic sensor 23 forms visual field overlap detection area, third ultrasonic sensor in the front of shell 10
25 have the 4th detection zone.Based on third ultrasonic sensor 25 not with the first ultrasonic sensor 21 and the second ultrasonic wave
Any one of sensor 23 forms visual field overlapping detection regions in the front of shell 10, and third ultrasonic sensor 25 can choose
Ultrasonic wave is sent simultaneously with the first ultrasonic sensor 21 or the second ultrasonic sensor 23, also can choose and the first ultrasonic wave
Sensor 21 and the second ultrasonic sensor 23 alternately send ultrasonic wave in time in turn.
As shown in Figure 10, when third ultrasonic sensor 25 and the first ultrasonic sensor 21 or the second ultrasonic sensor
23 when sending ultrasonic wave simultaneously, and control module 30 controls the first ultrasonic sensor 21 and third ultrasonic sensor 25 first
Emit ultrasonic wave, the first ultrasonic sensor 21, the second ultrasonic sensor 23 and third ultrasonic sensor 25 in period
Back echo is received in first time period, control module 30 controls third ultrasonic sensor 25 and the second supersonic sensing
Emit ultrasonic wave in the second time period of device 23 after the first period of time, the first ultrasonic sensor 21, the second ultrasonic wave pass
Sensor 23 and third ultrasonic sensor 25 receive back echo in second time period.
As shown in Figure 10, when third ultrasonic sensor 25 and the first ultrasonic sensor 21 and the second ultrasonic sensor
23 in turn send ultrasonic wave when, control module 30 control the first ultrasonic sensor 21 emit ultrasonic wave in first time period,
First ultrasonic sensor 21, the second ultrasonic sensor 23 and third ultrasonic sensor 25 receive barrier in first time period
Hinder object echo, it is super that control module 30 controls transmitting in the second time period of the second ultrasonic sensor 23 after the first period of time
Sound wave, the first ultrasonic sensor 21, the second ultrasonic sensor 23 and third ultrasonic sensor 25 are in second time period
Back echo is received, control module 30 controlled in the third period of third ultrasonic sensor 25 after the second period of time
Emit ultrasonic wave, the first ultrasonic sensor 21, the second ultrasonic sensor 23 and third ultrasonic sensor 25 are in third
Between back echo is received in section.
It as shown in Figure 10, include three ultrasonic sensors in being somebody's turn to do for the intelligent grass-removing of first embodiment of the invention 100
Embodiment in, the first ultrasonic sensor 21 and the second ultrasonic sensor 23 it is at an angle to each other shell 10 is set before
End, thus the second transmitting-receiving portion region B of the first transmitting-receiving region A of the first ultrasonic sensor 21 and the second ultrasonic sensor 23
Divide overlapping.The third transmitting-receiving region C of third ultrasonic sensor 25 does not receive and dispatch region A with the first of the first ultrasonic sensor 21
With the second transmitting-receiving region B overlapping of the second ultrasonic sensor 23.The underlapped part of first transmitting-receiving region A is sensor module
The underlapped part of 20 the first detection zone 11, the second transmitting-receiving region B is the second detection zone 12 of sensor module 20,
The part of first transmitting-receiving region A and the second transmitting-receiving region B overlapping is the third detection zone 13 of sensor module 20.Third transmitting-receiving
Region C is the 4th detection zone 14.
As shown in Figure 10, control module 30 still can be according to the first ultrasonic sensor in supersonic sensing device assembly 20
21, the second ultrasonic sensor 23 and third ultrasonic sensor 25 emit and receive the combined situation of back echo, sentence
The orientation of disconnected barrier, is specifically described as, super when only having the first ultrasonic sensor 21 to emit in supersonic sensing device assembly 20
When sound wave, and when only the first ultrasonic sensor 21 reception back echo, 30 disturbance in judgement level of control module is in first
Detection zone 11.When there was only the second ultrasonic sensor 23 transmitting ultrasonic wave in supersonic sensing device assembly 20, and only the
When two ultrasonic sensors 23 receive back echo, 30 disturbance in judgement level of control module is in second detection zone 12.
Surpass when the first ultrasonic sensor 21 transmitting ultrasonic wave, the first ultrasonic sensor 21 in supersonic sensing device assembly 20 and the second
When sonic sensor 23 receives back echo, 30 disturbance in judgement level of control module is in the third detection zone 13.When super
Second ultrasonic sensor 23 transmitting ultrasonic wave, the first ultrasonic sensor 21 and the second ultrasonic wave in sonic sensor component 20
When sensor 23 receives back echo, 30 disturbance in judgement level of control module is in the third detection zone 13.Work as ultrasonic wave
First ultrasonic sensor 21 transmitting ultrasonic wave, the second ultrasonic sensor 23 receive back echo in sensor module 20
When, 30 disturbance in judgement level of control module is in the third detection zone 13.When the second ultrasound in supersonic sensing device assembly 20
When wave sensor 23 emits ultrasonic wave, the first ultrasonic sensor 21 receives back echo, 30 disturbance in judgement object of control module
Positioned at the third detection zone 13.When the transmitting of third ultrasonic sensor 25 ultrasonic wave in supersonic sensing device assembly 20, and
When only third ultrasonic sensor 25 receives back echo, 30 disturbance in judgement level of control module is in the 4th detection zone
Domain 14.
As shown in figure 11, Figure 11 is the embodiment that supersonic sensing device assembly 20 includes four ultrasonic sensors, ultrasound
Wave sensor component 20 includes the first ultrasonic sensor 21, the second ultrasonic sensor 23,25 and of third ultrasonic sensor
4th ultrasonic sensor 27.There is first ultrasonic sensor 21 first transmitting-receiving region A, the second ultrasonic sensor 23 to have
Second transmitting-receiving region B.First ultrasonic sensor 21 and the second ultrasonic sensor 23 keep arrangement at an angle to each other simultaneously
Visual field overlap detection area, i.e. third detection zone are formed in the front of shell 10.Third ultrasonic sensor 25 has the
Three transmitting-receiving region C, the 4th ultrasonic sensor 27 have the 4th transmitting-receiving region D.Wherein, third ultrasonic sensor 25 not with
Any one of first ultrasonic sensor 21 and the second ultrasonic sensor 23 form overlapping detection regions in the front of shell 10
Any one of domain, the 4th ultrasonic sensor 27 and the first ultrasonic sensor 21 and the second ultrasonic sensor 23 are in shell 10
Front formed overlap detection area.4th ultrasonic sensor 27 is due to ultrasonic with the first ultrasonic sensor 21 and second
Wave sensor 23 has intersection, will form new overlap detection area.As shown in figure 11, third ultrasonic sensor 25 and four surpasses
Sonic sensor 27 is parallel to each other, and third ultrasonic sensor 25 and the 4th ultrasonic sensor 27 are flat with the axis of shell
Row, and the 4th ultrasonic sensor 27 is between the first ultrasonic sensor 21 and the second ultrasonic sensor 23.At other
In embodiment, it is only necessary to the 4th ultrasonic sensor 27 and the formation of the first ultrasonic sensor 21 and the second ultrasonic sensor 23
Overlapping detection regions, third ultrasonic sensor 25 do not form overlapping detection regions with any other sensor, are not intended to limit him
Axis set-up mode.
Continue as shown in figure 11, based on third ultrasonic sensor 25 not with the first ultrasonic sensor 21 and second
Any one of ultrasonic sensor 23 forms overlap detection area, the third ultrasonic sensor 25 in the front of shell 10
Can choose and the first ultrasonic sensor 21 and the second ultrasonic sensor 23 while sending ultrasonic wave, also can choose and
First ultrasonic sensor 21 and the second ultrasonic sensor 23 alternately send ultrasonic wave in time in turn.Four surpass based on
Any one of sonic sensor 27 and the first ultrasonic sensor 21 and the second ultrasonic sensor 23 are in the front of shell 10
Overlap detection area is formed, so the 4th ultrasonic sensor 27 needs to pass with the first ultrasonic sensor 21 and the second ultrasonic wave
Sensor 23 alternately sends ultrasonic wave in time in turn, and multiple ultrasonic sensors is avoided to send ultrasonic wave together to barrier
Identification causes crosstalk.
As shown in figure 11, when third ultrasonic sensor 25 and the first ultrasonic sensor 21 or the second ultrasonic sensor
23 or the 4th ultrasonic sensor 27 when sending ultrasonic wave simultaneously, control module 30 controls the first ultrasonic sensor 21 and third
Ultrasonic sensor 25 emits ultrasonic wave in first time period, the first ultrasonic sensor 21, the second ultrasonic sensor 23,
Third ultrasonic sensor 25 and the 4th ultrasonic sensor 27 receive back echo, control module 30 in first time period
Control transmitting in the second time period of third ultrasonic sensor 25 and the second ultrasonic sensor 23 after the first period of time
Ultrasonic wave, the first ultrasonic sensor 21, the second ultrasonic sensor 23, third ultrasonic sensor 25 and the 4th ultrasonic wave pass
Sensor 27 receives back echo in second time period, and control module 30 controls third ultrasonic sensor 25 and the 4th ultrasound
Emit ultrasonic wave in the third period of wave sensor 27 after the second period of time, the first ultrasonic sensor 21 the second surpasses
Sonic sensor 23, third ultrasonic sensor 25 and the 4th ultrasonic sensor 27 receive barrier within the third period and return
Wave.
As shown in figure 11, when third ultrasonic sensor 25 and the first ultrasonic sensor 21 and the second ultrasonic sensor
23 in turn send ultrasonic wave when, control module 30 control the first ultrasonic sensor 21 emit ultrasonic wave in first time period,
First ultrasonic sensor 21, the second ultrasonic sensor 23, third ultrasonic sensor 25 and the 4th ultrasonic sensor 27
Back echo is received in first time period, control module 30 controls the second ultrasonic sensor 23 after the first period of time
Second time period in emit ultrasonic wave, the first ultrasonic sensor 21, the second ultrasonic sensor 23, third supersonic sensing
Device 25 and the 4th ultrasonic sensor 27 receive back echo in second time period, and control module 30 controls third ultrasonic wave
Emit ultrasonic wave, first the 21, second ultrasound of ultrasonic sensor in the third period of sensor 25 after the second period of time
Wave sensor 23, third ultrasonic sensor 25 and the 4th ultrasonic sensor 27 receive barrier within the third period and return
Wave, control module 30 control the 4th ultrasonic sensor 27 and emit ultrasonic wave in the 4th period after the third period,
First ultrasonic sensor 21, the second ultrasonic sensor 23, third ultrasonic sensor 25 and the 4th ultrasonic sensor 27
Back echo is received within the 4th period.
It as shown in figure 11, include four ultrasonic sensors in being somebody's turn to do for the intelligent grass-removing of first embodiment of the invention 100
Embodiment in, first transmitting-receiving region A underlapped part be sensor module 20 the first detection zone 11, the second receiving and delivery bay
The underlapped part of domain B is the second detection zone 12 of sensor module 20, and it is the 4th detection zone 13 that third, which receives and dispatches region C,.
The underlapped part of 4th transmitting-receiving region D is the 4th detection zone 14 of sensor module 20, and the first transmitting-receiving region A, second are received
The part for sending out the transmitting-receiving region D overlapping of region B and the 4th is the 5th detection zone 15 of sensor module 20.First transmitting-receiving region A
It is the 7th detection zone 17 with B Chong Die remainder in region is not received and dispatched with second in the part of the 4th transmitting-receiving region D overlapping,
The remainder Chong Die with the first transmitting-receiving region A is not the 6th in the part of second transmitting-receiving region B and the 4th transmitting-receiving region D overlapping
Detection zone 16.
As shown in figure 11, control module 30 still can be according to the first ultrasonic sensor in supersonic sensing device assembly 20
21, the second ultrasonic sensor 23, third ultrasonic sensor 25 and the 4th ultrasonic sensor 27 emit and receive obstacle
The combined situation of object echo, the orientation of disturbance in judgement object.It is specifically described as, the first surpasses when only having in supersonic sensing device assembly 20
Sonic sensor 21 emits ultrasonic wave, and when only the first ultrasonic sensor 21 reception back echo, control module 30
Disturbance in judgement level is in the first detection zone 11.When only the second ultrasonic sensor 23 transmitting in supersonic sensing device assembly 20
When ultrasonic wave, and when only the second ultrasonic sensor 23 reception back echo, 30 disturbance in judgement level of control module is in institute
State the second detection zone 12.When only having third ultrasonic sensor 25 to emit ultrasonic wave in supersonic sensing device assembly 20, and
When only third ultrasonic sensor 25 receives back echo, 30 disturbance in judgement level of control module is in the third detection zone
Domain 13.When there was only the 4th ultrasonic sensor 27 transmitting ultrasonic wave in supersonic sensing device assembly 20, and the only the 4th ultrasound
When wave sensor 27 receives back echo, 30 disturbance in judgement level of control module is in the 4th detection zone 14.Work as ultrasound
First ultrasonic sensor 21 or the second ultrasonic sensor 23 or the 4th ultrasonic sensor 27 hair in wave sensor component 20
Ultrasonic wave is penetrated, the first ultrasonic sensor 21, the second ultrasonic sensor 23 and the 4th ultrasonic sensor 27 receive obstacle
When object echo, 30 disturbance in judgement level of control module is in the 5th detection zone 15.When in supersonic sensing device assembly 20
One ultrasonic sensor 21 emits ultrasonic wave, and the second ultrasonic sensor 23 and the 4th ultrasonic sensor 27 receive obstacle
When object echo, 30 disturbance in judgement level of control module is in the 5th detection zone 15.When in supersonic sensing device assembly 20
Two ultrasonic sensors 23 emit ultrasonic wave, and the first ultrasonic sensor 21 and the 4th ultrasonic sensor 27 receive barrier
When echo, 30 disturbance in judgement level of control module is in the 5th detection zone 15.When the 4th in supersonic sensing device assembly 20
Ultrasonic sensor 27 emits ultrasonic wave, and the first ultrasonic sensor 21 and the second ultrasonic sensor 23 receive barrier
When echo, 30 disturbance in judgement level of control module is in the 5th detection zone 15.When second in supersonic sensing device assembly 20
Ultrasonic sensor 23 or the 4th ultrasonic sensor 27 emit ultrasonic wave, and the second ultrasonic sensor 23 and the 4th ultrasonic wave pass
When sensor 27 receives back echo, 30 disturbance in judgement level of control module is in the 6th detection zone 16.Work as ultrasonic wave
Second ultrasonic sensor 23 emits ultrasonic wave in sensor module 20, and the 4th ultrasonic sensor 27 receives back echo
When, 30 disturbance in judgement level of control module is in the 6th detection zone 16.When the 4th ultrasound in supersonic sensing device assembly 20
Wave sensor 27 emits ultrasonic wave, when the second ultrasonic sensor 23 receives back echo, 30 disturbance in judgement object of control module
Positioned at the 6th detection zone 16.When the first ultrasonic sensor 21 in supersonic sensing device assembly 20 or the 4th ultrasonic wave pass
Sensor 27 emits ultrasonic wave, when the first ultrasonic sensor 21 and the 4th ultrasonic sensor 27 receive back echo, control
30 disturbance in judgement level of molding block is in the 7th detection zone 17.When the first supersonic sensing in supersonic sensing device assembly 20
Device 21 emits ultrasonic wave, and when the 4th ultrasonic sensor 27 receives back echo, 30 disturbance in judgement level of control module is in institute
State the 7th detection zone 17.When the 4th ultrasonic sensor 27 emits ultrasonic wave, the first ultrasound in supersonic sensing device assembly 20
When wave sensor 21 receives back echo, 30 disturbance in judgement level of control module is in the 7th detection zone 17.
The intelligent grass-removing 100 of first embodiment of the invention detects barrier, intelligent grass-removing by ultrasonic sensor
100 have pre-determined distance, and when the distance between intelligent grass-removing 100 and barrier are less than or equal to pre-determined distance, intelligence is mowed
Machine carries out the contactless avoidance that avoidance advances towards barrier and realize intelligent grass-removing without continuation.Pass through pre-determined distance value
The contactless avoidance of opposite short distance may be implemented when apart from relatively small in difference, can be with when apart from relatively large
Realize remote contactless avoidance of the relative proximity apart from contactless avoidance.In addition, being handed over by the way that ultrasonic sensor is angled
Fork arrangement, can know the position and direction where barrier, improve the accuracy of barrier positioning, and facilitate intelligence
Grass trimmer 100 adapts to different operating conditions, simultaneously, it is known that also facilitate behind direction intelligent grass-removing 100 take targetedly avoidance arrange
It applies, if turning left under the premise of satisfaction turns left condition than barrier at right side.
Control module 30 judges that barrier goes out according to the different situations of the received ultrasonic wave of supersonic sensing device assembly 20
Existing orientation, and then intelligent grass-removing direction of advance is controlled, targetedly avoiding barrier, improves the efficiency of avoidance.Tool
Body such as, for the intelligent grass-removing 100 of first embodiment of the invention, when barrier appears in third detection zone, is controlled
Molding block 30 controls intelligent grass-removing and retreats, and perhaps shuts down perhaps to turn to perhaps to turn to or retreat to the right to the left and turn left
To, or retreat and turn to the right；When barrier appears in the first detection zone, after control module 30 controls intelligent grass-removing
It moves back, perhaps shuts down perhaps to turn to or retreat to the left and turn to the left；When barrier appears in the second detection zone, mould is controlled
Block 30 controls intelligent grass-removing and retreats, and perhaps shuts down perhaps to turn to or retreat to the right and turns to the right.Specific avoidance measure,
Control module 30 is reasonably selected according to the distance between barrier and intelligent grass-removing 100.
Second embodiment:
As shown in FIG. 12 and 13, Figure 12 is the schematic top plan view of the intelligent grass-removing 200 of second embodiment of the invention.Figure
13 be a kind of arrangement of the supersonic sensing device assembly of the intelligent grass-removing 200 of second embodiment of the invention and detection range signal
Figure.In the intelligent grass-removing 200 of the second embodiment, supersonic sensing device assembly 20 includes 41 He of the first ultrasonic sensor
Second ultrasonic sensor 43.First ultrasonic sensor 41 and the second ultrasonic sensor 43 is arranged in parallel and ultrasonic wave
Sending direction is towards the front of shell 10.
As shown in figure 12, first ultrasound in the preferred embodiment of the intelligent grass-removing of second embodiment of the invention 200
Wave sensor 41 has first axle 411, and the second ultrasonic sensor 43 has second axis 431, and shell 10 has shell axis
Line 210.First axle 411 and second axis 431 are parallel to each other, and first axle 411, second axis 431 and shell axis 210
It is mutually parallel.In other embodiments, as long as guaranteeing that first axle 411 and second axis 431 are parallel to each other, first axle
Between line 411 and second axis 431 and shell axis 210 whether it is parallel without limitation.First axle 411 is the first ultrasonic wave
The axis for the ultrasonic sound field that sensor 41 emits, second axis 431 are the ultrasonic acoustic of the second ultrasonic sensor 43 transmitting
The axis of field.
Continue as shown in figure 13, the first ultrasonic sensor 41 is consistent with the hardware parameter of the second ultrasonic sensor 43.
First ultrasonic sensor 41 has the first transmitting-receiving region A.Second ultrasonic sensor 43 has the second transmitting-receiving region B.First
The transmitting-receiving of transmitting-receiving region A and second region B is formed with overlap detection area in the front of intelligent grass-removing 1.The overlapping detection
The first ultrasonic sensor 41 and the second ultrasonic sensor 43 can receive ultrasonic echo in region, i.e., if it is the first ultrasound
Wave sensor 41 sends ultrasonic wave, then the first ultrasonic sensor 41 and the second ultrasonic sensor 43 can receive ultrasound and return
Wave；Ultrasonic wave is sent if it is the second ultrasonic sensor 43, then the first ultrasonic sensor 41 and the second ultrasonic sensor
43 can receive ultrasonic echo.
Continue as shown in figure 13, in the first arrangement of the intelligent grass-removing 200 of second embodiment of the invention
In embodiment, as described above, the first ultrasonic sensor 41 and the second ultrasonic sensor 43 are arranged in parallel in left-right direction
10 front end of shell.To which the first transmitting-receiving region A of the first ultrasonic sensor 41 and the second of the second ultrasonic sensor 43 are received
Send out the overlapping of region part B.First transmitting-receiving region A underlapped part be sensor module 20 the first detection zone 11, second
The underlapped part for receiving and dispatching region B is the second detection zone 12 of sensor module 20, the first transmitting-receiving region A and the second receiving and delivery bay
The part of domain B overlapping is the third detection zone 13 of sensor module 20.
As shown in figure 14, Figure 14 shows the ultrasonic sensor group of the intelligent grass-removing 200 of second embodiment of the invention
Detection range schematic diagram of the part 20 under second of arrangement.Second of arrangement of supersonic sensing device assembly 20
Difference with the first arrangement is that supersonic sensing device assembly 20 is installed on apart from housing forward end in a distance D's
Position.It is specifically described as, supersonic sensing device assembly 20 includes the first ultrasonic sensor 41 and the second ultrasonic sensor 43.
First ultrasonic sensor 41 is consistent with the hardware parameter of the second ultrasonic sensor 43.First ultrasonic sensor 41 has the
One transmitting-receiving region A.Second ultrasonic sensor 43 has the second transmitting-receiving region B.First transmitting-receiving region A and the second transmitting-receiving region B
Overlap detection area is formed in the front of intelligent grass-removing 1.First ultrasonic sensor 41 in the overlap detection area
Ultrasonic echo can be received with the second ultrasonic sensor 43, i.e., sends ultrasonic wave if it is the first ultrasonic sensor 41, then
First ultrasonic sensor 41 and the second ultrasonic sensor 43 can receive ultrasonic echo；If it is the second ultrasonic sensor
43 send ultrasonic wave, then the first ultrasonic sensor 41 and the second ultrasonic sensor 43 can receive ultrasonic echo.
Continue as shown in figure 14, in second of arrangement of the intelligent grass-removing 200 of second embodiment of the invention
In embodiment, before the first ultrasonic sensor 41 and the second ultrasonic sensor 43 are arranged in parallel in shell 10 in left-right direction
End.To the first transmitting-receiving region A of the first ultrasonic sensor 41 and the second transmitting-receiving portion region B of the second ultrasonic sensor 43
Divide overlapping.The underlapped part of first transmitting-receiving region A is the first detection zone 11 of sensor module 20, the second transmitting-receiving region B
Underlapped part be sensor module 20 the second detection zone 12, first transmitting-receiving region A and second transmitting-receiving region B overlapping
Part is the third detection zone 13 of sensor module 20.
As shown in figure 14, in second of arrangement of the intelligent grass-removing of second embodiment of the invention 200, first
Any position on 10 length direction of shell can be set in ultrasonic sensor 41 and the second ultrasonic sensor 43 in principle
It sets, if the first ultrasonic sensor 41 and the second ultrasonic sensor 43 are arranged on the housing 10 closer to the ground of rear end
Side, then shell can be improved in order to guarantee that ultrasonic sensor sends ultrasonic wave and reception back echo is unaffected
The shape of body ultrasonic sensor is arranged higher.In a preferred embodiment of the invention, while ultrasonic wave is considered
The factor for sending and receiving and occupying little space, the first ultrasonic sensor 41 and the second ultrasonic sensor 43 setting exist
The first half of 10 length direction of shell, distance D is less than or equal to the half of 10 length of shell, so set, can be more convenient
The range improved by structure to housing forward end to be suitble to visual field, avoid generating blocking to ultrasonic wave.
