Self-propelled equipment and anti-collision devices

Abstract

The present application provides a self-moving device and an anti-collision device. The self-moving device includes a whole machine, an anti-collision plate and a connection assembly. The anti-collision plate is arranged on the outer periphery of at least part of the whole machine, and the connection assembly includes at least two elastic members arranged at intervals, and the elastic member includes a first connection part, an elastic part and a second connection part, and the elastic part is arranged between the first connection part and the second connection part. In the vertical direction, the first connection part of the elastic member is connected to the whole machine, and the second connection part of the elastic member is connected to the anti-collision plate, wherein the elastic coefficients of the connection parts of at least two elastic members are different. The self-moving device of the present application can solve the problem of machine body operation failure.

Description

Technical Field

[0001] The present application relates to the technical field of self-moving equipment, and in particular to a self-moving equipment and an anti-collision device. Background Art

[0002] Autonomous vehicles can be intelligent robots. Examples include autonomous lawn mowers, snowplows, cleaning robots, and service robots. A lawn mower is a mechanical tool used to trim lawns and vegetation, reducing the workload of gardeners. While operating on the lawn, a lawn mower may collide with obstacles such as rocks and walls. Collisions between lawn mowers and obstacles can easily damage the mower or damage the lawn.

[0003] In related technology, lawn mowers are typically equipped with anti-collision strips along their edges. These strips can be made of a flexible material such as silicone rubber to resist the impact of obstacles colliding with the mower. Sensors can be installed within these strips to detect the location of obstacles, allowing the main engine to issue operating instructions such as forward, turn, or reverse to the mower based on the information transmitted by the sensors.

[0004] However, existing anti-collision strips have limited ability to sense collision forces. When a lawn mower is struck by a collision, the anti-collision strips may fail to sense the impact or misjudge it. This can lead to the mower receiving operating instructions late or even incorrectly, resulting in damage from repeated collisions with obstacles. Furthermore, if the mower maintains its original operating instructions while being blocked by obstacles, it can easily continue mowing in the same spot, damaging the grass. Summary of the Invention

[0005] The present application provides a self-moving device and an anti-collision device, which can solve the problem of operation failure of the self-moving device.

[0006] In one aspect, the present application provides a self-propelled device, comprising:

[0007] Complete machine;

[0008] An anti-collision plate is provided on the outer periphery of at least a portion of the entire machine;

[0009] A connecting assembly comprising at least two elastic members spaced apart from each other, the elastic member comprising a first connecting portion, an elastic portion, and a second connecting portion, the elastic portion being disposed between the first connecting portion and the second connecting portion, wherein the first connecting portion of the elastic member is connected to the entire machine in a vertical direction, and the second connecting portion of the elastic member is connected to the anti-collision plate;

[0010] Wherein, the elastic coefficients of the connecting parts of at least two of the elastic members are different.

[0011] The self-moving device provided herein can adjust the elastic coefficients of multiple elastic components to be unequal so that the elastic deformations produced by the components are close to or even identical. Furthermore, the collision response forces generated by the entire device after being impacted by obstacles from different directions can also be close to or identical. When the entire device encounters an obstacle, if the elastic deformations of the multiple elastic components undergoing elastic deformation are equal, the host computer can issue correct operating instructions, and the collision response forces of the entire device are also close, allowing the entire device to correctly respond to the operating instructions. This reduces the possibility of device failure and helps improve the sensitivity of the lawn mower's anti-collision sensing.

[0012] According to one embodiment of the present application, the connecting assembly includes a first elastic member and a second elastic member, the first elastic member includes a first elastic portion, the second elastic member includes a second elastic portion, and along the forward direction of the entire machine, the first elastic member is located on the side of the second elastic member facing the front end of the self-moving device, and the elastic coefficient of the first elastic portion is less than or equal to the elastic coefficient of the second elastic portion.

[0013] According to one embodiment of the present application, the cross-sectional area of the first elastic portion is smaller than or equal to the cross-sectional area of the second elastic portion, and the cross-sectional area is perpendicular to the vertical direction; and / or,

[0014] The hardness of the first elastic portion is less than or equal to the hardness of the second elastic portion.

[0015] According to one embodiment of the present application, the cross-sectional shape of the first elastic portion or the second elastic portion is circular.

[0016] According to one embodiment of the present application, along the forward direction of the entire machine, the anti-collision plate is arranged at the front and side of the entire machine, the first elastic member is connected between the anti-collision plate and the front of the entire machine, and the second elastic member is connected between the anti-collision plate and the side of the entire machine.

[0017] According to one embodiment of the present application, the connection assembly further includes a first locking member, and the first connection portion is connected to the entire device via the first locking member; and / or,

[0018] The connecting assembly further includes a second locking member, and the second connecting portion is connected to the anti-collision plate through the second locking member.

[0019] According to one embodiment of the present application, the first locking member includes a first locking piece and a second locking piece, the second locking member includes a third locking piece and a fourth locking piece, the first connecting portion is connected to the first locking piece, and the second connecting portion is connected to the third locking piece;

[0020] The first locking member is locked with the second locking member to connect the first connecting portion and the entire machine, and the third locking member is locked with the fourth locking member to connect the second connecting portion and the anti-collision plate.

[0021] According to one embodiment of the present application, the first locking member and the first connecting portion are an integral structure; and / or,

[0022] The third locking member and the second connecting portion are an integral structure.

[0023] According to one embodiment of the present application, the whole machine is provided with a first connecting plate, and the anti-collision plate is provided with a second connecting plate. Along the vertical direction, the first connecting plate and the second connecting plate are arranged opposite to each other, the first locking piece of the elastic member is connected to the first connecting plate, and the third locking piece of the elastic member is connected to the second connecting plate.

