CN111571641A - Rocker-type collision sensing device and autonomous mobile equipment - Google Patents

Abstract

The invention provides a rocker type collision sensing device and autonomous mobile equipment.A collision position and collision force are calculated by the size and the direction of displacement of a rocker handle when a shell is collided; through judging the collision position and the collision force, more information is obtained, so that the autonomous mobile equipment can realize more various and more targeted motion modes, and the autonomous mobile equipment is more intelligent.

Description

Rocker-type collision sensing device and autonomous mobile equipment

Technical Field

The embodiment of the invention relates to the technical field of autonomous mobile equipment, in particular to a rocker type collision sensing device and autonomous mobile equipment.

Background

The autonomous mobile device refers to a smart mobile device autonomously performing a preset task in a set area, and currently, mobile robots generally include, but are not limited to, cleaning robots (e.g., smart floor cleaners, smart floor mopping machines, window wiping robots), accompanying mobile robots (e.g., smart cyber pets, babysitter robots), service mobile robots (e.g., reception robots in hotels, meeting places), industrial patrol smart devices (e.g., power patrol robots, smart forklifts, etc.), and security robots (e.g., home or commercial smart security robots).

The existing autonomous mobile device is generally provided with a collision sensor for sensing collision at the front end, when the collision sensor collides with a front obstacle, the collision sensor buffers collision impact on one hand, and on the other hand, sensed collision information is fed back to a control unit of the autonomous mobile device through a sensing element, and the control unit controls the autonomous mobile device to change a motion mode, such as changing a motion direction, changing a motion speed, changing a startup and shutdown state and the like, according to the collision information and a preset instruction.

However, the collision sensor of the existing autonomous mobile device can only sense whether the autonomous mobile device collides with an obstacle, but cannot accurately feed back the position where the autonomous mobile device collides with the obstacle and the force of the collision.

Disclosure of Invention

The embodiment of the invention provides a rocker type collision sensing device and autonomous mobile equipment, and aims to solve the problems that in the prior art, a collision sensor of the autonomous mobile equipment can only sense whether the autonomous mobile equipment collides with an obstacle, but cannot accurately feed back the specific position of the autonomous mobile equipment colliding with the obstacle and the collision strength.

In a first aspect, an embodiment of the present invention provides a rocker-type collision sensing apparatus, including: a housing, a rebound mechanism and at least one rocker sensor; the housing is movably connected to the body such that the housing is movable relative to the body in the event of a collision; the shell is connected with the rebound mechanism, the rebound mechanism is connected with the main body, and the rebound mechanism is used for driving the shell to reset to a position before collision after collision; the rocker sensor comprises a rocker handle and a parameter detection component; the first end of the rocker handle is connected with the shell and is used for being linked with the shell; the rocker handle is connected with the parameter detection component, the parameter detection component is used for collecting rocker movement data for collision analysis when the rocker handle moves, and the analysis result of the collision analysis comprises a collision position and collision force; the parameter detection component is fixedly connected with the shell or the main body.

In a second aspect, an embodiment of the present invention provides an autonomous mobile apparatus, including: a body, a housing, a rebound mechanism, and at least one rocker sensor; the main body comprises a motion mechanism, a control unit, a storage unit and a driving module; the motion mechanism is used for enabling the autonomous mobile equipment to operate on the ground; the driving module is used for driving the motion mechanism; the housing is movably connected to the body such that the housing is movable relative to the body in the event of a collision; the housing is at least partially disposed at a front portion of the main body; the shell is connected with the rebound mechanism, the rebound mechanism is connected with the main body, and the rebound mechanism is used for driving the shell to reset to a position before collision after collision; the rocker sensor comprises a rocker handle and a parameter detection component; the first end of the rocker handle is connected with the shell through a connecting assembly, and the connecting assembly is matched with the first end of the rocker handle and used for enabling the rocker handle to be linked with the shell; the rocker handle is connected with the parameter detection component, the parameter detection component is used for collecting rocker movement data for collision analysis when the rocker handle moves, and the analysis result of the collision analysis comprises a collision position and collision force; the parameter detection component is fixedly connected with the shell or the main body; the control unit is electrically connected with the parameter detection component, receives rocker movement data acquired by the parameter detection component, performs collision analysis according to the rocker movement data, and controls the motion mode of the autonomous mobile equipment according to the analysis result.

The embodiment of the invention provides a rocker type collision sensing device and autonomous mobile equipment.A rocker sensor is arranged on the collision sensing device and the autonomous mobile equipment, so that when a shell collides with an obstacle, the shell drives a rocker handle to displace, the size and the direction of the displacement of the rocker handle are obtained through a parameter detection component, and the collision position and the collision force of the shell are determined; through judging the collision position and the collision force, more information is obtained, and the autonomous mobile equipment can realize more various and more targeted motion modes, so that the autonomous mobile equipment is more intelligent.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

FIG. 1a is a front view of a rocker-type impact sensor apparatus provided in accordance with one embodiment of the present invention;

FIG. 1b is an enlarged front view of the rocker-type impact sensing device of the embodiment of FIG. 1 a;

FIG. 1c is a top view of the rocker-type impact sensing device of the embodiment of FIG. 1 a;

FIG. 2a is a schematic view of the space for the displacement of the rocker handle according to one embodiment of the present invention;

FIG. 2b is a schematic view of a spatial projection of the displacement of the rocker handle of the embodiment of FIG. 2 a;

FIG. 2c is a top view of the displacement of the rocker handle impact sensor provided in one embodiment of the present invention;

FIG. 2d is a side view of the displacement of the rocker handle of the embodiment of FIG. 2 c;

FIG. 3 is a schematic view of the displacement of the rocker handle provided by the embodiment of FIG. 2 a;

fig. 4 is a two-dimensional distribution diagram of the resistance value of the sliding varistor according to an embodiment of the present invention;

fig. 5a is a schematic structural diagram of an autonomous mobile apparatus according to an embodiment of the present invention;

fig. 5b is a schematic structural diagram of an autonomous mobile apparatus according to another embodiment of the present invention;

FIG. 6 is an exploded view of the autonomous mobile device provided by the embodiment of FIG. 5 b;

fig. 7 is a two-dimensional distribution diagram of the correspondence between the resistance value and the threshold value of the sliding rheostat provided in the embodiment of the invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

FIG. 1a is a front view of a rocker-type impact sensor apparatus provided in accordance with one embodiment of the present invention; FIG. 1b is an enlarged front view of the rocker-type impact sensing device of the embodiment of FIG. 1 a; fig. 1c is a top view of the rocker-type impact sensing device provided in the embodiment shown in fig. 1 a. As shown in fig. 1a, 1b, and 1c, the present embodiment provides a rocker-type collision sensing apparatus including: a housing 10, a rebound mechanism 20, and at least one rocker sensor 30. In fig. 1a, 1b and 1c, a rocker sensor 30 is illustrated as an example.

The housing 10 is movably connected to the main body 40 so that the housing 10 can move relative to the main body 40 in the event of a collision; the shell 10 is connected with the rebound mechanism 20, the rebound mechanism 20 is connected with the main body 40, and the rebound mechanism 20 is used for driving the shell 10 to return to a position before collision after collision.

