CN207650647U - Automatic running device - Google Patents
Automatic running device Download PDFInfo
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- CN207650647U CN207650647U CN201721517303.6U CN201721517303U CN207650647U CN 207650647 U CN207650647 U CN 207650647U CN 201721517303 U CN201721517303 U CN 201721517303U CN 207650647 U CN207650647 U CN 207650647U
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- running device
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Abstract
A kind of automatic running device, including first detection module, the second detection module, processing module and control module.Wherein, first detection module and the second detection module are respectively used to obtain the signal being characterized within the scope of different height there are barrier.According to the obstacle signal of acquisition, processing module sends out avoidance instruction；Control module controls the walking path of automatic running device.Above-mentioned automatic running device can detect the barrier of different height, make automatic running device more intelligence to adapt to complicated working environment, while promoting its safety.
Description
Technical field
The utility model is related to garden craft fields, more particularly to a kind of automatic running device.
Background technology
Intelligent grass-removing has automatically walk function, and can independently complete the work to cut the grass on a lawn, without artificial direct
Control and operation, are greatly lowered manual operation, are that the places such as a kind of suitable family's garden, public lawn carry out turf-mown dimension
The tool of shield.
Usual intelligent grass-removing has single barrier avoiding function, one is being collided by grass trimmer and barrier, using touching
It hits sensor and realizes yielding.But the result of collision may destroy barrier (flowering shrubs, bushes etc.), and collision meeting for a long time
Exist to grass trimmer itself and injures.One is the barriers such as trees are detected using ultrasonic sensor, grass trimmer is close to barrier
When, the action of evacuation or detour is made in advance, avoids colliding with barrier.But the intelligence for being equipped with ultrasonic sensor is mowed
Machine cannot avoid shorter barrier.
So intelligent grass-removing avoidance means are single at present, do not adapt to complicated mowing environment, for example, with flowering shrubs,
The complex environment of the vegetation such as trunk, bushes.
Utility model content
Based on this, it is necessary to for the single avoidance means of grass trimmer, provide a kind of automatic running device.
A kind of automatic running device, including：There is barrier for obtaining to be characterized in the first altitude range in first detection module
Hinder the first signal of object；The second detection module below the first detection module is characterized in the second height for obtaining
There are the second signals of barrier in range；
Processing module sends out avoidance instruction for combining according to first signal and the second signal；
Control module controls the walking path of the automatic running device for being instructed according to the avoidance.
Above-mentioned automatic running device can detect the barrier within the scope of different height.Flowering shrubs, tree are encountered when working in
When dry, bushes etc. when complex environments, automatic running device executes avoiding action, and more intelligence is to adapt to complicated building ring
Border, while promoting the safety of automatic running device.
The first detection module includes ultrasonic probe in one of the embodiments,；The ultrasonic probe, is used for
Transmitting and received ultrasonic signal；The ultrasonic probe is mounted in ultrasonic probe fixed seat, and the ultrasonic probe is solid
Reservation is set on the shell of automatic running device.
Second detection module includes magnetic patch and the Hall for incuding the magnetic patch in one of the embodiments,
Element；The Hall element, for detecting whether the magnetic patch is subjected to displacement；The Hall element is passed including at least two Halls
Sensor.
Description of the drawings
Fig. 1 is the barrier-avoiding method flow chart of automatic running device in an embodiment provided by the utility model；
Fig. 2 is the barrier-avoiding method flow chart of automatic running device in a preferred embodiment provided by the utility model；
Fig. 3 is the barrier-avoiding method flow chart of automatic running device in another preferred embodiment provided by the utility model；
Fig. 4 is the obstacle avoidance system comprising modules schematic diagram of automatic running device in an embodiment provided by the utility model；
Fig. 5 is the front view of automatic running device in an embodiment provided by the utility model；
Fig. 6 is the left view of automatic running device in an embodiment provided by the utility model；
Fig. 7 is the vertical view of automatic running device in an embodiment provided by the utility model；
Fig. 8 is automatic running device avoiding obstacles by supersonic wave component diagram in an embodiment provided by the utility model；
Fig. 9 is automatic running device and its operative scenario schematic diagram in an embodiment provided by the utility model.
