CN209417594U

CN209417594U - From mobile device

Info

Publication number: CN209417594U
Application number: CN201821409578.2U
Authority: CN
Inventors: 盛晓初; 冉沅忠; 庞艳军; 杜江; 李兴红
Original assignee: Positec Power Tools Suzhou Co Ltd
Current assignee: Positec Power Tools Suzhou Co Ltd
Priority date: 2017-08-30
Filing date: 2018-08-30
Publication date: 2019-09-20
Anticipated expiration: 2028-08-30
Also published as: CN109426266A

Abstract

The utility model relates to one kind from mobile device, comprising: shell；The first ultrasonic sensor and the second ultrasonic sensor are provided on shell, first ultrasonic sensor and second ultrasonic sensor it is at an angle to each other arrange on the housing, the intelligent grass-removing further includes anti-crosstalk structure, and the ultrasonic wave for preventing the first ultrasonic sensor and the second ultrasonic sensor one of both from sending directly is received without barrier reflection by another in the two.Compared with prior art, the utility model can stop the transmitting-receiving region of the first ultrasonic sensor and the second ultrasonic sensor adjacent position by the way that anti-crosstalk structure is arranged, it avoids the first ultrasonic sensor and the second ultrasonic sensor from generating signal cross-talk between each other, ensure that the accuracy of short distance obstacle recognition.

Description

From mobile device

Technical field

The utility model relates to one kind from mobile device more particularly to a kind of anti-signal cross-talk from mobile device.

Background technique

With being constantly progressive for computer technology and artificial intelligence technology, similar to smart machine self-movement robot Through start slowly come into people's lives.The companies such as Samsung, Electrolux develop automatic dust catcher and have been put into Market.This usual compact of automatic dust catcher is integrated with environmental sensor, from drive system, dust collecting system, battery and fills Electric system can be not necessarily to manual control, and voluntarily automatic cruising and dust suction in working region, when energy is low, auto-returned charges It stands, dock and charges, then proceed to cruise and dust suction.Meanwhile the companies such as Haas Ke Wana develop similar intelligent grass-removing, It can mow in the lawn of user automatically, charge, and interfere without user.Since this self-movement robot is once being arranged Investment energy management is just no longer needed to later, will be solved in user's housework work uninteresting and time-consuming and laborious from cleaning, lawn maintenance etc. It releases, therefore is greatly welcome.

Usually there is the barrier for hindering self-movement robot mobile in working region, self-movement robot needs to have knowledge The function of other barrier, and then avoid when encountering barrier or avoided automatically before encountering barrier automatically, especially proximate to The evacuation of the short distance barrier of self-movement robot.

Utility model content

The utility model also provide one kind can anti-signal cross-talk, improve machine short distance obstacle recognition accuracy from Mobile device.

To achieve the above object, the technical solution of the utility model is:

One kind is from mobile device comprising:

Shell；

Mobile module is set to below the shell, for driving the shell mobile；

Drive module, for driving the mobile module mobile；

Control module, it is described from mobile device for controlling；

Supersonic sensing device assembly to cognitive disorders object, the supersonic sensing device assembly packet are set on the shell Include the first ultrasonic sensor and the second ultrasonic sensor, first ultrasonic sensor and second supersonic sensing Device arranges on the housing at an angle to each otherly, it is described from mobile device further include anti-crosstalk structure, for preventing the first ultrasound The ultrasonic wave that wave sensor and the second ultrasonic sensor one of both are sent is reflected without barrier by another in the two Directly receive.

Further, the anti-crosstalk structure is set between the first ultrasonic sensor and the second ultrasonic sensor.

Further, the anti-crosstalk structure is not contacted to extension on front side of shell with ultrasonic sensor axis.

Further, the anti-crosstalk structure extends not more than the first ultrasonic sensor axis and second to shell front side The crosspoint of the projection of ultrasonic sensor axis.

Further, the anti-crosstalk structure is located at the first ultrasonic sensor sound wave launch point and the second supersonic sensing The front side of device sound wave launch point line simultaneously extends to shell front side.

Further, the anti-crosstalk structure includes the stop wall with the angled setting of ultrasonic sensor axis.

Further, the stop wall includes the first retaining wall and the second retaining wall, and second retaining wall is connect with the first retaining wall And front side extends from the first retaining wall to shell, the height of second retaining wall in the height direction gradually decreases.

Further, first retaining wall has top, and second retaining wall has the upper connection connecting with the first retaining wall End, the upper connecting pin is lower than top in the height direction.

Further, the anti-crosstalk structure includes the top surface being located above and parallel with top surface underlying virtual Parallel surface, the upper connecting pin are lower than top surface in the height direction, and second retaining wall has far from the first retaining wall and in height Lower than the joint face of the lower connecting pin of upper connecting pin and connection upper connecting pin and lower connecting pin, the joint face and void on direction The range of angle τ between quasi- parallel surface is 35 ° -55 °.

Further, the anti-crosstalk structure include the top surface being located above, it is parallel with top surface underlying virtual Parallel surface and the peripheral wall for connecting top surface, the top surface and peripheral wall surround the closed anti-crosstalk knot of circumferential direction and top surface jointly Structure.

Further, the supersonic sensing device assembly is installed towards top surface direction into anti-crosstalk knot from virtual parallel face Structure.

Further, first ultrasonic sensor has first axle, and the second ultrasonic sensor has the second axis The angular range that line, the first axle and second axis are mutually is 60 ° -110 °, and the first axle is the first ultrasonic wave biography The axis of the ultrasonic sound field of sensor transmitting, the second axis are the axis of the ultrasonic sound field of the second ultrasonic sensor transmitting Line.

Further, the angular range that the first axle and second axis are mutually is 70 ° -90 °.

Further, first ultrasonic sensor has first axle, and the second ultrasonic sensor has the second axis Line, the shell have shell axis, and the angular range between the first axle and/or second axis and shell axis is 10 ° -80 °, the first axle is the axis of the ultrasonic sound field of the first ultrasonic sensor transmitting, and the second axis is the The axis of the ultrasonic sound field of two ultrasonic sensors transmitting.

Further, the angular range between the first axle and/or second axis and shell axis is 25 ° -55 °.

Further, first ultrasonic sensor has first axle, and second ultrasonic sensor has the Two axis, the first axle and second axis are coplanar in the height direction, and the first axle is the first ultrasonic sensor The axis of the ultrasonic sound field of transmitting, the second axis are the axis of the ultrasonic sound field of the second ultrasonic sensor transmitting.

Compared with prior art, the utility model is by the ultrasonic wave that stop wall avoids the first ultrasonic sensor from emitting It is directly received by the second ultrasonic sensor by barrier reflection, ensure that the accuracy of short distance obstacle recognition, moreover, Anti-crosstalk structure can also constrain the visual field transmitting range of ultrasonic wave using its free internal structure when ultrasonic wave just issues, into One step prevents from ultrasonic wave from directly generating with shell contacting and generate ultrasonic echo, ensure that the accuracy of detection of obstacles.

Detailed description of the invention

The utility model is described in further detail with embodiment with reference to the accompanying drawing.

Fig. 1 is the module diagram of the utility model intelligent grass-removing.

Fig. 2 is the schematic top plan view of the intelligent grass-removing 100 of the utility model first embodiment.

Fig. 3 is the first cloth of the supersonic sensing device assembly of the intelligent grass-removing 100 of the utility model first embodiment Set the schematic diagram of mode.

Fig. 4 is that the ultrasonic wave of the supersonic sensing device assembly of the intelligent grass-removing 100 of the utility model first embodiment passes The angled relationships schematic diagram of axis between sensor component.

Fig. 5 is that the ultrasonic wave of the supersonic sensing device assembly of the intelligent grass-removing 100 of the utility model first embodiment passes Angled relationships schematic diagram between sensor component and shell axis.

Fig. 6 is that the supersonic sensing device assembly of the intelligent grass-removing 100 of the utility model first embodiment is triangular wave The detection range schematic diagram of the first arrangement of beam.

Fig. 7 is that the supersonic sensing device assembly of the intelligent grass-removing 100 of the utility model first embodiment is triangular wave The detection range schematic diagram of second of arrangement of beam.

Fig. 8 is that the supersonic sensing device assembly of the intelligent grass-removing 100 of the utility model first embodiment is elliptical wave The detection range schematic diagram of the first arrangement of beam.

Fig. 9 is that the supersonic sensing device assembly of the intelligent grass-removing 100 of the utility model first embodiment is elliptical wave The detection range schematic diagram of second of arrangement of beam.

Figure 10 is that the supersonic sensing device assembly of the intelligent grass-removing 100 of the utility model first embodiment includes three super The arrangement schematic diagram of sound wave ultrasonic sensor.

Figure 11 is that the supersonic sensing device assembly of the intelligent grass-removing 100 of the utility model first embodiment includes four super The arrangement schematic diagram of sound wave ultrasonic sensor.

Figure 12 is the coaxial relationship of the supersonic sensing device assembly of the intelligent grass-removing 200 of the utility model second embodiment Schematic diagram.

Figure 13 is the first cloth of the supersonic sensing device assembly of the intelligent grass-removing 200 of the utility model second embodiment Set the detection range schematic diagram of mode.

Figure 14 is second of cloth of the supersonic sensing device assembly of the intelligent grass-removing 200 of the utility model second embodiment Set the detection range schematic diagram of mode.

Figure 15 is that the supersonic sensing device assembly of the intelligent grass-removing 200 of the utility model second embodiment includes three super The arrangement schematic diagram of sound wave ultrasonic sensor.

Figure 16 is that the supersonic sensing device assembly of the intelligent grass-removing 200 of the utility model second embodiment includes four super The arrangement schematic diagram of sound wave ultrasonic sensor.

Figure 17 is the coaxial relationship of the supersonic sensing device assembly of the intelligent grass-removing 300 of the utility model 3rd embodiment Schematic diagram.

Figure 18 is the first cloth of the supersonic sensing device assembly of the intelligent grass-removing 300 of the utility model 3rd embodiment Set the detection range schematic diagram of mode.

Figure 19 is second of cloth of the supersonic sensing device assembly of the intelligent grass-removing 300 of the utility model 3rd embodiment Set the detection range schematic diagram of mode.

Figure 20 is another inspection of the supersonic sensing device assembly of the intelligent grass-removing 300 of the utility model 3rd embodiment Survey the schematic diagram of range.

Figure 21 is that the supersonic sensing device assembly of the intelligent grass-removing 400 of the utility model fourth embodiment includes two The coaxial relationship schematic diagram of supersonic sensing device assembly.

Figure 22 is that the supersonic sensing device assembly of the intelligent grass-removing 400 of the utility model fourth embodiment includes three The coaxial relationship schematic diagram of supersonic sensing device assembly.

Figure 23 is the of the supersonic sensing device assembly of the intelligent grass-removing 400 of the utility model fourth embodiment in Figure 22 A kind of detection range schematic diagram of arrangement.

Figure 24 is the of the supersonic sensing device assembly of the intelligent grass-removing 400 of the utility model fourth embodiment in Figure 22 The detection range schematic diagram of two kinds of arrangements.

Figure 25 is that control module 30 controls the transmitting of supersonic sensing device assembly and received flow chart.

Figure 26 be the utility model first embodiment intelligent grass-removing 100 valid analysing range in obstacle principle condition not Signal condition schematic diagram is received with corresponding supersonic sensing device assembly.

Figure 27 is the schematic diagram of the oval wave beam of the utility model ultrasonic sensor.

Figure 28 is the cross-sectional view of oval wave beam in Figure 27.

Figure 29 is that the wavy surface of the ultrasound beamformer of ultrasonic sensor itself is non-circular schematic diagram.

Figure 30 is that wavy surface is adjusted to ellipse after the wavy surface of ultrasound beamformer is round and setting beam adjuster Schematic diagram.

Figure 31 is the unmigrated schematic diagram of ultrasonic sensor in the intelligent grass-removing of the utility model.

Figure 32 is the schematic diagram that ultrasonic sensor offsets downward the angle β in the intelligent grass-removing of the utility model.

Figure 33 is the schematic diagram that ultrasonic sensor offsets up the angle β in the intelligent grass-removing of the utility model.

Figure 34 is that the wall closed on shell with ultrasonic sensor visual field in the intelligent grass-removing of the utility model is inclined-plane Schematic diagram.

Figure 35 is that the wall closed on shell with ultrasonic sensor visual field in the intelligent grass-removing of the utility model is cambered surface Schematic diagram.

Figure 36 is the schematic diagram of the 5th ultrasonic sensor on the utility model intelligent grass-removing setting identification slope.

Figure 37 be the utility model intelligent grass-removing in the operating condition for encountering slope just to ultrasonic sensor axis under slope foot The heart and slope distance are the schematic diagrames of S.

Figure 38 is that the intelligent grass-removing of the utility model just starts the schematic diagram to go up a slope in the operating condition for encountering slope.

Figure 39 be the utility model intelligent grass-removing in the operating condition for encountering slope just under slope foot when ultrasonic sensor The schematic diagram of axis and the angle of slope surface.

Figure 40 is ultrasonic sensor when the intelligent grass-removing of the utility model just starts to go up a slope in the operating condition for encountering slope The schematic diagram of axis and the angle of slope surface

Figure 41 is ultrasonic sensor axis when the intelligent grass-removing of the utility model goes up a slope completely in the operating condition for encountering slope The line schematic diagram parallel with slope surface.

Figure 42 is the schematic diagram of the ultrasonic sensor blind area of the intelligent grass-removing of the utility model.

Figure 43 is distance and the prior art between the ultrasonic sensor and barrier of the intelligent grass-removing of the utility model The comparison that middle mutually isostructural intelligent grass-removing does not solve distance between the ultrasonic sensor of blind zone problem and barrier is shown It is intended to.

Figure 44 is that the intelligent grass-removing of the utility model detects slope and mutually isostructural intelligent grass-removing inspection in the prior art Survey the comparison schematic diagram of the common barrier of same position.

Figure 45 is the ultrasonic sensor component detection wall using the intelligent grass-removing 100 of the utility model first embodiment Schematic diagram.

Figure 46 is the ultrasonic sensor component detection wall using the intelligent grass-removing 200 of the utility model second embodiment Schematic diagram.

Figure 47 is narrow to be passed through using the supersonic sensing device assembly of the intelligent grass-removing 100 of the utility model first embodiment The schematic diagram of narrow passage.

Figure 48 is the schematic diagram of the intelligent grass-removing subregion avoidance of the utility model.

Figure 49 is the schematic diagram of the intelligent grass-removing subregion avoidance of the utility model.

Figure 50 is the trajectory diagram of the intelligent grass-removing avoiding obstacles of the utility model.

Figure 51 is the structure chart of the ultrasonic sensor of the intelligent grass-removing of the utility model.

Figure 52 is the structure chart of another angle of ultrasonic sensor of the intelligent grass-removing of the utility model.

Figure 53 is that the intelligent grass-removing of the utility model is set up defences crosstalk structure knot identical as intelligent grass-removing in the prior art The structural schematic diagram of the visual field crosstalk of structure crosstalk structure in the air.

Figure 54 is a kind of stereoscopic schematic diagram of anti-crosstalk structure in the intelligent grass-removing of the utility model.

Figure 55 is the schematic side view of anti-crosstalk structure in Figure 54.

Figure 56 is the schematic top plan view of anti-crosstalk structure in Figure 54.

Figure 57 is the cross-sectional view of line A-A in Figure 56.

Figure 58 is the schematic front view of anti-crosstalk structure in the intelligent grass-removing of the utility model.

Figure 59 is that the control module of first embodiment controls the circuit unit schematic diagram of ultrasonic module.

Figure 60 is that the control module of second embodiment controls the circuit unit schematic diagram of ultrasonic module.

Figure 61 is the signal for another embodiment that the control module of second embodiment controls the circuit unit of ultrasonic module Figure.

Figure 62 is another anti-crosstalk structure and ultrasound senor position relationship of the intelligent grass-removing of the utility model Schematic diagram.

Figure 63 is the schematic diagram of another angle of Figure 62.

Figure 64 is the schematic diagram of the utility model intelligent grass-removing ultrasonic sensor receiving and transmitting signal detection method.

Figure 65 is the control block diagram of the utility model.

Figure 66 is the flow chart of the utility model intelligent grass-removing cognitive disorders object space method.

Wherein,

1,100,200,300,400,10 shell, 84 mobile module

Intelligent grass-removing

86 operational module, 88 energy module, 20 supersonic sensing device assembly

21,41,61,81 the 1st, 43,63,83 the 2nd 30 control modules

Ultrasonic sensor ultrasonic sensor

A first receives and dispatches region B second and receives and dispatches region C third transmitting-receiving region

D the 4th receives and dispatches 11 first detection zone of region, 12 second detection zone

The 5th detection zone of 13 the 4th detection zone 15 of third detection zone 14

The 8th detection zone of 16 the 6th the 7th detection zone 18 of detection zone 17

31a, 31b driving circuit 33a, 33b transformer 35a, 35b ADC

25,45,65,85 the 3rd 27,47,67 the 4th ultrasound of 37a, 37b data processing unit

Ultrasonic sensor wave sensor

92 the 5th ultrasonic sensor, 211,411,611 first axle, 231,431,631 second axis

Line line

210 shell axis, 651 third axis, 671 four axistyle

80,89 anti-crosstalk structure, 801 stop wall, 90 beam adjuster

91 adjacent 97 boundary line of wall, 98 visual fields

99 barrier, 201 ultrasonic sensor, 2011 sounding face

202 pcb board, 203 transformer, 204 capacitor

205 protective shell, 2051 end face, 802 mounting hole

803, connecting pin on 804 parallel surface 805 of top surface

806 lower 807 hole center of connecting pin, 808 front end faces

809 joint face, 8,011 first retaining wall, 8,012 second retaining wall

71 first position, 72 second position, 73 the third place

891 first at 892 second 96 connection lines

893 first anti-crosstalk face of 21a first circuit board 23a second circuit board

894 second anti-crosstalk face, 87 reception device, 701 amplification circuit module

705 sensor microcontroller, 708 pulse circuit module, 704 data cache module

702 analog-to-digital conversion module, 703 filter module, 709 back wave threshold value

706 data processing module, 707 master controller

Specific embodiment

Intelligent grass-removing the utility model discloses the intelligent grass-removing for being able to achieve contactless avoidance, in each embodiment It is all made of the identification that ultrasonic sensor carries out barrier.Also, overlapping detection regions are formed by the arrangement of ultrasonic sensor Domain improves the accessibility of intelligent grass-removing, and the contactless avoidance of short distance may be implemented.

Before the embodiments of the present invention are described in detail, it should be noted that, it is all in the description of the present invention, It is upper and lower such as left and right, front and rear, first and second etc relational terms be used merely to distinguish an entity or movement with it is another One entity or movement, and not necessarily require or imply any actual this relationship or suitable between this entity or movement Sequence.The terms "include", "comprise" or any other variant are intended to cover non-exclusive inclusion, so that including a series of want The process, method, article or equipment of element not only includes these elements, but also includes other elements that are not explicitly listed, It or is elements inherent to such a process, method, article, or device.

" preceding " represents the direction that the ultrasonic wave of ultrasonic sensor transmission is propagated, definition in the description of the present invention, " preceding " moving direction for machine, " rear " to represent the direction opposite with " preceding ", " left side " represents the left side on moving direction, " right side " generation Right side on table and " left side " opposite moving direction, "upper" represent the direction in work far from machine operation face, "lower" represent and The opposite direction close to machine operation face in "upper".

For purpose disclosed by the utility model, term " transmitting-receiving region " refers to that the ultrasonic sensor of transceiver is sent Ultrasonic wave and the region where the barrier of ultrasonic echo can be received." transceiver " refers to ultrasonic sensor while undertaking The work for sending ultrasonic wave also undertakes the work for receiving back echo." sending zone " refers to what ultrasonic sensor issued The region that ultrasonic wave can reach." receiving area " refers to where the barrier that ultrasonic sensor can receive back echo Region." visual field " refers to that ultrasonic sensor sends ultrasonic wave and can receive the range where the barrier of ultrasonic echo. For the ultrasonic sensor for being only responsible for receiving back echo, " visual field " receiving sensor can emit letter if referring to Number, which can receive the region where the barrier of back echo." sonic transmissions range " refers to ultrasonic wave The region that the ultrasonic energy that sensor is sent reaches." sounding face " refers to the face of ultrasonic sensor transmitting ultrasonic wave, ultrasonic wave It goes out from the surface launching." overlapping detection regions " refer to that the ultrasound beamformer that two ultrasonic sensors issue is capable of the ground of juxtaposition Side." determining section " refers to the section selected in visual field, which is wavy surface." ultrasound beamformer " refers to supersonic sensing Distribution of the sound field that the ultrasonic pulse of device transmitting is formed in imaging field domain." wavy surface " refers to along the super of ultrasonic sensor transmitting The axis of acoustic wave beam does the face that a section obtains." beam of sound axis " refers to wave beam most intense radiation direction.The moving direction is From the forward driving direction of mobile device.The axis of ultrasonic sensor is the axis of the ultrasonic sound field of ultrasonic sensor transmitting Line does a section to sound field, and the sound intensity of position of the axis where go section is greater than the sound intensity of other positions, what defines with this For axial location." the first range hole " refer to the first ultrasonic sensor transmitting ultrasonic signal after a period of time it is remaining Shake, within this period, ultrasonic echo signal can not be distinguished with the ultrasonic signal of transmitting, and " the second range hole " refers to the The aftershock of a period of time after two ultrasonic sensors transmitting ultrasonic signal, within this period, ultrasonic echo Signal can not be distinguished with the ultrasonic signal of transmitting.

In order to make the 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.

As shown in FIG. 1, FIG. 1 is the module diagrams from mobile device 1 of the contactless avoidance of the utility model.Intelligence is cut Careless machine includes shell 10, the supersonic sensing device assembly 20 on shell 10, the mobile module 84 positioned at 10 bottom of shell, is used It for controlling intelligent grass-removing automatic work and mobile control module 30, and is intelligence in the operational module 86 for executing work Energy grass trimmer provides the energy module 88 of energy.The specific physical form of control module 30 is to be disposed with one or more processing The control circuit board of device, memory, other related components and respective peripheral circuit.Control module 30 is built-in with control journey Sequence controls intelligent grass-removing in working region and automatically moves and execute work to execute scheduled instruction.It is described in the utility model From mobile device can be intelligent grass-removing or intelligent sweeping robot.So the element about Fig. 1 describe it is equally applicable Such as the intelligent grass-removing of the following each embodiments of the utility model or from description as described in mobile device.

The contactless avoidance of the utility model surpasses from supersonic sensing device assembly 20 in mobile device 1 including at least one Sonic sensor.Supersonic sensing device assembly 20 is located at the front end of shell 10, is for detecting 100 direction of advance of intelligent grass-removing It is no that there are barriers and barrier from from a distance from mobile device 1.Supersonic sensing device assembly 20 includes at least one transmitting-receiving The ultrasonic sensor of one, or sensor and one and ultrasonic wave transmission sensor view are sent including at least one ultrasonic wave The ultrasonic receiver sensor that field intersects.

The ultrasonic transducer of multiple groups transmission-receiving function separation.For the ultrasonic transducer of transmission-receiving function separation, wherein extremely A few transmission ultrasonic wave, remaining receives back echo.

As shown in Figure 51 and Figure 52, the contactless avoidance of the utility model from the ultrasonic sensor in mobile device 1 Component 20 include ultrasonic sensor 201, pcb board 202, the capacitor 204 being installed on pcb board and positioning pcb board 202 and The protective shell 205 of ultrasonic sensor 201.Ultrasonic sensor 201 has outside sounding face 2011, and protective shell 205 has End face 2051, sounding face 2011 is equal with end face 2051 or 2051 indent of opposing end surface is set in protective shell 205, i.e. sounding face 2011 are no more than end face 2051.As shown in figure 52, in the utility model other embodiments, when ultrasonic sensor needs high pressure When sending ultrasonic wave, transformer 203 is also set up on pcb board.

The description of the axis of all about ultrasonic sensor is referred to through sounding face in the description of the present invention, 2011 axis.All intelligent grass-removings at an angle to each other refer to two ultrasounds between each other about two ultrasonic sensors The angle being mutually between wave sensor axis refers to two ultrasonic sensor axis about two ultrasonic sensors in parallel Line is parallel.The axis of shell 10 refers to the axis on 10 front-rear direction of shell, about mutual between ultrasonic sensor and shell axis The angled angle referred between the axis of ultrasonic sensor and shell axis, about ultrasonic sensor and shell axis Between refer to that the axis of ultrasonic sensor is parallel to each other with shell axis in parallel.It is ultrasonic in the description of the present invention, What the distance between wave sensor and barrier referred to is all at a distance from the axle center to barrier of sounding face 2011.Shell 10 and obstacle What the distance between object referred to is all the distance between shell front end and barrier.The distance between intelligent grass-removing and barrier What is referred to is also the distance between shell front end and barrier.

The width range of fuselage is the width of shell 10 and the width of mobile module 84 in the description of the present invention,. The valid analysing range of supersonic sensing device assembly 20 at least covers the width range of fuselage.Supersonic sensing device assembly 20 has Above-mentioned valid analysing range, so that supersonic sensing device assembly 20 is able to detect that front in intelligent grass-removing moving process Barrier avoids intelligent grass-removing from colliding barrier in moving process.

The intelligent grass-removing of contactless avoidance disclosed by the utility model carries out barrier knowledge by ultrasonic sensor Not, the ultrasonic sensor emits ultrasonic wave, can reflect when ultrasonic wave encounters front obstacle, ultrasonic sensor connects Reflected ultrasonic echo is received, intelligent grass-removing judges to surpass by emitting the ultrasonic time difference for involving reception back echo The distance between sonic sensor and barrier；The fortune that pre-determined distance carries out intelligent grass-removing is arranged by control module 30 again Dynamic limitation, when being less than pre-determined distance at a distance from ultrasonic sensor is between barrier, the control module 30 of intelligent grass-removing Judgement front has the barrier for needing to avoid, and control module 30 controls intelligent grass-removing and takes avoidance measure, finally realizes non- Contact avoidance.

The utility model has multiple embodiments about the arrangement of supersonic sensing device assembly 20, and then forms multiple realities The intelligent grass-removing for applying the contactless avoidance of example, below for different embodiments contactless avoidance intelligent grass-removing into The detailed narration of row.

First embodiment:

As shown in Fig. 2, Fig. 2 is the schematic top plan view of the intelligent grass-removing 100 of the utility model first embodiment.The intelligence The length direction of grass trimmer 100 is front-rear direction.

As shown in Figures 3 and 4, in the intelligent grass-removing of the first embodiment 100, supersonic sensing device assembly 20 includes First ultrasonic sensor 21 and the second ultrasonic sensor 23.First ultrasonic sensor 21 and the second ultrasonic sensor 23 Setting at an angle to each other.First ultrasonic sensor 21 has first axle 211, and the second ultrasonic sensor 23 has the second axis Line 231, the shell axis 210 that there is intelligent grass-removing 100 front and back to extend.First axle 211 is the first ultrasonic sensor 21 The axis of the ultrasonic sound field of transmitting, second axis 231 are the axis of the ultrasonic sound field of the second ultrasonic sensor 23 transmitting.

As shown in Figures 3 and 4, first axle 211 and the intersection at an angle to each other of second axis 231, from depression angle, first axle In the front cross of shell 10, the projection intersection point of intersection can be located at any immediately ahead of shell 10 for line 211 and second axis 231 Position.First ultrasonic sensor 21 and the second ultrasonic sensor 23 protrude shell 10.So set, by by ultrasonic wave Sensor, which protrudes shell 10, to be installed, so that the sound wave that ultrasonic sensor issues not will receive the blocking of shell 10, expands sound The transmitting range of wave ensures that ultrasonic sensor can be detected from the barrier immediately ahead of mobile device, can also examine Measure the barrier from two sides in front of mobile device.

