CN207851618U - From mobile device - Google Patents
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- CN207851618U CN207851618U CN201820257419.9U CN201820257419U CN207851618U CN 207851618 U CN207851618 U CN 207851618U CN 201820257419 U CN201820257419 U CN 201820257419U CN 207851618 U CN207851618 U CN 207851618U
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- 238000001514 detection method Methods 0.000 claims abstract description 53
- 230000001939 inductive effect Effects 0.000 claims abstract description 41
- 230000007246 mechanism Effects 0.000 claims abstract description 18
- 230000005389 magnetism Effects 0.000 claims description 13
- 230000006698 induction Effects 0.000 claims description 10
- 230000008859 change Effects 0.000 claims description 7
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 4
- 238000006243 chemical reaction Methods 0.000 claims description 4
- 229910052742 iron Inorganic materials 0.000 claims description 2
- 235000014676 Phragmites communis Nutrition 0.000 claims 1
- 230000009471 action Effects 0.000 description 12
- 244000025254 Cannabis sativa Species 0.000 description 11
- 230000004888 barrier function Effects 0.000 description 11
- 238000009434 installation Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 5
- 238000007667 floating Methods 0.000 description 5
- 230000001960 triggered effect Effects 0.000 description 4
- 238000006073 displacement reaction Methods 0.000 description 3
- 239000000428 dust Substances 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000005070 sampling Methods 0.000 description 2
- 241000196324 Embryophyta Species 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
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- 238000004146 energy storage Methods 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 238000005507 spraying Methods 0.000 description 1
- 230000002195 synergetic effect Effects 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
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- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
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- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
One kind from mobile device include shell, it supports and drives the walking mechanism walked from mobile device, the control control device and condition checkout gear walked and worked from mobile device, the walking mechanism includes driving wheel and driven wheel, the condition checkout gear includes at least two magnetic trigger member, signal inductor and detection device, the at least two magnetic trigger member are set to the driven wheel, and it is rotatable with the driven wheel, and one end polarity of the adjacent magnetic trigger member along described driven wheel the same side is different, the signal inductor incudes the magnetic field signal that the magnetic trigger member generates and generates inductive signal；The detection device judges the rotary state of the driven wheel according to the inductive signal, to judge it is described from mobile device whether normal walking.
Description
Technical field
The utility model is related to walking arrangement technical field, more particularly to one kind from mobile device.
Background technology
With being constantly progressive for science and technology, it is various since mobile device slowly come into people’s lives, such as
Dust-collecting robot and automatic mower etc..It is this that there is running gear, equipment and automatic control device from mobile device, from
And it can be detached from the operation of people, automatically walk and execute work in a certain range.
Usually, in the working region from mobile device, some barriers are often had, which can influence to move certainly
The work of dynamic equipment is even damaged from mobile device.A kind of existing solution is arranged on the pedestal from mobile device
Floating part collides when from mobile device and barrier, and with pedestal relative displacement occurs for floating part, is examined by displacement sensor
The case where surveying relative displacement, to which identification encounters obstacle from mobile device and avoided, but this kind of solution installation is complicated
And it is of high cost.
Utility model content
Based on this, it is necessary to install complex and high cost problem for existing condition checkout gear, provide a kind of peace
It fills simple, at low cost from mobile device and its condition detection method.
Following technical solution can be used in the utility model：
One kind is from mobile device comprising：
Shell；
Walking mechanism, support and drive it is described walk from mobile device, the walking mechanism includes driving wheel and driven wheel；
Control device, for controlling, the walking mechanism driving is described to walk and works from mobile device；
Described from mobile device further includes condition checkout gear, and the condition checkout gear includes：
At least two magnetic trigger member, at least two magnetic trigger member are set to the driven wheel, and with it is described from
Driving wheel is rotatable, and one end polarity of the adjacent magnetic trigger member along described driven wheel the same side is different；
Signal inductor, the magnetic field signal generated for incuding the magnetic trigger member, and generate inductive signal；
Detection device, the rotary state for judging the driven wheel according to the inductive signal, to which judgement is described certainly
Mobile device whether normal walking.
Preferably, the signal inductor is set on the shell.
Preferably, the signal inductor is Hall sensor or tongue tube.
Preferably, the signal inductor is linear hall sensor.
Preferably, when the driven wheel rotates, the inductive signal that the signal inductor generates includes being alternately present
The waveform of opposite in phase.
Preferably, the detection device converts the waveform that the signal inductor generates to square-wave signal, according to described
Whether square-wave signal obtains the rotary state of the driven wheel, and described normal from mobile device according to rotary state judgement
Walking.