In a preferred embodiment of the intelligent grass-removing 200 of second embodiment of the invention, the control of control module 30 the
One ultrasonic sensor 41 and the second ultrasonic sensor 43 alternate emission ultrasonic wave in time.The control of control module 30 first
Ultrasonic sensor 41 emits ultrasonic wave, the first ultrasonic sensor 41 and the second ultrasonic sensor 43 in first time period
Back echo is received in first time period, control module 30 controls the second ultrasonic sensor 43 after the first period of time
Second time period in emit ultrasonic wave, the first ultrasonic sensor 41 and the second ultrasonic sensor 43 are in second time period
Receive back echo.
In a preferred embodiment of the intelligent grass-removing 200 of second embodiment of the invention, control module 30 is according to super
First ultrasonic sensor 41 and the second ultrasonic sensor 43 emit and receive barrier and return in sonic sensor component 20
The combined situation of wave, the orientation of disturbance in judgement object.When only the first ultrasonic sensor 41 hair in supersonic sensing device assembly 20
Penetrate ultrasonic wave, and when only the first ultrasonic sensor 41 receives back echo, 30 disturbance in judgement level of control module in
First detection zone 11.When only the second ultrasonic sensor 43 transmitting ultrasonic wave in supersonic sensing device assembly 20, and only
When having the second ultrasonic sensor 43 to receive back echo, 30 disturbance in judgement level of control module is in second detection zone
12.When the first ultrasonic sensor 41 transmitting ultrasonic wave, the first ultrasonic sensor 41 and the in supersonic sensing device assembly 20
When two ultrasonic sensors 43 receive back echo, 30 disturbance in judgement level of control module is in the third detection zone 13.
Surpass when the second ultrasonic sensor 43 transmitting ultrasonic wave, the first ultrasonic sensor 41 in supersonic sensing device assembly 20 and the second
When sonic sensor 43 receives back echo, 30 disturbance in judgement level of control module is in the third detection zone 13.When super
First ultrasonic sensor 41 transmitting ultrasonic wave, the second ultrasonic sensor 43 receive barrier and return in sonic sensor component 20
When wave, 30 disturbance in judgement level of control module is in the third detection zone 13.When the second surpassing in supersonic sensing device assembly 20
When sonic sensor 43 emits ultrasonic wave, the first ultrasonic sensor 41 receives back echo, 30 disturbance in judgement of control module
Level is in the third detection zone 13.
In a preferred embodiment of the intelligent grass-removing 200 of second embodiment of the invention, control module 30 is according to super
The transmitting ultrasonic wave of sonic sensor component 20 and the time difference for receiving back echo calculate barrier from intelligent grass-removing
Distance.
In a preferred embodiment of the intelligent grass-removing 200 of second embodiment of the invention, first axle 411 and
Two axis 431 are coplanar in the height direction, so set, can allow intelligent grass-removing obtain maximum magnitude overlap detection area
Area, also, since the ultrasonic sensor of selection is identical, axis co-planar can be conducive to the arrangement of ultrasonic sensor structure
And the design of 10 mounting structure of shell.
In a preferred embodiment of the intelligent grass-removing 200 of second embodiment of the invention, to ensure second embodiment
Intelligent grass-removing 200 can identify the barrier in direction of advance, the valid analysing range covering of supersonic sensing device assembly 20
Region immediately ahead of 200 fuselage of intelligent grass-removing.In the intelligent grass-removing 200 of second embodiment of the invention, supersonic sensing
The valid analysing range of device assembly 20 is the first detection zone, the summation of the second detection zone and third detection zone.
In other preferred embodiments of the intelligent grass-removing 200 of second embodiment of the invention, when the ultrasonic wave used passes
Sensor component 20 includes more than two ultrasonic sensor, that is, greater area of in order to obtain in front of intelligent grass-removing 200
The location information of overlap detection area and barrier, supersonic sensing device assembly 20 may include three or more ultrasonic waves
Sensor, when ultrasonic sensor is more than two, to the transmission ultrasonic wave of ultrasonic sensor under different deployment scenarios
There is different requirements.The overlap detection area area of multiple ultrasonic sensors is bigger, and the detection range of barrier is wider, obtains
The location information of barrier is more accurate, in this way, can increase intelligent grass-removing by the collaborative work of multiple ultrasonic sensors
The accuracy of 200 front detection of obstacles.
As shown in figure 15, it includes three ultrasonic sensors that Figure 15, which is the intelligent grass-removing 200 of second embodiment of the invention,
Embodiment, the axis of three ultrasonic sensors is parallel to each other.It is specifically described as, supersonic sensing device assembly 20 includes first
Ultrasonic sensor 41, the second ultrasonic sensor 43 and third ultrasonic sensor 45.First ultrasonic sensor 41 has
First transmitting-receiving region A.Second ultrasonic sensor 43 has the second transmitting-receiving region B.Third ultrasonic sensor 45 has third
Receive and dispatch region C.Three ultrasonic sensors are mutually parallel, wherein the first ultrasonic sensor 41 and the second supersonic sensing
Device 43 forms visual field overlap detection area, third ultrasonic sensor 45 and the second ultrasonic sensor in the front of shell 10
43 form visual field overlap detection area, but third ultrasonic sensor 45 and the first supersonic sensing in the front of shell 10
Device 41 does not form visual field overlap detection area in the front of shell 10.Based on third ultrasonic sensor 45 and the second ultrasound
Wave sensor 43 forms visual field overlap detection area in the front of shell 10, and with the first ultrasonic sensor 41 in shell 10
Front do not form visual field overlap detection area, so third ultrasonic sensor 45 can be with the first ultrasonic sensor
41 send ultrasonic wave simultaneously, can also send ultrasonic wave in turn with the first ultrasonic sensor 41, and third ultrasonic sensor
45 and second ultrasonic sensor 43 need to send ultrasonic wave in turn.
As shown in figure 15, when third ultrasonic sensor 45 and the first ultrasonic sensor 41 send ultrasonic wave simultaneously,
Control module 30 controls the first ultrasonic sensor 41 and third ultrasonic sensor 45 emits ultrasonic wave in first time period,
First ultrasonic sensor 41, the second ultrasonic sensor 43 and third ultrasonic sensor 45 receive barrier in first time period
Hinder object echo, it is super that control module 30 controls transmitting in the second time period of the second ultrasonic sensor 43 after the first period of time
Sound wave, the first ultrasonic sensor 41, the second ultrasonic sensor 43 and third ultrasonic sensor 45 are in second time period
Receive back echo.
As shown in figure 15, when third ultrasonic sensor 45 and the first ultrasonic sensor 41 and the second ultrasonic sensor
43 in turn send ultrasonic wave when, control module 30 control the first ultrasonic sensor 41 emit ultrasonic wave in first time period,
First ultrasonic sensor 41, the second ultrasonic sensor 43 and third ultrasonic sensor 45 receive barrier in first time period
Hinder object echo, it is super that control module 30 controls transmitting in the second time period of the second ultrasonic sensor 43 after the first period of time
Sound wave, the first ultrasonic sensor 41, the second ultrasonic sensor 43 and third ultrasonic sensor 45 are in second time period
Back echo is received, control module 30 controlled in the third period of third ultrasonic sensor 45 after the second period of time
Emit ultrasonic wave, the first ultrasonic sensor 41, the second ultrasonic sensor 43 and third ultrasonic sensor 45 are in third
Between back echo is received in section.
As shown in figure 15, the underlapped part of the first transmitting-receiving region A is the first detection zone 11 of sensor module 20, the
The underlapped part of two transmitting-receiving region B is the second detection zone 12 of sensor module 20, and third receives and dispatches the underlapped portion of region C
It is divided into the third detection zone 13 of sensor module 20, the part that the first transmitting-receiving region A and the second transmitting-receiving region B are overlapped is sensing
4th detection zone 14 of device assembly 20, part the second transmitting-receiving region B Chong Die with third transmitting-receiving region C are sensor module 20
The 5th detection zone 15.
As shown in figure 15, control module 30 still can be according to the first ultrasonic sensor in supersonic sensing device assembly 20
41, the second ultrasonic sensor 43 and third ultrasonic sensor 45 emit and receive the combined situation of back echo, sentence
The orientation of disconnected barrier, about specific judgment mode, the first ultrasonic sensor 41 and the transmitting-receiving of the second ultrasonic sensor 43
Barrier judgment in region is referred to judgment mode above-mentioned.When third ultrasonic sensor 45 and the second supersonic sensing
Device 43 is since overlap mode and the first ultrasonic sensor 41 and the second ultrasonic sensor 43 are similar, so Obstacle Position is sentenced
Disconnected mode is identical as the first ultrasonic sensor 41 and the second ultrasonic sensor 43, herein without repeated description.
As shown in figure 16, it includes four ultrasonic sensors that Figure 16, which is the intelligent grass-removing 200 of second embodiment of the invention,
Embodiment, the axis of four ultrasonic sensors is parallel to each other.It is specifically described as, supersonic sensing device assembly 20 includes first
Ultrasonic sensor 41, the second ultrasonic sensor 43, third ultrasonic sensor 45 and the 4th ultrasonic sensor 47.Four
Ultrasonic sensor is mutually parallel, wherein the first ultrasonic sensor 41 and the second ultrasonic sensor 43 are in shell 10
Front forms visual field overlap detection area, third ultrasonic sensor 45 and the second ultrasonic sensor 43 shell 10 just
Front forms visual field overlap detection area, but third ultrasonic sensor 45 and the first ultrasonic sensor 41 are in shell 10
Front does not form visual field overlap detection area.4th ultrasonic sensor 47 is without the first ultrasonic sensor 41, second
Any one of ultrasonic sensor 43 and third ultrasonic sensor 45 form visual field overlapping detection regions in the front of shell 10
Domain.Form in the front of shell 10 that visual field is Chong Die to be examined based on third ultrasonic sensor 45 and the second ultrasonic sensor 43
Region is surveyed, and does not form visual field overlap detection area in the front of shell 10 with the first ultrasonic sensor 41, so the
Three ultrasonic sensors 45 can send ultrasonic wave simultaneously with the first ultrasonic sensor 41, can also be with the first supersonic sensing
Device 41 sends ultrasonic wave in turn, and third ultrasonic sensor 45 and the second ultrasonic sensor 43 send ultrasonic wave in turn.It is based on
4th ultrasonic sensor 47 not with the first ultrasonic sensor 41, the second ultrasonic sensor 43 and third supersonic sensing
Any one of device 45 forms visual field overlap detection area in the front of shell 10, and the 4th ultrasonic sensor 47 can select
It selects and the first ultrasonic sensor 41, the second ultrasonic sensor 43 and third ultrasonic sensor 45 while sending ultrasonic wave,
Also it can choose and exist in turn with the first ultrasonic sensor 41, the second ultrasonic sensor 43 and third ultrasonic sensor 45
Ultrasonic wave is alternately sent on time.
As shown in figure 16, when the 4th ultrasonic sensor 47 and the first ultrasonic sensor 41 or the second ultrasonic sensor
43 or third ultrasonic sensor 45 simultaneously when sending ultrasonic wave, control module 30 controls the first ultrasonic sensor 41 and the 4th
Ultrasonic sensor 47 emits ultrasonic wave in first time period, the first ultrasonic sensor 41, the second ultrasonic sensor 43,
Third ultrasonic sensor 45 and the 4th ultrasonic sensor 47 receive back echo, control module 30 in first time period
Control transmitting in the second time period of the 4th ultrasonic sensor 47 and the second ultrasonic sensor 43 after the first period of time
Ultrasonic wave, the first ultrasonic sensor 41, the second ultrasonic sensor 43, third ultrasonic sensor 45 and the 4th ultrasonic wave pass
Sensor 47 receives back echo in second time period, and control module 30 controls the 4th ultrasonic sensor 47 and third ultrasound
Emit ultrasonic wave in the third period of wave sensor 45 after the second period of time, the first ultrasonic sensor 41 the second surpasses
Sonic sensor 43, third ultrasonic sensor 45 and the 4th ultrasonic sensor 47 receive barrier within the third period and return
Wave.
As shown in figure 16, when the 4th ultrasonic sensor 47 and the first ultrasonic sensor 41, the second ultrasonic sensor
43 and third ultrasonic sensor 45 when sending ultrasonic wave in turn, control module 30 controls the first ultrasonic sensor 41 first
Emit ultrasonic wave, the first ultrasonic sensor 41, the second ultrasonic sensor 43,45 and of third ultrasonic sensor in period
4th ultrasonic sensor 47 receives back echo in first time period, and control module 30 controls the second ultrasonic sensor
Emit ultrasonic wave, the first ultrasonic sensor 41, the second supersonic sensing in 43 second time period after the first period of time
Device 43, third ultrasonic sensor 45 and the 4th ultrasonic sensor 47 receive back echo in second time period, control
Module 30, which controls, emits ultrasonic wave in the third period of third ultrasonic sensor 45 after the second period of time, the first ultrasound
Wave sensor 41, the second ultrasonic sensor 43, third ultrasonic sensor 45 and the 4th ultrasonic sensor 47 are in third
Between receive back echo in section, control module 30 control the 4th ultrasonic sensor 47 after the third period the 4th when
Between emit ultrasonic wave in section, the first ultrasonic sensor 41, the second ultrasonic sensor 43, third ultrasonic sensor 45 and the
Four ultrasonic sensors 47 receive back echo within the 4th period.Certainly, due to third ultrasonic sensor 45 and
One ultrasonic sensor 41 does not have overlap detection area, and third ultrasonic sensor 45 can be same with the first ultrasonic sensor 41
When send signal, can also be sent out in turn with the first ultrasonic sensor 41, so can also there are more kinds of signals to send combination
Mode no longer carries out expansion description herein.
As shown in figure 16, control module 30 still can be according to the first ultrasonic sensor in supersonic sensing device assembly 20
41, the second ultrasonic sensor 43, third ultrasonic sensor 45 and the 4th ultrasonic sensor 47 emit and receive obstacle
The combined situation of object echo, the orientation of disturbance in judgement object, about specific judgment mode, the first ultrasonic sensor 41 and second
The barrier judgment that ultrasonic sensor 43 is received and dispatched in region is referred to judgment mode above-mentioned.Second ultrasonic sensor 43
The first ultrasonic sensor 41 is referred to the barrier judgment in the transmitting-receiving of third ultrasonic sensor 45 region and the second is surpassed
Sonic sensor 43 is judged that method is identical.When the 4th ultrasonic sensor 27 emits ultrasonic wave, only the 4th is ultrasonic
When wave sensor 27 receives back echo, the control module disturbance in judgement level is where the 4th ultrasonic sensor 27
Detection zone.
The intelligent grass-removing 200 of second embodiment of the invention detects barrier, intelligent grass-removing by ultrasonic sensor
200 have pre-determined distance, and when the distance between intelligent grass-removing 200 and barrier are less than or equal to pre-determined distance, intelligence is mowed
Machine carries out the contactless avoidance that avoidance advances towards barrier and realize intelligent grass-removing without continuation.Pass through pre-determined distance value
The contactless avoidance of opposite short distance may be implemented when apart from relatively small in difference, can be with when apart from relatively large
Realize remote contactless avoidance of the relative proximity apart from contactless avoidance.In addition, being arranged in parallel by ultrasonic sensor
And overlap detection area is formed, it can know the position where barrier, improve the accuracy of barrier positioning, and help
Different operating conditions are adapted in intelligent grass-removing 200, simultaneously, it is known that also facilitate intelligent grass-removing 200 to take behind direction and targetedly keep away
Barrier measure, if turning left under the premise of satisfaction turns left condition than barrier at right side.
3rd embodiment:
As shown in FIG. 17 and 18, Figure 17 is the schematic top plan view of the intelligent grass-removing 300 of third embodiment of the invention.Figure
18 show for a kind of arrangement of the supersonic sensing device assembly of the intelligent grass-removing 300 of 3rd embodiment described in Figure 17 and detection range
It is intended to.In the intelligent grass-removing 300 of the 3rd embodiment, supersonic sensing device assembly 20 includes the first ultrasonic sensor
61, the second ultrasonic sensor 63, the first ultrasonic sensor 61 is in the inscribed receipts in the first transmitting-receiving region and emits ultrasonic wave, and second
Ultrasonic sensor 63 is in the inscribed receipts in the second transmitting-receiving region and transmitting ultrasonic wave.First ultrasonic sensor 61 and the second ultrasonic wave
Sensor 63 is parallel to each other along intelligent grass-removing width direction and is disposed adjacently on the housing 10, and makes described first to receive
Hair region and second transmitting-receiving region are not overlapped.The embodiment passes through the first ultrasonic sensor 61 and the second supersonic sensing
Device 63 detects barrier, and realizes contactless avoidance by the limitation of pre-determined distance.
As shown in FIG. 17 and 18, described in the preferred embodiment of the intelligent grass-removing of third embodiment of the invention 300
Supersonic sensing device assembly 20 further includes third ultrasonic sensor 65 and the 4th ultrasonic sensor 67.Third supersonic sensing
Device 65 is in the inscribed receipts in third transmitting-receiving region and transmitting ultrasonic wave.4th ultrasonic sensor 67 the 4th transmitting-receiving region it is inscribed receive and
Emit ultrasonic wave.It is not adjacent with the second ultrasonic sensor 63 that third ultrasonic sensor 65 is located at the first ultrasonic sensor 61
The other side, third ultrasonic sensor 65 and the first ultrasonic sensor 61 arrangement at an angle to each other on the housing 10 so that institute
The first transmitting-receiving region and the third receiving area is stated to partly overlap.4th ultrasonic sensor 67 is located at the second supersonic sensing
The not other side adjacent with the first ultrasonic sensor 61 of device 63, the 4th ultrasonic sensor 67 and the second ultrasonic sensor 63
It is at an angle to each other to arrange on the housing 10, so that the second transmitting-receiving region and the 4th receiving area partly overlap, four institutes
It states ultrasonic sensor and forms four detection zones, wherein the first transmitting-receiving region and third transmitting-receiving region are overlapped
Part is third detection zone 13, and the part except being overlapped in first transmitting-receiving region is the first detection zone 11, described the
Two transmitting-receiving regions and the 4th overlapped part in transmitting-receiving region are the 4th detection zone 14, and second transmitting-receiving is overlapped in region
Except part be the second detection zone 12.
As shown in figure 18, the first ultrasonic sensor 61 and third ultrasonic wave pass in the third detection zone 13 of the overlapping
Sensor 65 can receive ultrasonic echo, i.e., send ultrasonic wave if it is the first ultrasonic sensor 61, then the first supersonic sensing
Device 61 and third ultrasonic sensor 65 can receive ultrasonic echo；Ultrasonic wave is sent if it is third ultrasonic sensor 65,
Then the first ultrasonic sensor 61 and third ultrasonic sensor 65 can receive ultrasonic echo.Similarly, the 4th of the overlapping
Second ultrasonic sensor 63 and the 4th ultrasonic sensor 67 can receive ultrasonic echo in detection zone 14, i.e., if it is
Two ultrasonic sensors 63 send ultrasonic wave, then the second ultrasonic sensor 63 can receive super with the 4th ultrasonic sensor 67
Sound echo；Ultrasonic wave is sent if it is the 4th ultrasonic sensor 67, then the second ultrasonic sensor 63 and the 4th ultrasonic wave pass
Sensor 67 can receive ultrasonic echo.
In other embodiments, the first ultrasonic sensor 61 and the second ultrasonic sensor 63 can be respectively arranged at
Two sides, and third ultrasonic sensor 65 and the 4th ultrasonic sensor 67 are set to the first ultrasonic sensor 61 and second
Between ultrasonic sensor 63, and the axis of the first ultrasonic sensor 61 and third ultrasonic sensor 65 is angled across,
Second ultrasonic sensor 63 is angled across with the 4th ultrasonic sensor 67.Layout type can carry out difference according to demand
Combination.
As shown in figure 19, Figure 19 shows the ultrasonic sensor group of the intelligent grass-removing 300 of third embodiment of the invention
Detection range schematic diagram of the part under second of arrangement.Second of arrangement and first of supersonic sensing device assembly
The difference of kind arrangement is that supersonic sensing device assembly 20 is installed on the position apart from housing forward end in a distance D.Tool
Body is described as, and in the embodiment of second of arrangement, supersonic sensing device assembly 20 includes the first ultrasonic sensor
61, the second ultrasonic sensor 63, third ultrasonic sensor 65 and the 4th ultrasonic sensor 67.First ultrasonic sensor
61 are inscribed receipts and transmitting ultrasonic wave in the first transmitting-receiving region, and the second ultrasonic sensor 63 is in the inscribed receipts in the second transmitting-receiving region and sends out
Penetrate ultrasonic wave.Third ultrasonic sensor 65 is in the inscribed receipts in third transmitting-receiving region and transmitting ultrasonic wave.4th ultrasonic sensor
67 in the inscribed receipts in the 4th transmitting-receiving region and transmitting ultrasonic wave.First ultrasonic sensor 61 and the second ultrasonic sensor 63 are along intelligence
Can grass trimmer width direction be parallel to each other and be disposed adjacently on the housing 10, and make the first transmitting-receiving region and described the
Two transmitting-receiving regions are not overlapped.Third ultrasonic sensor 65 be located at the first ultrasonic sensor 61 not with the second supersonic sensing
The adjacent other side of device 63, third ultrasonic sensor 65 and the first ultrasonic sensor 61 is at an angle to each other is arranged in shell 10
On, so that the first transmitting-receiving region and the third receiving area partly overlap.4th ultrasonic sensor 67 is located at second
The other side adjacent with the first ultrasonic sensor 61, the 4th ultrasonic sensor 67 and second be not ultrasonic for ultrasonic sensor 63
Wave sensor 63 is at an angle to each other to be arranged on the housing 10, so that the second transmitting-receiving region and the 4th receiving area part weight
Folded, four ultrasonic sensors form four detection zones, and four detection zones are identical as the first arrangement, those
The label in region referring to Fig.1 7 is identical as Figure 17.
As shown in figure 18, in second of arrangement of the intelligent grass-removing of third embodiment of the invention 300, first
Ultrasonic sensor 61, the second ultrasonic sensor 63,67 principle of third ultrasonic sensor 65 and the 4th ultrasonic sensor
On any position on 10 length direction of shell can be set, if the first ultrasonic sensor 61, the second supersonic sensing
Device 63, third ultrasonic sensor 65 and the setting of the 4th ultrasonic sensor 67 on the housing 10 closer to the place of rear end,
So in order to guarantee that ultrasonic sensor sends ultrasonic wave and reception back echo is unaffected, shell can be improved
Shape ultrasonic sensor is arranged higher.In a preferred embodiment of the invention, while in view of the hair of ultrasonic wave
The factor sent and received and occupy little space, the first ultrasonic sensor 61, the second ultrasonic sensor 63, third ultrasonic wave
The first half of 10 length direction of shell is arranged in sensor 65 and the 4th ultrasonic sensor 67, and distance D is less than or equal to shell
The half of 10 length, so set, can more convenient structure by housing forward end improve the range to be suitble to visual field,
It avoids generating blocking to ultrasonic wave.
