Anti-collision sensor, device, snow sweeping robot and obstacle avoidance control method

Abstract

This application discloses an anti-collision sensor, device, snow-sweeping robot, and obstacle avoidance method. The obstacle avoidance control method includes: receiving a detection signal; reading sensor information; reading sensor information corresponding to the anti-collision sensor in the detection signal, the sensor information including an identification tag corresponding to each anti-collision sensor; and outputting an obstacle avoidance command, outputting a first obstacle avoidance command corresponding to the identification tag. In this way, by setting anti-collision sensors in multiple locations, upon receiving a detection signal, the corresponding identification tag is read, and a corresponding first obstacle avoidance command is output based on the identification tag. Different obstacle avoidance commands are output based on different sensors, thereby achieving fine-grained control from multiple angles and enabling more precise obstacle avoidance actions based on the location of the obstacle.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to an anti-collision sensor, an anti-collision device, a snow-sweeping robot, and an obstacle avoidance control method. Background Technology

[0002] A snow-sweeping robot, as a type of yard robot, includes a snow-sweeping device and a mobile cart used to move the snow-sweeping device within the yard. The mobile cart is usually wheeled or tracked. The snow-sweeping device mainly includes a snow-rolling mechanism and a snow-throwing mechanism. The snow-rolling mechanism collects the snow on the ground into a snow-rolling chamber, and then the snow-throwing mechanism throws the snow in the snow-rolling chamber in a designated direction.

[0003] To achieve automatic snow removal, snow-clearing robots typically need to have their movement paths pre-programmed, following these predetermined routes during snow removal. However, when obstacles appear on their path, the snow-clearing robot uses an obstacle avoidance system to navigate around them. However, existing obstacle avoidance systems for snow-clearing robots generally rely on electromagnetic waves emitted by radar to detect obstacles, making them heavily dependent on the quality of electromagnetic wave transmission. When there is severe weather or magnetic field interference, the accuracy of the obstacle avoidance system can decrease or it can malfunction, causing the snow-clearing robot to collide with obstacles and be unable to continue moving, thus interrupting snow removal operations. Summary of the Invention

[0004] The present invention aims to provide an anti-collision sensor, an anti-collision device, a snow sweeping robot, and an obstacle avoidance control method, which can solve the technical problem of poor accuracy of the obstacle avoidance system of the snow sweeping robot in the prior art.

[0005] The technical solutions adopted by the embodiments of the present invention to solve their technical problems are as follows:

[0006] This application discloses an anti-collision sensor, comprising:

[0007] Moving contact, which is a long strip extending along the length direction, is a flexible component;

[0008] The stationary contact is a long strip that is adapted to the moving contact;

[0009] The support body has a fixed arrangement of the moving contact and the stationary contact with a certain gap. The support body allows the moving contact and the stationary contact to make electrical contact under the action of external force. The support body also includes a reset member for the moving contact and the stationary contact to reset to both sides of the gap after the external force is removed.

[0010] Lead terminals are electrically connected to the moving and stationary contacts.

[0011] By directly generating physical contact between the stationary and moving contacts under external force to trigger the alarm circuit, this method not only enables timely alarm activation upon collision with obstacles but also reduces reliance on electromagnetic waves, improving sensor stability and enhancing obstacle avoidance capabilities in complex working environments such as severe weather. Furthermore, while existing anti-collision sensors often employ point-contact detection by distributing pressure sensors within the detection area, this application uses a long, flexible moving contact. Upon impact, any point on the sensor undergoes localized deformation, contacting the stationary contact to trigger the alarm circuit. This creates a continuous line-contact detection zone within the sensor's coverage area, resulting in higher accuracy compared to traditional point-contact pressure sensor detection methods and eliminating or reducing detection blind spots.

[0012] As one possible implementation of the anti-collision sensor of this application, the support body is an elastic tube, the elastic tube is an insulator, the moving contact and the stationary contact are arranged along the length direction on the inner wall of the elastic tube, and the inner wall between the moving contact and the stationary contact serves as the reset element.

[0013] By designing the support as a tube and placing the moving and stationary contacts on the inner wall of the tube, the sensor as a whole forms a relatively enclosed structure. This protects the stationary and moving contacts, reduces the impact of the external environment, decreases the failure rate of the equipment, and extends its service life. Furthermore, the tubular support is easy to manufacture and has low production costs.

