CN210352235U

CN210352235U - Rear collision trigger device for self-walking equipment and self-walking equipment

Info

Publication number: CN210352235U
Application number: CN201921270675.2U
Authority: CN
Inventors: 周国扬; 胡家佳; 薛玉雷
Original assignee: Nanjing Sumec Intelligent Technology Co Ltd
Current assignee: Nanjing Sumec Intelligent Technology Co Ltd
Priority date: 2019-08-07
Filing date: 2019-08-07
Publication date: 2020-04-21
Anticipated expiration: 2029-08-07

Abstract

The utility model provides a rear collision trigger device and from walking equipment for from walking equipment, is in including setting up can inwards move from the walking equipment rear end movable part to and should the movable part setting be in from the inboard trigger device of walking equipment, the utility model discloses a movable part receives the obstacle exogenic action and to from the inboard removal of walking equipment, trigger device, output trigger signal. Therefore, the utility model discloses can discern the barrier at self-walking equipment rear to respond to the barrier.

Description

Rear collision trigger device for self-walking equipment and self-walking equipment

Technical Field

The utility model relates to a garden instrument field especially relates to a rear collision trigger device and from walking equipment.

Background

The self-walking equipment such as the robot that mows that uses at present need be through the automatic discernment of various sensing mode when meetting the barrier at the in-process of work to trigger and keep away the barrier mechanism, prevent equipment idle running or collision damage.

However, current self-propelled devices typically only recognize obstacles in front of the device. The existing self-walking equipment cannot perform collision recognition on a rear obstacle in the process of backing up, so that the equipment is easy to idle or collide and damage due to collision with the rear obstacle in the operation process.

SUMMERY OF THE UTILITY MODEL

In order to solve the defects existing in the prior art, the utility model aims to provide a rear collision trigger device for self-walking equipment and self-walking equipment. The self-walking equipment rear barrier recognition and response device realizes recognition and response of self-walking equipment rear barriers through the movable part at the rear end.

In order to achieve the above object, the utility model provides a rear collision trigger device for from walking equipment, it includes: the movable part is arranged at the rear end of the self-walking equipment and moves from a first position to a second position from the inside of the self-walking equipment under the action of external force; a triggering device provided at a rear portion of the bicycle apparatus and located inside the movable part, the triggering device outputting a triggering signal when the movable part moves to the second position.

Optionally, the rear collision triggering device for the self-walking device is configured to be movable between a first position and a second position, and the movable part is arranged on the rear end face of the self-walking device.

Optionally, the rear collision triggering device for the self-walking equipment is configured such that a hinge capable of moving inward is connected between the upper end of the rear guard plate and the rear end of the housing, and the rear guard plate triggers the triggering device to output a triggering signal when the rear guard plate moves to the second position toward the inner side of the housing under the action of an external force applied to the self-walking equipment by an obstacle.

Optionally, the rear collision triggering device for the self-walking apparatus is further provided with a sensing rod at the lower end of the rear guard plate, the sensing rod is arranged to be approximately horizontal, the rear end of the sensing rod is connected to the lower side of the inner wall of the rear guard plate, the front end of the sensing rod extends towards the triggering device, and the sensing rod is arranged to be approximately as high as the triggering device.

Optionally, in the rear collision triggering device for a self-walking apparatus, the rear guard plate is located at the first position without an external force, and a first distance is kept between the front end of the connected sensing rod and the triggering device; under the action of external force applied by the barrier to the self-walking equipment, the rear guard plate moves inwards from the first position to the second position to drive the front end of the induction rod connected with the rear guard plate to reach within the triggering distance of the triggering device, and a triggering signal is generated; the first distance is greater than the trigger distance.

Optionally, the rear collision triggering device for the self-walking apparatus is further configured to further include a rear guard plate, wherein the rear guard plate is disposed at a front end of the sensing rod, and the rear guard plate is disposed at a rear end of the sensing rod.

Optionally, the triggering device is provided with one of a hall element and a magnetic material, the sensing rod is provided with the other of the hall element and the magnetic material, and under the action of an obstacle, the rear guard plate moves inwards from the first position to the second position to drive the hall element or the magnetic material arranged on the sensing rod to electromagnetically sense the triggering device and output a triggering signal.

