Collision detection method and structure

Abstract

The invention relates to the field of mowers, and provides a collision detection method and a collision detection structure. A first polarity Hall plate is rotatably mounted on a shell in the height direction, so that an inclined angle is formed between the first polarity Hall plate and the front-back direction; a first magnetic piece is arranged on the buffer frame and located on one side of the first polarity Hall plate, a first distance is formed between the first magnetic piece and the first polarity Hall plate in the front-back direction, and a second distance is formed in the left-right direction; the ratio of the first distance to the second distance is changed by adjusting the inclination angle of the first polarity Hall plate, so that the detection sensitivity in the front-back direction and the left-right direction is controlled. A first polarity Hall plate is rotatably arranged in the height direction, and a first magnetic piece and the first polarity Hall plate form a first distance in the front-back direction and form a second distance in the left-right direction; the proportion of the first distance and the second distance is controlled by adjusting the inclination angle of the first polarity Hall plate, so that the collision source direction is distinguished, and the sensitivity in the front direction and the left-right direction is controlled.

Description

Technical Field

[0001] The present invention relates to the technical field of lawn mowers, and further to a collision detection method and structure. Background Art

[0002] Smart lawn mowers are usually equipped with obstacle avoidance functions, using visual, radar, ultrasonic or contact collision detection methods. Existing contact collision detection methods usually use magnets and non-polar Hall sensors. The center of the magnetic pole coincides with the center axis of the Hall sensor. The magnet leaves the Hall sensor area after being displaced a preset distance in any horizontal direction. The collision is determined by the change in the high and low levels of the Hall sensor, but the direction of the collision cannot be detected, and thus, accurate obstacle avoidance actions cannot be performed, affecting mowing efficiency. This method also cannot accurately preset the ratio of the front collision force and the left and right collision forces. In order to take into account the collision detection sensitivity in the left and right directions, the front collision detection force cannot be set very high, which in turn affects the obstacle crossing performance of the lawn mower. When the lawn mower encounters dense grass, it is easy to identify it as an obstacle. In addition, after long-term use, the demagnetization of the magnet will also cause changes in the preset collision force. Summary of the Invention

[0003] In response to the above technical problems, the purpose of the present invention is to provide a collision detection method and structure, in which the first polarity Hall plate is rotatable along the height direction, so that the first magnetic part and the first polarity Hall plate form a first distance in the front-to-back direction and a second distance in the left-to-right direction; by adjusting the inclination angle of the first polarity Hall plate with the front-to-back direction, the ratio of the first distance and the second distance is precisely controlled, thereby distinguishing the direction of the collision source and controlling the sensitivity in the front and left-to-right directions.

[0004] To achieve the above-mentioned object, the present invention provides a collision detection method for detecting the relative movement relationship between a buffer frame and a shell, wherein the shell has a left-right direction, a front-back direction, and a height direction, and the collision detection method includes:

[0005] rotatably mounting a first polarity Hall plate on the housing along the height direction, such that the first polarity Hall plate forms an inclined angle with the front-to-back direction;

[0006] Disposing a first magnetic member on the buffer frame and located on one side of the first polarity Hall plate, wherein the first magnetic member and the first polarity Hall plate form a first distance in the front-to-back direction and a second distance in the left-to-right direction;

[0007] By adjusting the tilt angle of the first polarity Hall plate, the ratio of the first distance to the second distance is changed, thereby controlling the detection sensitivity in the front-to-back direction and the left-to-right direction.

[0008] In some embodiments, the inclination angle of the first polarity Hall plate is set to a first preset angle, the first preset angle is an acute angle less than 45 degrees, and the distance between the first magnetic member and the first polarity Hall plate in the left and right directions does not exceed the distance in the front and rear directions, so that the detection collision force required in the front and rear directions is greater than the detection collision force required in the left and right directions.

[0009] In some embodiments, adjacent first polarity Hall plates are intersected in opposite or opposite tilt directions to form an eight-shaped structure;

[0010] Arrange a plurality of the first magnetic members on a side adjacent to or opposite to the first polarity Hall plate, and if a level change occurs on any of the first polarity Hall plates, the buffer frame collides in the left and right directions;

[0011] If the levels of the two first polarity Hall plates both change, the buffer rack collides in the front-to-back direction;

[0012] Wherein, when the first polarity Hall plate is in a regular V-shape, the first magnetic member is installed on a side of the adjacent first polarity Hall plates that is away from each other;

[0013] When the first polarity Hall plate is in an inverted eight-shaped shape, the first magnetic member is installed in a region between adjacent first polarity Hall plates.

[0014] In some embodiments, a second polarity Hall plate is disposed on the housing along the left-right direction, and the second magnetic member is disposed in front of the second polarity Hall plate. The second polarity Hall plate is capable of detecting movement of the buffer rack in the front-to-back direction, thereby effectively distinguishing collisions in the right front direction, the left front direction, and the left-to-right direction.

[0015] If the level of any one of the first polarity Hall plate and the second polarity Hall plate changes, the buffer rack collides in the right front direction or the left front direction.

[0016] In some embodiments, the distance between the second magnetic member and the second polarity Hall plate in the front-to-rear direction is smaller than the distance between the first magnetic member and the first polarity Hall plate in the front-to-rear direction to widen the detection area of ​​the collision force directly in front of the buffer frame.

[0017] In some embodiments, the tilt angle of the first polarity Hall plate is set to a second preset angle, which is smaller than the first preset angle, to increase the distance between the first magnetic member and the first polarity Hall plate in the front-to-back direction.

[0018] According to another aspect of the present application, a collision detection structure is further provided, which uses any collision detection method of the preferred embodiments described above to detect the relative movement relationship between the buffer frame and the housing, wherein the housing has a left-right direction, a front-back direction, and a height direction, and the collision detection structure includes a plurality of first polarity Hall plates, a plurality of first magnetic members, and an adjustable mounting seat; the adjustable mounting seat is rotatably mounted on the housing, the adjustable mounting seat is provided with a mounting slot, and the first polarity Hall plate is disposed in the mounting slot along the height direction;

[0019] Adjacent first polarity Hall plates are adapted to be tilted in opposite directions or toward each other via the adjustable mounting base, so that the first polarity Hall plates form an adjustable tilt angle with respect to the front-to-back direction;

[0020] The first magnetic member is correspondingly arranged on the buffer frame and located on a side adjacent to or opposite to the first polarity Hall plate. The direction of the collision force of the buffer frame is determined by detecting level changes of a plurality of the first polarity Hall plates.

[0021] In some embodiments, the adjustable mounting seat includes a seat body and a locking member, the seat body is provided with a sliding groove, the sliding groove extends along the front-to-back direction, the end of the seat body is provided with the mounting groove, the locking member is suitable for fixedly connecting the seat body and the shell and allowing the seat body to rotate around the locking member while the locking member can move in the sliding groove.

[0022] In some embodiments, the housing is further provided with a rotating column, the locking member is adapted to be fixedly connected to the top of the rotating column and abut against the base, and the rotating column is adapted to slide relatively in the sliding groove, so that the base is adapted to move along the length direction of the sliding groove;

[0023] And / or, an annular rack is further provided on the shell, and a pair of spur racks are further provided at the bottom of the base body, the spur racks are arranged along the front-to-back direction, and the annular rack is suitable for engaging with the pair of spur racks so that the base body can be precisely rotated and set on the shell; an indicator needle is also provided at the end of the base body away from the mounting slot, and a rotation angle scale is also provided on the shell.

