CN206075142U - From mobile device - Google Patents
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- CN206075142U CN206075142U CN201620923085.5U CN201620923085U CN206075142U CN 206075142 U CN206075142 U CN 206075142U CN 201620923085 U CN201620923085 U CN 201620923085U CN 206075142 U CN206075142 U CN 206075142U
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- mobile device
- proximity sensor
- noncontacting proximity
- angle
- support
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Abstract
This utility model is related to one kind from mobile device, wherein include the adjustable noncontacting proximity sensor of detection angles, balance detection module and control module from mobile device, the outfan of balance detection module is connected with the input of control module, and the outfan of control module is connected with noncontacting proximity sensor；Balance detection module is used for inclination angle of the real-time detection from mobile device；Control module for obtaining the direction of noncontacting proximity sensor angle to be adjusted according to the direction at inclination angle, and is calculated after the size of noncontacting proximity sensor angle to be adjusted according to the size at inclination angle, the detection angles of real-time adjustment noncontacting proximity sensor.The detection angles of noncontacting proximity sensor of the present utility model are adjustable, improve the precision of noncontacting proximity sensor cognitive disorders thing, so as to efficiently avoid the problem of the infringement of or fuselage from mobile device undesirable from the work of mobile device, range of application is relatively broad.
Description
Technical field
This utility model is related to mechanical field, and more particularly to one kind is from mobile device.
Background technology
With developing rapidly for automatically controlling, from the automatic operating ever more important of mobile device.Usually, in order to prevent
Collide with barrier during automatic running from mobile device, by noncontacting proximity sensor is arranged from mobile device,
Effectively can solve the above problems, but, although noncontacting proximity sensor is used, can still avoid some I from mobile device
Be not intended to the region that allows which to avoid, and still can collide with barrier from mobile device, so as to cause the work from mobile device
Make the infringement of undesirable or fuselage from mobile device.
Utility model content
Based on this, it is necessary to provide one kind from mobile device, the detection of noncontacting proximity sensor can be adjusted as needed
Angle, with more accurately cognitive disorders thing.
It is a kind of from mobile device, it is including for detecting whether front has a noncontacting proximity sensor of barrier, described non-to connect
The detection angles of touch sensor are adjustable, and described also includes balance detection module and control module from mobile device, described
The outfan of balance detection module be connected with the input of described control module, the outfan of described control module with
Described noncontacting proximity sensor is connected；
Described balance detection module is used for the inclination angle from mobile device described in real-time detection；
Detection angle of the described control module for the noncontacting proximity sensor according to described inclination angle real-time adjustment
Degree.
It is above-described from mobile device, the detection angles of its noncontacting proximity sensor are adjustable, and improve non-
The precision of touch sensor cognitive disorders thing, therefore can avoid from mobile device in climbing state, by mistake by slope as
Barrier and retreat, for example when from mobile device be hay mover when, the grass on slope can be caused not cut off, and can also be avoided
From mobile device in descending state, as the detection angles problem of noncontacting proximity sensor is not detected by the obstacle on slope
Thing, damages problem from mobile device fuselage so as to caused.
Wherein in one embodiment, described balance detection module is angular transducer.
Wherein in one embodiment, described noncontacting proximity sensor includes first support and Obstacle detection head, institute
The first support stated is fixed on described from mobile device, and described Obstacle detection head is rotationally fixed to described first
On support.
Wherein in one embodiment, described noncontacting proximity sensor includes second support, the 3rd support and roadblock
Detection head, the first end and the 3rd bracket first end of described second support be individually fixed in it is described from mobile device,
Second end of the second end of described second support and the 3rd described support is connected with described Obstacle detection head respectively,
And described second support and the 3rd described support are adjustable for height support.
Wherein in one embodiment, described noncontacting proximity sensor is that supersonic non-contact sensor or radar are non-
Touch sensor.