As shown in figure 17, the intelligent grass-removing 300 of the 3rd embodiment has shell axis 210 in the front-back direction, third
The axis and shell axis of the axis of ultrasonic sensor 65 and the 4th ultrasonic sensor 67 are at an angle to each other.First ultrasonic wave passes
The axis of sensor 61 and the second ultrasonic sensor 63 is parallel to each other.Third ultrasonic sensor 65 and the 4th ultrasonic sensor
67 sound wave transmitting terminal makes the first ultrasonic sensor 61 and third ultrasonic sensor 65 mutual towards shell axis offset
Angled setting, the second ultrasonic sensor 63 and the setting at an angle to each other of the 4th ultrasonic sensor 67.First supersonic sensing
The range for the angle γ 1 that device 61 and third ultrasonic sensor 65 are mutually is 10 ° -80 °.It mows in the intelligence of the first embodiment
In the preferred embodiment of machine 100, the model of the intersecting angle γ 1 of the first ultrasonic sensor 61 and third ultrasonic sensor 65
Enclose is 25 ° -55 °.The intersection of first ultrasonic sensor 61 and third ultrasonic sensor 65 of 25 ° of -55 ° of numberical ranges,
Ensure obtain overlap detection area demand while, moreover it is possible to allow overlap detection area closer to intelligent grass-removing 300 before
Side.The range for the angle γ 2 that second ultrasonic sensor 63 and the 4th ultrasonic sensor 67 are mutually is 10 ° -80 °.This
In the preferred embodiment of the intelligent grass-removing 300 of one embodiment, the second ultrasonic sensor 63 and the 4th ultrasonic sensor 67
Intersecting angle γ 2 range be 25 ° -55 °.Second ultrasonic sensor 63 of 25 ° of -55 ° of numberical ranges and the 4th ultrasound
The intersection of wave sensor 67, it is ensured that while obtaining the demand of overlap detection area, moreover it is possible to allow overlap detection area closer to
The front of intelligent grass-removing 300.
In a preferred embodiment of the intelligent grass-removing 300 of third embodiment of the invention, since the first ultrasonic wave passes
The transmitting-receiving region of sensor 61 and the second ultrasonic sensor 63 is not overlapped, so the first ultrasonic sensor 61 and the second ultrasound
Wave sensor 63 can alternately send signal between each other, can also send signal simultaneously.When control module 30 controls first
Ultrasonic sensor 61 and the second ultrasonic sensor 63 in time alternate emission ultrasonic wave when, the control of control module 30 the
One ultrasonic sensor 61 emits ultrasonic wave, the first ultrasonic sensor 61, the second ultrasonic sensor in first time period
63, third ultrasonic sensor 65 and the 4th ultrasonic sensor 67 receive back echo in first time period, control mould
Block 30, which controls, emits ultrasonic wave in the second time period of the second ultrasonic sensor 63 after the first period of time, the first ultrasound
Wave sensor 61, the second ultrasonic sensor 63, third ultrasonic sensor 65 and the 4th ultrasonic sensor 67 are at second
Between back echo is received in section.When the first ultrasonic sensor 61 of control of control module 30 and the second ultrasonic sensor 63 exist
When emitting ultrasonic wave simultaneously on the time, control module 30 controls the first ultrasonic sensor 61 and the second ultrasonic sensor 63
Emit ultrasonic wave, the first ultrasonic sensor 61, the second ultrasonic sensor 63, third supersonic sensing in first time period
Device 65 and the 4th ultrasonic sensor 67 receive back echo in first time period.
In a preferred embodiment of the intelligent grass-removing 300 of third embodiment of the invention, control module 30 is according to super
First ultrasonic sensor 61 and the second ultrasonic sensor 63 is emitted and the first ultrasonic wave in sonic sensor component 20
Sensor 61, the second ultrasonic sensor 63, third ultrasonic sensor 65 and the 4th ultrasonic sensor 67 receive barrier
The combined situation of echo, the orientation of disturbance in judgement object.When only the first ultrasonic sensor 61 in supersonic sensing device assembly 20
Emit ultrasonic wave, and when only the first ultrasonic sensor 61 reception back echo, 30 disturbance in judgement level of control module
In the first detection zone.When only the second ultrasonic sensor 63 transmitting ultrasonic wave in supersonic sensing device assembly 20, and only
When having the second ultrasonic sensor 63 to receive back echo, 30 disturbance in judgement level of control module is in second detection zone
Domain.When the first ultrasonic sensor 61 transmitting ultrasonic wave, the first ultrasonic sensor 61 and the in supersonic sensing device assembly 20
When three ultrasonic sensors 65 receive back echo, 30 disturbance in judgement level of control module is in the third detection zone.When
Second ultrasonic sensor 63 transmitting ultrasonic wave, the second ultrasonic sensor 63 and the four surpass in supersonic sensing device assembly 20
When sonic sensor 67 receives back echo, 30 disturbance in judgement level of control module is in the 4th detection zone.
In a preferred embodiment of the intelligent grass-removing 300 of third embodiment of the invention, control module 30 is according to super
The transmitting ultrasonic wave of sonic sensor component 20 and the time difference for receiving back echo calculate barrier from intelligent grass-removing
Distance.
As shown in figure 17, in a preferred embodiment of the intelligent grass-removing of third embodiment of the invention 300, the first surpass
Sonic sensor 61 has first axle 611, and the second ultrasonic sensor 63 has second axis 631, third supersonic sensing
Device 65 has third axis 651, and the 4th ultrasonic sensor 67 has four axistyle 671, the first axle 611, the second axis
Line 631, third axis 651 and four axistyle 671 are coplanar in the height direction, so set, intelligent grass-removing can be allowed to obtain
The overlap detection area area of maximum magnitude, also, since the ultrasonic sensor of selection is identical, axis co-planar can be conducive to
The design of 10 mounting structure of arrangement and shell of ultrasonic sensor structure.First axle 611 is the first ultrasonic sensor 61
The axis of the ultrasonic sound field of transmitting, second axis 631 are the axis of the ultrasonic sound field of the second ultrasonic sensor 63 transmitting,
Third axis 651 is the axis for the ultrasonic sound field that third ultrasonic sensor 65 emits, and four axistyle 67 is the 4th ultrasonic wave
The axis for the ultrasonic sound field that sensor 671 emits.
As shown in figure 20, Figure 20 is the supersonic sensing device assembly of the intelligent grass-removing 300 of third embodiment of the invention
The schematic diagram of the detection range of another embodiment, in this embodiment, third ultrasonic sensor 65 and the 4th ultrasonic wave pass
The transmitting-receiving region of sensor 67 is wider, i.e., the transmitting-receiving region of third ultrasonic sensor 65 simultaneously with the first ultrasonic sensor 61 and
The overlapping of second ultrasonic sensor 63, the transmitting-receiving region of the 4th ultrasonic sensor 67 simultaneously with the first ultrasonic sensor 61 and
The overlapping of second ultrasonic sensor 63.First ultrasonic sensor 61 is in the inscribed receipts in the first transmitting-receiving region and emits ultrasonic wave, the
Two ultrasonic sensors 63 are in the inscribed receipts in the second transmitting-receiving region and transmitting ultrasonic wave.Third ultrasonic sensor 65 is received in third
It sends out and ultrasonic wave is received and emitted in region.4th ultrasonic sensor 67 is in the inscribed receipts in the 4th transmitting-receiving region and transmitting ultrasonic wave.
The underlapped part in the first transmitting-receiving region is the first detection zone 11 of sensor module 20, the underlapped portion in the second transmitting-receiving region
It is divided into the second detection zone 12 of sensor module 20, the first transmitting-receiving region, third transmitting-receiving region and the 4th transmitting-receiving region overlapping
Part be sensor module 20 third detection zone 13, the first transmitting-receiving region and the 4th transmitting-receiving region overlapping and not with the
The part of three detection zones overlapping is the 4th detection zone 14 of sensor module 20, and the first transmitting-receiving region and third receive and dispatch region
Overlapping and Chong Die with the 4th detection zone part are the 5th detection zone 15 of sensor module 20, second receive and dispatch region,
Third receives and dispatches sixth detection zone 16 of the part of region and the 4th transmitting-receiving region overlapping for sensor module 20, the second receiving and delivery bay
Domain and third transmitting-receiving region overlapping and part not Chong Die with the 6th detection zone are the 7th detection zone of sensor module 20
17, the second transmitting-receiving region and the 4th transmitting-receiving region overlapping and part not Chong Die with the 6th detection zone are sensor module 20
8th detection zone 18.
As shown in figure 20, control module 30 is according to the first ultrasonic sensor 61 in supersonic sensing device assembly 20 and
The emitted ultrasonic wave of two ultrasonic sensor 63 and the first ultrasonic sensor 61, the second ultrasonic sensor 63, third ultrasound
Wave sensor 65 and the 4th ultrasonic sensor 67 receive the combined situation of back echo, the orientation of disturbance in judgement object.When super
Only have the first ultrasonic sensor 61 to emit ultrasonic wave, and only the first ultrasonic sensor 61 in sonic sensor component 20
When receiving back echo, 30 disturbance in judgement level of control module is in the first detection zone 11.When supersonic sensing device assembly 20
In only the second ultrasonic sensor 63 emit ultrasonic wave, and only the second ultrasonic sensor 63 receive back echo
When, 30 disturbance in judgement level of control module is in second detection zone 12.When the first ultrasound in supersonic sensing device assembly 20
Wave sensor 21 emits ultrasonic wave, the first ultrasonic sensor 61, third ultrasonic sensor 65 and the 4th ultrasonic sensor
67 receive back echo when, 30 disturbance in judgement level of control module is in the third detection zone 13.Work as supersonic sensing
First ultrasonic sensor 21 emits ultrasonic wave in device assembly 20, only the first ultrasonic sensor 61 and the 4th ultrasonic sensor
When 67 reception back echo, 30 disturbance in judgement level of control module is in the 4th detection zone 14.Work as ultrasonic sensor
First ultrasonic sensor 21 emits ultrasonic wave in component 20, only the first ultrasonic sensor 61 and third ultrasonic sensor
When 65 reception back echo, 30 disturbance in judgement level of control module is in the 5th detection zone 15.Work as ultrasonic sensor
Second ultrasonic sensor 63 emits ultrasonic wave, the second ultrasonic sensor 63,65 and of third ultrasonic sensor in component 20
When 4th ultrasonic sensor 67 receives back echo, 30 disturbance in judgement level of control module is in the 6th detection zone
16.When second ultrasonic sensor 63 emits ultrasonic wave, only 63 He of the second ultrasonic sensor in supersonic sensing device assembly 20
When 4th ultrasonic sensor 67 receives back echo, 30 disturbance in judgement level of control module is in the 8th detection zone
18.When second ultrasonic sensor 63 emits ultrasonic wave, only 63 He of the second ultrasonic sensor in supersonic sensing device assembly 20
When third ultrasonic sensor 65 receives back echo, 30 disturbance in judgement level of control module is in the 7th detection zone
17.In the preferred embodiment of which of the intelligent grass-removing 300 of third embodiment of the invention, control module 30 is according to ultrasound
The transmitting ultrasonic wave of wave sensor component 20 and the time difference for receiving back echo, calculate barrier from intelligent grass-removing away from
From.
The intelligent grass-removing 300 of third embodiment of the invention detects barrier, intelligent grass-removing by ultrasonic sensor
300 have pre-determined distance, and when the distance between intelligent grass-removing 300 and barrier are less than or equal to pre-determined distance, intelligence is mowed
Machine carries out the contactless avoidance that avoidance advances towards barrier and realize intelligent grass-removing without continuation.Pass through pre-determined distance value
The contactless avoidance of opposite short distance may be implemented when apart from relatively small in difference, can be with when apart from relatively large
Realize remote contactless avoidance of the relative proximity apart from contactless avoidance.In addition, being handed over by the way that ultrasonic sensor is angled
Fork arrangement, can know the position where barrier, improve the accuracy of barrier positioning, and facilitate intelligent grass-removing
300 adapt to different operating conditions, simultaneously, it is known that and also facilitate intelligent grass-removing 300 to take targetedly avoidance measure behind direction, if than
Barrier is turned left under the premise of satisfaction turns left condition at right side.
Fourth embodiment:
As shown in figure 21, Figure 21 is in the intelligent grass-removing 400 of fourth embodiment of the invention including two supersonic sensings
The arrangement of the ultrasonic sensor of device and coaxial relationship schematic diagram.Supersonic sensing device assembly 20 includes two supersonic sensings
Device, including the first ultrasonic sensor 81 and the second ultrasonic sensor 83, the first ultrasonic sensor 81 is in the first receiving and delivery bay
Ultrasonic wave is received and emitted in domain, and the second ultrasonic sensor 83 receives ultrasonic wave in the second receiving area, described the first to surpass
Sonic sensor and second ultrasonic sensor it is at an angle to each other be arranged on the shell 10 so that it is described first transmitting-receiving
Region and second receiving area partly overlap, and the first overlapped part in transmitting-receiving region and the second receiving area is third
Detection zone, the first part received and dispatched except being overlapped in region is the first detection zone.
As shown in figure 21, the first ultrasonic sensor 81 has first axle 811, and the second ultrasonic sensor 83 has the
Two axis 831.First axle 811 is the axis of the ultrasonic sound field of the first ultrasonic sensor 81 transmitting, and second axis 831 is
The axis of the ultrasonic sound field of second ultrasonic sensor 83 transmitting.Angle ε 1 between first axle 811 and second axis 831
Range be 10 ° -80 °.Angle in the preferred embodiment of this embodiment of the invention, between first axle 811 and second axis 831
The range for spending ε 1 is 25 ° -55 °.Individually it is responsible for receiving back echo by the second ultrasonic sensor of setting 93, so
Be still able within the scope of the blind area of first ultrasonic sensor 91 it is exact receive ultrasonic echo, realize the barrier of short distance
Detection, and then realize closely non-contact avoidance.In other embodiments, the first ultrasonic sensor 81 can be only responsible for
Ultrasonic wave is sent in one receiving area, the second ultrasonic sensor 83 is responsible for receiving ultrasonic wave in the second receiving area, this knot
Structure is still able to realize the detection of barrier, as the first ultrasonic sensor 81 and the second ultrasonic sensor 83 are overlapped position
The distance of detection of obstacles distance may be implemented in the difference set.Intelligent grass-removing 400 has pre-determined distance, works as intelligent grass-removing
When the distance between 100 and barrier are less than or equal to pre-determined distance, intelligent grass-removing carries out avoidance without continuing towards before barrier
Into and realize the contactless avoidance of intelligent grass-removing.Pass through the difference of pre-determined distance value, when apart from relatively small, Ke Yishi
Relative proximity may be implemented apart from contactless avoidance when apart from relatively large in the contactless avoidance of now opposite short distance
Remote contactless avoidance.
As shown in figure 22, Figure 22 is the supersonic sensing device assembly packet of the intelligent grass-removing 400 of fourth embodiment of the invention
Include the detection range schematic diagram of the first arrangement of three ultrasonic sensors.Supersonic sensing device assembly 20 includes first
Ultrasonic sensor 81, the second ultrasonic sensor 83 and third ultrasonic sensor 85.First ultrasonic sensor 81 represents
Be can undertake send ultrasonic wave and receive two functions of back echo ultrasonic sensor, the second ultrasonic sensor
83 and third ultrasonic sensor 85 be receiving sensor do not send ultrasonic wave.Second ultrasonic sensor 83 and third ultrasound
Wave sensor 85 is located at the two sides of the first ultrasonic sensor 81 and is angled across with the first ultrasonic sensor 81 and sets
It sets.As long as the angle of intersection enable to overlap detection area as far as possible close to the short distance detection zone of machine leading portion i.e.
It can.This kind of mode may be implemented closely to detect barrier, and be able to know that the direction of barrier.In other realities of the embodiment
It applies in mode, the first ultrasonic sensor 81 can only undertake transmission ultrasonic wave, i.e. the first ultrasonic sensor 81 is single
Ultrasonic wave send sensor, the second ultrasonic sensor 83 and third ultrasonic sensor 85 are still receiving sensor, the
Two ultrasonic sensors 83 and third ultrasonic sensor 85 and the first ultrasonic sensor 81 can form weight in different location
Folded detection zone, increases the range of cognitive disorders object with this.
As shown in figure 22, the first ultrasonic sensor 81 has first axle 811, and the second ultrasonic sensor 83 has the
Two axis 831, third ultrasonic sensor 85 have third axis 851.Second axis 831 and third axis 851 are respectively with
One axis 811 intersects, the intersecting angle in the embodiment of attached drawing 22 of the present invention, between second axis 831 and first axle 811
Intersecting angle between third axis 851 and first axle 811 is identical.In other embodiments, second axis 831 and
Intersecting angle between one axis 811 can intersecting angle between third axis 851 and first axle 811 can not phase
Together.The range of angle ε 3 between first axle 811 and second axis 831 is 10 ° -80 °.In the preferred of this embodiment of the invention
In scheme, the range of the angle ε 3 between first axle 811 and second axis 831 is 25 ° -55 °.First axle 811 and third
The range of angle ε 2 between axis 851 is 10 ° -80 °.In the preferred embodiment of this embodiment of the invention, 811 He of first axle
The range of angle ε 2 between third axis 851 is 25 ° -55 °.Pass through the individually responsible reception of the second ultrasonic sensor of setting 93
Back echo, thus be still able within the scope of the blind area of the first ultrasonic sensor 91 it is exact receive ultrasonic echo, it is real
Show the detection of obstacles of short distance, and then realizes closely non-contact avoidance.
In a preferred embodiment of the intelligent grass-removing 400 of fourth embodiment of the invention, first axle 811, second
Axis 831 is coplanar in the height direction with third axis 851, so set, intelligent grass-removing 400 can be allowed to obtain maximum magnitude
Overlap detection area area, also, since the ultrasonic sensor of selection is identical, axis co-planar can be conducive to ultrasonic wave biography
The design of 10 mounting structure of arrangement and shell of sensor structure.
As shown in figure 23, Figure 23 shows the ultrasonic sensor group of the intelligent grass-removing 400 of fourth embodiment of the invention
Detection range schematic diagram of the part under the first arrangement.In the embodiment of the first arrangement, the first ultrasonic wave
Sensor 81 has the first transmitting-receiving region.Second ultrasonic sensor 83 has the second receiving area.Third ultrasonic sensor
85 have third receiving area.First transmitting-receiving region, the second receiving area and third receiving area intelligent grass-removing 400 just
Front is formed with overlap detection area.First ultrasonic sensor 81, the second ultrasonic sensor in the overlap detection area
83 and third ultrasonic sensor 85 can receive ultrasonic echo, i.e., if the first ultrasonic sensor 81 send ultrasonic wave,
First ultrasonic sensor 81, the second ultrasonic sensor 83 and third ultrasonic sensor 85 can receive ultrasonic echo.
Continue as shown in figure 23, the underlapped part in the first transmitting-receiving region is the first detection zone of sensor module 20
11, the part in the first transmitting-receiving region, the second receiving area and the overlapping of third receiving area is the second detection of sensor module 20
Region 12.It is sensor module that the first transmitting-receiving region part Chong Die with the second receiving area, which removes the part of the second detection zone,
20 the 4th detection zone 14.The first transmitting-receiving region part Chong Die with third receiving area removes the part of the second detection zone
For the third detection zone 13 of sensor module 20.
As shown in figure 24, Figure 24 is the supersonic sensing device assembly packet of the intelligent grass-removing 400 of fourth embodiment of the invention
Include the detection range schematic diagram of second of arrangement of three ultrasonic sensors.This second of supersonic sensing device assembly
The difference of arrangement and the first arrangement is that supersonic sensing device assembly 20 is installed on apart from housing forward end in one section
The position of distance D.It is specifically described as, in the embodiment of second of arrangement, supersonic sensing device assembly 20 includes packet
Include the first ultrasonic sensor 81, the second ultrasonic sensor 83 and third ultrasonic sensor 85.Second ultrasonic sensor
83 and third ultrasonic sensor 85 be located at the first ultrasonic sensor 81 two sides and with the first ultrasonic sensor 81
It is angled across setting.As long as the angle of intersection enables to short distance of the overlap detection area as far as possible close to machine leading portion
Detection zone.This kind of mode may be implemented closely to detect barrier, and be able to know that the direction of barrier.
As shown in figure 24, in the embodiment of second of arrangement, the first ultrasonic sensor 81 has first to receive
Send out region.Second ultrasonic sensor 83 has the second receiving area.Third ultrasonic sensor 85 has third receiving area.
First transmitting-receiving region, the second receiving area and third receiving area are formed with overlapping detection in the front of intelligent grass-removing 400
Region.First ultrasonic sensor 81, the second ultrasonic sensor 83 and third supersonic sensing in the overlap detection area
Device 85 can receive ultrasonic echo, i.e., if the first ultrasonic sensor 81 transmission ultrasonic wave, the first ultrasonic sensor 81,
Second ultrasonic sensor 83 and third ultrasonic sensor 85 can receive ultrasonic echo.The underlapped portion in the first transmitting-receiving region
It is divided into the first detection zone 11 of sensor module 20, the first transmitting-receiving region, the second receiving area and the overlapping of third receiving area
Part be sensor module 20 the second detection zone 12.The first transmitting-receiving region part Chong Die with the second receiving area removes
The part of second detection zone is the 4th detection zone 14 of sensor module 20.First transmitting-receiving region and third receiving area weight
The part that folded part removes the second detection zone is the third detection zone 13 of sensor module 20.
As shown in figure 24, in second of arrangement of the intelligent grass-removing of fourth embodiment of the invention 400, first
Ultrasonic sensor 81, the second ultrasonic sensor 83 and third ultrasonic sensor 85 are can be set in principle in shell 10
Any position on length direction, if the first ultrasonic sensor 81, the second ultrasonic sensor 83 and third ultrasonic wave pass
Sensor 85 is arranged on the housing 10 closer to the place of rear end, then in order to guarantee that ultrasonic sensor sends ultrasonic wave
Back echo is unaffected with receiving, and can improve the shape of shell or ultrasonic sensor is arranged higher.At this
In the preferred embodiment of invention, while considering the factor for sending and receiving and occupying little space of ultrasonic wave, the first ultrasound
The first half of 10 length direction of shell is arranged in wave sensor 81, the second ultrasonic sensor 83 and third ultrasonic sensor 85
Point, distance D is less than or equal to the half of 10 length of shell, so set, can more convenient structure by housing forward end
The range to be suitble to visual field is improved, avoids generating blocking to ultrasonic wave.
In a preferred embodiment of the intelligent grass-removing 400 of fourth embodiment of the invention, control module 30 is according to super
The emitted ultrasonic wave of first ultrasonic sensor 81 in sonic sensor component 20, first the 81, second ultrasound of ultrasonic sensor
Wave sensor 83 and third ultrasonic sensor 85 receive the combined situation of back echo, the orientation of disturbance in judgement object.When super
Only have the first ultrasonic sensor 81 to emit ultrasonic wave, and only the first ultrasonic sensor 81 in sonic sensor component 20
When receiving back echo, 30 disturbance in judgement level of control module is in the first detection zone 11.When supersonic sensing device assembly 20
In the first ultrasonic sensor 81 emit ultrasonic wave, the first ultrasonic sensor 81, the second ultrasonic sensor 83 and third are super
When sonic sensor 85 receives back echo, 30 disturbance in judgement level of control module is in second detection zone 12.When
First ultrasonic sensor 81 emits ultrasonic wave in supersonic sensing device assembly 20, only the first ultrasonic sensor 81 and the second surpasses
When sonic sensor 83 receives back echo, 30 disturbance in judgement level of control module is in the third detection zone 13.When super
First ultrasonic sensor 81 emits ultrasonic wave in sonic sensor component 20, only the first ultrasonic sensor 81 and third ultrasound
When wave sensor 85 receives back echo, 30 disturbance in judgement level of control module is in the 4th detection zone 14.
In a preferred embodiment of the intelligent grass-removing 400 of fourth embodiment of the invention, control module 30 is according to super
The transmitting ultrasonic wave of sonic sensor component 20 and the time difference for receiving back echo calculate barrier from intelligent grass-removing
Distance.
The embodiment of the intelligent grass-removing of aforementioned four embodiments of the present invention is equally applicable to other from mobile device, such as
Intelligent sweeping robot, about intelligent sweeping robot or more from the embodiment description of mobile device do not repeat herein into
Row, other are identical as the intelligent grass-removing 100,200,300,400 of aforementioned four embodiments from the example scheme of mobile device.