The rocker sensor 30 includes a rocker handle 31 and a parameter detecting member (not shown in the drawings); a first end of the rocker handle 31 is connected with the housing 10 for linkage with the housing 10; the rocker handle 31 is connected with a parameter detection component, the parameter detection component is used for collecting rocker movement data for collision analysis when the rocker handle 31 moves, an analysis result of the collision analysis comprises collision displacement, the collision displacement comprises a collision position and a collision force, and in some embodiments, the collision displacement included in the analysis result of the collision analysis can also comprise a collision direction; the parameter detecting member is fixedly connected to the housing 10 or the main body 40. It should be noted that the connection position of the rocker handle 31 and the parameter detection component may be the first end, the second end, or any suitable position thereof of the rocker handle, as long as the parameter detection component can detect and collect the rocker movement data. When the first end of the rocker handle 31 is connected with the parameter detection part, the parameter detection part is fixedly connected with the shell 10; when the second end of the rocker handle 31 is connected to the parameter sensing member, the parameter sensing member is fixedly connected to the main body 40. Preferably, the parameter sensing means is connected to the second end of the rocker handle 31, or to the rocker handle 31 at a location near the second end of the rocker handle.

The movement of the rocker lever 31 (i.e., the displacement of the rocker lever 31) includes the displacement of the rotation of the rocker lever 31 about the rocker rotation axis. Of course, the movement of the rocker handle 31 may also be a movement in other manners, such as a translation of the rocker handle, and during the translation of the rocker handle, the rocker handle itself does not rotate nor rotate around a certain axis; as shown in fig. 2c and 2d, in the event of a collision, the housing 10 is displaced relative to the main body 40 by the collision, the housing 10 moves the rocker lever 31, and the rocker lever 31 as a whole moves from the point O to the point N along two mutually perpendicular parallel movable slide rails in the original vertical state. It should be understood by those skilled in the art that the above-mentioned manner is only used for explaining the moving manner of the rocker handle 31, and not for limiting the scope of protection of the present patent.

In this embodiment, the housing 10 may be connected to the main body 40 through a fixing member, for example, when the housing 10 is not collided, the fixing member prevents the housing 10 from moving relative to the main body 40, and when the housing 10 collides with an obstacle and the housing 10 moves relative to the main body 40, the fixing member enables the housing 10 to move within a preset moving range. The fixing member may be, for example, at least one of the following structures, or a combination of the following structures: guide slot, slide rail, stopper, have the spring suspension mechanism of spacing hole or spacing groove. It should be noted that the position of the fixing member is not limited in this embodiment, for example, the fixing member may be located on the housing 10, or the fixing member may be located on the main body 40, or the fixing member may be located on the resilient mechanism 20.

The housing 10 is connected to the main body 40 through the resilient mechanism 20, and when the housing 10 collides with an obstacle and the housing 10 moves relative to the main body 40, the housing 10 is returned to a state before the housing 10 collides with the obstacle, that is, an initial position where no relative movement occurs with respect to the main body 40, or is returned to a position very close to the initial position before the collision, by an urging force generated by the resilient mechanism 20. The resilient mechanism 20 may be any one of the following, or a combination of a plurality of components: spring, spring plate, rubber band, elastic string and two mutually repulsive magnets. The resilient mechanism 20 in the embodiment of fig. 1a, 1b, 1c is a spring plate.

The rocker sensor 30 of one embodiment of the present invention includes a rocker lever 31 and a parameter sensing part, a first end of the rocker lever 31 is connected to the housing 10, and a second end of the rocker lever 31 is connected to the parameter sensing part. In this embodiment, the rocker handle 31 can rotate around the rocker rotation axis, for example, the initial state of the rocker handle 31 is perpendicular to the main body 40 or perpendicular to the horizontal plane of the main body 40, and the rocker handle 31 can tilt by a certain angle for 360 degrees, wherein the tilting direction of the rocker handle 31 is related to the collision position of the housing 10 with the obstacle. Of course, the connection portion of the rocker handle 31 and the parameter detecting component may also be the first end of the rocker handle 31 or any suitable portion on the rocker handle 31, for the specific description, see above, and will not be described herein. The rocker handle 31 can also be translated in the manner shown in fig. 2c and 2d, which is described above and not described herein.

Alternatively, as shown in fig. 1b and 1c, the first end 311 of the rocker handle 31 connected to the housing 10 is configured as a spherical end, as shown in fig. 1b and 2 a; a connecting component is arranged at the corresponding position where the housing 10 is connected with the rocker sensor 30, the connecting component is matched with the spherical end 311 so as to enable the rocker handle 31 to be linked with the housing 10, and the connecting component 11 shown in fig. 1b is a sleeve for accommodating and limiting the movement of the spherical end 311. The sleeve may be provided on the housing 10, but may be provided on other structures or components as the case may be.

It should be noted that the present invention is not limited to the specific shape of the first end of the rocker handle 31 connected to the housing 10, for example, the end of the rocker handle 31 connected to the housing 10 may be spherical, or hemispherical, or a cube engaged with the connecting assembly, so long as the rocker handle 31 can be linked with the housing 10. In the embodiment of the present invention, the end of the rocker handle 31 connected to the housing 10 is a sphere.

The characteristics of the rocker sensor 30 are explained in a simple case, i.e. the second end of the rocker handle is at the pivot point O, as shown in fig. 2a, when the first end 311 of the rocker handle can move about the pivot point O on a sphere with the radius of the rocker handle. For a real rocker sensor, it is common to move the spherical section OEF through the axis point O as shown in fig. 2a and perpendicular to the initial state of the rocker handle (i.e. the z-axis position in fig. 2 a) onto the spherical surface of one hemisphere of the rocker handle. The axis point O is the center of the sphere. The rocker lever 31 is in the initial state in fig. 2a, i.e. the z-axis, which is perpendicular to the plane OEF. At this time, a spherical section OEF is established with the rocker handle 31 as a radius, the axis point O as a sphere center, and a direction perpendicular to the rocker handle, two axes perpendicular to each other on the spherical section OEF are the rocker rotation axes referred to in the present invention, and the x axis represented by the line OE and the y axis represented by the line OF in the embodiment OF fig. 2a are both the rocker rotation axes in this embodiment, but it is understood by those skilled in the art that if the x axis and the y axis in fig. 2a are the rocker rotation axes, a line formed by any linear combination OF the x axis and the y axis is also the rocker rotation axis. The function of the rocker rotation axis is to rotate the rocker handle around the axis, i.e. the rocker handle 31 can rotate around the x-axis or the y-axis, or can rotate around the x-axis and then around the y-axis, or can rotate around the y-axis and then around the x-axis. An example of the rotation of the rocker handle 31 around the rocker rotation axis described above is illustrated in dashed lines in fig. 2 b: when the rocker handle 31 rotates around the y-axis to the state of the dotted line 31', the first end 311 is located at the point H ' of the spherical surface, and the projection point H of the point H ' on the spherical section OEF is on the x-axis; when the rocker handle 31 rotates around the x-axis to the state of the dotted line 31 ″, the first end 311 is located at the point J ' of the spherical surface, and the projection point J ' of the point J ' on the spherical section OEF is on the y-axis; when the rocker handle 31 rotates around the rocker rotation axis obtained by a combination of the x-axis and the y-axis to the state of the dotted line 31' ″, the first end 311 thereof is located at the point G ' of the spherical surface, and the projection of the point G ' on the spherical section OEF is at the point G.