[0024] In some embodiments, the device further includes a second polarity Hall plate and a second magnetic member, wherein the second polarity Hall plate is disposed on the housing along the left-right direction, the second magnetic member is disposed in front of the second polarity Hall plate, and the distance between the second magnetic member and the second polarity Hall plate in the front-to-back direction is smaller than the distance between the first magnetic member and the first polarity Hall plate in the front-to-back direction;

[0025] Or, it also includes a non-polar Hall plate and a second magnetic component, the non-polar Hall is arranged on the shell along the horizontal plane, and the second magnetic component is arranged on the buffer frame. When the second magnetic component is away from the non-polar Hall plate, the non-polar Hall plate produces a level change.

[0026] Compared with the prior art, the collision detection method and structure provided by the present invention has at least one of the following beneficial effects:

[0027] 1. The first polarity Hall plate is rotatable in the height direction, so that the first magnetic element and the first polarity Hall plate form a first distance in the front-to-back direction and a second distance in the left-to-right direction. By adjusting the inclination angle of the first polarity Hall plate with respect to the front-to-back direction, the ratio of the first distance to the second distance is precisely controlled, thereby distinguishing the direction of the collision source and controlling the sensitivity in the front and left-to-right directions.

[0028] 2. By setting the inclination angle of the first polarity Hall plate to an acute angle less than 45 degrees and reasonably controlling the first and second distances between the first magnetic element and the first polarity Hall plate in the front-to-back direction and the left-to-right direction, the sensitivity in the front-to-back direction can be effectively reduced, the obstacle crossing performance can be increased, and the detection accuracy in the left-to-right direction can be improved.

[0029] 3. Adjacent first polarity Hall plates are intersected in opposite or opposite tilt directions to form an eight-shaped structure. In the eight-shaped structure, a plurality of first magnetic members are arranged on the adjacent or opposite side of the first polarity Hall plate, which can effectively improve the sensitivity and directionality of magnetic field sensing.

[0030] 4. First, the second polarity Hall plate is installed along the left and right directions of the shell, and then the second magnetic component is set in front of the second polarity Hall plate. This can effectively distinguish collisions in the right front direction, left front direction, and left and right directions, thereby improving the accuracy of multi-directional detection. By setting the distance between the second magnetic component and the second polarity Hall plate in the front-to-back direction to be smaller than the distance between the first magnetic component and the first polarity Hall plate in the front-to-back direction, the detection area of ​​the collision force directly in front of the buffer frame can be significantly widened.

[0031] 5. The collision detection structure forms a figure-eight layout by tilting the first polarity Hall plates in opposite or opposite directions. This effectively distinguishes relative movement in different directions, improving detection sensitivity and accuracy. The tilt angle of the first polarity Hall plates can also be adjusted according to actual application requirements to flexibly adjust the sensitivity in the left-right and front-back directions to adapt to different detection scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The preferred embodiments will be described below in a clear and understandable manner with reference to the accompanying drawings to further illustrate the above-mentioned characteristics, technical features, advantages and implementation methods of the present invention.

[0033] Figure 1 It is a flowchart of the collision detection method;

[0034] Figure 2 is the orientation diagram of the shell;

[0035] Figure 3 It is a top view of the collision detection structure;

[0036] Figure 4 is a position diagram of the first polarity Hall plate and the first magnetic element;

[0037] Figure 5 is the tilt diagram of the first polarity Hall plate;

[0038] Figure 6 is a diagram showing the positions of the second polarity Hall plate and the second magnetic element;

[0039] Figure 7 This is an overall view of the adjustable mount;

[0040] Figure 8 This is an exploded view of the adjustable mount;

[0041] Figure 9 It is a bottom view of the seat body;

[0042] Figure 10 It is the structural diagram of the ring rack;

[0043] Figure 11 This is a schematic diagram of a frontal collision;

[0044] Figure 12 It is a schematic diagram of a right front collision;

[0045] Figure 13 This is a schematic diagram of a right-side collision.

[0046] Description of Figure Numbers:

[0047] First polarity Hall plate 1, shell 11, left-right direction 111, second distance 1111, front-back direction 112, first distance 1121, height direction 113, tilt angle 12, rubber column 13, first magnetic part 2, buffer frame 21, second polarity Hall plate 3, second magnetic part 4, adjustable mounting base 5, base body 51, sliding groove 511, mounting groove 512, indicator needle 513, locking part 52, rotating column 53, annular rack 54, spur rack 55, rotation angle scale 56. DETAILED DESCRIPTION

[0048] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the specific embodiments of the present invention will be described below with reference to the accompanying drawings. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings and other embodiments can be obtained based on these drawings without inventive work.

[0049] To simplify the drawings, only portions relevant to the invention are schematically depicted in each figure; they do not represent the actual structure of the product. Furthermore, to simplify the drawings and facilitate understanding, in some figures, only one component with the same structure or function is schematically depicted or labeled. In this document, "one" not only means "only one" but also "more than one."

[0050] It should be further understood that the term "and / or" used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0051] It should be noted that, unless otherwise specified or limited, the terms "mounted," "connected," and "connected" should be understood broadly. For example, they can refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediary; and internal communication between two components. Those skilled in the art will understand the specific meanings of these terms in the present invention based on the specific circumstances.

[0052] In addition, in the description of this application, the terms "first", "second", etc. are only used to distinguish the description and should not be understood as indicating or implying relative importance. It should be noted that the above embodiments can be freely combined as needed. The above are only preferred embodiments of the present invention. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of the present invention, several improvements and modifications can be made, and these improvements and modifications should also be considered within the scope of protection of the present invention.

[0053] refer to Figure 1 、 Figure 2 and Figure 5The present invention provides a collision detection method for detecting the relative movement relationship between a buffer frame 21 and a shell 11, where the shell 11 has a left-right direction 111, a front-back direction 112, and a height direction 113. The collision detection method specifically includes: S11 rotatably mounting a first polarity Hall plate 1 on the shell 11 along the height direction 113, so that the first polarity Hall plate 1 forms an inclination angle 12 with the front-back direction 112; S12 arranging a first magnetic member 2 on the buffer frame 21 and located on one side of the first polarity Hall plate 1, the first magnetic member 2 and the first polarity Hall plate 1 forming a first distance 1121 in the front-back direction 112, and a second distance 1111 in the left-right direction 111; S13 changing the ratio of the first distance 1121 to the second distance 1111 by adjusting the inclination angle 12 of the first polarity Hall plate 1, thereby controlling the detection sensitivity in the front-back direction 112 and the left-right direction 111.

[0054] In this embodiment, the first polarity Hall plate 1 is rotatably arranged along the height direction 113, so that the first magnetic component 2 and the first polarity Hall plate 1 form a first distance 1121 in the front-to-back direction 112, and a second distance 1111 in the left-to-right direction 111; by adjusting the inclination angle 12 of the first polarity Hall plate 1 and the front-to-back direction 112, the ratio of the first distance 1121 and the second distance 1111 is precisely controlled, so as to distinguish the direction of the collision source and control the sensitivity in the front and left-to-right directions 111.

[0055] Specifically, the first polarity Hall plate 1 is a Hall effect switch with digital output, which usually responds only to a single magnetic pole. Therefore, it is not detected by the strength of the magnetic field, but by detecting a single magnetic pole. The first polarity Hall plate 1 is arranged along the height direction 113, so that the magnetic pole detection of the first polarity Hall plate 1 on both sides of the left and right directions 111 is different, and a level change will occur when the first magnetic member 2 passes through the first polarity Hall plate 1. It can be understood that when the central axis of the first magnetic member 2 crosses the plane of the first polarity Hall plate 1, a high and low level change occurs. For example, when a specified magnetic pole is detected, a low level is output, otherwise a high level is output, that is, when the first magnetic member 2 is located on the left side of the first polarity Hall plate 1, a low level is output, and when the first magnetic member 2 is located on the right side of the first polarity Hall plate 1, a high level is output. Therefore, it is only necessary to set the first magnetic component 2 on one side of the first polarity Hall plate 1. When the buffer frame 21 and the shell 11 move relative to each other, the first magnetic component 2 will move from one side of the first polarity Hall plate 1 to the other side. The first polarity Hall plate 1 senses the change in the magnetic field, causing a high and low level conversion. When the magnet is always on one side of the first polarity Hall plate 1, there will be no level change.

