CN214201797U - Self-moving equipment and collision detection device thereof - Google Patents
Self-moving equipment and collision detection device thereof Download PDFInfo
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- CN214201797U CN214201797U CN202120097342.5U CN202120097342U CN214201797U CN 214201797 U CN214201797 U CN 214201797U CN 202120097342 U CN202120097342 U CN 202120097342U CN 214201797 U CN214201797 U CN 214201797U
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Abstract
The embodiment of the utility model discloses from mobile device and collision detection device thereof, its collision detection device includes supporting framework, first conducting strip and second conducting strip, wherein, first conducting strip is fixed on the supporting framework, the second conducting strip with first conducting strip sets up along the collision direction relatively, just first conducting strip with it has the deformation space to separate between the second conducting strip. The embodiment of the utility model provides a can confirm the position of barrier from mobile device and collision detection device thereof, for quick, accurate obstacle avoidance provides the guarantee, promote from mobile device keep away the obstacle success rate and keep away the obstacle efficiency.
Description
Technical Field
The embodiment of the utility model provides a belong to smart machine and make technical field, particularly, relate to a from mobile device and collision detection device thereof.
Background
At the present stage, more and more people have come into life from mobile equipment such as intelligent lawn mowers and sweeping robots, and convenience is brought to the life of people.
The self-moving equipment needs to avoid or bypass the obstacle in the working process, the traditional method is that the obstacle is required to collide, the motor is blocked and the current is increased, at the moment, the circuit can obtain signals, the obstacle is known to exist, then the mower moves backwards for a certain distance and randomly deflects for an angle, the mower continues to move forwards, after the collision occurs, the mower moves backwards for a certain distance and randomly deflects for an angle, and the steps are repeated until the obstacle is bypassed, so that the time is long.
In short, the conventional self-moving device obstacle avoidance has the technical problem that the obstacle avoidance time is long due to the fact that the position of an obstacle cannot be determined.
SUMMERY OF THE UTILITY MODEL
For solving at least one technical problem who exists among the prior art, the embodiment of the utility model provides a from mobile device and collision detection device thereof.
In a first aspect, embodiments of the present invention provide a collision detection apparatus, which
Including supporting framework, first conducting strip and second conducting strip, wherein, first conducting strip is fixed on the supporting framework, the second conducting strip with first conducting strip sets up along the collision direction relatively, just first conducting strip with it has the deformation space to separate between the second conducting strip.
Furthermore, one end of the second conducting strip is a fixed end, and the other end of the second conducting strip is a free end extending in the direction far away from the collision barrier; and/or
The first conducting strip and the second conducting strip are of relatively parallel strip structures.
Further, the first conducting sheet and the second conducting sheet are any one of a conducting silica gel sheet, a copper foil sheet, an aluminum foil sheet and a conducting thin film sheet.
Furthermore, the first conducting strip and the second conducting strip both comprise a vertical section and an inclined section, the inclined section is connected below the vertical section, and the inclined section extends in the direction far away from the collision barrier.
Furthermore, the inclination angle of the inclined section is 20-70 degrees.
Furthermore, the inclination angle is 40-50 degrees.
Further, still include the collision strip, the first end of collision strip is the stiff end, and the second end is for keeping away from the free end that collides the barrier direction extension, the second conducting strip is established the collision strip orientation first conducting strip one side.
Further, the second conducting strip is adhered to one surface, facing the first conducting strip, of the collision strip.
Further, the first end of the collision strip is detachably connected to the support framework through a screw.
In a second aspect, the present invention provides a self-moving device, including:
the collision detecting device according to any one of the above first aspects;
the base, the first conducting strip and the second conducting strip of collision detection device pass through the support chassis and connect on the base.
Further, the first conducting strip and the second conducting strip at least cover the front parts of the side plate at the front end of the self-moving equipment in the advancing direction and the side plates at two sides.
Furthermore, a mowing device is arranged at the bottom of the base.
According to the utility model provides a technical scheme, including establishing first conducting strip and the second conducting strip on supporting framework, first conducting strip and second conducting strip set up relatively and both separate mutually along the collision direction and have the deformation space, through bumping with the barrier, make first conducting strip and second conducting strip contact, and then switch on detection circuitry to confirm the position of barrier, provide the guarantee for keeping away the barrier fast, accurately, promote keeping away of mobile device the barrier success rate and keep away barrier efficiency.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is an exploded schematic view of a three-dimensional structure of a collision detection apparatus according to an embodiment of the present invention;
fig. 2 is an exploded schematic view of another three-dimensional structure of a collision detection apparatus according to an embodiment of the present invention;
fig. 3 is a schematic cross-sectional view of a collision detection device according to an embodiment of the present invention;
fig. 4 is a schematic perspective view of a collision detection device according to an embodiment of the present invention;
fig. 5 is a schematic perspective view of a self-moving device according to an embodiment of the present invention.