[0014] As one possible implementation of the anti-collision sensor of this application, the elastic tube includes an arched tube top and a flat tube bottom, with a moving contact fixedly disposed in the inner cavity of the tube top and a stationary contact fixedly disposed on the inner surface of the tube bottom.

[0015] By setting the top of the elastic tube to an arch shape, the moving contact can generate a greater restoring force by elastically deforming inward under external pressure. This structure reduces the requirements for the elasticity of the elastic tube itself, while still meeting the requirement for the moving contact to reset after the external force is removed. It also enhances the reset capability of the equipment from a structural perspective, improves product reliability, reduces the requirements for production materials, and consequently reduces production costs.

[0016] As one possible implementation of the anti-collision sensor of this application, the top of the tube is provided with a top encapsulation body for encapsulating the moving contact, the top encapsulation body being a conductor, and the bottom of the tube is provided with a bottom encapsulation body for encapsulating the stationary contact, the bottom encapsulation body being a conductor.

[0017] The moving and stationary contacts are encapsulated within a top and bottom enclosure, preventing them from being exposed and extending their service life. This structure also ensures that the moving and stationary contacts are more securely fixed to the support, keeping the deformation trajectory of the moving contact consistent with that of the top of the tube, while the stationary contact remains relatively stationary with respect to the bottom of the tube, thus ensuring the detection accuracy of the equipment.

[0018] This application also discloses a collision avoidance device, including:

[0019] The anti-collision sensor is the anti-collision sensor described above, and the anti-collision sensor further includes a mounting mechanism for fixing the support body;

[0020] The anti-collision beam has multiple anti-collision sensors on its front side, mounting parts for fixing the anti-collision device on its back side, wiring grooves for wiring, and an assembly part adapted to the mounting mechanism.

[0021] By installing anti-collision sensors on the anti-collision beam, the beam provides protection when it collides with obstacles. The anti-collision sensors trigger obstacle avoidance circuitry upon contact with an obstacle, correcting the trajectory to avoid it. This combination of anti-collision sensors and anti-collision beams allows the anti-collision device to achieve both protection and obstacle avoidance.

[0022] This application also discloses a snow removal device, including:

[0023] Snow collection mechanisms are used to collect and gather snow.

[0024] A snow-throwing mechanism, connected to the snow-collecting mechanism, is used to throw out the snow accumulated by the snow-collecting mechanism;

[0025] And the aforementioned anti-collision device, which is disposed on the outer surface of the snow removal equipment.

[0026] This application also discloses a snow-sweeping robot, including:

[0027] The snow removal equipment described above is used to remove snow from its movement path;

[0028] The vehicle body is fixedly connected to the snow removal equipment and is used to move the snow removal equipment.

[0029] This application also discloses an obstacle avoidance control method, including:

[0030] Receive detection signals, receive detection signals sent by sensors, wherein the sensors include the anti-collision sensors as described above, and the anti-collision sensors include multiple sensors;

[0031] Read sensor information, read sensor information in the detection signal corresponding to the anti-collision sensor, the sensor information including an identity tag that corresponds one-to-one with the anti-collision sensor;

[0032] Output obstacle avoidance command, and output the first obstacle avoidance command corresponding to the identity tag according to the identity tag.

[0033] In this way, by setting up collision avoidance sensors in multiple locations, the system reads the corresponding identification tag after receiving a detection signal and outputs the corresponding first obstacle avoidance command based on the identification tag. Different obstacle avoidance commands are output according to different sensors, thereby achieving fine-grained control from multiple angles and enabling more precise obstacle avoidance actions based on the location of the obstacle.

[0034] In one possible implementation, the sensor further includes a remote sensing sensor, which includes a receiving device for receiving electromagnetic waves, and the detection signal includes a remote sensing signal emitted by the remote sensing sensor.

[0035] Before reading the detection signal, the method further includes determining the signal type and outputting different instructions based on the signal type.

[0036] The step of outputting obstacle avoidance commands also includes:

[0037] When a remote sensing signal is detected, a second obstacle avoidance command corresponding to the remote sensing signal is output.