Optionally, the rear collision triggering device for the self-walking apparatus is further provided with a rear collision triggering device, wherein the rear collision triggering device is connected to the rear end of the casing, and the rear collision triggering device is connected to the rear end of the casing.

And simultaneously, the utility model also provides a from walking equipment, it is including as above arbitrary back collision trigger device.

Compared with the prior art, the utility model has the following technical effects:

1. the utility model discloses the utilization setting is in from the movable part that the walking equipment rear end can inwards move to and be in corresponding movable part setting from the inboard trigger device of walking equipment, the response barrier makes movable part under the exogenic action of barrier to from the inboard removal of walking equipment, trigger device, output trigger signal. Therefore, the utility model discloses can discern the barrier at self-walking equipment rear, especially can retreat the in-process from the self-walking equipment and respond to the rear barrier, adjust the walking state.

2. Further, the utility model discloses the inboard position that corresponds trigger device at movable part sets up the response stick, can trigger at response stick front end setting the magnetic material or the electric contact of trigger device trigger through magnetic material, electric contact or direct physical contact trigger device produces trigger signal. Therefore, the movable part and the rear guard plate part of the movable part can keep a proper distance with the internal structure of the self-walking equipment, false triggering is prevented, assembly is facilitated, a buffer distance is provided for collision of obstacles, and the self-walking equipment can be effectively protected.

Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the invention.

Drawings

The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, together with the embodiments of the invention for the purpose of explanation and not limitation of the invention. In the drawings:

fig. 1 is a schematic view of the overall structure of a self-propelled device according to the present invention.

In the drawings, 1 denotes a rear fender; 2 denotes a housing; 3 represents a trolley; 4 denotes an elastic bar; 5 denotes a hinge; 6 denotes a sensing bar; 7 denotes a switch; 8 denotes an obstacle; and 9 denotes the ground.

Detailed Description

The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are presented herein only to illustrate and explain the present invention, and not to limit the present invention.

The meaning of "and/or" in the present invention means that they exist individually or both at the same time.

The meaning of "front and back" in the present invention means that the direction of travel of the self-walking apparatus is front, and vice versa, relative to the self-walking apparatus itself; and not to the specific limitations of the device mechanism of the present invention.

The term "connected" as used herein may mean either a direct connection between elements or an indirect connection between elements through other elements.

The utility model discloses in the meaning of "upper and lower" when referring to from the traveling equipment in operating condition, be promptly for last by the directional direction of from the traveling equipment in ground, otherwise promptly for down, and not right the utility model discloses a device mechanism's specific injecing.

The utility model provides a similar self-walking equipment that fig. 1 is shown, including mowing robot and other possess from the equipment of walking function. The self-walking equipment mainly comprises:

a housing 2, and a trolley 3 covered by the housing 2. In order to realize self-walking and mowing, the trolley 3 is also specifically provided with:

the driving wheel is controlled by the internal control unit of the self-walking equipment to move and drive the self-walking equipment to walk, turn, stop or retreat on the ground 9;

and a working part which is arranged below the trolley 3 and is connected with a motor for driving the working device to cut grass and the like.

Because the working environment of the self-walking equipment is complex, the self-walking equipment needs to back up backwards to avoid obstacles or work, and the self-walking equipment further comprises the following structures for identifying rear obstacles and preventing the trolley 3 from colliding:

a movable member provided at a rear end of the self-propelled device and movable from a first position at a rear side to a second position inside the self-propelled device by an external force;

a trigger device fixedly arranged inside the movable part, in one way, at the rear end of the trolley 3; the trigger device outputs a trigger signal when the movable part moves to or within the second position.

Specifically, in one implementation mode, the movable part comprises a rear protective plate 1 arranged on the rear end face of the self-walking equipment housing, and the upper end of the rear protective plate is rotatably connected with a housing 2 on the upper part of the self-walking equipment. The rear guard plate 1 moves to the inner side of the housing 2 to a second position or within the second position under the action of an external force applied when a barrier 8 on the rear side of the self-walking equipment collides with the self-walking equipment, so that the trigger device is triggered to output a trigger signal, the trigger signal is identified by a control unit in the self-walking equipment to drive the driving wheel to brake or move forwards or to the side, and the phenomenon that a trolley 3 in the self-walking equipment directly collides with the barrier 3 to break down or idle is avoided.