Preferably, the detection device includes：
Comparator exports first party for the inductive signal and preset value or predetermined threshold value according to comparison result
Wave signal；
Logic gates, for carrying out logical operation to first square-wave signal, to export the second square-wave signal；
Processor, for the rotary state according to driven wheel described in the second square wave signal acquisition, and according to described turn
Described in dynamic condition adjudgement from mobile device whether normal walking.
Preferably, the processor is used to obtain actual count to the second square wave signal-count in preset time
Value, and by the actual count value compared with pre-set count values, to obtain the rotary state of the driven wheel.
Preferably, the condition checkout gear further includes amplifier, the amplifier be connected to the signal inductor with
Between the detection device, with to the inductive signal enhanced processing.
Preferably, the detection device includes：
AD collecting units, for being sampled to the inductive signal in preset time, and it is real to carry out AD conversion outputs
Border sampled value；
Processor, the rotary state for obtaining the driven wheel according to the change rate of the actual sample value, and according to
Rotary state detection it is described from mobile device whether normal walking.
Preferably, the signal inductor includes at least two, and the signal inductor can be respectively by the adjacent magnetic
Property trigger member triggering generate square-wave signal, the detection device obtains the rotation shape of the driven wheel according to the square-wave signal
State, and according to the rotary state judge it is described from mobile device whether normal walking.
Preferably, the signal inductor is digital hall sensor.
Preferably, the detection device includes：
Logic gates, for carrying out logical operation to the square-wave signal respectively, to export third square-wave signal；
Processor, for the rotary state according to driven wheel described in the third square wave signal acquisition, and according to described turn
Described in dynamic state-detection from mobile device whether normal walking.
Preferably, the processor is used to obtain actual count to the third square wave signal-count in preset time
Value, and by the actual count value compared with pre-set count values, to obtain the rotary state of the driven wheel.
Preferably, the magnetic trigger member is electromagnet or permanent magnet.
Preferably, the magnetic trigger member is provided at circumferentially spaced along the driven wheel.
Preferably, the magnetic trigger member is equally spaced along the circumference of the driven wheel.
Preferably, rotation center of the magnetic pole of the magnetic trigger member towards driven wheel.
Preferably, it is described from mobile device include main shaft, the driven wheel be can around the spindle eccentricity rotate it is universal
Wheel, the magnetism trigger member are located at the top of the main shaft side and driven wheel.
Preferably, the constant distance of the relatively described driven wheel of the signal inductor.
Following technical solution also can be used in the utility model：A kind of condition checkout gear comprising：
Signal output component is fixedly installed by driven wheel and exports and the relevant frequency signal of driven wheel motion state；
Signal inductor, the variation for receiving the frequency signal, wherein the signal inductor, which has, receives institute
The first state of the variation of frequency signal is stated, and does not receive the second state of the variation of the frequency signal, first shape
State and second state correspond respectively to the driven wheel and are in ordinary running condition and halted state；
Detection device is electrically connected with signal inductor, and when the signal inductor is in second state, defeated
Go out avoidance instruction.
Preferably, the signal output component is several magnetic trigger member, and the frequency signal is changes of magnetic field curve.
Preferably, the pole orientation of the adjacent magnetic trigger member is opposite.
Preferably, the signal output component is separately positioned on any circumference of driven wheel.
Preferably, the adjacent magnetic trigger member is equally spaced on the circumference of the driven wheel.
Preferably, circumference where the signal inductor corresponds to the magnetic trigger member is configured, the induction of signal
Device is Hall element, linear hall element or the tongue tube that can be used in receiving the magnetic signal of magnetic trigger member output.
Preferably, the signal inductor is fixed on vehicle body, and its position corresponds to the magnetic trigger member place
The top of circumference.
Following technical solution also can be used in the utility model：One kind from mobile device include above-mentioned condition checkout gear.
Preferably, the driven wheel is the universal wheel that can be rotated around spindle eccentricity.
Preferably, the side in main shaft is arranged in the signal inductor, and positioned at the top of the driven wheel.
It is above-mentioned from mobile device since the magnetic pole of magnetic trigger member is arranged alternately, to make signal inductor generate difference
Inductive signal, the inductive signal accompany wheel rotation and be in certain rule, the switching of certain frequency.Work as automatic travelling device
It collides, then the rotating speed of driven wheel reduces or stops operating, then the rule of inductive signal is destroyed, automatic so as to judge
Running gear collides, and then the actions such as controllable automatic mower turning, retrogressing.Floating part and position are used compared to traditional
The mode of sensor detection collision is set, simple in structure and installation facility reduces cost.
Description of the drawings
Fig. 1 is the structural schematic diagram from mobile device in the first embodiment of the utility model；
The partial enlarged view of condition checkout gear in the first embodiment of Fig. 2 the utility model；
Fig. 3 be the utility model first embodiment in magnetic trigger member arrangement schematic diagram.