Figure 25 is that control module 30 controls the transmitting of supersonic sensing device assembly 20 and received flow chart.It is applicable in institute of the present invention
There is the supersonic sensing device assembly 20 of embodiment, below with the ultrasonic sensor in the intelligent grass-removing of first embodiment 100
Carry out citing description.Control module 30 controls the first ultrasonic sensor 21 and the second ultrasonic sensor 23 on a timeline
Interval transmitting ultrasonic wave, specific steps are successively are as follows:
The S11: the first ultrasonic sensor of step 21 issues ultrasonic wave one at the first time；
Step the S12: the first ultrasonic sensor 21 and the second ultrasonic sensor 23 receive ultrasonic wave；
The S13: the second ultrasonic sensor of step 23 issues ultrasonic wave in one second time；
Step the S14: the first ultrasonic sensor 21 and the second ultrasonic sensor 23 receive ultrasonic wave.
Control module 30 controls supersonic sensing device assembly 20 according to step shown in Figure 25, cyclically carries out obstacle quality testing
It surveys.If there are barrier in valid analysing range, the ultrasonic wave of transmitting can reflect to form echo by barrier.Supersonic sensing
Device assembly 20 receives echo, and control module 30 analyzes and determines out the orientation and distance of barrier according to echo information.If there is
It imitates and barrier is not present in detection range, then the supersonic sensing device assembly of step S12 and step S14 does not receive ultrasonic wave
Echo, and then barrier is not present in the direction of advance of analytical judgment intelligent grass-removing 100.First ultrasonic sensor 21 and
Two ultrasonic sensors 23 emit the time difference T of ultrasonic wave, referred to as effectively receive the period.The specific time of period T is effectively received,
The power of the driving signal according to produced by driving circuit and the hardware parameter of ultrasonic sensor and it is different.The ultrasonic wave is handed over
The above-mentioned intelligent grass-removing 200,300 of the present invention is equally applicable to for the step of transmitting.
Figure 26 is ultrasonic sensor group corresponding to obstacle principle condition difference in the valid analysing range of intelligent grass-removing
Part receives signal condition schematic diagram, and Figure 26 is illustrated with the ultrasonic sensor in the intelligent grass-removing 100 of first embodiment
Description.The waveform diagram is only used to indicate barrier in different direction, and the received waveform of supersonic sensing device assembly institute shows
Meaning, does not represent the reception signal waveform of actual sensor component.In the present embodiment, with the transmitting of the first ultrasonic sensor 21
For ultrasonic wave, when illustrating that barrier appears in different direction, the first ultrasonic sensor 21 and the second ultrasonic sensor 23
The case where received signal schematic diagram.In the reception signal waveform of Figure 17, the waveform M of similar rectangle indicates ultrasonic sensor
Self-oscillation after emitting ultrasonic wave, the rhomboid waveform N of class indicate the ultrasonic wave of reflection received by ultrasonic sensor.
Since in this embodiment, the first ultrasonic sensor 21 emits ultrasonic wave, therefore, the reception of the first ultrasonic sensor 21 is believed
Always there is the waveform a of similar rectangle in number schematic diagram.The case where receiving and transmitting signal, is equally applicable to the above-mentioned intelligence of the present invention and cuts
Careless machine 200,300.
As shown in Figure 26 (a), the first ultrasonic sensor 21 emits ultrasonic wave at the t0 moment.In t0 to t1 period,
First ultrasonic sensor 21 and the second ultrasonic sensor 23 all do not receive the ultrasonic wave of reflection.The judgement of control module 30,
Barrier is not present in the valid analysing range of intelligent grass-removing 100.T0 to the t1 period be effective reception described above when
Section T.
As shown in Figure 26 (b), the first ultrasonic sensor 21 emits ultrasonic wave at the t0 moment.In t0 to t1 period,
First ultrasonic sensor 21 receives transmitted wave and the second ultrasonic sensor 23 does not receive the ultrasonic wave of reflection.Control mould
Block 30 judges that there are barriers in the first detection zone of intelligent grass-removing 100.
As shown in Figure 26 (c), the first ultrasonic sensor 21 emits ultrasonic wave at the t0 moment.In t0 to t1 period,
First ultrasonic sensor 21 does not receive transmitted wave and the second ultrasonic sensor 23 receives the ultrasonic wave of reflection.Control mould
Block 30 judges that there are barriers in the second detection zone of intelligent grass-removing 100.
As shown in Figure 26 (d), the first ultrasonic sensor 21 emits ultrasonic wave at the t0 moment.In t0 to t1 period,
First ultrasonic sensor 21 and the second ultrasonic sensor 23 all do not receive the ultrasonic wave of reflection.The judgement of control module 30,
There are barriers in the third detection zone of intelligent grass-removing 100.
As shown in Figure 27 and 28, in the intelligent grass-removing of a preferred embodiment of the present invention, the supersonic sensing that is related to
Device forms the ultrasonic wave visual field for detecting barrier after sending ultrasonic wave, since in short transverse, intelligent grass-removing only needs to detect
Barrier in its direction of advance within the scope of certain altitude, but need to detect in its front intelligent grass-removing width range
Barrier, so in order to obtain broader detection of obstacles range, the preferred visual field of the present invention is non-circular, such as oval
Visual field does a section perpendicular to the axis of visual field, and wavy surface is in similar ellipse, there is a long axis direction 2a and a short axle
Direction 2b, shell 10 have bottom surface, and the bottom surface is to be formed from several contact points when mobile device work with ground face contact
Datum level.Long axis direction is installed as substantially parallel with the bottom surface of shell 10, short-axis direction is installed as the bottom surface with shell 10
It is substantially vertical.The basic meaning includes two layers herein, and first layer means that long axis direction is completely parallel with the bottom surface of shell 10, short
Axis direction completely and shell 10 plane perpendicular；The second layer mean long axis direction and the bottom surface of shell 10 be about in it is parallel (simultaneously
It is not absolute parallel), the bottom surface of short-axis direction and shell 10 is about perpendicular (being not absolute upright).So define, it can
Flexibly to carry out the installation settings of ultrasonic sensor, so that ultrasonic wave visual field meets long axis greater than short axle, i.e. width visual field
Value is greater than height visual field value, it can be ensured that in the more barrier of case width angle detecting, it is ensured that barrier immediately ahead of shell
Hinder the accuracy of analyte detection.Can be understood as field range is that a flat shape with this guarantees biggish width detection range,
And compare, for altitude range barrier measurement some be unnecessary, such as be higher than shell be located on shell
The swing of side, so not needing too big detection range in height, but needs detection range as big as possible, the width on width
Degree detection range can cover the barrier of width direction immediately ahead of more shells, and the shaft size of width direction is greater than short transverse
Shaft size, i.e., long axis be greater than short axle.In one embodiment, the wavy surface is ellipse.About ultrasound in the embodiment
The description of wave wave beam and wavy surface be equally applicable to the present invention four embodiments above-mentioned intelligent grass-removing 100,200,300,
400。
As shown in figure 29, non-circular in order to obtain in the supersonic sensing device assembly 20 of a preferred embodiment of the invention
Ultrasound beamformer wavy surface, it is non-circular for can directly selecting the wavy surface of the ultrasound beamformer of ultrasonic sensor itself
, visual field 98 be it is non-circular, do a section perpendicular to the axis of ultrasonic sensor and obtain the wavy surface.In the embodiment
The description of the wavy surface of ultrasound beamformer about ultrasonic sensor itself is equally applicable to the present invention four implementation above-mentioned
The intelligent grass-removing 100,200,300,400 of example.
As shown in figure 30, non-circular in order to obtain in the supersonic sensing device assembly 20 of a preferred embodiment of the invention
Ultrasound beamformer wavy surface, the wavy surface of the ultrasound beamformer of ultrasonic sensor 20 ' itself can choose it is circular, depending on
98 ' be it is non-circular, one end setting of ultrasonic wave can be emitted to adjust ultrasonic sensor transmitting in ultrasonic sensor
The beam adjuster 90 of ultrasound beamformer shape out, the waveform for the ultrasound beamformer that the beam adjuster 90 obtains after adjusting
Face be it is described non-circular, the visual field 98 of supersonic sensing device assembly 20 be it is non-circular, perpendicular to the axis of the ultrasound beamformer
Line does a section and obtains the wavy surface.Wavy surface in the embodiment about the ultrasound beamformer of ultrasonic sensor itself
Description and beam adjuster 90 setting be equally applicable to the present invention four embodiments above-mentioned intelligent grass-removing 100,
200、300、400。
In another embodiment, from mobile device be equipped with machine-wide direction it is consistent lateral and perpendicular to machine it is wide
Spend direction and with the consistent longitudinal direction in machine height direction, the ultrasound beamformer range horizontally of ultrasonic sensor transmitting is big
In longitudinal range.It does a section perpendicular to the axis of the ultrasound beamformer of ultrasonic sensor transmitting and obtains wavy surface,
The length of the wavy surface horizontally is greater than length in the longitudinal direction.As long as ultrasonic sensor meets the mounting condition, i.e.,
Wider array of obstacle recognition range can horizontally be obtained.
In the supersonic sensing device assembly 20 of a preferred embodiment of the invention, can on ultrasonic sensor setting sound
Wave guide pipe can increase sound wave transmitting range by sonic guide pipe to obtain bigger overlap detection area area.
In the intelligent grass-removing of a preferred embodiment of the invention, when the distance between the barrier and intelligent grass-removing
When less than the pre-determined distance, control module 30 controls intelligent grass-removing and executes preset avoidance measure.The pre-determined distance with
At least one of the movement speed of the intelligent grass-removing, acceleration, inertia are at positive relationship.Inertia is and intelligent grass-removing
Quality is related and the setting position of mobile module axis is related, i.e., it is related with the Mass Distribution of intelligent grass-removing because mobile
The position difference of module axle will affect the Mass Distribution of intelligent grass-removing, and then influence inertia.The pre-determined distance is less than or equal to
25 centimetres.When intelligent grass-removing of the invention needs to realize closely contactless avoidance, the pre-determined distance is less than or equal to
15 centimetres.When having slope or slype in the working environment of intelligent grass-removing of the invention, the pre-determined distance is less than etc.
In 10 centimetres.Using the length dimension of intelligent grass-removing of the present invention as reference value, the pre-determined distance is less than or equal to shell length
40%.When intelligent grass-removing of the invention needs to realize closely contactless avoidance, the pre-determined distance is less than or equal to
The 24% of shell length.When having slope or slype in the working environment of intelligent grass-removing of the invention, it is described it is default away from
From 15% less than or equal to shell length.Using the width dimensions of intelligent grass-removing of the present invention as reference value, the pre-determined distance
Less than or equal to the 60% of case width.It is described when intelligent grass-removing of the invention needs to realize closely contactless avoidance
Pre-determined distance is less than or equal to the 35% of case width.When there is slope or narrow logical in the working environment of intelligent grass-removing of the invention
When road, the pre-determined distance is less than or equal to the 25% of case width.As it is aforementioned by the length of the setting of pre-determined distance and shell and
Width association is because intelligent grass-removing is when selecting different avoidance logics, in order to realize contactless avoidance, not only with pre-
It is also related with shell length and width if distance dependent.It is above-mentioned that the above-mentioned description as described in pre-determined distance is equally applicable to the present invention
Four embodiments intelligent grass-removing 100,200,300,400.
In the intelligent grass-removing of a preferred embodiment of the invention, after being issued due to ultrasonic sensor signal, in front
All barriers can all have echo return in the transmission range of ultrasonic wave, and many ultrasonic echos can be by ultrasonic sensor
It receives, but is not have influential, intelligent grass-removing mainly needs on intelligent grass-removing for some farther away barriers
Closer barrier is recognized, the purpose of contactless avoidance is then reached.So in order to reduce unnecessary data point
Analysis, control module 30 only analyze the ultrasonic echo received within the scope of limiting analysis.The limiting analysis range and shell
The length of body 10 is related.The limiting analysis range is preferably less than equal to 200 centimetres, which refers to 10 front end of shell extremely
10 200 centimetres of front of shell.In a preferred embodiment of the invention, the range of the limiting analysis range is most preferably less than or equal to
90 centimetres, which refers to 10 front end of shell to 10 90 centimetres of front of shell.The above-mentioned description as described in limiting analysis range is same
Sample is suitable for the intelligent grass-removing 100,200,300,400 of four above-mentioned embodiments of the present invention.
In the intelligent grass-removing of a preferred embodiment of the invention, intelligent grass-removing needs to detect the barrier in its direction of advance
Hinder object, and only detection meets the barrier of certain altitude range, detection can not had to more than the barrier outside the altitude range,
Detection can not be had to such as more than the barrier other than intelligent grass-removing 1 height 5cm itself.Since the barrier of detection has height
The requirement of range decides whether to detect that the premise of barrier is that barrier is fallen into the field range of ultrasonic sensor, makes
The ultrasonic wave visual field that issues of ultrasonic sensor is able to detect that barrier generates ultrasonic echo, and the peace of ultrasonic sensor
Dress height and pitch angle are different, determine that the direction of visual field is different.
In the intelligent grass-removing of a preferred embodiment of the invention, as shown in Figure 31 to Figure 33, the peace of ultrasonic sensor
Dress height is H1, and the height limit value of barrier to be identified is that (for intelligent grass-removing, H2 is generally set to be cut H2
The height of the grass removed), that is, it is higher than H2 and is identified as barrier, is not considered as barrier lower than H2.Ultrasonic sensor installation
The relationship of the height H2 of height H1 and grass to be cut off, H1=H2+L*sin (φ ± σ), wherein L is the axis of ultrasonic sensor
The heart is to the distance for determining section, and φ is the half for the field of view angle that sensor performance determines, σ is the center line of ultrasonic sensor
Relative to the deviation angle of housing bottom surface, if ultrasonic sensor inclination-σ upwards, if ultrasonic sensor tilt down+
σ.Based on mounting height H1, the visual field 98 of ultrasonic sensor, which can satisfy, to be covered greater than H2 range, can be identified and is higher than
The object of H2 height simultaneously carries out obstacle recognition.In one embodiment, according to the requirement for height of mowing, ultrasonic sensor phase
Mounting height range for ground is 19 centimetres to 20 centimetres, in the altitude range, can not only be cut off most
Grass, and higher-height grass can also be cut off, because within the scope of the mounting height of the ultrasonic sensor, ultrasonic sensor
Most grass will not be identified as barrier, so as to cut off most grass, and for fragmentary higher-height grass,
Due to top grass is less and generally will not integrated distribution, so obtain ultrasonic echo signal be not enough to be judged as being obstacle
Object, so as to cut off higher-height grass.If the height of ultrasonic sensor is set below 19 centimetres, ultrasonic wave is passed
Sensor can receive the ultrasonic echo much from grass, it may appear that the case where grass is considered barrier exists, to influence
The working efficiency of grass trimmer.The setting for closing the height H1 of ultrasonic sensor in this present embodiment is equally applicable in the present invention
The intelligent grass-removing 100,200,300,400 for four embodiments stated.
In one embodiment, ultrasonic sensor is 19 centimetres to 20 centimetres relative to the mounting height range on ground.
Using cutterhead height as reference quantity, between height of the ultrasonic sensor relative to the mounting height ground opposite with cutterhead on ground
Difference range is in 100mm-300mm.The setting for closing the height of ultrasonic sensor in this present embodiment is equally applicable to the present invention
The intelligent grass-removing 100,200,300,400 of four above-mentioned embodiments.
In the above embodiments, when from mobile device close to barrier, cutterhead works on, so set, can protect
Demonstrate,prove the processing to barrier neighboring area
In the intelligent grass-removing of a preferred embodiment of the invention, intelligent grass-removing has the cutting of cutting off of needs substantially determined
Careless altitude range, so the object for being greater than the height of grass to be cut off can be identified as barrier, while in order to complete to determine height
The grass of degree can be sliced off, and need the visual field of ultrasonic sensor the grass sliced off will not to be needed to be identified as barrier, because super
The self performance of sonic sensor determines the value of φ, σ, determines that the distance of L after section is selected is also it is believed that so only
The height H2 for needing to mow is determined, is passed through formula H1=H2+L*sin (φ ± σ), it can converse ultrasonic sensor
Mounting height H1.Since the value of different lawn mowing height H2 may be different, an initial mowing height H2 is set
Afterwards, the elasticity that H2 numerical value can also be controlled by house software changes, such as the inspection of sensor field of view inner sensor near axis
It surveys signal strength and is greater than the outside visual field far from sensor axis, can change H2's by the selection of identification signal intensity
Highly, reach the fine adjustment of different mowing heights.The setting for closing the height H1 of ultrasonic sensor in this present embodiment is equally suitable
The intelligent grass-removing 100,200,300,400 of four embodiment above-mentioned for the present invention.
In the intelligent grass-removing of a preferred embodiment of the invention, since the height of the grass on lawn is not just as
, so the selection of the height of mowing height H2 is to be able to cut off most grass, Partial Height is higher than and is mowed
The top grass of height H2 still needs to slice off, still, since the height value of the part top grass is greater than the value of H2, so the part
Top grass can be identified as barrier and do avoidance processing, and this will lead to top grass and can not cut off.So in intelligent grass-removing of the present invention
It is preset with back wave threshold value, due to being that the top entrance of grass is super for the top grass in entrance ultrasonic sensor visual field
The visual field of sonic sensor, the echo-signal that the top of the grass generates is weaker, can be by the way that back wave threshold value is arranged, will
Ultrasonic echo less than back wave threshold value is regarded as being that top grass generates, and intelligent grass-removing, which moves on, cuts it
It removes, the echo-signal that will be greater than back wave threshold value is regarded as being that barrier generates, and intelligent grass-removing needs to take avoidance
Measure.In actual application, it also will appear the echo-signal of top grass generation and the echo signal intensity of barrier generation sometimes
Differ smaller, the setting of back wave threshold value can be relatively high at this time, and in order to avoid causing collision obstacle, Mou Xiegao
The echo-signal of grass can still be higher than back wave threshold value, and top grass is considered that barrier does not have top grass then will lead to
It is sliced off.For this situation, circuit can be improved, setting amplification factor is adjusted, and is adjusted, is pulled open by amplification factor
The signal difference of top grass echo and back echo is away from then by the setting of reasonable back wave threshold value, can obviously distinguishing
Top grass and barrier.Present invention back wave threshold value above-mentioned, can be reflected signal strength value.It closes in this present embodiment
The associated description of ultrasonic sensor back wave threshold value setting is equally applicable to the intelligence of four above-mentioned embodiments of the present invention
Grass trimmer 100,200,300,400.
As shown in FIG. 34 and 35, super in order to further increase in the intelligent grass-removing of a preferred embodiment of the invention
The accuracy of sonic sensor cognitive disorders object, the upper surface of the adjoining wall 91 closed on ultrasonic sensor visual field on shell 10
(upper surface be the face adjacent with visual field) need in the height direction lower than the ragged edge of ultrasonic sensor visual field (visual field
Fictitious line), so set, the transmission of ultrasonic wave can be stopped to avoid shell 10, shell 10 is on the one hand avoided to reflect ultrasonic wave,
It avoids the ultrasonic echo of reflection from having an impact the ultrasonic wave of sensor emission, on the other hand avoids stopping ultrasonic wave, because knowing
The less accuracy that will affect obstacle recognition of the ultrasonic wave of other barrier.And it is possible to guarantee the level of beam of sound axis, sense
Utensil sound beam axis in preferred embodiment, needs the beam of sound axis to be in a horizontal state, by adjacent wall 91 in height side
It is lower than the ragged edge of ultrasonic sensor visual field upwards, it is ensured that shell structure will not stop visual field, and then will not change beam of sound
The position of axis, it is ensured that the beam of sound axis is in a horizontal state.For the adjoining wall 91 closed on ultrasonic sensor visual field
The shape of upper surface is without limitation.The visual field of ultrasonic sensor has the boundary line 97 closed on shell 10, on shell 10 with
The upper surface of the adjoining wall 91 of 97 close position of boundary line is lower than boundary line 97.Between boundary line 97 and the upper surface of adjacent wall 91
It is greater than 0 with minimum range δ 1.The associated description for closing the adjoining wall 91 of shell 10 in this present embodiment is equally applicable to this hair
The intelligent grass-removing 100,200,300,400 of bright four above-mentioned embodiments.
As shown in figure 34, the upper surface of adjacent wall 91 can be cambered surface, be also possible to inclined-plane, and it is irregular to be also possible to other
Face, in the intelligent grass-removing of a preferred embodiment of the invention, which is inclined-plane, and the inclined-plane is lower than boundary line
97, adjacent wall 91 and the relationship of boundary line 97 can be reached by the design of shell 10, for example pass on shell along ultrasonic wave
The visual field of sensor is slotted, and is launched convenient for ultrasonic wave is unobstructed.Adjacent wall 91 and the relationship of boundary line 97 can also lead to
The installation site and pitch angle for crossing adjustment ultrasonic sensor relatively intelligent grass trimmer front end are reached, herein ultrasonic sensor
Installation site includes installation site of the ultrasonic sensor on 10 front-rear direction of shell, also includes the peace of ultrasonic sensor
It is to embed in the housing 10 that dress height, which also includes ultrasonic sensor, is also mounted in outside shell 10, although adjustment ultrasonic wave
The position of sensor and pitch angle influence whether the field of detection of ultrasonic sensor, but can still be tied by other auxiliary
The sonic transmissions direction of structure adjustment ultrasonic sensor.Ultrasonic sensor has axis, and the inclined-plane is compared to shaft angle degree
For θ 1, the requirement of the tilt angle theta 1 is 1 >=φ of θ ± σ (if ultrasonic sensor is horizontally mounted σ=0, if ultrasonic wave passes
Sensor inclination-σ upwards, if ultrasonic sensor tilts down+σ), defining for the angle ensures ultrasonic sensor transmitting
Ultrasonic wave will not encounter shell 10 and generate ultrasonic echo.In the embodiment, due to being inclined-plane, so tangent line and inclined-plane are one
A face.