[0038] This system combines contact-based obstacle avoidance sensors with remote-sensing obstacle avoidance sensors. When the contact-based sensor detects an obstacle, it outputs a first obstacle avoidance command and executes the corresponding obstacle avoidance action. When the remote-sensing sensor detects an obstacle, it outputs a second obstacle avoidance command and executes the corresponding obstacle avoidance action. As long as either system is functioning properly, obstacle avoidance is achieved, increasing the system's reliability. The contact-based obstacle avoidance device serves as a safety measure, preventing the mobile vehicle from getting stuck at obstacles and unable to move if the remote-sensing obstacle avoidance device's signal is weak or its accuracy is reduced.

[0039] In one possible implementation, the remote sensing signal includes electromagnetic waves received from the surface of an obstacle, the electromagnetic waves including millimeter waves or light waves.

[0040] In one possible implementation, the obstacle avoidance control method further includes:

[0041] A command database is pre-established to store the first obstacle avoidance command associated with the identity tag, as well as the sensor orientation information associated with the identity tag. The sensor orientation information is used to mark the relative orientation of the corresponding collision avoidance sensor.

[0042] By establishing an instruction database, identifying tags are associated with and stored in relation to their corresponding first obstacle avoidance instructions. The system identifies the tags in the sensor information, then retrieves the corresponding first obstacle avoidance instruction from the database and outputs that instruction. This significantly reduces the system's computational load and improves the device's rapid obstacle avoidance response capability.

[0043] In one possible implementation, the first obstacle avoidance command includes controlling the walking system to walk a predetermined distance in a specific direction, said specific direction being the opposite direction of the relative direction.

[0044] In this way, by controlling the walking system to walk a predetermined distance in the opposite direction to the corresponding sensor, a certain distance can be created from the obstacle, providing room for maneuver to bypass the obstacle. Attached Figure Description

[0045] One or more embodiments are illustrated by way of example with reference numerals in the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings are not to be limited by scale.

[0046] Figure 1 This is a schematic diagram of the overall structure of the snow-sweeping robot disclosed in the embodiments of this application;

[0047] Figure 2 For this Figure 1 Enlarged view of point A in the middle;

[0048] Figure 3 This is a schematic diagram of the overall structure of the anti-collision device in the embodiments of this application;

[0049] Figure 4 This is an assembly diagram of the anti-collision device in an embodiment of this application.

[0050] Figure 5 for Figure 3 Sectional view of AA;

[0051] Figure 6 This is a schematic diagram of the anti-collision sensor in an embodiment of this application;

[0052] Figure 7 for Figure 6 BB section view;

[0053] Figure 8 This is a flowchart of the obstacle avoidance control method in an embodiment of this application.

[0054] The attached icon numbers and their corresponding meanings are as follows:

[0055] Snow sweeping device 1, snow collection mechanism 11, snow throwing mechanism 12;

[0056] Body 2;

[0057] Anti-collision sensor 3, support body 30, latching protrusion 31, connecting part 32, junction box 33, stationary contact 34, moving contact 35, top package 36, bottom package 37, guide groove 370, wiring terminal 38;

[0058] 4. Anti-collision beam, 40. Wiring channel, 41. Card slot, 42. Storage cavity, 43. Support rod, 44. Cable routing hole, 45. Cable organizer. Detailed Implementation

[0059] To facilitate understanding of the present invention, a more detailed description is provided below with reference to the accompanying drawings and specific embodiments. It should be noted that when an element is described as being "fixed to" another element, it can be directly on the other element, or one or more intermediate elements may exist between them. When an element is described as being "connected" to another element, it can be directly connected to the other element, or one or more intermediate elements may exist between them. The terms "upper," "lower," "inner," "outer," "vertical," and "horizontal," etc., used in this specification to indicate orientation or positional relationships are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing the present invention and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as limiting the present invention.

[0060] Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Words such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed after the word and their equivalents, without excluding other elements or objects. Words such as "connected" or "linked" are not limited to physical or mechanical connections but can include electrical connections, whether direct or indirect. Unless otherwise defined, the features such as "parallel," "perpendicular," and "identical" used in embodiments of the present invention include strictly defined "parallel," "perpendicular," and "identical," as well as cases where "approximately parallel," "approximately perpendicular," and "approximately identical" include a certain margin of error. For example, "approximately" as described above may indicate that the difference between the compared objects is within 10% or 5% of the average value of the compared objects. Unless otherwise specified in the following embodiments of the present invention, the quantity of a component or element is implied; it means that the component or element may be one or more, or can be understood as at least one. "At least one" means one or more, and "more" means at least two.

