WO2022193677A1

WO2022193677A1 - Self-moving apparatus

Info

Publication number: WO2022193677A1
Application number: PCT/CN2021/128455
Authority: WO
Inventors: 杨勇
Original assignee: 深圳市杉川机器人有限公司
Priority date: 2021-03-15
Filing date: 2021-11-03
Publication date: 2022-09-22

Abstract

A self-moving apparatus (100), comprising: a shell; a travel mechanism, comprising a driven wheel (40); a control apparatus; and a state detection apparatus. The state detection apparatus comprises at least two magnetic members (30) and a signal sensing member (35). The magnetic members (30) are arranged on the driven wheel (40) and can rotate with the driven wheel (40). The ends of two adjacent magnetic members (30) along the radial outer side of the driven wheel (40) have the same polarity. The signal sensing member (35) senses the magnetic members (30) and generates sensing signals. The control apparatus determines, according to the sensing signals, whether the self-moving apparatus (100) is travelling normally.

Description

self-moving device

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is based on the Chinese patent application "Self-Mobile Device" with the application number: 202120534863.2 and the filing date on March 15, 2021, and claims the priority of the Chinese patent application, the entire contents of which are incorporated herein. Apply for reference.

technical field

The present application relates to the technical field of automatic traveling equipment, and in particular, to a self-moving device.

Background technique

With the development of science and technology, intelligent self-moving devices are well known to people. Since self-moving devices can automatically perform preset related tasks with preset programs without human operation and intervention, they are widely used in industrial applications and household products. The application is very wide. Industrial applications such as robots that perform various functions, household products such as lawn mowers, vacuum cleaners, etc. These self-moving devices greatly save people's time and bring great benefits to both industrial production and home life. convenient. Obstacles are often encountered when self-moving devices are walking in the work area.

At present, the self-moving device usually sets a floating member on the base. When the self-moving device encounters an obstacle, the floating member collides with the obstacle, and the floating member is displaced relative to the base. The displacement sensor detects the relative displacement. In this case, the control device recognizes the obstacle encountered by the self-moving device and avoids it according to the detection signal of the displacement sensor. This detection method has a complex structure and high cost, and cannot identify the slipping state.

In order to overcome the above problems, it is necessary to develop a simple and low-cost self-moving device for recognizing the state of the self-moving device.

SUMMARY OF THE INVENTION

In view of the shortcomings of the above technologies, the present application provides a simple and low-cost self-moving device for recognizing the state of the self-moving device.

In order to solve the above-mentioned technical problems, the technical solution adopted in the present application is: a self-moving device, comprising a casing; a traveling mechanism, which supports and drives the self-moving device to walk, and the traveling mechanism includes a driving wheel and a driven wheel; a control device , used to control the walking and working of the self-moving device; wherein, the self-moving device further includes a state detection device, and the state detection device includes: at least two magnetic parts, the magnetic parts are arranged on the driven wheel, and can rotate with the driven wheel, the two adjacent magnetic pieces have the same polarity along the radially outer side of the driven wheel; the signal sensing piece is used to sense the magnetic field signal generated by the magnetic piece, and generate Induction signal; the control device judges the rotation state of the driven wheel according to the induction signal, thereby judging whether the self-moving device normally walks.

In some embodiments, the state detection device further includes a rotation speed detection member, which is arranged on the driving wheel and is used to detect the rotation speed of the driving wheel; the control device is based on the sensing signal generated by the signal sensing member and the The rotational speed of the driving wheel detected by the rotational speed detector is used to determine whether the self-moving device is in a slipping state.

In some embodiments, the rotational speed detecting element is an encoder.

In some embodiments, the control device includes a comparator for comparing the sensing signal generated by the signal sensing element and the rotational speed of the driving wheel detected by the rotational speed detecting element, and outputting a difference signal according to the comparison result; the processor , for comparing the difference signal with a preset threshold, if the difference signal is greater than the preset threshold, it is determined that the self-moving device is in a slipping state; otherwise, it is determined that the self-moving device is not in a slipping state.

In some embodiments, the state detection device further includes an odometer, which is arranged on the driving wheel and is used to detect the mileage information of the self-moving device.

In some embodiments, when the control device determines that the self-moving device is in a slipping state, the control device calculates the mileage value of the driven wheel according to the sensing signal generated by the signal sensing element, and calculates the mileage value according to the mileage value. Correct the mileage information in the odometer.

In some embodiments, the signal sensing element is a Hall sensor or a reed switch.

