DE202018100838U1 - Self-driving device - Google Patents

Abstract

A self-propelled device comprising: a housing; a chassis supporting and moving the self-propelled device and comprising a drive roller and an output roller; a control device for controlling the movement and operation of the self-propelled device; characterized in that the self-propelled device further a state detecting device comprising: at least two magnetic tripping elements arranged with the output roller co-rotating with the output roller so that the ends of adjacent magnetic tripping elements located on the same side of the output roller differ in polarity from one another; which is designed to detect a magnetic field signal generated by the magnetic triggering elements and to generate a sensor signal, - a detection device which serves to determine and to detect a rotational state of the driven roller on the basis of the sensor signal whether the self-propelled device is performing a normal movement.

Description

Domain of utility model

The present utility model relates to the field of moving devices, in particular to a self-propelled device.

Technical background

Thanks to the constant development of science and technology, various self-propelled devices, such as suction robots and automatic lawn mowers, are already part of daily life today. Such self-propelled devices have a chassis, a working device and an automatic control device, which allows the respective device to move automatically in a certain area while doing work.

In the working area of a self-propelled device obstacles are often present, which can interfere with the operation of the self-propelled device or even damage the self-propelled device. To avoid this, it is known from the prior art to arrange on a base support of the self-propelled device, a floating body, which moves in a collision of the self-propelled device with an obstacle relative to the base support. This relative displacement is detected by a displacement sensor, which recognizes the obstacle and triggers an evasive movement of the self-propelled device. With this solution, however, a high installation cost and high costs are associated.

Revelation of the utility model

Assuming that the state-of-the-art condition detecting devices require a high installation cost and high cost, it is necessary to provide an easily mountable and inexpensive self-traveling device and a state detecting method therefor.

• Ein selbstverfahrendes Gerät umfasst
  • - ein Gehäuse;
  • - ein Fahrwerk, welches das selbstverfahrende Gerät abstützt und bewegt und eine Antriebsrolle und eine Abtriebsrolle umfasst;
  • - eine Steuereinrichtung, die das Fahrwerk dazu ansteuert, das selbstverfahrende Gerät zu bewegen und seine Arbeitsaufgabe durchführen zu lassen;

For this purpose, the present utility model proposes the following configurations:

• A self-propelled device includes
  • a housing;
  • - A chassis which supports the self-propelled device and moves and includes a drive roller and an output roller;
  • - a control device that controls the landing gear to move the self-propelled device and to perform its task;

• - mindestens zwei magnetische Auslöseelemente, die sich mit der Abtriebsrolle mitdrehend an der Abtriebsrolle so angeordnet sind, dass sich die an derselben Seite der Abtriebsrolle befindlichen Enden benachbarter magnetischer Auslöseelemente in der Polarität voneinander unterscheiden;
• - einen Signalsensor, der dazu ausgebildet ist, ein von den magnetischen Auslöseelementen erzeugtes Magnetfeldsignal zu erfassen und ein Sensorsignal zu erzeugen;
• - eine Erfassungseinrichtung, die dazu dient, anhand des Sensorsignals einen Drehzustand der Abtriebsrolle zu ermitteln und daran zu erkennen, ob das selbstverfahrende Gerät eine normale Bewegung durchführt.

The self-propelled device further comprises a condition detection device comprising:

• - At least two magnetic tripping elements, which are arranged with the output roller co-rotating on the driven roller so that the located on the same side of the driven pulley ends of adjacent magnetic tripping elements differ in polarity from each other;
• a signal sensor adapted to detect a magnetic field signal generated by the magnetic trip elements and to generate a sensor signal;
• - A detection device which serves to determine based on the sensor signal a rotational state of the driven roller and to recognize whether the self-propelled device performs a normal movement.

It is preferably provided that the signal sensor is arranged on the housing.

It is preferably provided that the signal sensor is designed as a Hall sensor or reed switch.

It is preferably provided that the signal sensor is a linear Hall sensor.

It is preferably provided that a sensor signal is generated by the signal sensor during a rotation of the output roller, which sensor signal comprises alternately occurring antiphase waveforms.

It is preferably provided that the detection device converts the waveform generated by the signal sensor into a square wave signal, determines a rotational state of the output roller based on the square wave signal and recognizes in the rotational state whether the self-propelled device performs a normal movement.

• - einen Komparator, der zum Vergleich des Sensorsignals mit einem voreingestellten Wert oder einem voreingestellten Schwellenwert und zur Ausgabe eines ersten Rechteckwellensignals in Abhängigkeit von dem Vergleichsergebnis;
• - eine logische Torschaltung, die dazu ausgebildet ist, eine logische Operation des ersten Rechteckwellensignals durchzuführen, um ein zweites Rechteckwellensignal auszugeben;
• - einen Prozessor, der dazu dient, anhand des zweiten Rechteckwellensignals einen Drehzustand der Abtriebsrolle zu ermitteln und an dem Drehzustand zu erkennen, ob das selbstverfahrende Gerät eine normale Bewegung durchführt.