Fig. 4 is the assembling schematic diagram of the magnetic trigger member and driven wheel in the utility model second embodiment；
Fig. 5 is the connection relation block diagram of the signal inductor and detection device in the utility model second embodiment；
Fig. 6 is the connection relation block diagram of the signal inductor and detection device in the utility model 3rd embodiment；
Fig. 7 is the connection relation block diagram of the signal inductor and detection device in the utility model fourth embodiment.
Specific implementation mode
The utility model is more fully retouched below with reference to relevant drawings for the ease of understanding the utility model,
It states.The preferred embodiment of the utility model is given in attached drawing.But the utility model can come in many different forms
It realizes, however it is not limited to embodiment described herein.Make to the utility model on the contrary, purpose of providing these embodiments is
The understanding of disclosure is more thorough and comprehensive.
It is in the description of the present invention, it should be noted that term "center", "upper", "lower", "left", "right", " perpendicular
Directly ", the orientation or positional relationship of the instructions such as "horizontal", "left", "right", "inner", "outside" is orientation based on ... shown in the drawings or position
Relationship is set, is merely for convenience of describing the present invention and simplifying the description, device or element are not indicated or implied the indicated
It must have a particular orientation, with specific azimuth configuration and operation, therefore should not be understood as limiting the present invention.This
Outside, term " first ", " second ", " third " are used for description purposes only, and are not understood to indicate or imply relative importance.This
Outside, when element is referred to as " being fixed on " another element, it can be directly on another element or there may also be placed in the middle
Element.When an element is considered as " connection " another element, it can be directly to another element or can
Centering elements can be existed simultaneously.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " is pacified
Dress ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally
Connection；It can be mechanical connection, can also be electrical connection；Can be directly connected, can also indirectly connected through an intermediary,
It can be the connection inside two elements.For the ordinary skill in the art, it can understand above-mentioned art with concrete condition
The concrete meaning of language in the present invention.
Unless otherwise defined, all of technologies and scientific terms used here by the article is led with the technology for belonging to the utility model
The normally understood meaning of technical staff in domain is identical.Terminology used in the description of the utility model herein only be
The purpose of description specific embodiment, it is not intended that in limitation the utility model.Term " and or " used herein includes
Any and all combinations of one or more relevant Listed Items.
In addition, as long as technical characteristic involved in the utility model different embodiments disclosed below is each other
Not constituting conflict can be combined with each other.
It please refers to Fig.1 and Fig. 2, is the utility model first embodiment.The present embodiment provides a kind of grass trimmer state-detections
Device 100, mainly include signal output component, signal inductor 3 and with signal inductor be electrically connected detection device,
In, signal output component is fixedly installed by means of driven wheel 2, and it is related to the rotational frequency of driven wheel 2 to can be used in output
Frequency signal, specifically, the frequency signal can reflect driven wheel 2 whether be in rotary state.Signal inductor 3 can
Receive the variation of the frequency signal, then it represents that driven wheel is in normal movement；When frequency signal cannot be received, can sentence
Determine grass trimmer to be likely encountered barrier or because other reasons stop walking, need to carry out avoiding action, at this moment detection device exports
Evade signal, control grass trimmer executes avoidance action.For different grass trimmers, the action of above-mentioned avoidance can be different dynamic
Make, such as：The shift action of avoiding obstacles is carried out, or Working mechanism is risen to make Working mechanism avoiding barrier
Hide action etc., it is dynamic that those skilled in the art can detect and control grass trimmer progress avoidance using above-mentioned obstacle avoidance apparatus
Make, which kind of action is specifically referred to as avoidance action, those skilled in the art should be able to be fitted according to specific design requirement
The adjustment of answering property is not repeated then one by one at this.
The above embodiment is the core technology scheme of the present embodiment, signal output component, signal inductor and detection dress
Synergistic effect is set, reflects whether grass trimmer encounters barrier or because other reasons stop by detecting the operating condition of driven wheel
Turn, the executable avoidance action when driven wheel occurs to hinder or is out of service in this way.On the other hand, signal output component can be with
Setting is fixed by wheel, the installation space in equipment will not be occupied, and for signal inductor, use is general
Sensor, such as Hall element, linear hall element, tongue tube can realize the detection to signal, compared to mechanical detection
For structure, signal inductor is due to small volume in the present embodiment, and the top of the side and driven wheel 2 positioned at main shaft 5, no
The installation space that equipment can be occupied, to efficiently solve, obstacle avoidance apparatus need to occupy the skill of larger installation space in the prior art
Art defect.