Description of the drawings
Fig. 1 is the structural representation from mobile device of the present utility model；
Fig. 2 is the structural representation of the noncontacting proximity sensor in a preferred embodiment of the present utility model；
Fig. 3 is the structural representation of the noncontacting proximity sensor in a preferred embodiment of the present utility model；
Fig. 4 be it is of the present utility model from mobile device be in climbing state when view；
Fig. 5 is the module diagram from mobile device of the present utility model；
Fig. 6 is the module diagram in a particularly preferred embodiment of the present utility model from mobile device；
Fig. 7 is the module diagram of the control module in a preferred embodiment of the present utility model；
Fig. 8 is the flow chart from mobile device control method of the present utility model.
Wherein,
1 first arrow
2 second arrows
300 noncontacting proximity sensors
311 Obstacle detection heads
321 first supports
331 second supports
332 the 3rd supports
400 from mobile device
500 balance detection modules
600 angular transducers
700 control modules
701 angular dimension acquiring units
702 angular dimension computing units
703 output units
Specific embodiment
In order that the purpose of this utility model, technical scheme and advantage become more apparent, below in conjunction with accompanying drawing and enforcement
Example, is further elaborated to this utility model.It should be appreciated that specific embodiment described herein is used only for explaining
This utility model, is not used to limit this utility model.
Before describing in detail according to embodiment of the present utility model, it should be noted that, described embodiment mainly exists
In to from mobile device and the combination from related step and the system component of mobile device control method.Therefore, said system
Component and method and step are showed by ordinary symbol in the accompanying drawings in position, and are merely illustrated and reason
The relevant details of embodiment of the present utility model is solved, in order to avoid because for having benefited from those of ordinary skill in the art of the present utility model
For obvious those details obscured disclosure of the present utility model.
Herein, such as left and right, upper and lower, front and rear, and first and second etc relational terms are used merely to area
Divide an entity or action and another entity or action, and not necessarily require or imply any between this entity or action
Actual this relation or order.Term " including ", "comprising" or any other variant are intended to including for nonexcludability, by
This causes the process, method, article or the equipment that include a series of key elements not only comprising these key elements, but also comprising not bright
Other key elements really listed, or the key element intrinsic for this process, method, article or equipment.
For disclosed purpose of the present utility model, term " noncontacting proximity sensor 300 " is generalized definition, including appoint
What has device, equipment or the system of detection roadblock function, including but not limited to supersonic non-contact sensor and radar
Noncontacting proximity sensor etc..It is adjustable contactless that those skilled in the art can be set as desired other detection angles
Sensor 300, with exactly, reliably detect this from the obstacle of 400 dead ahead of mobile device.Additionally, term is " from mobile device
400 " be also generalized definition, including it is any in climbing state or descending state when depositing due to noncontacting proximity sensor 300
Device, equipment in the erroneous judgement for being likely to result in barrier etc., including but not limited to hay mover.
Additionally, " climbing state " and " descending state " described in this utility model is referred to from mobile device 400 and is in
During climbing or during descending, i.e. front-wheel is on the first road surface, and trailing wheel is on the second road surface, and the first road surface and second
With an angle for being not equal to 0 degree between road surface.Therefore, " climbing state " described herein and " descending state " is all considered to
It is a dynamic process, rather than from mobile device 400 on slope.In this utility model from mobile device 400
After the completion of climbing or descending, i.e., when being integrally located on slope from mobile device 400, control module 700 can adjust contactless
The detection angles of sensor 300 so as to still point to this from the dead ahead of mobile device 400." climbing shape in this utility model
State ", " descending state " can by compare from mobile device 400 the inclination angle of adjacent different time point size come really
It is fixed, such as when unequal at the inclination angle of adjacent different time point from mobile device 400, it is believed which is in " climbing
State " or " descending state ", when equal at the inclination angle of adjacent different time point from mobile device 400, then it is assumed which was both
" climbing state " is not at, not also in " descending state ".
