Self-moving equipment sensing system

Abstract

The utility model discloses an induction system of a self-moving device, comprising an induction sensor which is arranged at the position of an upper shell of the self-moving device and comprises a first pole and a second pole, when water exists in the upper shell of the self-moving device, the first pole and the second pole are electrically conducted, and the resistance value in the induction sensor changes; the controller is electrically connected with the inductive sensor and used for receiving the information, transmitted by the inductive sensor, that water exists in the upper shell of the self-moving device and controlling the self-moving device to move to the water avoiding position. According to the scheme, whether the self-moving equipment is interfered by water or not can be recognized in time through the inductive sensor arranged at the position of the upper shell of the self-moving equipment, corresponding information is fed back to the controller, the controller controls the self-moving equipment to take avoidance measures in time, normal operation of components is guaranteed, and the service life of the self-moving equipment is prolonged. And thus, normal operation of the self-moving equipment is ensured.

Description

Technical Field

[0001] The utility model relates to the technical field of self-moving equipment, in particular to a self-moving equipment sensing system. Background Art

[0002] As a highly intelligent garden tool, autonomous devices are widely used in complex and changeable outdoor environments, such as lawn mowing robots. However, when autonomous devices encounter water sources such as rainfall or lawn sprinkler systems during operation, if they cannot be effectively identified, there may be a risk of water seeping into the device through connectors or other gaps. The above risks may damage the normal operation of components and affect the normal operation of autonomous devices.

[0003] Therefore, those skilled in the art are in urgent need of finding a new technology to solve the above-mentioned problems. Utility Model Content

[0004] The embodiment of the utility model provides a self-moving device sensing system to solve the technical problem that the communication control function of the existing self-moving device is unstable or the communication is lost, thus affecting the normal operation of the self-moving device.

[0005] In order to achieve the above object, a self-moving device sensing system is provided, the self-moving device sensing system comprising:

[0006] The inductive sensor is arranged at the upper shell of the self-moving device, and comprises a first pole and a second pole. When water exists in the upper shell of the self-moving device, the first pole and the second pole are electrically connected, and the resistance value in the inductive sensor changes.

[0007] The controller is electrically connected to the inductive sensor and is used to receive information transmitted by the inductive sensor that water exists on the upper shell of the self-moving device, and control the self-moving device to move to a water-avoiding position.

[0008] Optionally, the self-moving device sensing system also includes a camera, which is arranged at a position of the self-moving device and electrically connected to the controller, and is used to obtain external environmental information and transmit the external environmental information to the controller. The controller controls the self-moving device to move to a water-avoiding position based on the information of the presence of water on the shell of the self-moving device obtained by the sensing sensor and the external environmental information.

[0009] Optionally, the inductive sensor includes a first inductive sensor and a second inductive sensor, the first inductive sensor is arranged at an upper shell position of a front portion of the self-moving device, and the second inductive sensor is arranged at an upper shell position of a rear portion of the self-moving device, and the first inductive sensor and the second inductive sensor are electrically connected to the controller respectively.

[0010] Optionally, the inductive sensor includes an inductive resistor consisting of a first pole and a second pole, the first pole of the inductive resistor is electrically connected to the controller, and the second pole of the inductive resistor is grounded.

[0011] Optionally, the inductive sensor further includes a pull-up resistor, which is connected in series to a circuit whose first pole is electrically connected to the controller, for keeping the circuit in a high-level working state.

[0012] Optionally, the inductive sensor further includes a filter, one end of which is connected in series to a circuit electrically connected between the first pole and the controller, for filtering the circuit electrically connected between the first pole and the controller.

[0013] Optionally, the induction sensor further includes an anti-static device, one end of which is connected in series to a circuit electrically connecting the first pole and the controller, for preventing static electricity in the circuit electrically connecting the first pole and the controller from damaging the controller.

[0014] Optionally, the other end of the filter is grounded, and the other end of the anti-static device is grounded.

[0015] Optionally, a resistor is connected in series between the induction sensor and the controller to prevent static electricity from damaging the controller.