When the housing 10 collides with an obstacle and the housing 10 moves relative to the main body 40, the housing 10 drives the first end 311 of the rocker handle 31 to move to a point G' of fig. 2 b. In this embodiment, the movement of the rocker handle 31 refers to the displacement of the rocker handle 31 rotating around the rocker rotation axis, and as shown in fig. 2b, the first end 311 of the rocker handle 31 moves from the position O 'where the initial state is located to the current position G' on the spherical surface with the origin at the sphere center O point and the radius at the length of the rocker handle 31, and accordingly, the projection displacement of the spherical displacement on the spherical section OEF moves from the sphere center O to the point G on the spherical section OEF. The spherical displacement and the projected displacement of the joystick lever 31 are vectors, both in magnitude and direction, and both represent the displacement of the joystick lever 31 rotating around the joystick rotation axis. The size of the spherical displacement and the projection displacement of the rocker handle 31 is related to the collision force of the obstacle and the shell 10, and the direction of the spherical displacement and the projection displacement of the rocker handle 31 is related to the collision position of the obstacle and the shell 10. I.e., the rocker movement data includes the magnitude of the displacement and the direction of the displacement of the rocker handle 31. Therefore, the position and the collision strength of the housing 10 with the obstacle can be determined by the magnitude and the direction of the displacement of the rocker lever 31 (e.g., the tilt direction of the rocker lever, or the direction of the projection of the first end of the rocker lever 31 on the spherical section OEF). As shown in fig. 3, when the rocker lever 31 moves from the initial state to the position 1011 or the position 1012, the displacement corresponding to the movement of the rocker lever 31 to the position 1011 and the movement to the position 1012 is the same in magnitude, but the direction of the displacement corresponding to the movement of the rocker lever 31 to the position 1011 and the movement to the position 1012 is different. Thus, movement of the rocker handle 31 to different current positions indicates different forces acting on the rocker handle 31, including at least one of a different magnitude and direction of the force, thereby indicating a different at least one of a force and a position of the housing 10 in impact with an obstacle. In one embodiment, the displacement of the rotation of the rocker handle 31 around the rocker rotation axis is represented by the rotation angle of the rocker rotation axis, that is, the displacement of the rotation of the rocker handle 31 around the rocker rotation axis is obtained by calculating the rotation angle (referred to as rotation angle) generated by the rotation of the rocker handle 31 around the rocker rotation axis driven by the collision, and the rocker movement data received by the control unit is the rotation angle of the rocker rotation axis driven by the collision; of course, the displacement angle and the displacement magnitude corresponding to the displacement (which may be spherical displacement or projection displacement) of the joystick may also be detected, that is, the displacement angle and the displacement magnitude corresponding to the spherical displacement of the first end of the joystick on the spherical section or the projection displacement of the first end of the joystick on a plane parallel to the spherical section are detected.

The magnitude and direction of the displacement of the rocker handle 31 are obtained by a parameter detecting component, which in this embodiment may be at least one of the following: a slide rheostat, a piezoelectric sensor, a gyroscope and a Hall element. The present embodiment is described taking as an example the parameter detecting means as a sliding varistor, wherein the sliding varistor is for example constituted by two vertically arranged sliding resistive blocks (preferably, the two vertically arranged sliding resistive blocks coincide with the x-axis and the y-axis in fig. 2b, respectively). When the housing 10 collides with an obstacle and the housing 10 moves relative to the main body 40, so as to drive the rocker handle 31 to displace, due to the displacement of the rocker handle 31, the resistances of two vertically arranged sliding resistance blocks in the sliding rheostat (i.e. the parameter detection part) change, and the change of the resistance has a linear relationship with the magnitude and direction of the displacement of the rocker handle 31 (for example, in the above embodiment, the rotation angle of the rocker rotation shaft represents the displacement of the rocker handle, and the rotation angle of the rocker rotation shaft is proportional to the resistance of the sliding rheostat). Therefore, the magnitude and direction of the displacement of the rocker handle 31 are determined by the change in the resistances of the two sliding resistance blocks in the sliding resistor, and the force and position of the collision of the housing 10 are determined. The sliding resistor may determine the magnitude and direction of the displacement of the rocker handle 31 by, for example, the value of the current flowing through the two sliding resistor blocks or the change in the voltage across the two sliding resistor blocks. The embodiment using the slide rheostat is only an explanation of the solution of the present invention, and is not a limitation to the parameter detection component. It should be understood by those skilled in the art that any component or means capable of collecting rocker movement data is within the scope of this patent.

Fig. 4 is a two-dimensional distribution diagram of the resistance value of the sliding rheostat according to an embodiment of the invention. As shown in fig. 4, the x-axis and the y-axis correspond to two resistive patches, respectively, which are perpendicular to each other. The x-axis and the y-axis in this embodiment may be the same as the x-axis and the y-axis of the rotation axis of the rocker in the embodiment of fig. 2a and 2b, respectively, or may form a certain angle, such as 45 °, 90 °, 120 °, 200 °, and the like; or the x-axis and y-axis of the rotation axis of the rocker in the above embodiment are arranged in an anti-symmetric manner, for example, the plane coordinate system of the slide rheostat is the same with one axis of the plane coordinate system of the rocker, and the other axis is opposite; other arrangements are of course possible. For the sake of convenience of explanation, the following embodiments are explained by taking the example that the x-axis and the y-axis of the rotation axis of the rocker are respectively consistent with the directions of two mutually perpendicular resistance blocks. The origin of fig. 4 represents that the rocker lever 31 is in the initial state, and the resistance values of both the sliding resistance blocks are 0 (or both are a certain value). The point a represents that the resistance values of the resistance blocks corresponding to the x-axis and the resistance blocks corresponding to the y-axis are changed to positive values by the spherical displacement of the rocker handle 31. The angle α is an angle of the rocker handle 31 relative to the x-axis corresponding to the position where the resistance value of the sliding rheostat is at a point a (at this time, the resistance value can be expressed by a vector, the distance of the vector represents the displacement of the rocker handle 31, and the direction of the vector represents the displacement of the rocker handle 31 when the collision is sensed), and the distance from the point a to the origin represents the displacement of the rocker handle 31. The point B represents that the movement of the rocker lever 31 changes the resistance value of the resistance block corresponding to the x-axis to a negative value, and the resistance value of the resistance block corresponding to the y-axis to a positive value. The angle β is a complementary angle of the rocker handle 31 relative to the x-axis corresponding to the point B where the resistance of the sliding rheostat is located, and the distance from the point B to the origin represents the movement of the rocker handle 31. Point C represents that the movement of the rocker lever 31 changes the resistance values of the resistance blocks corresponding to the x-axis and the y-axis to negative values. The angle γ is the angle of the rocker handle 31 corresponding to the resistance of the sliding rheostat at the point C with respect to the x-axis, and the distance from the point C to the origin represents the movement of the rocker handle 31. Point D represents the movement of the rocker lever 31, which changes the resistance of the resistance block corresponding to the x-axis to a positive value, and the resistance of the resistance block corresponding to the y-axis to a negative value. The angle ζ is an angle of the rocker handle 31 corresponding to the resistance value of the sliding rheostat at the point D with respect to the x-axis, and the distance from the point D to the origin represents the magnitude of the movement of the rocker handle 31.