[0056] The key to this collision detection method lies in the rotatable mounting of the first polarity Hall plate 1 on the housing 11. The first polarity Hall plate 1 is rotated in either direction 111, creating a predetermined tilt angle 12 between the first polarity Hall plate 1 and the front-to-back direction 112 of the housing 11. This tilted mounting creates an inclined plane in space, providing a unique angular advantage for subsequent magnetic field detection.

[0057] A first magnetic member 2 is mounted on the buffer frame 21 and positioned to one side of the first polarity Hall plate 1. When the first polarity Hall plate 1 is mounted at an angle, the first magnetic member 2 forms a first distance 1121 with the first polarity Hall plate 1 in the front-to-back direction 112 and a second distance 1111 in the left-to-right direction 111. These first and second distances 1121 and 1111 are due to the tilted mounting of the first polarity Hall plate 1 and the specific position of the first magnetic member 2, which provides different travel path lengths for magnetic field sensing. The first and second distances 1121, 1111, and the first polarity Hall plate 1 form a right triangle. The first and second distances 1121, 1111 are both right angles of the triangle, and the angle between the first distance 1121 and the first polarity Hall plate 1 is the tilt angle 12. The length of the first polarity Hall plate 1 is known, and this tilt angle 12 allows a proportional relationship between the first and second distances 1121, 1111. Furthermore, by adjusting the tilt angle 12 of the first polarity Hall plate 1, the ratio of the first distance 1121 to the second distance 1111 can be changed, allowing the detection system to flexibly control the detection sensitivity in the front-to-back direction 112 and the left-to-right direction 111 according to the movement requirements in different directions. For example, when more sensitive detection of movement in the front-to-back direction 112 is required, the tilt angle 12 of the first polarity Hall plate 1 can be appropriately increased, thereby reducing the first distance 1121 and enhancing the magnetic field induction intensity. Conversely, when more sensitive movement in the left-to-right direction 111 is required, the tilt angle 12 of the first polarity Hall plate 1 can be reduced, reducing the second distance 1111, thereby improving the detection sensitivity in that direction.

[0058] It is worth noting that the rotation of the first polarity Hall plate 1 to either side of the left or right direction 111 is also because when the buffer frame 21 receives a collision force, the buffer frame 21 may make an irregular arc or wave-like movement, which causes the first magnetic member 2 to pass back and forth through the first polarity Hall plate 1, resulting in an erroneous judgment of the sensing of the first polarity Hall plate 1. This problem can be avoided by tilting the first polarity Hall plate 1. At the same time, the installation method of the buffer frame 21 and the housing 11 is a prior art in this field and is not further limited in this application. This application flexibly connects the buffer frame 21 and the housing 11 through an elastic member. The elastic member includes but is not limited to the rubber column 13.

[0059] Preferably, the inclination angle 12 of the first polarity Hall plate 1 is set to a first preset angle at this time, which is an acute angle less than 45 degrees. The distance between the first magnetic component 2 and the first polarity Hall plate 1 in the left-right direction 111 does not exceed the distance in the front-to-back direction 112, so that the detection collision force required in the front-to-back direction 112 is greater than the detection collision force required in the left-to-right direction 111.

[0060] In this embodiment, by setting the inclination angle 12 of the first polarity Hall plate 1 to an acute angle less than 45 degrees, and reasonably controlling the first distance 1121 and the second distance 1111 between the first magnetic component 2 and the first polarity Hall plate 1 in the front-to-back direction 112 and the left-to-right direction 111, the sensitivity in the front-to-back direction 112 can be effectively reduced, the obstacle crossing performance can be increased, and the detection accuracy in the left-to-right direction 111 can be improved.

[0061] Specifically, the inclination angle 12 of the first polarity Hall plate 1 is precisely set to an acute angle less than 45 degrees. At this time, the first polarity Hall plate 1 forms an inclined plane in space, thereby generating different sensing movement distances in the front-to-back direction 112 and the left-to-right direction 111. Specifically, according to the characteristics of the right triangle, and the inclination angle 12 is an acute angle less than 45 degrees, the second distance 1111 corresponding to the inclination angle 12 is always smaller than the first distance 1121 adjacent to the inclination angle 12, that is, the distance between the first magnetic member 2 and the first polarity Hall plate 1 in the left-to-right direction 111 is controlled not to exceed the distance in the front-to-back direction 112, so that the detection collision force required in the front-to-back direction 112 is greater than the detection collision force required in the left-to-right direction 111.

[0062] Because the second distance 1111 between the first magnetic member 2 and the first polarity Hall plate 1 in the left-right direction 111 is shorter, the magnetic field sensing of the first polarity Hall plate 1 is more sensitive or the sensing time is shorter, thus enabling more accurate detection of smaller collision forces. In contrast, in the front-to-back direction 112, due to the longer first distance 1121 between the first magnetic member 2 and the first polarity Hall plate 1 in the front-to-back direction 112, the magnetic field sensing of the first polarity Hall plate 1 is relatively weakened or the sensing time is longer, thus requiring a greater collision force to trigger detection. This means that collisions in the left-to-right direction 111 can be sensed when the left and right sides are slightly deformed, while collisions in the front-to-back direction 112 can only be sensed when the deformation is greater, which is reflected to the buffer frame 21. This means that the collision force required to detect the front-to-back direction 112 is greater than the collision force required to detect the left-to-right direction 111. This not only improves detection accuracy but also enhances the robustness of the system, enabling it to operate more reliably under complex operating conditions. For example, when the collision force in the left and right direction 111 is 5N, the machine should sense it and take evasive action; and when the collision force in the front and rear direction 112 is 10N, the machine should sense it and take evasive action, thereby improving the machine's obstacle-crossing ability when moving forward.

[0063] Further, refer to Figure 3 , the adjacent first polarity Hall plates 1 are intersected in opposite or opposite inclined directions to form an eight-shaped structure; a plurality of first magnetic members 2 are arranged on the adjacent or opposite side of the first polarity Hall plate 1. If any first polarity Hall plate 1 generates a level change, the left and right directions 111 of the buffer frame 21 collide; if both first polarity Hall plates 1 generate level changes, the front and back directions 112 of the buffer frame 21 collide; wherein, when the first polarity Hall plate 1 is in a regular eight-shaped shape, the first magnetic member 2 is installed on the side of the adjacent first polarity Hall plates 1 away from each other; when the first polarity Hall plate 1 is in an inverted eight-shaped shape, the first magnetic member 2 is installed in the area between the adjacent first polarity Hall plates 1.

[0064] In this embodiment, adjacent first polarity Hall plates 1 are intersected in opposite or opposite inclined directions to form an eight-shaped structure. In the eight-shaped structure, a plurality of first magnetic members 2 are arranged on the adjacent or opposite side of the first polarity Hall plate 1, which can effectively improve the sensitivity and directionality of magnetic field sensing.