As shown in figure 35, in the intelligent grass-removing of a preferred embodiment of the invention, which is cambered surface, adjacent wall
91 are lower than boundary line 97, and the radian that the relationship of the ragged edge of the cambered surface and boundary line 97 can pass through cambered surface on shell 10 designs
Reach.The relationship of the ragged edge of the inclined-plane and boundary line 97 can also be by adjusting the relatively intelligent grass trimmer of ultrasonic sensor
The installation site and pitch angle of front end are reached.Ultrasonic sensor has axis, which has tangent line, and the tangent line is compared to axis
Tilt angle is θ 2, the requirement of the tilt angle theta 2 be 2 >=φ of θ ± σ (if ultrasonic sensor is horizontally mounted σ=0, if
Ultrasonic sensor inclination-σ upwards, if ultrasonic sensor tilts down+σ), defining for the angle ensures supersonic sensing
The ultrasonic wave of device transmitting will not encounter shell 10 and generate ultrasonic echo.Summarize as Figure 34 and Figure 35 formula θ >=φ ± σ (if
Ultrasonic sensor is horizontally mounted σ=0, if ultrasonic sensor inclination-σ upwards, if ultrasonic sensor tilts down
+σ)。
In the intelligent grass-removing of other preferred embodiments of the invention, which be can be other than inclined-plane or cambered surface not
The shape, such as wave-like, stairstepping etc. of rule.The above-mentioned tangent line and ultrasonic wave about adjacent wall 91 of the present invention passes
The description of sensor angular relationship be equally applicable to above-mentioned four embodiments of the present invention intelligent grass-removing 100,200,300,
400。
As shown in figure 36, in the intelligent grass-removing of a preferred embodiment of the invention, intelligent grass-removing can also include the
Five ultrasonic sensors 92, the output end of the 5th ultrasonic sensor 92 are connected with the input terminal of control module 30, and five surpasses
Sonic sensor 92 whether there is slope surface in intelligent grass-removing direction of advance described in real-time detection, and control module 30 is used for root
Whether the slope surface information control intelligent grass-removing detected according to the 5th ultrasonic sensor 92 goes up a slope.5th ultrasonic sensor 92
Relative to the angled installation settings in 10 bottom surface of shell on shell 10, when mowing on level land, five surpasses the intelligent grass-removing
The identification of sonic sensor 92 is less than barrier, and when having slope in front of intelligent grass-removing, the 5th ultrasonic sensor 92 will receive slope
The ultrasonic echo and cognitive disorders object of face reflection are slope.For the 5th ultrasonic sensor 92 axis relative to 10 bottom surface of shell
Setting angle, depend primarily on the tilt angle of working region inner slope.It, can be according to building ring when machine does initial setting up
The substantially parameter of the tilt angle on slope is inputted intelligent grass-removing by border.The setting of 5th ultrasonic sensor 92 of the embodiment and
Description is equally applicable to the intelligent grass-removing 100,200,300,400 of four above-mentioned embodiments of the present invention.In practical applications,
When body height is higher, the distance of slope surface to ultrasonic sensor axle center is greater than blind area range, so the 5th supersonic sensing
Device 92 may be mounted at the front end of shell；When body height is lower, the distance of slope surface to ultrasonic sensor axle center may be also
Blind area range can be located at the 5th ultrasonic sensor 92 can be arranged to evade the blind area of the 5th ultrasonic sensor 92
Be higher than shell.
Intelligent grass-removing of the invention, when intelligent grass-removing reaches pre-determined distance, in order to avoid collision obstacle can not
Before continuing towards barrier and then preset avoidance measure is executed, the preset avoidance measure is that control module controls the intelligence
Grass trimmer stops mobile or steering or mobile and steering or continues to move along former direction or slow down and turn to after turning to.Intelligence
The distance between grass trimmer and barrier are greater than 0.
In the intelligent grass-removing of a preferred embodiment of the invention, as long as guaranteeing that intelligent grass-removing 100 can quickly stop
It only or retreats, the pre-determined distance can be infinitely small close to 0 centimetre, but is not equal to 0, for example, when intelligent grass-removing 10
Braking effect is good enough, when may be implemented to brake or retreat immediately, can achieve infinite approach barrier but the effect that do not collide.
But for the movement of Intelligent Optimal grass trimmer, improve mowing efficiency, it is often desired to which grass trimmer is able to carry out preset movement and patrols
It collects and works on rather than shut down.
As shown in Figure 48 and Figure 49, in the intelligent grass-removing of a preferred embodiment of the invention, intelligent grass-removing can root
The selection of avoidance logic is carried out according to three virtual detection zones that control module is formed, and can also be carried out by pre-determined distance L empty
Quasi- subregion avoidance.As shown in Figure 48 and Figure 49, Figure 48 and Figure 49 are the schematic diagram of intelligent grass-removing subregion avoidance, and shell 10 has
The shell axis 210 extended along the longitudinal direction, control module 30 be equipped in front of shell 10 the virtual area E near shell,
The area F and the area G in front of the area E and the area H in front of the area F and the area G.The area F and the area G as line of demarcation and are divided using axis
Not Wei Yu shell axis 210 two sides, the investigative range of supersonic sensing device assembly 20 at least covers the area E, the area F and the area G.
Intelligent grass-removing, which advances or turns round, in the area E generates damage collision between meeting and barrier.Intelligent grass-removing is right in the area F
Turn will not generate damage collision between barrier.Intelligent grass-removing is turned left and curved will not be produced between barrier in the area G
Raw damage collision.Intelligent grass-removing advances or turns round in the area H will not generate damage collision between barrier.When in E
When area detects barrier, the control module controls the intelligent grass-removing and executes the avoidance measure retreated.When in the area F and G
When Qu Jun detects barrier, the control module controls the intelligent grass-removing and executes the avoidance measure retreated.When only in the area F
When detecting barrier, the control module controls the intelligent grass-removing and executes the avoidance measure turned right or retreated.When only in G
When area detects barrier, the control module controls the intelligent grass-removing and executes the avoidance measure turned left or retreated.When in H
When area detects barrier, the control module controls the avoidance that the intelligent grass-removing executes forward or backward or turns round and arranges
It applies.When barrier is not detected in the area E, the area F and the area G, the control module controls the intelligent grass-removing and executes advance
Or the avoidance measure for retreating or turning round
As shown in figure 48, for the region being located near shell axis 210 in the area F and the area G, belong to avoidance float area,
Intelligent grass-removing can not turn left or turn right sometimes in the region, so being directed to the region, keeping away for retrogressing can be directly used
Barrier measure, control module mainly related with the width of the speed of intelligent grass-removing and machine for the area of the float area
30 can be according to algorithm meter according to the distance of barrier, the speed of intelligent grass-removing, the structural parameters of fuselage and turning radius
Calculation is obtained can not collision obstacle using which kind of avoidance logic.About the division in the area E, can be carried out according to pre-determined distance virtual
Setting, this can be set according to software mode, and the E different, virtual with the movement speed of intelligent grass-removing
The range in area can be different, are so to improve intelligent grass-removing to realize closely non-contact avoidance as large as possible
Accessibility.The sets requirement in the area E is, within the scope of the area E, intelligent grass-removing can only take the avoidance measure of retrogressing.Software control
When processed, due to the dimension information (such as length, width, chamfering radian of front end side etc.) of machine and the performance parameter of machine
(such as stopping power, signal transmission speed etc.) is all disposed in machine, and machine can combine pre-determined distance and current kinetic speed
Automatic distinguishing goes out the range in the area E.
As shown in figure 48, by taking the intelligent grass-removing of first embodiment 100 as an example, the sum of L1+L2 is one within the scope of the area E
Equivalence, the sum of L1 '+L2 ' are an equivalences, and L1 is distance of the first ultrasonic sensor axle center to barrier, and L2 is the second to surpass
Distance of the sonic sensor axle center to barrier.As shown in figure 49, the sum of L3+L4 is one etc. within the scope of the same area F and the area G
Value, the sum of L3 '+L4 ' are an equivalences, and L3 is distance of the first ultrasonic sensor axle center to barrier, and L4 is the second ultrasound
Distance of the wave sensor axle center to barrier.The avoidance description of embodiment described in Figure 48 and Figure 49 of the present invention is equally applicable to this hair
The intelligent grass-removing 100,200,300,400 of bright four above-mentioned embodiments.
As shown in figure 50, Figure 50 is the logic chart that intelligent grass-removing of the present invention carries out avoidance, and intelligent grass-removing of the present invention exists
It is maintained a certain distance with barrier 99 always when avoidance, distance H1 or H2 are all larger than 0, and intelligent grass-removing of the present invention can be realized
Contactless avoidance.The barrier 99 assumed that circle indicates in figure.
Solve the problems, such as the embodiment of closely contactless avoidance.
As shown in figure 42, the ultrasonic sensor 21 of general transceiver due to need simultaneously undertake transmitting ultrasonic wave with
The work of back echo is received, so all there is blind area, the formation basic theory about blind area is: by a high-voltage pulse
Ultrasonic wave transmitting is carried out, after end-of-pulsing, ultrasonic sensor has the prolonged aftershock of comparison.In this aftershock
In period, the reflection wave signal of sound wave is had no idea with transmitted wave signal distinguishing, to form ultrasonic sensor
Range hole.The time of aftershock is different, and range hole is also corresponding different.The blind area half of the range hole of general ultrasonic sensor
Diameter is greater than 30 centimetres.Therefore, as shown in figure 43, Figure 43 (a) is the pre-determined distance S1 of the ultrasonic sensor there are blind area, figure
43 (b) be pre-determined distance S2, the S2 < S1 for solving the ultrasonic sensor of part blind area.If completely solving blind area to ask
Topic, S2 can be smaller, thus if not solving the problems, such as blind area, using ultrasonic sensor as contactless avoidance means
Will be unable to from mobile device judge the barrier within 30 centimetres of ultrasonic sensor.So in order to avoid knocking down
Object, the distance for taking reaction to act from mobile device must be greater than blindarearadius, i.e. pre-determined distance (distance for needing avoidance)
It must be greater than blindarearadius.It will affect the fuselage accessibility from mobile device in this way.About blind zone problem, in the prior art
Blind area can be reduced or eliminated by hardware modifications, blind area can also be reduced or eliminated by software algorithm, but whether being
The application of hardware modifications or software algorithm, it is required to do additional structure setting or algorithm process.The embodiment of the present invention
It does not need to improve hardware from mobile device, does not need to increase the mesh that software algorithm is able to achieve reduction or dead zone-eliminating yet
's.The embodiment for solving the problems, such as closely contactless avoidance is described below in conjunction with specific embodiment.
5th embodiment:
100 structure of intelligent grass-removing and control phase from mobile device and first embodiment of fifth embodiment of the invention
Together, the offer of attached drawing is lack of repetition and repeated herein.Directly utilize the attached drawing of the intelligent grass-removing 100 of first embodiment
It is described.
As shown in Fig. 6 and Fig. 8, the intelligent grass-removing from mobile device and first embodiment of fifth embodiment of the invention
100 difference is, in the first arrangement (the first arrangement and first reality from mobile device of the 5th embodiment
The first arrangement for applying the intelligent grass-removing 100 of example is identical) in, third detection zone at least while covers part first
First range hole of ultrasonic sensor 21 and the second range hole of the second ultrasonic sensor of part 23.
As shown in Fig. 7 and Fig. 9, the intelligent grass-removing from mobile device and first embodiment of fifth embodiment of the invention
100 difference is, in second of arrangement (second of arrangement and the first reality from mobile device of the 5th embodiment
Second of arrangement for applying the intelligent grass-removing 100 of example is identical) in, the position of supersonic sensing device assembly 20 is with respect to shell 10
Front end move back, for the ultrasonic sensor there are blind area, there be some or all of fall in the blind area of ultrasonic sensor
On the housing 10.Therefore, third detection zone do not need cover all the first ultrasonic sensors 21 the first range hole and
Second range hole of the second ultrasonic sensor 23.In second of arrangement from mobile device of the 5th embodiment
In embodiment, third detection zone only need to cover simultaneously positioned at 10 front end of shell blind area (the first ultrasonic sensor it is blind
The blind area in area and the second ultrasonic sensor).Therefore, the first ultrasonic sensor 21 and the second ultrasonic sensor 23
Specific value at an angle to each other only need so that third detection zone at the same covering be located at 10 front end of shell blind area.
As shown in Figures 3 and 4, in fifth embodiment of the invention from mobile device, 21 He of the first ultrasonic sensor
The range for the angle σ 1 that second ultrasonic sensor 23 is mutually is 60 ° -110 °.In the 5th embodiment from the excellent of mobile device
It selects in embodiment, 1 range of intersecting angle σ of the first ultrasonic sensor 21 and the second ultrasonic sensor 23 is 70 ° -90 °.
First ultrasonic sensor 21 of 70 ° of -90 ° of numberical ranges and the intersection of the second ultrasonic sensor 23, it can be ensured that overlapping
Detection zone coverage hole, moreover it is possible to avoid the ultrasonic wave of one of ultrasonic sensor transmitting straight without barrier reflection
It connects and is received by another ultrasonic sensor, reduce the first ultrasonic sensor 21 and the second ultrasonic sensor 23 between the two
Signal cross-talk, improve the accuracy of obstacle recognition.The first above-mentioned ultrasonic sensor 21 and the second supersonic sensing
The angle that device 23 is mutually refers to first axle 211 and the angle that second axis 231 is mutually.
As shown in figure 5, in fifth embodiment of the invention from mobile device, relative to shell axis 210, first axle
The range of angle ω 1 between 211 and shell axis 210 is 10 ° -80 °, between second axis 231 and shell axis 210
The range of angle ω 2 is 25 ° -55 °.In the angular range, it can be ensured that overlap detection area coverage hole, moreover it is possible to avoid it
In a ultrasonic sensor transmitting ultrasonic wave without barrier reflect and directly received by another ultrasonic sensor,
The signal cross-talk of the first ultrasonic sensor 21 and the second ultrasonic sensor 23 between the two is reduced, obstacle recognition is improved
Accuracy.
In fifth embodiment of the invention from mobile device, the first ultrasonic sensor 21 and the second ultrasonic sensor
23 specific value at an angle to each other, according to spacing between the first ultrasonic sensor 21 and the second ultrasonic sensor 23 and
The hardware parameters such as the Angle of beam divergence of ultrasonic sensor are different and can be varied.In practical application, the first ultrasonic wave passes
The arrangement of sensor 21 and the second ultrasonic sensor 23 need to only reach the third detection zone for being capable of forming overlapping, and third detects
Region at least can simultaneously the first ultrasonic sensor of covering part 21 the second supersonic sensing of the first range hole and part
Second range hole of device 23.
In fifth embodiment of the invention from mobile device, since the barrier in overlap detection area can be more than
One ultrasonic sensor receives ultrasonic echo, by taking the first ultrasonic sensor 21 sends ultrasonic wave as an example, detects when in overlapping
Region is there are barrier and when the barrier is located within the scope of the blind area of the first ultrasonic sensor 21, since the first ultrasonic wave passes
Itself blind area of sensor 21 still physical presence, the first ultrasonic sensor 21 itself cannot be distinguished be barrier ultrasonic echo also
Be itself send ultrasonic wave after aftershock, but due in overlap detection area the second ultrasonic sensor 23 can also receive it is super
Sound echo, and for the second ultrasonic sensor 23, barrier position is not the second ultrasonic sensor 23
Within the scope of blind area, or even if barrier position within the scope of the blind area of the second ultrasonic sensor 23, due to the second surpassing
Sonic sensor 23 does not issue ultrasonic wave at this time to be only responsible for receiving back echo, so the second ultrasonic sensor 23 can not
Differentiation by crosstalk is the ultrasonic echo of barrier, is based on this principle, and the first ultrasonic sensor 21 and the second ultrasonic wave pass
Sensor 23, which intersects, to be arranged at an angle, and the range hole even being eliminated from mobile device can be shortened, and is improved and is set from movement
Standby accessibility is improved from the accessibility of mobile device, helps to adapt to different operating conditions from mobile device.And due to shortening
Or the testing blind zone for eliminating ultrasonic sensor itself, pre-determined distance can be set smaller, can realize non-connect
Under the premise of touch avoidance, the detection of obstacles of short distance is realized.For from mobile device, grass trimmer can be closely allowed
More grass are cut, the raising of working efficiency is conducive to.
Fifth embodiment of the invention can be same only by two ultrasonic sensor cross-over designs from mobile device
When solve the problems, such as blind area, achieve the effect that accessibility, and achieved the purpose that know barrier direction, moreover it is possible to combine not
The solution of same operating condition (such as upward slope, slype, flank wall) problem, the description of different operating conditions are seen below.The present invention the bright 5th
Embodiment it is few using part from mobile device, arrangement of parts is convenient, solves the problems, such as more, has saved use cost.
In the other embodiments from mobile device of fifth embodiment of the invention, it is referred to the intelligence of first embodiment
The same in grass trimmer 100, the ultrasonic sensor of setting three or more, the area for passing sequentially through increase overlay region ensures blind area
What is covered is comprehensive.The arrangement mode and signal transmitting and receiving of three or more ultrasonic sensors define and the position of barrier is sentenced
In the disconnected intelligent grass-removing 100 with first embodiment.
Sixth embodiment:
200 structure of intelligent grass-removing and control phase from mobile device and second embodiment of sixth embodiment of the invention
Together, the offer of attached drawing is lack of repetition and repeated herein.Directly utilize the attached drawing of the intelligent grass-removing 200 of second embodiment
It is described.
As shown in figure 13, the intelligent grass-removing 200 from mobile device and second embodiment of sixth embodiment of the invention
Difference is, in the first arrangement (the first arrangement and second embodiment from mobile device of sixth embodiment
Intelligent grass-removing 200 the first arrangement it is identical) in, third detection zone at least while covers the ultrasound of part first
First range hole of wave sensor 41 and the second range hole of the second ultrasonic sensor of part 43.
As shown in figure 14, the intelligent grass-removing 200 from mobile device and second embodiment of sixth embodiment of the invention
Difference is, in second of arrangement (second of arrangement and the second embodiment from mobile device of sixth embodiment
Intelligent grass-removing 200 second of arrangement it is identical) in, before the position of supersonic sensing device assembly 20 is with respect to shell 10
End moves back, and for the ultrasonic sensor there are blind area, the blind area of ultrasonic sensor, which has, some or all of falls in shell
On body 10.Therefore, third detection zone does not need to cover the first range hole and second of all the first ultrasonic sensors 41
Second range hole of ultrasonic sensor 43.In the implementation of second of arrangement from mobile device of the sixth embodiment
In example, third detection zone only need to cover simultaneously positioned at 10 front end of shell blind area (blind area of the first ultrasonic sensor and
The blind area of second ultrasonic sensor).
In sixth embodiment of the invention from mobile device, since the barrier in overlap detection area can be more than
One ultrasonic sensor receives ultrasonic echo, by taking the first ultrasonic sensor 41 sends ultrasonic wave as an example, detects when in overlapping
Region is there are barrier and when the barrier is located within the scope of the blind area of the first ultrasonic sensor 41, since the first ultrasonic wave passes
Itself blind area of sensor 41 still physical presence, the first ultrasonic sensor 41 itself cannot be distinguished be barrier ultrasonic echo also
Be itself send ultrasonic wave after aftershock, but due in overlap detection area the second ultrasonic sensor 43 can also receive it is super
Sound echo, and for the second ultrasonic sensor 43, barrier position is not the second ultrasonic sensor 43
Within the scope of blind area, or even if barrier position within the scope of the blind area of the second ultrasonic sensor 43, due to the second surpassing
Sonic sensor 43 does not issue ultrasonic wave at this time to be only responsible for receiving back echo, so the second ultrasonic sensor 43 can not
Differentiation by crosstalk is the ultrasonic echo of barrier, is based on this principle, and the first ultrasonic sensor 41 and the second ultrasonic wave pass
Sensor 43, which intersects, to be arranged at an angle, and the range hole even being eliminated from mobile device can be shortened, and is improved and is set from movement
Standby accessibility is improved from the accessibility of mobile device, helps to adapt to different operating conditions from mobile device.And due to shortening
Or the testing blind zone for eliminating ultrasonic sensor itself, pre-determined distance can be set smaller, can realize non-connect
Under the premise of touch avoidance, the detection of obstacles of short distance is realized.For from mobile device, grass trimmer can be closely allowed
More grass are cut, the raising of working efficiency is conducive to.
Sixth embodiment of the invention is arranged in parallel from mobile device only by two ultrasonic sensors, so that super
The problem of detection zone overlapping of sonic sensor can solve the problems, such as accessibility simultaneously and know barrier direction, moreover it is possible to same
When take into account the solutions of different operating conditions (for example upward slope) problems, sixth embodiment of the invention it is few using part from mobile device, zero
Part arrangement is convenient, solves the problems, such as more, has saved use cost.
In the other embodiments from mobile device of sixth embodiment of the invention, it is referred to the intelligence of second embodiment
The same in grass trimmer 200, the ultrasonic sensor of setting three or more, the area for passing sequentially through increase overlay region ensures blind area
What is covered is comprehensive.The arrangement mode and signal transmitting and receiving of three or more ultrasonic sensors define and the position of barrier is sentenced
In the disconnected intelligent grass-removing 200 with second embodiment.
7th embodiment:
300 structure of intelligent grass-removing and control phase from mobile device and 3rd embodiment of seventh embodiment of the invention
Together, the offer of attached drawing is lack of repetition and repeated herein.Directly utilize the attached drawing of the intelligent grass-removing 300 of 3rd embodiment
It is described.
As shown in figure 18, the intelligent grass-removing 300 from mobile device and 3rd embodiment of seventh embodiment of the invention
Difference is, in the first arrangement (the first arrangement and 3rd embodiment from mobile device of the 7th embodiment
Intelligent grass-removing 300 the first arrangement it is identical) in, third ultrasonic sensor 65 and the first ultrasonic sensor 61
The overlay region that intersects to form covers the first range hole of the first ultrasonic sensor 61, the second ultrasonic sensor 63 and the
The overlay region that four ultrasonic sensors 67 intersect to form covers the second range hole of the second ultrasonic sensor 63.This embodiment
In, within the scope of the blind area of the first ultrasonic sensor 61, third ultrasonic sensor 65 can accurately receive barrier
Ultrasonic echo, within the scope of the blind area of the second ultrasonic sensor 63, the 4th ultrasonic sensor 67 can be received accurately
To the ultrasonic echo of barrier, the purpose for reducing or eliminating blind area can achieve.
As shown in figure 19, the intelligent grass-removing 300 from mobile device and 3rd embodiment of seventh embodiment of the invention
Difference is, in second of arrangement (second of arrangement and the 3rd embodiment from mobile device of the 7th embodiment
Intelligent grass-removing 300 the first arrangement it is identical) in, before the position of supersonic sensing device assembly 20 is with respect to shell 10
End moves back, and for the ultrasonic sensor there are blind area, the blind area of ultrasonic sensor, which has, some or all of falls in shell
On body 10.Therefore, third detection zone and the 4th detection zone do not need to cover the first of all the first ultrasonic sensors 61
Second range hole of range hole and the second ultrasonic sensor 63.The of the intelligent grass-removing 300 of the 7th embodiment
In the embodiment of two kinds of arrangements, third detection zone and the 4th detection zone only need to be covered each by before shell 10
The blind area (blind area of the blind area of the first ultrasonic sensor and the second ultrasonic sensor) at end.
As shown in Figure 18 and Figure 19, in practical application, third ultrasonic sensor 65 and the 4th ultrasonic sensor 67
Arrangement only need to reach the third detection zone and the 4th detection zone for being capable of forming overlapping, and third detection zone at least can
First range hole of the first ultrasonic sensor of covering part 61, the 4th detection zone at least being capable of the second ultrasounds of covering part
Second range hole of wave sensor 63.
In seventh embodiment of the invention from the embodiment of the first arrangement of mobile device, due to being overlapped
Barrier in detection zone can receive ultrasonic echo with more than one ultrasonic sensor, with the first ultrasonic sensor 61 hair
For sending ultrasonic wave, when in overlap detection area, there are the blind areas that barrier and the barrier are located at the first ultrasonic sensor 61
When in range, due to the first itself blind area of ultrasonic sensor 61 still physical presence, first ultrasonic sensor 61 itself nothing
Method distinguishes the ultrasonic echo for being barrier or the aftershock after itself transmission ultrasonic wave, but due to third in overlap detection area
Ultrasonic sensor 65 can also receive ultrasonic echo, and only be responsible for since third ultrasonic sensor 65 does not issue ultrasonic wave
Back echo is received to be based on so third ultrasonic sensor 65 can not be the ultrasonic echo of barrier by the differentiation of crosstalk
This principle, the first ultrasonic sensor 61 and third ultrasonic sensor 65 intersect and are arranged at an angle, the second ultrasonic wave
Sensor 63 and the 4th ultrasonic sensor 67, which intersect to be arranged at an angle, can shorten oneself for even being eliminated the 7th embodiment
The range hole of mobile device improves the accessibility from mobile device, improves, facilitates from the accessibility of mobile device
7th embodiment adapts to different operating conditions from mobile device.And the test due to shortening or eliminating ultrasonic sensor itself
Blind area, pre-determined distance can be set smaller, can realize the obstacle of short distance under the premise of realizing contactless avoidance
Analyte detection.For grass trimmer, closely mowing machine cut can be allowed more careless, be conducive to the raising of working efficiency.