It will be appreciated that the parameter sensing means, upon sensing the displacement of the rocker handle 31, may convert the magnitude of the displacement and/or the direction of the displacement of the rocker handle 31 into a corresponding electrical signal, such as a resistance value, and send the electrical signal to the control unit. Wherein the control unit may be located on the autonomous mobile device, for example, or be a remote control unit. The control unit determines the collision position and the collision strength of the housing 10 and the obstacle according to the received electric signal, and in some cases, determines the direction of the collision.

It should be noted that the rocker sensor 30 may further include a reset mechanism (not shown), and the reset mechanism resets the rocker handle 31 to the initial state after the displacement of the rocker handle 31 occurs. The reset mechanism can be any one or combination of a plurality of components as follows: spring, spring plate, rubber band, elastic string and two mutually repulsive magnets.

In this embodiment, through setting up the rocker sensor on collision sensing device and autonomous mobile device, make the rocker handle 31 of rocker sensor be connected with casing 10 for when casing 10 collides with the barrier, casing 10 drives rocker handle 31 and takes place the displacement, detects the size and the direction of rocker handle 31 displacement through parameter detection part, thereby has realized can judging the purpose of the collision position and the collision dynamics of casing 10 and barrier according to the size and the direction of rocker handle 31 displacement. That is, the rocker type collision sensing device provided by the embodiment of the present invention can detect whether the housing 10 collides with an obstacle, detect collision strength and collision position, and even calculate the collision direction by using the rocker sensor.

In an embodiment of the present invention, further optionally, the movement of the rocker handle 31 further comprises an axial stroke of the rocker handle 31 along a length direction of the rocker handle 31; the axial stroke may be a compression movement directed in the direction of the centre of sphere O as shown in fig. 2a, or an expansion movement away from the centre of sphere O. Since the crash sensors of autonomous mobile devices typically passively sense external impacts or compressive stresses, movement in compression is common; but this does not hinder the ability of the impact sensing device of the present invention to sense dilation movements.

In this embodiment, the rocker movement data collected by the parameter detection component further includes the axial stroke of the rocker handle along the length direction of the rocker handle, and the axial stroke is a scalar, and is therefore called "stroke", and may be a continuous value or a preset discrete value.

In this embodiment, when an obstacle is located above or below the housing 10, causing the housing 10 to be collided with from above or below, the housing 10 moves downward or upward relative to the main body 40, thereby causing the rocker lever 31 to undergo an axial stroke in the length direction of the rocker lever 31 (or a partial displacement of the movement of the rocker lever in the length direction of the rocker lever). When the rocker handle 31 displaces along the length direction of the rocker handle 31, the parameter detection component can detect the size of the axial stroke, and the collision force when the shell 10 collides with an obstacle is obtained through collision analysis, so that a corresponding decision is made according to the collision force and the collision position; the collision position thereof is obtained by the displacement of the rocker lever in the above-described embodiment in rotation about the rocker rotation axis or the manner of movement of the rocker lever in translation of the rocker lever.

In this embodiment, the rocker handle 31 is designed to have an axial stroke along the length direction of the rocker handle 31, and the parameter detection component detects the axial stroke of the rocker handle 31 along the length direction of the rocker handle 31, so as to determine the collision strength of the housing 10 and the obstacle in the direction perpendicular to the moving plane, increase the function of the rocker collision sensing device, and improve the intelligence of the autonomous mobile device using the rocker collision sensing device.

Fig. 5a is a schematic structural diagram of an autonomous mobile apparatus according to an embodiment of the present invention, fig. 5b is a schematic structural diagram of an autonomous mobile apparatus according to another embodiment of the present invention, and fig. 6 is an exploded schematic structural diagram of the autonomous mobile apparatus according to an embodiment of fig. 5 b. In the embodiment shown in fig. 1a, the autonomous mobile device comprises at least one rocker sensor 30; in the embodiment shown in fig. 5a, the autonomous mobile device comprises two rocker sensors 30; in the embodiment shown in fig. 5b, the autonomous mobile device comprises four rocker sensors 30.

One embodiment of the present invention provides an autonomous mobile device, including: the main body 40 and the rocker type collision sensing apparatus, namely, comprise: a main body 40, a housing 10, a rebound mechanism 20, and at least one rocker sensor 30. Embodiments of autonomous mobile devices employing one rocker sensor 30 refer to the embodiments of fig. 1a, 1b, 1 c.

The main body 40 includes a moving mechanism 50, a control unit, a storage unit, and a driving module.

The movement mechanism 50 is used to run the autonomous mobile device on the ground, see fig. 5 a.

The motion mechanism 50 may be in various forms such as a wheel set, a track, two or more feet, or a combination thereof.

The driving module is used for driving the movement mechanism.

The housing 10 is movably connected to the main body 40 so that the housing 10 can move relative to the main body 40 in the event of a collision; the housing 10 is at least partially disposed at the front of the main body 40; the shell 10 is connected with the rebound mechanism 20, the rebound mechanism 20 is connected with the main body 40, and the rebound mechanism 20 is used for driving the shell 10 to return to a position before collision after collision.

The rocker sensor 30 includes a rocker handle 31 and a parameter detection part; a first end of the rocker handle 31 is connected with the housing 10 through a connecting assembly, and the connecting assembly is matched with the first end and used for enabling the rocker handle 31 to be linked with the housing 10; the rocker handle 31 is connected with a parameter detection component, the parameter detection component is used for collecting rocker movement data for collision analysis when the rocker handle 31 moves, the analysis result of the collision analysis comprises collision displacement, and the collision displacement comprises collision position and collision force; the parameter detecting member is fixedly connected to the housing 10 or the main body 40. It should be noted that the connection position of the rocker handle 31 and the parameter detection component may be the first end, the second end, or any suitable position thereof of the rocker handle, as long as the parameter detection component can detect and collect the rocker movement data. When the first end of the rocker handle 31 is connected with the parameter detection part, the parameter detection part is fixedly connected with the shell 10; when the second end of the rocker handle 31 is connected to the parameter sensing member, the parameter sensing member is fixedly connected to the main body 40. Preferably, the parameter sensing means is connected to the second end of the rocker handle 31, or to the rocker handle 31 at a location near the second end of the rocker handle.

The movement of the rocker handle 31 (i.e., displacement of the rocker handle) includes displacement of the rotation of the rocker handle 31 about the rocker rotation axis. Of course, the movement of the rocker handle 31 may also be a movement in other manners, such as a translation of the rocker handle, and during the translation of the rocker handle, the rocker handle itself does not rotate nor rotate around a certain axis; as shown in fig. 2c and 2d, in the event of a collision, the housing 10 is displaced relative to the main body 40 by the collision, the housing 10 moves the rocker lever 31, and the rocker lever as a whole moves from point O to point N along two mutually perpendicular parallel movable slide rails in an original vertical state. It should be understood by those skilled in the art that the above-mentioned manner is only used for explaining the moving manner of the rocker handle, and not for limiting the scope of protection of the patent.