The range for the angle σ 1 that first ultrasonic sensor 21 and the second ultrasonic sensor 23 are mutually is 60 ° -110 °. In the preferred embodiment of the intelligent grass-removing 100 of the first embodiment, the first ultrasonic sensor 21 and the second ultrasonic wave are passed The range of the cross angle σ 1 of sensor 23 is 70 ° -90 °.First ultrasonic sensor 21 and second of 70 ° of -90 ° of numberical ranges The intersection of ultrasonic sensor 23, it is ensured that while obtaining overlap detection area, moreover it is possible to allow overlap detection area closer to intelligence Can grass trimmer 100 front, and avoid the ultrasonic wave of one of ultrasonic sensor transmitting without barrier reflection and It is directly received by another ultrasonic sensor, reduces the first ultrasonic sensor 21 and 23 the two of the second ultrasonic sensor Between signal cross-talk, improve the accuracy of obstacle recognition.The first above-mentioned ultrasonic sensor 21 and the second ultrasonic wave pass The angle that sensor 23 is mutually refers to first axle 211 and the angle that second axis 231 is mutually.First axle 211 and the second axis The angle that line 231 is mutually is smaller and smaller along intelligent grass-removing direction of advance.

As shown in figure 5, relative to shell axis 210, the model of the angle ω 1 between first axle 211 and shell axis 210 Enclosing is 10 ° -80 °, in the preferred embodiment of the intelligent grass-removing 100 of the first embodiment, first axle 211 and shell axis The range of angle ω 1 between 210 is 25 ° -55 °.The range of angle ω 2 between second axis 231 and shell axis 210 is 10 ° -80 °, in the preferred embodiment of the intelligent grass-removing 100 of the first embodiment, second axis 231 and shell axis 210 Between the range of angle ω 2 be 25 ° -55 °.In the angular range, while ensuring to obtain overlap detection area, also Overlap detection area can be allowed closer to the front of intelligent grass-removing 100, and one of ultrasonic sensor is avoided to emit Ultrasonic wave without barrier reflect and directly received by another ultrasonic sensor, reduce the first ultrasonic sensor 21 With the signal cross-talk of the second ultrasonic sensor 23 between the two, the accuracy of obstacle recognition is improved.

As shown in Figures 3 and 4, in the intelligent grass-removing 100 of the utility model first embodiment, the first ultrasonic wave is passed Sensor 21 and the second ultrasonic sensor 23 are the ultrasonic sensor of transceiver, i.e. a ultrasonic sensor can be held Load sends ultrasonic wave and receives the ultrasonic sensor of two functions of back echo.In other embodiments, the first ultrasonic wave Sensor 21 and the second ultrasonic sensor 23 are also possible to the combination of two standalone ultrasound wave sensors, and one in this two The function of sending ultrasonic wave is undertaken, another in this two undertakes the function of receiving ultrasonic wave.In other embodiments, first Ultrasonic sensor 21 and the second ultrasonic sensor 23 are also possible to the combination of multiple standalone ultrasound wave sensors, and both first Ultrasonic sensor 21 is the ultrasonic sensor of transmission-receiving function separation, multiple independent ultrasonic sensor wherein at least one A transmission ultrasonic wave, remaining reception back echo of multiple independent ultrasonic sensor.

As shown in Fig. 6 and Fig. 8, Fig. 6 and Fig. 8 show the super of the intelligent grass-removing 100 of the utility model first embodiment Detection range schematic diagram of the sonic sensor component under the first arrangement, the difference of two figures are ultrasound beamformer not Together, the ultrasound beamformer of the supersonic sensing device assembly shown in Fig. 6 is triangle or close to triangle, ultrasonic wave in Fig. 8 The wave beam of sensor module is ellipse or close ellipse.In the embodiment of the first arrangement, the first ultrasound Wave sensor 21 is consistent with the hardware parameter of the second ultrasonic sensor 23.First ultrasonic sensor 21 has the first receiving and delivery bay Domain A.Second ultrasonic sensor 23 has the second transmitting-receiving region B.First transmitting-receiving region A and the second transmitting-receiving region B are cut intelligently The front of careless machine 100 is formed with overlap detection area.First ultrasonic sensor 21 and second in the overlap detection area Ultrasonic sensor 23 can receive ultrasonic echo, i.e., send in overlap detection area if it is the first ultrasonic sensor 21 Ultrasonic wave, then the first ultrasonic sensor 21 and the second ultrasonic sensor 23 can receive ultrasonic echo；If it is the second surpassing Sonic sensor 23 sends ultrasonic wave, then the first ultrasonic sensor 21 and the second ultrasonic sensor 23 can receive ultrasound and return Wave.

As shown in Fig. 6 and Fig. 8, in the first arrangement side of the intelligent grass-removing 100 of the utility model first embodiment In the embodiment of formula, the first ultrasonic sensor 21 and the second ultrasonic sensor 23 it is at an angle to each other shell 10 is set before End, thus the second transmitting-receiving portion region B of the first transmitting-receiving region A of the first ultrasonic sensor 21 and the second ultrasonic sensor 23 Divide overlapping.The underlapped part of first transmitting-receiving region A is the first detection zone 11 of sensor module 20, the second transmitting-receiving region B Underlapped part be sensor module 20 the second detection zone 12, first transmitting-receiving region A and second transmitting-receiving region B overlapping Part is the third detection zone 13 of sensor module 20.

As shown in Fig. 7 and Fig. 9, Fig. 7 and Fig. 9 show the super of the intelligent grass-removing 100 of the utility model first embodiment Detection range schematic diagram of the sonic sensor component under second of arrangement.Second of the cloth of supersonic sensing device assembly Set mode and the difference of the first arrangement be, supersonic sensing device assembly 20 be installed on apart from housing forward end in one section away from Position from D.It is specifically described as, in the embodiment of second of arrangement, supersonic sensing device assembly 20 includes first Ultrasonic sensor 21 and the second ultrasonic sensor 23.First ultrasonic sensor 21 and the second ultrasonic sensor 23 are mutually The front end of opposite shell 10 and the position with housing forward end in a distance D are set to angle.First ultrasonic sensor 21 With the first transmitting-receiving region A.Second ultrasonic sensor 23 has the second transmitting-receiving region B.The of first ultrasonic sensor 21 Second transmitting-receiving region B of one transmitting-receiving region A and the second ultrasonic sensor 23 still partly overlaps, still formation supersonic sensing Three detection zones of device assembly 20.First ultrasonic sensor 21 and the second ultrasonic sensor in the overlap detection area 23 can receive ultrasonic echo, i.e., ultrasonic wave is sent if it is the first ultrasonic sensor 21, then the first ultrasonic sensor 21 and second ultrasonic sensor 23 can receive ultrasonic echo；Ultrasonic wave is sent if it is the second ultrasonic sensor 23, that First ultrasonic sensor 21 and the second ultrasonic sensor 23 can receive ultrasonic echo.First transmitting-receiving region A's does not weigh Folded part is the first detection zone 11 of sensor module 20, and the underlapped part of the second transmitting-receiving region B is sensor module 20 The second detection zone 12, first transmitting-receiving region A and second transmitting-receiving region B overlapping part be sensor module 20 third examine Survey region 13.

As shown in Fig. 7 and Fig. 9, in second of arrangement side of the intelligent grass-removing 100 of the utility model first embodiment In formula, the first ultrasonic sensor 21 and the second ultrasonic sensor 23 are can be set in principle on 10 length direction of shell Any position, if the first ultrasonic sensor 21 and the second ultrasonic sensor 23 are arranged on the housing 10 closer to rear end Place, then in order to guarantee ultrasonic sensor send ultrasonic wave and receive back echo it is unaffected, Ke Yigai It is arranged into the shape of shell or by ultrasonic sensor higher.In the preferred embodiment of the utility model, consider simultaneously To the factor for sending and receiving and occupying little space of ultrasonic wave, the first ultrasonic sensor 21 and the second ultrasonic sensor 23 are arranged in the first half of 10 length direction of shell, and distance D is less than or equal to the half of 10 length of shell, so set, can be with More convenient range improved by the structure to housing forward end to be suitble to visual field, avoids generating blocking to ultrasonic wave.

In a preferred embodiment of the intelligent grass-removing 100 of the utility model first embodiment, control module 30 is controlled First ultrasonic sensor 21 and the second ultrasonic sensor 23 alternate emission ultrasonic wave in time.The control of control module 30 the One ultrasonic sensor 21 emits ultrasonic wave, the first ultrasonic sensor 21 and the second ultrasonic sensor in first time period 23 receive back echo in first time period, control module 30 control the second ultrasonic sensor 23 first time period it Emit ultrasonic wave in second time period afterwards, the first ultrasonic sensor 21 and the second ultrasonic sensor 23 are in second time period Interior reception back echo.

In a preferred embodiment of the intelligent grass-removing 100 of the utility model first embodiment, 30 foundation of control module First ultrasonic sensor 21 and the second ultrasonic sensor 23 emit and receive barrier in supersonic sensing device assembly 20 The combined situation of echo, the orientation of disturbance in judgement object.It is specifically described as, when only the first ultrasound in supersonic sensing device assembly 20 When wave sensor 21 emits ultrasonic wave, and only the first ultrasonic sensor 21 receives back echo, and control module 30 is sentenced Disconnected barrier is located at the first detection zone.When only the second ultrasonic sensor 23 emits ultrasound in supersonic sensing device assembly 20 When wave, and when only the second ultrasonic sensor 23 receives back echo, 30 disturbance in judgement level of control module is in described the Two detection zones.When first ultrasonic sensor 21 emits ultrasonic wave, the first supersonic sensing in supersonic sensing device assembly 20 When device 21 and the second ultrasonic sensor 23 receive back echo, 30 disturbance in judgement level of control module is detected in the third Region.When second ultrasonic sensor 23 emits ultrasonic wave, 21 and of the first ultrasonic sensor in supersonic sensing device assembly 20 When second ultrasonic sensor 23 receives back echo, 30 disturbance in judgement level of control module is in the third detection zone. When first ultrasonic sensor 21 transmitting ultrasonic wave, the second ultrasonic sensor 23 receive barrier in supersonic sensing device assembly 20 When hindering object echo, 30 disturbance in judgement level of control module is in the third detection zone.When in supersonic sensing device assembly 20 When two ultrasonic sensors 23 emit ultrasonic wave, the first ultrasonic sensor 21 receives back echo, control module 30 judges Barrier is located at the third detection zone.

In the preferred embodiment of the intelligent grass-removing 100 of the utility model first embodiment, control module 30 is according to ultrasound The transmitting ultrasonic wave of wave sensor component 20 and the time difference for receiving back echo, calculate barrier from intelligent grass-removing away from From.

In a preferred embodiment of the intelligent grass-removing 100 of the utility model first embodiment, the first supersonic sensing Device 21 has first axle, and the second ultrasonic sensor 23 has second axis, the first axle and second axis in height It is coplanar on direction, so set, can allow intelligent grass-removing obtain maximum magnitude overlap detection area area, also, due to The ultrasonic sensor of selection is identical, and axis co-planar can be conducive to the arrangement and the installation knot of shell 10 of ultrasonic sensor structure The design of structure.

In a preferred embodiment of the intelligent grass-removing 100 of the utility model first embodiment, to ensure that first is real The intelligent grass-removing 100 for applying example can identify barrier in direction of advance, it is necessary to make effective inspection of supersonic sensing device assembly 20 Survey the region immediately ahead of range covering 100 fuselage of intelligent grass-removing.In the intelligent grass-removing 100 of the utility model first embodiment A preferred embodiment in, the valid analysing range of supersonic sensing device assembly 20 is the first detection zone, the second detection zone The summation in domain and third detection zone.Specifically, using the left and right directions of intelligent grass-removing 100 as width direction, supersonic sensing The width range of effective detection width covering fuselage of device assembly 20.

In other preferred embodiments of the intelligent grass-removing 100 of the utility model first embodiment, the ultrasonic wave that uses Sensor module 20 includes more than two ultrasonic sensor, i.e. supersonic sensing device assembly 20 may include three or more Ultrasonic sensor, when ultrasonic sensor is more than two, to the transmission ultrasonic wave of ultrasonic sensor in different arrangements In the case of have different requirements.In principle, when the ultrasonic sensor more than two and other sensors have overlap detection area, Need with there are other of overlap detection area ultrasonic sensor in turn replace in time send ultrasonic wave, more than two When ultrasonic sensor and other ultrasonic sensors do not have overlap detection area, it can choose same with other ultrasonic sensors When send ultrasonic wave, also can choose with other ultrasonic sensors to replace in time in turn and send ultrasonic wave.It below will knot Specific attached drawing and embodiment is closed the transmission situation of arrangement and ultrasonic wave more than two ultrasonic sensors is described.

As shown in Figure 10, it includes that three ultrasonic waves pass that Figure 10, which is the intelligent grass-removing 100 of the utility model first embodiment, The embodiment of sensor, is specifically described as, and supersonic sensing device assembly 20 includes the first ultrasonic sensor 21, the second ultrasonic wave biography Sensor 23 and third ultrasonic sensor 25.Wherein, the first ultrasonic sensor 21 and the second ultrasonic sensor 23 are kept into The arrangement that angle is intersected, and visual field overlap detection area, third ultrasonic sensor 25 are formed in the front of shell 10 It is parallel with shell axis.Such as the first arrangement, third ultrasonic sensor 25 not with the first ultrasonic sensor 21 and Any one of two ultrasonic sensors 23 form visual field overlap detection area, third ultrasonic sensor in the front of shell 10 25 have the 4th detection zone.It is ultrasonic not with the first ultrasonic sensor 21 and second based on third ultrasonic sensor 25 Any one of wave sensor 23 forms visual field overlapping detection regions in the front of shell 10, and third ultrasonic sensor 25 can select It selects and the first ultrasonic sensor 21 or the second ultrasonic sensor 23 while sending ultrasonic wave, also can choose and the first surpassing Sonic sensor 21 and the second ultrasonic sensor 23 alternately send ultrasonic wave in time in turn.

As shown in Figure 10, when third ultrasonic sensor 25 and the first ultrasonic sensor 21 or the second ultrasonic sensor 23 when sending ultrasonic wave simultaneously, and control module 30 controls the first ultrasonic sensor 21 and third ultrasonic sensor 25 first Emit ultrasonic wave, the first ultrasonic sensor 21, the second ultrasonic sensor 23 and third ultrasonic sensor 25 in period Back echo is received in first time period, control module 30 controls third ultrasonic sensor 25 and the second supersonic sensing Emit ultrasonic wave in the second time period of device 23 after the first period of time, the first ultrasonic sensor 21, the second ultrasonic wave pass Sensor 23 and third ultrasonic sensor 25 receive back echo in second time period.

As shown in Figure 10, when third ultrasonic sensor 25 and the first ultrasonic sensor 21 and the second ultrasonic sensor 23 in turn send ultrasonic wave when, control module 30 control the first ultrasonic sensor 21 emit ultrasonic wave in first time period, First ultrasonic sensor 21, the second ultrasonic sensor 23 and third ultrasonic sensor 25 receive barrier in first time period Hinder object echo, it is super that control module 30 controls transmitting in the second time period of the second ultrasonic sensor 23 after the first period of time Sound wave, the first ultrasonic sensor 21, the second ultrasonic sensor 23 and third ultrasonic sensor 25 are in second time period Back echo is received, control module 30 controlled in the third period of third ultrasonic sensor 25 after the second period of time Emit ultrasonic wave, the first ultrasonic sensor 21, the second ultrasonic sensor 23 and third ultrasonic sensor 25 are in third Between back echo is received in section.

As shown in Figure 10, should be passed including three ultrasonic waves in the intelligent grass-removing 100 of the utility model first embodiment In the embodiment of sensor, the first ultrasonic sensor 21 and the second ultrasonic sensor 23 it is at an angle to each other shell 10 is set Front end, thus the second transmitting-receiving region B of the first transmitting-receiving region A of the first ultrasonic sensor 21 and the second ultrasonic sensor 23 It partly overlaps.The third of third ultrasonic sensor 25 receives and dispatches not the first receiving and delivery bay with the first ultrasonic sensor 21 region C The second transmitting-receiving region B overlapping of domain A and the second ultrasonic sensor 23.The underlapped part of first transmitting-receiving region A is sensor The underlapped part of first detection zone 11 of component 20, the second transmitting-receiving region B is the second detection zone of sensor module 20 The part of 12, the first transmitting-receiving region A and the second transmitting-receiving region B overlapping is the third detection zone 13 of sensor module 20.Third Transmitting-receiving region C is the 4th detection zone 14.

As shown in Figure 10, control module 30 still can be according to the first ultrasonic sensor in supersonic sensing device assembly 20 21, the second ultrasonic sensor 23 and third ultrasonic sensor 25 emit and receive the combined situation of back echo, sentence The orientation of disconnected barrier, is specifically described as, super when only having the first ultrasonic sensor 21 to emit in supersonic sensing device assembly 20 When sound wave, and when only the first ultrasonic sensor 21 reception back echo, 30 disturbance in judgement level of control module is in first Detection zone 11.When there was only the second ultrasonic sensor 23 transmitting ultrasonic wave in supersonic sensing device assembly 20, and only the When two ultrasonic sensors 23 receive back echo, 30 disturbance in judgement level of control module is in second detection zone 12. Surpass when the first ultrasonic sensor 21 transmitting ultrasonic wave, the first ultrasonic sensor 21 in supersonic sensing device assembly 20 and the second When sonic sensor 23 receives back echo, 30 disturbance in judgement level of control module is in the third detection zone 13.When super Second ultrasonic sensor 23 transmitting ultrasonic wave, the first ultrasonic sensor 21 and the second ultrasonic wave in sonic sensor component 20 When sensor 23 receives back echo, 30 disturbance in judgement level of control module is in the third detection zone 13.Work as ultrasonic wave First ultrasonic sensor 21 transmitting ultrasonic wave, the second ultrasonic sensor 23 receive back echo in sensor module 20 When, 30 disturbance in judgement level of control module is in the third detection zone 13.When the second ultrasound in supersonic sensing device assembly 20 When wave sensor 23 emits ultrasonic wave, the first ultrasonic sensor 21 receives back echo, 30 disturbance in judgement object of control module Positioned at the third detection zone 13.When the transmitting of third ultrasonic sensor 25 ultrasonic wave in supersonic sensing device assembly 20, and When only third ultrasonic sensor 25 receives back echo, 30 disturbance in judgement level of control module is in the 4th detection zone Domain 14.

As shown in figure 11, Figure 11 is the embodiment that supersonic sensing device assembly 20 includes four ultrasonic sensors, ultrasound Wave sensor component 20 includes the first ultrasonic sensor 21, the second ultrasonic sensor 23,25 and of third ultrasonic sensor 4th ultrasonic sensor 27.There is first ultrasonic sensor 21 first transmitting-receiving region A, the second ultrasonic sensor 23 to have Second transmitting-receiving region B.First ultrasonic sensor 21 and the second ultrasonic sensor 23 keep arrangement at an angle to each other simultaneously Visual field overlap detection area, i.e. third detection zone are formed in the front of shell 10.Third ultrasonic sensor 25 has the Three transmitting-receiving region C, the 4th ultrasonic sensor 27 have the 4th transmitting-receiving region D.Wherein, third ultrasonic sensor 25 not with Any one of first ultrasonic sensor 21 and the second ultrasonic sensor 23 form overlapping detection regions in the front of shell 10 Any one of domain, the 4th ultrasonic sensor 27 and the first ultrasonic sensor 21 and the second ultrasonic sensor 23 are in shell 10 Front formed overlap detection area.4th ultrasonic sensor 27 is due to ultrasonic with the first ultrasonic sensor 21 and second Wave sensor 23 has intersection, will form new overlap detection area.As shown in figure 11, third ultrasonic sensor 25 and four surpasses Sonic sensor 27 is parallel to each other, and third ultrasonic sensor 25 and the 4th ultrasonic sensor 27 are flat with the axis of shell Row, and the 4th ultrasonic sensor 27 is between the first ultrasonic sensor 21 and the second ultrasonic sensor 23.At other In embodiment, it is only necessary to the 4th ultrasonic sensor 27 and the formation of the first ultrasonic sensor 21 and the second ultrasonic sensor 23 Overlapping detection regions, third ultrasonic sensor 25 do not form overlapping detection regions with any other sensor, are not intended to limit him Axis set-up mode.

Continue as shown in figure 11, based on third ultrasonic sensor 25 not with the first ultrasonic sensor 21 and second Any one of ultrasonic sensor 23 forms overlap detection area, the third ultrasonic sensor 25 in the front of shell 10 Can choose and the first ultrasonic sensor 21 and the second ultrasonic sensor 23 while sending ultrasonic wave, also can choose and First ultrasonic sensor 21 and the second ultrasonic sensor 23 alternately send ultrasonic wave in time in turn.Four surpass based on Any one of sonic sensor 27 and the first ultrasonic sensor 21 and the second ultrasonic sensor 23 are in the front of shell 10 Overlap detection area is formed, so the 4th ultrasonic sensor 27 needs to pass with the first ultrasonic sensor 21 and the second ultrasonic wave Sensor 23 alternately sends ultrasonic wave in time in turn, and multiple ultrasonic sensors is avoided to send ultrasonic wave together to barrier Identification causes crosstalk.

As shown in figure 11, when third ultrasonic sensor 25 and the first ultrasonic sensor 21 or the second ultrasonic sensor 23 or the 4th ultrasonic sensor 27 when sending ultrasonic wave simultaneously, control module 30 controls the first ultrasonic sensor 21 and third Ultrasonic sensor 25 emits ultrasonic wave in first time period, the first ultrasonic sensor 21, the second ultrasonic sensor 23, Third ultrasonic sensor 25 and the 4th ultrasonic sensor 27 receive back echo, control module 30 in first time period Control transmitting in the second time period of third ultrasonic sensor 25 and the second ultrasonic sensor 23 after the first period of time Ultrasonic wave, the first ultrasonic sensor 21, the second ultrasonic sensor 23, third ultrasonic sensor 25 and the 4th ultrasonic wave pass Sensor 27 receives back echo in second time period, and control module 30 controls third ultrasonic sensor 25 and the 4th ultrasound Emit ultrasonic wave in the third period of wave sensor 27 after the second period of time, the first ultrasonic sensor 21 the second surpasses Sonic sensor 23, third ultrasonic sensor 25 and the 4th ultrasonic sensor 27 receive barrier within the third period and return Wave.

As shown in figure 11, when third ultrasonic sensor 25 and the first ultrasonic sensor 21 and the second ultrasonic sensor 23 in turn send ultrasonic wave when, control module 30 control the first ultrasonic sensor 21 emit ultrasonic wave in first time period, First ultrasonic sensor 21, the second ultrasonic sensor 23, third ultrasonic sensor 25 and the 4th ultrasonic sensor 27 Back echo is received in first time period, control module 30 controls the second ultrasonic sensor 23 after the first period of time Second time period in emit ultrasonic wave, the first ultrasonic sensor 21, the second ultrasonic sensor 23, third supersonic sensing Device 25 and the 4th ultrasonic sensor 27 receive back echo in second time period, and control module 30 controls third ultrasonic wave Emit ultrasonic wave, first the 21, second ultrasound of ultrasonic sensor in the third period of sensor 25 after the second period of time Wave sensor 23, third ultrasonic sensor 25 and the 4th ultrasonic sensor 27 receive barrier within the third period and return Wave, control module 30 control the 4th ultrasonic sensor 27 and emit ultrasonic wave in the 4th period after the third period, First ultrasonic sensor 21, the second ultrasonic sensor 23, third ultrasonic sensor 25 and the 4th ultrasonic sensor 27 Back echo is received within the 4th period.

As shown in figure 11, should be passed including four ultrasonic waves in the intelligent grass-removing 100 of the utility model first embodiment In the embodiment of sensor, the underlapped part of the first transmitting-receiving region A is the first detection zone 11 of sensor module 20, and second receives The underlapped part for sending out region B is the second detection zone 12 of sensor module 20, and it is the 4th detection zone that third, which receives and dispatches region C, 13.The underlapped part of 4th transmitting-receiving region D is the 4th detection zone 14 of sensor module 20, the first transmitting-receiving region A, second The part for receiving and dispatching the transmitting-receiving region D overlapping of region B and the 4th is the 5th detection zone 15 of sensor module 20.First transmitting-receiving region The remainder Chong Die with the second transmitting-receiving region B is not the 7th detection zone 17 in the part of the transmitting-receiving region D overlapping of A and the 4th, The remainder Chong Die with the first transmitting-receiving region A is not the 6th in the part of second transmitting-receiving region B and the 4th transmitting-receiving region D overlapping Detection zone 16.

As shown in figure 11, control module 30 still can be according to the first ultrasonic sensor in supersonic sensing device assembly 20 21, the second ultrasonic sensor 23, third ultrasonic sensor 25 and the 4th ultrasonic sensor 27 emit and receive obstacle The combined situation of object echo, the orientation of disturbance in judgement object.It is specifically described as, the first surpasses when only having in supersonic sensing device assembly 20 Sonic sensor 21 emits ultrasonic wave, and when only the first ultrasonic sensor 21 reception back echo, control module 30 Disturbance in judgement level is in the first detection zone 11.When only the second ultrasonic sensor 23 transmitting in supersonic sensing device assembly 20 When ultrasonic wave, and when only the second ultrasonic sensor 23 reception back echo, 30 disturbance in judgement level of control module is in institute State the second detection zone 12.When only having third ultrasonic sensor 25 to emit ultrasonic wave in supersonic sensing device assembly 20, and When only third ultrasonic sensor 25 receives back echo, 30 disturbance in judgement level of control module is in the third detection zone Domain 13.When there was only the 4th ultrasonic sensor 27 transmitting ultrasonic wave in supersonic sensing device assembly 20, and the only the 4th ultrasound When wave sensor 27 receives back echo, 30 disturbance in judgement level of control module is in the 4th detection zone 14.Work as ultrasound First ultrasonic sensor 21 or the second ultrasonic sensor 23 or the 4th ultrasonic sensor 27 hair in wave sensor component 20 Ultrasonic wave is penetrated, the first ultrasonic sensor 21, the second ultrasonic sensor 23 and the 4th ultrasonic sensor 27 receive obstacle When object echo, 30 disturbance in judgement level of control module is in the 5th detection zone 15.When in supersonic sensing device assembly 20 One ultrasonic sensor 21 emits ultrasonic wave, and the second ultrasonic sensor 23 and the 4th ultrasonic sensor 27 receive obstacle When object echo, 30 disturbance in judgement level of control module is in the 5th detection zone 15.When in supersonic sensing device assembly 20 Two ultrasonic sensors 23 emit ultrasonic wave, and the first ultrasonic sensor 21 and the 4th ultrasonic sensor 27 receive barrier When echo, 30 disturbance in judgement level of control module is in the 5th detection zone 15.When the 4th in supersonic sensing device assembly 20 Ultrasonic sensor 27 emits ultrasonic wave, and the first ultrasonic sensor 21 and the second ultrasonic sensor 23 receive barrier When echo, 30 disturbance in judgement level of control module is in the 5th detection zone 15.When second in supersonic sensing device assembly 20 Ultrasonic sensor 23 or the 4th ultrasonic sensor 27 emit ultrasonic wave, and the second ultrasonic sensor 23 and the 4th ultrasonic wave pass When sensor 27 receives back echo, 30 disturbance in judgement level of control module is in the 6th detection zone 16.Work as ultrasonic wave Second ultrasonic sensor 23 emits ultrasonic wave in sensor module 20, and the 4th ultrasonic sensor 27 receives back echo When, 30 disturbance in judgement level of control module is in the 6th detection zone 16.When the 4th ultrasound in supersonic sensing device assembly 20 Wave sensor 27 emits ultrasonic wave, when the second ultrasonic sensor 23 receives back echo, 30 disturbance in judgement object of control module Positioned at the 6th detection zone 16.When the first ultrasonic sensor 21 in supersonic sensing device assembly 20 or the 4th ultrasonic wave pass Sensor 27 emits ultrasonic wave, when the first ultrasonic sensor 21 and the 4th ultrasonic sensor 27 receive back echo, control 30 disturbance in judgement level of molding block is in the 7th detection zone 17.When the first supersonic sensing in supersonic sensing device assembly 20 Device 21 emits ultrasonic wave, and when the 4th ultrasonic sensor 27 receives back echo, 30 disturbance in judgement level of control module is in institute State the 7th detection zone 17.When the 4th ultrasonic sensor 27 emits ultrasonic wave, the first ultrasound in supersonic sensing device assembly 20 When wave sensor 21 receives back echo, 30 disturbance in judgement level of control module is in the 7th detection zone 17.