As shown in figure 1, Fig. 1 is the structural representation from mobile device of the present utility model.It is of the present utility model certainly mobile
Equipment 400 includes that its detection angles is adjustable, so when this for detecting whether front has barrier noncontacting proximity sensor 300
From mobile device 400 when in climbing state or descending state, can avoid causing the erroneous judgement of barrier because of slope.Example
Such as, on the one hand, when climbing state is in from mobile device 400, if from the noncontacting proximity sensor 300 of mobile device 400
Detection angles adjustment can not be carried out, then the noncontacting proximity sensor 300 may be using slope as barrier, as shown in Figure 4
Second arrow 2, so as to cause from the path of mobile device 400 to change, for example retreat etc..When described from mobile device
400 when being hay mover, can cause long grass on the slope from being cut off from mobile device 400.Still further aspect, when from movement
When equipment 400 is in descending state, if detection angles tune can not be carried out from the noncontacting proximity sensor 300 of mobile device 400
It is whole, and on slope, just there is barrier, now, the noncontacting proximity sensor 300 can not be timely detected the barrier, from
And the damage from mobile device 400 is likely to result in, reduce the life-span from mobile device 400.
In addition, the detection angles of the noncontacting proximity sensor 300 in this utility model are adjustable essentially consisting in relative to from shifting
The detection angles of dynamic equipment 400 it is upper and lower adjustable, it is and adjustable relative to the left and right of the detection angles from mobile device 400, can be with
Carried out by expanding the detection angle of noncontacting proximity sensor 300, for example, expand angle of departure of ultrasound wave and radar etc., here is not
Repeat again.
In order to the detection angles for realizing the described noncontacting proximity sensor 300 from mobile device 400 it is adjustable, a kind of real
Apply in example, refer to shown in Fig. 2, Fig. 2 is the structure of the noncontacting proximity sensor in a preferred embodiment of the present utility model
Schematic diagram.In this embodiment, described noncontacting proximity sensor 300 includes first support 321 and Obstacle detection head 311,
Described first support 321 is fixed on described from mobile device 400, and described 311 adjustable angle of Obstacle detection head ground is solid
In described first support 321.Climbing state is in or during descending state from mobile device 400 when described, by from
Dynamic control theory is realizing the adjustment of the angle to roadblock detection head 311.
In another preferred embodiment, refer to shown in Fig. 3, Fig. 3 is of the present utility model one preferred enforcement
The structural representation of the noncontacting proximity sensor in example.In this embodiment, described noncontacting proximity sensor 300 includes second
Support 331, the 3rd support 332 and Obstacle detection head 311, the first end and the 3rd support 332 of described second support 331
First end is individually fixed in second end and the described the 3rd of described from mobile device 400, described second support 331
Second end of support 332 is connected with described Obstacle detection head 311 respectively, and described second support 331 and described
3rd support 332 is adjustable for height support.Climbing state is in or during descending state from mobile device 400 when described,
The tune of the height to described second support 331 and the 3rd described support 332 can be realized by Theory of Automatic Control
It is whole.
In above two embodiment only this utility model preferred embodiment, those skilled in the art can basis
Need and the adjustable noncontacting proximity sensor 300 of other detection angles be set, with exactly, reliably detect and should set from mobile
The obstacle of standby 400 dead aheads.