The control unit is electrically connected with the parameter detection component, receives the rocker movement data acquired by the parameter detection component, performs collision analysis according to the rocker movement data, and controls the motion mode of the autonomous mobile equipment according to the analysis result.

In this embodiment, the housing 10 is connected to the main body 40, and the housing 10 can move relative to the main body 40 when colliding with an obstacle. Wherein the case 10 may be disposed at least at the front of the main body 40 in the advancing direction of the autonomous moving apparatus. Optionally, the housing 10 is an integral structure, and the housing 10 covers the main body 40. The integral structure of the housing 10 may be a ring-shaped structure, as shown in fig. 6; or a cover-type structure (or a cylinder-type structure), that is, a cover is sleeved on the main body 40. Since the number of times of collision between the side surface of the autonomous moving apparatus and the obstacle is relatively large compared to the upper surface and the lower surface of the autonomous moving apparatus when the autonomous moving apparatus moves, the housing 10 may be designed to cover the main body 40 as an integrated structure, so that the main body 40 may be protected from being damaged by collision of the obstacle when the autonomous moving apparatus collides with the obstacle.

The method for acquiring rocker movement data by the rocker type collision sensing device in the embodiment can refer to the above, and is not described herein again. After the parameter detection component in the rocker type collision sensing device acquires rocker movement data, the parameter detection component can convert the rocker movement data into corresponding electrical signals, such as resistance value signals, and send the electrical signals to the control unit, because the control unit is electrically connected with the parameter detection component. The control unit judges the collision position and the collision force according to the received electric signals. The principle that the control unit determines the collision position and the collision strength according to the received electrical signal (such as a resistance value, which may be a current value, a voltage value, etc.) is described as follows:

fig. 7 is a two-dimensional distribution diagram of the correspondence between the resistance value and the threshold value of the sliding rheostat according to an embodiment of the present invention. For convenience of explanation, the x-axis and the y-axis shown in fig. 7 correspond to the x-axis and the y-axis shown in fig. 4, respectively, and points a, B, C, and D on fig. 7 correspond to points a, B, C, and D on fig. 4, respectively.

The resistance value of the slide rheostat (i.e., the parameter detection component in this embodiment) corresponds to the displacement of the rocker handle 31, i.e., the magnitude and direction of the displacement of the rocker handle 31 can be determined by the resistance value of the slide rheostat. The projection position of the intersection point of the first end 311 of the rocker lever 31 and the spherical surface on the two-dimensional distribution diagram shown in fig. 7 corresponds to the resistance value of the sliding varistor. The resistance value of the sliding rheostat can be set in multiple levels according to the resistance value, the distance between the projection position of the intersection point of the first end 311 of the rocker handle 31 and the spherical surface on the two-dimensional distribution diagram shown in fig. 7 and the origin can be set to multiple threshold values, each level corresponds to one threshold value, and the motion modes of the autonomous mobile device corresponding to different threshold values can be different.

The origin represents that the rocker handle 31 is in an initial state, at this time, the resistance values of the two mutually perpendicular sliding resistance blocks are both 0 (or both certain values), of two concentric circles from the origin to the outside, the circle with the small radius corresponds to the resistance value of the first threshold, and the circle with the large radius corresponds to the resistance value of the second threshold. When the rocker handle 31 rotates around the rocker rotation axis, and the projection of the intersection point of the first end 311 of the rocker handle 31 and the spherical surface on the two-dimensional distribution diagram shown in fig. 7 is point a or point C, that is, the resistance value of the sliding rheostat corresponding to point a is located between the first threshold and the second threshold, and the resistance value of the sliding rheostat corresponding to point C is just located on the first threshold, the motion mode corresponding to the first threshold is triggered. When the rocker handle 31 rotates around the rocker rotation axis, and a projection of an intersection point of the first end 311 of the rocker handle 31 and the spherical surface on the two-dimensional distribution diagram shown in fig. 7 is a point B or a point D, that is, a resistance value of the sliding rheostat corresponding to the point B exceeds a second threshold value, and a resistance value of the sliding rheostat corresponding to the point D is just above the second threshold value, at this time, the motion mode corresponding to the first threshold value is not executed any more, and the motion mode corresponding to the second threshold value is triggered to be executed.

Wherein different movement patterns, different thresholds, different resistance values and the correspondence of thresholds and threshold and movement patterns may be stored in a memory unit of the autonomous mobile device. And after the control unit receives the electric signal sent by the parameter detection part, the control unit controls the driving module according to the corresponding relation between the resistance value and the threshold value stored in the storage unit and the corresponding relation between the threshold value and the motion mode, so that the driving module drives the motion mechanism to drive the autonomous mobile equipment to move according to the corresponding motion mode.

It is understood that the autonomous mobile device used in the embodiment of the present invention may set a plurality of thresholds as required, for example, 5 concentric circles, where the radii of the 5 concentric circles are different from each other, each concentric circle corresponds to a threshold, and the threshold is in a functional relationship with the radius of the concentric circle. The setting of the plurality of threshold values is beneficial for the autonomous mobile device to judge the collision strength of the shell 10 and the obstacle according to the displacement of the rocker handle 31, so that the type of the obstacle can be judged, and different motion modes can be set according to different types of obstacles. For example, the curtain is a flexible movable barrier, when the autonomous moving device collides with the curtain, the collision force makes the rocker handle 31 slightly displace, the change of the resistance value in the slide rheostat caused by the displacement of the rocker handle 31 is within a first threshold, and at this time, the motion mode of the autonomous moving device is to continue to move according to the original motion mode corresponding to the type of barrier; when the shell 10 collides with the trash can, the trash can is a light barrier which can be pushed, the size of the displacement which can push the rocker handle 3 corresponds to the resistance value corresponding to the second threshold, and at this time, the motion mode of the autonomous mobile device is to decelerate and continue to advance corresponding to the barrier; if the housing 10 collides with a fixed obstacle such as a wall, the fixed obstacle pushes the rocker handle 31 to displace, and the displacement corresponds to the resistance value corresponding to the maximum threshold (for example, the fifth threshold), and at this time, the motion mode of the autonomous mobile apparatus may be stopping and/or turning corresponding to the type of obstacle, so as to avoid the type of obstacle.

