Collision detection method, storage medium, collision detection device and self-moving equipment

Abstract

The invention relates to the technical field of intelligent cleaning equipment, and discloses a collision detection method, a storage medium, a collision detection device and self-moving equipment. The collision detection method comprises the steps that a collision signal is obtained, the collision signal is obtained through sampling of a detection element arranged on a shell assembly of the self-moving equipment, at least one low-frequency signal is determined according to the collision signal, the low-frequency signal is a static force signal or a quasi-static force signal, and the low-frequency signal is used for representing a collision detection result of the self-moving equipment. Because the static force signal or the quasi-static force signal is irrelevant to the material of the obstacle, no matter the material of the obstacle is a hard material or a soft material, the static force signal or the quasi-static force signal can represent that the self-moving device collides with the obstacle. In this way, the situation that collision between the self-moving device and the obstacle made of the soft material is likely to happen but cannot be detected can be avoided, the reliability of collision detection can be improved, and the false detection rate can be reduced.

Description

Technical Field

[0001] The present disclosure relates to the technical field of intelligent cleaning equipment, and in particular to a collision detection method, a storage medium, a collision detection device, and a self-moving device. Background Art

[0002] As an intelligent device that can replace manual cleaning of the floor, the sweeping machine has brought convenience to people's lives and is therefore becoming more and more popular. In the related technology, a collision sensor is set on the front cover of the sweeping machine. The sweeping machine detects whether the sweeping machine encounters an obstacle based on the collision signal collected by the collision sensor. However, in the process of studying the collision detection scheme, it was found that the relevant collision detection scheme was mainly developed around the collision detection of obstacles with harder materials, but for obstacles with softer materials, such as sofas, it is not easy for the sweeping machine to detect whether it has collided with these obstacles, resulting in the sweeping machine failing to take obstacle avoidance measures in time. Summary of the invention

[0003] An object of the embodiments of the present disclosure is to provide a collision detection method, a storage medium, a collision detection device, and a self-moving device, so as to solve the problem of low reliability of collision detection in related technologies.

[0004] In a first aspect, an embodiment of the present disclosure provides a collision detection method, comprising:

[0005] Acquiring a collision signal, wherein the collision signal is sampled by a detection element disposed on a housing component of the mobile device;

[0006] At least one low-frequency signal is determined according to the collision signal, wherein the low-frequency signal is a static force signal or a quasi-static force signal, and the at least one low-frequency signal is used to characterize a collision detection result of the self-moving device.

[0007] In a second aspect, an embodiment of the present disclosure provides a non-volatile readable storage medium, wherein the non-volatile readable storage medium stores computer executable instructions, and the computer executable instructions are used to enable a mobile device to execute the above-mentioned collision detection method.

[0008] In a third aspect, an embodiment of the present disclosure provides a collision detection circuit, which is applied to a mobile device, including:

[0009] A detection element, used to be arranged on the self-moving device to collect a collision signal;

[0010] The processing circuit is electrically connected to the detection element and is used to obtain a low-frequency signal from the collision signal. The low-frequency signal is a static force signal or a quasi-static force signal. The low-frequency signal is used to characterize the collision detection result of the self-moving device.

[0011] In a fourth aspect, an embodiment of the present disclosure provides a collision detection device, including:

[0012] Shell assembly;

[0013] A detection element, used to be arranged on the housing assembly to collect a collision signal;

[0014] The processing circuit is electrically connected to the detection element and is used to obtain a low-frequency signal from the collision signal. The low-frequency signal is a static force signal or a quasi-static force signal. The low-frequency signal is used to characterize the collision detection result of the self-moving device.

[0015] In a fifth aspect, an embodiment of the present disclosure provides a self-moving device, including:

[0016] Equipment body;

[0017] In the above-mentioned collision detection device, the shell assembly can be detachably mounted on the outer periphery of the device body.

[0018] In the collision detection method provided in the embodiment of the present application, the embodiment obtains a collision signal, wherein the collision signal is sampled by a detection element disposed on a shell assembly of the self-moving device, and at least one low-frequency signal is determined based on the collision signal, the low-frequency signal is a static force signal or a quasi-static force signal, and the low-frequency signal is used to characterize the collision detection result of the self-moving device. Since the static force signal or the quasi-static force signal has nothing to do with the material of the obstacle, regardless of whether the material of the obstacle is a hard material or a soft material, the static force signal or the quasi-static force signal can characterize the collision between the self-moving device and the obstacle, thereby avoiding the situation where the self-moving device easily collides with an obstacle made of soft material but cannot be detected, which is beneficial to improving the reliability of collision detection and reducing the false detection rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] One or more embodiments are exemplarily described by pictures in the corresponding drawings, and these exemplified descriptions do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings represent similar elements, and unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0020] Figure 1 A schematic diagram of the structure of a self-moving device provided in an embodiment of the present application;

[0021] Figure 2 A schematic structural diagram of a housing assembly provided in an embodiment of the present application at a first viewing angle;

[0022] Figure 3 A schematic diagram of the circuit structure of a collision detection circuit provided in an embodiment of the present application;

[0023] Figure 4 A frequency response diagram of a self-moving device provided in an embodiment of the present application when colliding with a hard obstacle and a soft obstacle;

[0024] Figure 5 A schematic diagram of the circuit structure of a collision detection circuit provided in another embodiment of the present application;

[0025] Figure 6 A schematic diagram of the circuit structure of a collision detection circuit provided in yet another embodiment of the present application;

[0026] Figure 7 A circuit topology diagram of a voltage source equivalent to a detection element provided in an embodiment of the present application;

[0027] Figure 8 A circuit topology diagram of a current source equivalent to a detection element provided in an embodiment of the present application;

[0028] Fig. 9 A schematic diagram of the circuit structure of a collision detection circuit provided in yet another embodiment of the present application;

[0029] Fig.10 A schematic diagram of the circuit structure of a collision detection circuit provided in yet another embodiment of the present application;

[0030] Fig.11 A schematic diagram of the circuit structure of a collision detection circuit provided in yet another embodiment of the present application;

[0031] Fig.12 A schematic diagram of the circuit structure of a collision detection circuit provided in yet another embodiment of the present application;

[0032] Fig.13 A schematic diagram of the circuit structure of a collision detection circuit provided in yet another embodiment of the present application;

[0033] Fig.14a A schematic structural diagram of a housing assembly provided in an embodiment of the present application at a second viewing angle;

[0034] Fig.14b A schematic structural diagram of a housing assembly provided in an embodiment of the present application at a third viewing angle;

[0035] Fig.15 A schematic structural diagram of a housing assembly provided in an embodiment of the present application at a fourth viewing angle;

[0036] Fig.16a A cross-sectional view of a housing assembly provided in an embodiment of the present application;

[0037] Fig.16b for Fig.16aA partial enlarged view of the local area A shown;

[0038] Fig.17 A schematic structural diagram of a housing assembly provided in another embodiment of the present application, wherein: Fig.17 The housing assembly shown is different from the housing assemblies shown in the remaining figures. Fig.17 The connecting member shown has at least one arc-shaped portion, and the arc-shaped portion is C-shaped;

[0039] Fig.18 An equivalent schematic diagram of a connecting member provided in an embodiment of the present disclosure extending between a side shell and an upper shell along the circumference of the side shell, wherein the connecting member may be a relatively independent sheet-like structure;

[0040] Fig.19 A schematic structural diagram of a housing assembly provided in an embodiment of the present application at a sixth viewing angle;

[0041] Fig.20a A schematic structural diagram of a housing assembly provided in an embodiment of the present application at a fifth viewing angle;

[0042] Fig.20b for Fig.20a A partial enlarged view of the local area B shown;

[0043] Fig.21 A schematic diagram of a flow chart of a collision detection method provided in an embodiment of the present application;

[0044] Fig. 22 A schematic diagram of the circuit structure of a controller provided in an embodiment of the present application. DETAILED DESCRIPTION

[0045] In order to make the purpose, technical solutions and advantages of the present disclosure more clearly understood, the present disclosure is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present disclosure and are not intended to limit the present disclosure. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present disclosure.

[0046] It should be noted that, if there is no conflict, the various features in the embodiments of the present disclosure can be combined with each other, all within the scope of protection of the present disclosure. In addition, although the functional modules are divided in the device schematic diagram and the logical order is shown in the flow chart, in some cases, the steps shown or described can be performed in a different order than the module division in the device or the flow chart. Furthermore, the words "first", "second", "third", etc. used in the present disclosure do not limit the data and execution order, but only distinguish the same items or similar items with basically the same functions and effects.

[0047] In addition to discovering the technical problems pointed out in the background technology, the applicant also found in the process of studying the collision detection scheme that the relevant technology usually sets a mechanical collision sensor on the front cover of the sweeper, and the sweeper detects whether the sweeper encounters an obstacle based on the collision signal collected by the mechanical collision sensor. When the sweeper collides with an obstacle made of hard material, the sweeper can easily determine whether the obstacle has collided based on such collision signal. However, when the sweeper collides with an obstacle made of soft material, it is not easy for the sweeper to identify the collision signal at this time, resulting in the sweeper being unable to detect whether it has collided with the obstacle, and then resulting in the sweeper being unable to take obstacle avoidance measures in time.

[0048] In addition, the applicant also discovered during the process of studying the collision detection solution that the self-moving device provided by the related technology has the technical problem of signal crosstalk.

[0049] The mechanical collision sensor provided by the related technology can detect collisions based on the infrared detection principle or based on the displacement stroke principle. The mechanical collision sensor based on the infrared detection principle is installed on the inner side of the intelligent mobile robot, wherein the mechanical collision sensor includes an infrared transmitter and an infrared receiver, the infrared transmitter and the infrared receiver are arranged on the inner side of the front cover, and a collision plate is arranged between the infrared transmitter and the infrared receiver. When the front cover is hit by an obstacle, the front cover drives the collision plate to block the optical path between the infrared transmitter and the infrared receiver, and the infrared receiver cannot receive the signal emitted by the infrared transmitter. Therefore, the controller detects whether the front cover collides with the obstacle according to the signal received by the infrared transmitter.

[0050] Usually, a sweeper will have multiple mechanical collision sensors on the front cover to detect the collision position. However, when the front bumper hits an obstacle, it will cause displacement, which will cause multiple mechanical collision sensors at different positions to generate collision signals, which can easily reduce the accuracy of collision detection.

[0051] The mechanical collision sensor based on the displacement stroke principle is installed on the separated front block structure. Specifically, the self-moving device is provided with a separated front block structure, which includes a front side plate and a rear side plate. The mechanical collision sensor is usually installed between the front side plate and the rear side plate. When the front side plate collides with an obstacle, the obstacle pushes the front side plate to move toward the rear side plate, so the front side plate pushes the mechanical collision sensor to follow the movement, so that the mechanical collision sensor generates a displacement stroke to further output a collision signal.

[0052] From the above description, it can be seen that in order to meet the requirement that the mechanical collision sensor needs to have a displacement stroke, the related technology usually adopts a separated front block structure, which will result in a relatively large overall shell of the intelligent mobile robot, and the mechanical collision sensor needs to be manually assembled between the front side plate and the rear side plate. There are differences in the accuracy of manual assembly, resulting in unstable detection performance of mechanical collision sensors, and the proficiency of manual assembly is relatively high, the assembly efficiency is low and the cost is high.

[0053] The present application provides another related technology, which uses an integrated front barrier structure combined with a piezoelectric sensor to detect whether the intelligent mobile robot collides with an obstacle. The integrated front barrier structure includes a side shell, and multiple piezoelectric sensors are installed at different positions of the side shell. The controller detects whether the side shell collides with an obstacle based on the signals collected by each piezoelectric sensor. However, the vibration caused by the collision between the side shell and the obstacle is easily transmitted to the piezoelectric sensors at different positions, causing the piezoelectric sensors at different positions to generate collision signals, which is not conducive to the sweeper detecting the collision position.