In some embodiments, the signal sensing element is a linear Hall sensor.

In some embodiments, the sensing signal generated by the signal sensing element includes alternating waveforms with the same phase and different amplitudes.

In some embodiments, the magnetic member is an electromagnet or a permanent magnet.

In some embodiments, the magnetic strength of the magnetic member is less than or equal to 2000 Gauss.

In some embodiments, the magnetic members are circumferentially spaced apart from the driven wheel.

In some embodiments, the magnetic elements are equally spaced along the circumference of the driven wheel.

In some embodiments, the magnetic pole of the magnetic member faces the rotation center of the driven wheel.

In some embodiments, the distance between the signal sensing member and the axis of the driven wheel is constant.

In some embodiments, the magnetic strengths of the two adjacent magnetic members are different.

Compared with the prior art, the present application has the following beneficial effects:

The driven wheel of the self-moving device provided by the present application is provided with at least two magnetic pieces, and the magnetic pieces can rotate with the driven wheel, so that the signal sensing piece can generate induction signals with different amplitudes. switch at a certain frequency. When the self-moving device encounters an obstacle and collides, the rotational speed of the driven wheel decreases or stops rotating, and the law of the induction signal is destroyed, so that the walking state of the self-moving device can be judged.

Further, the self-moving device provided by the present application further includes a rotational speed detector of the driving wheel, which can determine whether the self-moving device is in a slipping state by combining the sensing signal of the driven wheel and the rotational speed of the driving wheel.

Further, the self-moving device provided by the present application also includes an odometer, and the compensation value or calibration value of the actual mileage of the self-moving device is calculated in combination with the sensing signal of the driven wheel and the rotational speed of the driving wheel, so as to compensate or calibrate the odometer. , to ensure that the location information from the mobile device is accurate.

Description of drawings

In order to illustrate the technical solutions in the embodiments of the present application more clearly, the following briefly introduces the drawings that are used in the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can also be obtained from these drawings without creative effort. in:

1 is a schematic three-dimensional structural diagram of a self-moving device according to a first embodiment of the present application;

2 is a schematic diagram of the arrangement of magnetic elements in the self-moving device in the embodiment shown in FIG. 1;

FIG. 3 is a schematic view of the assembly of the magnetic element and the driven wheel of the self-moving device of the embodiment shown in FIG. 2 .

Detailed ways

In order to make the above objects, features and advantages of the present application more clearly understood, the specific embodiments of the present application will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only used to explain the present application, but not to limit the present application. In addition, it should be noted that, for the convenience of description, the drawings only show some but not all the structures related to the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

The terms "comprising" and "having" and any variations thereof in this application are intended to cover a non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units is not limited to the listed steps or units, but optionally also includes unlisted steps or units, or optionally also includes For other steps or units inherent to these processes, methods, products or devices.

Reference herein to an "embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the present application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor a separate or alternative embodiment that is mutually exclusive of other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

As shown in FIG. 1 , a schematic three-dimensional structure diagram of the self-moving device according to the first embodiment of the present application. In this embodiment, a self-moving device 100 automatically travels and works in a work area. Specifically, the self-moving device 100 may be an automatic lawn mower, or an automatic vacuum cleaner. In this embodiment, the self-moving device 100 includes a casing (not shown in the figure), a base 10 covered by the casing, a driven wheel 40 located under the base 10 , a state detection device, and a driving wheel assembled on the base 10 20. A control device (not shown in the figure) for controlling the self-moving device 100 to walk and work. The state detection device includes a magnetic member 30 disposed on the driven wheel 40, a signal sensing member 35 disposed on the base 10, and a rotational speed detector (not shown in the figure) disposed on the driving wheel 20 and used to detect the rotational speed of the driving wheel 20. out).

In this embodiment, the self-moving device includes a plurality of magnetic members 30, including at least two. The plurality of magnetic elements 30 are disposed on the driven wheel 40 and can rotate with the driven wheel 40 . One end of each adjacent two magnetic members 30 along the radially outer side of the driven wheel 40 has the same polarity, and the magnetic intensities of the adjacent two magnetic members are different. The signal sensing member 35 is used for sensing the magnetic field signal generated by the magnetic member 30 and generating the sensing signal. The sensing signal generated by the signal sensing element 35 includes alternating waveforms with the same phase and different amplitudes. The magnetic member 30 can be used to output a frequency signal related to the rotational frequency of the driven wheel 40 , specifically, the frequency signal can reflect whether the driven wheel 40 is in a rotating state. If the signal sensing element 35 can receive the change of the frequency signal, it means that the driven wheel is in normal motion. When the frequency signal cannot be received, it can be determined that the self-moving device 100 may encounter an obstacle or stop walking due to other reasons, and an evasive action or an escape action is required.