The intelligent grass-removing 100 of the utility model first embodiment detects barrier by ultrasonic sensor, intelligently cuts Careless machine 100 has pre-determined distance, when the distance between intelligent grass-removing 100 and barrier are less than or equal to pre-determined distance, intelligence Grass trimmer carries out the contactless avoidance that avoidance advances towards barrier and realize intelligent grass-removing without continuation.Pass through pre-determined distance The contactless avoidance of opposite short distance may be implemented when apart from relatively small in the difference of value, when apart from relatively large, Remote contactless avoidance of the relative proximity apart from contactless avoidance may be implemented.In addition, passing through ultrasonic sensor angulation Arranged crosswise is spent, can know the position and direction where barrier, improves the accuracy of barrier positioning, and is facilitated Intelligent grass-removing 100 adapts to different operating conditions, simultaneously, it is known that also facilitates intelligent grass-removing 100 to take targetedly avoidance behind direction Measure, if turning left under the premise of satisfaction turns left condition than barrier at right side.

Control module 30 judges that barrier goes out according to the different situations of the received ultrasonic wave of supersonic sensing device assembly 20 Existing orientation, and then intelligent grass-removing direction of advance is controlled, targetedly avoiding barrier, improves the efficiency of avoidance.Tool Body such as, for the intelligent grass-removing 100 of the utility model first embodiment, when barrier appears in third detection zone When, control module 30 control intelligent grass-removing retreat, perhaps shut down perhaps turn to the left perhaps turn to or retreat to the right to Left steering, or retreat and turn to the right；When barrier appears in the first detection zone, control module 30 controls intelligent grass-removing It retreats, perhaps shuts down perhaps to turn to or retreat to the left and turn to the left；When barrier appears in the second detection zone, control Module 30 controls intelligent grass-removing and retreats, and perhaps shuts down perhaps to turn to or retreat to the right and turns to the right.Specific avoidance is arranged It applies, control module 30 is reasonably selected according to the distance between barrier and intelligent grass-removing 100.

Second embodiment:

As shown in FIG. 12 and 13, Figure 12 is the vertical view signal of the intelligent grass-removing 200 of the utility model second embodiment Figure.Figure 13 is a kind of arrangement and inspection of the supersonic sensing device assembly of the intelligent grass-removing 200 of the utility model second embodiment Survey range schematic diagram.In the intelligent grass-removing 200 of the second embodiment, supersonic sensing device assembly 20 includes the first ultrasonic wave Sensor 41 and the second ultrasonic sensor 43.First ultrasonic sensor 41 and the second ultrasonic sensor 43 are parallel to each other and set It sets and ultrasonic wave sending direction is towards the front of shell 10.

As shown in figure 12, first in the preferred embodiment of the intelligent grass-removing 200 of the utility model second embodiment Ultrasonic sensor 41 has first axle 411, and the second ultrasonic sensor 43 has second axis 431, and shell 10 has shell Body axis 210.First axle 411 and second axis 431 are parallel to each other, and first axle 411, second axis 431 and shell axis Line 210 is mutually parallel.In other embodiments, as long as guaranteeing that first axle 411 and second axis 431 are parallel to each other, Between first axle 411 and second axis 431 and shell axis 210 whether it is parallel without limitation.First axle 411 is the first to surpass The axis for the ultrasonic sound field that sonic sensor 41 emits, second axis 431 are the ultrasound of the second ultrasonic sensor 43 transmitting The axis of wave sound field.

Continue as shown in figure 13, the first ultrasonic sensor 41 is consistent with the hardware parameter of the second ultrasonic sensor 43. First ultrasonic sensor 41 has the first transmitting-receiving region A.Second ultrasonic sensor 43 has the second transmitting-receiving region B.First The transmitting-receiving of transmitting-receiving region A and second region B is formed with overlap detection area in the front of intelligent grass-removing 1.The overlapping detection The first ultrasonic sensor 41 and the second ultrasonic sensor 43 can receive ultrasonic echo in region, i.e., if it is the first ultrasound Wave sensor 41 sends ultrasonic wave, then the first ultrasonic sensor 41 and the second ultrasonic sensor 43 can receive ultrasound and return Wave；Ultrasonic wave is sent if it is the second ultrasonic sensor 43, then the first ultrasonic sensor 41 and the second ultrasonic sensor 43 can receive ultrasonic echo.

Continue as shown in figure 13, in the first arrangement side of the intelligent grass-removing 200 of the utility model second embodiment In the embodiment of formula, as described above, the first ultrasonic sensor 41 with the second ultrasonic sensor 43 is parallel in left-right direction sets It sets in 10 front end of shell.To the first ultrasonic sensor 41 the first transmitting-receiving region A and the second ultrasonic sensor 43 the Two transmitting-receiving region part B overlappings.The underlapped part of first transmitting-receiving region A is the first detection zone 11 of sensor module 20, The underlapped part of second transmitting-receiving region B is the second detection zone 12 of sensor module 20, and the first transmitting-receiving region A and second is received The part for sending out region B overlapping is the third detection zone 13 of sensor module 20.

As shown in figure 14, Figure 14 shows the supersonic sensing of the intelligent grass-removing 200 of the utility model second embodiment Detection range schematic diagram of the device assembly 20 under second of arrangement.This second arrangement of supersonic sensing device assembly 20 Mode and the difference of the first arrangement be, supersonic sensing device assembly 20 be installed on apart from housing forward end in one section away from Position from D.It is specifically described as, supersonic sensing device assembly 20 includes that the first ultrasonic sensor 41 and the second ultrasonic wave pass Sensor 43.First ultrasonic sensor 41 is consistent with the hardware parameter of the second ultrasonic sensor 43.First ultrasonic sensor 41 have the first transmitting-receiving region A.Second ultrasonic sensor 43 has the second transmitting-receiving region B.First transmitting-receiving region A and second It receives and dispatches region B and is formed with overlap detection area in the front of intelligent grass-removing 1.First ultrasonic wave in the overlap detection area Sensor 41 and the second ultrasonic sensor 43 can receive ultrasonic echo, i.e., send if it is the first ultrasonic sensor 41 super Sound wave, then the first ultrasonic sensor 41 and the second ultrasonic sensor 43 can receive ultrasonic echo；If it is the second ultrasound Wave sensor 43 sends ultrasonic wave, then the first ultrasonic sensor 41 and the second ultrasonic sensor 43 can receive ultrasound and return Wave.

Continue as shown in figure 14, in second of arrangement side of the intelligent grass-removing 200 of the utility model second embodiment In the embodiment of formula, the first ultrasonic sensor 41 and the second ultrasonic sensor 43 are arranged in parallel in shell 10 in left-right direction Front end.To the first transmitting-receiving region A of the first ultrasonic sensor 41 and the second transmitting-receiving region B of the second ultrasonic sensor 43 It partly overlaps.The underlapped part of first transmitting-receiving region A is the first detection zone 11 of sensor module 20, the second transmitting-receiving region The underlapped part of B is the second detection zone 12 of sensor module 20, the first transmitting-receiving region A and the second transmitting-receiving region B overlapping Part be sensor module 20 third detection zone 13.

As shown in figure 14, in second of arrangement of the intelligent grass-removing 200 of the utility model second embodiment, First ultrasonic sensor 41 and the second ultrasonic sensor 43 can be set any on 10 length direction of shell in principle Position, if the first ultrasonic sensor 41 and the second ultrasonic sensor 43 are arranged on the housing 10 closer to rear end Place, then can be improved in order to guarantee that ultrasonic sensor sends ultrasonic wave and reception back echo is unaffected The shape of shell ultrasonic sensor is arranged higher.In the preferred embodiment of the utility model, consider simultaneously The factor for sending and receiving and occupying little space of ultrasonic wave, the first ultrasonic sensor 41 and the second ultrasonic sensor 43 The first half of 10 length direction of shell is set, and distance D is less than or equal to the half of 10 length of shell, so set, can be more Add the range easily improved by the structure to housing forward end to be suitble to visual field, avoids generating blocking to ultrasonic wave.

In a preferred embodiment of the intelligent grass-removing 200 of the utility model second embodiment, control module 30 is controlled Make the first ultrasonic sensor 41 and the second ultrasonic sensor 43 alternate emission ultrasonic wave in time.Control module 30 controls First ultrasonic sensor 41 emits ultrasonic wave, the first ultrasonic sensor 41 and the second supersonic sensing in first time period Device 43 receives back echo in first time period, and control module 30 controls the second ultrasonic sensor 43 in first time period Emit ultrasonic wave in second time period later, the first ultrasonic sensor 41 and the second ultrasonic sensor 43 are in the second time Back echo is received in section.

In a preferred embodiment of the intelligent grass-removing 200 of the utility model second embodiment, control module 30 according to Emit and receive obstacle according to the first ultrasonic sensor 41 in supersonic sensing device assembly 20 and the second ultrasonic sensor 43 The combined situation of object echo, the orientation of disturbance in judgement object.When only the first ultrasonic sensor in supersonic sensing device assembly 20 41 transmitting ultrasonic waves, and when only the first ultrasonic sensor 41 reception back echo, 30 disturbance in judgement object of control module Positioned at the first detection zone 11.When only the second ultrasonic sensor 43 transmitting ultrasonic wave in supersonic sensing device assembly 20, and And when only the second ultrasonic sensor 43 reception back echo, 30 disturbance in judgement level of control module is in second detection Region 12.When first ultrasonic sensor 41 emits ultrasonic wave, the first ultrasonic sensor 41 in supersonic sensing device assembly 20 When receiving back echo with the second ultrasonic sensor 43,30 disturbance in judgement level of control module is in the third detection zone 13.When the second ultrasonic sensor 43 transmitting ultrasonic wave, the first ultrasonic sensor 41 and the in supersonic sensing device assembly 20 When two ultrasonic sensors 43 receive back echo, 30 disturbance in judgement level of control module is in the third detection zone 13. When first ultrasonic sensor 41 transmitting ultrasonic wave, the second ultrasonic sensor 43 receive obstacle in supersonic sensing device assembly 20 When object echo, 30 disturbance in judgement level of control module is in the third detection zone 13.When in supersonic sensing device assembly 20 When two ultrasonic sensors 43 emit ultrasonic wave, the first ultrasonic sensor 41 receives back echo, control module 30 judges Barrier is located at the third detection zone 13.

In a preferred embodiment of the intelligent grass-removing 200 of the utility model second embodiment, control module 30 according to According to the transmitting ultrasonic wave of supersonic sensing device assembly 20 and the time difference of reception back echo, barrier is calculated from intelligent mowing The distance of machine.

In a preferred embodiment of the intelligent grass-removing 200 of the utility model second embodiment, first axle 411 with Second axis 431 is coplanar in the height direction, so set, can allow intelligent grass-removing obtain maximum magnitude overlapping detection regions Domain area, also, since the ultrasonic sensor of selection is identical, axis co-planar can be conducive to the cloth of ultrasonic sensor structure It sets and the design of 10 mounting structure of shell.

In a preferred embodiment of the intelligent grass-removing 200 of the utility model second embodiment, to ensure that second is real The intelligent grass-removing 200 for applying example can identify barrier in direction of advance, the valid analysing range of supersonic sensing device assembly 20 Cover the region immediately ahead of 200 fuselage of intelligent grass-removing.In the intelligent grass-removing 200 of the utility model second embodiment, surpass The valid analysing range of sonic sensor component 20 is the total of the first detection zone, the second detection zone and third detection zone With.

In other preferred embodiments of the intelligent grass-removing 200 of the utility model second embodiment, when the ultrasound used Wave sensor component 20 includes more than two ultrasonic sensor, that is, in order to obtain bigger face in front of intelligent grass-removing 200 The location information of long-pending overlap detection area and barrier, supersonic sensing device assembly 20 may include three or more ultrasounds Wave sensor, when ultrasonic sensor is more than two, to the transmission ultrasonic wave of ultrasonic sensor in different deployment scenarios Under have different requirements.The overlap detection area area of multiple ultrasonic sensors is bigger, and the detection range of barrier is wider, obtains The location information for obtaining barrier is more accurate, in this way, can increase intelligent mowing by the collaborative work of multiple ultrasonic sensors The accuracy of 200 front detection of obstacles of machine.

As shown in figure 15, it includes that three ultrasonic waves pass that Figure 15, which is the intelligent grass-removing 200 of the utility model second embodiment, The axis of the embodiment of sensor, three ultrasonic sensors is parallel to each other.It is specifically described as, supersonic sensing device assembly 20 includes First ultrasonic sensor 41, the second ultrasonic sensor 43 and third ultrasonic sensor 45.First ultrasonic sensor 41 With the first transmitting-receiving region A.Second ultrasonic sensor 43 has the second transmitting-receiving region B.Third ultrasonic sensor 45 has Third receives and dispatches region C.Three ultrasonic sensors are mutually parallel, wherein the first ultrasonic sensor 41 and the second ultrasonic wave Sensor 43 forms visual field overlap detection area, third ultrasonic sensor 45 and the second ultrasonic wave in the front of shell 10 Sensor 43 forms visual field overlap detection area, but third ultrasonic sensor 45 and the first ultrasonic wave in the front of shell 10 Sensor 41 does not form visual field overlap detection area in the front of shell 10.Based on third ultrasonic sensor 45 and second Ultrasonic sensor 43 forms visual field overlap detection area in the front of shell 10, and with the first ultrasonic sensor 41 in shell The front of body 10 does not form visual field overlap detection area, so third ultrasonic sensor 45 can be passed with the first ultrasonic wave Sensor 41 sends ultrasonic wave simultaneously, can also send ultrasonic wave in turn with the first ultrasonic sensor 41, and third ultrasonic wave passes Sensor 45 and the second ultrasonic sensor 43 need to send ultrasonic wave in turn.

As shown in figure 15, when third ultrasonic sensor 45 and the first ultrasonic sensor 41 send ultrasonic wave simultaneously, Control module 30 controls the first ultrasonic sensor 41 and third ultrasonic sensor 45 emits ultrasonic wave in first time period, First ultrasonic sensor 41, the second ultrasonic sensor 43 and third ultrasonic sensor 45 receive barrier in first time period Hinder object echo, it is super that control module 30 controls transmitting in the second time period of the second ultrasonic sensor 43 after the first period of time Sound wave, the first ultrasonic sensor 41, the second ultrasonic sensor 43 and third ultrasonic sensor 45 are in second time period Receive back echo.

As shown in figure 15, when third ultrasonic sensor 45 and the first ultrasonic sensor 41 and the second ultrasonic sensor 43 in turn send ultrasonic wave when, control module 30 control the first ultrasonic sensor 41 emit ultrasonic wave in first time period, First ultrasonic sensor 41, the second ultrasonic sensor 43 and third ultrasonic sensor 45 receive barrier in first time period Hinder object echo, it is super that control module 30 controls transmitting in the second time period of the second ultrasonic sensor 43 after the first period of time Sound wave, the first ultrasonic sensor 41, the second ultrasonic sensor 43 and third ultrasonic sensor 45 are in second time period Back echo is received, control module 30 controlled in the third period of third ultrasonic sensor 45 after the second period of time Emit ultrasonic wave, the first ultrasonic sensor 41, the second ultrasonic sensor 43 and third ultrasonic sensor 45 are in third Between back echo is received in section.

As shown in figure 15, the underlapped part of the first transmitting-receiving region A is the first detection zone 11 of sensor module 20, the The underlapped part of two transmitting-receiving region B is the second detection zone 12 of sensor module 20, and third receives and dispatches the underlapped portion of region C It is divided into the third detection zone 13 of sensor module 20, the part that the first transmitting-receiving region A and the second transmitting-receiving region B are overlapped is sensing 4th detection zone 14 of device assembly 20, part the second transmitting-receiving region B Chong Die with third transmitting-receiving region C are sensor module 20 The 5th detection zone 15.

As shown in figure 15, control module 30 still can be according to the first ultrasonic sensor in supersonic sensing device assembly 20 41, the second ultrasonic sensor 43 and third ultrasonic sensor 45 emit and receive the combined situation of back echo, sentence The orientation of disconnected barrier, about specific judgment mode, the first ultrasonic sensor 41 and the transmitting-receiving of the second ultrasonic sensor 43 Barrier judgment in region is referred to judgment mode above-mentioned.When third ultrasonic sensor 45 and the second supersonic sensing Device 43 is since overlap mode and the first ultrasonic sensor 41 and the second ultrasonic sensor 43 are similar, so Obstacle Position is sentenced Disconnected mode is identical as the first ultrasonic sensor 41 and the second ultrasonic sensor 43, herein without repeated description.

As shown in figure 16, it includes that four ultrasonic waves pass that Figure 16, which is the intelligent grass-removing 200 of the utility model second embodiment, The axis of the embodiment of sensor, four ultrasonic sensors is parallel to each other.It is specifically described as, supersonic sensing device assembly 20 includes First ultrasonic sensor 41, the second ultrasonic sensor 43, third ultrasonic sensor 45 and the 4th ultrasonic sensor 47. Four ultrasonic sensors are mutually parallel, wherein the first ultrasonic sensor 41 and the second ultrasonic sensor 43 are in shell 10 front forms visual field overlap detection area, and third ultrasonic sensor 45 and the second ultrasonic sensor 43 are in shell 10 Front form visual field overlap detection area, but third ultrasonic sensor 45 and the first ultrasonic sensor 41 are in shell 10 front does not form visual field overlap detection area.No first ultrasonic sensor 41 of 4th ultrasonic sensor 47, Any one of second ultrasonic sensor 43 and third ultrasonic sensor 45 form visual field overlapping inspection in the front of shell 10 Survey region.It is Chong Die in the front of shell 10 formation visual field with the second ultrasonic sensor 43 based on third ultrasonic sensor 45 Detection zone, and visual field overlap detection area is not formed in the front of shell 10 with the first ultrasonic sensor 41, so Third ultrasonic sensor 45 can send ultrasonic wave simultaneously with the first ultrasonic sensor 41, can also pass with the first ultrasonic wave Sensor 41 sends ultrasonic wave in turn, and third ultrasonic sensor 45 and the second ultrasonic sensor 43 send ultrasonic wave in turn.Base In the 4th ultrasonic sensor 47 not with the first ultrasonic sensor 41, the second ultrasonic sensor 43 and third ultrasonic wave Any one of sensor 45 forms visual field overlap detection area in the front of shell 10, and the 4th ultrasonic sensor 47 can Ultrasound is sent simultaneously with selection and the first ultrasonic sensor 41, the second ultrasonic sensor 43 and third ultrasonic sensor 45 Wave also can choose with the first ultrasonic sensor 41, the second ultrasonic sensor 43 and third ultrasonic sensor 45 in turn Ultrasonic wave is alternately sent in time.

As shown in figure 16, when the 4th ultrasonic sensor 47 and the first ultrasonic sensor 41 or the second ultrasonic sensor 43 or third ultrasonic sensor 45 simultaneously when sending ultrasonic wave, control module 30 controls the first ultrasonic sensor 41 and the 4th Ultrasonic sensor 47 emits ultrasonic wave in first time period, the first ultrasonic sensor 41, the second ultrasonic sensor 43, Third ultrasonic sensor 45 and the 4th ultrasonic sensor 47 receive back echo, control module 30 in first time period Control transmitting in the second time period of the 4th ultrasonic sensor 47 and the second ultrasonic sensor 43 after the first period of time Ultrasonic wave, the first ultrasonic sensor 41, the second ultrasonic sensor 43, third ultrasonic sensor 45 and the 4th ultrasonic wave pass Sensor 47 receives back echo in second time period, and control module 30 controls the 4th ultrasonic sensor 47 and third ultrasound Emit ultrasonic wave in the third period of wave sensor 45 after the second period of time, the first ultrasonic sensor 41 the second surpasses Sonic sensor 43, third ultrasonic sensor 45 and the 4th ultrasonic sensor 47 receive barrier within the third period and return Wave.

As shown in figure 16, when the 4th ultrasonic sensor 47 and the first ultrasonic sensor 41, the second ultrasonic sensor 43 and third ultrasonic sensor 45 when sending ultrasonic wave in turn, control module 30 controls the first ultrasonic sensor 41 first Emit ultrasonic wave, the first ultrasonic sensor 41, the second ultrasonic sensor 43,45 and of third ultrasonic sensor in period 4th ultrasonic sensor 47 receives back echo in first time period, and control module 30 controls the second ultrasonic sensor Emit ultrasonic wave, the first ultrasonic sensor 41, the second supersonic sensing in 43 second time period after the first period of time Device 43, third ultrasonic sensor 45 and the 4th ultrasonic sensor 47 receive back echo in second time period, control Module 30, which controls, emits ultrasonic wave in the third period of third ultrasonic sensor 45 after the second period of time, the first ultrasound Wave sensor 41, the second ultrasonic sensor 43, third ultrasonic sensor 45 and the 4th ultrasonic sensor 47 are in third Between receive back echo in section, control module 30 control the 4th ultrasonic sensor 47 after the third period the 4th when Between emit ultrasonic wave in section, the first ultrasonic sensor 41, the second ultrasonic sensor 43, third ultrasonic sensor 45 and the Four ultrasonic sensors 47 receive back echo within the 4th period.Certainly, due to third ultrasonic sensor 45 and One ultrasonic sensor 41 does not have overlap detection area, and third ultrasonic sensor 45 can be same with the first ultrasonic sensor 41 When send signal, can also be sent out in turn with the first ultrasonic sensor 41, so can also there are more kinds of signals to send combination Mode no longer carries out expansion description herein.

As shown in figure 16, control module 30 still can be according to the first ultrasonic sensor in supersonic sensing device assembly 20 41, the second ultrasonic sensor 43, third ultrasonic sensor 45 and the 4th ultrasonic sensor 47 emit and receive obstacle The combined situation of object echo, the orientation of disturbance in judgement object, about specific judgment mode, the first ultrasonic sensor 41 and second The barrier judgment that ultrasonic sensor 43 is received and dispatched in region is referred to judgment mode above-mentioned.Second ultrasonic sensor 43 The first ultrasonic sensor 41 is referred to the barrier judgment in the transmitting-receiving of third ultrasonic sensor 45 region and the second is surpassed Sonic sensor 43 is judged that method is identical.When the 4th ultrasonic sensor 27 emits ultrasonic wave, only the 4th is ultrasonic When wave sensor 27 receives back echo, the control module disturbance in judgement level is where the 4th ultrasonic sensor 27 Detection zone.

The intelligent grass-removing 200 of the utility model second embodiment detects barrier by ultrasonic sensor, intelligently cuts Careless machine 200 has pre-determined distance, when the distance between intelligent grass-removing 200 and barrier are less than or equal to pre-determined distance, intelligence Grass trimmer carries out the contactless avoidance that avoidance advances towards barrier and realize intelligent grass-removing without continuation.Pass through pre-determined distance The contactless avoidance of opposite short distance may be implemented when apart from relatively small in the difference of value, when apart from relatively large, Remote contactless avoidance of the relative proximity apart from contactless avoidance may be implemented.In addition, parallel by ultrasonic sensor Setting and formation overlap detection area, can know the position where barrier, improve the accuracy of barrier positioning, and Facilitate intelligent grass-removing 200 and adapt to different operating conditions, simultaneously, it is known that also facilitates intelligent grass-removing 200 to take specific aim behind direction Avoidance measure, if turning left under the premise of satisfaction turns left condition than barrier at right side.

3rd embodiment:

As shown in FIG. 17 and 18, Figure 17 is the vertical view signal of the intelligent grass-removing 300 of the utility model 3rd embodiment Figure.Figure 18 is a kind of arrangement and detection of the supersonic sensing device assembly of the intelligent grass-removing 300 of 3rd embodiment described in Figure 17 Range schematic diagram.In the intelligent grass-removing 300 of the 3rd embodiment, supersonic sensing device assembly 20 is passed including the first ultrasonic wave Sensor 61, the second ultrasonic sensor 63, the first ultrasonic sensor 61 is in the inscribed receipts in the first transmitting-receiving region and emits ultrasonic wave, Second ultrasonic sensor 63 is in the inscribed receipts in the second transmitting-receiving region and transmitting ultrasonic wave.First ultrasonic sensor 61 and second Ultrasonic sensor 63 is parallel to each other along intelligent grass-removing width direction and is disposed adjacently on the housing 10, and makes described One transmitting-receiving region and second transmitting-receiving region are not overlapped.The embodiment passes through the first ultrasonic sensor 61 and the second ultrasound Wave sensor 63 detects barrier, and realizes contactless avoidance by the limitation of pre-determined distance.

As shown in FIG. 17 and 18, in the preferred embodiment of the intelligent grass-removing 300 of the utility model 3rd embodiment, The supersonic sensing device assembly 20 further includes third ultrasonic sensor 65 and the 4th ultrasonic sensor 67.Third ultrasonic wave Sensor 65 is in the inscribed receipts in third transmitting-receiving region and transmitting ultrasonic wave.4th ultrasonic sensor 67 is inscribed in the 4th transmitting-receiving region Receive and emit ultrasonic wave.Third ultrasonic sensor 65 be located at the first ultrasonic sensor 61 not with the second ultrasonic sensor The 63 adjacent other sides, third ultrasonic sensor 65 and the first ultrasonic sensor 61 arrangement at an angle to each other on the housing 10, So that the first transmitting-receiving region and the third receiving area partly overlap.4th ultrasonic sensor 67 is located at the second ultrasound The not other side adjacent with the first ultrasonic sensor 61 of wave sensor 63, the 4th ultrasonic sensor 67 and the second ultrasonic wave Sensor 63 is at an angle to each other to be arranged on the housing 10, so that the second transmitting-receiving region and the 4th receiving area part weight Folded, four ultrasonic sensors form four detection zones, wherein the first transmitting-receiving region and third receive and dispatch region phase The part being mutually overlapped is third detection zone 13, and the part except being overlapped in first transmitting-receiving region is the first detection zone 11, the second transmitting-receiving region and the 4th overlapped part in transmitting-receiving region are the 4th detection zone 14, second transmitting-receiving Part except being overlapped in region is the second detection zone 12.