[0054] The present application further provides another related technology, which uses an integrated front barrier structure combined with a piezoelectric sensor to detect whether the intelligent mobile robot collides with an obstacle. Among them, the integrated front barrier structure includes a side shell, and multiple piezoelectric sensors are installed at different positions of the side shell. In order to prevent the vibration caused by the collision between the obstacle and the sweeper from being transmitted to the piezoelectric sensors at different positions, the related technology provides an isolation groove in the direction from bottom to top between the installation positions of two adjacent piezoelectric sensors. The isolation groove can isolate the transmission of vibration, thereby solving the problem of collision signal crosstalk caused by vibration, and there is no need to add the front side plate of the previous related technology, which is conducive to integrating the front barrier structure. At the same time, the piezoelectric sensor can be buried in the side shell, and there is no need to manually install the piezoelectric sensor later.

[0055] However, the integrated front baffle structure provided by the related art requires an isolation groove to be opened in the side shell, which results in the appearance of the intelligent mobile robot not being beautiful enough. Dust, garbage, and liquids can easily enter the interior of the intelligent mobile robot through the isolation groove, which can easily affect the working performance of the intelligent mobile robot. In order to make the shape of the intelligent mobile robot more beautiful, the related art can use soft silicone of the same color to fill the isolation groove. However, the related art needs to use a two-color injection molding process to fill the narrow isolation groove, which will increase the cost of the mold, and the soft silicone after filling has a small color difference with the side shell, and the color is not completely consistent.

[0056] In addition, when the self-moving device performs bumping or other operations during operation, the chassis of the self-moving device is prone to bumping against the ground, which can easily cause signal crosstalk. In addition, the high-frequency vibration caused by the motor vibration and sudden turning and stopping of the self-moving device can also easily cause signal crosstalk, making it difficult for the self-moving device to reliably and accurately detect collisions.

[0057] In order to solve the problems existing in the related technologies, the applicant found in the process of research:

[0058] a. When a self-moving device collides with an obstacle of any material, a low-frequency signal will be generated. The low-frequency signal can be a quasi-static force signal or a static force signal, that is, the low-frequency signal can reflect the collision between the self-moving device and an obstacle of any material. Therefore, the embodiment of the present application obtains a low-frequency signal based on the collision signal, and the low-frequency signal is used to characterize the collision detection result of the self-moving device. In this way, collision detection between the self-moving device and obstacles of all materials can be realized, which is conducive to the self-moving device to reliably and effectively take corresponding obstacle avoidance measures.

[0059] b. The amplitude of the low-frequency signal corresponding to the collision sensors at different positions has a regular linear relationship with the collision position. For example, the amplitude of the low-frequency signal is negatively correlated with the relative distance of the collision position. The closer the collision sensor is to the collision position, the larger the amplitude of the low-frequency signal corresponding to the collision sensor, and the farther the collision sensor is from the collision position, the smaller the amplitude of the low-frequency signal corresponding to the collision sensor. Based on this regular change of low-frequency signal, this embodiment can reliably and accurately determine the position where the collision occurs, effectively solving the technical problem of signal crosstalk.

[0060] c. Based on point b, the present embodiment can set the collision sensor on any kind of front block structure, which can effectively solve the technical problem of signal crosstalk. For example, the present embodiment can set the collision sensor on the separate front block structure as described above, or on the integrated front block structure, or on the integrated front block structure with an isolation groove. Therefore, based on the low-frequency signal, the present embodiment does not need to adopt a complex and cumbersome assembly separate front block structure, nor does it need to adopt an integrated front block structure with an isolation groove. This can simplify the design of the front block structure, reduce the difficulty of assembly, and solve the problem of inconsistent collision detection performance due to assembly by different workers, that is, it improves performance consistency and improves the aesthetics of the self-moving device without the need for grooving. At the same time, it also avoids the problem of dust, liquid and other objects entering the self-moving device through the isolation groove, causing the self-moving device to work unreliably.

[0061] An embodiment of the present application provides a self-moving device, wherein the self-moving device includes a cleaning robot, a service robot, a food delivery robot or a transport robot, etc. The cleaning robot includes a sweeping robot, a mopping robot, a sweeping and mopping robot, a vacuuming robot or a floor washing robot, etc.

[0062] See also Figure 1 The mobile device 100 includes a device body 200 and a collision detection device 300 .

[0063] The device body 200 is the core of the self-equipment device 100 and integrates the mechanical structure, circuit structure and algorithm logic for realizing various business functions of the self-equipment device.

[0064] In some embodiments, the device body 200 includes at least a walking component, a navigation module, a wireless communication module and a cleaning component. The walking component is used to drive the device body 20 to walk, wherein the walking component includes a driving wheel and a motor, and the motor is connected to the driving wheel to control the rotation of the driving wheel. The navigation module is used to build an environmental map and control the device body 20 to walk according to the environmental map, wherein the navigation module includes a camera, a laser radar and a motion sensor, and the motion sensor includes a gyroscope, an acceleration sensor or an inertial detection unit. The wireless communication module is used to control the device body 20 to communicate with an external terminal, wherein the wireless communication module includes a broadcast receiving module, a mobile communication module, a wireless Internet module, a short-range communication module and a positioning information module. One or more combinations thereof, the external terminal includes a smart phone, a remote control, a smart tablet, etc. The cleaning component is used to clean the floor, and the cleaning component can be configured into any cleaning structure, such as a cleaning component that is a roller brush or a mop.

[0065] The collision detection device 300 can be detachably mounted on the outer periphery of the device body 200 , and is used to detect a collision between the mobile device 100 and an obstacle. The collision detection device 300 includes a housing assembly 400 and a collision detection circuit 500 .

[0066] See also Figure 2 The housing assembly 400 can be detachably mounted on the outer periphery of the device body 200, wherein the housing assembly 400 can be configured as a separate front guard structure or an integrated front guard structure. Figure 2 As shown, the housing assembly 400 is an integrated front block structure.

[0067] See also Figure 3 The collision detection circuit 500 includes a detection element 51 and a processing circuit 52 . The detection element 51 is disposed on the mobile device 100 to collect a collision signal. For example, the detection element 51 is disposed on the housing assembly 400 .

[0068] The detection element 51 is used to detect the collision between the housing assembly 400 and an obstacle. When the self-moving device 100 collides with an obstacle, the housing assembly 400 is squeezed by the obstacle to generate deformation stress, and the detection element 51 generates a collision signal according to the deformation stress.

[0069] It is understandable that the number of detection elements 51 may be 1 or 2 or more than 3. When the number of detection elements 51 is at least two, multiple detection elements 51 may be arranged at intervals along the circumference of the shell component 1. Among them, the detection element 51 may be integrally injection molded with the shell component 400, or multiple detection elements 51 may be arranged at intervals along the circumference of the shell component 1 by external mounting. It should be noted that the shell component 400 may be arranged in a semicircular ring or a circular ring, or in a polygonal shape such as a quadrilateral, a pentagon or a D-shape, and this application does not impose any shape restrictions.

[0070] It can also be understood that the detection element 51 includes at least one of a piezoelectric ceramic sensor, a piezoelectric ceramic sensor, a relaxor ferroelectric sensor, a bone voiceprint sensor, an acceleration sensor, a gyroscope, and a strain gauge.

[0071] It can also be understood that the detection element 51 can be designed as a detection structure that realizes the detection function of one collision position, or the detection element 51 can also be designed as a detection structure that realizes the detection function of more than two collision positions. The detection structure is a structure with an integrated appearance structure. The detection structure can detect collisions from different positions, that is, the detection structure can be configured with multiple input terminals and a single output terminal or multiple input terminals and multiple output terminals.

[0072] The detection element 51 can be designed as a piezoelectric ceramic detection module, which includes a piezoelectric ceramic sheet, at least two pairs of input electrodes and an output electrode, wherein the piezoelectric ceramic sheet is electrically connected to the at least two pairs of input electrodes and the output electrode, respectively, and the at least two pairs of input electrodes are arranged at different positions, respectively, for triggering the piezoelectric ceramic sheet to output a collision signal through the output electrode according to the deformation stress, wherein the piezoelectric ceramic detection module is a component in appearance, but the piezoelectric ceramic detection module can detect collisions from different positions. Therefore, the detection element 51 provided in this embodiment can be designed to be a component in appearance, but can play a role in detecting collisions from different positions.

[0073] The processing circuit 52 is electrically connected to the detection element 51, and is used to obtain a low-frequency signal from the collision signal. The low-frequency signal is a signal in a specified low-frequency band, and the specified low-frequency band is customized by the designer based on engineering experience. For example, the specified low-frequency band is [0Hz, NHz], and N is a value greater than 0 and less than 300 (generally an upper limit value). In other words, when a signal with a frequency in the frequency range of [0Hz, NHz] is detected, this low-frequency signal can be understood as a static force signal or a quasi-static force signal.

[0074] The low-frequency signal is used to characterize the collision detection result of the self-moving device, wherein the low-frequency signal is a static force signal or a quasi-static force signal, and the static force signal is a force signal whose amplitude basically does not change with time. For example, the self-moving device collides with an obstacle, and the collision surface of the self-moving device and the obstacle is close to the obstacle, so that the deformation stress of the shell assembly 400 remains unchanged. Therefore, the detection element 51 collects the collision signal, and the processing circuit 52 can obtain the static force signal from the collision signal, wherein the amplitude of the static force signal does not change with time, and therefore, the frequency of the static force signal is 0Hz.

[0075] Quasi-static is a state of motion between static and dynamic, a quasi-static force signal is a signal between a static force signal and a dynamic force signal, and a quasi-static force signal refers to a signal with a frequency in the frequency range of (0 Hz, NHz]. It can be understood that, whether the self-moving device collides with an obstacle of any material at a higher speed or a lower speed, the self-moving device can obtain a quasi-static force signal with a frequency in the frequency range of (0 Hz, NHz] in the collision signal corresponding to the higher speed, or can obtain a quasi-static force signal with a frequency in the frequency range of (0 Hz, NHz] in the collision signal corresponding to the lower speed.

[0076] For example, when a self-moving device collides with an obstacle made of soft material or hard material in a low-speed motion state, the collision will cause a slight deformation of the shell component of the self-moving device. The detection element 51 collects the collision signal, and the processing circuit 52 obtains a quasi-static force signal from the collision signal. The moving speed in the low-speed motion state is 0.3m / s or 0.4m / s, etc. The soft material is leather, velvet or linen, etc., and the hard material is wood, plastic or metal, etc.

[0077] For another example, when a mobile device collides with an obstacle made of soft material or hard material while in high-speed motion, the collision will generate a "bang" collision signal with a frequency audible to the human ear. The detection element 51 collects the collision signal, and the processing circuit 52 obtains a quasi-static force signal from the collision signal, for example, the moving speed in the high-speed motion state is 1.5m / s or 2m / s.

[0078] In some embodiments, the frequency of the quasi-static force signal is within the frequency range of (0 Hz, 150 Hz]. It can be seen that in this embodiment, N is 150. As for the upper limit value of this frequency range, in different application scenarios and / or self-equipping equipment, the upper limit value of the frequency range can be customized by the designer based on engineering experience, or the upper limit value of the frequency range can also be selected based on the results of multiple tests. For example, the upper limit value of the frequency range can select different values, for example, 10, 20, 50, 70, 90, 130.

[0079] In general, regardless of the speed (such as high speed, low speed) and / or material (hard, soft) of the collision object that causes the shell component to collide, a low-frequency signal is generated, and the frequency of the low-frequency signal is in the frequency range of [0 Hz, NHz].