[0061] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the invention. The term "and / or" as used in this specification includes any and all combinations of one or more of the associated listed items.

[0062] Furthermore, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the described embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0063] The snow-sweeping robot disclosed in this application, such as Figure 1 As shown, the system includes a snow removal device 1, a vehicle body 2, and a collision avoidance device. The snow removal device 1 includes a snow collection mechanism 11 and a snow throwing mechanism 12. The snow collection mechanism 11 is used to collect snow, and the snow throwing mechanism 12 is connected to the snow collection mechanism 11 and is used to throw out the collected snow. The collision avoidance device is installed outside the snow removal device 1 to prevent the snow removal device 1 from colliding with obstacles and hindering the snow removal robot's movement.

[0064] like Figures 2-5 As shown, the anti-collision device includes an anti-collision sensor 3 and an anti-collision beam 4. The anti-collision sensor 3 is a strip extending along its length. The anti-collision sensor 3 includes a support body 30 and a mounting mechanism fixedly connected to the support body 30. The support body 30 is an anti-collision component. When the snow-sweeping robot comes into contact with an obstacle, the anti-collision component detects the presence of the obstacle, triggering the obstacle avoidance circuit and controlling the snow-sweeping robot's trajectory to achieve obstacle avoidance. The anti-collision beam 4 has at least one anti-collision sensor 3 on its front side and a mounting component for fixing the anti-collision device on its back side. The anti-collision beam 4 also has a wiring groove 40 for wiring the anti-collision component and an assembly part adapted to the mounting mechanism.

[0065] By installing at least one anti-collision sensor 3 on the anti-collision beam 4, the anti-collision beam 4 provides protection when colliding with obstacles. The anti-collision sensor 3 can trigger the obstacle avoidance circuit when in contact with an obstacle, thereby correcting the trajectory of the snowplow and the robot, and achieving obstacle avoidance functions such as stopping or bypassing obstacles. In this way, the combination of the anti-collision sensor 3 and the anti-collision beam 4 enables the anti-collision device to achieve both protection and obstacle avoidance.

[0066] like Figures 3-5As shown, the mounting mechanism includes a latching protrusion 31 located at the bottom of the anti-collision sensor 3, and an assembly part including a latching groove 41 located on the front of the anti-collision beam 4. The latching protrusion 31 and the latching groove 41 are adapted to each other. The anti-collision sensor and the anti-collision beam are fixedly connected by the latching protrusion and the latching groove, which can achieve quick disassembly and assembly, and facilitate the assembly and maintenance of the anti-collision sensor. Specifically, the latching protrusion 31 is located at the bottom of the support body 30. In this embodiment, the two are integrally formed. In other embodiments of this invention, the latching protrusion 31 and the support body 30 can also be separate structures, which are fixedly connected as a whole by assembly. The mounting mechanism also includes a connecting part 32 connecting the latching protrusion 31 and the support body 30. The assembly part also includes a receiving cavity 42 for accommodating the latching protrusion 31. The receiving cavity 42 is located inside the anti-collision beam 4. The latching groove 41 located on the surface of the anti-collision beam 4 communicates with the receiving cavity 42. One end of the connecting part 32 is connected to the latching protrusion 31, and the other end passes through the latching groove 41 and is fixedly connected to the support body 30.

[0067] In this way, when the anti-collision sensor 3 and the anti-collision beam 4 are assembled, the locking protrusion 31 is placed inside the receiving cavity 42, and the connecting part 32 passes through the slot 41 from inside the receiving cavity 42, connecting the support body 30 outside the receiving cavity 42 and the locking protrusion 31 inside the receiving cavity 42, thereby realizing the fixed connection between the anti-collision sensor 3 and the anti-collision beam 4. That is, in the assembled state, the locking protrusion 31 is located inside the receiving cavity 42, and the support body 30 is located outside the receiving cavity 42 and on the front of the anti-collision beam 4, thus realizing the obstacle avoidance function when in contact with an obstacle.