[0024] According to one embodiment of the present application, the self-moving device further includes a host and a sensor device, the host is provided on the whole device, and the sensor device is provided on at least one of the anti-collision plate and the whole device;

[0025] The sensor device detects the elastic deformation of the elastic member and transmits data information to the host, and the host issues an operating instruction to the entire machine.

[0026] According to one embodiment of the present application, the self-moving device is a lawn mower.

[0027] In a second aspect, the present application provides an anti-collision device, which is installed on a self-propelled device and includes:

[0028] An anti-collision plate is provided on the outer periphery of at least a portion of the entire machine;

[0029] A connecting assembly comprising at least two elastic members spaced apart from each other, the elastic member comprising a first connecting portion, an elastic portion, and a second connecting portion, the elastic portion being disposed between the first connecting portion and the second connecting portion, wherein the first connecting portion of the elastic member is connected to the entire machine in a vertical direction, and the second connecting portion of the elastic member is connected to the anti-collision plate;

[0030] Wherein, the elastic coefficients of the connecting parts of at least two of the elastic members are different.

[0031] In addition to the technical problems solved by the embodiments of the present invention described above, the technical features that constitute the technical solutions, and the beneficial effects brought about by the technical features of these technical solutions, other technical problems that can be solved by the self-moving equipment and anti-collision device provided by the embodiments of the present invention, other technical features included in the technical solutions, and the beneficial effects brought about by these technical features will be further described in detail in the specific implementation methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0033] Figure 1 This is a schematic diagram of the axial structure of a lawn mower according to an embodiment of the present application;

[0034] Figure 2 This is a side structural diagram of a lawn mower according to an embodiment of the present application;

[0035] Figure 3 This is a schematic top view of the lawn mower according to an embodiment of the present application;

[0036] Figure 4 This is a partial cross-sectional structural diagram of a lawn mower according to an embodiment of the present application;

[0037] Figure 5 This is a schematic structural diagram of an elastic member according to an embodiment of the present application;

[0038] Figure 6 for Figure 1 Enlarged schematic diagram of point A in the middle.

[0039] Description of reference numerals:

[0040] 100-lawn mower;

[0041] 110-complete machine;

[0042] 111-first connecting plate; 110a-limiting hole;

[0043] 120-anti-collision plate;

[0044] 121- second connecting plate;

[0045] 130- elastic member;

[0046] 131- elastic portion;

[0047] 132-first connecting portion;

[0048] 133- second connecting portion;

[0049] 140-first locking member;

[0050] 141-first locking member; 142-second locking member;

[0051] 150 - second locking member;

[0052] 151-third locking member; 152-fourth locking member;

[0053] 101 - first elastic member; 102 - second elastic member; 103 - third elastic member; 104 - fourth elastic member; 105 - fifth elastic member;

[0054] X-forward direction;

[0055] Y-vertical direction;

[0056] Z-width direction.

[0057] The above drawings illustrate specific embodiments of the present application, which will be described in more detail below. These drawings and the textual description are not intended to limit the scope of the present application in any way, but rather to illustrate the concepts of the present application to those skilled in the art by reference to specific embodiments. DETAILED DESCRIPTION

[0058] The exemplary embodiments will be described in detail here, and examples thereof are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementation methods described in the following exemplary embodiments do not represent all implementation methods consistent with the present application. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the attached claims. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0059] The self-propelled devices of this application can be intelligent products that can bring convenience to people's lives and work. They can include self-propelled lawn mowers, snow blowers, cleaning robots, and service robots. Self-propelled lawn mowers can assist gardeners in mowing lawns and vegetation. Cleaning robots can include sweeping robots, floor scrubbers, and other robots for cleaning floors. Service robots can provide users with consultation and guidance.

[0060] This application takes a lawn mower as an example. When a lawn mower is working on a lawn, it may sometimes collide with obstacles such as stones and walls. The collision between a lawn mower and an obstacle can easily cause damage to the lawn mower body or damage to the grass. Therefore, lawn mowers are usually equipped with anti-collision strips. The anti-collision strip can be set on the outer edge of the body. The anti-collision strip can be a flexible material such as silicone rubber to resist the impact force of the obstacle colliding with the body. Sensors can be set in the anti-collision strip to sense the position of the obstacle, so that the host can issue operating instructions such as forward, turn or backward to the body based on the information transmitted by the sensor.

[0061] However, existing anti-collision strips have limited ability to sense collision forces. For example, if the anti-collision strip hits an obstacle, it may not sense it in time or may misjudge the impact. This can prevent the main engine from issuing a turn or reverse command to the mower, causing the mower to continue moving forward despite being blocked by the obstacle. This can easily lead to malfunctions or damage to the lawn.

[0062] To address the above technical issues, the applicant has improved the structure of existing self-propelled equipment. By varying the elastic coefficients of elastic members at different locations, the applicant ensures that when the impact plate is impacted by obstacles from different directions, the elastic deformation of the elastic members is similar, resulting in similar movement displacements of the impact plate after impact with obstacles from different directions.

[0063] It is understandable that when the machine body encounters an obstacle, if the difference in the elastic deformation of the two elastic parts that undergo elastic deformation is large, the difference in the motion displacement generated at the positions corresponding to the two elastic parts on the anti-collision plate is also large. The sensing device can transmit the parameter information of the motion displacement to the host. If the host uses the parameters that produce larger motion displacements as the basis for judgment, the parameters that produce smaller motion displacements are easily ignored. If the host uses the parameters that produce smaller motion displacements as the basis for judgment, then when the anti-collision plate is subjected to a slight force, the host will also issue a stop or turn command, so when the lawn mower encounters a pothole or an accidental collision, there will be problems with the accuracy of the operating command issued by the host.