[0080] Regardless of the speed (such as high speed, low speed) and / or material (hard, soft) of the collision object that causes the shell component to collide, a low-frequency signal is generated, and the frequency of the low-frequency signal is in the frequency range of [0Hz, NHz]. For N, it can be confirmed by using the highest frequency of the low-frequency signal obtained after the shell component is collided with a low-speed and / or high-speed and / or soft and / or hard obstacle.

[0081] In some embodiments, a first set of collision data is obtained when the self-moving device collides with an obstacle made of soft material at different low speeds for a preset number of times while in a low-speed motion state. A second set of collision data is obtained when the self-moving device collides with an obstacle made of hard material at different low speeds for a preset number of times while in a low-speed motion state. A third set of collision data is obtained when the self-moving device collides with an obstacle made of soft material at different high speeds for a preset number of times while in a high-speed motion state. A fourth set of collision data is obtained when the self-moving device collides with an obstacle made of hard material at different high speeds for a preset number of times while in a high-speed motion state. In this embodiment, one or more sets of collision data are randomly selected from the first set of collision data, the second set of collision data, the third set of collision data, and the fourth set of collision data for comparison, and the frequency band that meets the frequency band selection condition is determined to be the designated low frequency band, and the upper limit value of the designated low frequency band is N.

[0082] In this embodiment, one or more than two groups of collision data are selected from the first group of collision data, the second group of collision data, the third group of collision data, and the fourth group of collision data for comparison, wherein the collision data of each collision can form a collision curve, the horizontal axis of the coordinate system corresponding to the collision curve is time, and the vertical axis is amplitude, and all collision curves are compared to find quasi-static features, and the quasi-static features are: in all collision curves, the amplitudes of signals in the same frequency band are equal or close. In this embodiment, the same frequency band is used as the frequency band of the quasi-static force signal, and the signal in the same frequency band is used as a low-frequency signal. The same frequency band is a designated low-frequency band, and the upper limit value of the same frequency band is N.

[0083] The collision detection result is used to indicate the collision between the mobile device and the obstacle.

[0084] In some embodiments, the collision detection result includes information that a collision has occurred and information that a collision has not occurred. The information that a collision has occurred is used to indicate that a collision has occurred between the self-moving device and the obstacle, and the information that a collision has not occurred is used to indicate that a collision has not occurred between the self-moving device and the obstacle. In this embodiment, a detection element is set on the shell assembly, and the processing circuit 52 obtains a low-frequency signal from the collision signal based on the collision signal collected by the detection element 51, and generates information that a collision has occurred or information that a collision has not occurred based on the low-frequency signal. In this way, it is possible to reliably detect whether the self-moving device has collided with an obstacle.

[0085] In some embodiments, when the processing circuit 52 obtains a low-frequency signal from the collision signal, the processing circuit 52 determines that the self-moving device collides with the obstacle according to the low-frequency signal. When the processing circuit 52 fails to obtain a low-frequency signal from the collision signal, the processing circuit 52 determines that the self-moving device does not collide with the obstacle.

[0086] In some embodiments, when the processing circuit 52 obtains a low-frequency signal from the collision signal, the processing circuit 52 determines whether the self-moving device collides with the obstacle based on the low-frequency signal and a preset characteristic threshold. In some embodiments, when the characteristic value of the low-frequency signal is greater than the preset trigger threshold, the processing circuit 52 determines that the self-moving device collides with the obstacle. When the characteristic value of the low-frequency signal is less than or equal to the preset trigger threshold, the processing circuit 52 determines that the self-moving device does not collide with the obstacle. This embodiment can compare the low-frequency signal with the preset characteristic threshold and then determine whether the self-moving device collides with the obstacle, which can improve the reliability of determining whether a collision has occurred and avoid misjudgment.

[0087] In some embodiments, the processing circuit 52 calculates the low-frequency characteristic value according to the low-frequency signal, and determines whether the self-moving device collides with the obstacle according to the low-frequency characteristic value and the preset characteristic threshold value, wherein when the low-frequency characteristic value is greater than the preset characteristic threshold value, the processing circuit 52 determines that the self-moving device collides with the obstacle. When the low-frequency characteristic value is less than or equal to the preset characteristic threshold value, the processing circuit 52 determines that the self-moving device does not collide with the obstacle. The low-frequency characteristic value can be represented by the absolute value of the amplitude, the peak-to-peak value, or the energy value.

[0088] In some embodiments, the collision detection result includes collision direction information, which is used to indicate the direction of the obstacle relative to the self-moving device when the self-moving device collides with the obstacle. For example, the collision direction information includes the front direction, the left front direction, the right front direction, the left middle direction, and the right middle direction.

[0089] In some embodiments, under the premise that the processing circuit 52 determines that the self-moving device collides with an obstacle based on the low-frequency signal, the processing circuit 52 may use the position information of the detection element 51 on the mobile device as the collision direction information. Therefore, this embodiment can not only detect whether the self-moving device collides with the obstacle, but also detect the direction of the obstacle relative to the self-moving device, so that the self-moving device can formulate a more reliable and safe obstacle avoidance strategy.

[0090] See also Figure 4 When a mobile device collides with an obstacle of different materials, the frequency and amplitude of the collision signal are related to the hardness of the obstacle material. Figure 4 As shown, when the self-moving device collides with a hard obstacle, the frequency and amplitude of the collision signal are relatively high, wherein the first curve 11 is used to represent the change of the amplitude of the collision signal over time during a hard collision. The first curve 11 includes a first transient collision area 111 and a first quasi-static force area 112. The frequency of the collision signal in the first transient collision area 111 is relatively high, and the collision signal in the first quasi-static force area 112 is a quasi-static force signal.

[0091] When a mobile device collides with a soft obstacle, the frequency and amplitude of the collision signal corresponding to the soft situation are relatively low compared to the collision signal in the hard situation. Among them, the second curve 12 is used to represent the change of the amplitude of the collision signal during the soft collision over time. The second curve 12 includes a second transient collision area 121 and a second quasi-static force area 122. The frequency of the collision signal in the second transient collision area 121 is higher, and the collision signal in the second quasi-static force area 122 is a quasi-static force signal. Among them, the frequency of the collision signal in the first transient collision area 111 is higher than the frequency of the collision signal in the second transient collision area 121. However, the frequency and amplitude of the quasi-static force signal in the first quasi-static force area 112 are close to those in the second quasi-static force area 122. This shows that the static force signal or the quasi-static force signal has nothing to do with the material of the obstacle.

[0092] As mentioned above, since the static force signal or quasi-static force signal has nothing to do with the material of the obstacle, regardless of whether the material of the obstacle is hard or soft, the static force signal or quasi-static force signal can characterize the collision between the self-moving device and the obstacle, thereby avoiding the situation where the self-moving device collides with an obstacle made of soft material but cannot be detected, which is beneficial to improving the reliability of collision detection and reducing the false detection rate.

[0093] In some embodiments, there are at least two detection elements 51, and at least two detection elements 51 are spaced apart from each other on the mobile device 100 and are electrically connected to the processing circuit 52. The processing circuit 52 can obtain a low-frequency signal based on the collision signal collected by each detection element 51.

[0094] As mentioned above, when the self-moving device collides with an obstacle, although the vibration from the collision position can be transmitted to the adjacent detection element, resulting in signal crosstalk, the static force signal or quasi-static force signal (low-frequency signal) is not affected by this. As mentioned above, the amplitude of the low-frequency signal is negatively correlated with the relative distance of the collision position, that is, the larger the relative distance, the smaller the amplitude of the static force signal or quasi-static force signal, and the smaller the relative distance, the larger the amplitude of the static force signal or quasi-static force signal. The relative distance is the distance from the collision position to the position of the detection element on the self-moving device.

[0095] The related technology determines the collision situation based on the collision signal. Due to the problem of signal crosstalk, the related technology is not easy to reliably identify the collision direction. And when the vibration caused by the collision forms resonance on each detection element, the amplitude of the collision signal of the detection element is the same or not much different, so the related technology is not easy to reliably identify the collision direction.

[0096] For example, three detection elements are arranged at intervals on the periphery of the housing component 400, namely, detection element A1, detection element A2 and detection element A3, wherein the relative distance from the collision position to the position of the detection element A1 on the housing component 400 is d1, the relative distance from the collision position to the position of the detection element A2 on the housing component 400 is d2, the relative distance from the collision position to the position of the detection element A3 on the housing component 400 is d3, and d1 <d2<d3。

[0097] In the related art, the related art determines the collision situation based on the collision signal p1 collected by the detection element A1, the collision signal p2 collected by the detection element A2, and the collision signal p3 collected by the detection element A3. However, due to the problem of signal crosstalk between the detection element A1, the detection element A2, and the detection element A3, and when the vibration caused by the collision forms a resonance on each detection element, the amplitudes of any two or three of the collision signals p1, the collision signal p2, and the collision signal p3 are the same or similar, resulting in the self-moving device not being easy to accurately identify whether the collision position occurs at the position corresponding to the detection element A1, or at the position corresponding to the detection element A2 or the detection element A3.

[0098] The processing circuit 52 obtains the low-frequency signal k1 according to the collision signal collected by the detection element A1, obtains the low-frequency signal k2 according to the collision signal collected by the detection element A2, and obtains the low-frequency signal k3 according to the collision signal collected by the detection element A3. The amplitude of the low-frequency signal k1 is greater than the amplitude of the low-frequency signal k2, and the amplitude of the low-frequency signal k2 is greater than the amplitude of the low-frequency signal k3. Since the amplitude of the static force signal or the quasi-static force signal is negatively correlated with the relative distance of the collision position, this embodiment can use the static force signal or the quasi-static force signal that changes in this regular manner to reliably and accurately determine the collision position in the case of collision crosstalk, thereby enhancing the ability to resist signal crosstalk between adjacent detection elements.

[0099] The acquisition of the low-frequency signal is not limited by the structure of the shell assembly 400. As long as the deformation stress generated by the shell assembly 400 is detected and a collision signal is obtained, and the low-frequency signal is obtained based on the collision signal, therefore, regardless of whether the shell assembly 400 adopts a separate front block structure or an integrated front block structure, as long as the detection element 51 is set at a position on the shell assembly 400 where the deformation stress can be detected, a low-frequency signal can be obtained. Therefore, the collision detection circuit provided in this embodiment can be applicable to collision detection of a separate front block structure or an integrated front block structure.

[0100] In some embodiments, the processing circuit 52 includes a first signal conditioning circuit, which is electrically connected to the detection element 51 and is used to condition the collision signal to obtain a low-frequency signal. Therefore, the low-frequency signal can be directly output by the first signal conditioning circuit.

[0101] In some embodiments, see Figure 5 , the processing circuit 52 includes a second signal conditioning circuit 53 and a controller 54 .

[0102] The second signal conditioning circuit 53 is electrically connected to the detection element 51, and is used to condition the collision signal to obtain a conditioned collision signal. The signal conditioning includes amplifying and / or filtering the collision signal. When the signal conditioning includes amplifying, the second signal conditioning circuit 53 may adopt a circuit topology structure that is compatible with the type of the detection element 51. For example, when the detection element 51 is a piezoelectric ceramic sensor, the second signal conditioning circuit 53 may adopt a voltage amplifier circuit or a charge amplifier circuit. When the detection element 51 is an acceleration sensor, the second signal conditioning circuit 53 may adopt an amplifier circuit composed of a transistor, a resistor, and a capacitor. When the signal conditioning includes filtering, the second signal conditioning circuit 53 may adopt any low-pass filtering circuit topology structure.