Wherein, label declaration is as follows：
100 driving wheels
200 driven wheels
300 casings
310 ultrasonic probe fixed seats
311 ultrasonic probes
320 cutting-height adjusting knobs
400 collection grass combs
510 first detection modules
520 second monitoring modulars
600 processing modules
700 control modules
Specific implementation mode
In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, below in conjunction with attached drawing and implementation
Example, the present invention will be further described in detail.It should be appreciated that specific embodiment described herein is only used to explain
The utility model is not used to limit the utility model.
Fig. 1 is referred to, in one embodiment, a kind of barrier-avoiding method of automatic running device includes the following steps：
S110：Obtain the first signal being characterized in the first altitude range there are barrier；
The walking of automatic running device can be prevented by being defined as the object of barrier, need to change automatic running device
Walking path avoids barrier.
Automatic running device can be that intelligent grass-removing, intelligent snowplough, intelligent floor-sweeping vehicle, intelligent ground washing vehicle etc. are similar
Smart machine with automatically walk function.The embodiments of the present invention are by taking intelligent grass-removing as an example.
In one embodiment, Fig. 9 is referred to, intelligent grass-removing is equipped with ultrasonic probe, and ultrasonic probe is provided with
Emitter and reception device.Intelligent grass-removing is mowed on meadow, and ultrasonic transmission device is to grass trimmer direction of travel
Emit ultrasonic wave, ultrasonic wave is propagated, encounters barrier on the way and just reflected immediately, ultrasonic probe, ultrasonic receiver receives in air
Back wave.The back wave is defined as the first signal.Because ultrasonic wave directive property is strong, the distance propagated in the medium farther out, because
And ultrasonic wave can be used for the measurement of distance.
Ultrasonic probe is installed on the floating cover of grass trimmer, has certain altitude apart from ground, can be used for detecting height
Larger barrier, such as trunk, chair.The regional extent of ultrasonic listening is the first height H1 ranges.As the first height H1
There are when barrier in range, using the characteristic of ultrasonic wave, reception device receives the reflected ultrasonic signal of barrier, warp
It crosses processing to calculate, in the position with barrier with certain distance, control intelligent grass-removing carries out avoiding action, and then avoids hindering
Hinder the collision of object and intelligent grass-removing.
S120：Obtain the second signal being characterized in the second altitude range there are barrier；
In one embodiment, Fig. 9 is referred to, is existed within the scope of the second height H2 in the mowing environment of intelligent grass-removing
Barrier, such as bushes, flowering shrubs etc..For existing barrier within the scope of the second height H2, and these barriers are super
Except the altitude range of sonic probe detection, intelligent grass-removing is provided with magnetic patch, is carried out with the Hall element for incuding magnetic patch
Obstacle detection.
Magnetic patch is fixed on the enclosure of intelligent grass-removing.Hall element is distributed in the magnetic field range of magnetic patch, to logical
The magnetic strong and weak variation of detection is crossed to judge whether magnetic patch moves.The displacement signal of the magnetic patch is defined as second signal.
In short, after intelligent grass-removing encounters the barrier in the second altitude range, certain deformation occurs because of collision for shell,
Magnetic patch follows the deformation of shell and certain displacement occurs relative to Hall sensor.Magnetic patch is since position changes and magnetic field
It changes, Hall sensor detects magnetic patch displacement, to detect that intelligent grass-removing has encountered barrier, and then controls intelligence
The turning of energy grass trimmer, retrogressing etc..
S200：Combine according to the first signal and the second signal, send out avoidance instruction,
It is had been defined for above by the ultrasonic signal of the barrier reflection in the first altitude range being the first signal, intelligence
Barrier collision in grass trimmer and the second altitude range, the magnetic patch on intelligent grass-removing shell are subjected to displacement, the displacement
Signal is second signal.