[0016] Optionally, the controller includes a vehicle head controller and a vehicle body controller, one port of the vehicle head controller is electrically connected to the inductive sensor, and the other port of the vehicle head controller is electrically connected to the vehicle body controller.

[0017] The above-mentioned self-moving device sensing system includes: a sensing sensor, which is arranged at the upper shell of the self-moving device, including a first pole and a second pole. When water exists on the upper shell of the self-moving device, the first pole and the second pole are electrically connected, and the resistance value in the sensing sensor changes; a controller, which is electrically connected to the sensing sensor and is used to receive the information that the sensing sensor transmits that water exists on the upper shell of the self-moving device, and control the self-moving device to move to a water-avoiding position. In this way, the sensing sensor arranged at the upper shell of the self-moving device can timely identify whether the self-moving device is disturbed by water, and feed back the corresponding information to the controller. The controller controls the self-moving device to take avoidance measures in time to ensure the normal operation of the components, thereby ensuring the normal operation of the self-moving device. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the utility model, the drawings required for use in the description of the embodiments of the utility model will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0019] Figure 1 is a schematic diagram of a self-moving device sensing system in one embodiment of the utility model;

[0020] Figure 2 It is another schematic diagram of the sensing system of the self-moving device in one embodiment of the utility model.

[0021] In the figure: 1. inductive sensor; 101. first pole; 102. second pole; 103. inductive resistor; 104. pull-up resistor; 105. filter; 106. anti-static device; 2. controller; 201. front controller; 202. body controller; 3. camera; 4. resistor. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0023] It should be understood that the utility model can be implemented in different forms and should not be interpreted as being limited to the embodiments proposed herein. On the contrary, providing these embodiments will make the disclosure thorough and complete, and will fully convey the scope of the utility model to those skilled in the art.

[0024] In order to thoroughly understand the present invention, detailed structures and steps will be presented in the following description to illustrate the technical solution proposed by the present invention. The preferred embodiments of the present invention are described in detail below, but in addition to these detailed descriptions, the present invention may also have other implementations.

[0025] like Figure 1 As shown, this embodiment provides a self-moving device sensing system, the system comprising:

[0026] The inductive sensor 1 is arranged at the upper shell of the self-moving device, and comprises a first pole 101 and a second pole 102. When water exists in the upper shell of the self-moving device, the first pole 101 and the second pole 102 are electrically connected, and the resistance value in the inductive sensor 1 changes;

[0027] The controller 2 is electrically connected to the inductive sensor 1, and is used to receive the information that water exists on the upper shell of the self-moving device transmitted by the inductive sensor 1, and control the self-moving device to move to a water-avoiding position.

[0028] In this embodiment, the self-moving device, as a robot used in outdoor environments, is easily disturbed by various weather or factors. Therefore, the self-moving device needs to be able to identify the above weather or factors and take a series of avoidance measures. For example, when it is recognized that the current weather is raining, the self-moving device takes shelter from the rain; when it is recognized that there is an irrigation system spraying, the self-moving device takes shelter from water; the induction sensor 1 is a sensor that can identify water, which includes a first pole 101 and a second pole 102, both of which are arranged in a recessed position at the upper shell position of the self-moving device. After water is contained in the recessed position, the water and impurities in the water can conduct the first pole 101 and the second pole 102. The original resistance value of the inductive sensor 1 is changed (at the beginning, the resistance value of the inductive sensor 1 can be considered to be the largest); the upper shell position refers to a position of the housing of the self-moving device, which may include the housing at the front position of the self-moving device, or the housing at the body position of the self-moving device. The inductive sensor 1 is arranged on the housing of the self-moving device to facilitate the identification of rain or water; the controller 2 may include a front controller 201 and a body controller 202, the front controller 201 is electrically connected to the body controller 202, the body controller 202 is electrically connected to the front controller 201, and the body controller 202 serves as a main controller to control all devices of the self-moving device;

[0029] The specific working process is as follows: when the mobile device is working in an outdoor working area, the inductive sensor 1 in the mobile device can sense the external water resources. When the resistance value of the inductive sensor 1 changes, the mobile device moves to a specified position point, wherein the specified position point may be a charging position point (the setting position is not affected by the external water resources) or other position points that are not affected by the water resources;

[0030] The sensing sensor 1 in this embodiment can sense the water resources in the outside world in real time, and then take avoidance measures to prevent water from damaging the electronic components in the self-moving device, thereby ensuring that the self-moving device can work normally; in addition, when the self-moving device is used for mowing, the avoidance measures of the self-moving device can prevent damage to the grass in rainy environments. After mowing, the cuts in the grass are more easily affected.