[0103] The controller 54 is electrically connected to the second signal conditioning circuit 53 and is used to determine the low-frequency signal according to the conditioned collision signal.

[0104] It can be understood that when the frequency of the collision signal output by the first signal conditioning circuit meets the requirement of the low-frequency signal, that is, the first signal conditioning circuit processes the collision signal so that the frequency of the processed collision signal meets the requirement of the low-frequency signal, therefore, the controller 54 can directly use the conditioned collision signal as a low-frequency signal and execute the collision detection logic according to the low-frequency signal.

[0105] It can also be understood that when the frequency of the collision signal output by the second signal conditioning circuit 53 does not meet the requirements of the low-frequency signal, the controller 54 can use a low-frequency processing algorithm to perform low-frequency processing on the collision signal output by the second signal conditioning circuit 53 to obtain a low-frequency signal. Among them, the low-frequency processing algorithm includes a digital low-pass filter algorithm, a linear fitting algorithm, a nonlinear fitting algorithm, a neural network algorithm and other algorithms. For example, when the frequency of the collision signal output by the signal conditioning circuit 53 is a high-frequency signal, and the frequency of the high-frequency signal is within 150Hz to 1KHz, the controller 54 can use a low-frequency processing algorithm to perform signal fitting on the high-frequency signal so as to obtain a low-frequency signal.

[0106] For another example, usually the analog low-pass filter circuit is limited by the structure, order, etc., and it is not easy to achieve a good stopband suppression effect, and it is not easy to output the frequency signal of the lower frequency expected by the user in one step. For example, the frequency of the quasi-static force signal is 1 to 150Hz, and the analog low-pass filter circuit can filter out the signal with a frequency greater than 300Hz at most. In other words, the frequency of the signal output by the analog low-pass filter circuit is between 0 and 300Hz. Although the signal output by the analog low-pass filter circuit has covered the quasi-static force signal with a frequency of 1 to 150Hz, it also covers the frequency signal of 150Hz to 300Hz that the user does not expect to appear. Therefore, due to the influence of structure, order, etc., the analog low-pass filter circuit is not easy to reliably filter out the signal with a frequency of 150Hz to 300Hz. Therefore, the controller 54 can use a digital low-pass filter to process the collision signal output by the analog low-pass filter circuit again to extract the signal with a frequency of 1 to 150Hz, and use the signal with a frequency of 1 to 150Hz as the quasi-static force signal.

[0107] The digital low-pass filter can select an IIR filter (Infinite Impulse Response Filter) or a FIR filter (Finite Impulse Response Filter). The computational complexity of the IIR filter is low, and the FIR filter has good stability and phase linearity. In addition, the present embodiment can select a 2nd order IIR filter or a 6th order FIR filter.

[0108] It can also be understood that the first signal conditioning circuit and the second signal conditioning circuit can adopt different or the same circuit topology.

[0109] See also Figure 6 The first signal conditioning circuit or the second signal conditioning circuit 53 includes a charge amplifier circuit 531, and the charge amplifier circuit 531 is respectively connected to the detection element 51 and the controller 54 for amplifying the collision signal.

[0110] In some embodiments, when the number of the detection elements 51 is at least two, at least two detection elements 51 may share the same charge amplifier circuit 531. In some embodiments, the first signal conditioning circuit or the second signal conditioning circuit 53 includes at least two signal conditioning units, each signal conditioning unit includes a charge amplifier circuit 531, and the corresponding charge amplifier circuit 531 is respectively connected to the corresponding detection element 51 and the controller 54 to amplify the collision signal.

[0111] In the process of implementing the present application, the applicant found that if a voltage amplifier circuit is selected to amplify the collision signal, it is easy to introduce parameters brought by the detection element 51 when extracting low-frequency signals (such as quasi-static force signals). Since the parameters of the detection element 51 are not easy to measure, and the detection element 51 is often fixed in shape when leaving the factory, it is not easy to modify the detection element 51 when debugging and extracting low-frequency signals later.

[0112] For example, the frequency of the quasi-static force signal is 1Hz to 50Hz, and a signal amplification circuit that allows the low-frequency collision signal to pass through needs to be designed. The low-frequency band at least needs to cover the frequency band of the quasi-static force signal. The equivalent circuit of the detection element can be a circuit topology in the form of a voltage source or a circuit topology in the form of a current source.

[0113] See also Figure 7 In some embodiments, the equivalent circuit of the detection element may be a circuit in which a capacitor Cp and a resistor Rp are connected in parallel and then connected in series with a voltage source Vp.

[0114] See also Figure 8 In some embodiments, the equivalent circuit of the detection element may be a circuit in which a capacitor Cp and a resistor Rp are connected in parallel and then connected in parallel with a current source Ip.

[0115] If a voltage amplifier circuit is selected as a signal amplifier circuit to amplify the collision signal, based on the circuit topology of the voltage amplifier circuit, the low-frequency cutoff frequency that appears on the frequency response curve corresponding to the voltage amplifier circuit is ρ∝C p , where ρ is a parameter related to the capacitance Cp, f L ' is the low frequency cut-off frequency of the voltage amplifier circuit.

[0116] From the above formula, we can see that the low-frequency cutoff frequency f L ' is related to the capacitance Cp of the detection element. The low-frequency cutoff frequency f needs to be designed during the design process. L 'Only then can the collision signal in the low frequency band be effectively allowed to pass through, but the capacitance Cp of the detection element is not easy to detect or the detection element 51 is often fixed in shape when leaving the factory. It is not easy to modify the capacitance Cp during subsequent debugging and extraction of low frequency signals, or the capacitance Cp value of some detection elements is relatively low. The capacitance Cp acts as a DC isolation in the voltage amplifier circuit. Since the frequency of the low frequency signal is relatively low, the capacitance Cp easily filters out the low frequency signal. Therefore, it is found that it is not easy to effectively and reliably retain the collision signal in the low frequency band through the voltage amplifier circuit. Therefore, in the process of studying the design of the amplifier circuit suitable for this scenario, consideration of the influence of the equivalent capacitance of the detection element is added.

[0117] If a charge amplifier circuit is selected as a signal amplifier circuit to amplify the collision signal, based on the circuit topology of the charge amplifier circuit, the low-frequency cutoff frequency that appears on the frequency response curve corresponding to the charge amplifier circuit is Among them, λ is a parameter that has nothing to do with the detection element, f L ” is the low frequency cutoff frequency of the charge amplifier circuit.

[0118] From the above formula, we can know that the low-frequency cutoff frequency f of the charge amplifier circuit is L " is irrelevant to the detection element, so there is no need to consider the influence of the detection element. As long as the parameters of the charge amplifier circuit are well designed, the collision signal in the low frequency band can be effectively and reliably retained through the charge amplifier circuit, which can improve the design efficiency and the reliability of extracting the collision signal in the low frequency band. In addition, the charge amplifier circuit 531 can convert the high input impedance of the detection element into a low output impedance as the input of the next stage circuit. The low output impedance as the input of the next stage circuit is conducive to the next stage circuit being able to effectively and reliably extract the low frequency signal.

[0119] See also Fig. 9 The signal conditioning circuit 53 further includes a low-pass filter circuit 532, which is electrically connected between the charge amplifier circuit 531 and the controller 54 and is used to filter the amplified collision signal. The low-pass filter circuit 532 can adopt any low-pass filter circuit topology, such as a low-pass filter circuit composed of capacitors or a low-pass filter circuit composed of resistors and capacitors.

[0120] It can be understood that the frequency of the collision signal output by the low-pass filter circuit 532 can meet the requirements of the low-frequency signal, and the controller 54 processes the collision signal output by the low-pass filter circuit 532 as a low-frequency signal.

[0121] It can also be understood that, in this embodiment, the low-pass filter circuit 532 is first used to process the amplified collision signal in advance, so that the low-pass filter circuit 532 filters out the collision signal with a larger frequency, and the collision signal after low-pass processing is then transmitted to the controller 54, and the controller 54 then calls the digital low-pass filter to process the collision signal to obtain a low-frequency signal. In this way, a low-frequency signal with fewer harmonics can be obtained, which is beneficial to improving the reliability and accuracy of collision detection.

[0122] See also Fig.10 The charge amplifier circuit 531 includes an operational amplifier circuit 5311 and a differential circuit 5312 .

[0123] The operational amplifier circuit 5311 includes a first node N1 and a second node N2, and the detection element 51 is electrically connected between the first node N1 and the second node N2, so as to amplify the collision signal collected by the detection element 51. The impedance of the detection element 51 is very large. When it is necessary to extract a low-frequency signal, if the collision signal output by the detection element 51 is introduced into a signal amplifier circuit with a low input impedance for amplification, since the frequency of the low-frequency signal is low, the signal amplifier circuit with a low input impedance responds poorly to the low-frequency signal. Therefore, the present embodiment introduces an operational amplifier circuit 5311 with a high input impedance, which can better respond to the low-frequency signal, thereby facilitating a more reliable extraction of the low-frequency signal in the future.

[0124] One end of the differential circuit 5312 is electrically connected to the second node N2, and the other end of the differential circuit 5312 is connected to the power supply voltage. The power supply voltage can be set to a preset bias voltage, wherein the preset bias voltage can be half of the system voltage. Under the action of the power supply voltage, the differential circuit 5312 can form a current branch with the detection element 51, and the current direction of the current branch is opposite to the current direction of the positive charge of the detection element 51 flowing to the operational amplifier circuit 5311.

[0125] In the process of implementing the present application, the applicant found that the related art directly applies the preset bias voltage at the second node N2 to the operational amplifier circuit 5311. However, the directions of the two currents entering the operational amplifier circuit 5311 are the same. When the directions of the two currents entering the operational amplifier circuit 5311 are the same, it is easy to bring common-mode noise to the operational amplifier circuit 5311, and the common-mode noise is not conducive to the reliable operation of the operational amplifier circuit 5311.

[0126] In this embodiment, a differential circuit 5312 is set on the second node N2. Due to the addition of the differential circuit 5312, the directions of the two currents entering the operational amplifier circuit 5311 are different, which can avoid bringing common mode noise to the operational amplifier circuit 5311 and facilitate the reliable operation of the operational amplifier circuit 5311.

[0127] It can be understood that the differential circuit 5312 can adopt any suitable circuit topology, for example, the differential circuit 5312 adopts a single resistor or a resistor network or a circuit topology composed of resistors and capacitors or a circuit topology composed of resistors, electronic switches and capacitors.

[0128] See also Fig.11 The differential circuit 5312 includes a differential resistor R1, one end of which is electrically connected to the second node N2, and the other end of which is connected to the power supply voltage. Under the action of the power supply voltage, the differential resistor R1 can form a current branch with the detection element 51.

[0129] Please continue reading Fig.11 The differential circuit 5312 further includes a first capacitor C1, which is connected in parallel with the differential resistor R1. The first capacitor C1 and the differential resistor R1 can not only play a role in differential conversion, but also play a role in filtering, filtering out some harmonic signals to avoid interfering with the normal operation of the operational amplifier circuit 5311.

[0130] See also Fig.12 , the operational amplifier circuit 5311 includes an operational amplifier 5313 and a negative feedback circuit 5314.

[0131] The inverting input terminal of the operational amplifier 5313 is electrically connected to the first node N1, and the non-inverting input terminal is electrically connected to the second node N2.

[0132] The negative feedback circuit 5314 is electrically connected between the first node N1 and the amplified output terminal of the operational amplifier 5313. When the operational amplifier 5313 has a zero-point drift phenomenon and outputs a signal, the negative feedback circuit 5314 can negatively feedback-regulate the operational amplifier 5313 according to the output signal of the operational amplifier 5313, thereby reducing the risk of zero-point drift of the operational amplifier 5313 and facilitating the reliable operation of the operational amplifier 5313.