Further, the maximum value of the second altitude range is not more than by setting the minimum value of the first altitude range, then the
It is very close to each other or even have lap between one altitude range and the second altitude range.So, in the working environment of grass trimmer,
The height of barrier covers the first altitude range and the second altitude range substantially.In the first altitude range of ultrasonic wave covering,
Using the property detection barrier of ultrasonic wave, the first signal is obtained, when having the position of certain distance with barrier, controls intelligence
It can grass trimmer progress avoiding action.It can not be covered in the second altitude range in ultrasonic wave, barrier is detected by making contact, is obtained
Second signal, the turning of control intelligent grass-removing is taken to retreat.In this way, different height model can be detected using above-mentioned barrier-avoiding method
Interior barrier is enclosed, and then uses different avoidance means.
In short, combining according to the first signal and the second signal, in conjunction with two kinds of avoidance means, to detect within the scope of different height
Barrier, judge whether intelligent grass-removing encounters barrier.When work in encounter flowering shrubs, trunk, bushes when etc. complicated ring
When border, intelligent grass-removing executes avoiding action, to adapt to complicated working environment, while promoting the safety of intelligent grass-removing.
S300：It is instructed according to avoidance, changes the walking path of automatic running device.
Combine according to first signal and the second signal, intelligent grass-removing sends out avoidance instruction, to control intelligence
The movement of energy grass trimmer.For example, at a certain distance from intelligent grass-removing, there are the barrier within the scope of the first height H1, detections
To the transmitting signal of ultrasonic wave, the avoidance instruction of steering is sent out, control intelligent grass-removing turns to.
Further, Fig. 2 is referred to, in a preferred embodiment, a kind of barrier-avoiding method of automatic running device, specifically
It is further comprising the steps of：
S111：Ultrasonic signal is sent out to surrounding enviroment；
S112：Receive reflection signal of the surrounding enviroment to ultrasonic signal；
S113：According to reflection signal, judge whether that there are barriers in the first altitude range.
Further, in a preferred embodiment, judge whether the step of there are barriers in the first altitude range, have
Body includes：
There are the first preset parameter values of barrier in acquisition the first altitude range of characterization；
When the first parameter value of reflection signal is more than in the first altitude range of characterization, there are the first parameter presets of barrier
When value, judge that there are barriers in the first altitude range.
Wherein, the first parameter value for reflecting signal is the intensity value for reflecting signal.
Further, in a preferred embodiment, the first letter being characterized in the first altitude range there are barrier is obtained
Number the step of, further include specifically：
S114：The second parameter of the first signal will be converted into the transmitting ultrasonic wave moment with the time difference for receiving the ultrasonic wave moment
Value, the second parameter value of the first signal, for characterizing the barrier in automatic running device and the first altitude range between the two
Distance.
Specifically, ultrasonic transmission device emits ultrasonic wave to a direction, and ultrasonic wave is propagated, encountered on the way in air
Barrier just returns immediately.Ultrasonic probe, ultrasonic receiver receives the ultrasonic wave being reflected back, and calculates reflected ultrasonic wave
Signal strength.The preset ultrasonic signal strength value being reflected back is obtained simultaneously, it is big when reflecting ultrasonic wave signal strength values
When default ultrasonic signal strength value, judge that there are barriers in the first altitude range.
Further, start timing while ultrasonic wave emission time, ultrasonic probe, ultrasonic receiver, which receives, to be reflected back toward
The ultrasonic wave come just stops timing, the i.e. time difference at timer record transmitting ultrasonic wave moment and reception ultrasonic wave moment immediately
T.Time difference T is defined as the first signal parameter value of characterization intelligent walking equipment and barrier distance between the two.
Within period of the transmitting ultrasonic wave moment with the reception ultrasonic wave moment, ultrasonic wave is in barrier and intelligent grass-removing
The two back moves.The aerial spread speed of sound wave is denoted as V, according to the time T of timer record, so that it may to calculate
Go out distance S of the emitter away from barrier, i.e.,：S=V*T/2.
Refer to Fig. 2, in a preferred embodiment, a kind of barrier-avoiding method of automatic running device, further include specifically with
Lower step：
S211：Obtain the second preset parameter value of the first signal；
S212：When the second parameter value of first signal is less than the second preset parameter value of first signal, hair
Go out avoidance instruction.