It is preferably provided that the detection device comprises:

• a comparator for comparing the sensor signal with a preset value or a preset threshold value and outputting a first square wave signal as a function of the comparison result;
• a logical gate configured to perform a logical operation of the first square wave signal to output a second square wave signal;
• - a processor which serves to determine a rotational state of the driven pulley on the basis of the second square wave signal and to detect in the rotational state whether the self-propelled device performs a normal movement.

It is preferably provided that the processor is used to count the second square wave signal in a preset time in order to obtain an actual count value and to compare the actual count value with a preset count value in order to determine a rotational state of the output roller.

It is preferably provided that the state detection device further comprises an amplifier which is connected between the signal sensor and the detection device in order to amplify the sensor signal.

• - eine AD-Abtasteinheit, die dazu dient, in einer voreingestellten Zeit das Sensorsignal abzutasten und eine AD-Wandlung durchzuführen, um einen Ist-Abtastwert auszugeben;
• - einen Prozessor, der dazu ausgebildet ist, anhand einer Änderungsrate des Ist-Abtastwerts einen Drehzustand der Abtriebsrolle zu ermitteln und an dem Drehzustand zu erkennen, ob das selbstverfahrende Gerät eine normale Bewegung durchführt.

It is preferably provided that the detection device comprises:

• an AD sampling unit for sampling the sensor signal at a preset time and performing an AD conversion to output an actual sample;
• - A processor which is adapted to determine based on a rate of change of the actual sample a rotational state of the driven pulley and to recognize in the rotational state, whether the self-propelled device performs a normal movement.

It is preferably provided that the signal sensor is provided in a number of at least two, wherein the signal sensors can each be triggered by the adjacent magnetic trigger elements to generate a square wave signal, wherein the detection means based on the square wave signal determines a rotational state of the driven roller and detects the rotational state whether the self-propelled device performs a normal movement.

It is preferably provided that the signal sensor is designed as a digital Hall sensor.

• - eine logische Torschaltung, die dazu ausgebildet ist, eine logische Operation des Rechteckwellensignals durchzuführen, um ein drittes Rechteckwellensignal auszugeben;
• - einen Prozessor, der dazu dient, anhand des dritten Rechteckwellensignals einen Drehzustand der Abtriebsrolle zu ermitteln und an dem Drehzustand zu erkennen, ob das selbstverfahrende Gerät eine normale Bewegung durchführt.

It is preferably provided that the detection device comprises:

• a logical gate configured to perform a logical operation of the square wave signal to output a third square wave signal;
• - A processor which serves to determine based on the third square wave signal a rotational state of the driven pulley and to recognize in the rotational state, whether the self-propelled device performs a normal movement.

It is preferably provided that the processor is used to count the third square wave signal in a preset time in order to obtain an actual count value and to compare the actual count value with a preset count value in order to determine a rotational state of the output roller.

It is preferably provided that the magnetic triggering element is designed as an electromagnet or permanent magnet.

It is preferably provided that the magnetic release elements are arranged spaced apart in the circumferential direction of the driven roller.

It is preferably provided that the magnetic release elements are arranged equidistant from each other on a circumference of the driven roller.

It is preferably provided that the magnetic pole of the magnetic triggering element points towards the center of rotation of the output roller.

It is preferably provided that the self-propelled device comprises a spindle and the driven roller is a steering wheel rotatable eccentrically about the spindle, wherein the magnetic triggering element is arranged laterally next to the spindle and above the driven pulley.

It is preferably provided that the signal sensor has a constant distance from the driven pulley.

• - ein Signalausgabeteil, das mittels einer Abtriebsrolle fest angeordnet ist und ein von einem Bewegungszustand der Abtriebsrolle abhängiges Frequenzsignal ausgibt;
• - einen Signalsensor, der zum Empfang einer Änderung des Frequenzsignals dient und einen ersten Zustand, in dem er eine Änderung des Frequenzsignals empfängt, und einen zweiten Zustand, in dem er keine Änderung des Frequenzsignals empfängt, aufweist, wobei der erste Zustand einer normalen Bewegung der Abtriebsrolle und der zweite Zustand einem Stillstand der Abtriebsrolle entspricht;
• - eine Erfassungseinrichtung, die mit dem Signalsensor elektrisch verbunden ist und im zweiten Zustand des Signalsensors einen Hindernisausweichbefehl ausgibt.

The present utility model also proposes the following configurations: A condition detection device comprises:

• - A signal output part, which is fixedly arranged by means of a driven pulley and outputs a dependent of a state of movement of the driven pulley frequency signal;
• a signal sensor for receiving a change in the frequency signal and having a first state in which it receives a change of the frequency signal and a second state in which it does not receive a change of the frequency signal, wherein the first state of normal movement of the Output roller and the second state corresponds to a standstill of the driven roller;
• - A detection device which is electrically connected to the signal sensor and outputs an obstacle avoidance command in the second state of the signal sensor.