[0133] It can be understood that the first capacitor C1 and the differential resistor R1 can form a high-pass filter circuit, which can increase the order of high-pass filtering and cooperate with the negative feedback circuit 5314. When the preset bias voltage fluctuates, the high-pass filter circuit and the negative feedback circuit 5314 cooperate with each other to reduce the risk of zero drift of the operational amplifier 5313. For example, the preset bias voltage changes, causing the voltage of the in-phase input terminal and the signal output terminal of the operational amplifier 5313 to change. After the negative feedback adjustment of the negative feedback circuit 5314, the operational amplifier 5313 can operate in a steady state, reducing the risk of zero drift of the operational amplifier 5313.

[0134] Please continue reading Fig.11The negative feedback circuit 5314 includes a negative feedback resistor R2 and a second capacitor C2 connected in parallel, wherein one end of the negative feedback resistor R2 is electrically connected to the inverting input end of the operational amplifier 5313, and the other end of the negative feedback resistor R2 is electrically connected to the amplification output end of the operational amplifier 5313. The negative feedback resistor R2 and the second capacitor C2 can jointly play a role of negative feedback.

[0135] See also Fig.13 The operational amplifier circuit 5311 further includes a current limiting circuit 5315, which is electrically connected between the inverting input terminal of the operational amplifier 5313 and the first signal terminal of the detection element 51. Through the current limiting function of the current limiting circuit 5315, the output current of the detection element 51 can be stabilized within a preset range in this embodiment, so as to avoid the output current of the detection element 51 being too large in some abnormal situations, which causes the operational amplifier 5313 to be difficult to reliably amplify the output current at this time.

[0136] Please continue reading Fig.11 The current limiting circuit 5315 includes a current limiting resistor R3, which is electrically connected between the inverting input terminal of the operational amplifier 5313 and the first signal terminal of the detection element 51. The current limiting resistor R3 is used to limit the output current of the detection element 51.

[0137] Combination Fig.11 The working principle of the charge amplifier circuit 531 is as follows: the detection element 51 generates a charge, which is amplified by the current limiting resistor R3 and the operational amplifier 5313, and is output to the next level circuit through the output end of the operational amplifier 5313, wherein the output voltage of the operational amplifier 5313 is fed back to the inverting input end of the operational amplifier 5313 through the negative feedback resistor R2 and the second capacitor C2, and the operational amplifier 5313 is negatively feedback controlled to work stably and reliably. At the same time, the preset bias voltage forms a current branch through the first capacitor C1, the differential resistor R1 and the second signal end of the detection element 51, and the current flowing through the current branch is opposite to the current flowing through the first signal end of the detection element 51, the current limiting resistor R3 and the loop formed by the operational amplifier 5313, so that common mode noise can be avoided to the operational amplifier 5313. Therefore, based on the circuit topology provided by the above-mentioned various embodiments, this embodiment can effectively and reliably obtain a low-frequency signal from the collision signal collected by the detection element 51.

[0138] As mentioned above, the detection element 51 is disposed on the housing assembly 400. When the mobile device 100 collides with an obstacle, the obstacle will cause the corresponding detection element 51 disposed on the housing assembly 400 to collect a collision signal.

[0139] Please also read Fig.14a and Fig.14b The housing assembly 400 includes a side housing 600 , an upper housing 700 and a connecting member 800 .

[0140] The side shell 600 can be detachably installed on the periphery of the device body 200, wherein the side shell 600 can surround the periphery of the device body 200. When an obstacle collides with the self-moving device 100, the side shell 600 first contacts the obstacle as a buffer plate, thereby protecting the internal components of the device body 200 from being damaged.

[0141] In some embodiments, the side housing 600 may be configured as a sheet-like structure surrounding the periphery of the device body 200. In some embodiments, the side housing 600 may be configured as a sheet-like structure partially surrounding the periphery of the device body 200, see Fig.15 When the side housing 600 is detachably mounted on the periphery of the device body 200, most of the area of ​​the side housing 600 can surround the periphery of the device body 200, and a partial area 60a is reserved for other purposes.

[0142] The upper housing 700 is used to be installed on the top of the device body 200 , wherein the upper housing 700 is connected to the side housing 600 .

[0143] In some embodiments, the upper housing 700 and the side housing 600 may be integrally formed.

[0144] In some embodiments, the upper shell 700 and the side shell 600 can be formed separately, and then assembled together with the side shell 600 at a later stage. The assembly methods of the upper shell 700 and the side shell 600 include a fixed assembly method and a detachable assembly method. The detachable assembly method includes a threaded connection method, a snap connection method, an adhesive connection method, etc. The threaded connection method includes a screw connection method, a bolt connection method, etc.

[0145] In addition, based on the layout relationship between the upper shell 700 and the side shell 600, it can also facilitate the integrated molding of the shell assembly, saving the process steps and costs of preparing the shell assembly.

[0146] The connecting member 800 is connected between the side housing 600 and the upper housing 700 , and the detecting element 51 is disposed on the connecting member 800 .

[0147] In some embodiments, the detection element 51 may be disposed in the middle of the connector 800 .

[0148] In some embodiments, the detection element 51 may be disposed at the connection between the connector 800 and the upper shell 700 or the side shell 600, that is, the detection element 51 is disposed on the side of the connector 800 close to the upper shell 700 or on the side of the connector 800 close to the side shell 600. When the detection element 51 is disposed at the above-mentioned connection, the connection may be equivalent to a fulcrum. When the side shell 600 is hit, stress will converge at the connection. Therefore, no matter where the collision point is on the side shell 600, the stress collected by the detection element 51 disposed on the connection is relatively obvious. That is to say, for the connection, when hit, the stress on the area where the connection is located will be greater than that on other areas of the side shell 600. Therefore, the area size of the connection can be defined by a stress threshold, and the stress threshold can be an experimental value or an empirical value recorded based on multiple experiments, which can be set as needed and is not limited here.

[0149] It can be seen from the above that the stress caused by the collision will be concentrated at the connection to a large extent. The detection element 51 arranged in the area where the connection is located can collect the stress generated by the side shell 600 to the maximum extent, so the location where the collision occurs can be determined based on the stress size collected in each detection element 51.

[0150] The material corresponding to the connection can be made of ABS or other hard materials. The hard material is beneficial in that when a collision occurs, the stress generated by the vibration can be maximized through the side shell 600 to the area where the connection is located, so that the detection element 51 set in the area where the connection is located can clearly collect the stress generated by the vibration.

[0151] In some embodiments, this embodiment may use a beer injection molding process to inject the detection element 51 into the connector 800, or inject the detection element 51 into the inner surface or outer surface of the connection between the connector 800 and the upper shell 700 or the side shell 600, so that the connector 800 or the connection can wrap the detection element 51 to improve the overall aesthetics.

[0152] In some embodiments, the connector 800 is provided with a mounting groove, and the detection element 51 is installed in the mounting groove. The mounting groove can be of any shape, such as a circular or square shape; preferably, the size and shape of the mounting groove are the same as the size and shape of the detection element 51, and the detection element 51 is installed in the mounting groove and is not easy to fall off. Further, the mounting groove may not be provided, but the detection element 51 is pasted to the connector 800 by using glue with a Young's modulus higher than 1GPa (including epoxy resin, polyurethane or cyanoacrylate). Further, the detection element 51 may also be pasted to the outer wall surface or other position of the connector 800. It is worth mentioning that the detection element 51 may also be pasted to the mounting groove using the above-mentioned glue to further consolidate the detection element 51 and prevent the detection element 51 from falling off in the event of a collision.

[0153] When the side housing 600 collides with an obstacle, the side housing 600 is squeezed by the obstacle to generate deformation stress, and the side housing 600 tends to move toward the upper housing 700. Since the connecting member 800 is connected between the side housing 600 and the upper housing 700, this tendency causes the stress generated by the collision to converge to the connecting member 800, so that the connecting member 800 is fully deformed to generate deformation stress, and the detection element 51 provided on the connecting member 800 detects the deformation stress and generates a collision signal.

[0154] Furthermore, the collision signal collected by the detection element 51 corresponding to the collision position is usually greater than the collision signal collected by the detection element 51 not corresponding to the collision position. At the same time, with the support of the "larger near and smaller far" change law presented by the static force signal or the quasi-static force signal, the collision detection device provided in this embodiment can reliably and accurately perform collision detection.

[0155] In addition, in this embodiment, the detection element 51 can be easily and quickly installed on the connecting member 800, and the installation accuracy requirement of the collision detection device for the detection element 51 is lower than that of the mechanical collision sensor, which is conducive to reducing the installation difficulty and improving the installation efficiency.

[0156] At the same time, this embodiment does not need to provide a narrow slit structure, a vibration-absorbing structure or a medium with discontinuous acoustic impedance on the side shell 600, so as to avoid the above-mentioned structure affecting the appearance of the product and reduce the difficulty of mold opening and production costs.

[0157] Please continue reading Fig.15 There is a gap 71 between the upper shell 700 and the side shell 600.

[0158] like Fig.15As shown, the upper shell 700 includes a first end 70a and a second end 70b, the first end 70a of the upper shell 700 is connected to the first side of the side shell 600, and there is a gap 71 between the second end 70b of the upper shell 700 and the second side of the side shell 600. Since the first end 70a of the upper shell 700 is connected to the first side of the side shell 600, the side shell 600 can effectively stabilize the upper shell 700 and prevent the first end 70a of the upper shell 700 from falling. In one embodiment, along the forward direction of the self-mobile device, the second end 70b is located in front of the upper shell 700, and the first end 70a is located behind the upper shell 700.

[0159] It is understandable that the width of the gap 71 can be customized by the designer according to engineering experience, for example, the width of the gap 71 is 2 mm. It is also understandable that the shape of the gap 71 can also be customized by the designer according to engineering experience, wherein the shape of the gap 71 can be a straight line, a sine wave, or an irregular curve.

[0160] The gap 71 may not be filled with other material layers, but may be filled with a non-rigid material layer, that is, a soft supporting layer, such as a very soft foam, a soft waterproof film, or the like, which is a material layer that can substantially offset vibration transmission.

[0161] It is understandable that the number of the gap 71 may be one, and one gap is formed between the second end 70 b of the upper housing 700 and the side housing 600 .

[0162] It is also understandable that the number of the gaps 71 may be 2 or more. Two gaps are formed between the second end 70 b of the upper housing 700 and the side housing 600 .

[0163] In some embodiments, when the number of the gap 71 is one, the connector 800 is disposed adjacent to the gap 71 , wherein one end of the connector 800 is connected to the upper shell 700 , and the other end of the connector 800 is connected to the side shell 600 .

[0164] In some embodiments, when the number of gaps 71 is 2 or more, the connector 800 is disposed between two adjacent gaps 71 , wherein one end of the connector 800 is connected to the upper shell 700 , and the other end of the connector 800 is connected to the side shell 600 .

[0165] Since there is a gap 71 between the upper shell 700 and the side shell 600, when the side shell 600 collides with an obstacle, the side shell 600 is squeezed by the obstacle and elastic deformation stress is generated more easily, so that the connecting member 800 can be deformed more easily. The detection element 51 set in the connecting member 800 detects the deformation stress and generates a collision signal.

[0166] See also Fig.16a and Fig.16b In some embodiments, one end of the connector 800 is connected to the upper housing 700 , and the other end of the connector 800 extends away from the upper housing 700 through the gap 71 and is connected to the side housing 600 .