[0064] In summary, when the entire machine encounters an obstacle, if the elastic deformation amounts of the two elastic parts that undergo elastic deformation are close to or equal, the motion displacements generated at the positions corresponding to the two elastic parts on the anti-collision plate are also equal, thus reducing the possibility of failure of the entire machine.

[0065] The self-propelled device and anti-collision device provided by the present application are described below with reference to the accompanying drawings and in combination with specific embodiments.

[0066] See also Figure 1 and Figure 2As shown, the self-moving device according to the embodiment of the present application, for example, the self-moving device may be a lawn mower 100. The lawn mower 100 may include a whole machine 110, a collision plate 120, and a connection assembly.

[0067] The anti-collision plate 120 is disposed on at least a portion of the outer periphery of the entire machine 110. Figure 3 and Figure 4 As shown, the connection assembly includes at least two elastic members 130 spaced apart. The elastic member 130 includes a first connection portion 132, an elastic portion 131, and a second connection portion 133. The elastic portion 131 is disposed between the first connection portion 132 and the second connection portion 133. Along the vertical direction Y, the first connection portion 132 of the elastic member 130 is connected to the entire device 110. The second connection portion 133 of the elastic member 130 is connected to the anti-collision plate 120. The elastic coefficients of the elastic portions 131 of at least two elastic members 130 may differ.

[0068] The lawn mower 100 of the present application may be provided with a bumper plate 120 on the exterior of at least a portion of the entire machine 110. A connecting assembly may be used to connect the entire machine 110 and the bumper plate 120. The connecting assembly includes a plurality of elastic members 130. The elastic members 130 are capable of elastic deformation, thereby, on the one hand, cushioning the impact force on the bumper plate 120, and, on the other hand, releasing elastic potential energy to reset the bumper plate 120 when the obstacle is removed.

[0069] When the elastic coefficients of the elastic members 130 are equal, the elastic members 130 at different positions receive different forces when the collision-avoidance plate 120 is impacted, and thus different elastic deformations are generated, which may easily affect the host's judgment basis.

[0070] Therefore, in the embodiment of the present application, by adjusting the elastic coefficients of the multiple elastic members 130 to be different, the elastic deformations produced by the elastic members 130 can be similar or even identical. Furthermore, the collision response forces produced by the collision avoidance plate 120 upon impact with obstacles from different directions can also be similar or identical. When the entire machine 110 encounters an obstacle, if the elastic deformations of the multiple elastic members 130 undergoing elastic deformation are equal, the host computer can issue the correct operating instructions, and the entire machine 110 can respond correctly to the operating instructions. This reduces the possibility of failure of the entire machine 110 and helps improve the sensitivity of the collision avoidance sensing of the lawn mower 100.

[0071] Furthermore, the embodiments of the present application can also increase the trigger threshold for the operation of the entire machine 110 by adjusting the elastic coefficients of the multiple elastic members 130 to be different. If the elastic deformations of the multiple elastic members 130 are similar, the elastic coefficients of the elastic members 130 can be increased according to the actual needs of the entire machine 110. This allows the elastic members 130 to be less likely to respond and avoid potholes or accidental collisions when the lawn mower 100 encounters them.

[0072] In some examples, the self-propelled device may include a sensor device and a host computer. The sensor device can detect the displacement of the anti-collision plate 120 relative to the main unit 110 and transmit the data to the host computer. The host computer can then issue operating instructions to the main unit 110 based on the data. For example, when the elastic deformation of the elastic member 130 reaches a preset value, the main unit 110 can turn or retreat to avoid an obstacle.

[0073] It should be noted that the anti-collision plate 120 can be a semi-enclosed structure or a closed structure. The anti-collision plate 120 can be arranged around the outer side of the entire machine 110. The structure of the anti-collision plate 120 is not specifically limited in this application.

[0074] In some examples, the host may be provided on the entire machine 110. At least one of the anti-collision plate 120 and the entire machine 110 may be provided with a sensing device.

[0075] In some examples, the sensing device may include a Hall sensor and a magnet, and the magnet may be disposed on the impact plate 120 .

[0076] When the collision plate 120 strikes an obstacle, the obstacle exerts a collision force on the collision plate 120, causing it to move relative to the entire device 110. Because the magnet is located on the collision plate 120, the magnet and the collision plate 120 can move synchronously. The Hall effect sensor senses the magnet's displacement and transmits this displacement parameter information to the host computer. When the displacement reaches a preset value, the host computer issues an operating command to the entire device 110.

[0077] For some examples, see Figure 3 As shown, the description uses the example of five elastic members 130. Along the forward direction X of the entire machine 110, the first elastic member 101 is positioned forward relative to the second elastic member 102. The first elastic member 101 may be located on the centerline M along the width direction Z of the entire machine 110. The second elastic member 102 and the third elastic member 103 may be located to the left of the centerline M. The second elastic member 102 is positioned forward relative to the third elastic member 103, and the first elastic member 101 is positioned forward relative to the second elastic member 102. The fourth elastic member 104 and the fifth elastic member 105 may be located to the right of the centerline M. The fourth elastic member 104 and the second elastic member 102 are symmetrically arranged relative to the centerline M. The fifth elastic member 105 and the third elastic member 103 are symmetrically arranged relative to the centerline M. Therefore, along the forward direction X of the entire machine 110, the first elastic member 101 is located at the front, followed by the second elastic member 102 and the fourth elastic member 104. The third elastic member 103 and the fifth elastic member 105 are located at the rear ends of the second elastic member 102 and the fourth elastic member 104 .