It can be understood that, when at least two rocker type collision sensing devices are included on the autonomous moving apparatus, as shown in fig. 5a, for example, both the at least two rocker type collision sensing devices may detect that the autonomous moving apparatus collides with an obstacle, and send the detected rocker movement data to the control unit after detecting that the autonomous moving apparatus collides with the obstacle, and then the control unit may determine the collision position and the collision direction of the autonomous moving apparatus with the obstacle according to the received time and collision strength of the rocker movement data sent by the at least two rocker type collision sensing devices, for example. For example, in fig. 5a, the sweeping robot is an example of a sweeping robot having 2 rocker sensors 30 arranged in a left-right symmetrical manner, and the sweeping robot runs in the direction of the solid arrow in fig. 5a as a forward direction. When the sweeping robot collides with a front (i.e., left in fig. 5 a) obstacle, a frontal collision 211, a side frontal collision 212, or a side collision 213 may occur. And the collision points of the sweeping robot with the obstacle when the three kinds of collisions occur are respectively K1, K2 and K3, and the collision directions are respectively shown by corresponding dotted lines. When a frontal collision 211 occurs, the left rocker sensor and the right rocker sensor are simultaneously moved backward (to the right in fig. 5 a) by the displacement of the housing 10; the two rocker sensors 30 respectively send rocker movement data such as the displacement magnitude, the displacement direction and the displacement generation time of the respective rocker handles to the control unit, the analysis result obtained by the control unit through collision analysis comprises the collision strength (same magnitude), the collision direction (symmetrical direction pushed by the shell 10) and the collision time (basically same collision time) sensed by the two rocker sensors, and the control unit can judge that the collision is generated at the point K1 right in front and the received collision direction is the direction shown by the dotted line 211. When the side face collision 212 occurs, because the shell 10 is not rigidly connected with the main body 40, the displacement of the rocker handle caused by the driving of the shell 10 by the left rocker sensor and the right rocker sensor is different in size and angle, and the sensed collision time is also different; the two rocker sensors 30 respectively send rocker movement data such as the displacement magnitude, direction and displacement time of the respective rocker handles to the control unit, the analysis result obtained by the collision analysis of the control unit comprises the collision force sensed by the two rocker sensors (the right rocker sensor has large displacement which indicates that the rocker sensor is subjected to large collision force, and the left rocker sensor has small displacement which indicates that the rocker sensor is subjected to small collision force), the control unit can thus determine that the collision occurred at point K2 and the direction of the collision was the direction indicated by dashed line 212, both in the direction of the collision (the counterclockwise torque from the right rocker sensor and its movement to the upper right; the clockwise torque from the left rocker sensor and its movement to the lower right) and in the time of the collision (the collision from the right rocker sensor was earlier than from the left rocker sensor). When the side collision 213 occurs, since the housing 10 not only moves rigidly but also twists with respect to the main body 40, the left rocker sensor and the right rocker sensor are driven by the housing 10 to cause different displacement of the rocker handles and different angles, and the sensed collision time is different; the two rocker sensors 30 respectively send rocker movement data such as the displacement magnitude, direction and displacement time of the respective rocker handles to the control unit, the analysis result obtained by the collision analysis of the control unit comprises the collision force sensed by the two rocker sensors (the right rocker sensor has large displacement which indicates that the rocker sensor is subjected to large collision force, and the left rocker sensor has small displacement which indicates that the rocker sensor is subjected to small collision force), the control unit can thus determine that the collision occurred at point K3 and the direction of the collision was the direction indicated by dashed line 213 (the right-hand rocker sensor experienced a clockwise torque and moved in a substantially horizontal direction to the right; the left-hand rocker sensor also experienced a clockwise torque and moved to the lower right) and the time of the collision (the right-hand rocker sensor experienced a collision earlier than the left-hand rocker sensor).

It should be noted that the above-mentioned embodiments are merely to explain the principle of operation and the method of use of the rocker sensor 30 or the rocker-type impact sensing device of the present invention, and do not limit the present invention. In fact, the at least two rocker sensors 30 do not need to be symmetrically arranged, and the arrangement position is not necessarily the front or the side of the autonomous moving equipment, and the force and the direction of the collision can be sensitively sensed by arranging the rocker sensors 30 at any position of the autonomous moving equipment. The collision analysis can be carried out by the control unit, or by the processing unit of the rocker sensor or of the rocker-type collision sensor device itself.

Further, the control unit controls the motion mode of the autonomous mobile device according to the analysis result, and may also include controlling the autonomous mobile device to send an alarm prompt. For example, the control unit starts timing after receiving the electric signal corresponding to the force and direction of the collision sent by the parameter detection component, stops timing when the control unit detects that the rocker handle 31 returns to the initial state (i.e., the autonomous mobile device is no longer in contact with the obstacle), and indicates that the housing 10 of the autonomous mobile device is crowded into a narrow space (e.g., a scene with many tables and chairs such as a conference room or a movie theater which result in many narrow spaces) when the timing duration exceeds a preset duration (e.g., 5s), that is, the autonomous mobile device collides with the obstacle no matter how the motion direction of the autonomous mobile device changes. At this time, the control unit may control the autonomous mobile device to stop moving and/or issue an alarm. The embodiment of the invention does not limit the motion mode of the autonomous mobile equipment and the mode of sending the alarm. For the way of sending out the alarm, for example, an alarm sound is sent out, or the wearable device is connected with the wireless network to receive alarm information.

Further, when the number of times of the electric signals sent by the parameter detection component received by the control unit within the preset time exceeds the preset number of times, for example, 5 times of the electric signals are received within 10s, it indicates that the autonomous mobile device is "lost" in a space, that is, the autonomous mobile device cannot avoid the obstacle. At this time, the control unit may control the autonomous mobile device to stop moving and/or issue an alarm. The collision strength and direction corresponding to the electric signal sent by the parameter detection part and received by the control unit within the preset time can be the same or different.

In this embodiment, the rocker type collision sensing device is applied to the autonomous mobile apparatus, rocker movement data for performing collision analysis is detected by the rocker type collision sensing device, and an electrical signal corresponding to the rocker movement data is sent to the control unit, so that the control unit of the autonomous mobile apparatus controls the movement of the autonomous mobile apparatus according to the received electrical signal, the correspondence between the electrical signal and the threshold stored in the storage unit, and the correspondence between the threshold and the movement pattern, thereby improving the intelligence of the autonomous mobile apparatus.

Alternatively, one end (i.e., the first end 311) of the rocker handle 31 connected to the housing 10 is configured as a spherical end; the corresponding position of the shell 10 connected with the rocker sensor 30 is provided with a connecting component 11, and the connecting component 11 is matched with the spherical end 311, so that the rocker handle 31 can be linked with the shell 10. Alternatively, the connecting assembly 11 may be provided as a sleeve which receives and confines the movement of the spherical end.

The description of the rocker handle 31 of the rocker type collision sensing apparatus of the autonomous moving device provided in this embodiment may refer to the above, and will not be described herein again.