[0065] Specifically, adjacent first-polarity Hall plates 1 are rotated toward or in opposite directions, forming a figure-eight configuration. This allows the detection sensitivity of the first-polarity Hall plates 1 to be flexibly adjusted according to actual needs. For example, by rotating the first-polarity Hall plates 1 to change the tilt angle 12 of the first-polarity Hall plates 1 and the position of the first magnetic element 2, differential adjustments can be made to the sensitivity in the front-to-back direction 112 and the left-to-right direction 111. When the first-polarity Hall plates 1 intersect at opposite tilts, a figure-eight configuration is formed. By properly adjusting the tilt angle 12 of the first-polarity Hall plates 1 and the position of the first magnetic element 2, accurate detection of relative movement in different directions can be achieved. For example, in the figure-eight configuration, installing the first magnetic element 2 on the side facing away from the adjacent first-polarity Hall plates 1 enhances magnetic field sensing in the left-to-right direction 111, thereby improving detection sensitivity in that direction. The first-polarity Hall plates 1 can more accurately detect the relative movement between the buffer frame 21 and the housing 11, while avoiding misjudging obstacles as collisions, thereby improving the reliability and practicality of the system.

[0066] refer to Figure 6 In this case, the first magnetic member 2 on the left is installed on the left side of the first polarity Hall plate 1 on the left, and the other first magnetic member 2 on the right is installed on the right side of the first polarity Hall plate 1 on the right. Figure 13 When the right side of the buffer frame 21 is impacted, the first magnetic member 2 on the right side passes through the first polarity Hall plate 1 on the right side and generates a level change, while the first magnetic member 2 on the left side does not pass through the first polarity Hall plate 1 on the left side and does not generate a level change. Figure 13In this application, the first magnetic member 2 is installed on the side away from each other of the adjacent first polarity Hall plates 1 because when there is an impact force in front of the buffer frame 21, the two first magnetic members 2 pass through their respective corresponding first polarity Hall plates 1 and produce a level change to distinguish them from impacts on the left and right sides.

[0067] Similarly, when the first polarity Hall plates 1 intersect in opposite tilt directions, an inverted figure eight is formed. At this time, the first magnetic member 2 is installed in the area between adjacent first polarity Hall plates 1. That is, the first magnetic member 2 on the left is installed on the right side of the first polarity Hall plate 1 on the left, and the other first magnetic member 2 on the right is installed on the left side of the first polarity Hall plate 1 on the right. When there is an impact force on the right side of the buffer frame 21, the first magnetic member 2 on the right does not pass through the first polarity Hall plate 1 on the right and does not produce a level change. The first magnetic member 2 on the left passes through the first polarity Hall plate 1 on the left and produces a level change. In this application, the first magnetic member 2 is installed in the area between adjacent first polarity Hall plates 1 because when there is an impact force in front of the buffer frame 21, the two first magnetic members 2 pass through their respective corresponding first polarity Hall plates 1 and produce a level change, so as to distinguish them from the impact on the left and right sides.

[0068] Therefore, if any first magnetic member 2 produces a level change, this first magnetic member 2 passes through the first polarity Hall plate 1, and the buffer frame 21 moves in the left and right direction 111; if the first magnetic members 2 produce a level change at the same time, several first magnetic members 2 pass through the first polarity Hall plate 1, and the buffer frame 21 moves in the front and back direction 112.

[0069] It is worth noting that the detection magnetic poles of the two first polarity Hall plates 1 can be the same or opposite, and this application does not impose any further restrictions here. As long as the first magnetic member 2 generates a voltage level change when passing through the first polarity Hall plate 1, it is sufficient. At the same time, the tilt angles 12 of the multiple first polarity Hall plates 1 can be the same or different and can be set according to the usage scenario.

[0070] Further, refer to Figure 1 and Figure 6 , also includes S14 setting the second polarity Hall plate 3 along the left-right direction 111 on the shell 11, and the second magnetic component 4 is set in front of the second polarity Hall plate 3. The second polarity Hall plate 3 can detect the movement of the buffer rack 21 in the front-to-back direction 112, and can effectively distinguish the collisions in the right front direction, the left front direction and the left-to-right direction 111; if the level of any first polarity Hall plate 1 and the second polarity Hall plate 3 changes, the right front direction and the left front direction of the buffer rack 21 collide.

[0071] In this embodiment, the second polarity Hall plate 3 is first installed along the left and right directions 111 of the shell 11, and then the second magnetic component 4 is arranged in front of the second polarity Hall plate 3. This can effectively distinguish collisions in the right front direction, left front direction and left and right directions 111, thereby improving the accuracy of multi-directional detection.

[0072] Specifically, depending on the different directions of the force source of the buffer rack 21, it may also be a collision in the right front direction and the left front direction. The second polarity Hall plate 3 and the second magnetic member 4 can effectively distinguish the right front direction, the left front direction from the left and right directions 111. The second polarity Hall plate 3 is installed along the left and right directions 111 of the shell 11, and the second magnetic member 4 is set in front of the second polarity Hall plate 3, so that the second polarity Hall plate 3 can detect the relative movement of the buffer rack 21 in the front and rear directions 112. When a collision occurs along the left and right directions 111, the second magnetic member 4 does not pass through the second polarity Hall plate 3, and the second polarity Hall plate 3 does not produce a level change. When the front and rear directions 112, the right front direction, and the left front direction occur, the second magnetic member 4 can effectively trigger the magnetic field induction of the second polarity Hall plate 3, thereby realizing timely detection of the collision, and then distinguishing the collision in the right front direction, the left front direction from the left and right directions 111, thereby improving the accuracy of multi-directional detection. In summary, refer to Figures 11 to 13 That is, if the level of a first polarity Hall plate 1 and a second polarity Hall plate 3 changes, a collision occurs in the right front direction or the left front direction; if the level of both the first polarity Hall plates 1 and the second polarity Hall plates 3 changes, a collision occurs in the front direction; if the level of one first polarity Hall plate 1 changes, a collision occurs in the left and right directions, that is, a collision occurs in the left and right directions.

[0073] In a modified embodiment, a non-polar Hall plate can also be arranged along a horizontal plane on the housing, and a second magnetic member 4 can be arranged on the buffer frame. When the second magnetic member 4 moves away from the non-polar Hall plate, the non-polar Hall plate generates a voltage level change. In other words, the third Hall plate can be a second-polarity Hall plate or a non-polar Hall plate. In this case, the third Hall plate only needs to detect the collision force in the front-to-back direction 112, which can be achieved by an ordinary Hall plate. Therefore, this application does not further limit the third Hall plate.

[0074] Preferably, in S15 , the distance between the second magnetic member 4 and the second polarity Hall plate 3 in the front-to-rear direction 112 is smaller than the distance between the first magnetic member 2 and the first polarity Hall plate 1 in the front-to-rear direction 112 , so as to widen the detection area of ​​the collision force directly in front of the front buffer frame 21 .

[0075] In this embodiment, by setting the distance between the second magnetic component 4 and the second polarity Hall plate 3 in the front-to-back direction 112 to be smaller than the distance between the first magnetic component 2 and the first polarity Hall plate 1 in the front-to-back direction 112, the detection area of ​​the collision force directly in front of the buffer frame 21 can be significantly widened.

[0076] Specifically, generally speaking, collision detection only needs to distinguish between the impact forces in front and on the left and right sides. However, because there is a time difference between the simultaneous triggering of the two first polarity Hall plates 1, the detection area in front of the buffer rack 21 is smaller, that is, the area in front of the buffer rack 21 is smaller, resulting in a lower probability of determining the front direction, and even this determination is sometimes not accurate enough. Therefore, in this embodiment, the second magnetic member 4 and the second polarity Hall plate 3 are provided to divide the collision detection area of ​​the buffer rack 21 into the front direction area, the left front area, the right front area, the left area, and the right area. At this time, if the second polarity Hall plate 3 and the first polarity Hall plate 1 on the right produce a level change, it can be determined as a right front collision; if the second polarity Hall plate 3 and the two first polarity Hall plates 1 produce a level change, it can be determined as a front collision. If only the first polarity Hall plate 1 on the right produces a level change, it can be determined as a right side collision.