[0068] like Figures 1-5 As shown, the mounting component is a support rod 43. One end of the support rod 43 is fixedly connected to the back of the anti-collision beam 4, and the other end is fixedly connected to the outer shell of the snow removal equipment 1. The support rod 43 has a hollow structure, and the wiring of the anti-collision component extends into the support rod 43 through the wiring channel 40, where it is electrically connected to the obstacle avoidance circuit installed inside the snow removal equipment 1. The back of the anti-collision beam 4 has a wiring hole 44, through which the wiring channel 40 communicates with the inner cavity of the support rod 43, allowing the wiring to enter the support rod 43 through the wiring hole and the wiring channel 40.

[0069] In this way, the anti-collision beam 4 is fixed to the housing of the snow removal equipment 1 by the support rod 43, realizing a fixed connection between the anti-collision device and the snow removal equipment 1. The support rod 43 also serves as a pipeline structure and is used for wiring. The wiring of the anti-collision component enters the interior of the anti-collision beam 4 from the front through the wiring hole 44, and is electrically connected to the obstacle avoidance circuit through the support rod 43, so that the anti-collision component can achieve internal wiring, which facilitates installation and maintenance.

[0070] The wiring terminals of existing snow-sweeping robot anti-collision systems are often located inside the snow removal equipment 1 or inside the vehicle body 2. Therefore, when repairing or replacing the anti-collision sensor 3, the snow removal equipment 1 often needs to be disassembled to complete the wiring, which causes great inconvenience to the maintenance and assembly of the equipment. To solve this problem, in this embodiment, the wiring point between the anti-collision component and the obstacle avoidance circuit is located in the anti-collision device. Specifically, a junction box 33 is provided inside the support rod 43. One end of the junction box 33 is electrically connected to the obstacle avoidance circuit, and the other end is plugged into and plugged into the wiring terminal 38 of the anti-collision component. The anti-collision box 33 is fixedly connected to the back of the anti-collision beam 4. Opening the junction box 33 allows for the plugging and unplugging of the wiring terminal 38, which is convenient for both installation and routine maintenance of the product.

[0071] like Figure 6 and Figure 7 As shown, the anti-collision sensor 3 includes a stationary contact 34 and a moving contact 35, respectively connected to terminals 36, and a support body 30 for fixing the moving contact 35 and the stationary contact 34. The moving contact 35 is an elongated strip extending along its length and is a flexible component with elastic deformation capability. The stationary contact 34 is an elongated strip adapted to the moving contact 35. Both the moving contact 35 and the stationary contact 34 are conductors. The moving contact 35 and the stationary contact 34 are fixedly disposed on the support body 30 with a certain gap between them. The support body 30 allows the moving contact 35 and the stationary contact 34 to make electrical contact under the action of external force. The support body 30 also includes a reset component for the moving contact 35 and the stationary contact 34 to return to their respective sides of the gap after the external force is removed.

[0072] By directly contacting the stationary contact 34 and the moving contact 35 under external force, the obstacle avoidance circuit is triggered. This enables timely alarm activation upon collision with an obstacle while reducing reliance on electromagnetic waves, thus improving the stability of the anti-collision sensor 3 and making its obstacle avoidance capability more reliable in complex working environments such as severe weather. Furthermore, while existing anti-collision sensors 3 often employ pressure-based obstacle avoiders distributed in the detection area for point-contact detection, this application sets the moving contact 35 as a long, flexible strip. This ensures that any point on the anti-collision sensor 3 undergoes local deformation upon impact, thereby contacting the stationary contact and triggering the obstacle avoidance circuit. This creates a continuous line-contact detection zone within the coverage area of ​​the obstacle avoider 3, resulting in higher accuracy compared to the point-contact detection scheme of traditional pressure-based obstacle avoiders, and eliminating or reducing detection blind spots.

[0073] like Figures 6-7 As shown, the support body 3 is an elastic tube body, which is an insulator. The moving contact 35 and the stationary contact 34 are arranged along the length direction on the inner wall of the elastic tube body, and the inner wall of the elastic tube body between the moving contact 35 and the stationary contact 34 acts as a reset element.

[0074] By designing the support body 3 as an elastic tube, and placing the moving contact 35 and the stationary contact 34 on the inner wall of the tube, the obstacle avoidance device 3 forms a relatively closed structure, which protects the stationary contact 34 and the moving contact 35, reduces the impact of the external environment, decreases the failure rate of the equipment, and extends its service life. At the same time, the tubular support body is easy to process and has low production costs.