As the preferred of the above embodiment, signal output component is several magnetic trigger member 1, and is distributed in driven wheel
On 2 any circumference, wherein the pole orientation of adjacent magnetic trigger member 1 is opposite.If magnetic trigger member is set to actively
Wheel 4, driving wheel still results in changes of magnetic field when encountering barrier slipping, and signal inductor 3 still will receive variation
Signal, but grass trimmer actually has stopped walking at this time, therefore magnetic trigger member 1 is set to driving wheel 4 and obviously can not accurately be sent out
Go out the prompting of obstacle avoidance.And the case where idle running or skidding is not present in driven wheel, motion state and the complete machine of driven wheel are to maintain
Consistent.In this way when driven wheel 2 is in rotation process, the signal that magnetic trigger member 1 exports is changes of magnetic field curve, and by signal
Inductor 3 monitors, at this time grass trimmer normal walking and when grass trimmer (driven wheel) stop motion, changes of magnetic field curve then stops
Stagnant, signal inductor 3 is unable to monitor the variation to magnetic field, and detection device controls grass trimmer execution avoidance by control centre and moves
Make.
In conjunction with Fig. 3, uniform magnetic field change curve is exported in grass trimmer uniform motion for the ease of signal output component, this
It is realized in embodiment by the way that adjacent magnetic trigger member 1 to be equally spaced on a certain circumference of driven wheel 2, due to
Magnetic trigger member 1 on the same circumference, and is equally spaced, it is ensured that when driven wheel rotates to any position, changes of magnetic field
It is monitored by signal inductor 3.
As a preferred embodiment, signal inductor 3 is arranged on vehicle body, and its position is to magnetropism trigger member
The top of place circumference.The position of obvious signal inductor 3 can also be any one to 1 place circumference of magnetropism trigger member
Position, and because to correspond to driven wheel top set parts more easy for vehicle body, therefore preferred said program in the present embodiment.
As a preferred embodiment, driven wheel is universal wheel, universal wheel is generally possible to around its shaft eccentric rotary,
To realize support equipment and convenient for the purpose of turning, such universal wheel then can when combining the obstacle avoidance apparatus of the present embodiment
Flexible turning carries out avoidance action.
It is the utility model second embodiment such as Fig. 4 to Fig. 5.In the present embodiment, one kind is working from mobile device
Automatically walk works in region, can should be automatic mower or automatic cleaner etc. from mobile device specifically.They
Automatically walk on lawn or ground, carry out mow or dust suction work.Certainly, in the utility model from mobile device not
It is limited to automatic mower and automatic cleaner, or other kinds of equipment, such as automatic spraying equipment or automatic prison
Depending on equipment etc., by the unattended operation for realizing work in every from mobile device.
Should be automatic mower from mobile device in the present embodiment, working region is lawn, should include shell from mobile device
Body, walking mechanism, operating mechanism, stored energy mechanism, control device and condition checkout gear.From mobile device in working region
Interior walking work, is provided with bus stop in working region, and bus stop is provided with charging module, when the electric power of energy-storage module storage
When insufficient, return to bus stop from mobile device and charged by charging module.
Referring to Fig. 4, the walking mechanism is for realizing from the movement of mobile device comprising driving wheel (not shown) and auxiliary
Help support from the driven wheel 20 of mobile device, in a preferred embodiment, which includes two, with from mobile device
Direction of advance on the basis of, driving wheel is located at the left and right sides of the fuselage on rear side of the mobile device, and driven wheel 20, which is located at from movement, to be set
The intermediate position of standby front side.The condition checkout gear is set to the driven wheel from mobile device, when colliding or skid
When, the rotating speed of driven wheel 20 reduces or stops operating, should be from mobile device to according to the rotary state of driven wheel 20, can detect
Whether normal walking.
It is appreciated that the installation position of the driving wheel and driven wheel 20 and combining form also can depending on actual conditions,
It does not enumerate herein.
The operating mechanism includes mowing blade cutting motor, for executing the action mowed.Certainly, different movements certainly is set
Standby operating mechanism is different, such as the operating mechanism of automatic cleaner includes then dust-absorbing motor, suction inlet, dust collect plant etc.
Workpiece for executing dust suction task.Stored energy mechanism is usually that rechargeable battery, to provide electric power from mobile device,
It can charge when reserve power is less than predetermined value, certainly, stored energy mechanism may be other kinds of power supply device,
Such as solar power supply apparatus, gasoline engine or fuel cell etc..
Please refer to fig. 5, the condition checkout gear includes magnetic trigger member 12, signal inductor 14 and detection device
(figure is not marked).The magnetism trigger member 12 at least two, at least two magnetic trigger member 12 are set to driven wheel 20, and with driven
Wheel 20 is rotatable, and it is different along one end polarity of driven wheel the same side to be arranged to adjacent magnetic trigger member, that is, is arranged to along should
20 side of driven wheel has the alternate poles N and the poles S.The signal inductor 14 is used to incude the triggering letter of the magnetism trigger member 12
Number, and inductive signal is generated, detection device is somebody's turn to do for receiving the inductive signal, and according to inductive signal detection from mobile device
Whether normal walking.