[0078] In some implementations, the connection assembly includes a first elastic member 101 and a second elastic member 102. The first elastic member 101 includes a first elastic portion. The second elastic member 102 includes a second elastic portion. Along the forward direction X of the entire device 110, the first elastic member 101 is located on the side of the second elastic member 102 facing the front end of the self-moving device. The elastic coefficient of the first elastic portion is less than or equal to the elastic coefficient of the second elastic portion.

[0079] The first elastic member 101 includes a first elastic portion. The second elastic member 102 includes a second elastic portion. The third elastic member 103 includes a third elastic portion. The fourth elastic member 104 includes a fourth elastic portion. The fifth elastic member 105 includes a fifth elastic portion. The elastic coefficient of the second elastic portion can be the same as the elastic coefficient of the fourth elastic member 104. The elastic coefficient of the third elastic portion can be the same as the elastic coefficient of the fifth elastic member 105.

[0080] In the embodiment of the present application, when the ratio of the force applied to the front portion of the impact plate 120 to the force applied to the side portion is within a range of 2, the elastic deformation of the elastic member 130 is close. The side portion can be the left side, right side, left front, or right front. For example, Ffront = 2Fleft, and Ffront = 2Fleftfront.

[0081] When the anti-collision plate 120 encounters an obstacle, it moves and displaces, causing the elastic portion 131 to elastically deform. The force applied to the anti-collision plate 120 can be calculated based on the force applied to the elastic portion 131.

[0082] For example, the force applied to the first elastic portion is T1. The force applied to the second elastic portion is T2. The force applied to the third elastic portion is T3. The force applied to the fourth elastic portion is T4. The force applied to the fifth elastic portion is T5. The magnitude relationship of T1, T2, T3, T4, and T5 can be T1 < T2 = T4 ≤ T3 = T5.

[0083] 1) When T1<T2=T4<T3=T5, the forces generated when the front, left side, right side, left front, and right front of the anti-collision plate 120 collide with an obstacle are analyzed as follows.

[0084] When the front end of the anti-collision plate 120 is hit by an obstacle, the five elastic members 130 may be deformed by the force. Then, Ffront=T1+T2+T3+T4+T5≈T3+T5.

[0085] When the left side of the anti-collision plate 120 is hit by an obstacle, the second elastic part and the third elastic part will be deformed, while the first elastic part, the fourth elastic part and the fifth elastic part will not be deformed, so Fleft=T2+T3≈T3.

[0086] Similarly, when the right side of the anti-collision plate 120 is hit by an obstacle, the fourth elastic part and the fifth elastic part will be deformed, and the first elastic part, the second elastic part and the third elastic part will not be deformed, so Fright=T4+T5≈T5.

[0087] When the left front portion of the anti-collision plate 120 is hit by an obstacle, the first elastic portion, the second elastic portion and the third elastic portion will deform, while the fourth elastic portion and the fifth elastic portion will not deform, so Fleftfront=T1+T2+T3≈T3.

[0088] Similarly, when the right front portion of the anti-collision plate 120 is hit by an obstacle, the first elastic part, the fourth elastic part and the fifth elastic part will be deformed, while the second elastic part and the third elastic part will not be deformed, so Frightfront=T1+T4+T5≈T5.

[0089] In order to improve the consistency of the collision response force generated by the entire device 110 when it is impacted by obstacles from different directions, the elastic coefficient of the first elastic portion can be reduced to reduce the force T1 that the first elastic portion can be subjected to. The elastic coefficient of the first elastic portion can be infinitely small relative to the elastic coefficients of the second elastic portion, the third elastic portion, the fourth elastic portion, and the fifth elastic portion (under ideal conditions), and the elastic coefficients of the second elastic portion and the fourth elastic portion can also be infinitely small relative to the elastic coefficients of the third elastic portion and the fifth elastic portion (under ideal conditions). For example, T3 = T5 = T. In summary, Ffront ≈ T3 + T5 = 2T, Fleft ≈ T3 = T, Fright ≈ T5 = T, Ffront-left ≈ T3 = T, and Ffront-right ≈ T5 = T. Therefore, Fleft, Fright, Ffront-left, and Ffront-right can be equal values, and Ffront can be closer to the values of Fleft, Fright, Ffront-left, and Ffront-right. This can ensure that the difference in the collision response force generated by the anti-collision plate 120 when it is impacted by obstacles from different directions is small, which is beneficial to improving the accuracy of the running direction of the entire device 110.

[0090] 2) When T1<T2=T4=T3=T5, the forces generated when the front, left side, right side, left front, and right front of the anti-collision plate 120 collide with an obstacle are analyzed as follows.

[0091] When the front end of the anti-collision plate 120 is hit by an obstacle, the five elastic members 130 may be deformed by the force. Then, Ffront=T1+T2+T3+T4+T5≈T2+T3+T4+T5.

[0092] When the left side of the anti-collision plate 120 is hit by an obstacle, the second elastic portion and the third elastic portion will be deformed, while the first elastic portion, the fourth elastic portion and the fifth elastic portion will not be deformed, and thus Fleft=T2+T3.

[0093] Similarly, when the right side of the anti-collision plate 120 is hit by an obstacle, the fourth elastic portion and the fifth elastic portion will deform, while the first elastic portion, the second elastic portion and the third elastic portion will not deform, so Fright=T4+T5.

[0094] When the left front portion of the anti-collision plate 120 is hit by an obstacle, the first elastic portion, the second elastic portion and the third elastic portion will be deformed, while the fourth elastic portion and the fifth elastic portion will not be deformed, so Fleftfront=T1+T2+T3≈T2+T3.