Detailed Description
The following detailed description will be made with reference to the accompanying drawings and examples, so that how to implement the technical means of the present invention to solve the technical problems and achieve the technical effects can be fully understood and implemented.
As used in the specification and in the claims, certain terms are used to refer to particular components. As one skilled in the art will appreciate, manufacturers may refer to a component by different names. This specification and claims do not intend to distinguish between components that differ in name but not function. In the following description and in the claims, the terms "include" and "comprise" are used in an open-ended fashion, and thus should be interpreted to mean "include, but not limited to. "substantially" means within an acceptable error range, and a person skilled in the art can solve the technical problem within a certain error range to substantially achieve the technical effect. Furthermore, the terms "coupled" or "electrically connected" are intended to encompass any direct or indirect electrical coupling. Thus, if a first device couples to a second device, that connection may be through a direct electrical coupling or through an indirect electrical coupling via other devices and couplings. The following description is of the preferred embodiment of the present invention, and is made for the purpose of illustrating the general principles of the invention and not for the purpose of limiting the invention. The protection scope of the present invention is subject to the limitations defined by the appended claims.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
DETAILED DESCRIPTION OF EMBODIMENT (S) OF INVENTION
Please refer to fig. 1, which is a schematic diagram illustrating a three-dimensional structure explosion of a collision detection apparatus according to an embodiment of the present invention, the collision detection apparatus includes a first conductive sheet 10, a second conductive sheet 20 and a supporting frame 30, wherein the first conductive sheet 10 is fixed on the supporting frame 30, the second conductive sheet 20 and the first conductive sheet 10 are disposed oppositely along a collision direction, and a deformation space is formed between the first conductive sheet 10 and the second conductive sheet 20.
Here, the supporting framework 30 is a mounting mechanism of the collision detecting apparatus, and includes, but is not limited to, a base of the self-moving device or a supporting member provided on the base.
Referring to fig. 2 to 4, the portable electronic device includes a supporting device body and the base 30 provided with a traveling device for driving the supporting device body to move, the first conductive sheet 10 is connected to the supporting frame 30, specifically, the first conductive sheet 10 and the second conductive sheet 20 are connected in an integrated manner, an adhesive manner, or a detachable manner, and the like, the first conductive sheet 10 and the second conductive sheet 20 are arranged in front and back directions along a collision direction of the collision detecting device, specifically, the second conductive sheet 20 is arranged at a front end of the collision direction of the collision detecting device, the first conductive sheet 10 is arranged at a rear end of the second conductive sheet 20 according to the collision direction of the collision detecting device, and the two are not in contact with each other but separated by a deformation space, the collision detecting device maintains the deformation space therebetween in a state, when the front end of the collision direction of the collision detecting device encounters an obstacle, the second conductive sheet 10 contacts with an obstacle, the second conductive sheet 10 moves to the position of the first conductive sheet 10 to deform under the pressure of the obstacle and contacts with the first conductive sheet 10, so that a detection circuit connecting the first conductive sheet 10 and the second conductive sheet 20 is conducted, a detector in the detection circuit detects the position of the obstacle, and when the conductive sheet is introduced into a self-moving device, the travelling device of the self-moving device changes the travelling direction according to the position of the obstacle, so that the obstacle can be rapidly bypassed, and an unfinished work task is performed.
In this embodiment, the first conductive sheet 10 and the second conductive sheet 20 are arranged at the front end of the collision detection device in the collision direction, and are arranged oppositely and separated by a deformation space, so that the first conductive sheet 10 is in contact with the second conductive sheet 20 by the collision of the second conductive sheet 10 with the obstacle, and the detection circuit is turned on, and the exact position of the obstacle is determined according to the contact position of the first conductive sheet 10 and the second conductive sheet 20, thereby providing guarantee for fast and accurate obstacle avoidance, and improving the obstacle avoidance success rate and the obstacle avoidance efficiency of the mobile device.
In one embodiment of the present invention, the first conductive sheet 10 is bonded to the supporting frame 30 while being away from the second conductive sheet 20.