For different self-moving devices 100, the above-mentioned obstacle avoidance actions may be different actions, such as: a moving action to avoid obstacles, or an avoidance action of raising the working mechanism so that the working mechanism avoids obstacles, etc. Those skilled in the art can use the above-mentioned obstacle avoidance device to detect and control the self-mobile device 100 to perform obstacle avoidance actions. As for what kind of action the obstacle avoidance action specifically refers to, those skilled in the art should be able to adapt it according to specific design requirements. Adjustments are not repeated here.

In this embodiment, the magnetic member 30 is fixedly arranged by means of the driven wheel 40 and does not occupy the installation space on the self-moving device 100 . The signal sensing element 35 adopts a general magnetic sensor, such as a Hall sensor, a linear Hall sensor or a reed switch. The signal sensing element 35 is disposed on the base 10 covered by the casing, and has a constant distance from the axis of the driven wheel 40 . Compared with mechanical detection structures such as floating parts in the prior art, the signal sensing element 35 in this embodiment does not occupy the installation space of the equipment due to its small size, thus effectively solving the obstacle avoidance device in the prior art. Technical defects that require a large installation space.

Continuing to refer to FIG. 2 and FIG. 3 , as a preferred embodiment of the above-mentioned embodiment, the magnetic elements 30 are distributed on any same circumference of the driven wheel 40 , wherein the magnetic poles of adjacent magnetic elements 30 are in the same direction. Specifically, adjacent magnetic elements The direction of the magnetic field pointing towards the outer surface of the wheel is the same. In one embodiment, the magnetic strengths of two adjacent magnetic members 30 are different. Preferably, the magnetic pieces 30 are arranged at equal intervals along any circumference of the driven wheel 40 and the magnetic pole of each magnetic piece 30 faces the rotation center of the driven wheel 40 . This arrangement can effectively ensure that the signal generated by the signal sensing element 35 is more regular, so that the algorithm for identifying the self-moving device 100 by the control device is simplified.

In this embodiment, the magnetic member 30 is an electromagnet or a permanent magnet. Preferably, the magnetic strength of the magnetic member 30 is less than or equal to 2000 Gauss. That is, the magnetic parts are 30 weak magnetic magnets, which can effectively prevent the self-moving device 100 from attracting metal objects in the surrounding environment during the moving process, and effectively avoid problems such as downtime caused by adsorbing metal objects.

Preferably, the driven wheel 40 is a universal wheel, and the universal wheel can generally rotate eccentrically around its rotation axis, so as to achieve the purpose of supporting the equipment and facilitating turning. In this way, the universal wheel can be flexible when combined with the obstacle avoidance device of this embodiment. turn for obstacle avoidance.

In this embodiment, the self-moving device 100 includes two driving wheels 20 . Based on the forward direction of the self-moving device 100 , the driving wheels 20 are located on the left and right sides of the rear side of the self-moving device 100 , and the driven wheels 40 are located in the middle part of the front side of the self-moving device 100 . The state detection device is arranged on the driven wheel of the self-moving device 100. When a collision or slip occurs, the rotation speed of the driven wheel 40 is reduced or stopped, so that according to the rotation state of the driven wheel 40, it can be detected whether the self-moving device is running normally.

The driving wheel 40 is also provided with a rotational speed detecting member (not shown in the figure), and the rotational speed detecting member is used for detecting the rotational speed of the driving wheel 40 . The rotational speed detecting element can be various kinds of speed sensors. In this embodiment, the rotational speed detecting element is an encoder. The control device determines whether the self-moving device 100 is in a slipping state according to the sensing signal generated by the signal sensing element 35 and the rotational speed of the driving wheel 40 detected by the rotational speed detecting element. If the signal sensed by the signal sensing element 35 is irregular or has no signal, but the rotational speed detected by the rotational speed detecting element is relatively high, it means that the driving wheel 40 is in an idling state, that is, the self-moving device is in a slipping state.