Specifically, the second preset parameter value of the first signal is set, it can be straight by the second preset parameter value of the first signal
It grafts into control program, is directly invoked when executing program.Another way is to receive external the first signal directly inputted
Second preset parameter value, and being further stored in memory calls the of the first signal in memory when executing program
Two preset parameter values.Second preset parameter value of the first signal can be time parameter, can also be distance parameter.
When the second parameter preset of the first signal is time parameter, the first signal parameter value T and preset time are joined
Number is compared, and when the first signal parameter value T is more than preset time, sends out avoidance instruction.
When the second parameter preset of the first signal is distance parameter, since the aerial spread speed of ultrasonic wave is about
340m/s can convert distance parameter to time parameter.The first signal parameter value T time parameters obtained with conversion are carried out
Compare, when the first signal parameter value T is more than preset time, sends out avoidance instruction.
Intelligent grass-removing is equipped with ultrasonic probe, when having the position of certain distance with barrier, intelligent grass-removing
Avoiding action is carried out to barrier, avoids the collision with barrier, and then avoid collision the damage to barrier and intelligent grass-removing
It is bad.
Further, Fig. 3 is referred to, in another preferred embodiment, a kind of barrier-avoiding method of automatic running device, tool
Body is further comprising the steps of：
S121：Barrier collision in automatic running device and the second altitude range.
S122：Obtain the second signal parameter value being characterized in the second altitude range there are barrier.
Intelligent grass-removing encounters the barrier that flowering shrubs, bushes etc. are located in the second altitude range when mowing, these barriers
Object is hindered to exceed the search coverage of ultrasonic wave.The grass trimmer inevitably collision with the barrier in the second altitude range.
The deformation of intelligent grass-removing casing is detected using magnetic patch and Hall element, and then judges whether grass trimmer is touched
It hits.Magnetic patch is fixed on the shell of intelligent grass-removing, and Hall element is distributed in the magnetic field range of magnetic patch.
When intelligent grass-removing and barrier collide, shell deforms upon, magnetic patch follow the deformation of shell and relative to suddenly
Certain displacement occurs for your sensor, magnetic patch due to position changes and magnetic field changes, Hall element can detect
Magnetic patch displacement.The displacement physical quantity detected is transformed into electricity by Hall element, and then controls intelligent grass-removing.Hall element is defeated
The electric quantity signal gone out is defined as second signal parameter value.
S221：Obtain the preset parameter value of second signal；
S222：When the second signal parameter value is more than the preset parameter value of the second signal, avoidance instruction is sent out.
Specifically, the preset parameter value of second signal is set, the preset parameter value of second signal can be implanted directly into control
Processing procedure sequence is directly invoked when executing program.Another way is to receive the parameter preset of the external second signal directly inputted
Value, and be further stored in memory, the preset parameter value of the second signal in memory is called when executing program.Second
Signal parameter value is electrical parameter.
Second signal parameter value is compared with the default electrical parameter of second signal, when second signal parameter value is more than
When the default electrical parameter value of second signal, avoidance instruction is sent out.
For the barrier except ultrasonic listening region, magnetic patch displacement is detected using Hall element, is cut to detect
Careless machine has encountered barrier, then controls the avoiding actions such as grass trimmer turning, retrogressing, reduces the damage to barrier.
Two kinds of ultrasonic probe, Hall element is used in combination in the barrier-avoiding method of automatic running device disclosed by the utility model
Sensor can detect the barrier within the scope of different height.When work in encounter flowering shrubs, trunk, bushes when etc. complicated ring
When border, automatic running device executes avoiding action using the barrier-avoiding method, and more intelligence is to adapt to complicated working environment, simultaneously
Promote the safety of automatic running device.
Based on same thinking, the embodiments of the present invention also provide a kind of automatic running device.Fig. 4 is referred to, it should
The obstacle avoidance system of automatic running device specifically includes：
First detection module, for obtaining the first signal being characterized within the scope of the first height H1 there are barrier.
The second detection module below first detection module exists for obtaining to be characterized within the scope of the second height H2
The second signal of barrier.
Processing module sends out avoidance instruction for combining according to the first signal and the second signal.