[0095] Similarly, when the right front portion of the anti-collision plate 120 is hit by an obstacle, the first elastic part, the fourth elastic part and the fifth elastic part will be deformed, and the second elastic part and the third elastic part will not be deformed, then Frightfront=T1+T4+T5≈T4+T5.

[0096] To improve the consistency of the collision response force generated by the entire device 110 when it is impacted by obstacles from different directions, the elastic coefficient of the first elastic portion can be reduced to reduce the force T1 that the first elastic portion can be subjected to. The elastic coefficient of the first elastic portion can be infinitely small relative to the elastic coefficients of the second elastic portion, the third elastic portion, the fourth elastic portion, and the fifth elastic portion (under ideal conditions). The elastic coefficients of the second elastic portion and the fourth elastic portion can be equal to the elastic coefficients of the third elastic portion and the fifth elastic portion, for example, T2 = T3 = T4 = T5 = T. In summary, Ffront ≈ T2+T3+T4+T5=4T, Fleft = T2+T3=2T, Fright = T4+T5=2T, Fleftfront ≈ T2+T3=2T, Frightfront ≈ T4+T5=2T. Therefore, Fleft, Fright, Fleftfront and Frightfront can be equal values, and Ffront can be closer to the values of Fleft, Fright, Fleftfront and Frightfront, so that the difference in collision response force generated by the anti-collision plate 120 when it is hit by obstacles in different directions is smaller, which is conducive to improving the accuracy of the running direction of the whole machine 110.

[0097] In some examples, the response displacement of the Hall sensor can be preset to B, that is, when the displacement of the anti-collision plate 120 relative to the whole machine 110 is greater than or equal to B, the displacement of the magnet relative to the whole machine 110 is also greater than or equal to B. At this time, the host can issue an operating instruction to the whole machine 110. The maximum displacement caused by the normal shaking of the anti-collision plate 120 during the normal operation of the lawn mower 100 can be set to C. Among them, B>C. When the lawn mower 100 encounters an obstacle and collides, the displacement caused by the anti-collision plate 120 driving the magnet can be set to D. It can be understood that when D>B, the Hall sensor will respond, so that the host can issue an operating instruction to the whole machine 110. In summary, the numerical comparison relationship between the response displacement of the Hall sensor B, the maximum displacement caused by normal shaking is C, and the displacement caused by the anti-collision plate 120 driving the magnet is D is: D>B>C.

[0098] See also Figure 3 As shown, when the front part of the anti-collision plate 120 is subjected to the collision force, the five elastic parts 130 are all deformed. Under the same force, the smaller the elastic coefficient of the elastic part 131, the greater the elastic deformation generated, and the greater the displacement D of the anti-collision plate 120 relative to the whole machine 110. Therefore, Dfront is greater than any value of Dleft, Dright, Dleft front, and Dright front. Since D>B>C, it is necessary to satisfy Dfront & Dleft & Dright & Dleft front & Dright front>B>C. In summary, the closer the values of Dfront, Dleft, Dright, Dleft front, and Dright front are, the less likely the Hall sensor will be falsely triggered when Dfront>B, that is, the normal shaking of the anti-collision plate 120 will cause the host to not issue a turn or reverse command.

[0099] In some examples, the number of sensing devices may be three. The magnets of the three sensing devices may be respectively arranged on the front, left side, and right side of the anti-collision plate 120. When the magnets located on the front, left side, and right side are all displaced, the host can determine that a collision has occurred in the front of the entire machine 110. When the magnet on the left side is displaced, the host can determine that a collision has occurred on the left side of the entire machine 110. When the magnets on the front and left sides are displaced, the host can determine that a collision has occurred in the left front of the entire machine 110. When the magnet on the right side is displaced, the host can determine that a collision has occurred on the right side of the entire machine 110. When the magnets on the front and right side are displaced, the host can determine that a collision has occurred in the right front of the entire machine 110. In summary, the host can identify the force point of the anti-collision plate 120 based on the position of the displaced magnets, so that the correct operating instructions can be issued to the entire machine 110.

[0100] In some examples, the preset values of the Hall sensor response displacements of the three sensing devices of the present embodiment can be different. For example, if the elastic coefficients of the second elastic member 102, the third elastic member 103, the fourth elastic member 104, and the fifth elastic member 105 are different, the preset values of the Hall sensor response displacements can be adjusted so that the lawn mower 100 can respond appropriately when encountering an obstacle.

[0101] For example, when the elastic coefficients of the second and third elastic portions are both greater than the elastic coefficients of the fourth and fifth elastic portions, Fleft = T2 + T3, Fright = T4 + T5, and Fleft > Fright. Therefore, the displacement generated by a collision on the left side of the anti-collision plate 120 is smaller than the displacement generated by a collision on the right side of the anti-collision plate 120. In this case, the preset value of the Hall effect sensor response displacement corresponding to the left side can be adjusted to be smaller than the preset value of the Hall effect sensor response displacement corresponding to the right side to compensate for the difference in displacement between the left and right sides of the anti-collision plate 120. This allows the entire device 110 to promptly respond to movement when the left side is displaced.

[0102] In some examples, when there are four elastic members 130, this embodiment includes a second elastic member 102, a third elastic member 103, a fourth elastic member 104, and a fifth elastic member 105. Along the forward direction X of the entire machine 110, the second elastic member 102 and the third elastic member 103 may be located to the left of the centerline M. The second elastic member 102 is positioned further forward than the third elastic member 103, and the first elastic member 101 is positioned further forward than the second elastic member 102. The fourth elastic member 104 and the fifth elastic member 105 may be positioned to the right of the centerline M. The fourth elastic member 104 and the second elastic member 102 are symmetrically arranged relative to the centerline M. The fifth elastic member 105 and the third elastic member 103 are symmetrically arranged relative to the centerline M. Therefore, the magnitude relationship of the values of T2, T3, T4, and T5 can be T2 = T4 ≤ T3 = T5.