Specifically, the second conductive sheet 20 is movable, and the first conductive sheet 10 is fixed, so that the second conductive sheet 20 moves toward the first conductive sheet 10 and deforms by the collision between the second conductive sheet 20 and the obstacle, and the two contact each other. Here, the first conductive sheet 10 and the support frame 30 are fixed by adhesion, that is, the first conductive sheet 10 is adhered to the front end of the support frame 30 in the collision direction, which is away from the second conductive sheet 20.
Further, one end of the second conductive sheet 20 is a fixed end, and the other end is a free end extending away from the collision obstacle; and/or
The first conductive sheet 10 and the second conductive sheet 20 are of relatively parallel strip-shaped structures.
Specifically, the second conductive sheet 20 herein is not entirely deformed in a moving manner during a collision, but only a part of the second conductive sheet 20 is deformed in a moving manner, that is, one end of the second conductive sheet 20 is a fixed end, and the other end of the second conductive sheet is a free end, wherein the fixed end is an end of the second conductive sheet 20 close to the top 310 of the supporting frame 30, and is connected to the top 310 of the supporting frame 30, and the free end extends towards the bottom 320 of the supporting frame 30, and also extends towards a direction in which the collision detection device is far away from a collision obstacle, that is, towards the oblique rear of the supporting frame 30.
In another preferred embodiment of the present invention, the first conductive sheet 10 and the second conductive sheet 20 are two strip-shaped structures parallel to each other, wherein the first conductive sheet 10 of the strip-shaped structure is disposed along the outer wall of the supporting frame 30, and the second conductive sheet 20 of the strip-shaped structure is disposed opposite to the first conductive sheet 10 at the outer side of the first conductive sheet 10.
In addition, the first conductive sheet 10 and the second conductive sheet 20 are any one of a conductive silicone sheet, a copper foil sheet, an aluminum foil sheet, and a conductive thin film sheet.
Specifically, the material of the first conductive sheet 10 and the second conductive sheet 20 may be any conductive material in principle, but considering that the moving deformation performance is also required, in a preferred embodiment, one of a conductive silicone sheet, a copper foil sheet, an aluminum foil sheet, a conductive thin film sheet, and the like is used for the first conductive sheet 10 and the second conductive sheet 20.
Further, the first conductive sheet 10 and the second conductive sheet 20 each include an inclined section 40 and a vertical section 50, the inclined section 40 is connected below the vertical section 50, and the inclined section 40 extends away from the collision obstacle.
Specifically, the first conductive sheet 10 and the second conductive sheet 20 have the same cross-sectional shape, and each include the vertical section 50 and the inclined section 40, the vertical section 50 and the inclined section 40 are connected to each other, the vertical section 50 is connected to the upper side of the inclined section 40, the inclined direction of the inclined section 40 matches with the shape and structure direction of the bottom position of the support frame 30 or the self-moving device, specifically, one end of the inclined section is connected to the lower side of the vertical section 50, the other section extends not only to the bottom 320 of the support frame 30 but also to the direction away from the collision obstacle, and if the lowest point of the vertical section 50 is used as an origin, the end of the inclined section 40 away from the vertical section 50 is located behind and below the origin.
In order to promote collision detection device's detectivity and detection scope, this embodiment is right slope section 40 with the planar contained angle at bottom 320 place of supporting framework 30 has certain requirement, specifically does the contained angle is between 20 ~ 70 degrees, and so design both can guarantee collision detection device has better detectivity, can guarantee again collision detection device has great detection scope and avoids highly lower barrier to miss examining.
Further, in the other preferred embodiments of the present invention, the included angle is 40 to 50 degrees, so the design of the angle can ensure that the detection sensitivity of the collision detection device is the highest and the detection range is the largest.
In addition, the collision detection device further comprises a collision strip 60, wherein a first end 610 of the collision strip 60 is connected to the top 310 of the support frame 30, a second end 620 is a free end extending towards the bottom 320 of the support frame 30 and away from the collision obstacle, and the second conductive sheet 20 is arranged on the first conductive sheet 10 facing the collision strip 60.
Specifically, the bump bar 60 is disposed on a surface of the second conductive plate 20 departing from the first conductive plate 10, the first end 610 is connected to the top 310 of the support frame 30, the second end 620 is a free end, the second end 620 is formed by extending the bottom 320 of the support frame 30 and the rear of the traveling direction, the second conductive plate 20 is disposed on the bump bar 60, and the two conductive plates can move together, so that the bump bar 60 moves backwards if encountering an obstacle during the traveling process of the self-moving device, and further drives the second conductive plate 20 to move and deform towards the first conductive plate 10, and contact with the first conductive plate 10.