[0075] like Figure 7 As shown, the elastic tube includes an arched top and a flat bottom. The moving contact 35 is fixedly installed in the inner cavity of the top, and the stationary contact 34 is fixedly installed on the inner surface of the bottom.

[0076] By setting the top of the tube to an arch shape, the moving contact 35 can generate a greater restoring force by elastically deforming inward under external pressure. This structure reduces the requirements for the elasticity of the elastic tube 34, while satisfying the requirement for the moving contact 35 to reset after the external force is removed. It also enhances the reset capability of the equipment from a structural perspective, improves the reliability of the product, reduces the requirements for production materials, and thus reduces production costs.

[0077] Furthermore, the tube has a top package 36 for encapsulating the moving contact 35, and the top package 36 is a conductor. The tube also has a bottom package 37 for encapsulating the stationary contact 34, and the bottom package 37 is also a conductor. Since both the top package 36 and the bottom package 37 are conductors, when the top package 35 and the bottom package 36 are in contact, electrical contact can be indirectly achieved between the moving contact 35 and the stationary contact 34, thereby triggering the collision avoidance circuit.

[0078] The moving contact 35 and the stationary contact 34 are encapsulated within the top encapsulation body 36 and the bottom encapsulation body 37, preventing the moving contact 35 and the stationary contact 34 from being exposed and extending their service life. At the same time, this structure makes the moving contact 35 and the stationary contact 34 more firmly fixed on the support body, ensuring that the deformation trajectory of the moving contact 35 is consistent with that of the top of the tube, and that the stationary contact 34 remains relatively stationary with respect to the bottom of the tube, thus ensuring the detection accuracy of the equipment.

[0079] Furthermore, such as Figure 7 As shown, the inner surface of the tube bottom is provided with guide grooves 370 that slope towards the center from both sides. The stationary contact 34 is located at the center of the bottom of the guide grooves 370. The top package 36 is protruding from the inner wall of the tube top to match the guide grooves 370. Specifically, the surface of the bottom package 37 extends to both sides of the tube bottom to form guide grooves 370, and the top package 36 protrudes downward to form a raised structure that matches the shape of the inner cavity of the guide grooves 370.

[0080] In this way, when the tube body undergoes elastic deformation, the top package 36 can form surface contact with it within the guide groove 370, increasing the electrical contact area between them. Furthermore, by providing the guide groove 370, when the moving contact 35 moves towards the stationary contact 34, it is guided to slide towards the bottom of the guide groove 370, thereby achieving electrical contact with the stationary contact 34 and playing a guiding role during the contact process between the stationary contact 34 and the moving contact 35.

[0081] In this embodiment, the top package 36 and the bottom package 37 are made of elastic materials. Firstly, by making the top package 36 and the bottom package 37 elastic materials, when the elastic tube undergoes local deformation, the top package 36 can also elastically deform accordingly, improving the sensitivity of the device. Secondly, under external force, when the top package 36 and the bottom package 37 come into contact, they will generate elastic deformation, which will act as a buffer, reducing the wear and tear on the device caused by rigid contact and extending the product's service life.

[0082] In this embodiment, the tube body is a rubber hose with a certain elastic deformation. The hose simultaneously meets the equipment's requirements for elastic deformation capability and insulation capability, and is easy to process and has low production cost. The moving contact 35 and the stationary contact 34 are metal wires fixed to the tube body (support body) along the length direction. Through the ductility of the metal wire, the moving contact 35 has a certain elastic deformation capability and good conductivity. At the same time, the metal wire has good toughness, increasing the structural strength of the product, making the moving contact 35 and the stationary contact 34 less prone to breakage.