The cleaning robot is taken as an example to show that when the autonomous mobile equipment meets various obstacles of different types, the cleaning robot can make a more flexible and richer and more targeted motion mode through the sensitive perception of the rocker sensor. Cleaning robots often encounter three types of obstacles when in operation: 1) immovable obstacles such as walls, large furniture such as beds and sofas, heavy household appliances such as refrigerators and air purifiers, and the like; 2) movable barriers such as trash cans, plastic stools, slippers, window shades, etc.; 3) movable obstacles such as pets, flying ball, etc. The traditional collision sensor can only feed back two states of 'on' and 'off', so that the traditional collision sensor cannot only be used for distinguishing the various obstacles. Without the assistance of other sensors, there is only one corresponding movement pattern (e.g., back-off) as long as the crash sensor is triggered. The rocker type collision sensing device and the autonomous mobile equipment can simultaneously obtain collision positions and collision force, even collision directions, and distinguish different types of obstacles so as to select a proper motion mode more pertinently. For example, if the cleaning robot continuously senses the same or similar collision force at a certain collision position within a period of time through the rocker type collision sensing device of the cleaning robot, and thus it is determined that the obstacle collided by the cleaning robot is an immovable obstacle, the movement mode selected by the control unit is backward movement; if the cleaning robot collides with an obstacle, the rocker type collision sensing device senses that the collision displacement L1 (for example, 10mm) is large only in a short time (for example, 200ms) at the beginning, and then the collision displacement is reduced to L2 (for example, 3mm) in a period of time (for example, 5s), so as to judge that the obstacle collided by the cleaning robot is a movable obstacle, the control unit selects the motion mode as follows: decelerating and continuing to advance until the collision displacement is reduced to 0, and then recovering to the speed of non-collision and continuing to advance; if the cleaning robot collides with an obstacle, the rocker type collision sensing device senses that the collision displacement L1 (10 mm, for example) is large only in a short time (200 ms, for example) and then the collision displacement is reduced to 0 in a period of time (5 s, for example) when the cleaning robot collides with the obstacle, and thus the cleaning robot is judged to be a movable obstacle, the control unit selects the motion mode as follows: and the process continues to advance. If the cleaning robot finds that the collision occurs on one side surface of the cleaning robot through the rocker type collision sensing device, the cleaning robot can turn to the other side surface, so that the cleaning robot can avoid the obstacle colliding with the side surface of the cleaning robot.

Optionally, the movement of the rocker handle 31 further includes an axial stroke of the rocker handle 31 along a length direction of the rocker handle 31; the rocker movement data collected by the parameter detection component also comprises the axial stroke of the rocker handle along the length direction of the rocker handle.

And the control unit performs collision analysis according to the rocker movement data and controls the motion mode of the autonomous mobile equipment according to the analysis result.

Alternatively, the axial stroke may be a continuous stroke; the control unit controls the motion mode of the autonomous mobile equipment according to whether the size of the axial stroke in the analysis result is within or outside a preset threshold range; or

The axial stroke may also be a discrete stroke; and the control unit determines a preset gear according to the value of the axial stroke in the analysis result and controls the motion mode of the autonomous mobile equipment.

In this embodiment, the axial stroke of the rocker handle 31 along the length direction of the rocker handle 31 and the description of the parameter detection component detecting the movement data of the rocker refer to the above, and are not described herein again.

The parameter detecting component in the embodiment of the present invention may also be a displacement sensor (such as a magnetostrictive displacement sensor or a grating displacement sensor), and an axial stroke of the compression movement generated by being pressed along the length direction of the rocker handle 31 is converted into electrical quantities such as pulses, voltages, and resistances by the displacement sensor, and then transmitted to the control unit.

After receiving the above axial stroke representing the axial stroke along the length direction of the rocker handle 31, the control unit judges the subsequent motion mode according to the preset condition. Generally, when the downward axial stroke is always available for a certain period of time (for example, 5s), it can be considered that the housing 10 of the autonomous moving apparatus is squeezed into a small space, so that the upper part of the housing 10 is continuously squeezed, and the corresponding movement mode can be slow backward; alternatively, if the movement mechanism can be lowered in height, it is preferable that the movement mechanism first lowers the height of the housing 10, detects whether the axial stroke of the rocker arm returns to the initial state, and retracts to cause the swing arm to escape from the trouble if the axial stroke returns to the initial state. However, there is a case where the autonomous moving apparatus is pressed by an external object such as a cat, a dog, a human hand, or the like, and the housing is pressed downward to cause an axial stroke of the joystick lever 31 downward along the length direction of the joystick lever, and at this time, even if the height of the movement mechanism is lowered, the axial stroke does not return to the initial state, and the movement mode to be responded may be an alarm, but not retreat, or a quick rotation in place. It is understood that the parameter detecting component for detecting the axial stroke along the length direction of the rocker handle can also be a switch, such as a contact switch, a magnetic switch, an optical coupler, an optoelectronic switch, and the like. The displacement sensor described above differs from the switches herein in that the displacement sensor can detect a plurality of displacement amounts, even a continuous amount; whereas the switch can only detect two states, on and off. However, both the displacement sensor and the switch can be matched with the rocker handle structurally and electrically for detecting the axial stroke along the length direction of the rocker handle. For example, when a switch is used as the parameter detection component, as long as an axial stroke occurs or is greater than a certain threshold (e.g., 1mm), the switch is turned on or off, thereby triggering a corresponding motion mode.

Alternatively, in an embodiment of the present invention, the main body 40 is circular, and when the number of the rocker sensors 30 is one, the rocker sensors 30 may be disposed at a central position of the main body 40.

In this embodiment, the rocker sensor 30 is disposed at the center of the main body 40, and when the autonomous moving apparatus collides with an obstacle, the intersection point of the housing 10 and the opposite direction of the displacement direction of the rocker handle 31 is set as a collision position in the storage unit. Therefore, after receiving the electric signal sent by the parameter detection unit, the control unit can judge the magnitude and direction of the displacement of the rocker handle 31 according to the electric signal, thereby determining the collision strength and the collision position.

Optionally, in an embodiment of the present invention, the main body 40 is square, the number of the rocker sensors 30 is at least two, and the rocker sensors 30 are uniformly disposed.

In this embodiment, when the main body 40 is square, at least two rocker sensors 30 may be provided, and the rocker sensors 30 are uniformly disposed. For example, when the number of the rocker sensors 30 is two, two rocker sensors 30 may be disposed on two sides of the main body 10, respectively, and symmetrical about the central axis of the main body 40.

Optionally, the autonomous mobile device comprises 2 rocker sensors 30; and at least 4 rebound mechanisms 20 respectively disposed at the front, rear, left, and right sides of the main body 10.

When the front and/or rear part of the main body 40 is impacted, the rebound mechanism 20 on the left and/or right side of the main body 40 drives the housing 10 to return to the position before the impact, as shown in fig. 5b and 6; and/or

When the left and/or right side of the main body 40 is collided, the rebound mechanism 20 at the front and/or rear of the main body 40 brings the housing 10 to return to the pre-collision position.

In this embodiment, the autonomous moving apparatus may be provided with 2 rocker sensors 30, and the rebound mechanisms 20 may be provided at the front, rear, left, and right sides of the main body 40. The front, the rear, the left side and the right side of the main body 40 may be divided according to the moving direction of the autonomous moving apparatus, for example, the front refers to a position along the moving direction, the rear refers to a position opposite to the moving direction, the left side refers to the left side of the autonomous moving apparatus when the moving direction is followed, and the right side refers to the right side of the autonomous moving apparatus when the moving direction is followed.

During movement of the autonomous moving apparatus, for example, when the front of the main body 40 collides with an obstacle, the housing 10 is displaced relative to the main body 40 in a direction in which a collision force is generated at the time of the collision. At this time, the rebound mechanism 20 located at the left and/or right side of the autonomous moving apparatus is deformed to restore the housing 10 to the pre-collision position when the main body 40 of the autonomous moving apparatus is separated from the obstacle. For example, two magnets of the same polarity, which are parallel to each other and are perpendicular to the moving direction, are provided on the left and/or right side of the autonomous moving apparatus, wherein one magnet is not interlocked with the housing 10, the other magnet is interlocked with the housing 10, the two magnets approach each other when the housing 10 is displaced with respect to the main body 40, and the housing 10 is reset to a position before collision by repulsive force between the two magnets when the main body 40 of the autonomous moving apparatus is separated from an obstacle.