It is preferably provided that the signal output part of a plurality of magnetic Trigger elements and the frequency signal is a magnetic field change curve.

It is preferably provided that the magnetic poles of each adjacent magnetic tripping elements are directed in opposite directions.

It is preferably provided that the signal output part is arranged on any circumference of the output roller.

It is preferably provided that adjacent magnetic tripping elements are arranged equidistant from each other on a circumference of the output roller.

It is preferably provided that the signal sensor is assigned to the circumference on which the magnetic tripping elements are located, and is designed as a Hall element, linear Hall element or reed switch, with which a magnetic signal output by the magnetic tripping element can be received.

It is preferably provided that the signal sensor is fixedly arranged on the device body such that its position is assigned to the upper vertex of the circumference on which the magnetic tripping elements are located.

The present utility model further proposes a self-traveling apparatus comprising the above-described condition detecting means.

It is preferably provided that the driven roller is a steering wheel which can be rotated eccentrically about a spindle.

It is preferably provided that the signal sensor is arranged laterally next to the spindle and is located above the driven pulley.

In the self-traversing apparatus described above, due to the alternating arrangement of magnetic poles of the magnetic tripping elements, the signal sensor can generate different sensor signals which occur with a certain regularity or with a switching of certain frequencies during the rotation of the output roller. If the self-propelled device has a collision, which leads to the reduction of the speed of the driven pulley or to its stoppage, the regularity of the sensor signals is destroyed. Thereby, the collision of the self-moving device can be detected and a cornering or a backward movement of the automatic lawnmower can be initiated. Thus, the present invention distinguishes itself from the conventional collision detection with the aid of a floating body and a displacement sensor by simple construction, simple installation and reduced costs.

list of figures

• 1 den schematischen Aufbau eines selbstverfahrenden Geräts gemäß einem ersten Ausführungsbeispiel des vorliegenden Gebrauchsmusters;
• 2 eine Teilvergrößerungsansicht einer Zustandserfassungseinrichtung gemäß dem ersten Ausführungsbeispiel des vorliegenden Gebrauchsmusters;
• 3 in schematischer Darstellung eine Anordnung von magnetischen Auslöseelementen gemäß dem ersten Ausführungsbeispiel des vorliegenden Gebrauchsmusters;
• 4 eine schematische Darstellung von an einer Abtriebsrolle angebrachten magnetischen Auslöseelementen gemäß einem zweiten Ausführungsbeispiel des vorliegenden Gebrauchsmusters;
• 5 ein Blockschaltbild zur Darstellung der Verbindung zwischen einem Signalsensor und einer Erfassungseinrichtung gemäß dem zweiten Ausführungsbeispiel des vorliegenden Gebrauchsmusters;
• 6 ein Blockschaltbild zur Darstellung der Verbindung zwischen einem Signalsensor und einer Erfassungseinrichtung gemäß einem dritten Ausführungsbeispiel des vorliegenden Gebrauchsmusters;
• 7 ein Blockschaltbild zur Darstellung der Verbindung zwischen einem Signalsensor und einer Erfassungseinrichtung gemäß einem vierten Ausführungsbeispiel des vorliegenden Gebrauchsmusters.

Show it

• 1 the schematic structure of a self-propelled device according to a first embodiment of the present utility model;
• 2 a partial enlargement view of a state detecting device according to the first embodiment of the present utility model;
• 3 a schematic representation of an arrangement of magnetic tripping elements according to the first embodiment of the present utility model;
• 4 a schematic representation of attached to a driven pulley magnetic release elements according to a second embodiment of the present utility model;
• 5 a block diagram illustrating the connection between a signal sensor and a detection device according to the second embodiment of the present utility model;
• 6 a block diagram illustrating the connection between a signal sensor and a detection device according to a third embodiment of the present utility model;
• 7 a block diagram illustrating the connection between a signal sensor and a detection device according to a fourth embodiment of the present utility model.

Concrete embodiments

For a better understanding of the present utility model, this will be described in more detail below with reference to the accompanying drawings, in which preferred embodiments of the present invention are given. The present utility model can be implemented in various forms and is not limited to the embodiments shown here. Rather, these embodiments serve to further explain the disclosures of the present utility model.