[0103] When the front end of the anti-collision plate 120 is hit by an obstacle, the force acting on the second elastic portion is T2. The force acting on the third elastic portion is T3. The force acting on the fourth elastic portion is T4. The force acting on the fifth elastic portion is T5. Therefore, Ffront = T2 + T3 + T4 + T5.

[0104] When the left side of the anti-collision plate 120 is hit by an obstacle, the second elastic portion and the third elastic portion will be deformed, while the first elastic portion, the fourth elastic portion and the fifth elastic portion will not be deformed, that is, Fleft=T2+T3.

[0105] Similarly, when the right side of the anti-collision plate 120 is hit by an obstacle, the fourth elastic portion and the fifth elastic portion will deform, while the first elastic portion, the second elastic portion and the third elastic portion will not deform, that is, Fright=T4+T5.

[0106] When the left front portion of the anti-collision plate 120 is hit by an obstacle, the second elastic portion and the third elastic portion will be deformed, while the fourth elastic portion and the fifth elastic portion will not be deformed, that is, Fleftfront=T2+T3.

[0107] Similarly, when the right front portion of the anti-collision plate 120 is hit by an obstacle, the fourth elastic part and the fifth elastic part will be deformed, and the second elastic part and the third elastic part will not be deformed, that is, Frightfront=T4+T5.

[0108] Therefore, the elastic coefficients of the second elastic part and the fourth elastic part located at the front can be adjusted to reduce so as to reduce T2 and T4. T2 and T4 can be infinitely small relative to T3 and T5 (under ideal conditions), for example, T2=T4<T3=T5, T3=T5=T. In summary, Ffront ≈ T3+T5=2T, Fleft ≈ T3=T, Fright ≈ T5=T, Fleft front ≈ T3=T, Fright front ≈ T5=T. Therefore, it is possible to achieve equal values for Fleft, Fright, Fleft front and Fright front, and Ffront can be closer to Fleft, Fright, Fleft front and Fright front.

[0109] Alternatively, the elastic coefficients of the second and fourth elastic parts located at the front can be equal to the elastic coefficients of the third and fifth elastic parts. For example, T2 = T4 = T3 = T5 = T. In summary, Ffront = T2 + T3 + T4 + T5 = 4T, Fleft = T2 + T3 = 2T, Fright = T4 + T5 = 2T, Fleft front = T2 + T3 = 2T, and Fright front = T4 + T5 = 2T. Therefore, Fleft, Fright, Fleft front, and Fright front can be equal in value, and Ffront can be closer to Fleft, Fright, Fleft front, and Fright front.

[0110] It should be noted that the second elastic member 102 and the fourth elastic member 104 may be, but are not limited to, symmetrically arranged relative to the center line M. The third elastic member 103 and the fifth elastic member 105 may be, but are not limited to, oppositely arranged relative to the center line M.

[0111] In some possible implementations, along the forward direction X of the entire machine 110 , the cross-sectional area of the front elastic member 130 may be smaller than or equal to the cross-sectional area of the rear elastic member 130 , and the cross section is perpendicular to the vertical direction Y.

[0112] Therefore, the embodiment of the present application can adjust the cross-sectional area of the front elastic portion 131 to be less than or equal to the cross-sectional area of the rear elastic portion 131 so that the entire machine 110 is subjected to the same force when hit by obstacles in different directions, so that the host can issue more accurate operating instructions.

[0113] In some examples, the cross-sectional area of the first elastic portion of the first elastic member 101 may be less than or equal to the cross-sectional area of the second elastic portion of the second elastic member 102. The cross section is perpendicular to the vertical direction Y.

[0114] In some examples, a smaller cross-sectional area of the elastic portion 131 results in a smaller elastic modulus of the elastic portion 131. Therefore, by adjusting the cross-sectional area of the first elastic portion to be smaller than or equal to the cross-sectional area of the second elastic portion, and the cross-sectional area of the second elastic portion to be smaller than or equal to the cross-sectional area of the third elastic portion, when the entire device 110 is impacted by obstacles from different directions, the elastic deformation of each elastic member 130 affected by the applied force is similar.

[0115] In some implementations, the elastic coefficients of the elastic portion 131 can be varied by adjusting the hardness of the elastic portion 131. Along the forward direction X of the entire device 110, the hardness of the front elastic portion 131 can be less than or equal to the hardness of the rear elastic portion 131.

[0116] In some embodiments, the elastic portion 131 has a low hardness and a low elastic modulus. Therefore, the hardness of the first elastic portion may be less than or equal to the hardness of the second elastic portion, and the hardness of the second elastic portion may also be less than or equal to the hardness of the third elastic portion.

[0117] In some embodiments, the cross-sectional shapes of the first elastic portion, the second elastic portion, the third elastic portion, the fourth elastic portion, and the fifth elastic portion can all be circular. For example, the first elastic portion, the second elastic portion, the third elastic portion, the fourth elastic portion, and the fifth elastic portion can all be cylindrical structures.

[0118] The cross-sectional shape of the elastic portion 131 in the embodiment of the present application is circular, so that when the anti-collision plate 120 is subjected to a force in any direction, the forces acting on the same elastic portion 131 are equal, that is, multiple different forces will not be generated on the same elastic portion 131, so that the elastic coefficient of the elastic portion 131 of the elastic member 130 at different positions around the entire machine 110 can be adjusted to make the collision displacement generated by the anti-collision plate 120 the same.