Here, the collision bar 60 is generally made of a plastic material, and can protect the first conductive sheet 10 and the second conductive sheet 20.
Further, the second conductive sheet 20 is bonded to the side of the impact strip 60 facing the first conductive sheet 10.
Here, the second conductive sheet 20 is adhesively connected to the surface of the collision bar 60 facing the first conductive sheet 10, and as the first conductive sheet 10 is adhesively connected to the support frame 30, the second conductive sheet has the technical effects of being convenient to detach, install, repair and replace.
In addition, in other preferred embodiments of the present invention, the first conductive sheet 10 and the second conductive sheet 20 can also be disposed on the corresponding structures by using a connection method of two-shot molding, so as to ensure the reliability of the connection.
Further, in order to facilitate the installation, removal, repair and replacement of the impact bar 60 and the two conductive sheets, the first end 610 of the impact bar 60 is detachably connected to the top portion 310 of the supporting frame 30 by screws.
Of course, the first end 610 of the impact strip 60 can also be connected to the top portion 310 of the supporting frame 30 by injection molding, so as to ensure the reliability of the connection.
Please refer to fig. 5, which is a perspective view of a self-moving device according to an embodiment of the present invention, the self-moving device includes the collision detection apparatus 1 in the above embodiment, the collision detection apparatus 1 is disposed at the bottom of the front end of the self-moving device in the advancing direction, as shown in the collision bar 60, and for the specific shape and structure of the collision detection apparatus 1, the connection relationship of each component, and the corresponding technical effects that can be generated, refer to the description of the above embodiment.
The self-moving equipment further comprises a base, wherein the base is used for bearing the self-moving equipment body and installing a traveling device for driving the equipment body and the base to move, the first conducting strip 10 and the second conducting strip 20 of the collision detection device are connected onto the base through a supporting framework 30, and as described above, the supporting framework 30 serves as a supporting piece for the first conducting strip 10 and the second conducting strip 20 to be installed onto the base.
It should be noted that the self-moving device includes, but is not limited to, an intelligent robot such as a smart mower, a sweeping robot, a meal delivery and shopping guide, and the like.
In addition, in order to expand the detection range of the collision detection device, ensure that the self-moving equipment can detect surrounding obstacles in the process of moving, and facilitate accurate and rapid obstacle avoidance, the first conductive sheet 10 and the second conductive sheet 20 at least cover the front parts of the side plates at the front end in the moving direction of the self-moving equipment and the side plates at the two sides, that is, the collision detection device is arranged at the front side of the base in the moving direction of the self-moving equipment and at the front parts of the base in the left side and the right side in the moving direction of the self-moving equipment, so that the design can detect not only the obstacles in front of the moving direction of the self-moving equipment but also the obstacles in front of the left side and the right side in the moving direction of the self-moving equipment.
Furthermore, mention above with first conducting strip 10 with the detection circuitry that second conducting strip 20 is connected be equipped with detector 70 on the detection circuitry, detector 70 establishes support chassis 30 or setting are in the top of base to through the cable with first conducting strip 10 with second conducting strip 20 carries out electric connection, with first conducting strip 10 with when second conducting strip 20 takes place the contact, detects out the position of barrier, provides the guarantee for keeping away the barrier fast, accurately, promotes from mobile device keep away the barrier success rate and keep away barrier efficiency.
In addition, a mowing device (not shown in the figures) is arranged at the bottom of the base, wherein the mowing device comprises, but is not limited to, a mowing cutter disc, and the mowing cutter disc is driven by a motor to rotate, so that grass under the chassis is cut, and the self-moving equipment becomes a mower.
Other configurations and related connections of the self-moving device are known to those skilled in the art, and embodiments of the present invention will not be described herein.
It should be noted that, although the embodiments of the present invention have been described in detail with reference to the accompanying drawings, the present invention should not be construed as limited to the scope of the present invention. Under the condition that the structures are not in conflict, the structures of the parts mentioned in the above embodiments can be combined with each other, and for avoiding repetition, the technical scheme obtained after combination is not repeated herein, but the technical scheme obtained after combination also belongs to the protection scope of the utility model. Various modifications and changes may be made by those skilled in the art without inventive work within the scope of the present invention as described in the claims.