In the description of the present utility model, the terms "central", "upper", "lower", "left", "right", "vertical", " horizontally, left, right, inside, outside, etc., as used in relation to the illustration in the respective figures, to merely describe the present utility model and, if necessary, to simplify the description. In other words, these terms neither imply nor explicitly refer to the positioning as well as the configuration and operation of the device or element in question in a predetermined positioning, so that here too there is no restriction on the present utility model. In addition, the terms "first,""second," and "third" should not be construed as an explicit or implicit reference to relative importance, but are for description only. Furthermore, the term "attachment" of an element to a further element is to be understood as meaning that the element can be arranged directly or else via an intermediate piece on the further element. Likewise, the "connection" of one element to another element may mean that the element is connected directly or in the presence of an intermediate piece to the further element.

In the description of the present utility model, the terms "attach", "interconnected", "connect" o. The like., Unless expressly stated otherwise, be understood in a broader sense. So it can be e.g. both a fixed, a detachable or a one-piece connection as well as a mechanical and an electrical connection. In addition, direct connections, indirect or via an intermediate piece produced compounds as well as inner connections of two elements are conceivable. As the average expert in this field, one can start from the state of affairs in order to determine the meaning of the terms mentioned in the present utility model.

Unless otherwise defined herein, all terms or scientific terms used in the present specification are to be understood in a manner known to those skilled in the art. The terms used in the description of the present utility model are not a limitation of the present utility model, but are merely illustrative of concrete embodiments. Moreover, the term "and / or" used in the present specification includes any and all combinations of one or more of the subject articles.

Furthermore, the features included in the following various embodiments of the present invention may be combined with each other as long as it does not conflict.

Out 1 and 2 shows a first embodiment of the present utility model, the state detection device 100 for a lawn mower, the main parts being a signal output part, a signal sensor 3 and a detection device electrically connected to the signal sensor. In this case, the signal output part by means of an output roller 2 fixedly arranged and can be used to output one of a rotational frequency of the driven pulley 2 serve dependent frequency signal. In particular, it is possible to detect at this frequency signal whether the output roller 2 rotates. When the signal sensor 3 can receive a change in the frequency signal, the output roller is in normal operation. If no frequency signal is received, it can be determined that the movement of the lawnmower may be interrupted by an obstacle or for other reasons, so that an evasive movement must be initiated. For this purpose, the detection device outputs an avoidance signal, which controls the lawnmower to carry out a movement to prevent obstacles. For different lawn mowers, such an obstacle avoidance movement can be realized in various ways. Thus, for example, an obstacle evading displacement of the entire device can be initiated or only the respective working unit can be raised in order to avoid the obstacle. Such an obstacle avoidance device enables those skilled in the art to detect obstacles and, if necessary, initiate obstacle evasive movement of the lawnmower. Here, the manner in which the obstacle avoidance movement is performed, be adapted to the respective design requirements, which will not be discussed in detail at this point.

The embodiment described above constitutes the basic embodiment of the present embodiment, according to which the signal output part, the signal sensor and the detection means cooperate to detect a detected operating state of the driven pulley, whether the lawnmower is no longer moving due to an obstacle or other reasons. In this way, an obstacle avoidance movement can be initiated as soon as the output roller is prevented or stopped. Furthermore, the signal output part can be fixed by means of a roller, whereby the installation space is saved in the device. As a signal sensor can be a conventional sensor, such as a Hall element, a linear Hall element or a reed switch, use to enable signal detection. In contrast to mechanical detection structures, the signal sensor in the present exemplary embodiment assumes, on the one hand, due to its relatively small volume and, on the other hand, due to its arrangement laterally next to a spindle 5 and above the driven pulley 2 no Installation space of the device, whereby the disadvantage of the prior art that the known obstacle avoidance devices have a large footprint, is effectively eliminated.

In the embodiment described above, the signal output part preferably consists of a plurality of magnetic tripping elements 1 on any circumference of the driven pulley 2 are distributed, wherein the magnetic poles of each adjacent magnetic tripping elements 1 are opposite. If the magnetic release elements on a drive roller 4 arranged, it would still come when idling or spinning the drive roller when hitting an obstacle to a magnetic field change, the signal sensor 3 would still receive a change signal while at this time the movement of the lawnmower has actually been interrupted. It can be seen that the arrangement of the magnetic tripping elements 1 on the drive roller 4 makes it impossible to give a correct indication of obstacles. On the other hand, an output roller never runs or rotates empty, ie the output roller moves synchronously with the overall device. So give the magnetic tripping elements 1 during a rotational movement of the driven roller 2 as a signal a magnetic field change curve from the signal sensor 3 is detected, which corresponds to a normal movement of the lawnmower. Now stops the lawn mower (the driven roller) with the movement, so that no magnetic field change curve is output more, ie from the signal sensor 3 If no magnetic field change is detected any more, the detection device controls the lawn mower via a control center to execute an obstacle avoidance movement.

As in 3 is shown, are the magnetic tripping elements 1 in the present embodiment to each other equally spaced on a circumference of the driven pulley 2 arranged so that the signal output part can output a uniform magnetic field change curve at a constant speed during movement of the lawn mower. As a result, the magnetic tripping elements 1 are located on the same circumference and are also equidistant from each other, it is ensured that the magnetic field change at each rotational position of the driven roller of the signal sensor 3 can capture.