[0077] Preferably, by setting the distance between the second magnetic component 4 and the second polarity Hall plate 3 in the front-to-back direction 112 to be smaller than the distance between the first magnetic component 2 and the first polarity Hall plate 1 in the front-to-back direction 112, the detection area of ​​the collision force directly in front of the buffer frame 21 can be significantly widened. Therefore, this not only increases the coverage range of the detection area directly in front, but also can adjust the detection sensitivity according to actual needs, thereby avoiding misjudging normal obstacle crossing actions as collisions.

[0078] It is worth noting that by reasonably adjusting the distance between the second magnetic member 4 and the second polarity Hall plate 3 in the front-to-back direction 112, the detection sensitivity can be flexibly controlled. In a modified embodiment, the distance between the second magnetic member 4 and the second polarity Hall plate 3 in the front-to-back direction 112 can also be set to a larger distance, which can reduce the sensitivity in this direction, thereby avoiding misjudging normal obstacle crossing actions as collisions, while ensuring that they can be detected in time when a collision occurs. The distance between the second magnetic member 4 and the second polarity Hall plate 3 in the front-to-back direction 112 is smaller than the distance between the first magnetic member 2 and the first polarity Hall plate 1 in the front-to-back direction 112. This can be achieved by increasing the distance between the second magnetic member 4 and the second polarity Hall plate 3 in the front-to-back direction 112, or by reducing the distance between the first polarity Hall plate 1 in the front-to-back direction 112.

[0079] Furthermore, the tilt angle of the first polarity Hall plate 1 is set to a second preset angle, which is smaller than the first preset angle, so as to increase the distance between the first magnetic member 2 and the first polarity Hall plate 1 in the front-to-back direction 112 .

[0080] In this embodiment, when the second polarity Hall plate 3 is not provided, the inclination angle of the first polarity Hall plate 1 is the first preset angle. After the second polarity Hall plate 3 is provided, the inclination angle of the first polarity Hall plate 1 is the first preset angle. The second preset angle is smaller than the first preset angle, and is used to increase the distance between the first magnetic member 2 and the first polarity Hall plate 1 in the front-to-back direction 112 at this time.

[0081] Specifically, by reducing the distance between the second magnetic member 4 and the second polarity Hall plate 3 in the front-to-back direction 112, the distance between the second magnetic member 4 and the second polarity Hall plate 3 in the front-to-back direction 112 is made smaller than the distance between the first magnetic member 2 and the first polarity Hall plate 1 in the front-to-back direction 112. This does not require increasing the distance between the second magnetic member 4 and the second polarity Hall plate 3 in the front-to-back direction 112, nor does it increase the sensitivity of the second magnetic member 4 and the second polarity Hall plate 3, thereby avoiding misinterpretation of a normal obstacle surmounting action as a collision, while ensuring timely detection of a collision if it does occur. For example, when the second polarity Hall plate 3 is not provided, the buffer frame 21 needs to move 10 cm in the front-to-back direction 112 to cause the first magnetic element 2 to produce a level change after passing through the first polarity Hall plate 1. However, when the second polarity Hall plate 3 is provided, the buffer frame 21 also needs to maintain the same sensitivity. Therefore, the distance between the second magnetic element 4 and the second polarity Hall plate 3 in the front-to-back direction 112 is set to 10 cm. However, this does not prevent the first polarity Hall plate 1 and the second polarity Hall plate 3 from interfering with each other. In this case, the contact collision time of the first polarity Hall plate 1 needs to be increased, that is, the distance between the first magnetic element 2 and the first polarity Hall plate 1 in the front-to-back direction 112 needs to be increased. In this case, the inclination angle of the first polarity Hall plate 1 needs to be reduced, that is, the first preset angle needs to be reduced. Therefore, the first preset angle is smaller than the second preset angle. Preferably, the first preset angle is 25 degrees and the second preset angle is 20 degrees.

[0082] Further, refer to Figures 2 to 6 The present invention provides a collision detection structure, which uses the collision detection method in any of the above embodiments to detect the relative movement relationship between the buffer frame 21 and the shell 11, and the shell 11 has a left-right direction 111, a front-back direction 112 and a height direction 113. The collision detection structure includes a plurality of first polarity Hall plates 1, a plurality of first magnetic members 2 and an adjustable mounting seat 5; the adjustable mounting seat 5 can be rotatably mounted on the shell 11, and the adjustable mounting seat 5 is provided with a mounting groove 512, and the first polarity Hall plate 1 is arranged in the mounting groove 512 along the height direction 113; adjacent first polarity Hall plates 1 are suitable for tilting in opposite directions through the adjustable mounting seat 5, so that the first polarity Hall plate 1 forms an adjustable tilt angle 12 with the front-back direction 112; the first magnetic member 2 is correspondingly arranged on the buffer frame 21 and is located on the adjacent or opposite side of the first polarity Hall plate 1, and the direction of the collision force of the buffer frame 21 is determined by detecting the level change of the plurality of first polarity Hall plates 1.

[0083] In this embodiment, the collision detection structure forms an eight-shaped layout by tilting the first polarity Hall plate 1 in opposite or opposite directions, which can effectively distinguish relative movements in different directions and improve the sensitivity and accuracy of detection; at the same time, the inclination angle of the first polarity Hall plate 1 can be adjusted through the adjustable mounting base 5 according to actual application requirements to flexibly adjust the sensitivity in the left and right directions 111 and the front and rear directions 112 to adapt to different detection scenarios.

[0084] Specifically, refer to Figure 7 and Figure 8 The tilt adjustment of the first polarity Hall plate 1 is achieved through an adjustable mounting base 5. The adjustable mounting base 5 includes a base body 51 and a locking member 52. A sliding groove 511 is provided on the base body 51. The sliding groove 511 extends along the front-to-back direction. A mounting groove 512 is provided at the end of the base body 51. The locking member 52 is suitable for fixing the base body 51 and the shell and allowing the base body 51 to rotate around the locking member 52 while the locking member 52 can move within the sliding groove 511. The locking member 52 can be loosened when adjustment is required and locked again after the adjustment is completed to ensure the stability and reliability of the base body 51 on the rotating column. The locking member 52 is preferably a conventional fastening component such as a bolt or a screw. Among them, the locking member 52 is not only suitable for fixing the base body 51 and the shell, but also has unique flexibility. On the one hand, it can ensure that the base body 51 can rotate appropriately around the locking member 52 under specific circumstances, which provides a key action basis for the tilt adjustment of the first polarity Hall plate 1; on the other hand, the locking member 52 itself also has the ability to move flexibly in the sliding groove 511, so that during the adjustment process, the first polarity Hall plate 1 can be displaced in the front-to-back direction according to actual needs, which provides a strong guarantee for the precise calibration of the first polarity Hall plate 1, so that the entire device can operate efficiently and stably, and meet the needs of fine adjustment of the tilt angle and front-to-back displacement of the first polarity Hall plate 1 in different application scenarios.

[0085] It is worth noting that the adjustable mounting base 5 can be rotated in various ways, which are not described in detail in this application, for example, worm and worm wheel rotation, gear ring rotation, universal joint rotation, spiral groove rotation, etc.