Control module controls the walking path of automatic running device for being instructed according to avoidance.
Further, first detection module includes ultrasonic probe.Ultrasonic probe, for transmitting and receiving ultrasonic wave believe
Number.Ultrasonic probe is mounted in ultrasonic probe fixed seat, and ultrasonic probe fixed seat is set to the shell of automatic running device
On top.Second detection module includes magnetic patch and the Hall element for incuding magnetic patch.Hall element, for detecting the magnetic
Whether block is subjected to displacement.Hall element includes at least two Hall sensors.
Specifically, automatic running device can be intelligent grass-removing, intelligent snowplough, intelligent floor-sweeping vehicle, intelligent ground washing vehicle
Etc. the similar smart machine with automatically walk function.The embodiments of the present invention are by taking intelligent grass-removing as an example.
Refer to Fig. 5, Fig. 6, intelligent grass-removing includes that driving wheel 100, driven wheel 200, casing 300, ultrasonic probe are solid
Reservation 310, cutting-height adjusting knob 320, collection grass comb 400, magnetic patch (being to show in figure), Hall element (being to show in figure)
Deng.Driving wheel 100, support grass trimmer fuselage, suffered by frictional ground force forward, provide driving force for the traveling of grass trimmer.
Driven wheel 200 supports grass trimmer fuselage and is subordinated to driving wheel 100 and walks with fuselage, and driven wheel 200 can be in predetermined angular range
Interior rotation.When intelligent grass-removing is advanced, grass is oriented to by collection grass comb 400, the neat mowing area for entering intelligent grass-removing.Refer to figure
8, ultrasonic probe 311 is installed in ultrasonic probe fixed seat 310.
Fig. 5 is referred to, there are two ultrasonic probe fixed seats 310 for intelligent grass-removing setting, are respectively arranged on casing 300
The left and right sides, the transverse direction of ultrasonic probe is covered as 100%, and the identification distance of ultrasonic probe is 5-95mm.
Fig. 7 is referred to, show that the angular range of the central axes of ultrasonic wave axis and grass trimmer is by inventor's measuring and calculating
In 30 ° to 50 °, the hold-down support front end of ultrasonic probe and the horizontal distance range of casing front end are in 110mm to 130mm.
Ultrasonic probe has optimum fixation position, and the angle of the central axes of ultrasonic wave axis and grass trimmer is 38 °, so that ultrasonic wave energy
The barrier of grass trimmer side is enough detected, is wider search coverage with horizontal direction.The hold-down support of ultrasonic probe
The horizontal distance of front end and casing front end is 126.4mm.So that grass trimmer avoids existing blind zone problem.
The deformation that intelligent grass-removing casing is detected using magnetic patch and Hall element has been discussed in detail above, it is no longer superfluous herein
It states.
Above-mentioned automatic running device can detect the barrier within the scope of different height.Flowering shrubs, tree are encountered when working in
When dry, bushes etc. when complex environments, automatic running device executes avoiding action, and more intelligence is to adapt to complicated building ring
Border, while promoting the safety of automatic running device.
The concrete application scene of the utility model embodiment is introduced with reference to Fig. 9：
Meadow has the barriers such as trunk, flowering shrubs, bushes, chair.The high of these barriers is differed, for example, flowering shrubs and
The height of bushes is less than the height of grass trimmer, and the height of trunk and chair is higher than the height of grass trimmer.The utility model provides
Grass trimmer obstacle avoidance system include ultrasonic probe, magnetic patch and Hall element.
Ultrasonic probe is mounted on mower housing top.The probe quantity at least two of ultrasonic wave, so that ultrasonic wave is visited
The transverse direction of head is covered as 100%.Ultrasonic probe detects higher-height barrier, such as trunk, and ultrasonic probe is detected
Height is denoted as H1.When, there are when barrier, ultrasonic wave is reflected by barrier, and ultrasonic probe receives within the scope of the first height H1
By the reflected ultrasonic signal of barrier, is calculated by processing, obtain the distance between barrier and grass trimmer.Due to super
The aerial spread speed of sound wave is 340m/s, can also convert distance parameter to time parameter.Transfer preset parameter
Value, either distance parameter is compared the time parameter that processing is obtained with preset time parameter or distance, when processing obtains
When the parameter value obtained is more than preset parameter value, avoidance instruction is sent out.Grass trimmer is instructed according to avoidance, changes walking path, such as
Turning etc..Therefore, it can be carried out in the position with barrier with certain distance, control intelligent grass-removing using ultrasonic probe
Avoiding action avoids the collision of barrier and intelligent grass-removing.