[0119] In some examples, the elastic portion 131 may be made of a flexible material, such as silicone rubber, and the first connecting portion 132 and the second connecting portion 133 may be made of a rigid material, such as steel.

[0120] In some implementations, the anti-collision plate 120 may be disposed at the front and side of the entire machine 110 along the forward direction X of the entire machine 110. The first elastic member 101 may be connected between the anti-collision plate 120 and the front of the entire machine 110. The second elastic member 102 may be connected between the anti-collision plate 120 and the side of the entire machine 110.

[0121] In some possible implementations, see Figure 4 As shown, the connection assembly of the embodiment of the present application further includes a first locking member 140 and a second locking member 150. The first connection portion 132 is connected to the entire device 110 via the first locking member 140. The second connection portion 133 is connected to the anti-collision plate 120 via the second locking member 150.

[0122] In some implementations, the first locking member 140 includes a first locking member 141 and a second locking member 142. The second locking member 150 includes a third locking member 151 and a fourth locking member 152. The first connecting portion 132 is connected to the first locking member 141, and the second connecting portion 133 is connected to the third locking member 151.

[0123] The first fastening member 141 and the second fastening member 142 are locked together to connect the first connecting portion 132 and the entire device 110 , and the third fastening member 151 and the fourth fastening member 152 are locked together to connect the second connecting portion 133 and the anti-collision plate 120 .

[0124] In some examples, the first fastening member 141 and the third fastening member 151 may be nuts. The second fastening member 142 and the fourth fastening member 152 may be screws. The first fastening member 141 and the second fastening member 142 may be provided in a one-to-one correspondence. The third fastening member 151 and the fourth fastening member 152 may also be provided in a one-to-one correspondence.

[0125] For some examples, see Figure 5 As shown, the first locking member 141 , the third locking member 151 and the elastic member 130 may be an integrated structure to improve the connection stability of the first locking member 141 , the third locking member 151 and the elastic member 130 , while also reducing the assembly process.

[0126] For example, at least a portion of the first fastening member 141 can be embedded in the first connecting portion 132. The first fastening member 141 and the first connecting portion 132 can be integrally encapsulated with rubber to form a one-piece structure. At least a portion of the third fastening member 151 can be embedded in the second connecting portion 133. The third fastening member 151 and the second connecting portion 133 can be integrally encapsulated with rubber to form a one-piece structure.

[0127] In some possible implementations, see Figure 1 and Figure 6 As shown, the whole machine 110 is provided with a first connecting plate 111. The anti-collision plate 120 is provided with a second connecting plate 121. The first connecting plate 111 and the second connecting plate 121 are arranged opposite each other along the vertical direction Y. The two connecting parts 132 of the elastic member 130 are respectively connected to the first connecting plate 111 and the second connecting plate 121.

[0128] In some examples, multiple first connecting plates 111 may be provided on the outer edge of the entire machine 110 along the circumference of the entire machine 110. Multiple second connecting plates 121 may be provided on the inner edge of the anti-collision plate 120. Along the vertical direction Y, a gap is defined between the first connecting plates 111 and the second connecting plates 121. The elastic portion 131 may be located in the gap. The first locking member 141 of the elastic member 130 may correspond to the first connecting plate 111 of the entire machine 110 and be locked by the second locking member 142. The third locking member of the elastic member 130 may correspond to the second connecting plate 121 of the anti-collision plate 120 and be locked by another fourth locking member.

[0129] For some examples, see Figure 4 As shown, the first connecting plate 111 and the second connecting plate 121 may have a limiting hole 110a. Along the vertical direction Y, the opening direction of the limiting hole 110a on the first connecting plate 111 is opposite to the opening direction of the limiting hole 110a on the second connecting plate 121. At least a portion of the fixed end 131a of the elastic portion 131 may be located within the limiting hole 110a. The limiting hole 110a can constrain the maximum deformation displacement of the elastic member 130 through the fixed end 131a.

[0130] The present application also provides an anti-collision device. Figure 4 As shown, the anti-collision device can be used for self-moving equipment. The anti-collision device can include an anti-collision plate 120 and a connecting component.

[0131] The anti-collision plate 120 is disposed outside at least a portion of the entire device 110. The connecting assembly includes at least two elastic members 130 spaced apart. The elastic member 130 includes a first connecting portion 132, an elastic portion 131, and a second connecting portion 133. The elastic portion 131 is disposed between the first connecting portion 132 and the second connecting portion 133. Along the vertical direction Y, the first connecting portion 132 of the elastic member 130 is connected to the entire device 110, and the second connecting portion 133 of the elastic member 130 is connected to the anti-collision plate 120. The connecting portions of at least two elastic members 130 have different elastic coefficients.

[0132] It should be noted here that the numerical values and numerical ranges involved in this application are approximate values. Due to the influence of the manufacturing process, there may be a certain range of errors. Those skilled in the art may consider this part of the error to be negligible.

[0133] In the description of the embodiments of this application, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to a fixed connection, an indirect connection via an intermediate medium, internal communication between two components, or an interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the embodiments of this application based on specific circumstances.

[0134] In the description of this application, it should be understood that the terms used, such as "center", "length", "width", "thickness", "top", "bottom", "up", "down", "left", "right", "front", "back", "vertical", "horizontal", "inside", "outside", "axial", and "circumferential", indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the position or component referred to must have a specific orientation, a specific structure, and operation, and therefore should not be understood as limiting the present invention.

[0135] In the embodiments of the present application, any device or element referred to or implied must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be understood as limiting the embodiments of the present application. In the description of the embodiments of the present application, the meaning of "plurality" is two or more, unless otherwise specifically specified.