[0086] When relative movement occurs between the buffer frame 21 and the housing 11, the first magnetic element 2 passes through the magnetic field sensing area of ​​the first polarity Hall plate 1, causing the voltage level of the first polarity Hall plate 1 to change. By monitoring these voltage level changes, the relative movement relationship between the buffer frame 21 and the housing 11 can be determined in real time, thereby detecting the occurrence of a collision. The first polarity Hall plate 1 is arranged along the height direction 113 of the housing 11, and the first magnetic element 2 is located on either side of the first polarity Hall plate 1 in the left-right direction 111. This allows the first polarity Hall plate 1 to detect whether the first magnetic element 2 is located on the left or right side of the first polarity Hall plate 1 and determine the displacement of the first magnetic element 2 relative to the first polarity Hall plate in the left-right direction 111. Adjacent first polarity Hall plates 1 are tilted in opposite or opposite directions, forming a figure-eight structure. This tilted arrangement creates a certain tilt angle 12 between the first polarity Hall plate 1 and the front-to-back direction 112 of the housing 11. This unique layout allows for the determination of the displacement of the first magnetic member 2 relative to the first Hall plate in the front-to-back direction 112, enabling multi-directional detection of the relative movement between the buffer frame 21 and the housing 11, improving detection sensitivity and accuracy. Furthermore, by adjusting the tilt angle 12 of the first polarity Hall plate 1, the difference in collision force between the front and rear directions of the buffer frame 21 can be adjusted.

[0087] The first magnetic member 2 is correspondingly disposed on the buffer frame 21 and is located adjacent to or opposite to the first polarity Hall plate 1. This ensures that the first magnetic member 2 can effectively trigger the magnetic field induction of the first polarity Hall plate 1 when the buffer frame 21 and the housing 11 move relative to each other. By detecting the level change of the first polarity Hall plate 1, it can be determined whether the first magnetic member 2 passes through the first polarity Hall plate 1, thereby achieving accurate collision detection.

[0088] In detail, when the force source direction is different, such as the right side, right front, and front, the sensing states of the two first polarity Hall plates 1 are different, and then the whole machine can detect the direction of the collision source and make a backward movement or rotate in the opposite direction of the obstacle. For example, when the buffer rack 21 collides on the right side and right front side, the first magnetic element 2 No. 1 moves away from the first polarity Hall plate 1 No. 1, the first magnetic element 2 No. 2 passes through the first polarity Hall plate 1 No. 2, the level of the first polarity Hall plate 1 No. 1 is 0, and the level of the first polarity Hall plate 1 No. 2 is 1; when the buffer rack 21 collides on the front side, the first magnetic element 2 No. 1 passes through the first polarity Hall plate 1 No. 1, the first magnetic element 2 No. 2 passes through the first polarity Hall plate 1 No. 2, the level of the first polarity Hall plate 1 No. 1 is 1, and the level of the first polarity Hall plate 1 No. 2 is 1; when the buffer rack 21 collides on the left side and left front side, the first magnetic element 2 No. 1 passes through the first polarity Hall plate 1 No. 1, the first magnetic element 2 No. 2 moves away from the first polarity Hall plate 1 No. 2, the level of the first polarity Hall plate 1 No. 1 is 1, and the level of the first polarity Hall plate 1 No. 2 is 0.

[0089] The mounting method of the buffer frame 21 and the housing 11 is conventional in the art and is not further defined in this application. In this application, the buffer frame 21 and the housing 11 are movably connected via elastic members. These elastic members include, but are not limited to, rubber posts 13. Four rubber posts 13 are used to connect the buffer frame 21 and the housing 11. A pair of rubber posts 13 are symmetrically positioned at the front end of the housing 11, and a pair of rubber posts 13 are symmetrically positioned on either side of the housing 11 in the left-right direction 111. The two rubber posts 13 on the left side are positioned close to each other, and the two rubber posts 13 on the right side are also positioned close to each other. This allows the first magnetic members 2 on the left and right sides to move at different distances when subjected to a left-front and right-front collision force. For example, when subjected to a right-front collision force, the buffer frame 21 rotates approximately around the center of the line connecting the two rubber posts 13 on the left side, causing the right side of the buffer frame 21 to rotate clockwise. At this point, the first magnetic member 2 on the left side has a smaller displacement and is closer to the first polarity Hall plate 1, while the first magnetic member 2 on the right side has a larger displacement and spans the first polarity Hall plate 1.

[0090] It is worth noting that the collision detection structure of the present application is suitable for various occasions that require accurate collision detection, such as industrial equipment, robots, vehicles, etc. By rationally arranging the position and number of the first polarity Hall plate 1 and the first magnetic member 2, comprehensive detection of collisions in different directions can be achieved, thereby improving the safety and reliability of the system. In addition, the collision detection structure can also be combined with other sensors (such as acceleration sensors, pressure sensors, etc.) to further improve the accuracy and reliability of detection. Through multi-sensor fusion technology, more comprehensive and accurate detection of collisions can be achieved.

[0091] Further, refer to Figure 9 and Figure 10 A rotating column 53 is also provided on the shell, and the locking member 52 is suitable for fixedly connecting the top of the rotating column 53 and abutting against the base body 51. The rotating column 53 is suitable for sliding relatively in the sliding groove 511, so that the base body 51 is suitable for moving along the length direction of the sliding groove 511.

[0092] In this embodiment, the top of the rotating column 53 is adapted to the locking member 52, which can achieve a stable fixed connection, and the locking member 52 further abuts the base 51 to form a tight and stable connection structure, ensuring the connection reliability and stability of the entire device. The rotating column 53 can slide relatively within the sliding groove 511. The sliding groove 511 extends along the front-to-back direction, providing a clear path and direction for the movement of the rotating column 53. When an appropriate external force is applied, the rotating column 53 can slide smoothly and steadily within the sliding groove 511, thereby driving the base 51 connected to it to move together. In this way, the base 51 can be precisely displaced and adjusted along the length of the sliding groove 511, thereby achieving fine control of the inclination angle of the first polarity Hall plate 1 to meet the strict requirements for the position and angle of the Hall plate under different working conditions, ensuring that the device can operate efficiently and accurately, and improving its adaptability and reliability in practical applications.

[0093] Furthermore, an annular rack 54 is provided on the shell 11, and a pair of straight racks 55 are provided at the bottom of the base body 51. The straight racks are arranged along the front-to-back direction. The annular rack 54 is suitable for engaging with the pair of straight racks 55, so that the base body 51 can be accurately rotated and set on the shell 11; an indicator needle 513 is also provided at one end of the base body 51 away from the mounting groove 512, and a rotation angle scale 56 is also provided on the shell 11.

[0094] Specifically, the housing 11 is further provided with an annular rack 54, and the bottom of the base 51 is provided with a pair of spur racks 55. The pair of spur racks 55 are arranged along the front-to-back direction 112 and mesh with the annular rack 54. When the base 51 needs to be rotated, the base 51 is supported by the annular rack 54 on the housing through a power source or manual operation. Under the guidance of the spur rack 55, the base 51 can achieve precise rotation. The rotation process is smooth and without any jamming. This ensures that the base 51 can be flexibly and accurately rotated on the housing 11, achieving 360° full-scale rotation adjustment to meet different usage angle requirements. The end of the base 51 away from the mounting slot 512 is also provided with an indicator needle 523. A rotation angle scale 56 is provided at a corresponding position on the housing 11. By pointing the indicator needle 523 to the rotation angle scale 56, the rotation angle of the base 51 can be intuitively understood, facilitating precise control of the orientation of the base 51, making it more convenient and intuitive to operate in actual application, greatly enriching the functionality of the device and improving its flexibility and convenience. The rotation angle scale 56 is centered on the central axis of the locking member 52. This application also allows the user to completely remove the base 51 from the housing and then reposition it to a different location on the housing 11, allowing the annular rack 54 to engage with the spur rack 44 at a different location, thereby enabling further movement and position adjustment of the base 51 relative to the housing 11. This detachable and reinstallable design provides users with greater flexibility, allowing the adjustable mounting base 5 to be quickly adjusted to the optimal installation position based on different usage scenarios and needs.