As shown in figure 18, the first ultrasonic sensor 61 and third ultrasonic wave pass in the third detection zone 13 of the overlapping Sensor 65 can receive ultrasonic echo, i.e., send ultrasonic wave if it is the first ultrasonic sensor 61, then the first supersonic sensing Device 61 and third ultrasonic sensor 65 can receive ultrasonic echo；Ultrasonic wave is sent if it is third ultrasonic sensor 65, Then the first ultrasonic sensor 61 and third ultrasonic sensor 65 can receive ultrasonic echo.Similarly, the 4th of the overlapping Second ultrasonic sensor 63 and the 4th ultrasonic sensor 67 can receive ultrasonic echo in detection zone 14, i.e., if it is Two ultrasonic sensors 63 send ultrasonic wave, then the second ultrasonic sensor 63 can receive super with the 4th ultrasonic sensor 67 Sound echo；Ultrasonic wave is sent if it is the 4th ultrasonic sensor 67, then the second ultrasonic sensor 63 and the 4th ultrasonic wave pass Sensor 67 can receive ultrasonic echo.

In other embodiments, the first ultrasonic sensor 61 and the second ultrasonic sensor 63 can be respectively arranged at Two sides, and third ultrasonic sensor 65 and the 4th ultrasonic sensor 67 are set to the first ultrasonic sensor 61 and second Between ultrasonic sensor 63, and the axis of the first ultrasonic sensor 61 and third ultrasonic sensor 65 is angled across, Second ultrasonic sensor 63 is angled across with the 4th ultrasonic sensor 67.Layout type can carry out difference according to demand Combination.

As shown in figure 19, Figure 19 shows the supersonic sensing of the intelligent grass-removing 300 of the utility model 3rd embodiment Detection range schematic diagram of the device assembly under second of arrangement.Second of arrangement of supersonic sensing device assembly with The difference of the first arrangement is that supersonic sensing device assembly 20 is installed on the position apart from housing forward end in a distance D It sets.It is specifically described as, in the embodiment of second of arrangement, supersonic sensing device assembly 20 is passed including the first ultrasonic wave Sensor 61, the second ultrasonic sensor 63, third ultrasonic sensor 65 and the 4th ultrasonic sensor 67.First ultrasonic wave passes Sensor 61 is inscribed in the first transmitting-receiving region and receives and emit ultrasonic wave, and the second ultrasonic sensor 63 is in the second inscribed receipts in transmitting-receiving region With transmitting ultrasonic wave.Third ultrasonic sensor 65 is in the inscribed receipts in third transmitting-receiving region and transmitting ultrasonic wave.4th ultrasonic wave passes Sensor 67 is in the inscribed receipts in the 4th transmitting-receiving region and transmitting ultrasonic wave.First ultrasonic sensor 61 and the second ultrasonic sensor 63 Be parallel to each other and be disposed adjacently on shell 10 along intelligent grass-removing width direction, and make it is described first transmitting-receiving region and Second transmitting-receiving region is not overlapped.It is not ultrasonic with second that third ultrasonic sensor 65 is located at the first ultrasonic sensor 61 The adjacent other side of wave sensor 63, third ultrasonic sensor 65 and the first ultrasonic sensor 61 is at an angle to each other is arranged in shell On body 10, so that the first transmitting-receiving region and the third receiving area partly overlap.4th ultrasonic sensor 67 is located at The second ultrasonic sensor 63 not other side adjacent with the first ultrasonic sensor 61, the 4th ultrasonic sensor 67 and Two ultrasonic sensors 63 arrangement at an angle to each other on the housing 10 so that the second transmitting-receiving region and the 4th receiving area It partly overlaps, four ultrasonic sensors form four detection zones, four detection zones and the first arrangement phase Together, the label in those regions referring to Fig.1 7 is identical as Figure 17.

As shown in figure 18, in second of arrangement of the intelligent grass-removing 300 of the utility model 3rd embodiment, First ultrasonic sensor 61, the second ultrasonic sensor 63, third ultrasonic sensor 65 and the 4th ultrasonic sensor 67 Any position on 10 length direction of shell can be set in principle, if the first ultrasonic sensor 61, the second ultrasonic wave Sensor 63, third ultrasonic sensor 65 and the 4th ultrasonic sensor 67 are arranged on the housing 10 closer to the ground of rear end Side, then shell can be improved in order to guarantee that ultrasonic sensor sends ultrasonic wave and reception back echo is unaffected The shape of body ultrasonic sensor is arranged higher.In the preferred embodiment of the utility model, while in view of super The factor for sending and receiving and occupying little space of sound wave, the first ultrasonic sensor 61, the second ultrasonic sensor 63, The first half of 10 length direction of shell is arranged in three ultrasonic sensors 65 and the 4th ultrasonic sensor 67, and distance D is less than Equal to the half of 10 length of shell, so set, can more convenient structure by housing forward end improve to be suitble to view The range of field avoids generating blocking to ultrasonic wave.

As shown in figure 17, the intelligent grass-removing 300 of the 3rd embodiment has shell axis 210 in the front-back direction, third The axis and shell axis of the axis of ultrasonic sensor 65 and the 4th ultrasonic sensor 67 are at an angle to each other.First ultrasonic wave passes The axis of sensor 61 and the second ultrasonic sensor 63 is parallel to each other.Third ultrasonic sensor 65 and the 4th ultrasonic sensor 67 sound wave transmitting terminal makes the first ultrasonic sensor 61 and third ultrasonic sensor 65 mutual towards shell axis offset Angled setting, the second ultrasonic sensor 63 and the setting at an angle to each other of the 4th ultrasonic sensor 67.First supersonic sensing The range for the angle γ 1 that device 61 and third ultrasonic sensor 65 are mutually is 10 ° -80 °.It mows in the intelligence of the first embodiment In the preferred embodiment of machine 100, the range of the intersecting angle γ 1 of the first ultrasonic sensor 61 and third ultrasonic sensor 65 It is 25 ° -55 °.The intersection of first ultrasonic sensor 61 and third ultrasonic sensor 65 of 25 ° of -55 ° of numberical ranges, really While protecting the demand for obtaining overlap detection area, moreover it is possible to allow overlap detection area closer to the front of intelligent grass-removing 300. The range for the angle γ 2 that second ultrasonic sensor 63 and the 4th ultrasonic sensor 67 are mutually is 10 ° -80 °.In first reality It applies in the preferred embodiment of intelligent grass-removing 300 of example, the friendship of the second ultrasonic sensor 63 and the 4th ultrasonic sensor 67 The range for pitching angle γ 2 is 25 ° -55 °.Second ultrasonic sensor 63 of 25 ° of -55 ° of numberical ranges and the 4th ultrasonic wave pass The intersection of sensor 67, it is ensured that while obtaining the demand of overlap detection area, moreover it is possible to allow overlap detection area closer to intelligence The front of grass trimmer 300.

In a preferred embodiment of the intelligent grass-removing 300 of the utility model 3rd embodiment, due to the first ultrasound The transmitting-receiving region of wave sensor 61 and the second ultrasonic sensor 63 is not overlapped, so the first ultrasonic sensor 61 and second Ultrasonic sensor 63 can alternately send signal between each other, can also send signal simultaneously.When control module 30 controls First ultrasonic sensor 61 and the second ultrasonic sensor 63 in time alternate emission ultrasonic wave when, control module 30 is controlled It makes the first ultrasonic sensor 61 and emits ultrasonic wave in first time period, the first ultrasonic sensor 61, the second ultrasonic wave pass Sensor 63, third ultrasonic sensor 65 and the 4th ultrasonic sensor 67 receive back echo in first time period, control Molding block 30, which controls in the second time period of the second ultrasonic sensor 63 after the first period of time, emits ultrasonic wave, the first surpasses Sonic sensor 61, the second ultrasonic sensor 63, third ultrasonic sensor 65 and the 4th ultrasonic sensor 67 are second Back echo is received in period.When control module 30 controls the first ultrasonic sensor 61 and the second ultrasonic sensor 63 When emitting ultrasonic wave simultaneously in time, control module 30 controls the first ultrasonic sensor 61 and the second ultrasonic sensor 63 emit ultrasonic wave in first time period, and the first ultrasonic sensor 61, the second ultrasonic sensor 63, third ultrasonic wave pass Sensor 65 and the 4th ultrasonic sensor 67 receive back echo in first time period.

In a preferred embodiment of the intelligent grass-removing 300 of the utility model 3rd embodiment, control module 30 according to Emitted according to the first ultrasonic sensor 61 in supersonic sensing device assembly 20 and the second ultrasonic sensor 63 and first Ultrasonic sensor 61, the second ultrasonic sensor 63, third ultrasonic sensor 65 and the 4th ultrasonic sensor 67 receive The combined situation of back echo, the orientation of disturbance in judgement object.When only the first ultrasonic wave passes in supersonic sensing device assembly 20 Sensor 61 emits ultrasonic wave, and when only the first ultrasonic sensor 61 reception back echo, the judgement barrier of control module 30 Hinder level in the first detection zone.When in supersonic sensing device assembly 20 only have the second ultrasonic sensor 63 emit ultrasonic wave, And when only the second ultrasonic sensor 63 receives back echo, 30 disturbance in judgement level of control module is in second inspection Survey region.When first ultrasonic sensor 61 emits ultrasonic wave, the first ultrasonic sensor 61 in supersonic sensing device assembly 20 When receiving back echo with third ultrasonic sensor 65,30 disturbance in judgement level of control module is in the third detection zone Domain.When the second ultrasonic sensor 63 transmitting ultrasonic wave, the second ultrasonic sensor 63 and the in supersonic sensing device assembly 20 When four ultrasonic sensors 67 receive back echo, 30 disturbance in judgement level of control module is in the 4th detection zone.

In a preferred embodiment of the intelligent grass-removing 300 of the utility model 3rd embodiment, control module 30 according to According to the transmitting ultrasonic wave of supersonic sensing device assembly 20 and the time difference of reception back echo, barrier is calculated from intelligent mowing The distance of machine.

As shown in figure 17, in a preferred embodiment of the intelligent grass-removing 300 of the utility model 3rd embodiment, the One ultrasonic sensor 61 has first axle 611, and the second ultrasonic sensor 63 has second axis 631, third ultrasonic wave Sensor 65 has third axis 651, and the 4th ultrasonic sensor 67 has four axistyle 671, the first axle 611, the Two axis 631, third axis 651 and four axistyle 671 are coplanar in the height direction, so set, intelligent grass-removing can allow The overlap detection area area of maximum magnitude is obtained, also, since the ultrasonic sensor of selection is identical, axis co-planar can have Conducive to the design of 10 mounting structure of arrangement and shell of ultrasonic sensor structure.First axle 611 is the first supersonic sensing The axis for the ultrasonic sound field that device 61 emits, second axis 631 are the ultrasonic sound field of the second ultrasonic sensor 63 transmitting Axis, third axis 651 are the axis for the ultrasonic sound field that third ultrasonic sensor 65 emits, and four axistyle 67 is the four to surpass The axis for the ultrasonic sound field that sonic sensor 671 emits.

As shown in figure 20, Figure 20 is the ultrasonic sensor group of the intelligent grass-removing 300 of the utility model 3rd embodiment The schematic diagram of the detection range of another embodiment of part, in this embodiment, third ultrasonic sensor 65 and the 4th ultrasound The transmitting-receiving region of wave sensor 67 is wider, i.e., the transmitting-receiving region of third ultrasonic sensor 65 simultaneously with the first supersonic sensing Device 61 and the overlapping of the second ultrasonic sensor 63, the transmitting-receiving region of the 4th ultrasonic sensor 67 simultaneously with the first supersonic sensing Device 61 and the overlapping of the second ultrasonic sensor 63.First ultrasonic sensor 61 is super in the inscribed receipts in the first transmitting-receiving region and transmitting Sound wave, the second ultrasonic sensor 63 is in the inscribed receipts in the second transmitting-receiving region and transmitting ultrasonic wave.Third ultrasonic sensor 65 exists Third receives and dispatches the inscribed receipts in region and transmitting ultrasonic wave.4th ultrasonic sensor 67 is super in the inscribed receipts in the 4th transmitting-receiving region and transmitting Sound wave.The underlapped part in the first transmitting-receiving region is the first detection zone 11 of sensor module 20, and the second transmitting-receiving region is not Lap is the second detection zone 12 of sensor module 20, the first transmitting-receiving region, third transmitting-receiving region and the 4th receiving and delivery bay Domain overlapping part be sensor module 20 third detection zone 13, first transmitting-receiving region and the 4th transmitting-receiving region overlapping and The part Chong Die with third detection zone is not the 4th detection zone 14 of sensor module 20, and the first transmitting-receiving region and third are received It sends out region overlapping and part not Chong Die with the 4th detection zone is the 5th detection zone 15 of sensor module 20, the second transmitting-receiving Region, third transmitting-receiving region and the 4th transmitting-receiving region overlapping part be sensor module 20 the 6th detection zone 16, second It receives and dispatches region and third transmitting-receiving region overlapping and part not Chong Die with the 6th detection zone is the 7th inspection of sensor module 20 It surveys region 17, the second transmitting-receiving region and the 4th transmitting-receiving region overlapping and part not Chong Die with the 6th detection zone is sensor group 8th detection zone 18 of part 20.

As shown in figure 20, control module 30 is according to the first ultrasonic sensor 61 in supersonic sensing device assembly 20 and The emitted ultrasonic wave of two ultrasonic sensor 63 and the first ultrasonic sensor 61, the second ultrasonic sensor 63, third ultrasound Wave sensor 65 and the 4th ultrasonic sensor 67 receive the combined situation of back echo, the orientation of disturbance in judgement object.When super Only have the first ultrasonic sensor 61 to emit ultrasonic wave, and only the first ultrasonic sensor 61 in sonic sensor component 20 When receiving back echo, 30 disturbance in judgement level of control module is in the first detection zone 11.When supersonic sensing device assembly 20 In only the second ultrasonic sensor 63 emit ultrasonic wave, and only the second ultrasonic sensor 63 receive back echo When, 30 disturbance in judgement level of control module is in second detection zone 12.When the first ultrasound in supersonic sensing device assembly 20 Wave sensor 21 emits ultrasonic wave, the first ultrasonic sensor 61, third ultrasonic sensor 65 and the 4th ultrasonic sensor 67 receive back echo when, 30 disturbance in judgement level of control module is in the third detection zone 13.Work as supersonic sensing First ultrasonic sensor 21 emits ultrasonic wave in device assembly 20, only the first ultrasonic sensor 61 and the 4th ultrasonic sensor When 67 reception back echo, 30 disturbance in judgement level of control module is in the 4th detection zone 14.Work as ultrasonic sensor First ultrasonic sensor 21 emits ultrasonic wave in component 20, only the first ultrasonic sensor 61 and third ultrasonic sensor When 65 reception back echo, 30 disturbance in judgement level of control module is in the 5th detection zone 15.Work as ultrasonic sensor Second ultrasonic sensor 63 emits ultrasonic wave, the second ultrasonic sensor 63,65 and of third ultrasonic sensor in component 20 When 4th ultrasonic sensor 67 receives back echo, 30 disturbance in judgement level of control module is in the 6th detection zone 16.When second ultrasonic sensor 63 emits ultrasonic wave, only 63 He of the second ultrasonic sensor in supersonic sensing device assembly 20 When 4th ultrasonic sensor 67 receives back echo, 30 disturbance in judgement level of control module is in the 8th detection zone 18.When second ultrasonic sensor 63 emits ultrasonic wave, only 63 He of the second ultrasonic sensor in supersonic sensing device assembly 20 When third ultrasonic sensor 65 receives back echo, 30 disturbance in judgement level of control module is in the 7th detection zone 17.In the preferred embodiment of which of the intelligent grass-removing 300 of the utility model 3rd embodiment, 30 foundation of control module The transmitting ultrasonic wave of supersonic sensing device assembly 20 and the time difference for receiving back echo calculate barrier from intelligent grass-removing Distance.

The intelligent grass-removing 300 of the utility model 3rd embodiment detects barrier by ultrasonic sensor, intelligently cuts Careless machine 300 has pre-determined distance, when the distance between intelligent grass-removing 300 and barrier are less than or equal to pre-determined distance, intelligence Grass trimmer carries out the contactless avoidance that avoidance advances towards barrier and realize intelligent grass-removing without continuation.Pass through pre-determined distance The contactless avoidance of opposite short distance may be implemented when apart from relatively small in the difference of value, when apart from relatively large, Remote contactless avoidance of the relative proximity apart from contactless avoidance may be implemented.In addition, passing through ultrasonic sensor angulation Arranged crosswise is spent, can know the position where barrier, improves the accuracy of barrier positioning, and facilitates intelligence and cuts Careless machine 300 adapts to different operating conditions, simultaneously, it is known that and also facilitate intelligent grass-removing 300 to take targetedly avoidance measure behind direction, If turning left under the premise of satisfaction turns left condition than barrier at right side.

Fourth embodiment:

As shown in figure 21, Figure 21 is in the intelligent grass-removing 400 of the utility model fourth embodiment including two ultrasonic waves The arrangement of the ultrasonic sensor of sensor and coaxial relationship schematic diagram.Supersonic sensing device assembly 20 includes two ultrasonic waves Sensor, including the first ultrasonic sensor 81 and the second ultrasonic sensor 83, the first ultrasonic sensor 81 are received first It sends out and is received in region and emit ultrasonic wave, the second ultrasonic sensor 83 receives ultrasonic wave in the second receiving area, and described the One ultrasonic sensor and second ultrasonic sensor it is at an angle to each other be arranged on the shell 10 so that described first Transmitting-receiving region and second receiving area partly overlap, and the first overlapped part in transmitting-receiving region and the second receiving area is Third detection zone, the first part received and dispatched except being overlapped in region is the first detection zone.

As shown in figure 21, the first ultrasonic sensor 81 has first axle 811, and the second ultrasonic sensor 83 has Second axis 831.First axle 811 is the axis of the ultrasonic sound field of the first ultrasonic sensor 81 transmitting, second axis 831 For the axis of the ultrasonic sound field of the second ultrasonic sensor 83 transmitting.Angle between first axle 811 and second axis 831 The range of ε 1 is 10 ° -80 °.In the preferred embodiment of the utility model embodiment, first axle 811 and second axis 831 it Between angle ε 1 range be 25 ° -55 °.Individually it is responsible for receiving back echo, institute by the second ultrasonic sensor of setting 93 Be still able within the scope of the blind area of the first ultrasonic sensor 91 it is exact receive ultrasonic echo, realize the barrier of short distance Hinder analyte detection, and then realizes closely non-contact avoidance.In other embodiments, the first ultrasonic sensor 81 can be only responsible for Ultrasonic wave is sent in the first receiving area, the second ultrasonic sensor 83 is responsible for receiving ultrasonic wave in the second receiving area, This structure is still able to realize the detection of barrier, as the first ultrasonic sensor 81 and the second ultrasonic sensor 83 are overlapped The distance of detection of obstacles distance may be implemented in the difference of zone position.Intelligent grass-removing 400 has pre-determined distance, cuts when intelligently When the distance between careless machine 100 and barrier are less than or equal to pre-determined distance, intelligent grass-removing carries out avoidance without continuing towards obstacle Object advances and realizes the contactless avoidance of intelligent grass-removing.It, can when apart from relatively small by the difference of pre-determined distance value To realize the contactless avoidance of opposite short distance, when apart from relatively large, relative proximity may be implemented and kept away apart from contactless The remote contactless avoidance of barrier.

As shown in figure 22, Figure 22 is the ultrasonic sensor group of the intelligent grass-removing 400 of the utility model fourth embodiment Part includes the detection range schematic diagram of the first arrangement of three ultrasonic sensors.Supersonic sensing device assembly 20 includes First ultrasonic sensor 81, the second ultrasonic sensor 83 and third ultrasonic sensor 85.First ultrasonic sensor 81 What is represented is that can undertake the ultrasonic sensor for sending ultrasonic wave and receiving two functions of back echo, and the second ultrasonic wave passes Sensor 83 and third ultrasonic sensor 85 are that receiving sensor does not send ultrasonic wave.Second ultrasonic sensor 83 and third Ultrasonic sensor 85 is located at the two sides of the first ultrasonic sensor 81 and is at an angle of with the first ultrasonic sensor 81 and hands over Fork setting.As long as the angle of intersection enables to overlap detection area as far as possible close to the short distance detection zone of machine leading portion ?.This kind of mode may be implemented closely to detect barrier, and be able to know that the direction of barrier.In other of the embodiment In embodiment, the first ultrasonic sensor 81 can only undertake transmission ultrasonic wave, i.e. the first ultrasonic sensor 81 is single One ultrasonic wave sends sensor, and the second ultrasonic sensor 83 and third ultrasonic sensor 85 are still receiving sensor, Second ultrasonic sensor 83 and third ultrasonic sensor 85 can be formed with the first ultrasonic sensor 81 in different location Overlapping detection regions increase the range of cognitive disorders object with this.

As shown in figure 22, the first ultrasonic sensor 81 has first axle 811, and the second ultrasonic sensor 83 has Second axis 831, third ultrasonic sensor 85 have third axis 851.Second axis 831 and third axis 851 respectively with First axle 811 intersects, the friendship in the embodiment of the utility model attached drawing 22, between second axis 831 and first axle 811 The intersecting angle pitched between angle and third axis 851 and first axle 811 is identical.In other embodiments, second axis Intersecting angle between 831 and first axle 811 can intersecting angle between third axis 851 and first axle 811 can With not identical.The range of angle ε 3 between first axle 811 and second axis 831 is 10 ° -80 °.In the utility model reality It applies in the preferred embodiment of example, the range of the angle ε 3 between first axle 811 and second axis 831 is 25 ° -55 °.First axle The range of angle ε 2 between line 811 and third axis 851 is 10 ° -80 °.In the preferred embodiment of the utility model embodiment In, the range of the angle ε 2 between first axle 811 and third axis 851 is 25 ° -55 °.By the way that the second supersonic sensing is arranged Device 93 is individually responsible for receiving back echo, so being still able within the scope of the blind area of the first ultrasonic sensor 91 exact Ultrasonic echo is received, the detection of obstacles of short distance is realized, and then realizes closely non-contact avoidance.

In a preferred embodiment of the intelligent grass-removing 400 of the utility model fourth embodiment, first axle 811, Second axis 831 is coplanar in the height direction with third axis 851, so set, intelligent grass-removing 400 can be allowed to obtain maximum The overlap detection area area of range, also, since the ultrasonic sensor of selection is identical, axis co-planar can be conducive to ultrasound The design of 10 mounting structure of arrangement and shell of wave sensor structure.

As shown in figure 23, Figure 23 shows the supersonic sensing of the intelligent grass-removing 400 of the utility model fourth embodiment Detection range schematic diagram of the device assembly under the first arrangement.In the embodiment of the first arrangement, the first surpass Sonic sensor 81 has the first transmitting-receiving region.Second ultrasonic sensor 83 has the second receiving area.Third ultrasonic wave passes Sensor 85 has third receiving area.First transmitting-receiving region, the second receiving area and third receiving area are in intelligent grass-removing 400 Front be formed with overlap detection area.The first ultrasonic sensor 81, the second ultrasonic wave pass in the overlap detection area Sensor 83 and third ultrasonic sensor 85 can receive ultrasonic echo, i.e., if the first ultrasonic sensor 81 sends ultrasound Wave, then the first ultrasonic sensor 81, the second ultrasonic sensor 83 and third ultrasonic sensor 85 can receive ultrasound and return Wave.

Continue as shown in figure 23, the underlapped part in the first transmitting-receiving region is the first detection zone of sensor module 20 11, the part in the first transmitting-receiving region, the second receiving area and the overlapping of third receiving area is the second detection of sensor module 20 Region 12.It is sensor module that the first transmitting-receiving region part Chong Die with the second receiving area, which removes the part of the second detection zone, 20 the 4th detection zone 14.The first transmitting-receiving region part Chong Die with third receiving area removes the part of the second detection zone For the third detection zone 13 of sensor module 20.

As shown in figure 24, Figure 24 is the ultrasonic sensor group of the intelligent grass-removing 400 of the utility model fourth embodiment Part includes the detection range schematic diagram of second of arrangement of three ultrasonic sensors.Supersonic sensing device assembly this The difference of two kinds of arrangements and the first arrangement is that supersonic sensing device assembly 20 is installed on is in apart from housing forward end The position of a distance D.It is specifically described as, in the embodiment of second of arrangement, supersonic sensing device assembly 20 is wrapped It includes including the first ultrasonic sensor 81, the second ultrasonic sensor 83 and third ultrasonic sensor 85.Second ultrasonic wave passes Sensor 83 and third ultrasonic sensor 85 be located at the two sides of the first ultrasonic sensor 81 and with the first supersonic sensing Device 81 is angled across setting.As long as the angle of intersection enables to overlap detection area as far as possible close to machine leading portion Short distance detection zone.This kind of mode may be implemented closely to detect barrier, and be able to know that the direction of barrier.

As shown in figure 24, in the embodiment of second of arrangement, the first ultrasonic sensor 81 has first to receive Send out region.Second ultrasonic sensor 83 has the second receiving area.Third ultrasonic sensor 85 has third receiving area. First transmitting-receiving region, the second receiving area and third receiving area are formed with overlapping detection in the front of intelligent grass-removing 400 Region.First ultrasonic sensor 81, the second ultrasonic sensor 83 and third supersonic sensing in the overlap detection area Device 85 can receive ultrasonic echo, i.e., if the first ultrasonic sensor 81 transmission ultrasonic wave, the first ultrasonic sensor 81, Second ultrasonic sensor 83 and third ultrasonic sensor 85 can receive ultrasonic echo.The underlapped portion in the first transmitting-receiving region It is divided into the first detection zone 11 of sensor module 20, the first transmitting-receiving region, the second receiving area and the overlapping of third receiving area Part be sensor module 20 the second detection zone 12.The first transmitting-receiving region part Chong Die with the second receiving area removes The part of second detection zone is the 4th detection zone 14 of sensor module 20.First transmitting-receiving region and third receiving area weight The part that folded part removes the second detection zone is the third detection zone 13 of sensor module 20.

As shown in figure 24, in second of arrangement of the intelligent grass-removing 400 of the utility model fourth embodiment, First ultrasonic sensor 81, the second ultrasonic sensor 83 and third ultrasonic sensor 85 are can be set in principle in shell Any position on 10 length direction of body, if the first ultrasonic sensor 81, the second ultrasonic sensor 83 and third ultrasound Wave sensor 85 is arranged on the housing 10 closer to the place of rear end, then in order to guarantee that it is super that ultrasonic sensor is sent Sound wave and reception back echo are unaffected, can improve the shape of shell or ultrasonic sensor are arranged higher. In the preferred embodiment of the utility model, while considering the factor for sending and receiving and occupying little space of ultrasonic wave, First ultrasonic sensor 81, the second ultrasonic sensor 83 and third ultrasonic sensor 85 are arranged in 10 length direction of shell First half, distance D is less than or equal to the half of 10 length of shell, so set, can be more convenient by before to shell The structure at end improves the range to be suitble to visual field, avoids generating blocking to ultrasonic wave.