In a more specific implementation manner, the upper end of the rear protection plate 1 and the rear end of the housing 2 may be connected by a hinge 5 or a movable structure such as a rotating shaft or a snap ring. The connecting structure between the two can move inwards to provide a travel distance for the rear guard plate 1 to trigger the trigger device.

In an implementation mode, in order to prevent the rear guard plate from being directly collided by the barrier 8 to damage the rear end of the trolley 3 and damage the rear end of the trolley, the lower end of the rear guard plate 1 can be further provided with an induction rod 6, and the induction rod 6 can be arranged to be approximately horizontal. The rear end of the induction rod 6 is connected with the lower side of the inner wall of the rear protection plate 1, the front end of the induction rod extends towards the trigger device, and the induction rod 6 is arranged at a height close to that of the trigger device. Therefore, the front end of the induction rod 6 can keep a first distance with the trigger device under the action of no external force; and under the action of external force applied by the barrier 8 to the self-walking equipment, the self-walking equipment synchronously moves from the first position to the second position along with the rear protection plate 1, the rear protection plate 1 drives the induction rod 6 connected with the rear protection plate, so that the front end of the induction rod 6 reaches the triggering distance of the triggering device, and a triggering signal is generated.

Under this kind of realization, because first distance is greater than trigger the distance to the length of response stick 6 itself can also provide for backplate 1 of its rear end for dolly 3 rear end bigger buffer space distance, consequently, the utility model discloses a from walking equipment, backplate 1 bumps when touching the barrier and inwards moving to the second position after, response stick 6 gets into within the trigger distance of rear collision trigger device, but backplate 1 still keeps having at least for dolly 3 rear end the length of response stick 6. At this point, the self-propelled device can already be stopped or steered by the trigger signal, so that the vehicle 3 is not directly impacted by the rear obstacle 8.

Further, in order to realize the above-mentioned buffering space and maintain the distance between the rear protection plate 1 connected to the rear end of the housing 2 and the trigger device at the first position beyond the trigger distance, an elastic rod 4 may be further connected inside the housing 2. The elastic rod 4 is upwards abutted against and supports the housing 2 from the top of the trolley 3, so that a certain elastic space is provided for the housing 2, the housing 2 is heightened, the rear end of the housing can extend beyond the rear end face of the trolley 3, and a space for installing the rear protection plate 1 and the sensing rod 6 connected with the rear protection plate and/or reserving a sensing distance is provided.

The triggering device of the self-walking device can be realized by a switch 7, an electric contact or a Hall element matched with a magnetic material and the like.

The trigger device can be directly set as a mechanical or electronic switch, the switch 7 can be directly triggered by direct physical contact between the front end of the induction rod 6 and the switch 7, and the switch 7 in a triggered state generates a trigger signal to the control unit to adjust the driving mode of the trolley 3 to carry out operation such as obstacle avoidance, steering, braking and the like

In other implementations, the trigger device and the front end of the sensing rod 6 may be provided with electrical contacts respectively. The obstacle 8 touches the rear guard plate 1, and under the external force effect of the obstacle 8, the rear guard plate 1 moves inwards to the second position from the first position, drives the electric contact arranged at the front end of the induction rod 6 to shift forwards within the triggering distance, and the electric contact at the front end of the induction rod 6 is electrically contacted with the electric contact of the triggering device to generate a triggering signal.

Or, the hall element and the magnetic material can be further arranged to further ensure a mechanical triggering mode or independently realize the output of the triggering signal. In this way, the trigger device is provided with a hall element, and the induction bar is provided with a magnetic material; or the trigger device is provided with a magnetic material, and the induction rod is provided with a Hall element. Therefore, under the touch action between the obstacle 8 and the rear guard plate 1, the rear guard plate 1 moves inwards from the first position to the second position, the Hall element or the magnetic material arranged on the induction rod 6 is driven to approach the trigger device, and the distance change between the Hall element for sensing and the magnetic material enables the trigger device to electromagnetically sense and output a trigger signal. The trigger device is provided with a Hall element or a magnetic material, so that a trigger signal in an electromagnetic mode can be obtained at a longer trigger distance in an electromagnetic mode, and the trolley 3 is prevented from being damaged by touch; the mechanical switch trigger or the electric contact of the electric contact can be further matched, a second trigger signal or a third trigger signal at a short trigger distance can be further obtained, the state of the barrier 8 is comprehensively judged by combining the trigger signals, and the self-walking equipment is controlled to respond to carry out backward obstacle avoidance, steering or braking.