Grass trimmer bottom end is apart from ground 60mm, and when encountering barrier of the height less than 60mm, grass trimmer can smoothly lead to
It crosses.When barrier is appeared in more than 60mm and is located within the scope of height H2, ultrasonic listening region can not cover, this part barrier
Hinder object that can be evaded by using magnetic patch and Hall element.Magnetic patch is fixed on the shell of intelligent grass-removing.Hall element
It is distributed in the magnetic field range of magnetic patch, to judge whether magnetic patch moves by detecting magnetic strong and weak variation.It is cut when intelligently
After careless machine encounters the barrier within the scope of the second height H2, certain deformation occurs because of collision for shell, and magnetic patch follows the shape of shell
Become and certain displacement occurs relative to Hall sensor, Hall sensor detects magnetic patch displacement, to detect that intelligence is cut
Careless machine has encountered barrier, and then controllable intelligent grass-removing evades barrier, such as retreats.
Barrier within the scope of automatic running device and its barrier-avoiding method detection different height provided by the utility model.When
When the complex environments such as working in when encountering flowering shrubs, trunk, bushes, automatic running device executes avoiding action, more intelligence with
Complicated working environment is adapted to, while promoting the safety of automatic running device.
Embodiment described above only expresses the several embodiments of the utility model, the description thereof is more specific and detailed,
But it should not be understood as limiting the scope of the patent of the utility model.It should be pointed out that for the common of this field
For technical staff, without departing from the concept of the premise utility, various modifications and improvements can be made, these all belong to
In the scope of protection of the utility model.Therefore, the protection domain of the utility model patent should be determined by the appended claims.
Claims (3)
1. a kind of automatic running device, which is characterized in that including：
First detection module, for obtaining the first signal being characterized in the first altitude range there are barrier；
There is barrier for obtaining to be characterized in the second altitude range in the second detection module below the first detection module
Hinder the second signal of object；
Processing module sends out avoidance instruction for combining according to first signal and the second signal；
Control module controls the walking path of the automatic running device for being instructed according to the avoidance.
2. automatic running device according to claim 1, which is characterized in that the first detection module includes that ultrasonic wave is visited
Head, the ultrasonic probe, for transmitting and receiving ultrasonic signal；
The ultrasonic probe is mounted in ultrasonic probe fixed seat, and the ultrasonic probe fixed seat is set set on automatically walk
On standby shell.
3. automatic running device according to claim 1, which is characterized in that second detection module include magnetic patch, with
Hall element for incuding the magnetic patch, the Hall element, for detecting whether the magnetic patch is subjected to displacement, the Hall
Element includes at least two Hall sensors.
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| CN201721517303.6U CN207650647U (en) | 2017-11-14 | 2017-11-14 | Automatic running device |
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|---|---|---|---|
| CN201721517303.6U CN207650647U (en) | 2017-11-14 | 2017-11-14 | Automatic running device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109782750A (en) * | 2017-11-14 | 2019-05-21 | 宝时得科技（中国）有限公司 | Automatic running device and its barrier-avoiding method |
| CN111897335A (en) * | 2020-08-02 | 2020-11-06 | 珠海市一微半导体有限公司 | Obstacle avoidance control method and control system for robot walking in Chinese character' gong |
-
2017
- 2017-11-14 CN CN201721517303.6U patent/CN207650647U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109782750A (en) * | 2017-11-14 | 2019-05-21 | 宝时得科技（中国）有限公司 | Automatic running device and its barrier-avoiding method |
| CN111897335A (en) * | 2020-08-02 | 2020-11-06 | 珠海市一微半导体有限公司 | Obstacle avoidance control method and control system for robot walking in Chinese character' gong |
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