Wherein, which is permanent magnetic iron block, also can be electromagnet, the magnetism trigger member 12 was along driven wheel 20 weeks
To being set to driven wheel 20, and spacing is equal, that is to say, that at least two magnetic trigger member 12 are located on a concentric circles.This
In embodiment, which includes three, and uniform intervals are set on the wheel hub of driven wheel 20, signal inductor 14
Mounted on the shell from mobile device, and the constant distance of opposite driven wheel, it is in the magnetic field range of magnetic part trigger member 12.
Specific in an embodiment, the poles S of the magnetic trigger member 12 on both sides are located in three magnetic trigger member 12 towards signal sense
Device 14, the poles N of intermediate magnetic trigger member 12 is answered to be arranged alternately towards signal inductor 14 to realize, the condition checkout gear
Further include circuit board, signal inductor 14 is electrically connected to the circuit board.
It should be understood that since the magnetic pole of magnetic trigger member 12 is arranged alternately, to make signal inductor 14 generate
Different inductive signals, the inductive signal rotate with driven wheel 20 and are in certain rule, the switching of certain frequency, when automatic row
Walking apparatus encounters barrier, then the rotating speed of driven wheel 20 reduces or stops operating, then the rule of inductive signal is destroyed, so as to
With judge automatic travelling device whether normal walking, and then the turning of controllable automatic mower, the actions such as retreat.
In this way, compared to traditional in such a way that floating part and position sensor detect whether normal walking, simple in structure,
And installation facility, reduce cost.
It may be noted that whether the condition checkout gear in the utility model can also detect this from mobile device by work people
Member lifts or overturns, and causes driven wheel 20 to rotate under the effect of gravity due to being lifted by staff, then according to induction of signal
The inductive signal that device 14 generates judges whether artificially to be lifted, to which control is stopped from mobile device.
In one embodiment, which is linear hall sensor, and the signal inductor 14 is according at least
Two magnetic trigger member 12 export the inductive signal similar to sine wave signal with the position change that driven wheel 20 rotates, the sense
Induction signal includes the waveform for the opposite in phase being alternately present.
In the present embodiment, which includes comparator 182, logic gates 184 and processor 186.The comparator
182 for comparing inductive signal and preset value or predetermined threshold value, exports the first square-wave signal, which is used for pair
First square-wave signal carries out logical operation, exports the second square-wave signal.Processor 186 is used in preset time to the second square wave
Signal-count obtains actual count value, and by actual count value compared with pre-set count values, to obtain the rotation shape of driven wheel 20
State, and according to rotary state detection from mobile device whether normal walking.It should be pointed out that the method for detection square wave can be taken
It grabs upper edge or grabs the mode of lower edge, the counting to the second square wave so can be achieved.
It should be pointed out that the logic gates 184 is specifically used for carrying out taking positive operation to the first square-wave signal.Namely it should
Logic gates 184 is specifically used for obtaining the waveform that amplitude is more than 0.
Specifically, which counts the second square wave in preset time, if normal from mobile device walking,
The counting of second square wave matches with pre-set count values, then can be with when the actual count value of the second square wave is less than pre-set count values
Detect that this encounters barrier from mobile device.For example, in preset time range, the quantity of usual second square wave is 3, but
The actual count value of second square wave is 2, then can detect can not normal walking.
It should be understood that in the present embodiment, which is MCU, the first square-wave signal that comparator 182 exports
It can not be identified by processor 186, by treated the second square-wave signal of logic gates 184 for can be by 186 institute of processor
The square-wave signal of identification.
In one embodiment, which further includes amplifier 16, which is connected to induction of signal
Between device 14 and detection device, with to inductive signal enhanced processing.Specific in the present embodiment, which is connected to signal
Between inductor 14 and comparator 182, with to inductive signal enhanced processing.So, it is ensured that the intensity of signal, and then ensure inspection
The precision of survey.
The utility model 3rd embodiment also provide it is a kind of from mobile device, with first embodiment from mobile device
With similar structure, difference will be illustrated with specific embodiment.It is real with first from mobile device in the present embodiment
Apply in example from mobile device the difference is that detection device according to inductive signal obtain 20 rotary state of driven wheel mode
It is different.For ease of description, identical element numbers do not change.
In the present embodiment, as shown in fig. 6, the detection device includes AD collecting units 282 and processor 284, AD acquisitions
Unit 282 carries out AD conversion output sampled values for being sampled to inductive signal in preset time.The processor 284
For according to the change rate of sampled value obtain driven wheel 20 rotary state, and according to rotary state detection from mobile device whether
Normal walking.