[0167] As mentioned above, since there is a gap 71 between the upper shell 700 and the side shell 600, and the connecting member 800 is equivalent to being connected between the side shell 600 and the upper shell 700 across the gap 71, the connecting member 800 can be equivalent to a bridge arm between the side shell 600 and the upper shell 700. When the side shell 600 collides with an obstacle, since the gap 71 can reduce the rigidity of the side shell 600, the side shell 600 squeezed by the obstacle will quickly and comprehensively gather stress to the connecting member 800, so that the connecting member 800 absorbs the kinetic energy of the side shell 600 when it is collided, can respond to stress with high sensitivity, and also generate deformation stress itself, and the detection element 51 set in the connecting member 800 detects a large deformation stress and generates a collision signal.

[0168] It is understandable that when a collision occurs, no matter where the collision point occurs on the side shell 600, the stress generated by the collision vibration is easily transmitted to the connecting member 800, and at this time, the detection element 51 only needs to be set on the connecting member 800, and the configuration flexibility is good. In addition, the connecting member 800 can be set independently of the side shell 600 or the upper shell 700. Therefore, the connecting member 800 can also be connected to the side shell 600 or the upper shell 700 using other mounting structures such as screws to realize the installation configuration of the collision detection device. Similarly, the connecting member 800 can also be made of ABS material or other hard materials. Hard materials are conducive to transmitting the stress generated by vibration to the connecting member 800 when a collision occurs.

[0169] In some embodiments, please combine Fig.16a The connecting member 800 has at least one bending portion, wherein the bending portion can be L-shaped, U-shaped or Z-shaped.

[0170] See also Fig.17 In some embodiments, the connector 800 has at least one arc-shaped portion, wherein the arc-shaped portion is "C"-shaped. Since the upper shell 700 and the side shell 600 are arranged at a vertical or substantially vertical angle, the connector 800 can serve as an arc-shaped transition portion between the upper shell 700 and the side shell 600, effectively connecting the upper shell 700 and the side shell 600 together. When the connector 800 has an arc-shaped portion, the detection element 51 can be a flexible sensor, such as a piezoelectric ceramic sensor, and the piezoelectric ceramic sensor can be bent and attached to the connector 800, so as to improve the overall aesthetics. It can be seen that in these examples, the number of gaps 71 is at least 2.

[0171] In some embodiments, the connector 800 is provided with a mounting component, and the mounting component is detachably connected to the side housing 600 or the upper housing 700. The mounting component may be a screw or other snap-on structure to achieve rapid disassembly or replacement of the connector 800.

[0172] In some embodiments, the connector 800 is formed in a receiving space 80a formed by the side shell 600 and the upper shell 700. This can avoid the connector 800 being outside the shell assembly 400, which would cause the self-moving device 100 to occupy a larger space. Therefore, this embodiment can reduce the volume of the self-moving device 100 and improve the volume utilization rate of the internal space by setting the connector 800 inside the shell assembly 400, which is beneficial to the miniaturized design of the self-moving device 100.

[0173] In some embodiments, see Fig.18 The connecting member 800 extends between the side housing 600 and the upper housing 700 along the circumference of the side housing 600, wherein at least two detection elements 51 are distributed at different positions of the connecting member 800. The connecting member 800 can be a relatively independent sheet structure, wherein the shape of the connecting member 800 is arc, rectangular, elliptical, etc.

[0174] When the connecting piece 800 extends along the circumference of the side shell 600 between the side shell 600 and the upper shell 700, the number of the detection elements 51 is at least two, and at least two detection elements 51 are arranged at intervals on the connecting piece 800. Since each detection element 51 can detect the corresponding collision position, the arrangement of at least two detection elements 51 is conducive to multi-directional detection of the self-moving device.

[0175] In some embodiments, see Fig.19 , the number of the connecting members 800 is at least two, the number of the detecting elements 51 is at least two, at least two connecting members 800 are arranged at intervals along the circumference of the housing assembly 400, and one detecting element 51 is arranged on one connecting member 800. This embodiment can detect the collision direction information when the mobile device collides with an obstacle through the collision signals collected by the detecting elements 51 at different positions, and the collision direction information includes the front direction, the left front direction, the right front direction, the left middle direction, and the right middle direction.

[0176] Compared to Fig.18 The connecting piece shown is in the form of a sheet. Fig.19 The connector shown is in block form. Fig.19 The area of ​​the connector shown is smaller than Fig.18 The area of ​​the connector shown, therefore, Fig.19 The provided connectors only require a small amount of material to install the detection element, without wasting material, and are also easy to mold and design.

[0177] Please also read Fig.20a and Fig.20b The connecting member 800 includes a first connecting arm 81 and a second connecting arm 82 connected to each other, one end of the first connecting arm 81 is connected to the side shell 600, one end of the second connecting arm 82 is connected to the upper shell 700, and the other end of the first connecting arm 81 is connected to the other end of the second connecting arm 82.

[0178] The detection element 51 is disposed on at least one of the first connecting arm 81 and the second connecting arm 82, that is, the detection element 51 is disposed on the first connecting arm 81, or the detection element 51 is disposed on the second connecting arm 82, or the detection element 51 is disposed on the first connecting arm 81 and the second connecting arm 82. When the detection element 51 is disposed on the second connecting arm 82, since the second connecting arm 82 is far away from the side housing 600 relative to the first connecting arm 81, the present embodiment can efficiently and short-distance lead the wire of the detection element 51 from the second connecting arm 82, and the difficulty of injection molding the detection element 51 to the second connecting arm 82 is less than the difficulty of injection molding to the first connecting arm 81.

[0179] When the side housing 600 collides with an obstacle, the stress generated by the collision is transmitted to the first connecting arm 81. The first connecting arm 81 uses the connection point with the side housing 600 as a fulcrum to squeeze the second connecting arm 82. The second connecting arm 82 uses the connection point with the upper housing 700 as a fulcrum to generate deformation stress and move slightly. If the detection element 51 is set on the second connecting arm 82, the detection element 51 can detect the deformation stress and generate a collision signal. When the stress generated by the collision is removed, the first connecting arm 81 and the second connecting arm 82 will return to their original state.

[0180] It is understandable that the first connecting arm 81 and the second connecting arm 82 can be made of suitable materials so that they can deform in response to a collision and return to their original shape after the collision is removed.

[0181] In some embodiments, a groove 83 is provided between the first connecting arm 81 and the second connecting arm 82, and the groove 83 is connected to the gap 71. Fig.20b As shown, the groove 83 is formed in a direction away from the upper housing 700 and below the gap 71. When the side housing 600 collides with an obstacle, the groove 83 is provided between the first connecting arm 81 and the second connecting arm 82 to have a certain distance, and the first connecting arm 81 and the second connecting arm 82 are prone to slight relative displacement.

[0182] As mentioned above, when the side shell 600 collides with an obstacle, due to the existence of the gap 71, the side shell 600 is squeezed by the obstacle and the stress is quickly and comprehensively gathered to the first connecting arm 81, so that the first connecting arm 81 can drive the second connecting arm 82 to generate deformation stress with high sensitivity. The detection element 51 arranged on the second connecting arm 82 detects the larger deformation stress and generates a collision signal, which is conducive to more reliable and accurate collision detection.

[0183] The first connecting arm 81 and the second connecting arm 82 are arranged at an angle. In some embodiments, the angle is 90 degrees. In some embodiments, the angle is an acute angle or an obtuse angle, for example, the surface of the first connecting arm 81 and the surface of the second connecting arm 82 intersect at 30 degrees or 120 degrees. Compared with the case where the angle is 90 degrees, the acute angle or the obtuse angle between the first connecting arm 81 and the second connecting arm 82 will make it easier for the first connecting arm 81 and the second connecting arm 82 to relatively displace or bend under the stress of vibration transmission, so that it is relatively easy for the detection element of the first connecting arm 81 or the detection element of the second connecting arm 82 to generate a collision signal.

[0184] In some embodiments, the distance between the first connecting arm 81 and the second connecting arm 82 gradually decreases along the direction from the opening of the groove 83 to the bottom wall of the groove 83. In some embodiments, the side shell 600, the upper shell 700 and the connecting member 800 are integrally injection molded. When the distance between the first connecting arm 81 and the second connecting arm 82 gradually increases in the above direction, it is equivalent to molding the connecting member 800 outside the self-moving device 100. This structure will increase the mold opening cost and production cost. Therefore, when the distance between the first connecting arm 81 and the second connecting arm 82 gradually decreases in the above direction, it is equivalent to molding the connecting member 800 inside the self-moving device 100. This structure is easy to open the mold and design, which is conducive to reducing costs and design difficulties.

[0185] The shell assembly 400 also includes an abutment member 84, one end of which is connected to the side shell 600, and the other end of which is connected to the connecting member 800, and the contact area between the abutment member 84 and the side shell 600 is smaller than the area of ​​the connecting member 800 facing the side shell 600, and / or the contact area between the abutment member 84 and the connecting member 800 is smaller than the area of ​​the connecting member 800 facing the side shell 600, and / or the contact area between the abutment member 84 and the side shell 600 is smaller than or equal to the contact area between the abutment member 81 and the connecting member 800, wherein the area of ​​the abutment member 81 facing the connecting member 800 is smaller than the area of ​​the connecting member 800 facing the abutment member 81. Please continue reading Fig.20b The other end of the abutment member 84 is connected to the first connecting arm 81 .

[0186] The contact mode between the abutment member 84 and the connecting member 800 is a line-to-surface contact mode. If the connecting member 800 directly contacts the side shell 600, the contact mode between the connecting member 800 and the side shell 600 is a surface-to-surface contact mode, that is, since the contact area between the abutment member 84 and the connecting member 800 is small, when the side shell 600 is hit, the abutment member 84 can easily transfer the stress generated by the collision to the connecting member 800, so that the detection element on the connecting member 800 can reliably generate a collision signal. In addition, when the material of the connecting arm with the detection element 51 in the connecting member 800 is soft, or the thickness of the connecting arm with the detection element 51 is thin, the stress gathered by the abutment member 84 can obviously cause the connecting arm with the detection element 51 to deform, so that the detection element 51 can easily generate a collision signal, thereby significantly improving the sensitivity, accuracy and reliability of collision detection.

[0187] Please combine Fig.16b There are multiple abutment members 84, and multiple abutment members 84 are arranged at intervals between the connecting member 800 and the side housing 600, that is, there is an interval 85 between the connecting member 800 and the side housing 600. Since there are multiple abutment members 84, multiple abutment members 84 can not only gather stress at multiple points and transmit stress to the connecting member 800, but also, since the material of the connecting member 800 has a certain elasticity, multiple abutment members 84 have a certain rigidity, which can avoid the stress from being mistransmitted to the connecting member 800, thereby improving the detection reliability.

[0188] In some embodiments, the abutment member 84 is disposed on the inner side of the side housing 600 along the vertical direction, and the abutment member 84 can also serve as a reinforcing rib to stabilize the side housing 600. This embodiment utilizes the characteristics of the abutment member 84 as a reinforcing rib to strengthen the local rigidity of the connecting member 800, ensure that the detection element disposed in the connecting member 800 will not be excessively squeezed and broken, and improve the working reliability.

[0189] Please continue reading Fig.19, the upper shell 700 is provided with a locking structure 72, and the upper shell 700 is fixed to the device body through the locking structure 72. In some embodiments, the locking structure 72 is arranged between two adjacent detection elements 51. As described above, the upper shell 700 is provided with at least one locking structure 72 on the line connecting two adjacent detection elements 51, and the locking structure 72 fixes the upper shell 700 to the device body by means of screws or buckles. The locking structure 72 can be arranged in the middle of the line connecting two adjacent detection elements 51, or in the middle of the arc formed by adjacent detection elements 51. When there are multiple locking structures 72, they can be arranged at equal intervals on the straight line or arc formed by adjacent detection elements 51. The locking structure 72 can strengthen the tightness between the upper shell 700 and the device body, and at the same time prevent the stress generated by vibration from propagating between two adjacent detection elements 51.