[0095] Furthermore, the inclination angle 12 of the first polarity Hall plate 1 is 5-45 degrees, and the distance between the first magnetic element 2 and the first polarity Hall plate 1 in the front-to-back direction 112 is greater than the distance in the left-to-right direction 111 .

[0096] In this embodiment, by setting the inclination angle 12 of the first polarity Hall plate 1 to 5-45 degrees and reasonably adjusting the distance between the first magnetic component 2 and the first polarity Hall plate 1 in the front-to-back direction 112 and the left-to-right direction 111, the collision detection structure of the present application can achieve high-precision and high-sensitivity collision detection.

[0097] Specifically, the distance between the first magnetic member 2 and the first polarity Hall plate 1 in the front-to-back direction 112 is greater than the distance in the left-to-right direction 111. By increasing the distance in the front-to-back direction 112, the detection sensitivity in the front-to-back direction 112 can be reduced, thereby avoiding misjudging normal obstacle crossing actions as collisions, which is particularly important for improving the robustness of the system. In the left-to-right direction 111, since the distance between the magnetic member and the Hall plate is shorter, the magnetic field induction is more sensitive and can more accurately detect smaller collision forces. This is very effective for detecting small movements of the buffer frame 21 in the left-to-right direction 111. This distance setting method enables the system to effectively distinguish relative movements in different directions, thereby improving the accuracy and reliability of detection. Preferably, the inclination angle 12 of the first polarity Hall plate 1 is 25 degrees.

[0098] Furthermore, a first magnetic member 2 is located in the area between the two first polarity Hall plates 1, and another first magnetic member 2 is located in the area on the side away from the two first polarity Hall plates 1; when the buffer rack 21 moves in the left-right direction 111, any first magnetic member 2 will pass through the first polarity Hall plate 1 and produce a level change; when the buffer rack 21 moves in the front-back direction 112, the two first magnetic members 2 will simultaneously pass through the first polarity Hall plate 1 and produce a level change.

[0099] In this embodiment, by arranging the two first magnetic parts 2 in different areas respectively, the collision detection structure can realize accurate detection of the movement of the buffer frame 21 in the left and right direction 111 and the front and rear direction 112. This not only improves the sensitivity and accuracy of the detection, but also can effectively distinguish the movement in different directions, providing a reliable solution for collision detection under complex working conditions.

[0100] Specifically, the present application tilts adjacent first polarity Hall plates 1 in opposite or opposite directions into an eight-shaped structure so that when there is a collision in the front-to-back direction 112, both first magnetic members 2 can pass through the first polarity Hall plate 1 and produce a level change, so as to distinguish it from a single level change in the left-right direction 111. The first polarity Hall plate 1 is arranged along the height direction 113 and the adjacent first polarity Hall plates 1 are tilted in opposite or opposite directions into an eight-shaped structure. The two first magnetic members 2 are respectively arranged in different areas, so that the two first magnetic members 2 can produce different sensing effects when moving in different directions. One of the first magnetic members 2 is located in the area between the two first polarity Hall plates 1, and the other first magnetic member 2 is located in the area on the side away from each other of the two first polarity Hall plates 1.

[0101] When the buffer rack 21 moves in the left-right direction 111, one of the first magnetic members 2 passes through the corresponding first polarity Hall plate 1. Because the first magnetic member 2 is located in the area between the two first polarity Hall plates 1, its passage through the first polarity Hall plate 1 will produce a level change on the first polarity Hall plate 1. This level change can be captured by the detection system, thereby determining the movement of the buffer rack 21 in the left-right direction 111. In this case, only one first magnetic member 2 is involved in the sensing, so the level change signal is relatively simple. By analyzing the characteristics of this signal, the direction and intensity of the movement can be accurately determined.

[0102] When the buffer rack 21 moves in the front-to-back direction 112, the two first magnetic parts 2 will pass through their respective corresponding first polarity Hall plates 1 at the same time. Since the two first magnetic parts 2 are located in different areas, when they pass through the first polarity Hall plates 1 at the same time, a level change will occur on the two first polarity Hall plates 1. In this case, the two first magnetic parts 2 participate in the sensing at the same time, so the level change signal is more complex. By analyzing the level change signals on the two first polarity Hall plates 1, the movement of the buffer rack 21 in the front-to-back direction 112 can be accurately determined. This collaborative sensing method of the two first magnetic parts 2 not only improves the sensitivity of detection, but also can effectively distinguish movement in the front-to-back direction 112 from movement in other directions.

[0103] It is worth noting that the figure-eight structure enables the two first-polarity Hall plates 1 to form two different sensing areas in space. This structure not only increases the detection coverage but also enables accurate differentiation of movement in different directions by using the different positions of the two magnetic elements.

[0104] Preferably, the two first polarity Hall plates 1 are tilted toward each other in a regular eight-shaped shape, and the two first magnetic members 2 are both located in an area on the side away from each other of the two first polarity Hall plates 1. When the buffer rack 21 moves in the left-right direction 111, one of the first magnetic members 2 will pass through the corresponding first polarity Hall plate 1, resulting in a level change. In the regular eight-shaped structure, when the buffer rack 21 moves in the left-right direction 111, one of the first magnetic members 2 will pass through the corresponding first polarity Hall plate 1, resulting in a level change. By analyzing the level change of a single Hall plate, the movement of the buffer rack 21 in the left-right direction 111 can be accurately determined. When the buffer rack 21 moves in the front-to-back direction 112, the two first magnetic members 2 will simultaneously pass through the two first polarity Hall plates 1, resulting in a level change. By analyzing the level change of the two first polarity Hall plates 1, the movement of the buffer rack 21 in the front-to-back direction 112 can be accurately determined.

[0105] In a modified embodiment, the two first polarity Hall plates 1 are tilted oppositely to form an inverted figure eight shape, and the two first magnetic members 2 are both located in the area between the two first polarity Hall plates 1 .

[0106] It is worth noting that by properly selecting the figure-eight structure (either a straight figure-eight or an inverted figure-eight), it is possible to accurately distinguish between movements in different directions. This design not only improves the sensitivity and accuracy of detection, but also effectively avoids misjudgments.

[0107] Furthermore, it also includes a second polarity Hall plate 3 and a second magnetic component 4. The second polarity Hall plate 3 is arranged on the shell 11 along the left-right direction 111, and the second magnetic component 4 is arranged in front of the second polarity Hall plate 3; when the buffer rack 21 moves in the front-to-back direction 112, the left front direction and the right front direction, the second magnetic component 4 passes through the second polarity Hall plate 3 and produces a level change.

[0108] In this embodiment, the second polarity Hall plate 3 is arranged along the left and right directions 111 of the shell 11, forming a complementary detection layout with the first polarity Hall plate 1, so that the second polarity Hall plate 3 can detect the relative movement of the buffer rack 21 in the left front direction and the right front direction, further enhancing the detection capability and coverage range, thereby achieving comprehensive coverage of movement in different directions.