In a preferred embodiment, the signal sensor 3 arranged on the device body so that its position is associated with the upper vertex of the circumference on which the magnetic tripping elements are located. However, it is obvious that the position of the signal sensor 3 Anywhere on the circumference on which the magnetic tripping elements 1 can be assigned. Since an arrangement of components on the device body, which is associated with the upper vertex of the driven pulley, is easier to implement, in the present embodiment, the former embodiment is preferred.

In a preferred embodiment, the driven pulley is a steering roller which, as a rule, can rotate eccentrically about its axis of rotation in order to support the device and to make a turn. Thus, the obstacle avoidance device according to the present embodiment can be combined with the steering roller to allow a necessary for the obstacle avoidance movement cornering.

In 4 and 5 a second embodiment of the present utility model is shown in which a self-propelled device moves automatically in a work area while doing its work task. This self-propelled device may be an automatic lawnmower or an automatic vacuum cleaner that moves automatically on a lawn or on the floor to perform the mowing or vacuuming work. It is understood that the self-propelled device according to the present invention is not limited to automatic lawn mowers and automatic vacuum cleaners, but may also be embodied as other devices, such as an automatic spray device or automatic monitoring device, which can be operated without user intervention.

In the present embodiment, the self-propelled device is an automatic lawnmower operated on a lawn as a work area, and includes a housing, a chassis, a work unit, an energy storage unit, a controller, and a condition detector. The self-propelled device moves in a work area and carries out its work task, wherein in the work area a parking station is provided with a loading module. If the electrical energy stored in the energy storage module is no longer sufficient for further operation, the self-propelled device returns to the parking station and is charged via the charging module.

As 4 can be seen, the chassis ensures the movement of the self-propelled device and includes a drive roller (not shown) and an output roller 20 for additional support of the self-propelled device. In a preferred embodiment, the drive roller is provided in a number of two, with respect to the forward direction of the self-propelled device, the two drive rollers in the rear of the selbstverfahrenden device are arranged on both sides of the device body, while the driven pulley 20 Centrally located in the front area of the self-propelled device. The state detection device is arranged on the driven roller of the self-propelled device, so that in the rotational state of the driven roller 20 , which is operated, for example, in a collision or spinning at a reduced speed or stops the rotation, it can be detected whether the self-propelled device performs a normal movement.

It goes without saying that the arrangement and the number of drive roller and the driven pulley 20 can be selected according to the actual circumstances, which will not be discussed in detail at this point.

The work unit includes a mower blade and a cutting motor with which a mowing operation is performed. Of course, the unit of work differs from device to device. Thus, the working unit comprises e.g. an automatic vacuum cleaner, a vacuum cleaner, a Staubsaugmund, a dust collector and similar components, which serve to perform the Staubsaugarbeit. The energy storage unit is usually designed as a rechargeable battery and is used to supply the self-powered device with electrical energy, the charge can only be made when the stored electrical energy amount falls below a predetermined value. It is understood that as energy storage unit and other power supply devices, such as solar power systems, gasoline engines or fuel cells can be used.

As in 5 is shown, the state detection device comprises a magnetic tripping element 12 , a signal sensor 14 and a detection device (not designated). The magnetic triggering element 12 is provided in a number of at least two, wherein the at least two magnetic tripping elements 12 with the driven pulley 20 co-rotating on the driven pulley 20 are arranged so that the ends of adjacent magnetic tripping elements located on the same side of the driven pulley differ in polarity from one another, ie on one side of the driven pulley 20 are arranged alternately north poles and south poles. The signal sensor 14 is adapted to a trigger signal of the magnetic tripping element 12 to detect and generate a sensor signal, while the detection device is used to receive the sensor signal and based on the sensor signal determines whether the self-propelled device performs a normal movement.

Here is the magnetic triggering element 12 designed as a permanent magnetic iron block, but can also be an electromagnet. The magnetic tripping elements 12 are in the circumferential direction of the driven pulley 20 equidistant from each other at the output roller 20 arranged, ie the at least two magnetic tripping elements 12 are on a concentric circle. In the present embodiment, three magnetic tripping elements 12 present at a distance from each other evenly spaced on a hub of the driven pulley 20 are arranged. The signal sensor 14 is mounted on the housing of the self-propelled device in such a way that it has a constant distance from the driven pulley and in the region of a magnetic field of the magnetic release elements 12 lies. In a specific embodiment, the south poles of the two outer magnetic tripping elements 12 to the signal sensor 14 towards, while the middle magnetic tripping element 12 with its north pole on the signal sensor 14 points to realize an alternating arrangement of north and south poles. Furthermore, the state detection device comprises a circuit board with which the signal sensor 14 electrically connected.