In this utility model, the method for adjusting noncontacting proximity sensor 300 is to realize the noncontact by automatically controlling
The adjust automatically of the detection angles of formula sensor 300.For the adjust automatically of the detection angles of the noncontacting proximity sensor 300,
In a preferred embodiment, should from mobile device 400 at least include for described in real-time detection from mobile device 400
Inclination angle balance detection module 500 and described noncontacting proximity sensor 300 obtained according to the direction at described inclination angle treat
The direction of the angle of adjustment, and described noncontacting proximity sensor 300 angle to be adjusted is calculated according to the size at described inclination angle
After the size of degree, in the control module 700 of the angle of the noncontacting proximity sensor 300 described in real-time adjustment, such as Fig. 4, when from shifting
When dynamic equipment 400 is in climbing state, the control module 700 is according to the inclination angle by the detection angles of noncontacting proximity sensor 300
It is moved to from the second arrow 2 at first arrow 1, so that noncontacting proximity sensor 300 can be with the barrier on real-time detection slope
Hinder thing, without slope is processed as barrier.It should be noted that being not in climbing state from mobile device 400
It is that the detection angles of noncontacting proximity sensor 300 are moved up from mobile device 400 relative to described, the climbing state
For a dynamic process, the detection angles of noncontacting proximity sensor 300 are probably from movement relative to described in this process
It is also likely to be to move down that equipment 400 is moved up, and concrete mobile direction is needed according to the 500 adjacent output of balance detection module
Two inclination angles between position relationship judged that therefore the word of relevant angle involved in this utility model for example inclines
Angle, angle, angle etc. are vector.
Refer to shown in Fig. 4, Fig. 4 be it is of the present utility model from mobile device be in climbing state when view.
In a preferred embodiment, the size of the angle of adjustment is needed in order to determine noncontacting proximity sensor 300, can pass through
Detection is carried out from the angle between mobile device 400 and road surface, it is also possible to by determining between mobile device 400 and horizontal plane
Angle carry out.Additionally, in other implementations, it is also possible to there are other tune for determining noncontacting proximity sensor 300
The reasonable manner of whole angle.
Wherein, it is described herein from the angle between mobile device 400 and road surface can refer to from mobile device 400 and its
Angle between the road surface that front-wheel is located, it is also possible to refer to from mobile device 400 and its trailing wheel the angle between the road surface being located.This
Place is described from the angle between mobile device 400 and horizontal plane, refers to from mobile device 400 horizontal plane being located with the direction of motion
Angle.However it is necessary that it is specifically intended that above-mentioned angle is vector signal.Additionally, for example, when selection is from mobile device 400
When the angle of the horizontal plane being located with the direction of motion is the inclination angle, as shown in figure 4, adjacent defeated before and after balance detection module 500
When the difference at two inclination angles for going out is not equal to 0 degree, then will be considered that this from mobile device 400 in climbing state or descending state.Its
Involved numerical value in middle this utility model, when the difference at inclination angle as escribed above is equal to 0 degree, which not merely includes absolute 0
Degree, and refers to a scope, and for example, +/- 1 degree, +/- 2 degree etc., those skilled in the art are in the above-mentioned numerical value of understanding, it should spy
Scope of the present utility model absolute 0 degree etc. only Zhu Yi not be only limited to.
In a preferred embodiment, as shown in figure 5, Fig. 5 is of the present utility model to show from the module of mobile device
It is intended to.For example, the inclination angle from mobile device 400 described in 500 real-time detection of balance detection module, then exports to control module
700, so as to control module 700 is according to the detection angles of the Inclination maneuver noncontacting proximity sensor 300, wherein, when described
Control module 700 according to described inclination angle judge it is described from mobile device 400 in climbing state or descending state when, then
Described control module 700 obtains described noncontacting proximity sensor 300 angle to be adjusted according to the direction at described inclination angle
Direction, and after the size at described inclination angle calculates the size of described noncontacting proximity sensor 300 angle to be adjusted,
The angle of the noncontacting proximity sensor 300 described in real-time adjustment, when described control module 700 is judged according to described inclination angle
It is described from mobile device 400 be both not at climbing state not also in descending state when, described control module 700 keeps institute
The detection angles of the noncontacting proximity sensor 300 stated are constant.In a kind of embodiment being more highly preferred to, described balance detection
Module 500 is an angular transducer 600, concrete as shown in Figure 6.