The utility model has the advantages that:

the utility model provides a self-walking equipment such as mowing robot has rear collision recognition function, and it utilizes backplate 1 as the movable body, and when backplate 1 collided with the barrier, the removal of the relative housing 2 of backplate 1 drove the relative trigger device of response stick 6 and produces the position change, changes the distance between the trigger devices such as 6 front ends of response stick and switch, thereby makes trigger device can be triggered and indirect response backplate 1's the collision condition, provides the backward collision response for equipment.

Those of ordinary skill in the art will understand that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing embodiments, or equivalents may be substituted for elements thereof. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A rear impact triggering mechanism for a self-propelled device, comprising:

the movable part is arranged at the rear end of the self-walking equipment and moves from a first position to a second position from the inside of the self-walking equipment under the action of external force;

and a trigger device provided at a rear portion of the self-walking apparatus and located inside the movable part, and outputting a trigger signal when the movable part moves to the second position.

2. The rear collision trigger apparatus for a self-propelled device according to claim 1, wherein the movable member includes a rear fender (1) provided at a rear end face of the self-propelled device, and an upper end thereof is rotatably connected to a housing (2) at an upper portion of the self-propelled device.

3. The rear collision trigger apparatus for a self-propelled device according to claim 2, wherein a hinge (5) capable of moving inward is connected between the upper end of the rear fender (1) and the rear end of the housing (2), and the rear fender (1) triggers the trigger means to output the trigger signal when moving to the second position toward the inside of the housing (2) by an external force applied to the self-propelled device by an obstacle (8).

4. The rear collision trigger apparatus for a self-propelled device according to claim 3, wherein the rear fender (1) is further provided at a lower end thereof with a sensing bar (6), the sensing bar (6) is disposed approximately horizontally, the rear end thereof is connected to the underside of the inner wall of the rear fender (1), the front end thereof extends toward the triggering means, and the sensing bar (6) is disposed at a height close to the height of the triggering means.

5. The rear collision trigger apparatus for a self-propelled device according to claim 4, wherein the rear fender (1) is in a first position without an external force, and a first distance is maintained between a front end of the sensing rod (6) connected thereto and the trigger means;

under the action of an external force applied by the barrier (8) to the self-walking equipment, the rear protective plate (1) moves inwards from the first position to the second position, the front end of the induction rod (6) connected with the rear protective plate is driven to reach the triggering distance of the triggering device, and a triggering signal is generated;

the first distance is greater than the trigger distance.

6. The rear collision trigger device for the self-walking apparatus as claimed in claim 4, wherein the trigger means and the front end of the sensing bar (6) are respectively provided with an electrical contact, and the rear fender (1) moves inwards from the first position to the second position under the action of an external force, so that the electrical contact arranged at the front end of the sensing bar (6) is brought into electrical contact with the electrical contact of the trigger means to generate the trigger signal.

7. The rear collision trigger device for the self-walking equipment as claimed in claim 4, wherein the trigger device is provided with one of a Hall element or a magnetic material, the sensing rod (6) is provided with the other of the Hall element or the magnetic material, and under the action of the obstacle (8), the rear guard plate (1) moves inwards from the first position to the second position, so that the Hall element or the magnetic material arranged on the sensing rod (6) is driven to electromagnetically induce with the trigger device to output a trigger signal.

8. The rear impact triggering device for a self-walking apparatus as claimed in claim 2, characterized in that an elastic bar (4) is connected inside the casing (2), the elastic bar (4) abuts and supports the casing (2) upwards, keeping the distance between the rear fender (1) to which the rear end of the casing (2) is connected and the triggering means outside the triggering distance in the first position.

9. A self-propelled apparatus comprising a rear impact triggering device as claimed in any one of claims 1 to 8.