It is understood that due to the alternating arrangement of magnetic poles of the magnetic tripping elements 12 from the signal sensor 14 different sensor signals can be generated during the rotation of the driven pulley 20 occur with a certain regularity or with a switching of certain frequencies. When the self-propelled device encounters an obstacle, reducing the speed of the driven pulley 20 or leading to their stoppage, the regularity of the sensor signals is destroyed. This can be used to detect whether the self-propelled device is performing a normal movement and, if necessary, to initiate a turn or a backward movement of the automatic lawnmower.

Thus, the present utility model distinguishes itself from the prior art, in which the state of motion is detected by means of a float and a displacement sensor, by simple construction, easy installation and reduced costs.

It should be noted that with the state detection device according to the present utility model can be additionally determined whether the self-propelled device is raised or reversed by the user. In the raised state, it comes to the rotation of the driven roller 20 under the action of gravity, being at one through the signal sensor 14 generated sensor signal detected the manual boost can be, whereupon the self-propelled device is taken out of service.

In one embodiment, the signal sensor is 14 formed as a linear Hall sensor and are in response to a change in position of at least two with the driven pulley 20 co-rotating magnetic tripping elements 12 a sinusoidal signal as a sensor signal comprising alternating antiphase waveforms.

In the present exemplary embodiment, the detection device comprises a comparator 182 , a logical gate 184 and a processor 186 , The comparator serves 182 for comparing the sensor signal with a preset value or a preset threshold and outputting a first square wave signal while the logic gate 184 is adapted to perform a logical operation of the first square wave signal and to output a second square wave signal. In addition, the processor serves 186 to count, in a preset time, the second square wave signal to obtain an actual count value, to compare the actual count value with a preset count value to determine a rotation state of the driven pulley 20, and to recognize in the rotation state whether the self-traveling one Device performs a normal movement. It should be noted that the square wave detection can be done by detecting a rising edge or a falling edge to allow counting of the second square wave signal.

It should be noted that the logical gate 184 is used in particular to perform a so-called positive operation of the first square wave signal, ie with the logic gate 184 In particular, waveforms are to be determined with an amplitude greater than zero.

In detail, the processor counts 186 at a preset time, the second square wave, wherein the count of the second square wave corresponds to the preset count value, when the self-propelled device performs a normal movement. If the actual count value of the second square wave is smaller than the preset count value, then it can be concluded that the self-propelled device encounters an obstacle. For example, it is assumed that normally three second square waves occur in the preset time. If now the actual count of the second square wave is two, it can be determined that the self-propelled device can no longer move normally.

In the present embodiment, the processor is 186 a microcontroller unit (MCU), not that of the comparator 182 outputted first square wave signal, but by the logical gate 184 processed second square wave signal can be detected.

In one embodiment, the state detection device further comprises an amplifier 16 that is between the signal sensor 14 and the detection means is connected to amplify the sensor signal. In the present embodiment, the amplifier 16 especially between the signal sensor 14 and the comparator 182 switched to amplify the sensor signal. In this way, the signal strength and thus the detection accuracy can be ensured.

From a third embodiment of the present invention, another self-propelled device is provided which is similar to the self-propelled device constructed in the first embodiment, the differences will be explained below with reference to concrete embodiments. The self-traversing apparatus in the present embodiment differs from the self-traversing apparatus of the first embodiment in the manner in which the detecting means determines a rotational state of the driven pulley based on the sensor signal 20 determined. To simplify the description, like elements remain unchanged with respect to their reference numerals.

In the present embodiment, the detection device, as shown in FIG 6 can be seen, an AD-scanning unit 282 and a processor 284 wherein the AD sampling unit 282 is for sampling the sensor signal in a preset time and performing an AD conversion to output a sample. On the other hand is the processor 284 adapted to a rotational state of the driven roller based on a rate of change of the sample 20 to determine and to recognize the rotating state, whether the self-propelled device performs a normal movement.

In one embodiment, the processor is used 284 further, one from the AD scanner 282 output sample compared with a preset sample to a rotation state of the driven pulley 20 to determine, and to recognize in the rotation state, whether the self-propelled device performs a normal movement. Specifically, the AD scanner scans 282 periodically through the amplifier 16 amplified sensor signal and compares this sample with a resulting during normal movement of the self-propelled device sample, wherein the self-propelled device is in normal operation, if the change of the sample shows a certain regularity. If the change in the sample is irregular or remains constant over time, it can be concluded that the output roller 20 is prevented from rotating or stops rotating, which in turn indicates that the self-propelled device can no longer move normally.