In a preferred embodiment, refer to shown in Fig. 7, Fig. 7 is the module of control module of the present utility model
Schematic diagram.In this embodiment, described control module 700 includes angle direction acquiring unit 701, angular dimension computing unit
702 and output unit 703, the input and described angular dimension of described angle direction acquiring unit 701 calculate single
The input of unit 702 is connected with the outfan of described balance detection module 500, described angle direction acquiring unit
The input respectively with described output unit 703 of the outfan of 701 outfan and described angular dimension computing unit 702
End is connected, and the outfan of described output unit 703 is connected with described noncontacting proximity sensor 300；Angle direction is obtained
Unit 701 is taken, for institute being obtained according to the relative direction at two inclination angles of adjacent output before and after described balance detection module 500
The direction of the noncontacting proximity sensor 300 stated angle to be adjusted；Angular dimension computing unit 702, for being put down according to described
Before and after weighing apparatus detection module 500, the difference at two inclination angles of adjacent output calculates described noncontacting proximity sensor 300 angle to be adjusted
The size of degree；Output unit 703, the side of the angle to be adjusted for being exported according to described angle direction acquiring unit 701
To and the output of described angular dimension computing unit 702 angle to be adjusted the described non-contact sensor of size adjustment
The detection angles of device 300, its concrete handling process will be described in more detail below.
In this utility model, should include from mobile device control method：Climbing is in from mobile device 400 when described
When state or descending state, the angle of the described noncontacting proximity sensor 300 of adjustment.Refer to shown in Fig. 8, this practicality of Fig. 8 is new
The flow chart from mobile device control method of type.It is of the present utility model to specifically include following step from mobile device control method
Suddenly：
S100：The described inclination angle from mobile device 400 of detection；
S200：The side of described noncontacting proximity sensor 300 angle to be adjusted is obtained according to the direction at described inclination angle
To, and the size of described noncontacting proximity sensor 300 angle to be adjusted is calculated according to the size at described inclination angle；
S300：The detection angles of the described noncontacting proximity sensor 300 of adjustment.
In a kind of particularly preferred embodiment, the direction at the inclination angle described in the basis obtains described contactless biography
The step of direction of the angle to be adjusted of sensor 300, be that the inclination angle from mobile device 400 detected according to this is relatively previous
The direction at the secondary inclination angle from mobile device 400 for detecting obtains described noncontacting proximity sensor 300 angle to be adjusted
Direction；
The size at the inclination angle described in the basis calculates the size of described noncontacting proximity sensor 300 angle to be adjusted
The step of, be the inclination angle from mobile device 400 detected according to this relatively it is front once detect from mobile device 400
The difference at inclination angle calculates the size of described noncontacting proximity sensor 300 angle to be adjusted.
In step S210, one vector during the inclination angle of the output of balance detection module 500, which is directive, angle
Direction acquiring unit can be set relative to the front movement certainly for once detecting by the inclination angle from mobile device 400 that this detects
The direction at standby 400 inclination angle, show that noncontacting proximity sensor 300 needs the direction of angle of adjustment, additionally, angular dimension is calculated
Unit 702 can by the inclination angle from mobile device 400 that this detects relatively it is front once detect from mobile device 400
Inclination angle difference, draw noncontacting proximity sensor 300 need adjustment angle size, such output module 703 can basis
The direction of the angle to be adjusted of the described output of angle direction acquiring unit 701 and described angular dimension computing unit
The detection angles of the noncontacting proximity sensor 300 described in the size adjustment of the angle to be adjusted of 702 outputs.Should be noted herein
When to be the difference at two inclination angles of adjacent output before and after the output of balance detection module 500 be 0, then it is assumed that it is described from mobile
Equipment 400 had both been not at climbing state not also in descending state, then need not adjust described noncontacting proximity sensor 300
Detection angles.It also will be understood that into when balance detection module 500 export before and after adjacent output two inclination angles difference be 0 when,
It is also 0 that the noncontacting proximity sensor 300 that angular dimension computing unit 702 is calculated needs the size of the angle of adjustment, i.e., should not adjust
The detection angles of whole described noncontacting proximity sensor 300.