[0109] Specifically, the second polarity Hall plate 3 is arranged along the left-right direction 111 of the housing 11, and the second magnetic member 4 is arranged in front of the second polarity Hall plate 3. When the buffer rack 21 moves in the front-to-back direction 112, the second magnetic member 4 can effectively pass through the magnetic field sensing area of ​​the second polarity Hall plate 3, thereby triggering a voltage level change in the second polarity Hall plate 3. At the same time, the voltage levels of both first polarity Hall plates 3 also change. By detecting this voltage level change, the movement of the buffer rack 21 in the front-to-back direction 112 can be accurately determined. When the buffer rack 21 moves in the right front direction or the left front direction, due to the collision angle problem, it is possible that only one of the first polarity Hall plates 1 changes its level, which is consistent with the detection result of the left and right directions 111. The second polarity Hall plate 3 and the second magnetic member 4 are set to distinguish the left and right directions 111 from the right front direction and the left front direction. When the buffer rack 21 moves in the right front direction or the left front direction, the second magnetic member 4 can effectively trigger the magnetic field induction of the second polarity Hall plate 3, thereby realizing timely detection of the collision, and then distinguishing the collision in the right front direction and the left front direction from the left and right directions 111, thereby improving the accuracy of multi-directional detection. It is worth noting that in the present application, the second polarity Hall plate 3 is relatively located in the middle of a pair of first polarity Hall plates 1. In summary, referring to Figures 11 to 13 That is, if the level of a first polarity Hall plate 1 and a second polarity Hall plate 3 changes, a collision occurs in the right front direction or the left front direction; if the level of both the first polarity Hall plates 1 and the second polarity Hall plates 3 changes, a collision occurs in the front direction; if the level of one first polarity Hall plate 1 changes, a collision occurs in the left and right directions, that is, a collision occurs in the left and right directions.

[0110] Preferably, the distance between the second magnetic member 4 and the second polarity Hall plate 3 in the front-to-back direction 112 is smaller than the distance between the first magnetic member 2 and the first polarity Hall plate 1 in the front-to-back direction 112, which can significantly widen the detection area of ​​the collision force directly in front of the buffer frame 21. In a modified embodiment, a non-polar Hall plate and a second magnetic member 4 are further included. The non-polar Hall is arranged along a horizontal plane on the housing 11, and the second magnetic member is arranged on the buffer frame 21. When the second magnetic member 4 moves away from the non-polar Hall plate, the non-polar Hall plate generates a voltage change.

[0111] It should be noted that the above embodiments can be freely combined as needed. The above are only preferred embodiments of the present invention. It should be noted that those skilled in the art can make several improvements and modifications without departing from the principles of the present invention, and such improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A collision detection method for detecting the relative movement relationship between a buffer frame and a shell, wherein the shell has a left-right direction, a front-back direction, and a height direction, characterized in that: include: rotatably mounting a first polarity Hall plate on the housing along the height direction, such that the first polarity Hall plate forms an inclined angle with the front-to-back direction; Disposing a first magnetic member on the buffer frame and located on one side of the first polarity Hall plate, wherein the first magnetic member and the first polarity Hall plate form a first distance in the front-to-back direction and a second distance in the left-to-right direction; By adjusting the tilt angle of the first polarity Hall plate, the ratio of the first distance to the second distance is changed, thereby controlling the detection sensitivity in the front-to-back direction and the left-to-right direction.

2. A collision detection method according to claim 1, characterized in that: At this time, the inclination angle of the first polarity Hall plate is set to a first preset angle, which is an acute angle less than 45 degrees. The distance between the first magnetic part and the first polarity Hall plate in the left and right directions does not exceed the distance in the front and back directions, so that the detection collision force required in the front and back directions is greater than the detection collision force required in the left and right directions.

3. A collision detection method according to claim 2, characterized in that: Intersecting adjacent first polarity Hall plates in opposite or opposite tilt directions to form an eight-shaped structure; The plurality of first magnetic members are arranged on the adjacent or opposite side of the first polarity Hall plate. If any of the first polarity Hall plates generates a level change, the buffer frame collides in the left-right direction. If both of the first polarity Hall plates generate a level change, the buffer frame collides in the front-back direction. Wherein, when the first polarity Hall plate is in a regular V-shape, the first magnetic member is installed on a side of the adjacent first polarity Hall plates that is away from each other; When the first polarity Hall plate is in an inverted eight-shaped shape, the first magnetic member is installed in a region between adjacent first polarity Hall plates.

4. A collision detection method according to any one of claims 1 to 3, characterized in that: Also includes: A second polarity Hall plate is arranged on the housing along the left-right direction, and the second magnetic member is arranged in front of the second polarity Hall plate. The second polarity Hall plate can detect the movement of the buffer rack in the front-back direction, thereby effectively distinguishing collisions in the right front direction, the left front direction, and the left-right direction. If the level of any one of the first polarity Hall plate and the second polarity Hall plate changes, the buffer rack collides in the right front direction or the left front direction.

5. A collision detection method according to claim 4, characterized in that: Also includes: The distance between the second magnetic member and the second polarity Hall plate in the front-to-back direction is smaller than the distance between the first magnetic member and the first polarity Hall plate in the front-to-back direction, so as to widen the detection area of ​​the collision force in front of the buffer frame.

6. A collision detection method according to claim 5, characterized in that: Also includes: The tilt angle of the first polarity Hall plate at this time is set to a second preset angle, which is smaller than the first preset angle, so as to increase the distance between the first magnetic member and the first polarity Hall plate in the front-to-back direction.

7. A collision detection structure, using a collision detection method according to any one of claims 1 to 6 to detect the relative movement relationship between a buffer frame and a shell, wherein the shell has a left-right direction, a front-back direction, and a height direction, characterized in that: The device comprises a plurality of first polarity Hall plates, a plurality of first magnetic members, and an adjustable mounting base; the adjustable mounting base is rotatably mounted on the housing, the adjustable mounting base is provided with a mounting slot, and the first polarity Hall plates are arranged in the mounting slot along the height direction; Adjacent first polarity Hall plates are adapted to be tilted in opposite directions or toward each other via the adjustable mounting base, so that the first polarity Hall plates form an adjustable tilt angle with respect to the front-to-back direction; The first magnetic member is correspondingly arranged on the buffer frame and located on a side adjacent to or opposite to the first polarity Hall plate. The direction of the collision force of the buffer frame is determined by detecting level changes of a plurality of the first polarity Hall plates.

8. A collision detection structure according to claim 6, characterized in that: The adjustable mounting seat includes a seat body and a locking piece, the seat body is provided with a sliding groove, the sliding groove extends along the front-to-back direction, the end of the seat body is provided with the mounting groove, the locking piece is suitable for fixedly connecting the seat body and the shell and allowing the seat body to rotate around the locking piece while the locking piece can move in the sliding groove.

9. A collision detection structure according to claim 8, characterized in that: The housing is further provided with a rotating column, the locking member is adapted to be fixedly connected to the top of the rotating column and abut against the base body, the rotating column is adapted to slide relatively in the sliding groove, so that the base body is adapted to move along the length direction of the sliding groove; And / or, an annular rack is further provided on the shell, and a pair of spur racks are further provided at the bottom of the base body, the spur racks are arranged along the front-to-back direction, and the annular rack is suitable for engaging with the pair of spur racks so that the base body can be precisely rotated and set on the shell; an indicator needle is also provided at the end of the base body away from the mounting slot, and a rotation angle scale is also provided on the shell.

10. A collision detection structure according to any one of claims 7 to 9, characterized in that: The device further includes a second polarity Hall plate and a second magnetic member, wherein the second polarity Hall plate is arranged on the housing along the left-right direction, the second magnetic member is arranged in front of the second polarity Hall plate, and the distance between the second magnetic member and the second polarity Hall plate in the front-to-back direction is smaller than the distance between the first magnetic member and the first polarity Hall plate in the front-to-back direction; Or, it also includes a non-polar Hall plate and a second magnetic component, the non-polar Hall is arranged on the shell along the horizontal plane, and the second magnetic component is arranged on the buffer frame. When the second magnetic component is away from the non-polar Hall plate, the non-polar Hall plate produces a level change.

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