As shown in figure 17, in seventh embodiment of the invention from mobile device, the first ultrasonic sensor 61 and third
The range for the angle γ 1 that ultrasonic sensor 65 is mutually is 10 ° -80 °.In the preferred reality from mobile device of the 7th embodiment
It applies in example, 1 range of intersecting angle γ of the first ultrasonic sensor 61 and third ultrasonic sensor 65 is 25 ° -55 °.It should
25 ° of -55 ° of numberical ranges can ensure overlap detection area coverage hole.Above-mentioned the first ultrasonic sensor 61 and third is super
The angle that sonic sensor 65 is mutually refers to the angle that first axle 611 and third axis 651 are mutually.Second supersonic sensing
The range of the angle γ 2 of device 63 and the 4th ultrasonic sensor 67 is 10 ° -80 °.In the 7th embodiment from mobile device
In preferred embodiment, 2 range of intersecting angle γ of the second ultrasonic sensor 63 and the 4th ultrasonic sensor 67 is 25 °-
55°.25 ° of -55 ° of numberical ranges can ensure overlap detection area coverage hole.Above-mentioned second ultrasonic sensor 63 with
The angle that 4th ultrasonic sensor 67 is mutually refers to the angle that second axis 631 and four axistyle 671 are mutually.
8th embodiment:
400 structure of intelligent grass-removing and control phase from mobile device and fourth embodiment of eighth embodiment of the invention
Together, the offer of attached drawing is lack of repetition and repeated herein.Directly utilize the attached drawing of the intelligent grass-removing 400 of first embodiment
It is described.
As shown in figure 23, the intelligent grass-removing 400 from mobile device and fourth embodiment of eighth embodiment of the invention is (only
Including two ultrasonic sensors) difference be, 81 X-shape of the second ultrasonic sensor 83 and the first ultrasonic sensor
At overlapping detection regions at least the first ultrasonic sensor of covering part 81 the first range hole.
As shown in figure 22, the first arrangement (the first arrangement side from mobile device of eighth embodiment of the invention
Formula is identical as the first arrangement of intelligent grass-removing 400 of fourth embodiment) in, the second ultrasonic sensor 83 and third
The overlapping third detection zone that ultrasonic sensor 85 is formed with the arrangement at an angle to each other of the first ultrasonic sensor 81, leads to
Reduction can be reached or disappear by crossing the first range hole of part that third detection zone at least while covers in the first transmitting-receiving region
Except the purpose of blind area.
As shown in figure 24, the intelligent grass-removing 400 from mobile device and fourth embodiment of eighth embodiment of the invention
Difference is, in second of arrangement (second of arrangement and the fourth embodiment from mobile device of the 8th embodiment
Intelligent grass-removing 400 second of arrangement it is identical) in, before the position of supersonic sensing device assembly 20 is with respect to shell 10
End moves back, and for the ultrasonic sensor there are blind area, the blind area of ultrasonic sensor, which has, some or all of falls in shell
On body 10.Second ultrasonic sensor 83 and third ultrasonic sensor 85 and the first ultrasonic sensor 81 weight at an angle to each other
Folded area does not need to cover the first range hole of all the first ultrasonic sensors 81, and third detection zone only needs to cover first
Ultrasonic sensor 81 is located at the blind area of 10 front end of shell.Second ultrasonic sensor 83 and third ultrasonic sensor 85
With the first ultrasonic sensor 81
As shown in Figure 21 and Figure 22, in eighth embodiment of the invention from mobile device, the second ultrasonic sensor 83
The range for the angle ε 2 being mutually with the first ultrasonic sensor 81 is 10 ° -80 °.In the 8th embodiment from mobile device
In preferred embodiment, 2 range of intersecting angle ε of the second ultrasonic sensor 83 and the first ultrasonic sensor 81 is 25 ° -55 °.
Second ultrasonic sensor 83 of 25 ° of -55 ° of numberical ranges and the intersection of the first ultrasonic sensor 81, it can be ensured that overlapping
Detection zone coverage hole.The angle that the second above-mentioned ultrasonic sensor 83 is mutually with the first ultrasonic sensor 81 refers to
The angle that second axis 831 and first axle 811 are mutually.Third ultrasonic sensor 85 and the first ultrasonic sensor 81 are mutually
At angle ε 3 range be 10 ° -80 °.In the preferred embodiment from mobile device of the 8th embodiment, third ultrasonic wave
3 range of intersecting angle ε of sensor 85 and the first ultrasonic sensor 81 is 25 ° -55 °.The third of 25 ° of -55 ° of numberical ranges
Ultrasonic sensor 85 intersects with the first ultrasonic sensor 81, it can be ensured that overlap detection area coverage hole.Above-mentioned
The angle that third ultrasonic sensor 85 and the first ultrasonic sensor 81 are mutually refers to third axis 851 and first axle
811 angles being mutually.
As shown in figure 21, in eighth embodiment of the invention from mobile device, two supersonic sensings can be only included
Device, respectively the second ultrasonic sensor 83 and the first ultrasonic sensor 81, second ultrasonic sensor 83 with the first surpass
Sonic sensor 81 intersects to form overlay region, the second supersonic sensing in the first range hole of the first ultrasonic sensor 81
Device 83 can receive back echo.The model for the angle ε 1 that second ultrasonic sensor 83 and the first ultrasonic sensor 81 are mutually
Enclose is 10 ° -80 °.In the preferred embodiment from mobile device of the 8th embodiment, the second ultrasonic sensor 83 and first
1 range of intersecting angle ε of ultrasonic sensor 81 is 25 ° -55 °.
In eighth embodiment of the invention from mobile device, since the barrier in overlap detection area can have solely
A vertical ultrasonic sensor receives ultrasonic echo, and the ultrasonic sensor for being responsible for receiving back echo can not be by crosstalk
Differentiation is the ultrasonic echo of barrier, be based on this principle, can shorten even be eliminated the 8th embodiment from mobile device
Range hole improves the accessibility from mobile device, improves, facilitates from mobile device from the accessibility of mobile device
Adapt to different operating conditions.And the testing blind zone due to shortening or eliminating ultrasonic sensor itself, pre-determined distance can be set
It is smaller, can realize the detection of obstacles of short distance under the premise of realizing contactless avoidance.For from mobile device
For, closely mowing machine cut can be allowed more careless, be conducive to the raising of working efficiency.
Solve the problems, such as the embodiment of upward slope.
As shown in Figure 37 to Figure 41, Figure 37 to Figure 41 is from mobile device in the operating condition schematic diagram for encountering slope.It is passed in Figure 39
The angle on sensor axis and slope is β 1, and the angle on sensor axis and slope is β 2 in Figure 40.From the direction of advance of mobile device
There are the slopes that an angle of gradient is α.As shown in figure 37, the ultrasonic wave that supersonic sensing device assembly 20 emits will receive the resistance of slope surface
Gear, to reflex to supersonic sensing device assembly 20.Control module 30 is according to the received reflection of 20 institutes of supersonic sensing device assembly
The time difference of wave and transmitted wave, analytical calculation go out to generate the location point of back wave with from mobile device distance S.When sensor group
When part 20 is arranged in from 10 front end of shell of mobile device, distance S is exactly distance detected by supersonic sensing device assembly；When
When the position of 10 front end a distance D of shrinking away from theshell body is arranged in sensor module 20, distance S is that supersonic sensing device assembly is detected
To distance subtract a distance D of 10 front end of ultrasonic sensor shrinking away from theshell body.Control module 30 according to the transmitting of ultrasonic wave and
The received time difference can only judge distance S, can not judge specifically what object to stop ultrasonic wave by.Control module 30 will distance S
Value be compared with preset pre-determined distance L, when S be less than or equal to L when, control module 30 control whether needed from mobile device
Take avoidance measure.Pre-determined distance L is related with the accessibility from mobile device.Pre-determined distance L specifically refers to control module 30
It is interior to preset from 10 front end of shell of mobile device from barrier minimum range, it is equivalent to the accessibility distance of fuselage, it is specific pre-
If the design requirement of distance L is referring to aforementioned.
It is closely detected conventionally, as can not achieve from mobile device, so the value of pre-determined distance L is
It compares biggish, typically greater than the value of S, results in this way, just do not avoid close to slope surface from mobile device.
On the other hand it says, conventionally, as the generally existing range hole of ultrasonic sensor, therefore pre-determined distance
L has to be larger than range hole radius r.When range hole radius r is larger or gradient α is larger, not yet moved from mobile device
To the slope foot position on slope, distance S executes avoidance from mobile device and arranges already less than pre-determined distance L, the control of control module 30 is equal to
It applies, causes just not avoid close to slope surface from mobile device.For grass trimmer, the grass in slope surface region just cannot get always
It cuts and cuts.The detection of obstacles that can be realized short distance from mobile device of the embodiment of the present invention, can not have to identification slope it is direct on
Slope, i.e., the barrier of the invention that slope will not be identified as needing to avoid from mobile device.
As shown in figure 44, Figure 44 shows common barrier barrier distance measurement result corresponding with slope and back echo
The case where signal.Figure 44 a (1) is to encounter slope from mobile device and obtain distance S3, and Figure 44 b (1) is general to encounter from mobile device
Logical barrier 73 simultaneously obtains distance S4, and Figure 44 b (2) is the ultrasonic echo situation of the barrier 73 received from mobile device, should
The echo strength value of ultrasonic wave is higher than back wave threshold value 709, so control module analyzes the ultrasonic echo received
Obtaining the position, there are barriers 73.It is first position 71 that same distance S4, which is corresponded on slope, although from mobile device
Visual field may can cover first position 71 and can receive the ultrasonic echo of the transmitting of first position 71, but can from Figure 44 a (2)
Know, the echo strength value for the ultrasonic wave that first position 71 is reflected is lower than back wave threshold value 709, so while ultrasound can be received
Echo, but practical control module is not regarded as that first position 71 is the barrier for needing to avoid.And from Figure 44 b (1) it is found that certainly
The point for the barrier that mobile device detects is really in the second position 72, and the second position 72 and the ultrasonic wave from mobile device
The distance between sensor is S3, S3 > S4, i.e., larger from the actually measured distance of mobile device, and due to of the invention from moving
Dynamic equipment improves accessibility, and the value of pre-determined distance L is relatively small, so even if when the underfooting for going to slope from mobile device
When, the distance value measured is still greater than pre-determined distance L, so still will continue to advance from mobile device, and then goes up a slope.
The embodiment for solving the problems, such as upward slope is described below in conjunction with specific embodiment.
9th embodiment:
Ninth embodiment of the invention from the identical from mobile device of mobile device and the 5th embodiment, herein not into
Row repeated description and the offer for repeating attached drawing.Ninth embodiment of the invention passes through two ultrasounds at an angle to each other from mobile device
The visual field overlap detection area coverage hole that wave sensor is formed, can shorten or eliminate the range hole from mobile device, in advance
If distance L does not need to be more than or equal to blindarearadius r, pre-determined distance L can be the numerical value of very little, such as 5 centimetres or so.When shifting certainly
When dynamic equipment is moved to the slope foot on slope, it is greater than pre-determined distance L from slope surface distance S from the housing forward end of mobile device, from movement
Equipment still presses original orientation advance, climbs up slope surface from slope foot.After slope surface is climbed up from mobile device, supersonic sensing device assembly 20
Also with the angle of gradient having the same of shell 10, the ultrasonic wave that supersonic sensing device assembly 20 is emitted will not be stopped by slope surface again
And it reflects.Therefore, in the embodiment of the present invention from mobile device occur judging into slope surface barrier probability can substantially under
Drop, to avoid not entering the execution work of slope surface region from mobile device.
Tenth embodiment:
Tenth embodiment of the invention from the identical from mobile device of mobile device and sixth embodiment, herein not into
Row repeated description and the offer for repeating attached drawing.Tenth embodiment of the invention from mobile device only by two supersonic sensings
Device is arranged in parallel, so that the detection zone of ultrasonic sensor is overlapped, overlap detection area coverage hole can shorten or eliminate
From the range hole of mobile device, pre-determined distance L does not need to be more than or equal to blindarearadius r, and pre-determined distance L can be the number of very little
Value, such as 5 centimetres or so.When being moved to the slope foot on slope from mobile device, from the housing forward end of mobile device from slope surface distance S
Greater than pre-determined distance L, original orientation advance is still pressed from mobile device, climbs up slope surface from slope foot.Slope surface is climbed up from mobile device
Afterwards, supersonic sensing device assembly 20 is also with the angle of gradient having the same of shell 10, what supersonic sensing device assembly 20 was emitted
Ultrasonic wave will not be stopped by slope surface again and be reflected.Therefore, occur judging slope surface from mobile device in the embodiment of the present invention
It can decline to a great extent at the probability of barrier, to avoid not entering the execution work of slope surface region from mobile device.
11st embodiment:
Eleventh embodiment of the invention from the identical from mobile device of mobile device and the 7th embodiment, herein not
It carries out repeated description and the offer of attached drawing is provided.The third ultrasonic sensor from mobile device of eleventh embodiment of the invention
65 and first the overlay region that intersects to form of ultrasonic sensor 61 cover the first range hole of the first ultrasonic sensor 61, the
The overlay region that two ultrasonic sensors 63 and the 4th ultrasonic sensor 67 intersect to form covers the second ultrasonic sensor 63
Second range hole.In this embodiment, within the scope of the blind area of the first ultrasonic sensor 61, third ultrasonic sensor 65 can
Accurately to receive the ultrasonic echo of barrier, within the scope of the blind area of the second ultrasonic sensor 63, the 4th ultrasonic wave is passed
Sensor 67 can accurately receive the ultrasonic echo of barrier, can achieve the purpose for reducing or eliminating blind area, improve
The accessibility from mobile device of 11 embodiments.Since eleventh embodiment of the invention is from mobile device accessibility
Good, so pre-determined distance L is smaller, the distance between slope of eleventh embodiment of the invention detected from mobile device value is big
In pre-determined distance L, so eleventh embodiment of the invention is directly realized by upward slope from mobile device.
12nd embodiment:
Twelveth embodiment of the invention from the identical from mobile device of mobile device and the 8th embodiment, herein not
It carries out repeated description and the offer of attached drawing is provided.Twelveth embodiment of the invention from mobile device due in overlapping detection regions
Barrier in domain can have an independent ultrasonic sensor to receive ultrasonic echo, be responsible for receiving the ultrasound of back echo
Wave sensor can not be the ultrasonic echo of barrier by the differentiation of crosstalk, be based on this principle, can be shortened and even be eliminated the tenth
The range hole from mobile device of two embodiments, improves the accessibility from mobile device.Since the present invention the 12nd is real
The good from mobile device accessibility of example is applied, so pre-determined distance L is smaller, twelveth embodiment of the invention is examined from mobile device
The distance between the slope measured value is greater than pre-determined distance L, so eleventh embodiment of the invention is directly real from mobile device
Now go up a slope.
Solve the problems, such as the embodiment of flank wall.
As shown in Figure 45 and Figure 46, Figure 45 and Figure 46 is the operating condition schematic diagram that wall is encountered from mobile device prism.Such as figure
Shown in 45, when ultrasonic sensor is installed horizontally forward, the ultrasonic wave onwards transmission sent is directed to prism from mobile device
Wall can not accurately identify because ultrasonic sensor may be able to not receive after the ultrasonic wave of ultrasonic sensor issues
Ultrasonic echo, because ultrasonic echo may be reflected away directly by wall.
For this kind of special situation, as shown in figure 46, using 100 structure of intelligent grass-removing of first embodiment of the invention
The problem of can solve flank wall, the i.e. scheme of at least two ultrasonic sensors design at an angle to each other, due to two ultrasonic waves
The visual field of sensor intersects, and such that regardless of the heeling condition for being into what angle between mobile device and wall, always deposits
A ultrasonic sensor can send ultrasonic wave and receive ultrasonic echo wherein, and then recognizing wall is barrier, meeting
It is converted from the moving direction of mobile device, and so on, until two ultrasonic sensors do not receive ultrasonic echo.
Solve the problems, such as the embodiment of slype.
When in working region there are when slype, in the lesser situation of width between slype, due to from moving
The distance that dynamic equipment takes reaction to act has to be larger than blindarearadius, all receives ultrasound from no matter mobile device turns left or turn right
The reflection signal of wave, so that control module judges that it is among barrier always, thus can not be by narrow from mobile device
Channel be easy to cause the region near in the two sides of channel that can not be performed the functions such as mowing or cleaning.
As shown in figure 47, Figure 47 is the operating condition schematic diagram that slype is encountered from mobile device, compared with the prior art, if
Using the ultrasonic sensor arrangement in the intelligent grass-removing 100 of first embodiment of the invention, i.e. at least two ultrasonic waves
The scheme of sensor design at an angle to each other, since the visual field of two ultrasonic sensors intersects so that pre-determined distance L compared with
It is small, it in this way can be closer to the two sides boundary of slype from mobile device.When reaching slype from mobile device, ultrasound
The slype two sides that wave sensor detects are still greater than pre-determined distance L at a distance from mobile robot, so mobile machine
People can smoothly enter into slype, after mobile robot enters slype, pass through two mutual angulations of ultrasonic sensor
Degree design can adjust the direction of advance of mobile robot constantly, and the side wall of mobile robot and slype is avoided to collide.Cause
This, from mobile device due to slype width it is too narrow and can not by probability can reduce, two sides near border is not performed
The width distance of work can also be reduced.
Solve the problems, such as the embodiment of anti-crosstalk.
Thriteenth embodiment of the invention it is identical with the intelligent grass-removing 100 of first embodiment from mobile device, this
Place is lack of repetition and repeats the offer of attached drawing.Thriteenth embodiment of the invention from mobile device and first embodiment
The difference of intelligent grass-removing 100 is: the first ultrasonic sensor 21 from mobile device of the 13rd embodiment and the second surpassing
Between sonic sensor 23 have physically-isolated anti-crosstalk structure, anti-crosstalk structure can be one it is independent be located at the first surpass
Physical structure between sonic sensor 21 and the second ultrasonic sensor 23 is also possible at least two and is respectively provided at the first surpass
Physical structure outside or between sonic sensor 21 and the second ultrasonic sensor 23.
As shown in Figure 62,63,53 to 58, it is described from mobile device further include anti-crosstalk structure 80,89, for prevent first
The ultrasonic wave that ultrasonic sensor 21 and 23 one of both of the second ultrasonic sensor are sent is reflected without barrier by the two
Another directly receive.Anti-crosstalk structure 80,89 be set to the first ultrasonic sensor 21 and the second ultrasonic sensor 23 it
Between.Anti-crosstalk structure 80,89 is not contacted with ultrasonic sensor axis to extending on front side of shell 10.Anti-crosstalk structure 80,89 to
The crosspoint of the projection of the first ultrasonic sensor axis and the second ultrasonic sensor axis is extended not more than on front side of shell 10.
Anti-crosstalk structure 80,89 is located at 23 sound wave launch point of 21 sound wave launch point of the first ultrasonic sensor and the second ultrasonic sensor
The front side of line simultaneously extends to shell front side.Anti-crosstalk structure 80,89 includes and ultrasonic sensor axis is at an angle of setting
Stop wall 801.
As shown in Figure 62 and Figure 63, in the first embodiment of anti-crosstalk structure 80, the first ultrasonic sensor 21 and second
There is anti-crosstalk structure 89 between ultrasonic sensor 23.Anti-crosstalk structure 89 includes two stop walls, one of stop wall
(the first i.e. following anti-crosstalk faces 893) are against the first transmitting-receiving region and extend partially into the first transmitting-receiving region, another backstop
Wall (the second i.e. following anti-crosstalk faces 894) is against the second transmitting-receiving region and extends partially into the second transmitting-receiving region.First ultrasound
Wave sensor 21 has first axle 211, and the second ultrasonic sensor 23 has second axis 231.Anti-crosstalk structure 89 has
The first anti-crosstalk face 893 against the first ultrasonic sensor 21 and the second anti-crosstalk against the second ultrasonic sensor 23
Face 894, anti-crosstalk structure 89 are no more than first axle 211 and second axis 231.Anti-crosstalk structure 89 has near first
The first of axis 211 while 891 and close to second axis 231 second while 892.First side 891 is no more than first axle 211,
Second side 892 is no more than second axis 231.In this embodiment of the invention, the first side 891 is the first anti-crosstalk face 893
One side, second in one that 892 be the second anti-crosstalk face 894.First anti-crosstalk face 893 extends partially into the first receiving and delivery bay
Domain, the second anti-crosstalk face 894 extend partially into the second transmitting-receiving region.So set, anti-crosstalk structure 89 can stop the first to surpass
The transmitting-receiving region of 23 adjacent position of sonic sensor 21 and the second ultrasonic sensor avoids the first ultrasonic sensor 21 and
Two ultrasonic sensors 23 generate signal cross-talk between each other.
As shown in figure 53, in the second embodiment of anti-crosstalk structure, the first ultrasonic sensor 21 and the second ultrasonic wave are passed
23 periphery of sensor all has anti-crosstalk structure 80, and each anti-crosstalk structure 80 has stop wall 801.In this embodiment, first
The distance between ultrasonic sensor 21 and the second ultrasonic sensor 23 are between 190mm-200mm, in the distance range,
The structure of stop wall 801 is designed as follows.Two stop walls 801 extend partially into the first transmitting-receiving region and second respectively and receive
Send out region.The first of the corresponding first embodiment of the stop wall 801 of first ultrasonic sensor 21 and the second ultrasonic sensor 23
Anti-crosstalk face 893 and the second anti-crosstalk face 894.So set, anti-crosstalk structure 89 can stop the first ultrasonic sensor 21
And the transmitting-receiving region of 23 adjacent position of the second ultrasonic sensor, avoid the first ultrasonic sensor 21 and the second ultrasonic wave from passing
Sensor 23 generates signal cross-talk between each other.As shown in Fig. 2, two anti-crosstalk structures 80 are symmetrical arranged along shell axis 210.
Figure 53 indicates the difference of setting stop wall 801 and not set stop wall 801, can be seen that it from Figure 53 (a)
In the ultrasonic wave that issues of a ultrasonic sensor, i.e. visual field 98 directly overlie another adjacent ultrasonic sensor,
Since the axis of two ultrasonic sensors is to be angled across setting, so the portion that one of ultrasonic sensor issues
Point ultrasonic wave can be received directly by another adjacent ultrasonic sensor, another ultrasonic sensor that can be adjacent to this
The ultrasonic wave emitted causes crosstalk.From Figure 53 (b) it can be seen that after stop wall 801 of the invention is arranged, one of them is super
The ultrasonic waveform that sonic sensor issues at visual field 98 will not cover another adjacent ultrasonic sensor, so keeping away
Mutual signal cross-talk is exempted from.
As shown in Figure 54 to Figure 58, anti-crosstalk structure 80 further includes to installation corresponding with ultrasonic sensor sounding face
Hole 802, top surface 803, the virtual parallel face 804 parallel with top surface 803, the sounding face of ultrasonic sensor is towards mounting hole 802.
Stop wall 801 includes the first retaining wall 8011 and the second retaining wall 8012.First retaining wall 8011 and the second retaining wall 8012 can be one
Structure is also possible to separate structure, when the first retaining wall 8011 and the second retaining wall 8012 are separate structure, passes through two structures
The effect of stop wall 801 is realized in superposition.Second gear wall 8012 connect with first grade of wall 8011 and from first grade of wall 8011 to shell
Front side extends, and the height of second gear wall 8012 in the vertical direction gradually decreases.First retaining wall has top, in the present invention
Embodiment in, the top, that is, top surface 803.Second retaining wall has upper connecting pin 805, and upper connecting pin 805 is low in the height direction
In top.Second retaining wall 8012 from upper connecting pin 805 to shell 10 on front side of extend, and the height in short transverse gradually decreases.