[0083] like Figures 1-5 As shown, an anti-collision sensor 3 is provided on each of the two sides of the front of the anti-collision beam 4. By providing anti-collision sensors 3 on both sides of the anti-collision beam 4, both sides of the anti-collision beam 4 can be detected simultaneously. In other embodiments, an anti-collision sensor 3 is also provided at the center of the front of the anti-collision beam. In this way, by providing three anti-collision sensors 3 on the front of the anti-collision beam 4, the anti-collision function can be achieved from three angles, and each of the three anti-collision sensors 3 is independently connected to the obstacle avoidance circuit, which can increase the detection accuracy of the anti-collision device and facilitate the accurate positioning of unknown obstacles. In order to prevent the ends of individual anti-collision sensors 3 from warping, a cable organizer 45 is also provided at the end of the anti-collision beam 4. The cable organizer 45 makes the connection between the anti-collision sensor and the anti-collision beam 4 more stable, and at the same time prevents the ends of the anti-collision sensor 3 from warping, making the overall anti-collision device neater.

[0084] This application also discloses an obstacle avoidance control method, such as... Figure 8 As shown, the steps include:

[0085] S1. Establish instruction database

[0086] A command database is pre-established to store the first obstacle avoidance command associated with the identity tag, as well as the sensor orientation information associated with the identity tag. The sensor orientation information is used to mark the relative orientation of the corresponding anti-collision sensor relative to the snow sweeping robot.

[0087] By establishing an instruction database, identifying tags are associated with and stored in relation to their corresponding first obstacle avoidance instructions. The system identifies the tags in the sensor information, then retrieves the corresponding first obstacle avoidance instruction from the database and outputs that instruction. This significantly reduces the system's computational load and improves the device's rapid obstacle avoidance response capability.

[0088] S2, Receive detection signal

[0089] The system receives detection signals from sensors, including anti-collision sensors as described in the above embodiments. Multiple anti-collision sensors are arranged in different positions. The system also includes remote sensing sensors, which include receiving devices for receiving electromagnetic waves. The detection signals include remote sensing signals emitted by the remote sensing sensors.

[0090] In this way, by setting up collision avoidance sensors in multiple locations, the system reads the corresponding identification tag after receiving a detection signal and outputs the corresponding first obstacle avoidance command based on the identification tag. Different obstacle avoidance commands are output according to different sensors, thereby achieving fine-grained control from multiple angles and enabling more precise obstacle avoidance actions based on the location of the obstacle.

[0091] S3. Determine whether the detection signal type is a collision signal.

[0092] The system determines whether the received detection signal is a collision signal or a remote sensing signal. A collision signal is an electrical signal, while a remote sensing signal is an electromagnetic wave signal. The electromagnetic wave signal includes millimeter-wave signals or light waves, which are used to synthesize obstacle image information. If the detection signal is a collision signal, proceed to step S4; if the detection signal is a remote sensing signal, proceed to step S6.

[0093] This system combines contact-based obstacle avoidance sensors with remote-sensing obstacle avoidance sensors. When the contact-based sensor detects an obstacle, it outputs a first obstacle avoidance command and executes the corresponding obstacle avoidance action. When the remote-sensing sensor detects an obstacle, it outputs a second obstacle avoidance command and executes the corresponding obstacle avoidance action. As long as either system is functioning properly, obstacle avoidance is achieved, increasing the system's reliability. The contact-based obstacle avoidance device serves as a safety measure, preventing the mobile vehicle from getting stuck at obstacles and unable to move if the remote-sensing obstacle avoidance device's signal is weak or its accuracy is reduced.

[0094] S4. Read sensor information

[0095] Read the sensor information corresponding to the collision avoidance sensor from the detection signal. The sensor information includes an identification tag that corresponds to each collision avoidance sensor. The identification tag can be a number or model number that corresponds to each sensor.

[0096] S5, Output the first obstacle avoidance command

[0097] Based on the identification tag, the system invokes the obstacle avoidance command matching that tag from the command library, controlling the walking system to travel a predetermined distance in a specific direction. This specific direction is the opposite of the orientation of the anti-collision sensor. For example, if the anti-collision sensor that detected the collision signal is located to the left of the snow-sweeping robot, the robot will be controlled to travel a predetermined distance to the right, then bypass the obstacle and continue moving. In this way, by controlling the walking system to travel a predetermined distance in the opposite direction of the corresponding sensor, a certain distance can be created between the robot and the obstacle, providing room to maneuver around it.

[0098] S6, Output the second obstacle avoidance command

[0099] The second obstacle avoidance command is as follows: based on the received remote sensing signals, generate a path to bypass the obstacles and control the snow-sweeping robot to follow that path. The remote sensing sensors include, but are not limited to, millimeter-wave radar, cameras, or infrared sensors.