In a preferred embodiment of the intelligent grass-removing 400 of the utility model fourth embodiment, control module 30 according to According to the emitted ultrasonic wave of the first ultrasonic sensor 81 in supersonic sensing device assembly 20, the first ultrasonic sensor 81, second Ultrasonic sensor 83 and third ultrasonic sensor 85 receive the combined situation of back echo, the orientation of disturbance in judgement object. When only the first ultrasonic sensor 81 emits ultrasonic wave, and only the first supersonic sensing in supersonic sensing device assembly 20 When device 81 receives back echo, 30 disturbance in judgement level of control module is in the first detection zone 11.When ultrasonic sensor group First ultrasonic sensor 81 emits ultrasonic wave, the first ultrasonic sensor 81, the second ultrasonic sensor 83 and the in part 20 When three ultrasonic sensors 85 receive back echo, 30 disturbance in judgement level of control module is in second detection zone 12.When first ultrasonic sensor 81 emits ultrasonic wave, only 81 He of the first ultrasonic sensor in supersonic sensing device assembly 20 When second ultrasonic sensor 83 receives back echo, 30 disturbance in judgement level of control module is in the third detection zone 13.When first ultrasonic sensor 81 emits ultrasonic wave, only 81 He of the first ultrasonic sensor in supersonic sensing device assembly 20 When third ultrasonic sensor 85 receives back echo, 30 disturbance in judgement level of control module is in the 4th detection zone 14。

In a preferred embodiment of the intelligent grass-removing 400 of the utility model fourth embodiment, control module 30 according to According to the transmitting ultrasonic wave of supersonic sensing device assembly 20 and the time difference of reception back echo, barrier is calculated from intelligent mowing The distance of machine.

The embodiment of the intelligent grass-removing of aforementioned four embodiments of the utility model is equally applicable to other from mobile device, Such as intelligent sweeping robot, it is not weighed herein about intelligent sweeping robot or more from the embodiment description of mobile device Multiple to carry out, other are from the example scheme of mobile device and the intelligent grass-removing 100,200,300,400 of aforementioned four embodiments It is identical.

Figure 25 is that control module 30 controls the transmitting of supersonic sensing device assembly 20 and received flow chart.It is practical new to be applicable in this The supersonic sensing device assembly 20 of all embodiments of type is passed below with the ultrasonic wave in the intelligent grass-removing of first embodiment 100 Sensor carries out citing description.Control module 30 controls the first ultrasonic sensor 21 and the second ultrasonic sensor 23 in the time Transmitting ultrasonic wave in interval on axis, specific steps are successively are as follows:

The S11: the first ultrasonic sensor of step 21 issues ultrasonic wave one at the first time；

Step the S12: the first ultrasonic sensor 21 and the second ultrasonic sensor 23 receive ultrasonic wave；

The S13: the second ultrasonic sensor of step 23 issues ultrasonic wave in one second time；

Step the S14: the first ultrasonic sensor 21 and the second ultrasonic sensor 23 receive ultrasonic wave.

Control module 30 controls supersonic sensing device assembly 20 according to step shown in Figure 25, cyclically carries out obstacle quality testing It surveys.If there are barrier in valid analysing range, the ultrasonic wave of transmitting can reflect to form echo by barrier.Supersonic sensing Device assembly 20 receives echo, and control module 30 analyzes and determines out the orientation and distance of barrier according to echo information.If there is It imitates and barrier is not present in detection range, then the supersonic sensing device assembly of step S12 and step S14 does not receive ultrasonic wave Echo, and then barrier is not present in the direction of advance of analytical judgment intelligent grass-removing 100.First ultrasonic sensor 21 and Two ultrasonic sensors 23 emit the time difference T of ultrasonic wave, referred to as effectively receive the period.The specific time of period T is effectively received, The power of the driving signal according to produced by driving circuit and the hardware parameter of ultrasonic sensor and it is different.The ultrasonic wave is handed over The above-mentioned intelligent grass-removing 200,300 of the utility model is equally applicable to for the step of transmitting.

Figure 26 is ultrasonic sensor group corresponding to obstacle principle condition difference in the valid analysing range of intelligent grass-removing Part receives signal condition schematic diagram, and Figure 26 is illustrated with the ultrasonic sensor in the intelligent grass-removing 100 of first embodiment Description.The waveform diagram is only used to indicate barrier in different direction, and the received waveform of supersonic sensing device assembly institute shows Meaning, does not represent the reception signal waveform of actual sensor component.In the present embodiment, with the transmitting of the first ultrasonic sensor 21 For ultrasonic wave, when illustrating that barrier appears in different direction, the first ultrasonic sensor 21 and the second ultrasonic sensor 23 The case where received signal schematic diagram.In the reception signal waveform of Figure 17, the waveform M of similar rectangle indicates ultrasonic sensor Self-oscillation after emitting ultrasonic wave, the rhomboid waveform N of class indicate the ultrasonic wave of reflection received by ultrasonic sensor. Since in this embodiment, the first ultrasonic sensor 21 emits ultrasonic wave, therefore, the reception of the first ultrasonic sensor 21 is believed Always there is the waveform a of similar rectangle in number schematic diagram.The case where receiving and transmitting signal, is equally applicable to the above-mentioned intelligence of the utility model It can grass trimmer 200,300.

As shown in Figure 26 (a), the first ultrasonic sensor 21 emits ultrasonic wave at the t0 moment.In t0 to t1 period, First ultrasonic sensor 21 and the second ultrasonic sensor 23 all do not receive the ultrasonic wave of reflection.The judgement of control module 30, Barrier is not present in the valid analysing range of intelligent grass-removing 100.T0 to the t1 period be effective reception described above when Section T.

As shown in Figure 26 (b), the first ultrasonic sensor 21 emits ultrasonic wave at the t0 moment.In t0 to t1 period, First ultrasonic sensor 21 receives transmitted wave and the second ultrasonic sensor 23 does not receive the ultrasonic wave of reflection.Control mould Block 30 judges that there are barriers in the first detection zone of intelligent grass-removing 100.

As shown in Figure 26 (c), the first ultrasonic sensor 21 emits ultrasonic wave at the t0 moment.In t0 to t1 period, First ultrasonic sensor 21 does not receive transmitted wave and the second ultrasonic sensor 23 receives the ultrasonic wave of reflection.Control mould Block 30 judges that there are barriers in the second detection zone of intelligent grass-removing 100.

As shown in Figure 26 (d), the first ultrasonic sensor 21 emits ultrasonic wave at the t0 moment.In t0 to t1 period, First ultrasonic sensor 21 and the second ultrasonic sensor 23 all do not receive the ultrasonic wave of reflection.The judgement of control module 30, There are barriers in the third detection zone of intelligent grass-removing 100.

As shown in Figure 27 and 28, in the intelligent grass-removing of a preferred embodiment of the utility model, the ultrasonic wave that is related to Sensor forms the ultrasonic wave visual field for detecting barrier after sending ultrasonic wave, since in short transverse, intelligent grass-removing only needs The barrier in its direction of advance within the scope of certain altitude is detected, but needs to detect its front intelligent grass-removing width range Interior barrier, so in order to obtain broader detection of obstacles range, the preferred visual field of the utility model be it is non-circular, than Such as oval visual field, do a section perpendicular to the axis of visual field, wavy surface is in similar ellipse, have a long axis direction 2a and One short-axis direction 2b, shell 10 have bottom surface, if the bottom surface is from dry contact when mobile device work with ground face contact The datum level that point is formed.Long axis direction is installed as substantially parallel with the bottom surface of shell 10, short-axis direction is installed as and shell 10 bottom surface is substantially vertical.Herein the basic meaning include two layers, first layer mean long axis direction completely and shell 10 bottom Face is parallel, short-axis direction completely and shell 10 plane perpendicular；The second layer means the bottom surface of long axis direction and shell 10 about In parallel (being not absolute parallel), the bottom surface of short-axis direction and shell 10 is about perpendicular (being not absolute upright).So Define, the installation settings of ultrasonic sensor can be flexibly carried out, so that greater than short axle, i.e., ultrasonic wave visual field meets long axis Width visual field value is greater than height visual field value, it can be ensured that in the more barrier of case width angle detecting, it is ensured that shell The accuracy of front detection of obstacles.Can be understood as field range, to be a flat shape guarantee biggish width inspection with this Survey range, and compare, for altitude range barrier measurement some be unnecessary, for example be located at higher than shell Swing above shell so not needing too big detection range in height, but needs detection model as big as possible on width It encloses, which can cover the barrier of width direction immediately ahead of more shells, and the shaft size of width direction is greater than The shaft size of short transverse, i.e. long axis are greater than short axle.In one embodiment, the wavy surface is ellipse.In the embodiment The description as described in ultrasound beamformer and wavy surface is equally applicable to the intelligent grass-removing of the utility model four embodiments above-mentioned 100、200、300、 400。

As shown in figure 29, non-in order to obtain in the supersonic sensing device assembly 20 of one preferred embodiment of the utility model The wavy surface of circular ultrasound beamformer can directly select the wavy surface right and wrong of the ultrasound beamformer of ultrasonic sensor itself It is circular, visual field 98 be it is non-circular, do a section perpendicular to the axis of ultrasonic sensor and obtain the wavy surface.The implementation It is above-mentioned that description in example about the wavy surface of the ultrasound beamformer of ultrasonic sensor itself is equally applicable to the utility model The intelligent grass-removing 100,200,300,400 of four embodiments.

As shown in figure 30, non-in order to obtain in the supersonic sensing device assembly 20 of one preferred embodiment of the utility model The wavy surface of the wavy surface of circular ultrasound beamformer, the ultrasound beamformer of ultrasonic sensor 20 ' itself can choose circle , visual field 98 ' be it is non-circular, can ultrasonic sensor emit ultrasonic wave one end be arranged to adjust ultrasonic sensor The beam adjuster 90 for the ultrasound beamformer shape launched, the ultrasound beamformer that the beam adjuster 90 obtains after adjusting Wavy surface be it is described non-circular, the visual field 98 of supersonic sensing device assembly 20 be it is non-circular, perpendicular to the ultrasound beamformer Axis do a section and obtain the wavy surface.Wave in the embodiment about the ultrasound beamformer of ultrasonic sensor itself The intelligence that the description in shape face and the setting of beam adjuster 90 are equally applicable to the utility model four embodiments above-mentioned is mowed Machine 100,200,300,400.

In another embodiment, from mobile device be equipped with machine-wide direction it is consistent lateral and perpendicular to machine it is wide Spend direction and with the consistent longitudinal direction in machine height direction, the ultrasound beamformer range horizontally of ultrasonic sensor transmitting is big In longitudinal range.It does a section perpendicular to the axis of the ultrasound beamformer of ultrasonic sensor transmitting and obtains wavy surface, The length of the wavy surface horizontally is greater than length in the longitudinal direction.As long as ultrasonic sensor meets the mounting condition, i.e., Wider array of obstacle recognition range can horizontally be obtained.

In the supersonic sensing device assembly 20 of one preferred embodiment of the utility model, it can be set on ultrasonic sensor Sonic guide pipe is set, in order to obtain bigger overlap detection area area, sound wave can be increased by sonic guide pipe and emit model It encloses.

In the intelligent grass-removing of one preferred embodiment of the utility model, when between the barrier and intelligent grass-removing When distance is less than the pre-determined distance, control module 30 controls intelligent grass-removing and executes preset avoidance measure.It is described it is default away from From with the intelligent grass-removing movement speed, acceleration, at least one of inertia is at positive relationship.Inertia is to cut with intelligence The quality of careless machine is related and the setting position of mobile module axis is related, i.e., related with the Mass Distribution of intelligent grass-removing, because The position difference of mobile module axis will affect the Mass Distribution of intelligent grass-removing, and then influence inertia.The pre-determined distance is less than Equal to 25 centimetres.When the intelligent grass-removing of the utility model needs to realize closely contactless avoidance, the pre-determined distance Less than or equal to 15 centimetres.It is described pre- when having slope or slype in the working environment of the intelligent grass-removing of the utility model If distance is less than or equal to 10 centimetres.Using the length dimension of the utility model intelligent grass-removing as reference value, the pre-determined distance Less than or equal to the 40% of shell length.When the intelligent grass-removing of the utility model needs to realize closely contactless avoidance, The pre-determined distance is less than or equal to the 24% of shell length.When have in the working environment of the intelligent grass-removing of the utility model slope or When person's slype, the pre-determined distance is less than or equal to the 15% of shell length.With the width of the utility model intelligent grass-removing Size is less than or equal to the 60% of case width as reference value, the pre-determined distance.When the intelligent grass-removing of the utility model needs When realizing closely contactless avoidance, the pre-determined distance is less than or equal to the 35% of case width.When the utility model When having slope or slype in the working environment of intelligent grass-removing, the pre-determined distance is less than or equal to the 25% of case width. It is because intelligent grass-removing is selecting different avoidances if the aforementioned setting by pre-determined distance is associated with the length of shell and width It is not only related with pre-determined distance in order to realize contactless avoidance when logic, it is also related with shell length and width.Above-mentioned pass In the description of pre-determined distance be equally applicable to four above-mentioned embodiments of the utility model intelligent grass-removing 100,200,300, 400。

In the intelligent grass-removing of one preferred embodiment of the utility model, after being issued due to ultrasonic sensor signal, All barriers can all have echo return in the transmission range of front ultrasonic wave, and many ultrasonic echos can be passed by ultrasonic wave Sensor receives, but for some farther away barriers, is not have influential on intelligent grass-removing, intelligent grass-removing is mainly It needs to recognize closer barrier, then reaches the purpose of contactless avoidance.So in order to reduce unnecessary number According to analysis, control module 30 only analyzes the ultrasonic echo received within the scope of limiting analysis.The limiting analysis range It is related with the length of shell 10.The limiting analysis range is preferably less than equal to 200 centimetres, before which refers to shell 10 most End to 10 200 centimetres of front of shell.In the preferred embodiment of the utility model, the range of the limiting analysis range is best For less than or equal to 90 centimetres, which refers to 10 front end of shell to 10 90 centimetres of front of shell.It is above-mentioned about limiting analysis model The description enclosed is equally applicable to the intelligent grass-removing 100,200,300,400 of four above-mentioned embodiments of the utility model.

In the intelligent grass-removing of one preferred embodiment of the utility model, intelligent grass-removing needs to detect in its direction of advance Barrier, and only detection meets the barrier of certain altitude range, can not have to more than the barrier outside the altitude range Detection can not have to detection such as more than the barrier other than intelligent grass-removing 1 height 5cm itself.Due to the barrier of detection There is the requirement of altitude range, decides whether to detect that the premise of barrier is the field range that barrier falls into ultrasonic sensor It is interior, so that the ultrasonic wave visual field that ultrasonic sensor issues is able to detect that barrier generates ultrasonic echo, and supersonic sensing The mounting height and pitch angle of device are different, determine that the direction of visual field is different.

In the intelligent grass-removing of one preferred embodiment of the utility model, as shown in Figure 31 to Figure 33, ultrasonic sensor Mounting height be H1, the height limit value of barrier to be identified be H2 (for intelligent grass-removing, what H2 was generally set The height of grass to be cut off), that is, it is higher than H2 and is identified as barrier, is not considered as barrier lower than H2.Ultrasonic sensor The relationship of the height H2 of mounting height H1 and grass to be cut off, H1=H2+L*sin (φ ± σ), wherein L is ultrasonic sensor Axle center to determine section distance, φ be sensor performance determine field of view angle half, σ be ultrasonic sensor in Deviation angle of the heart line relative to housing bottom surface, if ultrasonic sensor inclination-σ upwards, if ultrasonic sensor is downward Inclination+σ.Based on mounting height H1, the visual field 98 of ultrasonic sensor, which can satisfy, to be covered greater than H2 range, Ke Yishi Not Gao Yu H2 height object and carry out obstacle recognition.In one embodiment, according to the requirement for height of mowing, ultrasonic wave is passed Sensor is 19 centimetres to 20 centimetres relative to the mounting height range on ground, in the altitude range, can not only cut off big portion The grass divided, and higher-height grass can also be cut off, because ultrasonic wave passes within the scope of the mounting height of the ultrasonic sensor Most grass will not be identified as barrier by sensor, so as to cut off most grass, and it is higher for fragmentary height Grass, due to top grass is less and generally will not integrated distribution, so obtain ultrasonic echo signal be not enough to be judged as being Barrier, so as to cut off higher-height grass.If the height of ultrasonic sensor is set below 19 centimetres, surpass Sonic sensor can receive the ultrasonic echo much from grass, it may appear that and the case where grass is considered barrier exists, from And affect the working efficiency of grass trimmer.The setting for closing the height H1 of ultrasonic sensor in this present embodiment is equally applicable to this The intelligent grass-removing 100,200,300,400 of four above-mentioned embodiments of utility model.

In one embodiment, ultrasonic sensor is 19 centimetres to 20 centimetres relative to the mounting height range on ground. Using cutterhead height as reference quantity, between height of the ultrasonic sensor relative to the mounting height ground opposite with cutterhead on ground Difference range is in 100mm-300mm.Close the height of ultrasonic sensor in this present embodiment setting be equally applicable to it is practical The intelligent grass-removing 100,200,300,400 of novel four above-mentioned embodiments.

In the above embodiments, when from mobile device close to barrier, cutterhead works on, so set, can protect Demonstrate,prove the processing to barrier neighboring area

In the intelligent grass-removing of one preferred embodiment of the utility model, intelligent grass-removing has substantially determining needs to cut off Mowing height range, so the object for being greater than the height of grass to be cut off can be identified as barrier, while in order to complete really The grass for determining height can be sliced off, and the visual field of ultrasonic sensor is needed the grass sliced off will not to be needed to be identified as barrier, because The value of φ, σ are determined for the self performance of ultrasonic sensor, determine that the distance of L after section is selected is also it is believed that institute As long as being passed through formula H1=H2+L*sin (φ ± σ) with determining the height H2 for needing to mow, it can converse ultrasonic wave biography The mounting height H1 of sensor.Since the value of different lawn mowing height H2 may be different, the initial mowing of setting one is high After spending H2, the elasticity that H2 numerical value can also be controlled by house software changes, such as sensor field of view inner sensor near axis Detection signal strength be greater than the outside visual field far from sensor axis, can be changed by the selection of identification signal intensity The height of H2 reaches the fine adjustment of different mowing heights.The setting for closing the height H1 of ultrasonic sensor in this present embodiment is same Sample is suitable for the intelligent grass-removing 100,200,300,400 of four above-mentioned embodiments of the utility model.

In the intelligent grass-removing of one preferred embodiment of the utility model, since the height of the grass on lawn is not necessarily all one Sample, so the selection of the height of mowing height H2 is to be able to cut off most grass, Partial Height is higher than and is cut The top grass of natural plant height degree H2 still needs to slice off, still, since the height value of the part top grass is greater than the value of H2, so the portion Divide top grass that can be identified as barrier and does avoidance processing, and this will lead to top grass and can not cut off.So the utility model is intelligently cut It is preset with back wave threshold value in careless machine, is the top of grass due to the top grass for entering in ultrasonic sensor visual field Into the visual field of ultrasonic sensor, the echo-signal that the top of the grass generates is weaker, can be by the way that back wave thresholding is arranged The ultrasonic echo for being less than back wave threshold value is regarded as being that top grass generates by threshold value, and intelligent grass-removing is moved on to it It is cut off, the echo-signal that will be greater than back wave threshold value is regarded as being that barrier generates, and intelligent grass-removing needs are adopted Take avoidance measure.In actual application, the echo that the echo-signal and barrier that also will appear top grass generation sometimes generate is believed Number intensity difference is smaller, and the setting of back wave threshold value can be relatively high at this time, and in order to avoid causing collision obstacle, The echo-signal of certain top grass can still be higher than back wave threshold value, and top grass is considered that barrier makes height then will lead to Grass is not sliced off.For this situation, circuit can be improved, setting amplification factor is adjusted, and passes through amplification factor tune Section pulls open the signal difference of top grass echo and back echo away from then passing through the setting of reasonable back wave threshold value, Ke Yiming It is aobvious to distinguish top grass and barrier.The utility model back wave threshold value above-mentioned, can be reflected signal strength value.About this The associated description of ultrasonic sensor back wave threshold value setting in embodiment is equally applicable to above-mentioned four of the utility model The intelligent grass-removing 100,200,300,400 of a embodiment.

As shown in FIG. 34 and 35, in the intelligent grass-removing of one preferred embodiment of the utility model, in order to further mention The accuracy of praetersonic sensor cognitive disorders object, the adjoining wall 91 closed on ultrasonic sensor visual field on shell 10 it is upper Surface (upper surface be the face adjacent with visual field) need in the height direction lower than the ragged edge of ultrasonic sensor visual field (depending on The fictitious line of field), so set, the transmission of ultrasonic wave can be stopped to avoid shell 10, it on the one hand avoid 10 reflectance ultrasound of shell Wave avoids the ultrasonic echo of reflection from having an impact the ultrasonic wave of sensor emission, on the other hand avoids stopping ultrasonic wave, because The less accuracy that will affect obstacle recognition of the ultrasonic wave of cognitive disorders object.And it is possible to guarantee the level of beam of sound axis, pass Sensor has beam of sound axis, in preferred embodiment, the beam of sound axis is needed to be in a horizontal state, by adjacent wall 91 in height It is lower than the ragged edge of ultrasonic sensor visual field on direction, it is ensured that shell structure will not stop visual field, and then will not change sound wave The position of beam axis, it is ensured that the beam of sound axis is in a horizontal state.For the adjoining wall 91 closed on ultrasonic sensor visual field Upper surface shape without limitation.The visual field of ultrasonic sensor has the boundary line 97 closed on shell 10, on shell 10 It is lower than boundary line 97 with the upper surface of the adjoining wall 91 of 97 close position of boundary line.Boundary line 97 and the upper surface of adjacent wall 91 it Between have minimum range δ 1 be greater than 0.The associated description for closing the adjoining wall 91 of shell 10 in this present embodiment is equally applicable to this The intelligent grass-removing 100,200,300,400 of four above-mentioned embodiments of utility model.

As shown in figure 34, the upper surface of adjacent wall 91 can be cambered surface, be also possible to inclined-plane, and it is irregular to be also possible to other Face, in the intelligent grass-removing of one preferred embodiment of the utility model, which is inclined-plane, and the inclined-plane is lower than side Boundary line 97, adjacent wall 91 and the relationship of boundary line 97 can be reached by the design of shell 10, such as along ultrasound on shell The visual field of wave sensor is slotted, and is launched convenient for ultrasonic wave is unobstructed.The relationship of adjacent wall 91 and boundary line 97 can also With by adjusting the relatively intelligent grass trimmer front end of ultrasonic sensor installation site and pitch angle reach, supersonic sensing herein The installation site of device includes installation site of the ultrasonic sensor on 10 front-rear direction of shell, also includes ultrasonic sensor Mounting height, also include ultrasonic sensor be it is embedded be also mounted in outside shell 10 in the housing 10, although adjustment is super The position of sonic sensor and pitch angle influence whether the field of detection of ultrasonic sensor, but still can be auxiliary by other Help the sonic transmissions direction of structural adjustment ultrasonic sensor.Ultrasonic sensor has axis, which tilts compared to axis Angle is θ 1, and the requirement of the tilt angle theta 1 is 1 >=φ of θ ± σ (if ultrasonic sensor is horizontally mounted σ=0, if ultrasonic Wave sensor inclination-σ upwards, if ultrasonic sensor tilts down+σ), defining for the angle ensures that ultrasonic sensor is sent out The ultrasonic wave penetrated will not encounter shell 10 and generate ultrasonic echo.In the embodiment, due to being inclined-plane, so tangent line and inclined-plane It is a face.

As shown in figure 35, in the intelligent grass-removing of one preferred embodiment of the utility model, which is cambered surface, Adjacent wall 91 is lower than boundary line 97, and the cambered surface and the relationship of the ragged edge of boundary line 97 can pass through the arc of cambered surface on shell 10 Degree design is reached.The relationship of the inclined-plane and the ragged edge of boundary line 97 can also be relatively intelligent by adjusting ultrasonic sensor The installation site and pitch angle of grass trimmer front end are reached.Ultrasonic sensor has axis, which has tangent line, which compares In shaft angle degree be θ 2, the requirement of the tilt angle theta 2 be 2 >=φ of θ ± σ (if ultrasonic sensor be horizontally mounted σ= 0, if ultrasonic sensor inclination-σ upwards, if ultrasonic sensor tilts down+σ), defining for the angle ensures ultrasound The ultrasonic wave of wave sensor transmitting will not encounter shell 10 and generate ultrasonic echo.Formula θ >=φ of summary such as Figure 34 and Figure 35 ± σ (if ultrasonic sensor is horizontally mounted σ=0, if ultrasonic sensor inclination-σ upwards, if ultrasonic sensor to Lower inclination+σ).

In the intelligent grass-removing of other preferred embodiments of the utility model, which be can be other than inclined-plane or cambered surface Irregular shape, such as wave-like, stairstepping etc..The utility model is above-mentioned about the tangent line for abutting wall 91 and super The description of sonic sensor angular relationship be equally applicable to four above-mentioned embodiments of the utility model intelligent grass-removing 100, 200、300、400。

As shown in figure 36, in the intelligent grass-removing of one preferred embodiment of the utility model, intelligent grass-removing can also be wrapped The 5th ultrasonic sensor 92 is included, the output end of the 5th ultrasonic sensor 92 is connected with the input terminal of control module 30, the Five ultrasonic sensors 92 whether there is slope surface in intelligent grass-removing direction of advance described in real-time detection, and control module 30 is used Whether go up a slope in the slope surface information control intelligent grass-removing detected according to the 5th ultrasonic sensor 92.5th supersonic sensing Device 92 is relative to the angled installation settings in 10 bottom surface of shell on shell 10, and the intelligent grass-removing on level land when mowing, and The identification of five ultrasonic sensors 92 is less than barrier, and when having slope in front of intelligent grass-removing, the 5th ultrasonic sensor 92 can be received The ultrasonic echo and cognitive disorders object reflected to slope surface is slope.For the 5th ultrasonic sensor 92 axis relative to shell 10 The setting angle of bottom surface depends primarily on the tilt angle of working region inner slope.It, can be according to work when machine does initial setting up Make environment and the substantially parameter of the tilt angle on slope is inputted into intelligent grass-removing.5th ultrasonic sensor 92 of the embodiment is set Set and describe the intelligent grass-removing 100,200,300,400 for being equally applicable to four above-mentioned embodiments of the utility model.In reality In the application of border, when body height is higher, the distance of slope surface to ultrasonic sensor axle center is greater than blind area range, so the five surpasses Sonic sensor 92 may be mounted at the front end of shell；When body height is lower, slope surface to ultrasonic sensor axle center away from It can be by the 5th supersonic sensing in order to evade the blind area of the 5th ultrasonic sensor 92 from can also blind area range may be located at What device 92 was arranged is higher than shell.

The intelligent grass-removing of the utility model, when intelligent grass-removing reaches pre-determined distance, in order to avoid collision obstacle Before continuing towards barrier and then preset avoidance measure is executed, the preset avoidance measure is described in control module control Intelligent grass-removing stops mobile or steering or mobile and steering or continues to move along former direction or slow down and turn to after turning to. The distance between intelligent grass-removing and barrier are greater than 0.

In the intelligent grass-removing of one preferred embodiment of the utility model, as long as guaranteeing that intelligent grass-removing 100 can be quick Stopping or retrogressing, the pre-determined distance can be infinitely small close to 0 centimetre, but be not equal to 0, for example, working as intelligent grass-removing 10 braking effect is good enough, when may be implemented to brake or retreat immediately, can achieve infinite approach barrier but does not collide Effect.But for the movement of Intelligent Optimal grass trimmer, improve mowing efficiency, it is often desired to which grass trimmer is able to carry out preset fortune Dynamic logic works on rather than shuts down.