The width of first retaining wall 8011 is L3, the meeting of ultrasonic sensor transmitting cause the ultrasonic wave of mutual crosstalk largely can quilt the
One retaining wall 8011 stops, and remaining less interference ultrasonic wave only needs the second retaining wall 8012 to stop.
As shown in Figure 54 to Figure 58, the second retaining wall 8012 is gradually reduced towards from the moving direction area of mobile device.The
Two retaining walls 8012 have the upper connecting pin 805 for connecting with the first retaining wall 8011 and being lower than top surface 803, separate first retaining wall 8011 simultaneously
In the height direction lower than the company of the lower connecting pin 806 of upper connecting pin 805 and connection upper connecting pin 805 and lower connecting pin 806
Junction 809.Anti-crosstalk structure 80 has front end face 808 with the substantially vertical connection in top surface 803, and substantially vertical herein refer to can
So that it is completely vertical, it is also possible to probably perpendicular state.
Most string can be blocked by the first retaining wall 8011 of setting and 8012 structure of the second retaining wall, the first retaining wall 8011
Disturb ultrasonic wave, the structure of the second retaining wall 8012 lower than the first retaining wall 8011 can shelves live remaining anti-crosstalk wave, and in structure
In feature subtriangular, that there is direction to be gradually reduced from the moving direction area of mobile device, and the second retaining wall 8012 is certainly
Upper connecting pin 805 is to extending on front side of shell 10, and the height in short transverse gradually decreases, and the shape of second retaining wall 8012 is set
Meter is unique, and the height of height in the height direction gradually decreases, and by the anti-crosstalk of a stairstepping gradually transition, can keep away
Exempt from the excessive ultrasonic wave of shelves, while not influencing detection of obstacles, moreover it is possible to which anti-crosstalk guarantees the standard of short distance detection of obstacles
Exactness.
As shown in figure 57, mounting hole 802 has hole center 807.The distance between hole center 807 and front end face 808 L are greater than
5mm, the distance between upper connecting pin 805 and front end face 808 L2 be less than 10mm, between lower connecting pin 806 and front end face 808 away from
It is less than 20mm from L1.Upper connecting pin 805 and the distance, delta of hole center 807 in the height direction are less than 16mm, joint face 809 with
The range of angle τ between virtual parallel face 804 is 35 ° -55 °.The present invention passes through different parameter designings, it can be ensured that first
The ultrasonic wave that ultrasonic sensor 21 issues directly will not be received directly by the second ultrasonic sensor 23 without barrier, be protected
The accuracy of short distance obstacle recognition has been demonstrate,proved, while ensure that the second ultrasonic sensor 23 sends the stabilization of ultrasonic signal
Property.
As shown in figure 58, stop wall 801 is obliquely installed relative to top surface 803, i.e., between stop wall 801 and top surface 80
Angle is not equal to 90 °, since virtual parallel face 804 is parallel with top surface 803, between virtual parallel face 804 and stop wall 801
Angle μ is greater than 0 °, and angle μ, less than 90 °, angle μ is not equal to 90 °.Anti-crosstalk structure 80 of the invention is by by stop wall 801
It is obliquely installed, by taking the first ultrasonic sensor 21 as an example, when the first ultrasonic sensor 21 emits ultrasonic wave, due to backstop
Wall 801 is obliquely installed, and portion of ultrasonic sound wave can directly be launched from stop wall 801, without being reflected back toward the first ultrasonic wave again
Sensor 21, and then the ultrasonic wave for being directly reflected back the first ultrasonic sensor 21 can be reduced, due to directly by stop wall
The ultrasonic wave that 801 transmittings are gone back tails off, so even if the first ultrasonic sensor 21 has received the reflection of part stop wall 801
Ultrasonic echo, but since those echo strength values are weaker, the back wave threshold value of barrier judgment is not reached, so
First ultrasonic sensor 21 will not do the barrier judgment of short distance, improve the accuracy of short distance barrier judgment.
The 80 of anti-crosstalk structure have the peripheral wall of connection top surface 803 (i.e. around the side wall of surrounding, the side wall and top surface in angle
Degree connection), top surface 803 and peripheral wall surround the closed anti-crosstalk structure 80 of circumferential direction and top surface jointly, and total only has lower section to set
Opening is set, so set, rainwater can be allowed to flow away downwards along the top surface of anti-crosstalk structure 80 and peripheral wall when rainy, is protected
On the other hand ultrasonic probe only reserves opening in lower section, supersonic sensing device assembly is from the virtual parallel face towards pushing up
803 direction of face is installed into anti-crosstalk structure 80, not only facilitates the installation of sensor module, while sensor module installs
Afterwards, directly the side where 80 virtual parallel faces of anti-crosstalk structure is fixedly connected with the shell of grass trimmer, encloses lower section
Opening, to realize comprehensive protection to supersonic sensing device assembly.
The present invention is by being arranged stop wall in the first ultrasonic sensor 21 and 23 adjacent of the second ultrasonic sensor, such as
This setting can be kept away when the first ultrasonic sensor 21 and the second ultrasonic sensor 23 are angled across by stop wall
The ultrasonic wave for exempting from the transmitting of the first ultrasonic sensor 21 is directly to be received by the second ultrasonic sensor 23 by barrier reflection,
It ensure that the accuracy of short distance obstacle recognition.Meanwhile anti-crosstalk structure 80 can also be super using its free internal structure
The visual field transmitting range that ultrasonic wave is constrained when sound wave just issues further prevents ultrasonic wave directly to generate with shell 10 and contacts and produce
Raw ultrasonic echo, ensure that the accuracy of detection of obstacles.
The embodiment of the above-mentioned anti-crosstalk structure of the present invention is suitable for Liang Ge ultrasonic sensor of the present invention crossed geometry
Scheme, i.e., the scheme that the projection of two sensor axis intersects.
For the intelligent grass-removing of the present invention non-contact avoidance above-mentioned or from mobile device, when detecting obstacle
When object, the control module control is continued to move to from what mobile device was not fallen back.Various embodiments of the present invention realize at least five kinds
The avoidance of form, i.e., the described control module control mobile module is moved along preset path, between keeping between shell and barrier
Away from consistently greater than zero；The control module control mobile module is moved along the path for being different from current direction of advance；The control
Module control mobile module is moved along the direction far from barrier；The control module control is slowed down from mobile device and obstacle
Beyond the region of objective existence Zhou Yidong and avoiding obstacles；The side barrier of the control module identification shell moving direction is small at a distance from shell
In preset distance, the control module control mobile module is moved along the other side of moving direction.About this five kinds of forms
Non-contact avoidance embodiment is as follows:
One kind is from mobile device comprising:
Shell；
Mobile module is set to below the shell, for driving the shell mobile；
Drive module, for driving the mobile module mobile；
Control module, for controlling the intelligent grass-removing；
It is arranged on the shell to identify the ultrasonic module from mobile device direction of advance barrier, the ultrasonic wave
Sensor module includes at least two ultrasonic sensors, including the first ultrasonic sensor and the second ultrasonic sensor, institute
The first ultrasonic sensor is stated in the inscribed receipts in the first transmitting-receiving region and transmitting ultrasonic wave, second ultrasonic sensor is second
The inscribed receipts in region and transmitting ultrasonic wave are received and dispatched, first ultrasonic sensor and second ultrasonic sensor are at an angle to each other
Ground is arranged on the housing, so that the first transmitting-receiving region and second transmitting-receiving region partly overlap, to form three
A detection zone, wherein the first transmitting-receiving region and the second overlapped part in transmitting-receiving region are third detection zone, and first receives
Sending out the part except being overlapped in region is the first detection zone, and the part except being overlapped in the second transmitting-receiving region is the second detection zone
Domain, when an obstacle is detected, the control module control continue to move to and keep shell and barrier from what mobile device was not fallen back
The spacing between object is hindered to be consistently greater than zero.In one embodiment, the control module control mobile module is moved along preset path
It is dynamic, keep the spacing between shell and barrier to be consistently greater than zero.
One kind is from mobile device comprising:
Shell；
Mobile module is set to below the shell, for driving the shell mobile；
Drive module, for driving the mobile module mobile；
Control module, for controlling the intelligent grass-removing；
It is arranged on the shell to identify the ultrasonic module from mobile device direction of advance barrier, the ultrasonic wave
Sensor module includes at least two ultrasonic sensors, including the first ultrasonic sensor and the second ultrasonic sensor, institute
The first ultrasonic sensor is stated in the inscribed receipts in the first transmitting-receiving region and transmitting ultrasonic wave, second ultrasonic sensor is second
The inscribed receipts in region and transmitting ultrasonic wave are received and dispatched, first ultrasonic sensor and second ultrasonic sensor are at an angle to each other
Ground is arranged on the housing, so that the first transmitting-receiving region and second transmitting-receiving region partly overlap, to form three
A detection zone, wherein the first transmitting-receiving region and the second overlapped part in transmitting-receiving region are third detection zone, and first receives
Sending out the part except being overlapped in region is the first detection zone, and the part except being overlapped in the second transmitting-receiving region is the second detection zone
Domain, when an obstacle is detected, the control module control are different from current advance side from the continuation edge that mobile device is not fallen back
To path it is mobile.
One kind is from mobile device comprising:
Shell；
Mobile module is set to below the shell, for driving the shell mobile；
Drive module, for driving the mobile module mobile；
Control module, for controlling the intelligent grass-removing；
It is arranged on the shell to identify the ultrasonic module from mobile device direction of advance barrier, the ultrasonic wave
Sensor module includes at least two ultrasonic sensors, including the first ultrasonic sensor and the second ultrasonic sensor, institute
The first ultrasonic sensor is stated in the inscribed receipts in the first transmitting-receiving region and transmitting ultrasonic wave, second ultrasonic sensor is second
The inscribed receipts in region and transmitting ultrasonic wave are received and dispatched, first ultrasonic sensor and second ultrasonic sensor are at an angle to each other
Ground is arranged on the housing, so that the first transmitting-receiving region and second transmitting-receiving region partly overlap, to form three
A detection zone, wherein the first transmitting-receiving region and the second overlapped part in transmitting-receiving region are third detection zone, and first receives
Sending out the part except being overlapped in region is the first detection zone, and the part except being overlapped in the second transmitting-receiving region is the second detection zone
Domain, when an obstacle is detected, the control module control the continuation not fallen back from mobile device along the direction far from barrier
It is mobile.
One kind is from mobile device comprising:
Shell；
Mobile module is set to below the shell, for driving the shell mobile；
Drive module, for driving the mobile module mobile；
Control module, for controlling the intelligent grass-removing；
It is arranged on the shell to identify the ultrasonic module from mobile device direction of advance barrier, the ultrasonic wave
Sensor module includes at least two ultrasonic sensors, including the first ultrasonic sensor and the second ultrasonic sensor, institute
The first ultrasonic sensor is stated in the inscribed receipts in the first transmitting-receiving region and transmitting ultrasonic wave, second ultrasonic sensor is second
The inscribed receipts in region and transmitting ultrasonic wave are received and dispatched, first ultrasonic sensor and second ultrasonic sensor are at an angle to each other
Ground is arranged on the housing, so that the first transmitting-receiving region and second transmitting-receiving region partly overlap, to form three
A detection zone, wherein the first transmitting-receiving region and the second overlapped part in transmitting-receiving region are third detection zone, and first receives
Sending out the part except being overlapped in region is the first detection zone, and the part except being overlapped in the second transmitting-receiving region is the second detection zone
Domain, the control module control mobile module is mobile, and when an obstacle is detected, the control module control subtracts from mobile device
What speed was not fallen back continues around the mobile simultaneously avoiding obstacles in barrier periphery.
One kind is from mobile device comprising:
Shell；
Mobile module is set to below the shell, for driving the shell mobile；
Drive module, for driving the mobile module mobile；
Control module, for controlling the intelligent grass-removing；
It is arranged on the shell to identify the ultrasonic module from mobile device direction of advance barrier, the ultrasonic wave
Sensor module includes at least two ultrasonic sensors, including the first ultrasonic sensor and the second ultrasonic sensor, institute
The first ultrasonic sensor is stated in the inscribed receipts in the first transmitting-receiving region and transmitting ultrasonic wave, second ultrasonic sensor is second
The inscribed receipts in region and transmitting ultrasonic wave are received and dispatched, first ultrasonic sensor and second ultrasonic sensor are at an angle to each other
Ground is arranged on the housing, so that the first transmitting-receiving region and second transmitting-receiving region partly overlap, to form three
A detection zone, wherein the first transmitting-receiving region and the second overlapped part in transmitting-receiving region are third detection zone, and first receives
Sending out the part except being overlapped in region is the first detection zone, and the part except being overlapped in the second transmitting-receiving region is the second detection zone
The side barrier in domain, the control module identification shell moving direction is less than preset distance, the control at a distance from shell
Molding block control mobile module is moved along the other side of moving direction.
About the structure of ultrasonic sensor or defining and first embodiment for receiving and transmitting signal in above-mentioned four kinds of modes
Intelligent grass-removing 100 is identical, and defining for anti-crosstalk structure puts crosstalk knot from mobile device such as above-mentioned 13rd embodiment
Structure is identical, is not repeated to describe herein.
Figure 59 is a kind of circuit unit schematic diagram that control module controls supersonic sensing device assembly.With first embodiment
It is illustrated for intelligent grass-removing 100, other embodiments same from mobile device or uses same procedure can be with
It obtains.Supersonic sensing device assembly 20 includes the first ultrasonic sensor 21 and the second ultrasonic sensor 23.Each ultrasonic wave
Sensor has respective ultrasonic wave transmitting processing circuit and ultrasonic wave receiving processing circuit.As shown in figure 44, the first ultrasonic wave
The ultrasonic wave transmitting processing circuit of sensor 21 includes driving circuit 31a and transformer 32a.One end of driving circuit 31a connects
MCU in control module 30, receives the enabling signal of MCU, to generate the driving signal of predeterminated frequency.Driving signal is by becoming
The voltage transformation of depressor 32a is converted into the electric signal suitable for 21 parameter of the first ultrasonic sensor.Electric signal drives the first ultrasound
The ultrasonic wave of the transmitting preset frequency of wave sensor 21.The specific mode of driving circuit 31a can be single-ended burst mode or double
Hold push-pull mode, preferably both-end push-pull mode.The predeterminated frequency of driving signal is generally according to the hard of used sensor
Part parameter and design.In this embodiment, predeterminated frequency range is greater than 25KHZ, preferably 57KHZ -60KHZ, specifically such as
58.5KHZ.In this embodiment, the ultrasonic wave transmitting processing circuit and the first ultrasonic sensor of the second ultrasonic sensor 23
21 ultrasonic wave transmitting processing circuit is the same, and details are not described herein again.
As shown in figure 59, Figure 59 is that the control module of an embodiment of the present invention controls the circuit of supersonic sensing device assembly
Unit.The ultrasonic wave receiving processing circuit of first ultrasonic sensor 21 includes AD conversion unit 35a and data processing unit
37a.First ultrasonic sensor 21 is received by the reflected ultrasonic wave of barrier, and ultrasonic wave is converted into electric signal
It is defeated by AD conversion unit 35a.AD conversion unit 35a converts analog signals into digital signal, and data processing list is given in output
First 37a.Data processing unit 37a carries out series of processes to digital signal and obtains signal 1DC, and 1DC is transferred to control mould
Block 30.Control module 30 receives 1DC, and the distance of barrier is known according to the analysis to 1DC.Data processing unit 37 is main
It is operated including filtering, rectification, sampling or extraction etc., reach shielding crosstalk signal and/or the signal form of 1DC is made to meet control
The function of 30 analytical form of molding block.In this embodiment, the ultrasonic wave receiving processing circuit of the second ultrasonic sensor 23 and
The ultrasonic wave receiving processing circuit of first ultrasonic sensor 21 is the same, and details are not described herein again.
Preferably, there is synchronization signal in MCU, when the first ultrasonic sensor 21 emits ultrasonic wave, MCU believes synchronous
Number it is sent to the receiving portion of the second ultrasonic sensor 23.When the first ultrasonic sensor 21 starting transmitting ultrasonic wave, second
The starting of ultrasonic sensor 23 receives ultrasonic wave.Similarly, when the second ultrasonic sensor 23 emits ultrasonic wave, MCU will be synchronized
Signal is sent to the receiving portion of the first ultrasonic sensor 21.When the second ultrasonic sensor 23 starting transmitting ultrasonic wave, the
The starting of one ultrasonic sensor 21 receives ultrasonic wave.
The first supersonic sensing device assembly includes the first ultrasonic sensor 21 and first circuit board 21a, and described the
Two supersonic sensing device assemblies include the second ultrasonic sensor 23 and second circuit board 23a, the first supersonic sensing device assembly
The ultrasonic wave firing order of master control borad sending is received with the second ultrasonic sensor component synchronization.Realize the first supersonic sensing
Device assembly and the second ultrasonic sensor component synchronization, which receive instruction, has two ways.In first way, master control borad 200 is given
First circuit board 21a issues ultrasonic wave firing order, the ultrasonic wave firing order synchronous transfer that first circuit board 21a will be received
Give second circuit board 23a.As shown in figure 8, first circuit board 21a realized by way of software with second circuit board 23a it is synchronous
Signal is mutually set.As shown in figure 60, first circuit board 21a and second circuit board 23a is by setting two-way transmission line to realize
Synchronization signal is mutually set.In the second way, it is super that master control borad gives first circuit board 21a and second circuit board 23a to issue simultaneously
Sound wave firing order is to realize that synchronization signal is mutually set.
In one embodiment, the supersonic sensing device assembly alternate emission ultrasonic wave letter of master control borad control at least two
Number
As shown in figure 60, Figure 60 is that the control module of second of embodiment of the present invention controls the electricity of supersonic sensing device assembly
Road unit.It is illustrated by taking the intelligent grass-removing 100 of first embodiment as an example.The first circuit board of first ultrasonic sensor 21
21a includes the first MCU and the first transformer, and the first ultrasonic sensor 21 is received and is reflected back by barrier by the first MCU
The ultrasonic wave come is transferred to the 3rd MCU by serial ports, and the second circuit board 23a of the second ultrasonic sensor 23 includes the 2nd MCU
With the second transformer, the 2nd MCU receives the second ultrasonic sensor 23 to be passed through by the reflected ultrasonic wave of barrier
Serial ports is transferred to the 3rd MCU, and the 3rd MCU can carry out analysis to the ultrasonic wave of the first MCU and the 2nd MCU reflection transmitted and know barrier
Hinder the distance and location information of object, finally exports processing result to mainboard, mainboard can select to carry out relevant logic control.It is main
Plate is controlled to be used to provide mobile and work control to from mobile device.It can be in first circuit board 21a and second circuit board 23a
Including data processing unit, data processing unit mainly includes the operations such as filtering, rectification, sampling or extraction, reaches shielding crosstalk
Signal and/or the signal form of acquisition is made to meet the function of the 3rd MCU analytical form.In this embodiment, first circuit board
Connection line 96, transmission of the connection line 96 to realize synchronization signal are equipped between 21a and second circuit board 23a.?
When one ultrasonic sensor 21 emits ultrasonic wave, synchronization signal is sent to connecing for the second ultrasonic sensor 23 by connection line 96
Receiving portions.When the first ultrasonic sensor 21 starting transmitting ultrasonic wave, the starting of the second ultrasonic sensor 23 receives ultrasonic wave.Together
Reason, when the second ultrasonic sensor 23 emits ultrasonic wave, synchronization signal is sent to the first supersonic sensing by connection line 96
The receiving portion of device 21.When the second ultrasonic sensor 23 starting transmitting ultrasonic wave, the starting of the first ultrasonic sensor 21 is received
Ultrasonic wave.In another embodiment of the circuit unit of the control module control supersonic sensing device assembly of second of embodiment
In, the first circuit board 21a of the first ultrasonic sensor 21 can not include transformer, and when low-voltage can not need setting and become
Depressor.
In an embodiment of the present invention, ultrasonic sensor is connected with a processing circuit plate, has on the processing circuit plate
It realizes the operational amplifier circuit of amplification module function, realize the A/D converter circuit of AD conversion function.Have on circuit board and is able to achieve data
The chip of buffered memory module function and have with the relatively small MCU for realizing data extraction module function, in control module
Function of another relatively large MCU to realize data analysis module, the analysis which can be realized data are raw
At range information and location information, in the relatively large MCU there is software can complete between barrier and ultrasonic sensor
Distance value and setting pre-determined distance between comparison.In other embodiments, the comparison of pre-determined distance can also be by hard
The mode of part realizes comparison, such as FPGA, DSP of distance etc..The big MCU can be set on mainboard, can also be independent
Setting is on a circuit board.Comprehensive analysis module can with dust on mainboard, can not dust on mainboard, but it is and opposite
Big MCU dust is on a circuit board.Master controller is arranged on mainboard, and master controller is to the result according to existing analysis
Control the movement from mobile device.The analysis result can pass to master controller by hardware, can also pass through electric signal
Mode passes to master controller, for example high electricity frequency instruction or low electricity indicate frequently or the mode of communication passes to master controller.At it
In his embodiment, the function of the present invention relatively small MCU and relatively large MCU can be realized using a big MCU.
As shown in Figure 61, in the another of the circuit unit of the control module control supersonic sensing device assembly of second of embodiment
In one embodiment, connection circuit can be not provided between first circuit board 21a and second circuit board 23a, directly second
Synchronization signal is set in MCU, when the first ultrasonic sensor 21 emits ultrasonic wave, synchronization signal is sent to second by the 2nd MCU
The receiving portion of ultrasonic sensor 23.When the first ultrasonic sensor 21 starting transmitting ultrasonic wave, the second ultrasonic sensor
23 startings receive ultrasonic wave.Similarly, when the second ultrasonic sensor 23 emits ultrasonic wave, the 2nd MCU sends synchronization signal
To the receiving portion of the first ultrasonic sensor 21.When the second ultrasonic sensor 23 starting transmitting ultrasonic wave, the first ultrasonic wave
The starting of sensor 21 receives ultrasonic wave.
In two kinds of implementations of the circuit unit of the control module control supersonic sensing device assembly of above-mentioned second of embodiment
In example, collected data directly can be transferred to the 3rd MCU and are analyzed and processed by the first MCU, and the first MCU can also be internal
Data analysis unit is set, the 2nd MCU is transmitted further to after pre-processing to collected data and carries out the processing of analysis again.The
Three MCU can send instruction to the first ultrasonic sensor 21 and the second ultrasonic sensor 23, for example umber of pulse requires, amplification
Multiple requires, ultrasonic wave sends instruction, ultrasonic echo receives instruction etc..
For two kinds of realities of the circuit unit of the control module control supersonic sensing device assembly of above-mentioned second of embodiment
Apply example, in conjunction with first embodiment intelligent grass-removing 100 in the first ultrasonic sensor 21 and the second ultrasonic sensor 23 receive
The data packet handled the 3rd MCU of signaling processing is described.When the first ultrasonic sensor 21 sends ultrasonic wave, third
MCU will obtain the echo-signal that the first ultrasonic sensor 21 receives and the echo that the second ultrasonic sensor 23 receives is believed
Number, referred to herein as first via signal；When the second ultrasonic sensor 23 sends ultrasonic wave, the 3rd MCU will obtain the second ultrasound
The echo-signal that the echo-signal and the first ultrasonic sensor 21 that wave sensor 23 receives receive, referred to herein as second
Total road signal, first via signal and second road signal include four groups of ultrasonic echos, and the 3rd MCU passes through to four groups of ultrasonic echos
Carry out the information of analysis acquired disturbance object.When continuing the first ultrasonic sensor 21 and sending ultrasonic wave, the 3rd MCU will obtain the
The echo-signal that the echo-signal and the second ultrasonic sensor 23 that one ultrasonic sensor 21 receives receive, referred to herein as
Total third road signal, second road signal and third road signal include four groups of ultrasonic echos, and the 3rd MCU passes through to this four groups ultrasounds
Echo carries out the information of analysis acquired disturbance object.So circulation, the 3rd MCU are directed to always the first ultrasonic sensor 21 and second
Ultrasonic sensor 23 sends the four groups of ultrasonic echos obtained after ultrasonic wave respectively and carries out obstacle probe.