[0190] In some embodiments, the collision detection device 300 also includes a waterproof and breathable membrane, which is laid on the inner surface of the shell assembly 400. For example, the waterproof and breathable membrane is laid on the surface of the groove 84 facing the receiving cavity 80a and / or on the side of the gap 71 facing the receiving cavity 80a, thereby preventing dust and water vapor from entering the device body through the connector 800 or the gap 71.

[0191] In some embodiments, the detection element 51 is a piezoelectric ceramic sensor, and the piezoelectric film sensor is embedded in the connector 800 using an embedded injection molding process. The piezoelectric ceramic sensor is made of PZT-5 material, which can withstand a high temperature of 380° C. and a uniform pressure of 250 MPa.

[0192] In general, since the amplitude of the static force signal or quasi-static force signal is negatively correlated with the relative distance of the collision position, that is, the larger the relative distance, the smaller the amplitude of the static force signal or quasi-static force signal, and the smaller the relative distance, the larger the amplitude of the static force signal or quasi-static force signal, therefore, the static force signal or quasi-static force signal that changes in this regular manner is conducive to the self-moving device to reliably and accurately perform collision detection even in the case of collision crosstalk. In addition, the static force signal or quasi-static force signal has nothing to do with the material of the obstacle, that is, regardless of whether the material of the obstacle is a hard material or a soft material, the static force signal or quasi-static force signal can characterize the collision between the self-moving device and the obstacle, avoiding the situation where the self-moving device easily collides with the obstacle made of soft material but cannot be detected, which is conducive to improving the reliability of collision detection. In addition, based on the connector 800 and the gap 71, this embodiment can maximize the response to the stress generated by the collision to generate a collision signal, so that the subsequent control logic can perform collision detection based on the collision signal.

[0193] As another aspect of the embodiments of the present application, the embodiments of the present application provide a collision detection method. It can be understood that the collision detection method provided by the embodiments of the present application is not only applicable to self-moving equipment with a separate front block structure or an integrated front block structure, but also applicable to side shells with isolation grooves and side shells without isolation grooves in the integrated front block structure.

[0194] See also Fig.21 , the collision detection method includes the following steps:

[0195] S211: Acquire a collision signal, wherein the collision signal is sampled by a detection element disposed on a housing component of the mobile device.

[0196] In this step, the housing assembly may be provided with one, two, or three or more detection elements.

[0197] S212: Determine at least one low-frequency signal according to the collision signal, where the low-frequency signal is a static force signal or a quasi-static force signal, and the low-frequency signal is used to characterize a collision detection result of the self-moving device.

[0198] In this step, the frequency of the low-frequency signal is in a specified low-frequency band, for example, the specified low-frequency band is [0Hz, 150Hz], and the collision signal with a frequency in the low-frequency band is a low-frequency signal. In some embodiments, determining at least one low-frequency signal according to the collision signal includes: filtering the collision signal according to a preset digital low-pass filter to obtain a collision signal in the specified low-frequency band, and the collision signal in the specified low-frequency band is a low-frequency signal. For example, after the detection element is processed by the charge amplifier circuit and the analog low-pass filter circuit, a conditioned collision signal can be effectively obtained, wherein the conditioned collision signal at least includes a static force signal or a quasi-static force signal of [0Hz, 150Hz]. The controller is integrated with an analog-to-digital converter, and the conditioned collision signal can be converted into a discrete digital signal through the processing of the analog-to-digital converter. Then, the controller uses a preset digital low-pass filter to process the discrete digital signal again to extract a signal with a frequency in the frequency band of [0Hz, 150Hz]. Among them, the digital low-pass filter can select an IIR filter or a FIR filter.

[0199] In this step, the frequency of the static force signal is 0 Hz, and the frequency of the quasi-static force signal is within the frequency range of (0 Hz, 150 Hz]. The explanation of the static force signal or the quasi-static force signal has been explained in the above embodiments and will not be repeated here.

[0200] Since the static force signal or quasi-static force signal has nothing to do with the material of the obstacle, that is, no matter whether the material of the obstacle is hard or soft, the static force signal or quasi-static force signal can represent the collision between the self-moving device and the obstacle, thereby avoiding the situation where the self-moving device collides with an obstacle made of soft material but cannot be detected, which is conducive to improving the reliability of collision detection.

[0201] In some embodiments, the collision detection method further comprises the following steps: determining the collision detection result according to the low-frequency signal and a preset characteristic threshold, wherein the preset characteristic threshold is customized by the designer according to engineering experience.

[0202] In some embodiments, determining the collision detection result according to the low-frequency signal and the preset characteristic threshold comprises the following steps: determining the low-frequency characteristic value according to the low-frequency signal, and determining the collision detection result according to at least one low-frequency characteristic value and the preset characteristic threshold.

[0203] The low-frequency eigenvalue is used to represent the characteristics of the low-frequency signal, wherein the low-frequency eigenvalue can be represented by the absolute value of the amplitude, the peak-to-peak value or the energy value.

[0204] In some embodiments, determining the low-frequency characteristic value according to the low-frequency signal includes the following steps: calculating the signal energy value of the low-frequency signal within a preset sliding window, wherein the energy value is the low-frequency characteristic value.

[0205] For example, this embodiment intercepts each low-frequency signal in a signal queue according to a preset sliding window, wherein the signal queue stores a plurality of low-frequency signals arranged in chronological order, wherein the window length of the preset sliding window can be customized by a designer, for example, the window length of the preset sliding window is 100ms or 200ms, and then the energy value corresponding to each low-frequency signal in the preset sliding window is calculated.

[0206] In some embodiments, calculating the signal energy value of a low-frequency signal within a preset sliding window includes: performing DC bias voltage removal processing on each low-frequency signal within the preset sliding window, converting the low-frequency signal after the DC bias is removed into a digital voltage amplitude, and performing square summation on the digital voltage amplitudes corresponding to each low-frequency signal within the preset sliding window to obtain an energy value.

[0207] In some embodiments, the collision detection result includes information that a collision has occurred or information that a collision has not occurred, and determining the collision detection result according to at least one low-frequency characteristic value and a preset characteristic threshold value includes the following steps: if the number of detection elements is 1, then when it is determined that the low-frequency characteristic value is greater than the preset characteristic threshold value, the collision detection result is determined to be information that a collision has occurred; when it is determined that the low-frequency characteristic value is less than or equal to the preset characteristic threshold value, the collision detection result is determined to be information that a collision has not occurred. In some embodiments, if the number of detection elements is 1, when determining that the collision detection result is information that a collision has occurred, this embodiment may also use the position information of the detection element on the mobile device as collision direction information.

[0208] The preset feature threshold is customized by the designer based on engineering experience. It is understandable that the preset feature threshold is usually determined under a given quasi-static force scenario (or static force scenario), for example, a quasi-static force scenario is defined by elements that generate very small quasi-static force signals. Elements include minimum collision speed or soft obstacles, etc.

[0209] For example, a detection element is set on a connecting part directly in front of the side shell of a mobile device. The controller extracts a quasi-static force signal based on the collision signal collected by the detection element, determines an energy value based on each quasi-static force signal, and judges whether the energy value is greater than a preset characteristic threshold. If so, collision information is generated, and the front information is determined as collision direction information.

[0210] In some embodiments, determining the collision detection result according to at least one low-frequency characteristic value and a preset characteristic threshold value includes the following steps: Determining the collision detection result according to the low-frequency characteristic value and the preset characteristic threshold value includes the following steps: If the number of detection elements is at least 2, then determining the collision detection result according to at least two low-frequency characteristic values ​​and the preset characteristic threshold value. This embodiment can detect collisions from all directions and effectively locate the collision position, so that the self-moving device can formulate a safe, reliable and reasonable obstacle avoidance strategy.

[0211] In addition, since the amplitude of the static force signal or quasi-static force signal is negatively correlated with the relative distance of the collision position, that is, the greater the relative distance, the smaller the amplitude of the static force signal or quasi-static force signal, and the smaller the relative distance, the larger the amplitude of the static force signal or quasi-static force signal, therefore, the static force signal or quasi-static force signal that changes in this regular manner is beneficial for the self-moving device to reliably and accurately perform collision detection even in the case of collision crosstalk.

[0212] In some embodiments, determining the collision detection result according to at least two low-frequency characteristic values ​​and a preset characteristic threshold value includes: calculating a resultant force characteristic value according to at least two low-frequency characteristic values, and determining the collision detection result according to the resultant force characteristic value and the preset characteristic threshold value. The resultant force characteristic value is used to comprehensively represent the collision signal detected by at least two detection elements.

[0213] In some embodiments, calculating the resultant force eigenvalue based on at least two low-frequency eigenvalues ​​includes: adding the at least two low-frequency eigenvalues ​​to obtain the resultant force eigenvalue.

[0214] In some embodiments, determining the collision detection result based on the resultant force characteristic value and a preset characteristic threshold includes: determining whether the resultant force characteristic value is greater than the preset characteristic threshold; if so, determining the collision judgment information as information that a collision has occurred; generating collision direction information based on the position information and low-frequency characteristic value of the target detection element on the self-moving device, wherein the target detection element is one of at least two detection elements; if less than, determining the collision judgment information as information that no collision has occurred.

[0215] For example, a detection element Q1 is set on the connector in the front of the mobile device, a detection element Q2 is set on the connector in the left front, and a detection element Q3 is set on the connector in the right front. The controller determines the low-frequency characteristic value T1 according to the collision signal collected by the detection element Q1, determines the low-frequency characteristic value T2 according to the collision signal collected by the detection element Q2, and determines the low-frequency characteristic value T3 according to the collision signal collected by the detection element Q3. The controller adds the low-frequency characteristic value T1, the low-frequency characteristic value T2 and the low-frequency characteristic value T3 to obtain the resultant force characteristic value To.

[0216] The controller determines whether the resultant force characteristic value To is greater than a preset characteristic threshold value. If so, the collision judgment information is determined to be information that a collision has occurred. This embodiment adds the low-frequency characteristic values ​​of each detection element, so that it can comprehensively and reliably reflect whether the side shell has collided with an obstacle, thereby improving the accuracy of collision judgment.

[0217] In some embodiments, generating collision direction information according to the position information and low-frequency characteristic value of the target detection element in the self-moving device includes: if the low-frequency characteristic value of the target detection element is greater than n times the low-frequency characteristic values ​​of the remaining detection elements, then using the position information of the target detection element in the self-moving device as the collision direction information, wherein n is a positive number greater than the natural number 1. n can be customized by the designer according to engineering experience, for example, n is 1.5 or 2 or 3 or 5, etc.

[0218] As mentioned above, the closer the detection element is to the collision position, the larger the corresponding low-frequency signal is, and the farther the detection element is from the collision position, the smaller the corresponding low-frequency signal is. When the low-frequency eigenvalue of the target detection element is n times greater than the low-frequency eigenvalues ​​of the remaining detection elements, it means that the target detection element is closest to the collision position. Since n is a positive number greater than the natural number 1, this can avoid false detection due to interference from other factors that cause the low-frequency signal corresponding to the target detection element to be slightly larger than the low-frequency eigenvalues ​​of the remaining detection elements, which is beneficial to improving the reliability of collision detection.

[0219] For example, n is 2. If the low-frequency characteristic value T2 of the detection element Q2 is greater than twice the low-frequency characteristic value T1 of the detection element Q1, and is also greater than twice the low-frequency characteristic value T3 of the detection element Q3, then the self-moving device can determine that the collision position is closest to the position corresponding to the detection element Q2. Therefore, the left front can be used as the collision direction information.