In a further embodiment, the processor is used 284 continue to do so, using one of the AD scanner 282 output actual sample is a linear relationship diagram between this actual sample and the time to obtain, based on this linear relationship diagram, a rotational state of the driven pulley 20 to determine, and to recognize in the rotation state, whether the self-propelled device performs a normal movement. Specifically, the AD scanner scans 282 periodically through the amplifier 16 amplified sensor signal and converts the sampled analog value into a digital value. In a normal movement of the self-traveling device, the rate of change (slope) of the linear relationship diagram between the sample and the time shows some regularity. If the inclination changes or if there is an inclination over an extended period, it can be concluded that the output roller 20 is prevented from rotating or stops rotating, which in turn indicates that the self-propelled device can no longer move normally.

From a fourth embodiment of the present invention, another self-propelled device is provided, which is similar to the self-propelled device constructed in the first embodiment, the differences will be explained below with reference to concrete embodiments. The self-traversing apparatus in the present embodiment differs from the self-traversing apparatus of the first embodiment in both the type and the number of the signal sensor 14 as well as in the manner in which the detection device based on the sensor signal, a rotational state of the driven pulley 20 determined.

As it turned out 7 results is the signal sensor 14 formed in the present embodiment, in particular as a digital Hall sensor and is provided in a number of at least two, wherein the at least two signal sensors 14 each of corresponding, on one side of the driven pulley 20 alternating magnetic poles having magnetic tripping elements 12 can be triggered and generate a square wave signal. The detection device comprises a logical gate 382 and a processor 384 , where the logical gate 382 configured to perform a logical operation of the square wave signal to output a third square wave signal. On the other hand, the processor serves 384 to count, at a preset time, the third square wave signal to obtain an actual count value, to compare the actual count value to a preset count value, to a rotation state of the output roller 20 to determine, and to recognize in the rotation state, whether the self-propelled device performs a normal movement. In detail, the logical gate circuit leads 184 a so-called positive operation of the first square wave signal, ie with the logic gate 184 In particular, waveforms are to be determined with an amplitude greater than zero.

It should be noted that in the present embodiment, the two signal sensors 14 in the magnetic fields of at least two magnetic tripping elements 12 be one of the two signal sensors only by the magnetic field of the north pole of the magnetic tripping elements 12 and the other signal sensor 14 only by the magnetic field of the south poles of the magnetic tripping elements 12 can be triggered. During the rotation of the driven pulley 20 let the two signal sensors 14 alternately scan to output a square wave signal at a specific frequency.

By the simultaneous use of two digital Hall sensors to detect the rotation of the driven pulley 20 can thus be avoided on the one hand, that the detection does not occur when one of the signal sensors 14 is damaged. On the other hand, it also avoids the simultaneous use of two separate magnetic sensor elements and two separate signal sensors 14 requires increased control accuracy, which would otherwise increase the cost.

Starting from the self-propelled device described above, the present utility model further provides a state detecting method for a self-propelled device, comprising in detail the following steps:

Step S110: The signal sensor 14 detects a magnetic field signal of the magnetic tripping element 12 and generates a sensor signal;

The self-propelled device moves in a work area and carries out its task and the magnetic release element 12 rotates with the driven pulley 20 and releases the signal sensor 14 out, the signal sensor 14 by the magnetic field signal of the magnetic tripping element 12 is triggered to generate a sensor signal.

S120: The detection device receives the sensor signal and determines based on the sensor signal a rotational state of the driven roller 20 ;

This is the signal from the sensor 14 generated sensor signal through the amplifier 16 amplified, wherein in one embodiment the amplified sensor signal is further converted by the detection means into a square wave signal detectable by the processor (MCU).

In one embodiment, the detectable square wave signal is detected by the detection means by detecting rising or falling edges and counted to make a comparison with a preset count. If the actual count is less than the preset count, it can be concluded that the output roll 20 Turning at a reduced speed or stopping the rotation.

Step S130: On the rotation state of the driven pulley 20 it is detected whether the self-propelled device performs a normal movement;

Specifically, there is a collision when the output roller 20 Turning at a reduced speed or stopping the rotation.

In one embodiment, the state sensing method for a self-propelled device further includes:

Step S140: When the self-propelled device encounters an obstacle, the self-propelled device is controlled to move away from the obstacle;

In one embodiment, the self-propelled device, when encountering an obstacle, is switched from a linear motion to a turn to bypass the obstacle and thereby avoid damage to the device.

In the above-described self-propelled apparatus and its state detection method, the signal sensor 14 due to the alternating arrangement of magnetic poles of the magnetic tripping elements 12 generate different sensor signals during the rotation of the driven pulley 20 occur with a certain regularity or with a switching of certain frequencies. When the self-propelled device encounters an obstacle, reducing the speed of the driven pulley 20 or leading to their stoppage, the regularity of the sensor signals is destroyed. It can be seen that the self-propelled device can no longer move normally and cornering or backward movement of the automatic lawnmower is initiated. Thus, the present invention distinguishes itself from the conventional collision detection with the aid of a floating body and a displacement sensor by simple construction, simple installation and reduced costs.