In one embodiment, the processor 284 be additionally operable to the actual sample value for exporting AD collecting units 282 with it is pre-
If sampled value compares, to obtain the rotary state of driven wheel 20, and detected from the whether normal row of mobile device according to rotary state
It walks.Specifically, 282 timing of AD collecting units by 16 amplified inductive signal of amplifier to sampling, by the sampling
Value is compared with from the sampled value during mobile device normal walking, should if sampled value changes according to certain rules
Being in normal condition walking from mobile device can be with if the variation of sampled value is irregular or invariable whithin a period of time
Detect that the rotation of driven wheel 20 is impacted or stops operating, to detect this from mobile device normal walking.
In another embodiment, which is additionally operable to the actual sample value exported according to AD collecting units 282
The linear relationship chart for obtaining the actual sample value and time, to obtain the rotary state of driven wheel 20 according to the linear relationship chart,
And according to rotary state detection should from mobile device whether normal walking.Specifically, 282 timing of AD collecting units is to by putting
Big 16 amplified inductive signal of device is sampled, and the collected analogue value is converted to digital value.From mobile device just
Often when walking, the change rate (slope) of the linear relationship chart of the sampled value and time is in certain rule, and when the slope becomes
Changing either long-time slope can then detect that the rotation of driven wheel 20 is impacted or stops operating, to detect this certainly
Mobile device normal walking.
The utility model fourth embodiment also provide it is a kind of from mobile device, with first embodiment from mobile device
With similar structure, difference will be illustrated with specific embodiment.It is real with first from mobile device in the present embodiment
Apply in example from mobile device the difference is that the type of signal inductor 14 is different from quantity, and detection device is according to induction
The mode of 20 rotary state of signal acquisition driven wheel is also different.
Specifically, as shown in fig. 7, in the present embodiment, which is digital hall sensor, the induction of signal
Device 14 includes at least two two, and at least two signal inductors 14 can be had alternating poles in 20 side of driven wheel respectively
Corresponding magnetism trigger member 12 triggers, and generates square-wave signal.The detection device includes logic gates 382 and processor 384,
The logic gates 382 is used to carry out logical operation to square-wave signal, to export third square-wave signal.The processor 384 is used for
Actual count value is obtained to third square wave signal-count in preset time, and by the actual count value and pre-set count values ratio
Compared with, to obtain the rotary state of driven wheel 20, and according to rotary state detection from mobile device whether normal walking.Specifically,
The logic gates 184 carries out the first square-wave signal positive operation namely the logic gates 184 is taken for obtaining amplitude to be more than
0 waveform.
It should be pointed out that in the present embodiment, which is located at least two magnetic trigger member 12
In magnetic field, but one of them is only triggered under the induction of the N pole fields of magnetic trigger member 12, another signal inductor 14
It can be triggered under the induction of the S pole fields of magnetic trigger member 12.In 20 rotation process of driven wheel, two signal inductors 14 can
Alternating is incuded, to export the square-wave signal of certain frequency respectively.
In this way, by two digital hall sensors, the rotation of driven wheel 20 can be detected simultaneously, not only avoids wherein one
A signal inductor 14 damages and leads to not detect, and also avoids due to while using two pairs of independent Magnetic Induction parts and letter
Number inductor 14 and cause control accuracy to increase, cause cost to increase.
Based on above-mentioned from mobile device, the utility model also provides a kind of condition detection method from mobile device,
Specifically include following steps：
Step S110：The magnetic field signal of 14 induced magnetism trigger member 12 of signal inductor, and generate inductive signal；
Wherein, should walk from mobile device in working region work, and magnetic trigger member 12 is rotated with driven wheel 20 and triggered
Signal inductor 14, the signal inductor 14 are triggered by the magnetic field signal of magnetic trigger member 12 and generate inductive signal.
S120：Detection device receives inductive signal, and the rotary state of driven wheel 20 is judged according to inductive signal；
Wherein, the inductive signal that amplifier 16 generates signal inductor 14 is amplified processing, wherein an embodiment party
In formula, detection device also carries out square wave conversion to the inductive signal Jing Guo enhanced processing, and is treated as processor (MCU) and can know
Other square-wave signal.
In a wherein embodiment, detection device is to processed identifiable square-wave signal by grabbing upper edge or grabbing down
The mode on edge is detected counting, and is compared with preset count value, if actual count value be less than the pre-set count values, illustrate from
20 underdrive of driving wheel stops operating.
Step S130：According to the rotary state of the driven wheel 20 judge it is described from mobile device whether normal walking；
Specifically, if 20 underdrive of driven wheel or stopping operating, explanation collides.
In a wherein embodiment, should further include from the condition detection method of mobile device：
Step S140：When it is described encounter barrier from mobile device when, control it is described from mobile device far from barrier；
In a wherein embodiment, when it is described encounter barrier from mobile device when, control it is described from mobile device from
Linear movement pattern switchs to steering pattern, avoids equipment from being damaged to cut-through object.