When the right side of the main body 40 collides with an obstacle, the housing 10 is displaced relative to the main body 40 in a direction in which a collision force is generated at the time of the collision. At this time, the rebound mechanism 20 located at the front and/or rear of the autonomous moving apparatus is deformed to restore the housing 10 to the pre-collision position when the main body 40 of the autonomous moving apparatus is separated from the obstacle. For example, two magnets having the same polarity, which are parallel to the moving direction, are provided on the left and/or right side of the autonomous moving apparatus, wherein one magnet is not linked with the housing 10, the other magnet is linked with the housing 10, the two magnets approach each other when the housing 10 is displaced with respect to the main body 40, and the housing 10 is reset to a position before collision by repulsive force between the two magnets when the main body 40 of the autonomous moving apparatus is separated from an obstacle.

Optionally, the housing 10 is composed of at least two separate sub-housings, wherein the number of rocker sensors 30 is not less than the number of sub-housings, such that at least one rocker sensor 30 is provided on each sub-housing.

In this embodiment, the housing 10 is composed of at least two sub-housings, each of which is covered on a corresponding position of the main body 40, thereby protecting the main body 40. The collision can be sensed independently between at least two sub-housings, that is, when the housing 10 collides with an obstacle, only the sub-housing at the collision position moves relative to the main body 40. Each sub-shell corresponds to one rocker sensor 30, when the sub-shell moves relative to the main body 40, the rocker handle 31 of the rocker sensor 30 corresponding to the sub-shell moves, and the parameter detection component converts rocker movement data (including the size and the direction of the displacement of the rocker handle 31) into corresponding electric signals, so that the control unit judges the collision force and the collision position according to the electric signals and controls the motion mode of the autonomous mobile equipment according to the collision force and the collision position.

In this embodiment, by designing the housing 10 to be composed of at least two sub-housings, each sub-housing can independently detect a collision, so that whether to use the rocker sensor 30 provided on the sub-housing can be determined as required. The method for judging the collision force and the collision position by the control unit is simplified, and only the rocker handle 31 of the rocker sensor 30 on the sub-shell at the collision position can displace, so that the accuracy for judging the collision force and the collision position is improved.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims (12)

1. A rocker-type impact sensing device, comprising: a housing, a rebound mechanism and at least one rocker sensor;

the housing is movably connected to the body such that the housing is movable relative to the body in the event of a collision; the shell is connected with the rebound mechanism, the rebound mechanism is connected with the main body, and the rebound mechanism is used for driving the shell to reset to a position before collision after collision;

the rocker sensor comprises a rocker handle and a parameter detection component; the first end of the rocker handle is connected with the shell and is used for being linked with the shell; the rocker handle is connected with the parameter detection component, the parameter detection component is used for collecting rocker movement data for collision analysis when the rocker handle moves, and the analysis result of the collision analysis comprises a collision position and collision force; the parameter detection component is fixedly connected with the shell or the main body.

2. The rocker-type impact sensing device according to claim 1,

the movement of the rocker handle includes a displacement of the rocker handle rotating about the rocker rotation axis.

3. The rocker-type collision sensing device according to claim 2,

the rotary displacement of the rocker handle around the rocker rotary shaft is represented by the rotation angle of the rocker rotary shaft; and/or

The movement of the rocker handle also includes the axial travel of the rocker handle along the length of the rocker handle; the rocker movement data collected by the parameter detection component further comprises the axial stroke of the rocker handle along the length direction of the rocker handle.

4. An autonomous mobile device, comprising: a body, a housing, a rebound mechanism, and at least one rocker sensor;

the main body comprises a motion mechanism, a control unit, a storage unit and a driving module;

the motion mechanism is used for enabling the autonomous mobile equipment to operate on the ground;

the driving module is used for driving the motion mechanism;

the housing is movably connected to the body such that the housing is movable relative to the body in the event of a collision; the housing is at least partially disposed at a front portion of the main body; the shell is connected with the rebound mechanism, the rebound mechanism is connected with the main body, and the rebound mechanism is used for driving the shell to reset to a position before collision after collision;

the rocker sensor comprises a rocker handle and a parameter detection component; the first end of the rocker handle is connected with the shell through a connecting assembly, and the connecting assembly is matched with the first end of the rocker handle and used for enabling the rocker handle to be linked with the shell; the rocker handle is connected with the parameter detection component, the parameter detection component is used for collecting rocker movement data for collision analysis when the rocker handle moves, and the analysis result of the collision analysis comprises a collision position and collision force; the parameter detection component is fixedly connected with the shell or the main body;

the control unit is electrically connected with the parameter detection component, receives rocker movement data acquired by the parameter detection component, performs collision analysis according to the rocker movement data, and controls the motion mode of the autonomous mobile equipment according to the analysis result.

5. The autonomous mobile apparatus of claim 4 wherein the first end of the rocker handle connected to the housing is provided as a spherical end; the coupling assembly is configured to receive and constrain the sleeve for movement of the spherical end.

6. The autonomous mobile apparatus of claim 4 wherein the movement of the rocker handle comprises a displacement of rotation of the rocker handle about a rocker rotation axis.

7. The autonomous mobile apparatus of claim 6 wherein the movement of the rocker handle further comprises an axial stroke of the rocker handle occurring along a length of the rocker handle; the rocker movement data collected by the parameter detection component further comprises the axial stroke of the rocker handle along the length direction of the rocker handle.

8. The autonomous mobile apparatus of claim 7 wherein the axial stroke is a continuous stroke; the control unit controls the motion mode of the autonomous mobile equipment according to whether the size of the axial stroke in the analysis result is within or outside a preset threshold range; or

The axial stroke is a discrete stroke; and the control unit determines a preset gear according to the value of the axial stroke in the analysis result and controls the motion mode of the autonomous mobile equipment.

9. The autonomous mobile apparatus of claim 6 wherein the displacement of the rocker handle in rotation about the rocker rotation axis is represented by a rotation angle of the rocker rotation axis.

10. The autonomous mobile apparatus of any of claims 4 to 9 wherein the housing is a unitary structure, the housing being housed on the main body.

11. The autonomous mobile apparatus of claim 10 further comprising 2 rocker sensors; and at least 4 rebound mechanisms respectively arranged at the front part, the rear part, the left side and the right side of the main body;

when the front part and/or the rear part of the main body is collided, the rebound mechanisms on the left side and/or the right side of the main body drive the shell to reset to the position before the collision; and/or

When the left side and/or the right side of the main body are collided, the rebound mechanisms at the front part and/or the rear part of the main body drive the shell to reset to the position before the collision.

12. The autonomous mobile apparatus of any of claims 4 to 9 wherein the housing is comprised of at least two separate sub-housings, wherein at least one said rocker sensor is provided on each sub-housing.

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