[0100] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; under the concept of the present invention, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of different aspects of the present invention as described above, which are not provided in detail for the sake of brevity; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An anti-collision sensor, characterized in that, include: The moving contact is a long strip extending along the length direction and is a flexible component; A stationary contact, wherein the stationary contact is an elongated strip adapted to the moving contact; A support body, wherein the moving contact and the stationary contact are fixedly disposed on the support body with a certain gap between them, the moving contact and the stationary contact are metal wires fixedly disposed on the support body along the length direction, the support body allows the moving contact and the stationary contact to make electrical contact under the action of external force, and the support body also includes a reset member for resetting the moving contact and the stationary contact to the two sides of the gap after the external force is removed; Lead terminals, wherein the lead terminals are electrically connected to the moving contact and the stationary contact; The support body is an elastic tube; The elastic tube includes an arched top and a flat bottom. The moving contact is fixedly disposed in the inner cavity of the top, and the stationary contact is fixedly disposed on the inner surface of the bottom. The top of the tube is provided with a top encapsulation body for encapsulating the moving contact, and the bottom of the tube is provided with a bottom encapsulation body for encapsulating the stationary contact; The top package and the bottom package are made of elastic material; The inner surface of the tube bottom is provided with guide grooves that slope towards the center from both sides. The bottom encapsulation body is disposed at the bottom of the guide grooves, and the top encapsulation body is adapted to the guide grooves and protrudes from the inner wall of the tube top.

2. The anti-collision sensor according to claim 1, characterized in that, The elastic tube is an insulator, and the moving contact is disposed on the inner wall of the elastic tube along the length direction of the stationary contact. The inner wall between the moving contact and the stationary contact serves as the reset element.

3. The anti-collision sensor according to claim 2, characterized in that, The top package is a conductor, and the bottom package is a conductor.

4. A collision avoidance device, characterized in that, include: The anti-collision sensor is the anti-collision sensor as described in any one of claims 1-3, and the anti-collision sensor further includes a mounting mechanism for fixing the support body; The anti-collision beam has multiple anti-collision sensors on its front side, mounting parts for fixing the anti-collision device on its back side, wiring grooves for wiring, and an assembly part adapted to the mounting mechanism.

5. A snow-sweeping robot, characterized in that, include: Snow removal equipment for clearing snow from its path of movement, said snow removal equipment including the anti-collision device as described in claim 4; The vehicle body is fixedly connected to the snow removal equipment and is used to move the snow removal equipment.

6. An obstacle avoidance control method, characterized in that, include: The system receives detection signals, including detection signals sent by sensors. The sensors include anti-collision sensors as described in any one of claims 1-3. Multiple anti-collision sensors are provided for different orientations. The detection signals include collision signals emitted by the anti-collision sensors. Read sensor information, read sensor information in the detection signal corresponding to the anti-collision sensor, the sensor information including an identity tag that corresponds one-to-one with the anti-collision sensor; Output obstacle avoidance command, and output the first obstacle avoidance command corresponding to the identity tag according to the identity tag.

7. The obstacle avoidance control method according to claim 6, characterized in that, The sensor further includes a remote sensing sensor, which includes a receiving device for receiving electromagnetic waves, and the detection signal includes a remote sensing signal emitted by the remote sensing sensor. Before reading the detection signal, the method further includes determining the signal type and outputting different instructions based on the signal type. The step of outputting obstacle avoidance commands also includes: When a remote sensing signal is detected, a second obstacle avoidance command corresponding to the remote sensing signal is output.

8. The obstacle avoidance control method according to claim 7, characterized in that, The remote sensing signal includes electromagnetic waves received from the surface of the obstacle, including millimeter waves or light waves used to synthesize image information.

9. The obstacle avoidance control method according to claim 6, characterized in that, Also includes: A command database is pre-established to store the first obstacle avoidance command associated with the identity tag, as well as the sensor orientation information associated with the identity tag. The sensor orientation information is used to mark the relative orientation of the corresponding collision avoidance sensor.

10. The obstacle avoidance control method according to claim 9, characterized in that, The first obstacle avoidance command includes controlling the walking system to walk a predetermined distance in a specific direction, where the specific direction is the opposite of the relative direction.

Images