Each technical characteristic of embodiment described above arbitrarily can be combined, to make description succinct, not to above-mentioned reality
Apply all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, the scope of this specification record is all considered to be.
Embodiment described above only expresses several embodiments of the present utility model, and its description is more concrete and detailed,
But therefore can not be interpreted as the restriction to utility model patent scope.It should be pointed out that for the common skill of this area
For art personnel, without departing from the concept of the premise utility, some deformations and improvement can also be made, these belong to
Protection domain of the present utility model.Therefore, the protection domain of this utility model patent should be defined by claims.
Claims (5)
1. one kind is from mobile device, including for detecting whether front has the noncontacting proximity sensor of barrier, it is characterised in that
The detection angles of the noncontacting proximity sensor are adjustable, and described also includes balance detection module and control mould from mobile device
Block, the outfan of described balance detection module are connected with the input of described control module, described control module
Outfan is connected with described noncontacting proximity sensor；
Described balance detection module is used for the inclination angle from mobile device described in real-time detection；
Detection angles of the described control module for the noncontacting proximity sensor according to described inclination angle real-time adjustment.
2. it is according to claim 1 from mobile device, it is characterised in that described balance detection module is angle sensor
Device.
3. it is according to claim 1 and 2 from mobile device, it is characterised in that described noncontacting proximity sensor includes
One support and Obstacle detection head, described first support are fixed on described from mobile device, described Obstacle detection head
It is rotationally fixed in described first support.
4. it is according to claim 1 and 2 from mobile device, it is characterised in that described noncontacting proximity sensor includes
Two supports, the 3rd support and Obstacle detection head, the first end and the 3rd bracket first end of described second support are solid respectively
Due to described from mobile device, the second end of described second support and the second end of the 3rd described support respectively with
Described Obstacle detection head is connected, and described second support and the 3rd described support are adjustable for height support.
5. it is according to claim 1 and 2 from mobile device, it is characterised in that described noncontacting proximity sensor is ultrasound
Ripple noncontacting proximity sensor or radar non-contact sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620923085.5U CN206075142U (en) | 2016-08-23 | 2016-08-23 | From mobile device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620923085.5U CN206075142U (en) | 2016-08-23 | 2016-08-23 | From mobile device |
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| CN206075142U true CN206075142U (en) | 2017-04-05 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107765697A (en) * | 2016-08-23 | 2018-03-06 | 苏州宝时得电动工具有限公司 | From mobile device and from mobile device control method |
| CN113068501A (en) * | 2020-01-06 | 2021-07-06 | 苏州宝时得电动工具有限公司 | Intelligent mower |
| CN117492476A (en) * | 2024-01-03 | 2024-02-02 | 四川公路桥梁建设集团有限公司 | Automatic attitude adjustment system and method for beam-transporting gun carriage |
-
2016
- 2016-08-23 CN CN201620923085.5U patent/CN206075142U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107765697A (en) * | 2016-08-23 | 2018-03-06 | 苏州宝时得电动工具有限公司 | From mobile device and from mobile device control method |
| CN107765697B (en) * | 2016-08-23 | 2023-11-03 | 苏州宝时得电动工具有限公司 | Self-moving device and self-moving device control method |
| CN113068501A (en) * | 2020-01-06 | 2021-07-06 | 苏州宝时得电动工具有限公司 | Intelligent mower |
| CN117492476A (en) * | 2024-01-03 | 2024-02-02 | 四川公路桥梁建设集团有限公司 | Automatic attitude adjustment system and method for beam-transporting gun carriage |
| CN117492476B (en) * | 2024-01-03 | 2024-03-19 | 四川公路桥梁建设集团有限公司 | Automatic attitude adjustment system and method for beam-transporting gun carriage |
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