In this embodiment, the control device includes a comparator and a processor. The comparator is used to compare the sensing signal generated by the signal sensing element 35 with the rotational speed of the driving wheel 20 detected by the rotational speed detecting element, and output a difference signal according to the comparison result. The processor is configured to compare the difference signal with a preset threshold, and if the difference signal is greater than the preset threshold, determine that the self-moving device is in a slipping state; otherwise, determine that the self-moving device is not in a slipping state.

Preferably, the state detection device further includes an odometer. The odometer is provided on the driving wheel 40 for detecting the mileage information from the mobile device 100 . When the control device determines that the self-moving device 100 is in a slipping state, the control device calculates the mileage value of the driven wheel 40 according to the sensing signal generated by the signal sensing element 35, and corrects the mileage information in the odometer according to the mileage value. The specific correction algorithm can be set adaptively according to the working conditions or/and the speed difference between the driven wheel and the driving wheel. mileage is corrected. Compensating or calibrating the odometer can effectively ensure that the location information of the self-moving device is accurate, thereby ensuring that the self-moving device 100 can navigate correctly according to the map information.

In one embodiment, the driven wheel of the self-moving device provided by the present application is provided with at least two magnetic pieces, and the magnetic pieces can follow the driven wheel to rotate, and the magnetic intensities of two adjacent magnetic pieces are different, so that the signal sensing piece can generate Induction signals with different amplitudes, the induction signals show a certain law and a certain frequency switching with the rotation of the driven wheel. When the self-moving device encounters an obstacle and collides, the rotational speed of the driven wheel decreases or stops rotating, and the law of the induction signal is destroyed, so that the state of the self-moving device can be judged.

The self-moving device provided by the present application further includes a rotational speed detecting part of the driving wheel, which can determine whether the self-moving device is in a slipping state by combining the sensing signal of the driven wheel and the rotational speed of the driving wheel.

The above description is only an embodiment of the present application, and does not limit the scope of the patent of the present application. Any equivalent structure or equivalent process transformation made by using the contents of the description and drawings of the present application, or directly or indirectly applied to other related technologies Fields are similarly included within the scope of patent protection of this application.

Claims

A self-moving device, comprising:

case;

a walking mechanism, which supports and drives the self-moving device to walk, and the walking mechanism includes a driving wheel and a driven wheel;

a control device for controlling the self-moving device to walk and work;

It is characterized in that, the self-moving device further includes a state detection device, and the state detection device includes:

at least two magnetic pieces, the magnetic pieces are arranged on the driven wheel and can rotate with the driven wheel, and one end of the two adjacent magnetic pieces along the radially outer side of the driven wheel has the same polarity;

a signal sensing member, used for sensing the magnetic field signal generated by the magnetic member, and generating the sensing signal;

The control device judges the rotation state of the driven wheel according to the induction signal, so as to judge whether the self-moving device normally walks.
The self-moving device according to claim 1, wherein the state detection device further comprises a rotation speed detection member, which is arranged on the driving wheel and is used to detect the rotation speed of the driving wheel; The sensing signal generated by the signal sensing element and the rotational speed of the driving wheel detected by the rotational speed detecting element determine whether the self-moving device is in a slipping state.
The self-moving device according to claim 2, wherein the rotational speed detecting element is an encoder.
A self-moving device according to claim 2, wherein the control device comprises:

a comparator, configured to compare the sensing signal generated by the signal sensing element with the rotational speed of the driving wheel detected by the rotational speed detecting element, and output a difference signal according to the comparison result;

a processor, configured to compare the difference signal with a preset threshold, and if the difference signal is greater than the preset threshold, determine that the self-moving device is in a slipping state; otherwise, determine that the self-moving device is not in a slipping state .
The self-moving device according to claim 2, wherein the state detection device further comprises an odometer, which is arranged on the driving wheel and is used to detect the mileage information of the self-moving device.
The self-moving device according to claim 5, wherein when the control device determines that the self-moving device is in a slipping state, the control device calculates the driven wheel according to the sensing signal generated by the signal sensing element mileage value, and correct the mileage information in the odometer according to the mileage value.
A self-moving device according to claim 1, wherein the signal sensing element is a Hall sensor or a reed switch.
The self-moving device according to claim 1, wherein the magnetic members are arranged at intervals along the circumference of the driven wheel.
A self-moving device according to claim 8, wherein the magnetic members are arranged at equal intervals along the circumference of the driven wheel.
The self-moving device according to claim 1, wherein the distance between the signal sensing member and the axis of the driven wheel is constant.
The self-moving device according to claim 1, wherein the magnetic strengths of the two adjacent magnetic members are different.