The introduction of foregoing circuit unit be equally applicable to the present invention 13 embodiments above-mentioned from mobile device.Figure 60
With 61 in be that the examples of two ultrasonic wave gap sensors has circuit of the multi-wad join to the 3rd MCU, about hair if it is multiple
The instruction for sending ultrasonic wave provides corresponding instruction by the 3rd MCU, the original that the receiving and transmitting signal about multiple ultrasonic sensors follows
Then, it than alternately sending in time in turn if any overlapping detection regions, is not repeated to illustrate herein.
As shown in Figure 64, the embodiment of the present invention from mobile device, supersonic sensing can be known by the method for test
The transmitting and reception condition of device assembly signal, are illustrated by taking the intelligent grass-removing 100 of first embodiment as an example, specific to test
Method are as follows: it will be connect from the first ultrasonic sensor 21 of mobile device with the reception device 87 for capableing of received ultrasonic signal,
Second ultrasonic sensor 23 is connect with the reception device 87 that another is capable of received ultrasonic signal, then receives two
Device 87 is connected on oscillograph, and the electric signal that reception device 87 is transmitted to oscillograph can be shown on oscillograph.Pass through two
The time of 87 received ultrasonic signal of reception device can determine and determine that the first ultrasonic sensor 21 and the second ultrasonic wave pass
Whether sensor 23 is alternate emission in time in turn.The super of the first ultrasonic sensor 21 transmitting can also be blocked with object
Sound wave sees whether to impact 23 received signal of the second ultrasonic sensor, i.e., whether influences the second ultrasonic wave biography
The signal of sensor 23 exports as a result, if had an impact, it was demonstrated that the second ultrasonic sensor 23 is receiving the first ultrasonic sensor
The ultrasonic echo of 21 ultrasonic waves issued, i.e., provable first ultrasonic sensor 21 is when sending ultrasonic wave, the second ultrasonic wave
Sensor 23 can receive the reflected ultrasonic echo of ultrasonic wave institute of the first ultrasonic sensor 21 sending simultaneously.Second ultrasound
The test method of wave sensor 23 is with the first ultrasonic sensor 21, and it is no longer repeated.It can also be with a barrier in machine
The case where taking exercises immediately ahead of device, observing the first ultrasonic sensor 21 and the second 23 receives echo-signal of ultrasonic sensor,
If can receive ultrasonic echo in some regions the first ultrasonic sensor 21 and the second ultrasonic sensor 23, it was demonstrated that the
The visual field of one ultrasonic sensor 21 and the second ultrasonic sensor 23 has overlapping, i.e. the first ultrasonic sensor 21 and second
There are overlapping detection regions, barriers to be in overlapping detection regions for ultrasonic sensor 23.Utilize the method for this kind of ultrasonic echo
It can also be seen that the field range of the first ultrasonic sensor 21 and the second ultrasonic sensor 23, when barrier is very close to certainly
When mobile device front end, the blind zone position it can also be seen that ultrasonic sensor is shown by waveform on oscillograph.
As shown in Figure 65, Figure 65 is control block diagram of the present invention from mobile device.With the intelligent grass-removing of first embodiment
For the first ultrasonic sensor 21 in 100, the control of the ultrasonic sensor of other embodiments is same.Sensor is micro-
Controller 705 conveys instruction to pulse circuit module 708, and pulse circuit module 708 sends super to the reception and registration of ultrasonic sensor 21
The instruction of sound wave, ultrasonic sensor receive instruction and send ultrasonic wave, and ultrasonic sensor receives back echo, and by putting
Big circuit module 701 amplifies processing, analog-to-digital conversion process is carried out by analog-to-digital conversion module 702, by filter module 703
It is filtered, data that treated enter data cache module 704, and sensor microcontroller 705 is data cache module
704 the inside data pass to data processing module 706 carry out data analysis, analysis result feed back to again master controller 707 into
Row executes.Dotted line in Figure 65 indicates that the part is the control module that ultrasonic module is related to.About the control from mobile device
Block diagram processed is suitable for the intelligent grass-removing of above-mentioned 13 embodiments of the present invention or the description from mobile device.It is equally applicable to
The embodiment of the avoidance of aforementioned four kinds of forms, i.e., the described control module control mobile module are moved along preset path, keep shell
Spacing between barrier is consistently greater than zero；The control module control mobile module is along the road for being different from current direction of advance
Diameter is mobile；The control module control mobile module is moved along the direction far from barrier；The control module identification shell moves
The side barrier in dynamic direction is less than preset distance at a distance from shell, and the control module control mobile module is along the side of movement
To the other side it is mobile.
As shown in Figure 66, Figure 66 is the method flow diagram of the control module 30 cognitive disorders object of the invention from mobile device.
Described with the intelligent grass-removing 100 of first embodiment, other embodiments from mobile device according to ultrasonic sensor number
The difference of amount and ultrasonic wave sending method (alternate emission or emitting simultaneously) carries out corresponding method replacement.
As shown in Figure 66, the method from mobile device cognitive disorders object, it is described from mobile device include control module
And first ultrasonic sensor, the control method comprising steps of
S11: log-on data acquisition；
S12: ultrasonic sensor sends ultrasonic wave and receives back echo；
S13: acquired disturbance object distance and echo strength are analyzed according to back echo；
S14: compare obstacle distance and pre-determined distance and compared with echo strength and back wave threshold value disturbance in judgement
Principle condition.
When including the first ultrasonic sensor 21 and second ultrasonic sensor 23 from mobile device, obstacle is received
The method of object echo comprising steps of
S111: log-on data acquisition；
S112: one in first ultrasonic sensor 21 and second ultrasonic sensor 23 is in the ti time
It is inscribed in the ti period that ultrasonic wave, first ultrasonic sensor 21 and second ultrasonic sensor 23 are sent in section
Back echo is received, i-th group of back echo is obtained；
S113: another in first ultrasonic sensor 21 and second ultrasonic sensor 23 is in the ti time
Emit ultrasonic wave, first ultrasonic sensor 21 and second ultrasonic sensor 23 in the ti+1 period after section
Back echo is received within the ti+1 period, obtains i+1 group back echo；
S114: analysis acquired disturbance object distance and echo are carried out to i+1 group back echo and i-th group of back echo
Intensity；
S115: compare obstacle distance and pre-determined distance and compared with echo strength and back wave threshold value disturbance in judgement
Principle condition.
As i=1, the control method comprising steps of
S11: log-on data acquisition；
S12: the control module controls the first ultrasonic sensor 21 and sends ultrasonic wave in first time period, and described the
One ultrasonic sensor 21 and second ultrasonic sensor 23 receive back echo in first time period, obtain first
Group back echo；
S13: the control module controls the second time of second ultrasonic sensor 23 after the first period of time
Emit ultrasonic wave in section, first ultrasonic sensor 21 and second ultrasonic sensor 23 are in second time period
Back echo is received, second group of back echo is obtained；
S14: the control module combines first group of back echo and second group of back echo carry out distance analysis and
Echo strength analysis, and by analysis obtain distance value be compared with pre-determined distance, will analysis obtain echo strength value and
Transmitted wave threshold value is compared, acquired disturbance object information.
As i=2 in turn in time, the control method comprising steps of
S11: log-on data acquisition；
S12: the control module controls the first ultrasonic sensor 21 and sends ultrasonic wave in first time period, and described the
One ultrasonic sensor 21 and second ultrasonic sensor 23 receive back echo in first time period, obtain first
Group back echo；
S13: the control module controls the second time of second ultrasonic sensor 23 after the first period of time
Emit ultrasonic wave in section, first ultrasonic sensor 21 and second ultrasonic sensor 23 are in second time period
Back echo is received, second group of back echo is obtained；
S14: the control module combines first group of back echo and second group of back echo carry out distance analysis and
Echo strength analysis, and by analysis obtain distance value be compared with pre-determined distance, will analysis obtain echo strength value and
Transmitted wave threshold value is compared, acquired disturbance object information；
S15: the control module controls the first ultrasonic sensor 21 and sends ultrasonic wave within the third period, and described the
One ultrasonic sensor 21 and second ultrasonic sensor 23 receive back echo within the third period, obtain third
Group back echo；
S16: the control module combination third group back echo and second group of back echo carry out distance analysis and
Echo strength analysis, and by analysis obtain distance value be compared with pre-determined distance, will analysis obtain echo strength value and
Transmitted wave threshold value is compared, acquired disturbance object information.
As i=3 in turn in time, the control method comprising steps of
S11: log-on data acquisition；
S12: the control module controls the first ultrasonic sensor 21 and sends ultrasonic wave in first time period, and described the
One ultrasonic sensor 21 and second ultrasonic sensor 23 receive back echo in first time period, obtain first
Group back echo；
S13: the control module controls the second time of second ultrasonic sensor 23 after the first period of time
Emit ultrasonic wave in section, first ultrasonic sensor 21 and second ultrasonic sensor 23 are in second time period
Back echo is received, second group of back echo is obtained；
S14: the control module combines first group of back echo and second group of back echo carry out distance analysis and
Echo strength analysis, and by analysis obtain distance value be compared with pre-determined distance, will analysis obtain echo strength value and
Transmitted wave threshold value is compared, acquired disturbance object information；
S15: the control module controls the first ultrasonic sensor 21 and sends ultrasonic wave within the third period, and described the
One ultrasonic sensor 21 and second ultrasonic sensor 23 receive back echo within the third period, obtain third
Group back echo；
S16: the control module combination third group back echo and second group of back echo carry out distance analysis and
Echo strength analysis, and by analysis obtain distance value be compared with pre-determined distance, will analysis obtain echo strength value and
Transmitted wave threshold value is compared, acquired disturbance object information；
S17: the control module controls fourth time of second ultrasonic sensor 23 after the third period
Emit ultrasonic wave in section, first ultrasonic sensor 21 and second ultrasonic sensor 23 are within the 4th period
Back echo is received, the 4th group of back echo is obtained；
S18: the control module combine the 4th group of back echo and third group back echo carry out distance analysis and
Echo strength analysis, and by analysis obtain distance value be compared with pre-determined distance, will analysis obtain echo strength value and
Transmitted wave threshold value is compared, acquired disturbance object information.
It can analogize from the above citing, the control module is every time to the i+1 group obstacle obtained within the ti+1 period
Object echo and the interior ti group back echo obtained of previous ti period carry out distance analysis and echo strength analysis, and will divide
The distance value that analysis obtains is compared with pre-determined distance, and the echo strength value that analysis obtains is compared with transmitted wave threshold value
Compared with acquired disturbance object information.Ti period and ti-1 period are the first ultrasonic sensor 21 and second ultrasound respectively
Wave sensor 23 emit signal and period and described surpass with the first ultrasonic sensor of the propulsion of period 21 and the second
Sonic sensor 23 is sent ultrasonic wave in turn.
Comparison obstacle distance described in above-mentioned steps S14 and S115 and pre-determined distance and compared with echo strength and anti-
The method of ejected wave threshold value disturbance in judgement principle condition is that, when the distance value that analysis obtains is greater than given threshold, judgement does not have
Barrier.
Comparison obstacle distance described in above-mentioned steps S14 and S115 and pre-determined distance and compared with echo strength and anti-
The method of ejected wave threshold value disturbance in judgement principle condition is that when the distance value that analysis obtains is less than given threshold, and analysis obtains
When the echo strength value obtained is less than transmitted wave threshold value, no barrier is judged.
Comparison obstacle distance described in above-mentioned steps S14 and S115 and pre-determined distance and compared with echo strength and anti-
The method of ejected wave threshold value disturbance in judgement principle condition is that when the distance value that analysis obtains is less than given threshold, but analysis obtains
When the echo strength value obtained is greater than transmitted wave threshold value, judgement has barrier.
In above-mentioned steps S13, the processing of back echo includes:
Multiple is amplified to ultrasonic echo analog signal to adjust；
Signal after adjusting to amplification factor carries out analog-to-digital conversion；
Digital filtering is carried out to the signal after analog-to-digital conversion.
The visual field of voltage, umber of pulse and ultrasonic sensor has certain relationship, and voltage is bigger, and umber of pulse is more, visual field
Range it is wider, but voltage has a limiting value, and the limiting value of voltage is that the sensor that is determined of sensor characteristics can be born
Maximum voltage value.
Although several embodiments of the present invention only have been described and illustrated in this specification, those skilled in the art should
Prediction is easy for executing function/described herein or obtaining the other means or structure of structure described herein, it is each this
The variation or modification of sample are all considered as within the scope of the invention.
Claims (26)
1. a kind of from mobile device comprising:
Shell；
Mobile module is set on the shell, for driving the shell mobile；
Drive module, for driving the mobile module mobile；
Control module, it is described from mobile device for controlling；
It is characterized in that, the supersonic sensing device assembly to identify shell front obstacle is set on the shell, it is described super
Sonic sensor component includes the first ultrasonic sensor and the second ultrasonic sensor, first ultrasonic sensor and institute
The second ultrasonic sensor is stated to arrange at an angle to each otherly on the housing.
2. according to claim 1 from mobile device, which is characterized in that first ultrasonic sensor has first axle
Line, the second ultrasonic sensor have second axis, and the first axle and second axis from depression angle there is projection to hand over
Point, the first axle are the axis of the ultrasonic sound field of the first ultrasonic sensor transmitting, and the second axis is the second to surpass
The axis of the ultrasonic sound field of sonic sensor transmitting.
3. according to claim 2 from mobile device, which is characterized in that the first axle is mutually with second axis projection
Angular range be 60 ° -110 °.
4. according to claim 3 from mobile device, which is characterized in that the first axle is mutually with second axis projection
Angular range be 70 ° -90 °.
5. according to claim 2 from mobile device, which is characterized in that the shell have shell axis, described first
Projection angle range between axis and/or second axis and shell axis is 10 ° -80 °.
6. according to claim 5 from mobile device, which is characterized in that the first axle and/or second axis and shell
Projection angle range between body axis is 25 ° -55 °.
7. according to claim 2 from mobile device, which is characterized in that the first axle and second axis are in height side
It is coplanar upwards.
8. according to claim 1 from mobile device, which is characterized in that first ultrasonic sensor is in the first transmitting-receiving
Ultrasonic wave is received and emitted in region, receipts and transmitting ultrasonic wave are inscribed in the second transmitting-receiving region in second ultrasonic sensor,
First ultrasonic sensor and second ultrasonic sensor it is at an angle to each other be arranged such that it is described first transmitting-receiving region and
Second transmitting-receiving region partly overlaps, to form three detection zones, wherein the first transmitting-receiving region and the second transmitting-receiving region
Overlapped part be third detection zone, first transmitting-receiving region in be overlapped except part be the first detection zone, second
Receiving and dispatching the part except being overlapped in region is the second detection zone.
9. according to claim 8 from mobile device, which is characterized in that the third detection zone at least while covers institute
The second range hole of part in the first range hole of part and second transmitting-receiving region in the first transmitting-receiving region is stated, it is described
First range hole is the aftershock of a period of time after the first ultrasonic sensor emits ultrasonic signal, in this time
In section, ultrasonic echo signal can not be distinguished with the ultrasonic signal of transmitting, and second range hole is the second ultrasonic wave biography
Sensor emit ultrasonic signal after a period of time aftershock, within this period, ultrasonic echo signal can not be with
The ultrasonic signal of transmitting is distinguished.
10. according to claim 8 from mobile device, which is characterized in that control module control first ultrasound
Alternate emission ultrasonic wave, the control module control described first in time for wave sensor and second ultrasonic sensor
Ultrasonic sensor emits ultrasonic wave, first ultrasonic sensor and second supersonic sensing in first time period
Device receives back echo in first time period, and the control module controls second ultrasonic sensor at the first time
Emit ultrasonic wave in second time period after section, first ultrasonic sensor and second ultrasonic sensor are the
Back echo is received in two periods.
11. according to claim 10 a kind of from mobile device, which is characterized in that the control module is according to the ultrasound
The first ultrasonic sensor and the second ultrasonic sensor emit and receive the combination of back echo in wave sensor component
Situation, the orientation of disturbance in judgement object.
12. according to claim 11 a kind of from mobile device, which is characterized in that when in the supersonic sensing device assembly
Only the first ultrasonic sensor emits ultrasonic wave, and when only the first ultrasonic sensor reception back echo, described
Control module disturbance in judgement level is in first detection zone；When only the second ultrasonic wave in the supersonic sensing device assembly
Sensor emission ultrasonic wave, and when only the second ultrasonic sensor reception back echo, the control module judgement barrier
Hinder level in second detection zone；When in the supersonic sensing device assembly the first ultrasonic sensor transmitting ultrasonic wave,
When first ultrasonic sensor and the second ultrasonic sensor receive back echo, the control module disturbance in judgement level in
The third detection zone；When the second ultrasonic sensor transmitting ultrasonic wave, the first ultrasound in the supersonic sensing device assembly
When wave sensor and the second ultrasonic sensor receive back echo, the control module disturbance in judgement level is in the third
Detection zone；When the first ultrasonic sensor emits ultrasonic wave, the second ultrasonic sensor in the supersonic sensing device assembly
When receiving back echo, the control module disturbance in judgement level is in the third detection zone；When the supersonic sensing
When the second ultrasonic sensor transmitting ultrasonic wave, the first ultrasonic sensor receive back echo in device assembly, the control
Module disturbance in judgement level is in the third detection zone.
13. according to claim 10 from mobile device, which is characterized in that the control module is passed according to the ultrasonic wave
The transmitting ultrasonic wave of sensor component and the time difference for receiving back echo calculate barrier from from a distance from mobile device.
14. according to claim 1 from mobile device, which is characterized in that when the ultrasonic sensor of collaborative work
When being 3 or more, the non-overlapping ultrasonic sensor of multiple transmitting ultrasonic/sonic wave transmission ranges uses while emitting ultrasonic wave
Mode, sonic transmissions range has one of ultrasonic sensor of overlapping and the non-overlapping ultrasonic wave of sonic transmissions range to pass
When sensor emits ultrasonic wave simultaneously, remaining ultrasonic sensor receives ultrasonic wave.
15. according to claim 1 from mobile device, which is characterized in that when the ultrasonic sensor of collaborative work
When being 3 or more, the non-overlapping ultrasonic sensor of multiple transmitting ultrasonic/sonic wave transmission ranges uses emits ultrasonic wave in turn
Mode, sonic transmissions range have overlapping one of ultrasonic sensor transmitting ultrasonic wave when, remaining ultrasonic sensor
Ultrasonic wave is received, when the non-overlapping ultrasonic sensor of sonic transmissions range emits ultrasonic wave, remaining ultrasonic sensor is received
Ultrasonic wave.
16. according to claim 1 from mobile device, which is characterized in that the ultrasonic sensor is set to from movement and sets
The first half of standby length direction.
17. according to claim 1 from mobile device, which is characterized in that the ultrasonic sensor is relative to ground
Mounting height range is 19 centimetres to 20 centimetres.
18. according to claim 1 from mobile device, which is characterized in that the ultrasonic sensor has beam of sound axis,
The beam of sound axis is in horizontally disposed.
19. according to claim 1 or 18 is any described from mobile device, which is characterized in that the ultrasonic sensor has
It receives and the transmitting-receiving region of transmitting ultrasonic wave, the transmitting-receiving region has the first borderline neighbouring with housing forward end, the shell
The upper adjoining wall with the first transmitting-receiving region adjacent, the upper surface of the adjacent wall is lower than the first borderline.
20. according to claim 1 from mobile device, which is characterized in that sent out perpendicular to first ultrasonic sensor
The axis for the ultrasound beamformer penetrated does a section and obtains wavy surface, and the wavy surface has a long axis direction and a short axle
Direction, described to be equipped with bottom surface from mobile device, the bottom surface is from several contact points when mobile device work with ground face contact
The datum level of formation, the long axis direction are installed as substantially parallel with bottom surface, and the short-axis direction is installed as hanging down substantially with bottom surface
The straight ultrasonic sensor.
21. according to claim 20 from mobile device, which is characterized in that the wavy surface is oval.
22. according to claim 20 from mobile device, which is characterized in that first ultrasonic sensor itself emits
The wavy surface of ultrasound beamformer be non-circular.
23. according to claim 20 from mobile device, which is characterized in that described ultrasonic sensor itself emits super
The wavy surface of acoustic wave beam be it is round, one end of the first ultrasonic sensor transmitting ultrasonic wave is equipped with to adjust described the
The beam adjuster of the ultrasound beamformer shape of one ultrasonic sensor transmitting, the ultrasound obtained after the beam adjuster adjustment
The wavy surface of wave wave beam is non-circular.
24. according to claim 1 from mobile device, which is characterized in that the supersonic sensing device assembly further includes PCB
Plate and the protective shell that pcb board and ultrasonic sensor is fixed, the ultrasonic sensor has outside sounding face, described
Protective shell has end face, and the sounding face is no more than end face.
25. according to claim 1 from mobile device, which is characterized in that it is described from mobile device be intelligent grass-removing, institute
Intelligent grass-removing is stated with cutterhead, the difference model between cutterhead height when the mounting height and work of the ultrasonic sensor
Enclosing is 100mm to 300mm.
26. according to claim 1 from mobile device, which is characterized in that it is described from mobile device be intelligent grass-removing, institute
Intelligent grass-removing is stated with cutterhead, the cutterhead works on when mobile close to barrier from mobile device.
Applications Claiming Priority (6)
| Application Number | Priority Date | Filing Date | Title |
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| CN2017107647711 | 2017-08-30 | ||
| CN201710764771 | 2017-08-30 | ||
| CN201810175128X | 2018-03-02 | ||
| CN201810175128 | 2018-03-02 | ||
| CN201810331724 | 2018-04-13 | ||
| CN2018103317242 | 2018-04-13 |
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| CN109426267A true CN109426267A (en) | 2019-03-05 |
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| CN201811000785.7A Pending CN109426267A (en) | 2017-08-30 | 2018-08-30 | From mobile device |
| CN201821409796.6U Active CN209417595U (en) | 2017-08-30 | 2018-08-30 | From mobile device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112137409A (en) * | 2020-09-15 | 2020-12-29 | 佛山市顺德区美的饮水机制造有限公司 | Water dispenser, control method and device of water dispenser and computer readable storage medium |
| CN112630800A (en) * | 2019-10-09 | 2021-04-09 | 科沃斯机器人股份有限公司 | Self-moving equipment |
| WO2021087706A1 (en) * | 2019-11-04 | 2021-05-14 | 深圳市大疆创新科技有限公司 | Radar system, movable platform and radar system control method |
| CN112900199A (en) * | 2021-01-15 | 2021-06-04 | 同济大学 | Obstacle detection system and method for unmanned road roller |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109426267A (en) * | 2017-08-30 | 2019-03-05 | 苏州宝时得电动工具有限公司 | From mobile device |
| CN110703784A (en) * | 2019-11-19 | 2020-01-17 | 国家电网有限公司 | Automatic tracking obstacle avoidance method suitable for transformer substation inspection robot |
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