It is above-mentioned from mobile device and its condition detection method, since the magnetic pole of magnetic trigger member 12 is arranged alternately, to make
The different inductive signals that signal inductor 14 generates, the inductive signal rotate with driven wheel 20 and are in certain rule, centainly
The switching of frequency.When automatic travelling device normal walking, then the rotating speed of driven wheel 20 reduces or stops operating, then inductive signal
Rule is destroyed, and so as to judge automatic travelling device normal walking, and then controllable automatic mower turning, retrogressing etc. are dynamic
Make.Compared to traditional by the way of floating part and position sensor detection collision, simple in structure and installation facility reduces
Cost.
Each technical characteristic of embodiment described above can be combined arbitrarily, to keep description succinct, not to above-mentioned reality
It applies 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, it is all considered to be the range of this specification record.
Above-described embodiments merely represent several embodiments of the utility model, the description thereof is more specific and detailed,
But therefore it can not be interpreted as the limitation to utility model patent range.It should be pointed out that for the common skill of this field
For art personnel, without departing from the concept of the premise utility, various modifications and improvements can be made, these are belonged to
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 (20)
1. it is a kind of from mobile device, including：
Shell；
Walking mechanism, support and drive it is described walk from mobile device, the walking mechanism includes driving wheel and driven wheel；
Control device, for controlling the walking and work from mobile device；
From mobile device further include condition checkout gear it is characterized in that, described, the condition checkout gear includes：
At least two magnetic trigger member, the magnetism trigger member are set to the driven wheel, and rotatable with the driven wheel, and
One end polarity of the adjacent magnetic trigger member along described driven wheel the same side is different；
Signal inductor, the magnetic field signal generated for incuding the magnetic trigger member, and generate inductive signal；
Detection device, the rotary state for judging the driven wheel according to the inductive signal are described from mobile to judge
Equipment whether normal walking.
2. according to claim 1 from mobile device, which is characterized in that the signal inductor is set to the shell
On.
3. according to claim 1 from mobile device, which is characterized in that the signal inductor is Hall sensor or does
Reed pipe.
4. according to claim 1 from mobile device, which is characterized in that the signal inductor senses for linear Hall
Device.
5. according to claim 4 from mobile device, which is characterized in that when the driven wheel rotates, the signal sense
It includes the waveform for the opposite in phase being alternately present to answer the inductive signal that device generates.
6. according to claim 4 or 5 from mobile device, which is characterized in that the detection device is by the induction of signal
The waveform that device generates is converted into square-wave signal, the rotary state of the driven wheel is obtained according to the square-wave signal, and according to institute
State rotary state judge it is described from mobile device whether normal walking.
7. according to claim 4 from mobile device, which is characterized in that the detection device includes：
Comparator exports the first square wave letter for the inductive signal and preset value or predetermined threshold value according to comparison result
Number；
Logic gates, for carrying out logical operation to first square-wave signal, to export the second square-wave signal；
Processor, for the rotary state according to driven wheel described in the second square wave signal acquisition, and according to the rotation shape
State judge it is described from mobile device whether normal walking.
8. according to claim 7 from mobile device, which is characterized in that the processor is used in preset time to institute
It states the second square wave signal-count and obtains actual count value, and by the actual count value compared with pre-set count values, to obtain
State the rotary state of driven wheel.
9. according to claim 7 from mobile device, which is characterized in that the condition checkout gear further includes amplifier,
The amplifier is connected between the signal inductor and the detection device, with to the inductive signal enhanced processing.
10. according to claim 4 from mobile device, which is characterized in that the detection device includes：
AD collecting units for being sampled to the inductive signal in preset time, and carry out AD conversion outputs and actually adopt
Sample value；
Processor, the rotary state for obtaining the driven wheel according to the change rate of the actual sample value, and according to described
Rotary state detection it is described from mobile device whether normal walking.
11. according to claim 1 from mobile device, which is characterized in that the signal inductor includes at least two, institute
Square-wave signal can be generated by the adjacent magnetic trigger member triggering respectively by stating signal inductor, and the detection device is according to
Whether square-wave signal obtains the rotary state of the driven wheel, and described normal from mobile device according to rotary state judgement
Walking.
12. according to claim 11 from mobile device, which is characterized in that the signal inductor senses for Digital Hall
Device.
13. according to claim 12 from mobile device, which is characterized in that the detection device includes：
Logic gates, for carrying out logical operation to the square-wave signal respectively, to export third square-wave signal；
Processor, for the rotary state according to driven wheel described in the third square wave signal acquisition, and according to the rotation shape
State detection it is described from mobile device whether normal walking.
14. according to claim 13 from mobile device, which is characterized in that the processor is for right in preset time
The third square wave signal-count obtains actual count value, and by the actual count value compared with pre-set count values, to obtain
The rotary state of the driven wheel.