As shown in Figure 48 and Figure 49, in the intelligent grass-removing of one preferred embodiment of the utility model, intelligent grass-removing can The selection of avoidance logic is carried out with the three virtual detection zones formed according to control module, can also by pre-determined distance L into Row virtual partition avoidance.As shown in Figure 48 and Figure 49, the schematic diagram of Figure 48 and Figure 49 for intelligent grass-removing subregion avoidance, shell 10 With the shell axis 210 extended along the longitudinal direction, control module 30 is equipped with the virtual E near shell in front of shell 10 Area, the area F in front of the area E and the area G and the area H in front of the area F and the area G.The area F and the area G using axis as line of demarcation and The two sides of shell axis 210 are located at, the investigative range of supersonic sensing device assembly 20 at least covers the area E, the area F and G Area.Intelligent grass-removing, which advances or turns round, in the area E generates damage collision between meeting and barrier.It intelligently mows in the area F Machine turn right it is curved will not be generated between barrier damage collision.In the area G intelligent grass-removing turn left it is curved will not with barrier it Between generate damage collision.Intelligent grass-removing advances or turns round in the area H will not generate damage collision between barrier.When When the area E detects barrier, the control module controls the intelligent grass-removing and executes the avoidance measure retreated.When in the area F When detecting barrier with the area G, the control module controls the intelligent grass-removing and executes the avoidance measure retreated.When only existing When the area F detects barrier, the control module controls the intelligent grass-removing and executes the avoidance measure turned right or retreated.When only When the area G detects barrier, the control module controls the intelligent grass-removing and executes the avoidance measure turned left or retreated.When When the area H detects barrier, the control module controls the intelligent grass-removing and executes the avoidance for moving forward or back or turning round Measure.When barrier is not detected in the area E, the area F and the area G, before the control module controls the intelligent grass-removing execution Into or retreat or turn round avoidance measure

As shown in figure 48, for the region being located near shell axis 210 in the area F and the area G, belong to avoidance float area, Intelligent grass-removing can not turn left or turn right sometimes in the region, so being directed to the region, keeping away for retrogressing can be directly used Barrier measure, control module mainly related with the width of the speed of intelligent grass-removing and machine for the area of the float area 30 can be according to algorithm meter according to the distance of barrier, the speed of intelligent grass-removing, the structural parameters of fuselage and turning radius Calculation is obtained can not collision obstacle using which kind of avoidance logic.About the division in the area E, can be carried out according to pre-determined distance virtual Setting, this can be set according to software mode, and the E different, virtual with the movement speed of intelligent grass-removing The range in area can be different, are so to improve intelligent grass-removing to realize closely non-contact avoidance as large as possible Accessibility.The sets requirement in the area E is, within the scope of the area E, intelligent grass-removing can only take the avoidance measure of retrogressing.Software control When processed, due to the dimension information (such as length, width, chamfering radian of front end side etc.) of machine and the performance parameter of machine (such as stopping power, signal transmission speed etc.) is all disposed in machine, and machine can combine pre-determined distance and current kinetic speed Automatic distinguishing goes out the range in the area E.

As shown in figure 48, by taking the intelligent grass-removing of first embodiment 100 as an example, the sum of L1+L2 is one within the scope of the area E Equivalence, the sum of L1 '+L2 ' are an equivalences, and L1 is distance of the first ultrasonic sensor axle center to barrier, and L2 is the second to surpass Distance of the sonic sensor axle center to barrier.As shown in figure 49, the sum of L3+L4 is one etc. within the scope of the same area F and the area G Value, the sum of L3 '+L4 ' are an equivalences, and L3 is distance of the first ultrasonic sensor axle center to barrier, and L4 is the second ultrasound Distance of the wave sensor axle center to barrier.The avoidance description of embodiment described in the utility model Figure 48 and Figure 49 is equally applicable to The intelligent grass-removing 100,200,300,400 of four above-mentioned embodiments of the utility model.

As shown in figure 50, Figure 50 is the logic chart that the utility model intelligent grass-removing carries out avoidance, the utility model intelligence Grass trimmer is maintained a certain distance with barrier 99 always in avoidance, and distance H1 or H2 are all larger than 0, and the utility model is intelligently cut Careless machine can be realized contactless avoidance.The barrier 99 assumed that circle indicates in figure.

Solve the problems, such as the embodiment of closely contactless avoidance.

As shown in figure 42, the ultrasonic sensor 21 of general transceiver due to need simultaneously undertake transmitting ultrasonic wave with The work of back echo is received, so all there is blind area, the formation basic theory about blind area is: by a high-voltage pulse Ultrasonic wave transmitting is carried out, after end-of-pulsing, ultrasonic sensor has the prolonged aftershock of comparison.In this aftershock In period, the reflection wave signal of sound wave is had no idea with transmitted wave signal distinguishing, to form ultrasonic sensor Range hole.The time of aftershock is different, and range hole is also corresponding different.The blind area half of the range hole of general ultrasonic sensor Diameter is greater than 30 centimetres.Therefore, as shown in figure 43, Figure 43 (a) is the pre-determined distance S1 of the ultrasonic sensor there are blind area, figure 43 (b) be the pre-determined distance S2, S2 < S1 for solving the ultrasonic sensor of part blind area.If completely solving blind zone problem, S2 can be smaller, thus if not solving the problems, such as blind area, using ultrasonic sensor as contactless avoidance means It will be unable to judge the barrier within 30 centimetres of ultrasonic sensor from mobile device.So in order to avoid knocking down Object, the distance for taking reaction to act from mobile device must be greater than blindarearadius, i.e. pre-determined distance (distance for needing avoidance) It must be greater than blindarearadius.It will affect the fuselage accessibility from mobile device in this way.About blind zone problem, in the prior art Blind area can be reduced or eliminated by hardware modifications, blind area can also be reduced or eliminated by software algorithm, but whether being The application of hardware modifications or software algorithm, it is required to do additional structure setting or algorithm process.The utility model is implemented Example does not need to improve hardware from mobile device, does not need increase software algorithm yet and is able to achieve reduction or dead zone-eliminating Purpose.The embodiment for solving the problems, such as closely contactless avoidance is described below in conjunction with specific embodiment.

5th embodiment:

100 structure of intelligent grass-removing and control from mobile device and first embodiment of the 5th embodiment of the utility model It is identical, the offer of attached drawing is lack of repetition and repeated herein.Directly utilize the attached of the intelligent grass-removing 100 of first embodiment Figure is described.

As shown in Fig. 6 and Fig. 8, the intelligence from mobile device and first embodiment of the 5th embodiment of the utility model is mowed The difference of machine 100 is, in the first arrangement (the first arrangement and first from mobile device of the 5th embodiment The first arrangement of the intelligent grass-removing 100 of embodiment is identical) in, third detection zone at least while covers part First range hole of one ultrasonic sensor 21 and the second range hole of the second ultrasonic sensor of part 23.

As shown in Fig. 7 and Fig. 9, the intelligence from mobile device and first embodiment of the 5th embodiment of the utility model is mowed The difference of machine 100 is, in second of arrangement (second of arrangement and first from mobile device of the 5th embodiment Second of arrangement of the intelligent grass-removing 100 of embodiment is identical) in, the position of supersonic sensing device assembly 20 is with respect to shell 10 front end moves back, and for the ultrasonic sensor there are blind area, the blind area of ultrasonic sensor has some or all of It falls on the housing 10.Therefore, third detection zone does not need to cover the first range hole of all the first ultrasonic sensors 21 With the second range hole of the second ultrasonic sensor 23.In second of arrangement from mobile device of the 5th embodiment Embodiment in, third detection zone only need to cover simultaneously positioned at 10 front end of shell blind area (the first ultrasonic sensor The blind area of blind area and the second ultrasonic sensor).Therefore, the first ultrasonic sensor 21 and the second ultrasonic sensor 23 specific value at an angle to each other only need so that third detection zone at the same covering be located at 10 front end of shell blind area.

As shown in Figures 3 and 4, in the 5th embodiment of the utility model from mobile device, the first ultrasonic sensor 21 and second the range of angle σ 1 that is mutually of ultrasonic sensor 23 be 60 ° -110 °.In the 5th embodiment from mobile device Preferred embodiment in, 1 range of intersecting angle σ of the first ultrasonic sensor 21 and the second ultrasonic sensor 23 is 70 °- 90°.First ultrasonic sensor 21 of 70 ° of -90 ° of numberical ranges and the intersection of the second ultrasonic sensor 23, it can be ensured that Overlap detection area coverage hole, moreover it is possible to the ultrasonic wave of one of ultrasonic sensor transmitting be avoided to reflect without barrier And directly received by another ultrasonic sensor, reduce both the first ultrasonic sensor 21 and the second ultrasonic sensor 23 Between signal cross-talk, improve the accuracy of obstacle recognition.The first above-mentioned ultrasonic sensor 21 and the second ultrasonic wave The angle that sensor 23 is mutually refers to first axle 211 and the angle that second axis 231 is mutually.

As shown in figure 5, in the 5th embodiment of the utility model from mobile device, relative to shell axis 210, The range of angle ω 1 between one axis 211 and shell axis 210 is 10 ° -80 °, second axis 231 and shell axis 210 it Between the range of angle ω 2 be 25 ° -55 °.In the angular range, it can be ensured that overlap detection area coverage hole, moreover it is possible to keep away Exempt from the ultrasonic wave of one of ultrasonic sensor transmitting without barrier reflection and directly by another ultrasonic sensor It receives, reduces the signal cross-talk of the first ultrasonic sensor 21 and the second ultrasonic sensor 23 between the two, improve obstacle The accuracy of object identification.

In the 5th embodiment of the utility model from mobile device, the first ultrasonic sensor 21 and the second ultrasonic wave are passed The specific value at an angle to each other of sensor 23, according to spacing between the first ultrasonic sensor 21 and the second ultrasonic sensor 23 And the hardware parameters such as Angle of beam divergence of ultrasonic sensor are different and can be varied.In practical application, the first ultrasound The arrangement of wave sensor 21 and the second ultrasonic sensor 23 need to only reach the third detection zone for being capable of forming overlapping, and third Detection zone at least can simultaneously the first ultrasonic sensor of covering part 21 the second ultrasonic wave of the first range hole and part Second range hole of sensor 23.

In the 5th embodiment of the utility model from mobile device, since the barrier in overlap detection area can be with More than one ultrasonic sensor receives ultrasonic echo, by taking the first ultrasonic sensor 21 sends ultrasonic wave as an example, when being overlapped Detection zone is there are barrier and when the barrier is located within the scope of the blind area of the first ultrasonic sensor 21, due to the first surpassing Itself blind area of sonic sensor 21 still physical presence, the first ultrasonic sensor 21 itself cannot be distinguished be barrier ultrasound Echo or itself send ultrasonic wave after aftershock, but due in overlap detection area the second ultrasonic sensor 23 also can Ultrasonic echo is received, and for the second ultrasonic sensor 23, barrier position is not the second supersonic sensing Within the scope of the blind area of device 23, or even if barrier position within the scope of the blind area of the second ultrasonic sensor 23, due to Second ultrasonic sensor 23 does not issue ultrasonic wave at this time to be only responsible for receiving back echo, so the second ultrasonic sensor 23 It can not be the ultrasonic echo of barrier by the differentiation of crosstalk, be based on this principle, the first ultrasonic sensor 21 and the second ultrasound Wave sensor 23, which intersects, to be arranged at an angle, and the range hole even being eliminated from mobile device can be shortened, and is improved from shifting The accessibility of dynamic equipment is improved from the accessibility of mobile device, helps to adapt to different operating conditions from mobile device.And due to The testing blind zone for shortening or eliminating ultrasonic sensor itself, pre-determined distance can be set smaller, can realize Under the premise of contactless avoidance, the detection of obstacles of short distance is realized.For from mobile device, it can closely allow and cut Careless machine cut is more careless, is conducive to the raising of working efficiency.

The 5th embodiment of the utility model is only by two ultrasonic sensor cross-over designs from mobile device Blind area can be solved the problems, such as simultaneously, achievees the effect that accessibility, and has achieved the purpose that know barrier direction, moreover it is possible at the same it is simultaneous The solution of Gu Butong operating condition (such as upward slope, slype, flank wall) problem, the description of different operating conditions are seen below.This is practical new Bright 5th embodiment of type it is few using part from mobile device, arrangement of parts is convenient, solve the problems, such as it is more, saved use at This.

In the other embodiments from mobile device of the 5th embodiment of the utility model, it is referred to first embodiment The same in intelligent grass-removing 100, the ultrasonic sensor of setting three or more, the area for passing sequentially through increase overlay region ensures Blind area covers comprehensive.The arrangement mode and signal transmitting and receiving of three or more ultrasonic sensors define and the position of barrier Setting in the intelligent grass-removing 100 of judgement and first embodiment.

Sixth embodiment:

200 structure of intelligent grass-removing and control from mobile device and second embodiment of the utility model sixth embodiment It is identical, the offer of attached drawing is lack of repetition and repeated herein.Directly utilize the attached of the intelligent grass-removing 200 of second embodiment Figure is described.

As shown in figure 13, the intelligent grass-removing from mobile device and second embodiment of the utility model sixth embodiment 200 difference is, in the first arrangement (the first arrangement and second reality from mobile device of sixth embodiment The first arrangement for applying the intelligent grass-removing 200 of example is identical) in, third detection zone at least while covers part first First range hole of ultrasonic sensor 41 and the second range hole of the second ultrasonic sensor of part 43.

As shown in figure 14, the intelligent grass-removing from mobile device and second embodiment of the utility model sixth embodiment 200 difference is, in second of arrangement (second of arrangement and the second reality from mobile device of sixth embodiment Second of arrangement for applying the intelligent grass-removing 200 of example is identical) in, the position of supersonic sensing device assembly 20 is with respect to shell 10 Front end move back, for the ultrasonic sensor there are blind area, there be some or all of fall in the blind area of ultrasonic sensor On the housing 10.Therefore, third detection zone do not need cover all the first ultrasonic sensors 41 the first range hole and Second range hole of the second ultrasonic sensor 43.In second of arrangement from mobile device of the sixth embodiment Embodiment in, third detection zone only need to cover simultaneously positioned at 10 front end of shell blind area (the first ultrasonic sensor The blind area of blind area and the second ultrasonic sensor).

In the utility model sixth embodiment from mobile device, since the barrier in overlap detection area can be with More than one ultrasonic sensor receives ultrasonic echo, by taking the first ultrasonic sensor 41 sends ultrasonic wave as an example, when being overlapped Detection zone is there are barrier and when the barrier is located within the scope of the blind area of the first ultrasonic sensor 41, due to the first surpassing Itself blind area of sonic sensor 41 still physical presence, the first ultrasonic sensor 41 itself cannot be distinguished be barrier ultrasound Echo or itself send ultrasonic wave after aftershock, but due in overlap detection area the second ultrasonic sensor 43 also can Ultrasonic echo is received, and for the second ultrasonic sensor 43, barrier position is not the second supersonic sensing Within the scope of the blind area of device 43, or even if barrier position within the scope of the blind area of the second ultrasonic sensor 43, due to Second ultrasonic sensor 43 does not issue ultrasonic wave at this time to be only responsible for receiving back echo, so the second ultrasonic sensor 43 It can not be the ultrasonic echo of barrier by the differentiation of crosstalk, be based on this principle, the first ultrasonic sensor 41 and the second ultrasound Wave sensor 43, which intersects, to be arranged at an angle, and the range hole even being eliminated from mobile device can be shortened, and is improved from shifting The accessibility of dynamic equipment is improved from the accessibility of mobile device, helps to adapt to different operating conditions from mobile device.And due to The testing blind zone for shortening or eliminating ultrasonic sensor itself, pre-determined distance can be set smaller, can realize Under the premise of contactless avoidance, the detection of obstacles of short distance is realized.For from mobile device, it can closely allow and cut Careless machine cut is more careless, is conducive to the raising of working efficiency.

Being arranged in parallel from mobile device only by two ultrasonic sensors for the utility model sixth embodiment, makes The problem of accessibility can be solved the problems, such as simultaneously and know barrier direction by obtaining the detection zone overlapping of ultrasonic sensor, also The solution of different operating condition (for example upward slope) problems can be combined, the utility model sixth embodiment uses zero from mobile device Part is few, and arrangement of parts is convenient, solves the problems, such as more, has saved use cost.

In the other embodiments from mobile device of the utility model sixth embodiment, it is referred to second embodiment The same in intelligent grass-removing 200, the ultrasonic sensor of setting three or more, the area for passing sequentially through increase overlay region ensures Blind area covers comprehensive.The arrangement mode and signal transmitting and receiving of three or more ultrasonic sensors define and the position of barrier Setting in the intelligent grass-removing 200 of judgement and second embodiment.

7th embodiment:

300 structure of intelligent grass-removing and control from mobile device and 3rd embodiment of the 7th embodiment of the utility model It is identical, the offer of attached drawing is lack of repetition and repeated herein.Directly utilize the attached of the intelligent grass-removing 300 of 3rd embodiment Figure is described.

As shown in figure 18, the intelligent grass-removing from mobile device and 3rd embodiment of the 7th embodiment of the utility model 300 difference is, in the first arrangement (the first arrangement and third reality from mobile device of the 7th embodiment The first arrangement for applying the intelligent grass-removing 300 of example is identical) in, third ultrasonic sensor 65 and the first supersonic sensing Overlay region that device 61 intersects to form covers the first range hole of the first ultrasonic sensor 61, the second ultrasonic sensor 63 with The overlay region that 4th ultrasonic sensor 67 intersects to form covers the second range hole of the second ultrasonic sensor 63.This is implemented In example, within the scope of the blind area of the first ultrasonic sensor 61, third ultrasonic sensor 65 can accurately receive obstacle The ultrasonic echo of object, within the scope of the blind area of the second ultrasonic sensor 63, the 4th ultrasonic sensor 67 can accurately be connect The ultrasonic echo for receiving barrier can achieve the purpose for reducing or eliminating blind area.

As shown in figure 19, the intelligent grass-removing from mobile device and 3rd embodiment of the 7th embodiment of the utility model 300 difference is, in second of arrangement (second of arrangement and the third reality from mobile device of the 7th embodiment The first arrangement for applying the intelligent grass-removing 300 of example is identical) in, the position of supersonic sensing device assembly 20 is with respect to shell 10 Front end move back, for the ultrasonic sensor there are blind area, there be some or all of fall in the blind area of ultrasonic sensor On the housing 10.Therefore, third detection zone and the 4th detection zone do not need to cover whole first ultrasonic sensors 61 Second range hole of the first range hole and the second ultrasonic sensor 63.In the intelligent grass-removing 300 of the 7th embodiment Second of arrangement embodiment in, third detection zone and the 4th detection zone only need to be covered each by positioned at shell 10 The blind area (blind area of the blind area of the first ultrasonic sensor and the second ultrasonic sensor) of front end.

As shown in Figure 18 and Figure 19, in practical application, third ultrasonic sensor 65 and the 4th ultrasonic sensor 67 Arrangement only need to reach the third detection zone and the 4th detection zone for being capable of forming overlapping, and third detection zone at least can First range hole of the first ultrasonic sensor of covering part 61, the 4th detection zone at least being capable of the second ultrasounds of covering part Second range hole of wave sensor 63.

In the 7th embodiment of the utility model from the embodiment of the first arrangement of mobile device, due to Barrier in overlap detection area can receive ultrasonic echo with more than one ultrasonic sensor, with the first ultrasonic sensor For 61 send ultrasonic waves, when overlap detection area is there are barrier and the barrier is located at the first ultrasonic sensor 61 When within the scope of blind area, due to the first itself blind area of ultrasonic sensor 61 still physical presence, the first ultrasonic sensor 61 from The ultrasonic echo for being barrier or the aftershock after itself transmission ultrasonic wave cannot be distinguished in body, but due in overlap detection area Third ultrasonic sensor 65 can also receive ultrasonic echo, and since third ultrasonic sensor 65 does not issue ultrasonic wave only It is responsible for receiving back echo, so third ultrasonic sensor 65 can not be the ultrasonic echo of barrier by the differentiation of crosstalk, Based on this principle, the first ultrasonic sensor 61 and third ultrasonic sensor 65 intersect and are arranged at an angle, and the second surpass Sonic sensor 63 and the 4th ultrasonic sensor 67, which intersect to be arranged at an angle to shorten, even is eliminated the 7th embodiment The range hole from mobile device, improve the accessibility from mobile device, improve, have from the accessibility of mobile device Help the 7th embodiment adapts to different operating conditions from mobile device.And due to shortening or eliminating ultrasonic sensor itself Testing blind zone, pre-determined distance can be set smaller, can realize short distance under the premise of realizing contactless avoidance Detection of obstacles.For grass trimmer, closely mowing machine cut can be allowed more careless, be conducive to the raising of working efficiency.

As shown in figure 17, in the 7th embodiment of the utility model from mobile device, the first ultrasonic sensor 61 with The range for the angle γ 1 that third ultrasonic sensor 65 is mutually is 10 ° -80 °.In the 7th embodiment from the excellent of mobile device It selects in embodiment, 1 range of intersecting angle γ of the first ultrasonic sensor 61 and third ultrasonic sensor 65 is 25 ° -55 °. 25 ° of -55 ° of numberical ranges can ensure overlap detection area coverage hole.The first above-mentioned ultrasonic sensor 61 and third The angle that ultrasonic sensor 65 is mutually refers to the angle that first axle 611 and third axis 651 are mutually.Second ultrasonic wave passes The range of the angle γ 2 of sensor 63 and the 4th ultrasonic sensor 67 is 10 ° -80 °.In the 7th embodiment from mobile device Preferred embodiment in, 2 range of intersecting angle γ of the second ultrasonic sensor 63 and the 4th ultrasonic sensor 67 is 25 °- 55°.25 ° of -55 ° of numberical ranges can ensure overlap detection area coverage hole.Above-mentioned second ultrasonic sensor 63 with The angle that 4th ultrasonic sensor 67 is mutually refers to the angle that second axis 631 and four axistyle 671 are mutually.

8th embodiment:

400 structure of intelligent grass-removing and control from mobile device and fourth embodiment of the 8th embodiment of the utility model It is identical, the offer of attached drawing is lack of repetition and repeated herein.Directly utilize the attached of the intelligent grass-removing 400 of first embodiment Figure is described.

As shown in figure 23, the intelligent grass-removing from mobile device and fourth embodiment of the 8th embodiment of the utility model The difference of 400 (only including two ultrasonic sensors) is, the second ultrasonic sensor 83 and the first ultrasonic sensor 81 First range hole of the overlapping detection regions intersected to form at least the first ultrasonic sensor of covering part 81.

As shown in figure 22, the first arrangement (the first cloth from mobile device of the 8th embodiment of the utility model It is identical as the first arrangement of intelligent grass-removing 400 of fourth embodiment to set mode) in, 83 He of the second ultrasonic sensor The overlapping third detection zone that third ultrasonic sensor 85 is formed with the arrangement at an angle to each other of the first ultrasonic sensor 81 Domain, reduction can be reached by least while covering the first range hole of part in the first transmitting-receiving region by third detection zone Or the purpose of dead zone-eliminating.

As shown in figure 24, the intelligent grass-removing from mobile device and fourth embodiment of the 8th embodiment of the utility model 400 difference is, in second of arrangement (second of arrangement and the 4th reality from mobile device of the 8th embodiment Second of arrangement for applying the intelligent grass-removing 400 of example is identical) in, the position of supersonic sensing device assembly 20 is with respect to shell 10 Front end move back, for the ultrasonic sensor there are blind area, there be some or all of fall in the blind area of ultrasonic sensor On the housing 10.Second ultrasonic sensor 83 and third ultrasonic sensor 85 and the mutual angulation of the first ultrasonic sensor 81 The overlay region of degree does not need to cover the first range hole of all the first ultrasonic sensors 81, and third detection zone only needs to cover The first ultrasonic sensor of lid 81 is located at the blind area of 10 front end of shell.Second ultrasonic sensor 83 and third ultrasonic wave pass Sensor 85 and the first ultrasonic sensor 81

As shown in Figure 21 and Figure 22, in the 8th embodiment of the utility model from mobile device, the second supersonic sensing The range for the angle ε 2 that device 83 and the first ultrasonic sensor 81 are mutually is 10 ° -80 °.In being set from movement for the 8th embodiment In standby preferred embodiment, 2 range of intersecting angle ε of the second ultrasonic sensor 83 and the first ultrasonic sensor 81 is 25 °- 55°.Second ultrasonic sensor 83 of 25 ° of -55 ° of numberical ranges and the intersection of the first ultrasonic sensor 81, it can be ensured that Overlap detection area coverage hole.The angle that the second above-mentioned ultrasonic sensor 83 is mutually with the first ultrasonic sensor 81 is i.e. Refer to second axis 831 and the angle that first axle 811 is mutually.Third ultrasonic sensor 85 and the first ultrasonic sensor 81 The range for the angle ε 3 being mutually is 10 ° -80 °.In the preferred embodiment from mobile device of the 8th embodiment, third ultrasound 3 range of intersecting angle ε of wave sensor 85 and the first ultrasonic sensor 81 is 25 ° -55 °.The of 25 ° of -55 ° of numberical ranges Three ultrasonic sensors 85 intersect with the first ultrasonic sensor 81, it can be ensured that overlap detection area coverage hole.It is above-mentioned Third ultrasonic sensor 85 and the angle that is mutually of the first ultrasonic sensor 81 refer to third axis 851 and first axle The angle that line 811 is mutually.

As shown in figure 21, two ultrasonic waves can be only included from mobile device in the 8th embodiment of the utility model Sensor, respectively the second ultrasonic sensor 83 and the first ultrasonic sensor 81, second ultrasonic sensor 83 and One ultrasonic sensor 81 intersects to form overlay region, and second ultrasonic wave passes in the first range hole of the first ultrasonic sensor 81 Sensor 83 can receive back echo.The angle ε's 1 that second ultrasonic sensor 83 and the first ultrasonic sensor 81 are mutually Range is 10 ° -80 °.In the preferred embodiment from mobile device of the 8th embodiment, the second ultrasonic sensor 83 and 1 range of intersecting angle ε of one ultrasonic sensor 81 is 25 ° -55 °.

In the 8th embodiment of the utility model from mobile device, since the barrier in overlap detection area can be with There is an independent ultrasonic sensor to receive ultrasonic echo, the ultrasonic sensor for being responsible for receiving back echo can not be gone here and there The differentiation disturbed is the ultrasonic echo of barrier, is based on this principle, can shorten and even be eliminated setting from movement for the 8th embodiment Standby range hole improves the accessibility from mobile device, improves from the accessibility of mobile device, facilitates from mobile Equipment adapts to different operating conditions.And the testing blind zone due to shortening or eliminating ultrasonic sensor itself, pre-determined distance can be with What is be arranged is smaller, can realize the detection of obstacles of short distance under the premise of realizing contactless avoidance.For certainly mobile For equipment, closely mowing machine cut can be allowed more careless, be conducive to the raising of working efficiency.

Solve the problems, such as the embodiment of upward slope.

As shown in Figure 37 to Figure 41, Figure 37 to Figure 41 is from mobile device in the operating condition schematic diagram for encountering slope.It is passed in Figure 39 The angle on sensor axis and slope is β 1, and the angle on sensor axis and slope is β 2 in Figure 40.From the direction of advance of mobile device There are the slopes that an angle of gradient is α.As shown in figure 37, the ultrasonic wave that supersonic sensing device assembly 20 emits will receive the resistance of slope surface Gear, to reflex to supersonic sensing device assembly 20.Control module 30 is according to the received reflection of 20 institutes of supersonic sensing device assembly The time difference of wave and transmitted wave, analytical calculation go out to generate the location point of back wave with from mobile device distance S.When sensor group When part 20 is arranged in from 10 front end of shell of mobile device, distance S is exactly distance detected by supersonic sensing device assembly；When When the position of 10 front end a distance D of shrinking away from theshell body is arranged in sensor module 20, distance S is that supersonic sensing device assembly is detected To distance subtract a distance D of 10 front end of ultrasonic sensor shrinking away from theshell body.Control module 30 according to the transmitting of ultrasonic wave and The received time difference can only judge distance S, can not judge specifically what object to stop ultrasonic wave by.Control module 30 will distance S Value be compared with preset pre-determined distance L, when S be less than or equal to L when, control module 30 control whether needed from mobile device Take avoidance measure.Pre-determined distance L is related with the accessibility from mobile device.Pre-determined distance L specifically refers to control module 30 It is interior to preset from 10 front end of shell of mobile device from barrier minimum range, it is equivalent to the accessibility distance of fuselage, it is specific pre- If the design requirement of distance L is referring to aforementioned.