The examples of the embodiment of the present invention are intended to concisely illustrate the technical features of the embodiments of the present invention, so that a person skilled in the art can visually understand the technical features of the embodiments of the present invention, and do not act as an improper limitation of the embodiments of the present invention.
The above-described embodiments of the apparatus are merely illustrative, where the units described as separate parts may or may not be physically separated, and the parts displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed on multiple network units, and some or all of the modules may be selected according to actual needs to achieve the purpose of the embodiments, and those skilled in the art can understand and implement the embodiments without creative efforts.
While the foregoing description shows and describes several preferred embodiments of the present invention, it is to be understood, as noted above, that the embodiments are not limited to the forms disclosed herein, but are not to be considered as exclusive of other embodiments, and are capable of use in various other combinations, modifications, and environments and is capable of changes within the scope of the inventive concept as expressed herein, commensurate with the above teachings, or the skill or knowledge of the relevant art. Modifications and variations may be effected by those skilled in the art without departing from the spirit and scope of the embodiments of the invention, which should be limited only by the claims appended hereto.
Claims (12)
1. The utility model provides a collision detection device, its characterized in that, includes supporting framework, first conducting strip and second conducting strip, wherein, first conducting strip is fixed supporting framework is last, the second conducting strip with first conducting strip sets up along the collision direction relatively, just first conducting strip with it has the deformation space to separate between the second conducting strip.
2. The collision detecting device according to claim 1, wherein one end of the second conductive sheet is a fixed end, and the other end is a free end extending in a direction away from the collision obstacle; and/or
The first conducting strip and the second conducting strip are of relatively parallel strip structures.
3. The collision detection device according to claim 1, wherein the first conductive sheet and the second conductive sheet are any one of a conductive silicone sheet, a copper foil sheet, an aluminum foil sheet, and a conductive thin film sheet.
4. The collision detecting device according to claim 1, wherein each of the first conductive sheet and the second conductive sheet includes a vertical section and an inclined section, the inclined section being connected below the vertical section, the inclined section extending away from the collision obstacle.
5. The collision detecting device according to claim 4, wherein the inclination angle of the inclined section is 20 to 70 degrees.
6. The collision detecting device according to claim 5, wherein the inclination angle is 40 to 50 degrees.
7. The collision detecting device according to any one of claims 1 to 6, further comprising a collision bar, wherein the first end of the collision bar is a fixed end, the second end of the collision bar is a free end extending away from the collision obstacle, and the second conductive sheet is disposed on a surface of the collision bar facing the first conductive sheet.
8. The impact detection device of claim 7, wherein the second conductive sheet is adhered to a face of the impact strip facing the first conductive sheet.
9. The impact detection apparatus according to claim 7, wherein the first end of the impact strip is detachably attached to the support frame by a screw.
10. An autonomous mobile device, comprising:
the collision detecting device according to any one of claims 1 to 9;
the base, the first conducting strip and the second conducting strip of collision detection device pass through the support chassis and connect on the base.
11. The self-moving apparatus according to claim 10, wherein the first conductive sheet and the second conductive sheet cover at least a front portion of a side plate and both side plates of a traveling direction front end of the self-moving apparatus.
12. The self-moving apparatus according to claim 10, wherein a mowing device is provided at a bottom of the base.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120097342.5U CN214201797U (en) | 2021-01-14 | 2021-01-14 | Self-moving equipment and collision detection device thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120097342.5U CN214201797U (en) | 2021-01-14 | 2021-01-14 | Self-moving equipment and collision detection device thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214201797U true CN214201797U (en) | 2021-09-14 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120097342.5U Active CN214201797U (en) | 2021-01-14 | 2021-01-14 | Self-moving equipment and collision detection device thereof |
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|---|---|
| CN (1) | CN214201797U (en) |
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2021
- 2021-01-14 CN CN202120097342.5U patent/CN214201797U/en active Active
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Effective date of registration: 20220225 Address after: 100192 Zhongguancun Dongsheng Science Park, 66 xixiaokou Road, Haidian District, Beijing 203, floor 2, building A-1, Northern Territory Patentee after: Weilan continental (Beijing) Technology Co.,Ltd. Address before: 100192 rooms B201 and B202, 2 / F, building B-6, Dongsheng Science Park, Zhongguancun, 66 xixiaokou Road, Haidian District, Beijing Patentee before: NINEBOT (BEIJING) TECH Co.,Ltd. |
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