15. according to claim 1 from mobile device, which is characterized in that the magnetism trigger member is electromagnet or permanent magnetism
Iron.
16. according to claim 1 from mobile device, which is characterized in that the magnetism trigger member is along driven wheel week
It is arranged to interval.
17. according to claim 16 from mobile device, which is characterized in that the magnetism trigger member is along the driven wheel
It is equally spaced on circumference.
18. according to claim 16 from mobile device, which is characterized in that the magnetic pole of the magnetism trigger member is towards driven
The rotation center of wheel.
19. according to claim 1 from mobile device, which is characterized in that it is described from mobile device include main shaft, it is described from
Driving wheel is the universal wheel that can be rotated around the spindle eccentricity, and the magnetism trigger member be located at the upper of the main shaft side and driven wheel
Side.
20. according to claim 1 from mobile device, which is characterized in that the relatively described driven wheel of the signal inductor
Constant distance.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| FR1851261A FR3062931B3 (en) | 2017-02-15 | 2018-02-14 | AUTONOMOUS MOBILE DEVICE |
| DE202018100838.2U DE202018100838U1 (en) | 2017-02-15 | 2018-02-15 | Self-driving device |
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2017100820057 | 2017-02-15 | ||
| CN2017201360840 | 2017-02-15 | ||
| CN201720136084 | 2017-02-15 | ||
| CN201710082005 | 2017-02-15 |
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| CN207851618U true CN207851618U (en) | 2018-09-11 |
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| CN201820257419.9U Active CN207851618U (en) | 2017-02-15 | 2018-02-13 | From mobile device |
| CN201810150447.5A Active CN108427410B (en) | 2017-02-15 | 2018-02-13 | Self-moving equipment |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810150447.5A Active CN108427410B (en) | 2017-02-15 | 2018-02-13 | Self-moving equipment |
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| CN (2) | CN207851618U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108427410A (en) * | 2017-02-15 | 2018-08-21 | 苏州宝时得电动工具有限公司 | From mobile device |
| CN111436862A (en) * | 2019-01-16 | 2020-07-24 | 燕成祥 | Robot detection trapping device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109618642B (en) * | 2019-02-22 | 2022-04-12 | 浙江白马实业有限公司 | Roller trapped detection mechanism and mower with same |
| CN110073794A (en) * | 2019-04-30 | 2019-08-02 | 浙江亚特电器有限公司 | Collision checking method for intelligent grass-removing |
| CN112799390B (en) * | 2019-11-14 | 2024-04-12 | 苏州宝时得电动工具有限公司 | Self-moving equipment and working method thereof |
| WO2022193677A1 (en) * | 2021-03-15 | 2022-09-22 | 深圳市杉川机器人有限公司 | Self-moving apparatus |
| CN115868305A (en) * | 2021-09-29 | 2023-03-31 | 上海山科机器人有限公司 | Autonomous working apparatus, method of adding or removing function of autonomous working apparatus |
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| JPH0556621A (en) * | 1991-08-20 | 1993-03-05 | Canon Electron Inc | Electromagnetic rotating machine |
| JPH0923686A (en) * | 1995-07-10 | 1997-01-21 | Matsushita Electric Ind Co Ltd | Brushless motor |
| JP2008014921A (en) * | 2006-06-05 | 2008-01-24 | Mayekawa Mfg Co Ltd | Direct-current detecting method and dc detector |
| JP4858855B2 (en) * | 2006-11-21 | 2012-01-18 | 日立金属株式会社 | Rotation angle detector and rotating machine |
| CN101413779A (en) * | 2008-11-24 | 2009-04-22 | 中国石油集团长城钻探工程有限公司 | Linear displacement detection method |
| CN201653611U (en) * | 2010-01-25 | 2010-11-24 | 杨雷 | Torque sensor |
| CN105988466A (en) * | 2015-03-06 | 2016-10-05 | 苏州宝时得电动工具有限公司 | Automatic walking device |
| CN207851618U (en) * | 2017-02-15 | 2018-09-11 | 苏州宝时得电动工具有限公司 | From mobile device |
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2018
- 2018-02-13 CN CN201820257419.9U patent/CN207851618U/en active Active
- 2018-02-13 CN CN201810150447.5A patent/CN108427410B/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108427410A (en) * | 2017-02-15 | 2018-08-21 | 苏州宝时得电动工具有限公司 | From mobile device |
| CN108427410B (en) * | 2017-02-15 | 2024-04-12 | 苏州宝时得电动工具有限公司 | Self-moving equipment |
| CN111436862A (en) * | 2019-01-16 | 2020-07-24 | 燕成祥 | Robot detection trapping device |
Also Published As
| Publication number | Publication date |
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| CN108427410B (en) | 2024-04-12 |
| CN108427410A (en) | 2018-08-21 |
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