It is closely detected conventionally, as can not achieve from mobile device, so the value of pre-determined distance L is It compares biggish, typically greater than the value of S, results in this way, just do not avoid close to slope surface from mobile device.

On the other hand it says, conventionally, as the generally existing range hole of ultrasonic sensor, therefore pre-determined distance L has to be larger than range hole radius r.When range hole radius r is larger or gradient α is larger, not yet moved from mobile device To the slope foot position on slope, distance S executes avoidance from mobile device and arranges already less than pre-determined distance L, the control of control module 30 is equal to It applies, causes just not avoid close to slope surface from mobile device.For grass trimmer, the grass in slope surface region just cannot get always It cuts and cuts.It is straight can not have to identification slope for the detection of obstacles that can be realized short distance from mobile device of the utility model embodiment Connect slope, i.e. slope from mobile device will not be identified as the barrier for needing to avoid by the utility model.

As shown in figure 44, Figure 44 shows common barrier barrier distance measurement result corresponding with slope and back echo The case where signal.Figure 44 a (1) is to encounter slope from mobile device and obtain distance S3, and Figure 44 b (1) is general to encounter from mobile device Logical barrier 73 simultaneously obtains distance S4, and Figure 44 b (2) is the ultrasonic echo situation of the barrier 73 received from mobile device, should The echo strength value of ultrasonic wave is higher than back wave threshold value 709, so control module analyzes the ultrasonic echo received Obtaining the position, there are barriers 73.It is first position 71 that same distance S4, which is corresponded on slope, although from mobile device Visual field may can cover first position 71 and can receive the ultrasonic echo of the transmitting of first position 71, but can from Figure 44 a (2) Know, the echo strength value for the ultrasonic wave that first position 71 is reflected is lower than back wave threshold value 709, so while ultrasound can be received Echo, but practical control module is not regarded as that first position 71 is the barrier for needing to avoid.And from Figure 44 b (1) it is found that certainly The point for the barrier that mobile device detects is really in the second position 72, and the second position 72 and the ultrasonic wave from mobile device The distance between sensor is S3, S3 > S4, i.e., larger from the actually measured distance of mobile device, and due to the utility model Accessibility is improved from mobile device, the value of pre-determined distance L is relatively small, so even if when the foot for going to slope from mobile device When lower, the distance value measured is still greater than pre-determined distance L, so still will continue to advance from mobile device, and then goes up a slope.

The embodiment for solving the problems, such as upward slope is described below in conjunction with specific embodiment.

9th embodiment:

The 9th embodiment of the utility model from the identical from mobile device of mobile device and the 5th embodiment, herein It is lack of repetition and repeats the offer of attached drawing.Passing through from mobile device for the 9th embodiment of the utility model is at an angle to each other The visual field overlap detection area coverage hole that two ultrasonic sensors are formed, can shorten or eliminate the ranging from mobile device Blind area, pre-determined distance L do not need to be more than or equal to blindarearadius r, and pre-determined distance L can be the numerical value of very little, such as 5 centimetres or so. When being moved to the slope foot on slope from mobile device, it is greater than pre-determined distance L from slope surface distance S from the housing forward end of mobile device, Original orientation advance is still pressed from mobile device, climbs up slope surface from slope foot.After slope surface is climbed up from mobile device, ultrasonic sensor For component 20 also with the angle of gradient having the same of shell 10, the ultrasonic wave that supersonic sensing device assembly 20 is emitted will not be again by slope Face stops and reflects.Therefore, slope surface is judged into the general of barrier from mobile device appearance in the embodiments of the present invention Rate can decline to a great extent, to avoid not entering the execution work of slope surface region from mobile device.

Tenth embodiment:

The tenth embodiment of the utility model from the identical from mobile device of mobile device and sixth embodiment, herein It is lack of repetition and repeats the offer of attached drawing.The tenth embodiment of the utility model surpasses from mobile device only by two Sonic sensor is arranged in parallel, so that the detection zone of ultrasonic sensor is overlapped, overlap detection area coverage hole can contract Short or eliminate from the range hole of mobile device, pre-determined distance L does not need to be more than or equal to blindarearadius r, and pre-determined distance L can be with For the numerical value of very little, such as 5 centimetres or so.When being moved to the slope foot on slope from mobile device, from the housing forward end of mobile device from The distance S of slope surface is greater than pre-determined distance L, and original orientation advance is still pressed from mobile device, climbs up slope surface from slope foot.It is set from movement After climbing up slope surface, supersonic sensing device assembly 20 is also with the angle of gradient having the same of shell 10, supersonic sensing device assembly 20 ultrasonic waves emitted will not be stopped by slope surface again and be reflected.Therefore, in the embodiments of the present invention from mobile device Appearance can decline to a great extent the probability that slope surface judges into barrier, to avoid not entering slope surface region execution work from mobile device Make.

11st embodiment:

The 11st embodiment of the utility model from the identical from mobile device of mobile device and the 7th embodiment, this Place is lack of repetition and repeats the offer of attached drawing.The ultrasound of the third from mobile device of the 11st embodiment of the utility model The overlay region that wave sensor 65 and the first ultrasonic sensor 61 intersect to form covers the first survey of the first ultrasonic sensor 61 Away from blind area, the overlay region that the second ultrasonic sensor 63 and the 4th ultrasonic sensor 67 intersect to form covers the second ultrasonic wave and passes Second range hole of sensor 63.In this embodiment, within the scope of the blind area of the first ultrasonic sensor 61, third ultrasonic wave is passed Sensor 65 can accurately receive the ultrasonic echo of barrier, within the scope of the blind area of the second ultrasonic sensor 63, the 4th Ultrasonic sensor 67 can accurately receive the ultrasonic echo of barrier, can achieve the purpose for reducing or eliminating blind area, Improve the accessibility from mobile device of the 11st embodiment.Due to being set from movement for the 11st embodiment of the utility model Standby accessibility is good, so pre-determined distance L is smaller, the 11st embodiment of the utility model detected from mobile device and slope The distance between value be greater than pre-determined distance L, so the 11st embodiment of the utility model is directly realized by upward slope from mobile device.

12nd embodiment:

The 12nd embodiment of the utility model from the identical from mobile device of mobile device and the 8th embodiment, this Place is lack of repetition and repeats the offer of attached drawing.The 12nd embodiment of the utility model from mobile device due to weight Barrier in folded detection zone can have an independent ultrasonic sensor to receive ultrasonic echo, be responsible for receiving barrier time The ultrasonic sensor of wave can not be the ultrasonic echo of barrier by the differentiation of crosstalk, be based on this principle, can be shortened even The range hole from mobile device for eliminating the 12nd embodiment improves the accessibility from mobile device.Since this is practical Novel 12nd embodiment it is good from mobile device accessibility, so pre-determined distance L is smaller, the utility model the 12nd is implemented The distance between the slope of example detected from mobile device value is greater than pre-determined distance L, so the utility model the 11st is implemented Example is directly realized by upward slope from mobile device.

Solve the problems, such as the embodiment of flank wall.

As shown in Figure 45 and Figure 46, Figure 45 and Figure 46 is the operating condition schematic diagram that wall is encountered from mobile device prism.Such as figure Shown in 45, when ultrasonic sensor is installed horizontally forward, the ultrasonic wave onwards transmission sent is directed to prism from mobile device Wall can not accurately identify because ultrasonic sensor may be able to not receive after the ultrasonic wave of ultrasonic sensor issues Ultrasonic echo, because ultrasonic echo may be reflected away directly by wall.

For this kind of special situation, as shown in figure 46, using the intelligent grass-removing 100 of the utility model first embodiment Structure can solve the problem of flank wall, i.e. the scheme of at least two ultrasonic sensors design at an angle to each other, due to two it is super The visual field of sonic sensor intersects, such that regardless of the heeling condition for being into what angle between mobile device and wall, always It is that can send ultrasonic wave there are one of ultrasonic sensor and receive ultrasonic echo, and then recognizing wall is obstacle Object can be converted from the moving direction of mobile device, and so on, until two ultrasonic sensors do not receive ultrasonic echo Until.

Solve the problems, such as the embodiment of slype.

When in working region there are when slype, in the lesser situation of width between slype, due to from moving The distance that dynamic equipment takes reaction to act has to be larger than blindarearadius, all receives ultrasound from no matter mobile device turns left or turn right The reflection signal of wave, so that control module judges that it is among barrier always, thus can not be by narrow from mobile device Channel be easy to cause the region near in the two sides of channel that can not be performed the functions such as mowing or cleaning.

As shown in figure 47, Figure 47 is the operating condition schematic diagram that slype is encountered from mobile device, compared with the prior art, if Using the ultrasonic sensor arrangement in the intelligent grass-removing 100 of the utility model first embodiment, i.e., at least two surpass The scheme of sonic sensor design at an angle to each other, since the visual field of two ultrasonic sensors intersects, so that pre-determined distance L It is smaller, it in this way can be closer to the two sides boundary of slype from mobile device.When reaching slype from mobile device, surpass The slype two sides that sonic sensor detects are still greater than pre-determined distance L at a distance from mobile robot, so moving machine Device people can smoothly enter into slype, after mobile robot enters slype, be mutually by two ultrasonic sensors Angle design can adjust the direction of advance of mobile robot constantly, and the side wall of mobile robot and slype is avoided to collide. Therefore, from mobile device due to slype width it is too narrow and can not by probability can reduce, two sides near border is not held The width distance of row work can also be reduced.

Solve the problems, such as the embodiment of anti-crosstalk.

The complete phase of intelligent grass-removing 100 from mobile device and first embodiment of the 13rd embodiment of the utility model Together, the offer of attached drawing is lack of repetition and repeated herein.The 13rd embodiment of the utility model from mobile device and the The difference of the intelligent grass-removing 100 of one embodiment is: the first ultrasonic sensor from mobile device of the 13rd embodiment 21 and second there is physically-isolated anti-crosstalk structure between ultrasonic sensor 23, anti-crosstalk structure can be one it is independent Physical structure between the first ultrasonic sensor 21 and the second ultrasonic sensor 23, is also possible at least two difference The physical structure being located at outside or between the first ultrasonic sensor 21 and the second ultrasonic sensor 23.

As shown in Figure 62,63,53 to 58, it is described from mobile device further include anti-crosstalk structure 80,89, for prevent first The ultrasonic wave that ultrasonic sensor 21 and 23 one of both of the second ultrasonic sensor are sent is reflected without barrier by the two Another directly receive.Anti-crosstalk structure 80,89 be set to the first ultrasonic sensor 21 and the second ultrasonic sensor 23 it Between.Anti-crosstalk structure 80,89 is not contacted with ultrasonic sensor axis to extending on front side of shell 10.Anti-crosstalk structure 80,89 to The crosspoint of the projection of the first ultrasonic sensor axis and the second ultrasonic sensor axis is extended not more than on front side of shell 10. Anti-crosstalk structure 80,89 is located at 23 sound wave launch point of 21 sound wave launch point of the first ultrasonic sensor and the second ultrasonic sensor The front side of line simultaneously extends to shell front side.Anti-crosstalk structure 80,89 includes and ultrasonic sensor axis is at an angle of setting Stop wall 801.

As shown in Figure 62 and Figure 63, in the first embodiment of anti-crosstalk structure 80, the first ultrasonic sensor 21 and second There is anti-crosstalk structure 89 between ultrasonic sensor 23.Anti-crosstalk structure 89 includes two stop walls, one of stop wall (the first i.e. following anti-crosstalk faces 893) are against the first transmitting-receiving region and extend partially into the first transmitting-receiving region, another backstop Wall (the second i.e. following anti-crosstalk faces 894) is against the second transmitting-receiving region and extends partially into the second transmitting-receiving region.First ultrasound Wave sensor 21 has first axle 211, and the second ultrasonic sensor 23 has second axis 231.Anti-crosstalk structure 89 has The first anti-crosstalk face 893 against the first ultrasonic sensor 21 and the second anti-crosstalk against the second ultrasonic sensor 23 Face 894, anti-crosstalk structure 89 are no more than first axle 211 and second axis 231.Anti-crosstalk structure 89 has near first The first of axis 211 while 891 and close to second axis 231 second while 892.First side 891 is no more than first axle 211, Second side 892 is no more than second axis 231.In the embodiment of the utility model, the first side 891 is the first anti-crosstalk face 893 side, second in one that 892 be the second anti-crosstalk face 894.First anti-crosstalk face 893 extends partially into first Region is received and dispatched, the second anti-crosstalk face 894 extends partially into the second transmitting-receiving region.So set, anti-crosstalk structure 89 can stop The transmitting-receiving region of 23 adjacent position of first ultrasonic sensor 21 and the second ultrasonic sensor, avoids the first ultrasonic sensor 21 and second ultrasonic sensor 23 generate signal cross-talk between each other.

As shown in figure 53, in the second embodiment of anti-crosstalk structure, the first ultrasonic sensor 21 and the second ultrasonic wave are passed 23 periphery of sensor all has anti-crosstalk structure 80, and each anti-crosstalk structure 80 has stop wall 801.In this embodiment, first The distance between ultrasonic sensor 21 and the second ultrasonic sensor 23 are between 190mm-200mm, in the distance range, The structure of stop wall 801 is designed as follows.Two stop walls 801 extend partially into the first transmitting-receiving region and second respectively and receive Send out region.The first of the corresponding first embodiment of the stop wall 801 of first ultrasonic sensor 21 and the second ultrasonic sensor 23 Anti-crosstalk face 893 and the second anti-crosstalk face 894.So set, anti-crosstalk structure 89 can stop the first ultrasonic sensor 21 And the transmitting-receiving region of 23 adjacent position of the second ultrasonic sensor, avoid the first ultrasonic sensor 21 and the second ultrasonic wave from passing Sensor 23 generates signal cross-talk between each other.As shown in Fig. 2, two anti-crosstalk structures 80 are symmetrical arranged along shell axis 210.

Figure 53 indicates the difference of setting stop wall 801 and not set stop wall 801, can be seen that it from Figure 53 (a) In the ultrasonic wave that issues of a ultrasonic sensor, i.e. visual field 98 directly overlie another adjacent ultrasonic sensor, Since the axis of two ultrasonic sensors is to be angled across setting, so the portion that one of ultrasonic sensor issues Point ultrasonic wave can be received directly by another adjacent ultrasonic sensor, another ultrasonic sensor that can be adjacent to this The ultrasonic wave emitted causes crosstalk.From Figure 53 (b) it can be seen that after the stop wall 801 of setting the utility model, wherein one The ultrasonic waveform that a ultrasonic sensor issues at visual field 98 will not cover another adjacent ultrasonic sensor, institute To avoid mutual signal cross-talk.

As shown in Figure 54 to Figure 58, anti-crosstalk structure 80 further includes to installation corresponding with ultrasonic sensor sounding face Hole 802, top surface 803, the virtual parallel face 804 parallel with top surface 803, the sounding face of ultrasonic sensor is towards mounting hole 802. Stop wall 801 includes the first retaining wall 8011 and the second retaining wall 8012.First retaining wall 8011 and the second retaining wall 8012 can be one Structure is also possible to separate structure, when the first retaining wall 8011 and the second retaining wall 8012 are separate structure, passes through two structures The effect of stop wall 801 is realized in superposition.Second gear wall 8012 connect with first grade of wall 8011 and from first grade of wall 8011 to shell Front side extends, and the height of second gear wall 8012 in the vertical direction gradually decreases.First retaining wall has top, practical at this In novel embodiment, the top, that is, top surface 803.Second retaining wall has upper connecting pin 805, and upper connecting pin 805 is in short transverse It is upper to be lower than top.Second retaining wall 8012 from upper connecting pin 805 to shell 10 on front side of extend, and the height in short transverse gradually drops It is low.The width of first retaining wall 8011 is L3, and the meeting of ultrasonic sensor transmitting causes the ultrasonic wave of mutual crosstalk largely can quilt The first retaining wall 8011 stop, remaining less interference ultrasonic wave only need the second retaining wall 8012 stop.

As shown in Figure 54 to Figure 58, the second retaining wall 8012 is gradually reduced towards from the moving direction area of mobile device.The Two retaining walls 8012 have the upper connecting pin 805 for connecting with the first retaining wall 8011 and being lower than top surface 803, separate first retaining wall 8011 simultaneously In the height direction lower than the company of the lower connecting pin 806 of upper connecting pin 805 and connection upper connecting pin 805 and lower connecting pin 806 Junction 809.Anti-crosstalk structure 80 has front end face 808 with the substantially vertical connection in top surface 803, and substantially vertical herein refer to can So that it is completely vertical, it is also possible to probably perpendicular state.

Most string can be blocked by the first retaining wall 8011 of setting and 8012 structure of the second retaining wall, the first retaining wall 8011 Disturb ultrasonic wave, the structure of the second retaining wall 8012 lower than the first retaining wall 8011 can shelves live remaining anti-crosstalk wave, and in structure In feature subtriangular, that there is direction to be gradually reduced from the moving direction area of mobile device, and the second retaining wall 8012 is certainly Upper connecting pin 805 is to extending on front side of shell 10, and the height in short transverse gradually decreases, and the shape of second retaining wall 8012 is set Meter is unique, and the height of height in the height direction gradually decreases, and by the anti-crosstalk of a stairstepping gradually transition, can keep away Exempt from the excessive ultrasonic wave of shelves, while not influencing detection of obstacles, moreover it is possible to which anti-crosstalk guarantees the standard of short distance detection of obstacles Exactness.

As shown in figure 57, mounting hole 802 has hole center 807.The distance between hole center 807 and front end face 808 L are greater than 5mm, the distance between upper connecting pin 805 and front end face 808 L2 be less than 10mm, between lower connecting pin 806 and front end face 808 away from It is less than 20mm from L1.Upper connecting pin 805 and the distance, delta of hole center 807 in the height direction are less than 16mm, joint face 809 with The range of angle τ between virtual parallel face 804 is 35 ° -55 °.The utility model passes through different parameter designings, it can be ensured that The ultrasonic wave that first ultrasonic sensor 21 issues directly will not be received directly by the second ultrasonic sensor 23 without barrier It arrives, ensure that the accuracy of short distance obstacle recognition, while ensure that the second ultrasonic sensor 23 sends ultrasonic signal Stability.

As shown in figure 58, stop wall 801 is obliquely installed relative to top surface 803, i.e., between stop wall 801 and top surface 80 Angle is not equal to 90 °, the angle since virtual parallel face 804 is parallel with top surface 803, between virtual parallel face 804 and stop wall 801 It spends μ and is greater than 0 °, and angle μ, less than 90 °, angle μ is not equal to 90 °.The anti-crosstalk structure 80 of the utility model is by by stop wall 801 are obliquely installed, by taking the first ultrasonic sensor 21 as an example, when the first ultrasonic sensor 21 emits ultrasonic wave, due to only Retaining wall 801 is obliquely installed, and portion of ultrasonic sound wave can directly be launched from stop wall 801, without being reflected back toward the first ultrasound again Wave sensor 21, and then the ultrasonic wave for being directly reflected back the first ultrasonic sensor 21 can be reduced, due to directly by stop wall The ultrasonic wave that 801 transmittings are gone back tails off, so even if the first ultrasonic sensor 21 has received the super of the reflection of part stop wall 801 Sound echo, but since those echo strength values are weaker, the back wave threshold value of barrier judgment is not reached, so the One ultrasonic sensor 21 will not do the barrier judgment of short distance, improve the accuracy of short distance barrier judgment.

The 80 of anti-crosstalk structure have the peripheral wall of connection top surface 803 (i.e. around the side wall of surrounding, the side wall and top surface in angle Degree connection), top surface 803 and peripheral wall surround the closed anti-crosstalk structure 80 of circumferential direction and top surface jointly, and total only has lower section to set Opening is set, so set, rainwater can be allowed to flow away downwards along the top surface of anti-crosstalk structure 80 and peripheral wall when rainy, is protected On the other hand ultrasonic probe only reserves opening in lower section, supersonic sensing device assembly is from the virtual parallel face towards pushing up 803 direction of face is installed into anti-crosstalk structure 80, not only facilitates the installation of sensor module, while sensor module installs Afterwards, directly the side where 80 virtual parallel faces of anti-crosstalk structure is fixedly connected with the shell of grass trimmer, encloses lower section Opening, to realize comprehensive protection to supersonic sensing device assembly.

The utility model is by being arranged backstop in the first ultrasonic sensor 21 and 23 adjacent of the second ultrasonic sensor Wall, so set, backstop can be passed through when the first ultrasonic sensor 21 and the second ultrasonic sensor 23 are angled across The ultrasonic wave that wall avoids the first ultrasonic sensor 21 from emitting is to reflect by barrier directly by the second ultrasonic sensor 23 It receives, ensure that the accuracy of short distance obstacle recognition.Meanwhile anti-crosstalk structure 80 can also using its free internal structure The visual field transmitting range that ultrasonic wave is constrained when ultrasonic wave just issues further prevents ultrasonic wave directly to generate with shell 10 and contacts And ultrasonic echo is generated, it ensure that the accuracy of detection of obstacles.

The embodiment of the above-mentioned anti-crosstalk structure of the utility model is suitable for two ultrasonic sensors of the utility model and hands over Pitch the scheme of layout, i.e., the scheme that the projection of two sensor axis intersects.

The intelligent grass-removing of non-contact avoidance above-mentioned for the utility model or from mobile device for, when detecting When barrier, the control module control is continued to move to from what mobile device was not fallen back.Various embodiments of the utility model realizes The avoidance of at least five kinds forms, i.e., the described control module control mobile module are moved along preset path, keep shell and barrier Between spacing be consistently greater than zero；The control module control mobile module is moved along the path for being different from current direction of advance； The control module control mobile module is moved along the direction far from barrier；The control module control is slowed down from mobile device And obstacle beyond the region of objective existence Zhou Yidong and avoiding obstacles；The side barrier and shell of the control module identification shell moving direction Distance be less than preset distance, control module control mobile module is moved along the other side of moving direction.About this five The non-contact avoidance embodiment of kind form is as follows:

One kind is from mobile device comprising:

Shell；

Mobile module is set to below the shell, for driving the shell mobile；

Drive module, for driving the mobile module mobile；

Control module, for controlling the intelligent grass-removing；

It is arranged on the shell to identify the ultrasonic module from mobile device direction of advance barrier, the ultrasonic wave Sensor module includes at least two ultrasonic sensors, including the first ultrasonic sensor and the second ultrasonic sensor, institute The first ultrasonic sensor is stated in the inscribed receipts in the first transmitting-receiving region and transmitting ultrasonic wave, second ultrasonic sensor is second The inscribed receipts in region and transmitting ultrasonic wave are received and dispatched, first ultrasonic sensor and second ultrasonic sensor are at an angle to each other Ground is arranged on the housing, so that the first transmitting-receiving region and second transmitting-receiving region partly overlap, to form three A detection zone, wherein the first transmitting-receiving region and the second overlapped part in transmitting-receiving region are third detection zone, and first receives Sending out the part except being overlapped in region is the first detection zone, and the part except being overlapped in the second transmitting-receiving region is the second detection zone Domain, when an obstacle is detected, the control module control continue to move to and keep shell and barrier from what mobile device was not fallen back The spacing between object is hindered to be consistently greater than zero.In one embodiment, the control module control mobile module is moved along preset path It is dynamic, keep the spacing between shell and barrier to be consistently greater than zero.

One kind is from mobile device comprising:

Shell；

Mobile module is set to below the shell, for driving the shell mobile；

Drive module, for driving the mobile module mobile；

Control module, for controlling the intelligent grass-removing；

It is arranged on the shell to identify the ultrasonic module from mobile device direction of advance barrier, the ultrasonic wave Sensor module includes at least two ultrasonic sensors, including the first ultrasonic sensor and the second ultrasonic sensor, institute The first ultrasonic sensor is stated in the inscribed receipts in the first transmitting-receiving region and transmitting ultrasonic wave, second ultrasonic sensor is second The inscribed receipts in region and transmitting ultrasonic wave are received and dispatched, first ultrasonic sensor and second ultrasonic sensor are at an angle to each other Ground is arranged on the housing, so that the first transmitting-receiving region and second transmitting-receiving region partly overlap, to form three A detection zone, wherein the first transmitting-receiving region and the second overlapped part in transmitting-receiving region are third detection zone, and first receives Sending out the part except being overlapped in region is the first detection zone, and the part except being overlapped in the second transmitting-receiving region is the second detection zone Domain, when an obstacle is detected, the control module control are different from current advance side from the continuation edge that mobile device is not fallen back To path it is mobile.

One kind is from mobile device comprising:

Shell；

Mobile module is set to below the shell, for driving the shell mobile；

Drive module, for driving the mobile module mobile；

Control module, for controlling the intelligent grass-removing；

It is arranged on the shell to identify the ultrasonic module from mobile device direction of advance barrier, the ultrasonic wave Sensor module includes at least two ultrasonic sensors, including the first ultrasonic sensor and the second ultrasonic sensor, institute The first ultrasonic sensor is stated in the inscribed receipts in the first transmitting-receiving region and transmitting ultrasonic wave, second ultrasonic sensor is second The inscribed receipts in region and transmitting ultrasonic wave are received and dispatched, first ultrasonic sensor and second ultrasonic sensor are at an angle to each other Ground is arranged on the housing, so that the first transmitting-receiving region and second transmitting-receiving region partly overlap, to form three A detection zone, wherein the first transmitting-receiving region and the second overlapped part in transmitting-receiving region are third detection zone, and first receives Sending out the part except being overlapped in region is the first detection zone, and the part except being overlapped in the second transmitting-receiving region is the second detection zone Domain, when an obstacle is detected, the control module control the continuation not fallen back from mobile device along the direction far from barrier It is mobile.

One kind is from mobile device comprising:

Shell；

Mobile module is set to below the shell, for driving the shell mobile；

Drive module, for driving the mobile module mobile；

Control module, for controlling the intelligent grass-removing；

It is arranged on the shell to identify the ultrasonic module from mobile device direction of advance barrier, the ultrasonic wave Sensor module includes at least two ultrasonic sensors, including the first ultrasonic sensor and the second ultrasonic sensor, institute The first ultrasonic sensor is stated in the inscribed receipts in the first transmitting-receiving region and transmitting ultrasonic wave, second ultrasonic sensor is second The inscribed receipts in region and transmitting ultrasonic wave are received and dispatched, first ultrasonic sensor and second ultrasonic sensor are at an angle to each other Ground is arranged on the housing, so that the first transmitting-receiving region and second transmitting-receiving region partly overlap, to form three A detection zone, wherein the first transmitting-receiving region and the second overlapped part in transmitting-receiving region are third detection zone, and first receives Sending out the part except being overlapped in region is the first detection zone, and the part except being overlapped in the second transmitting-receiving region is the second detection zone Domain, the control module control mobile module is mobile, and when an obstacle is detected, the control module control subtracts from mobile device What speed was not fallen back continues around the mobile simultaneously avoiding obstacles in barrier periphery.