[0220] In some embodiments, based on the position information and low-frequency characteristic value of the target detection element in the self-moving device, generating collision direction information includes: if the difference between the low-frequency characteristic value of the target detection element and the low-frequency characteristic value of the reference detection element is within a preset difference range and both are greater than a preset static threshold, then determining the position information between the target detection element and the reference detection element as the collision direction information, and the reference detection element is a detection element adjacent to the target detection element. The preset static threshold is customized by the designer based on engineering experience, and the preset characteristic threshold is less than the preset characteristic threshold. The preset difference range is customized by the designer based on engineering experience.

[0221] Since the side shell is provided with a plurality of detection elements, sometimes a collision may occur in the middle of two detection elements, which makes it difficult for the self-moving device to distinguish the collision position. Therefore, in this embodiment, when the difference between the low-frequency characteristic value of the target detection element and the low-frequency characteristic value of the reference detection element is within a preset difference range and both are greater than a preset static threshold at the same time, the middle position information of the target detection element and the reference detection element is determined as the collision direction information.

[0222] For example, when the detection element Q1 is used as the target detection element, the detection element Q2 is adjacent to the detection element Q1, and therefore, the detection element Q2 is the reference detection element. This embodiment calculates the difference between the low-frequency characteristic value T2 of the detection element Q2 and the low-frequency characteristic value T1 of the detection element Q1, wherein |ΔT|=|T2-T1|, |ΔT| is the difference, and when the difference |ΔT| is within the preset difference range, it indicates that the low-frequency characteristic value T2 is close to or equal to the low-frequency characteristic value T1. When both the low-frequency characteristic value T2 and the low-frequency characteristic value T1 are greater than the preset static threshold at the same time, it indicates that both the detection element Q2 and the detection element Q1 can detect larger vibrations, and therefore, the position information between the detection element Q2 and the detection element Q1 is the left middle direction, and therefore, the self-moving device determines the left middle direction as the collision direction information. This embodiment uses the above detection method to effectively and reliably detect the middle direction, so that the self-moving device can adopt a reasonable obstacle avoidance strategy.

[0223] It should be noted that, in each of the above-mentioned embodiments, there is not necessarily a certain order between the above-mentioned steps. A person skilled in the art can understand, based on the description of the embodiments of the present application, that in different embodiments, the above-mentioned steps may have different execution orders, that is, they may be executed in parallel, may be executed interchangeably, and so on.

[0224] See also Fig. 22 , Fig. 22 Schematic diagram of the circuit structure of a controller provided in an embodiment of the present application. Fig. 22 As shown, the controller 220 includes one or more processors 221 and a memory 222. Fig. 22 A processor 221 is taken as an example.

[0225] The processor 221 and the memory 222 may be connected via a bus or other means. Fig. 22 The example of connecting through bus is taken in the following.

[0226] The memory 222 is a non-volatile computer-readable storage medium that can be used to store non-volatile software programs, non-volatile computer executable programs and modules, such as program instructions / modules corresponding to the collision detection method of the self-moving device in the embodiment of the present application. The processor 221 executes various functional applications and data processing of the collision detection device of the self-moving device by running the non-volatile software programs, instructions and modules stored in the memory 222, that is, to realize the collision detection method of the self-moving device provided in the above method embodiment and the functions of each module or unit in the above device embodiment.

[0227] The memory 222 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage devices. In some embodiments, the memory 222 may optionally include a memory remotely arranged relative to the processor 221, and these remote memories may be connected to the processor 221 via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0228] The program instructions / modules are stored in the memory 222 , and when executed by the one or more processors 221 , the collision detection method for the self-moving device in any of the above method embodiments is executed.

[0229] The present application also provides a non-volatile computer storage medium, wherein the computer storage medium stores computer executable instructions, and the computer executable instructions are executed by one or more processors, such as Fig. 22 A processor 221 in the embodiment may enable the one or more processors to execute the collision detection method for the self-moving device in any of the above method embodiments.

[0230] An embodiment of the present application also provides a computer program product, which includes a computer program stored on a non-volatile computer-readable storage medium, and the computer program includes program instructions. When the program instructions are executed by a controller, the controller executes any one of the collision detection methods for a self-moving device.

[0231] The above described device or equipment embodiments are merely illustrative, wherein the unit modules described as separate components may or may not be physically separated, and the components displayed as module units may or may not be physical units, that is, they may be located in one place, or may be distributed on multiple network module units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the present embodiment.

[0232] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a general hardware platform, and of course, by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the relevant technology can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0233] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Under the concept of the present application, the technical features in the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other changes in different aspects of the present application as described above, which are not provided in detail for the sake of simplicity. Although the present application has been described in detail with reference to the aforementioned embodiments, a person of ordinary skill in the art should understand that the technical solutions described in the aforementioned embodiments can still be modified, or some of the technical features can be replaced by equivalents. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A collision detection method, characterized in that: include: Acquiring a collision signal, wherein the collision signal is sampled by a detection element disposed on a housing component of the mobile device; At least one low-frequency signal is determined according to the collision signal, wherein the low-frequency signal is a static force signal or a quasi-static force signal, and the low-frequency signal is used to characterize a collision detection result of the self-moving device.

2. The method according to claim 1, characterized in that The frequency of the static force signal is 0 Hz; or, The frequency of the quasi-static force signal is within the frequency range of (0 Hz, 150 Hz].

3. The method according to claim 2, characterized in that Also includes: A collision detection result is determined according to the low-frequency signal and a preset characteristic threshold.

4. The method according to claim 3, characterized in that Determining the collision detection result according to the low-frequency signal and the preset characteristic threshold comprises: Determine a low-frequency characteristic value according to the low-frequency signal; A collision detection result is determined according to at least one of the low-frequency characteristic values ​​and a preset characteristic threshold.

5. The method according to claim 4, characterized in that Determining the low-frequency characteristic value according to the low-frequency signal includes: calculating a signal energy value of the low-frequency signal within a preset sliding window, wherein the energy value is the low-frequency characteristic value.

6. The method according to claim 4, characterized in that The collision detection result includes information about a collision that has occurred or information about no collision that has occurred, and determining the collision detection result based on at least one of the low-frequency feature values ​​and a preset feature threshold includes: If the number of the detection elements is 1, then when it is determined that the low-frequency characteristic value is greater than a preset characteristic threshold, the collision detection result is determined to be information that a collision has occurred; when it is determined that the low-frequency characteristic value is less than or equal to the preset characteristic threshold, the collision detection result is determined to be information that no collision has occurred; and / or, If the number of the detection elements is at least 2, the collision detection result is determined according to at least two of the low-frequency characteristic values ​​and a preset characteristic threshold.

7. The method according to claim 6, characterized in that Determining the collision detection result according to at least two of the low-frequency characteristic values ​​and a preset characteristic threshold comprises: Calculating a resultant force eigenvalue based on at least two of the low-frequency eigenvalues; The collision detection result is determined according to the resultant force characteristic value and a preset characteristic threshold.

8. The method according to claim 7, characterized in that The calculating the resultant force eigenvalue according to at least two of the low-frequency eigenvalues ​​comprises: adding at least two of the low-frequency eigenvalues ​​to obtain the resultant force eigenvalue.

9. The method according to claim 7, characterized in that: Determining the collision detection result according to the resultant force characteristic value and the preset characteristic threshold comprises: Determining whether the resultant force characteristic value is greater than a preset characteristic threshold; If it is greater than, the collision detection result is determined to be information that a collision has occurred, and collision direction information is generated according to the position information and low-frequency characteristic value of the target detection element on the self-moving device, wherein the target detection element is any one of the at least two detection elements; If it is less than, it is determined that the collision detection result is information that no collision has occurred.

10. The method according to claim 9, characterized in that Generating collision direction information according to the position information and low-frequency characteristic value of the target detection element on the self-moving device includes: If the low-frequency characteristic value of the target detection element is n times greater than the low-frequency characteristic values ​​of the other detection elements, the position information of the target detection element in the self-moving device is used as the collision direction information, where n is a positive number greater than the natural number 1; If the difference between the low-frequency characteristic value of the target detection element and the low-frequency characteristic value of the reference detection element is within a preset difference range and both are greater than a preset static threshold at the same time, the position information between the target detection element and the reference detection element is determined as the collision direction information, and the reference detection element is a detection element adjacent to the target detection element.

11. A non-volatile readable storage medium, characterized in that: The non-volatile readable storage medium stores computer executable instructions, and the computer executable instructions are used to enable the mobile device to execute the collision detection method according to any one of claims 1 to 10.

12. A collision detection circuit, applied to a self-moving device, characterized in that: include: A detection element, used to be arranged on the self-moving device to collect a collision signal; The processing circuit is electrically connected to the detection element and is used to obtain a low-frequency signal from the collision signal. The low-frequency signal is a static force signal or a quasi-static force signal. The low-frequency signal is used to characterize the collision detection result of the self-moving device.

13. A collision detection device, characterized in that: include: Shell assembly; A detection element, used to be arranged on the housing assembly to collect a collision signal; The processing circuit is electrically connected to the detection element and is used to obtain a low-frequency signal from the collision signal. The low-frequency signal is a static force signal or a quasi-static force signal. The low-frequency signal is used to characterize the collision detection result of the self-moving device.

14. The collision detection device according to claim 13, characterized in that: The housing assembly comprises: Side housing; An upper shell body connected to the side shell body; A connecting member is connected between the side shell and the upper shell, and the detection element is arranged on the connecting member.

15. The collision detection device according to claim 14, characterized in that: A gap is provided between the upper shell and the side shell; One end of the connecting member is connected to the upper shell, and the other end of the connecting member extends in a direction away from the upper shell, passes through the gap, and is connected to the side shell.

16. The collision detection device according to claim 15, characterized in that: The upper shell includes a first end and a second end, the first end of the upper shell is connected to the side shell, and the gap is formed between the second end of the upper shell and the side shell.

17. The collision detection device according to claim 15, characterized in that: The connecting member comprises a first connecting arm and a second connecting arm connected to each other, one end of the first connecting arm is connected to the side housing, one end of the second connecting arm is connected to the upper housing, and the other end of the first connecting arm is connected to the other end of the second connecting arm; The detection element is disposed on at least one of the first connecting arm and the second connecting arm.

18. The collision detection device according to claim 17, characterized in that: The first connecting arm and the second connecting arm are arranged at an angle.

19. The collision detection device according to claim 14, characterized in that: The connecting piece has at least one bent portion or arc portion.

20. The collision detection device according to claim 14, characterized in that: The shell assembly also includes a buttress, one end of which is connected to the side shell, and the other end of which is connected to the connecting member, the contact area between the buttress and the side shell is smaller than the area of ​​the connecting member facing the side shell, and / or the contact area between the buttress and the connecting member is smaller than the area of ​​the connecting member facing the side shell.

21. The collision detection device according to claim 20, characterized in that: There are multiple abutting members, and the multiple abutting members are arranged between the connecting member and the side shell at intervals.

22. The collision detection device according to claim 14, characterized in that: The connecting member is arranged in a receiving space formed by the side shell and the upper shell.

23. The collision detection device according to claim 14, characterized in that: The number of the connecting members is at least two, the number of the detecting elements is at least two, at least two connecting members are arranged at intervals along the circumference of the shell component, and one detecting element is arranged on one connecting member.

24. The collision detection device according to any one of claims 14 to 23, characterized in that: The detection element is a piezoelectric ceramic sensor, and the piezoelectric ceramic sensor is embedded in the connector by using an embedded injection molding process.

25. A self-propelled device, characterized in that: include: Equipment body; According to the collision detection device as described in any one of claims 14 to 24, the shell assembly can be detachably installed on the outer periphery of the device body.

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