[0136] The terms "first," "second," "third," "fourth," and so on (if any) in the description and claims of the embodiments of the present application and the accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the terms used in this manner are interchangeable where appropriate, so that the embodiments of the present application described herein, for example, can be implemented in an order other than those illustrated or described herein.

[0137] In addition, the terms "comprises" and "having" and any variations thereof are intended to cover a non-exclusive inclusion. For example, a process, method, system, product or apparatus that includes a series of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, product or apparatus.

[0138] The term "plurality" in this document refers to two or more. The term "and / or" in this document simply describes a relationship between related objects, indicating that three possible relationships exist. For example, "A and / or B" can represent: A alone, A and B together, or B alone. Furthermore, the character " / " in this document generally indicates an "or" relationship between the related objects; in a formula, the character " / " indicates a "division" relationship between the related objects.

[0139] It will be understood that the various numerical numbers involved in the embodiments of the present application are merely distinctions for the convenience of description and are not intended to limit the scope of the embodiments of the present application.

[0140] It can be understood that in the embodiments of the present application, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

Claims

1. A self-propelled device, characterized in that: include: Complete machine; An anti-collision plate is provided on the outer periphery of at least a portion of the entire machine; A connecting assembly comprising at least two elastic members spaced apart from each other, the elastic member comprising a first connecting portion, an elastic portion, and a second connecting portion, the elastic portion being disposed between the first connecting portion and the second connecting portion, wherein the first connecting portion of the elastic member is connected to the entire machine in a vertical direction, and the second connecting portion of the elastic member is connected to the anti-collision plate; The elastic coefficients of the elastic parts of at least two of the elastic members are different so that the elastic deformations of the elastic members are close to or equal; The connecting assembly includes a first elastic member and a second elastic member, the first elastic member includes a first elastic portion, and the second elastic member includes a second elastic portion. Along the forward direction of the entire device, the first elastic member is located on a side of the second elastic member facing the front end of the self-moving device, and the elastic coefficient of the first elastic portion is less than or equal to the elastic coefficient of the second elastic portion. The system further comprises a host and a sensor device, wherein the host is provided on the entire machine, and the sensor device is provided on at least one of the anti-collision plate and the entire machine; The sensor device detects the elastic deformation of the elastic member and transmits data information to the host, and the host issues an operating instruction to the entire machine.

2. The self-moving device according to claim 1, characterized in that: The cross-sectional area of the first elastic portion is smaller than or equal to the cross-sectional area of the second elastic portion, and the cross-sectional area is perpendicular to the vertical direction; and / or, The hardness of the first elastic portion is less than or equal to the hardness of the second elastic portion.

3. The self-moving device according to claim 2, characterized in that: The cross-section of the first elastic portion or the second elastic portion is circular.

4. The self-moving device according to claim 1, characterized in that: Along the forward direction of the whole machine, the anti-collision plate is arranged at the front and side of the whole machine, the first elastic member is connected between the anti-collision plate and the front of the whole machine, and the second elastic member is connected between the anti-collision plate and the side of the whole machine.

5. The self-moving device according to claim 1, characterized in that: The connecting assembly further includes a first locking member, and the first connecting portion is connected to the entire device via the first locking member; and / or, The connecting assembly further includes a second locking member, and the second connecting portion is connected to the anti-collision plate through the second locking member.

6. The self-moving device according to claim 5, characterized in that: The first locking member includes a first locking piece and a second locking piece, the second locking member includes a third locking piece and a fourth locking piece, the first connecting portion is connected to the first locking piece, and the second connecting portion is connected to the third locking piece; The first locking member is locked with the second locking member to connect the first connecting portion and the entire machine, and the third locking member is locked with the fourth locking member to connect the second connecting portion and the anti-collision plate.

7. The self-moving device according to claim 6, characterized in that: The first locking member and the first connecting portion are an integral structure; and / or, The third locking member and the second connecting portion are an integral structure.

8. The self-moving device according to claim 7, characterized in that: The whole machine is provided with a first connecting plate, and the anti-collision plate is provided with a second connecting plate. Along the vertical direction, the first connecting plate and the second connecting plate are arranged opposite to each other, the first locking piece of the elastic member is connected to the first connecting plate, and the third locking piece of the elastic member is connected to the second connecting plate.

9. The self-moving device according to any one of claims 1 to 8, characterized in that: The self-moving device is a lawn mower.

10. An anti-collision device, characterized in that: The complete machine installed on the mobile device includes: An anti-collision plate is provided on the outer periphery of at least a portion of the entire machine; A connecting assembly comprising at least two elastic members spaced apart from each other, the elastic member comprising a first connecting portion, an elastic portion, and a second connecting portion, the elastic portion being disposed between the first connecting portion and the second connecting portion, wherein the first connecting portion of the elastic member is connected to the entire machine in a vertical direction, and the second connecting portion of the elastic member is connected to the anti-collision plate; The elastic coefficients of the elastic parts of at least two of the elastic members are different so that the elastic deformations of the elastic members are close to or equal; The connecting assembly includes a first elastic member and a second elastic member, the first elastic member includes a first elastic portion, and the second elastic member includes a second elastic portion. Along the forward direction of the entire device, the first elastic member is located on a side of the second elastic member facing the front end of the self-moving device, and the elastic coefficient of the first elastic portion is less than or equal to the elastic coefficient of the second elastic portion. A sensing device is provided on at least one of the anti-collision plate and the whole machine; The sensor device detects the elastic deformation of the elastic member and transmits data information to the host, and the host issues an operating instruction to the entire machine.

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