One kind is from mobile device comprising:

Shell；

Mobile module is set to below the shell, for driving the shell mobile；

Drive module, for driving the mobile module mobile；

Control module, for controlling the intelligent grass-removing；

It is arranged on the shell to identify the ultrasonic module from mobile device direction of advance barrier, the ultrasonic wave Sensor module includes at least two ultrasonic sensors, including the first ultrasonic sensor and the second ultrasonic sensor, institute The first ultrasonic sensor is stated in the inscribed receipts in the first transmitting-receiving region and transmitting ultrasonic wave, second ultrasonic sensor is second The inscribed receipts in region and transmitting ultrasonic wave are received and dispatched, first ultrasonic sensor and second ultrasonic sensor are at an angle to each other Ground is arranged on the housing, so that the first transmitting-receiving region and second transmitting-receiving region partly overlap, to form three A detection zone, wherein the first transmitting-receiving region and the second overlapped part in transmitting-receiving region are third detection zone, and first receives Sending out the part except being overlapped in region is the first detection zone, and the part except being overlapped in the second transmitting-receiving region is the second detection zone The side barrier in domain, the control module identification shell moving direction is less than preset distance, the control at a distance from shell Molding block control mobile module is moved along the other side of moving direction.

About the structure of ultrasonic sensor or defining and first embodiment for receiving and transmitting signal in above-mentioned four kinds of modes Intelligent grass-removing 100 is identical, and defining for anti-crosstalk structure puts crosstalk knot from mobile device such as above-mentioned 13rd embodiment Structure is identical, is not repeated to describe herein.

Figure 59 is a kind of circuit unit schematic diagram that control module controls supersonic sensing device assembly.With first embodiment It is illustrated for intelligent grass-removing 100, other embodiments same from mobile device or uses same procedure can be with It obtains.Supersonic sensing device assembly 20 includes the first ultrasonic sensor 21 and the second ultrasonic sensor 23.Each ultrasonic wave Sensor has respective ultrasonic wave transmitting processing circuit and ultrasonic wave receiving processing circuit.As shown in figure 44, the first ultrasonic wave The ultrasonic wave transmitting processing circuit of sensor 21 includes driving circuit 31a and transformer 32a.One end of driving circuit 31a connects MCU in control module 30, receives the enabling signal of MCU, to generate the driving signal of predeterminated frequency.Driving signal is by becoming The voltage transformation of depressor 32a is converted into the electric signal suitable for 21 parameter of the first ultrasonic sensor.Electric signal, which drives, the first to be surpassed The ultrasonic wave of the transmitting preset frequency of sonic sensor 21.The specific mode of driving circuit 31a can for single-ended burst mode or Both-end push-pull mode, preferably both-end push-pull mode.The predeterminated frequency of driving signal is generally according to used sensor Hardware parameter and design.In this embodiment, predeterminated frequency range is greater than 25KHZ, preferably 57KHZ -60KHZ, specifically such as 58.5KHZ.In this embodiment, the ultrasonic wave transmitting processing circuit and the first ultrasonic sensor of the second ultrasonic sensor 23 21 ultrasonic wave transmitting processing circuit is the same, and details are not described herein again.

As shown in figure 59, Figure 59 is that a kind of control module of embodiment of the utility model controls supersonic sensing device assembly Circuit unit.The ultrasonic wave receiving processing circuit of first ultrasonic sensor 21 includes AD conversion unit 35a and data processing Unit 37a.First ultrasonic sensor 21 is received by the reflected ultrasonic wave of barrier, and ultrasonic wave is converted into electricity Signal is defeated by AD conversion unit 35a.AD conversion unit 35a converts analog signals into digital signal, exports to data Manage unit 37a.Data processing unit 37a carries out series of processes to digital signal and obtains signal 1DC, and 1DC is transferred to control Molding block 30.Control module 30 receives 1DC, and the distance of barrier is known according to the analysis to 1DC.Data processing unit 37 Main includes the operation such as filtering, rectifying, sample or extract, and reaches and shields crosstalk signal and/or the signal form of 1DC is accorded with Close the function of 30 analytical form of control module.In this embodiment, the ultrasonic wave of the second ultrasonic sensor 23 receives processing electricity Road is as the ultrasonic wave receiving processing circuit of the first ultrasonic sensor 21, and details are not described herein again.

Preferably, there is synchronization signal in MCU, when the first ultrasonic sensor 21 emits ultrasonic wave, MCU believes synchronous Number it is sent to the receiving portion of the second ultrasonic sensor 23.When the first ultrasonic sensor 21 starting transmitting ultrasonic wave, second The starting of ultrasonic sensor 23 receives ultrasonic wave.Similarly, when the second ultrasonic sensor 23 emits ultrasonic wave, MCU will be synchronized Signal is sent to the receiving portion of the first ultrasonic sensor 21.When the second ultrasonic sensor 23 starting transmitting ultrasonic wave, the The starting of one ultrasonic sensor 21 receives ultrasonic wave.

The first supersonic sensing device assembly includes the first ultrasonic sensor 21 and first circuit board 21a, and described the Two supersonic sensing device assemblies include the second ultrasonic sensor 23 and second circuit board 23a, the first supersonic sensing device assembly The ultrasonic wave firing order of master control borad sending is received with the second ultrasonic sensor component synchronization.Realize the first supersonic sensing Device assembly and the second ultrasonic sensor component synchronization, which receive instruction, has two ways.In first way, master control borad 200 is given First circuit board 21a issues ultrasonic wave firing order, the ultrasonic wave firing order synchronous transfer that first circuit board 21a will be received Give second circuit board 23a.As shown in figure 8, first circuit board 21a realized by way of software with second circuit board 23a it is synchronous Signal is mutually set.As shown in figure 60, first circuit board 21a and second circuit board 23a is by setting two-way transmission line to realize Synchronization signal is mutually set.In the second way, it is super that master control borad gives first circuit board 21a and second circuit board 23a to issue simultaneously Sound wave firing order is to realize that synchronization signal is mutually set.

In one embodiment, the supersonic sensing device assembly alternate emission ultrasonic wave letter of master control borad control at least two Number

As shown in figure 60, Figure 60 is that the control module of second of embodiment of the utility model controls supersonic sensing device assembly Circuit unit.It is illustrated by taking the intelligent grass-removing 100 of first embodiment as an example.First electricity of the first ultrasonic sensor 21 Road plate 21a includes the first MCU and the first transformer, and the first MCU receives the first ultrasonic sensor 21 anti-by barrier It is emitted back towards the ultrasonic wave come and the 3rd MCU is transferred to by serial ports, the second circuit board 23a of the second ultrasonic sensor 23 includes the Two MCU and the second transformer, the 2nd MCU receive the second ultrasonic sensor 23 by the reflected ultrasonic wave of barrier It is transferred to the 3rd MCU by serial ports, the 3rd MCU can carry out analysis to the ultrasonic wave of the first MCU and the 2nd MCU reflection transmitted and obtain Know the distance and location information of barrier, finally export processing result to mainboard, mainboard can select to carry out relevant logic control System.Master control borad is used to provide mobile and work control to from mobile device.In first circuit board 21a and second circuit board 23a It can also include data processing unit, data processing unit mainly includes the operations such as filtering, rectification, sampling or extraction, reaches screen It covers crosstalk signal and/or the signal form of acquisition is made to meet the function of the 3rd MCU analytical form.In this embodiment, first Connection line 96, biography of the connection line 96 to realize synchronization signal are equipped between circuit board 21a and second circuit board 23a It is defeated.When the first ultrasonic sensor 21 emits ultrasonic wave, synchronization signal is sent to the second supersonic sensing by connection line 96 The receiving portion of device 23.When the first ultrasonic sensor 21 starting transmitting ultrasonic wave, the starting of the second ultrasonic sensor 23 is received Ultrasonic wave.Similarly, when the second ultrasonic sensor 23 emits ultrasonic wave, synchronization signal is sent to by connection line 96 the first to be surpassed The receiving portion of sonic sensor 21.When the second ultrasonic sensor 23 starting transmitting ultrasonic wave, the first ultrasonic sensor 21 Starting receives ultrasonic wave.In another of the circuit unit of the control module control supersonic sensing device assembly of second of embodiment In embodiment, the first circuit board 21a of the first ultrasonic sensor 21 can not include transformer, and when low-voltage can not need Transformer is set.

In the embodiments of the present invention, ultrasonic sensor is connected with a processing circuit plate, on the processing circuit plate The A/D converter circuit of operational amplifier circuit, realization AD conversion function with realization amplification module function.Have on circuit board and is able to achieve The chip of data buffering memory module function and with the relatively small MCU for realizing data extraction module function, in control module Has the function of another relatively large MCU to realize data analysis module, which can be realized point of data Analysis generates range information and location information, in the relatively large MCU there is software can complete barrier and ultrasonic sensor The distance between value setting pre-determined distance between comparison.In other embodiments, the comparison of pre-determined distance can also lead to The mode for crossing hardware realizes comparison, such as FPGA, DSP of distance etc..The big MCU can be set on mainboard, can also be with It is separately provided on a circuit board.Comprehensive analysis module can with dust on mainboard, can not dust on mainboard, but and Relatively large MCU dust is on a circuit board.Master controller is arranged on mainboard, and master controller is to according to existing analysis As a result the movement from mobile device is controlled.The analysis result can pass to master controller by hardware, can also pass through telecommunications Number mode pass to master controller, such as high electricity frequency instruction or low electricity frequency indicates or the mode of communication passes to master controller. In other embodiments, the utility model relatively small MCU and relatively large MCU can be realized using a big MCU Function.

As shown in Figure 61, in the another of the circuit unit of the control module control supersonic sensing device assembly of second of embodiment In one embodiment, connection circuit can be not provided between first circuit board 21a and second circuit board 23a, directly second Synchronization signal is set in MCU, when the first ultrasonic sensor 21 emits ultrasonic wave, synchronization signal is sent to second by the 2nd MCU The receiving portion of ultrasonic sensor 23.When the first ultrasonic sensor 21 starting transmitting ultrasonic wave, the second ultrasonic sensor 23 startings receive ultrasonic wave.Similarly, when the second ultrasonic sensor 23 emits ultrasonic wave, the 2nd MCU sends synchronization signal To the receiving portion of the first ultrasonic sensor 21.When the second ultrasonic sensor 23 starting transmitting ultrasonic wave, the first ultrasonic wave The starting of sensor 21 receives ultrasonic wave.

In two kinds of implementations of the circuit unit of the control module control supersonic sensing device assembly of above-mentioned second of embodiment In example, collected data directly can be transferred to the 3rd MCU and are analyzed and processed by the first MCU, and the first MCU can also be internal Data analysis unit is set, the 2nd MCU is transmitted further to after pre-processing to collected data and carries out the processing of analysis again.The Three MCU can send instruction to the first ultrasonic sensor 21 and the second ultrasonic sensor 23, for example umber of pulse requires, amplification Multiple requires, ultrasonic wave sends instruction, ultrasonic echo receives instruction etc..

For two kinds of realities of the circuit unit of the control module control supersonic sensing device assembly of above-mentioned second of embodiment Apply example, in conjunction with first embodiment intelligent grass-removing 100 in the first ultrasonic sensor 21 and the second ultrasonic sensor 23 receive The data packet handled the 3rd MCU of signaling processing is described.When the first ultrasonic sensor 21 sends ultrasonic wave, third MCU will obtain the echo-signal that the first ultrasonic sensor 21 receives and the echo that the second ultrasonic sensor 23 receives is believed Number, referred to herein as first via signal；When the second ultrasonic sensor 23 sends ultrasonic wave, the 3rd MCU will obtain the second ultrasound The echo-signal that the echo-signal and the first ultrasonic sensor 21 that wave sensor 23 receives receive, referred to herein as the second tunnel It includes four groups of ultrasonic echos that signal, first via signal and second road signal be total, the 3rd MCU by four groups of ultrasonic echos into The information of row analysis acquired disturbance object.When continuing the first ultrasonic sensor 21 transmission ultrasonic wave, the 3rd MCU will obtain first The echo-signal that the echo-signal and the second ultrasonic sensor 23 that ultrasonic sensor 21 receives receive, referred to herein as Total third road signal, second road signal and third road signal include four groups of ultrasonic echos, and the 3rd MCU passes through to this four groups ultrasounds Echo carries out the information of analysis acquired disturbance object.So circulation, the 3rd MCU are directed to always the first ultrasonic sensor 21 and second Ultrasonic sensor 23 sends the four groups of ultrasonic echos obtained after ultrasonic wave respectively and carries out obstacle probe.

The introduction of foregoing circuit unit be equally applicable to the utility model 13 embodiments above-mentioned from mobile device. It is the example of two ultrasonic wave gap sensors in Figure 60 and 61, if it is multiple, there is circuit of the multi-wad join to the 3rd MCU, closes In the instruction for sending ultrasonic wave, corresponding instruction is provided by the 3rd MCU, the receiving and transmitting signal about multiple ultrasonic sensors follows Principle, than if any overlapping detection regions in turn in time alternately send, be not repeated to illustrate herein.

As shown in Figure 64, the utility model embodiment from mobile device, ultrasonic wave can be known by the method for test The transmitting and reception condition of sensor module signal, are illustrated, specifically by taking the intelligent grass-removing 100 of first embodiment as an example Test method are as follows: will connect from the first ultrasonic sensor 21 of mobile device with the reception device 87 for capableing of received ultrasonic signal It connects, the second ultrasonic sensor 23 is connect with the reception device 87 that another is capable of received ultrasonic signal, then by two Reception device 87 is connected on oscillograph, and the electric signal that reception device 87 is transmitted to oscillograph can be shown on oscillograph.Pass through The time of two 87 received ultrasonic signals of reception device can determine and determine the first ultrasonic sensor 21 and the second ultrasound Whether wave sensor 23 is alternate emission in time in turn.The transmitting of the first ultrasonic sensor 21 can also be blocked with object Ultrasonic wave, see whether to impact 23 received signal of the second ultrasonic sensor, i.e., whether influence second ultrasound The signal of wave sensor 23 exports as a result, if had an impact, it was demonstrated that the second ultrasonic sensor 23 is receiving the first ultrasonic wave biography The ultrasonic echo for the ultrasonic wave that sensor 21 issues, i.e., provable first ultrasonic sensor 21 the second surpass when sending ultrasonic wave Sonic sensor 23 can receive the reflected ultrasonic echo of ultrasonic wave institute of the first ultrasonic sensor 21 sending simultaneously.Second The test method of ultrasonic sensor 23 is with the first ultrasonic sensor 21, and it is no longer repeated.A barrier can also be used It takes exercises immediately ahead of machine, observes the feelings of the first ultrasonic sensor 21 and 23 receives echo-signal of the second ultrasonic sensor Condition, if can receive ultrasonic echo in some regions the first ultrasonic sensor 21 and the second ultrasonic sensor 23, it was demonstrated that The visual field of first ultrasonic sensor 21 and the second ultrasonic sensor 23 has overlapping, i.e. the first ultrasonic sensor 21 and the There are overlapping detection regions, barrier is in overlapping detection regions two ultrasonic sensors 23.Utilize the side of this kind of ultrasonic echo Method can also be seen that the field range of the first ultrasonic sensor 21 and the second ultrasonic sensor 23, when barrier leans on very much When closely from mobile device front end, the blind zone position it can also be seen that ultrasonic sensor is shown by waveform on oscillograph.

As shown in Figure 65, Figure 65 is control block diagram of the utility model from mobile device.It is cut with the intelligence of first embodiment For the first ultrasonic sensor 21 in careless machine 100, the control of the ultrasonic sensor of other embodiments is same.Sensing Device microcontroller 705 conveys instruction to pulse circuit module 708, and pulse circuit module 708 conveys hair to ultrasonic sensor 21 The instruction of ultrasonic wave is sent, ultrasonic sensor receives instruction and sends ultrasonic wave, and ultrasonic sensor receives back echo, and leads to It crosses amplification circuit module 701 and amplifies processing, analog-to-digital conversion process is carried out by analog-to-digital conversion module 702, by filtering mould Block 703 is filtered, and data that treated enter data cache module 704, and sensor microcontroller 705 is data buffer storage The data of 704 the inside of module pass to data processing module 706 and carry out data analysis, and analysis result feeds back to master controller again 707 are executed.Dotted line in Figure 65 indicates that the part is the control module that ultrasonic module is related to.About this from mobile device The control block diagram intelligent grass-removing that is suitable for above-mentioned 13 embodiments of the utility model or description from mobile device.Together Sample is suitable for the embodiment of the avoidance of aforementioned four kinds of forms, i.e., the described control module control mobile module is moved along preset path, The spacing between shell and barrier is kept to be consistently greater than zero；The control module control mobile module advances along different from current The path in direction is mobile；The control module control mobile module is moved along the direction far from barrier；The control module is known The side barrier of other shell moving direction is less than preset distance at a distance from shell, and the control module controls mobile module It moves the other side along moving direction.

As shown in Figure 66, Figure 66 is method flow of the utility model from the 30 cognitive disorders object of control module of mobile device Figure.Described with the intelligent grass-removing 100 of first embodiment, other embodiments from mobile device according to ultrasonic sensor The difference of quantity and ultrasonic wave sending method (alternate emission or emitting simultaneously) carries out corresponding method replacement.

As shown in Figure 66, the method from mobile device cognitive disorders object, it is described from mobile device include control module And first ultrasonic sensor, the control method comprising steps of

S11: log-on data acquisition；

S12: ultrasonic sensor sends ultrasonic wave and receives back echo；

S13: acquired disturbance object distance and echo strength are analyzed according to back echo；

S14: compare obstacle distance and pre-determined distance and compared with echo strength and back wave threshold value disturbance in judgement Principle condition.

When including the first ultrasonic sensor 21 and second ultrasonic sensor 23 from mobile device, obstacle is received The method of object echo comprising steps of

S111: log-on data acquisition；

S112: one in first ultrasonic sensor 21 and second ultrasonic sensor 23 is in the ti time It is inscribed in the ti period that ultrasonic wave, first ultrasonic sensor 21 and second ultrasonic sensor 23 are sent in section Back echo is received, i-th group of back echo is obtained；

S113: another in first ultrasonic sensor 21 and second ultrasonic sensor 23 is in the ti time Emit ultrasonic wave, first ultrasonic sensor 21 and second ultrasonic sensor 23 in the ti+1 period after section Back echo is received within the ti+1 period, obtains i+1 group back echo；

S114: analysis acquired disturbance object distance and echo are carried out to i+1 group back echo and i-th group of back echo Intensity；

S115: compare obstacle distance and pre-determined distance and compared with echo strength and back wave threshold value disturbance in judgement Principle condition.

As i=1, the control method comprising steps of

S11: log-on data acquisition；

S12: the control module controls the first ultrasonic sensor 21 and sends ultrasonic wave in first time period, and described the One ultrasonic sensor 21 and second ultrasonic sensor 23 receive back echo in first time period, obtain first Group back echo；

S13: the control module controls the second time of second ultrasonic sensor 23 after the first period of time Emit ultrasonic wave in section, first ultrasonic sensor 21 and second ultrasonic sensor 23 are in second time period Back echo is received, second group of back echo is obtained；

S14: the control module combines first group of back echo and second group of back echo carry out distance analysis and Echo strength analysis, and by analysis obtain distance value be compared with pre-determined distance, will analysis obtain echo strength value and Transmitted wave threshold value is compared, acquired disturbance object information.

As i=2 in turn in time, the control method comprising steps of

S11: log-on data acquisition；

S14: the control module combines first group of back echo and second group of back echo carry out distance analysis and Echo strength analysis, and by analysis obtain distance value be compared with pre-determined distance, will analysis obtain echo strength value and Transmitted wave threshold value is compared, acquired disturbance object information；

S15: the control module controls the first ultrasonic sensor 21 and sends ultrasonic wave within the third period, and described the One ultrasonic sensor 21 and second ultrasonic sensor 23 receive back echo within the third period, obtain third Group back echo；

S16: the control module combination third group back echo and second group of back echo carry out distance analysis and Echo strength analysis, and by analysis obtain distance value be compared with pre-determined distance, will analysis obtain echo strength value and Transmitted wave threshold value is compared, acquired disturbance object information.

As i=3 in turn in time, the control method comprising steps of

S11: log-on data acquisition；

S16: the control module combination third group back echo and second group of back echo carry out distance analysis and Echo strength analysis, and by analysis obtain distance value be compared with pre-determined distance, will analysis obtain echo strength value and Transmitted wave threshold value is compared, acquired disturbance object information；

S17: the control module controls fourth time of second ultrasonic sensor 23 after the third period Emit ultrasonic wave in section, first ultrasonic sensor 21 and second ultrasonic sensor 23 are within the 4th period Back echo is received, the 4th group of back echo is obtained；

S18: the control module combine the 4th group of back echo and third group back echo carry out distance analysis and Echo strength analysis, and by analysis obtain distance value be compared with pre-determined distance, will analysis obtain echo strength value and Transmitted wave threshold value is compared, acquired disturbance object information.

It can analogize from the above citing, the control module is every time to the i+1 group obstacle obtained within the ti+1 period Object echo and the interior ti group back echo obtained of previous ti period carry out distance analysis and echo strength analysis, and will divide The distance value that analysis obtains is compared with pre-determined distance, and the echo strength value that analysis obtains is compared with transmitted wave threshold value Compared with acquired disturbance object information.Ti period and ti-1 period are the first ultrasonic sensor 21 and second ultrasound respectively Wave sensor 23 emit signal and period and described surpass with the first ultrasonic sensor of the propulsion of period 21 and the second Sonic sensor 23 is sent ultrasonic wave in turn.

Comparison obstacle distance described in above-mentioned steps S14 and S115 and pre-determined distance and compared with echo strength and anti- The method of ejected wave threshold value disturbance in judgement principle condition is that, when the distance value that analysis obtains is greater than given threshold, judgement does not have Barrier.

Comparison obstacle distance described in above-mentioned steps S14 and S115 and pre-determined distance and compared with echo strength and anti- The method of ejected wave threshold value disturbance in judgement principle condition is that when the distance value that analysis obtains is less than given threshold, and analysis obtains When the echo strength value obtained is less than transmitted wave threshold value, no barrier is judged.

Comparison obstacle distance described in above-mentioned steps S14 and S115 and pre-determined distance and compared with echo strength and anti- The method of ejected wave threshold value disturbance in judgement principle condition is that when the distance value that analysis obtains is less than given threshold, but analysis obtains When the echo strength value obtained is greater than transmitted wave threshold value, judgement has barrier.

In above-mentioned steps S13, the processing of back echo includes:

Multiple is amplified to ultrasonic echo analog signal to adjust；

Signal after adjusting to amplification factor carries out analog-to-digital conversion；

Digital filtering is carried out to the signal after analog-to-digital conversion.

The visual field of voltage, umber of pulse and ultrasonic sensor has certain relationship, and voltage is bigger, and umber of pulse is more, visual field Range it is wider, but voltage has a limiting value, and the limiting value of voltage is that the sensor that is determined of sensor characteristics can be born Maximum voltage value.

Although several embodiments of the utility model, those skilled in the art only have been described and illustrated in this specification It should be easy to predict for executing function/described herein or obtaining the other means or structure of structure described herein, often A such variation or modification are all considered as in the scope of the utility model.

Claims

1. a kind of from mobile device comprising:

Shell；

Mobile module is set to below the shell, for driving the shell mobile；

Drive module, for driving the mobile module mobile；

Control module, it is described from mobile device for controlling；

It is characterized in that, the supersonic sensing device assembly to cognitive disorders object, the supersonic sensing are arranged on the shell Device assembly includes the first ultrasonic sensor and the second ultrasonic sensor, first ultrasonic sensor and described the second is surpassed Sonic sensor arranges on the housing at an angle to each otherly, it is described from mobile device further include anti-crosstalk structure, for preventing The ultrasonic wave that first ultrasonic sensor and the second ultrasonic sensor one of both are sent is reflected without barrier by the two Another directly receive.

2. according to claim 1 from mobile device, which is characterized in that the anti-crosstalk structure is passed set on the first ultrasonic wave Between sensor and the second ultrasonic sensor.

3. according to claim 1 from mobile device, which is characterized in that the anti-crosstalk structure extends not to shell front side It is contacted with ultrasonic sensor axis.

4. according to claim 1 from mobile device, which is characterized in that the anti-crosstalk structure extends not to shell front side More than the crosspoint of the projection of the first ultrasonic sensor axis and the second ultrasonic sensor axis.

5. according to claim 1 from mobile device, which is characterized in that the anti-crosstalk structure is located at the first ultrasonic wave biography The front side of sensor sound wave launch point and the second ultrasonic sensor sound wave launch point line simultaneously extends to shell front side.

6. according to claim 1 from mobile device, which is characterized in that the anti-crosstalk structure includes and supersonic sensing The stop wall of the angled setting of device axis.

7. according to claim 6 from mobile device, which is characterized in that the stop wall includes the first retaining wall and second gear Wall, second retaining wall is connect with the first retaining wall and front side extends from the first retaining wall to shell, and second retaining wall is in height side Upward height gradually decreases.

8. according to claim 7 from mobile device, which is characterized in that first retaining wall have top, described second Retaining wall has the upper connecting pin connecting with the first retaining wall, and the upper connecting pin is lower than top in the height direction.

9. according to claim 8 from mobile device, which is characterized in that the anti-crosstalk structure includes the top being located above Face and the underlying virtual parallel face parallel with top surface, the upper connecting pin are lower than top surface in the height direction, and described Two retaining walls have far from the first retaining wall and in the height direction lower than the lower connecting pin of upper connecting pin and connect upper connecting pin with The joint face of lower connecting pin, the range of the angle τ between the joint face and virtual parallel face are 35 ° -55 °.

10. according to claim 1 from mobile device, which is characterized in that the anti-crosstalk structure includes being located above Top surface, the underlying virtual parallel face parallel with top surface and the peripheral wall for connecting top surface, the top surface is enclosed jointly with peripheral wall Circumferentially and the closed anti-crosstalk structure in top surface.

11. according to claim 10 from mobile device, which is characterized in that the supersonic sensing device assembly is put down from virtual It is installed towards top surface direction into anti-crosstalk structure at row face.

12. according to claim 1 from mobile device, which is characterized in that first ultrasonic sensor has first Axis, the second ultrasonic sensor have a second axis, and the angular range that the first axle and second axis are mutually is 60 °- 110 °, the first axle is the axis of the ultrasonic sound field of the first ultrasonic sensor transmitting, and the second axis is second The axis of the ultrasonic sound field of ultrasonic sensor transmitting.

13. according to claim 12 from mobile device, which is characterized in that the first axle was mutually with second axis Angular range is 70 ° -90 °.

14. according to claim 1 from mobile device, which is characterized in that first ultrasonic sensor has first Axis, the second ultrasonic sensor have second axis, and the shell has shell axis, the first axle and/or second Angular range between axis and shell axis is 10 ° -80 °, and the first axle is the super of the first ultrasonic sensor transmitting The axis of sound wave sound field, the second axis are the axis of the ultrasonic sound field of the second ultrasonic sensor transmitting.

15. according to claim 14 from mobile device, which is characterized in that the first axle and/or second axis with Angular range between shell axis is 25 ° -55 °.

16. according to claim 1 from mobile device, which is characterized in that first ultrasonic sensor has first Axis, second ultrasonic sensor have second axis, and the first axle and second axis are coplanar in the height direction, The first axle is the axis of the ultrasonic sound field of the first ultrasonic sensor transmitting, and the second axis is the second ultrasonic wave The axis of the ultrasonic sound field of sensor emission.