The individual features of the embodiments described above can be combined as desired, and for the sake of simplicity of the description, not all possible combinations have been explained. However, such feature combinations, insofar as they do not contradict each other, should be included in the present description.

The exemplary embodiments described in greater detail in the foregoing are not a limitation of the claims of the present utility model, but merely serve to explain some embodiments of the present invention. It will be apparent to one of ordinary skill in the art that, within the scope of this utility model, a number of modifications and refinements are possible which are within the scope of this utility model. Therefore, the scope of protection of the present invention is defined by the appended claims.

Claims (20)

A self-propelled device comprising: - a housing; - A chassis which supports the self-propelled device and moves and includes a drive roller and an output roller; a control device for controlling the movement and the operation of the self-propelled device; characterized in that the self-propelled device further comprises state detecting means comprising: - at least two magnetic tripping elements co-rotating with the driven roller on the driven roller so that the ends of adjacent magnetic tripping elements located in the same side of the driven roller in the Distinguish polarity from each other; a signal sensor adapted to detect a magnetic field signal generated by the magnetic trip elements and to generate a sensor signal; - A detection device which serves to determine based on the sensor signal a rotational state of the driven roller and to recognize whether the self-propelled device performs a normal movement. Self-driving device after Claim 1 , characterized in that the signal sensor is arranged on the housing. Self-driving device after Claim 1 , characterized in that the signal sensor is designed as a Hall sensor or reed switch. Self-driving device after Claim 1 , characterized in that the signal sensor is a linear Hall sensor. Self-driving device after Claim 4 characterized in that during the rotation of the driven pulley by the signal sensor, a sensor signal is generated which comprises alternating antiphase waveforms. Self-driving device after Claim 4 or 5 , characterized in that the detection device converts the waveform generated by the signal sensor into a square wave signal, based on the square wave signal determines a rotational state of the driven roller and detects the rotational state, whether the self-propelled device performs a normal movement. Self-driving device after Claim 4 characterized in that the detecting means comprises: a comparator for comparing the sensor signal with a preset value or a preset threshold and outputting a first square wave signal in response to the comparison result; a logical gate configured to perform a logical operation of the first square wave signal to output a second square wave signal; - A processor which serves to determine based on the second square wave signal a rotational state of the driven pulley and to detect in the rotational state, whether the self-propelled device performs a normal movement. Self-driving device after Claim 7 Characterized in that the processor serves to count the second square wave signal in a preset time in order to obtain an actual count value, and to compare the actual count with a preset count value to determine a rotation state of the driven pulley. Self-driving device after Claim 7 characterized in that the condition detection means further comprises an amplifier connected between the signal sensor and the detection means to amplify the sensor signal. Self-driving device after Claim 4 characterized in that the detecting means comprises: - an AD sampling unit operable to sample the sensor signal at a preset time and perform an AD conversion to output an actual sample; - A processor which is adapted to determine based on a rate of change of the actual sample a rotational state of the driven pulley and to recognize in the rotational state, whether the self-propelled device performs a normal movement. Self-driving device after Claim 1 characterized in that the signal sensor is provided in a number of at least two, wherein the signal sensors can each be triggered by the adjacent magnetic tripping elements to generate a square wave signal, wherein the detection means based on the square wave signal determines a rotational state of the driven roller and detects the rotational state whether the self-propelled device performs a normal movement. Self-driving device after Claim 11 , characterized in that the signal sensor is designed as a digital Hall sensor. Self-driving device after Claim 12 characterized in that the detection means comprises: a logic gate configured to perform a logical operation of the square wave signal to output a third square wave signal; - A processor which serves to determine based on the third square wave signal a rotational state of the driven pulley and to recognize in the rotational state, whether the self-propelled device performs a normal movement. Self-driving device after Claim 13 characterized in that the processor is operative to count, in a preset time, the third square wave signal to obtain an actual count value and to compare the actual count value with a preset count value to determine a rotation state of the output roller. Self-driving device after Claim 1 , characterized in that the magnetic triggering element is designed as an electromagnet or permanent magnet. Self-driving device after Claim 1 , characterized in that the magnetic Triggering elements are arranged spaced apart in the circumferential direction of the driven roller. Self-driving device after Claim 16 , characterized in that the magnetic triggering elements are equidistantly spaced apart on a circumference of the driven pulley. Self-driving device after Claim 16 , characterized in that the magnetic pole of the magnetic triggering element points towards the center of rotation of the driven pulley. Self-driving device after Claim 1 , characterized in that the selbstverfahrende device comprises a spindle and the driven roller is a eccentrically rotatable about the spindle steering roller, wherein the magnetic triggering element is arranged laterally adjacent to the spindle and above the driven roller. Self-driving device after Claim 1 , characterized in that the signal sensor has a constant distance from the driven pulley.

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