[0031] like Figure 2As shown, as an embodiment, the self-moving device sensing system also includes a camera 3, which is arranged at a position of the self-moving device and is electrically connected to the controller 2 for acquiring external environmental information and transmitting the external environmental information to the controller 2. The controller 2 controls the self-moving device to move to a water-avoiding position according to the information of the presence of water on the shell of the self-moving device obtained by the sensing sensor 1 and the external environmental information.

[0032] In this embodiment, the camera 3 can be installed at the front (not shown) or / and the body (not shown) of the self-moving device, and can be divided into a front camera 3, a side camera 3 and a rear camera 3 according to the installation position. The camera 3 at each position can be used to obtain the external environment information at its location, and the external environment information may include image information for determining that it is raining or image information that water is being sprayed; the controller 2 can combine the information of the presence of water on the upper shell of the self-moving device and the external environment information to further determine the current environment of the self-moving device, so as to avoid false detection by the sensing sensor 1 (such as false detection caused by water at the upper shell position flowing into the sensing sensor 1).

[0033] like Figure 2 As shown, as an embodiment, the inductive sensor 1 includes a first inductive sensor 1 and a second inductive sensor 1, the first inductive sensor 1 is arranged at the upper shell position of the front of the self-moving device, and the second inductive sensor 1 is arranged at the upper shell position of the rear of the self-moving device, and the first inductive sensor 1 and the second inductive sensor 1 are electrically connected to the controller 2 respectively.

[0034] In this embodiment, the number of sensing sensors 1 can be set according to specific needs. Corresponding sensing sensors 1 are set at the front and rear of the self-moving device to improve the accuracy of identifying external water resources. For example, when it rains or sprays, water falls into the sensing sensor 1 from multiple places.

[0035] like Figure 2 As shown, as an embodiment, the inductive sensor 1 includes an inductive resistor 103 consisting of a first pole 101 and a second pole 102, the first pole 101 of the inductive resistor 103 is electrically connected to the controller 2, and the second pole 102 of the inductive resistor 103 is grounded.

[0036] In this embodiment, the material of the first pole 101 and the second pole 102 can be a conductive metal material, and the sensing resistor 103 is composed of the first pole 101 and the second pole 102. The size of the sensing resistor 103 can be changed according to the water and impurities in the water located between the first pole 101 and the second pole 102. The circuit branch where the first pole 101 is located is provided with an interface, which can be electrically connected to the controller 2, and the second pole 102 is grounded.

[0037] like Figure 2 As shown, as an embodiment, the inductive sensor 1 further includes a pull-up resistor 104, which is connected in series to a circuit electrically connected between the first pole 101 and the controller 2, for keeping the circuit in a high-level working state.

[0038] In this embodiment, the pull-up resistor 104 is an electronic component whose working principle is to clamp an uncertain signal at a high level through a resistor, and the resistor also plays a current limiting role. Specifically, the voltage at the input port (located on the circuit electrically connected to the first pole 101 and the controller 2) can be pulled up to a high-level working state through the pull-up resistor 104.

[0039] like Figure 2 As shown, as an embodiment, the inductive sensor 1 further includes a filter 105, one end of which is connected in series to a circuit electrically connecting the first pole 101 and the controller 2, for filtering the circuit electrically connecting the first pole 101 and the controller 2.

[0040] In this embodiment, the filter 105 is a filter circuit composed of a capacitor, an inductor and a resistor, which can remove noise and interference. In electronic equipment, the power supply signal in the circuit often has noise and interference. The filter 105 can filter out the above noise and interference to ensure the normal operation of the electronic equipment.

[0041] like Figure 2 As shown, as an embodiment, the induction sensor 1 also includes an anti-static device 106, one end of which is connected in series to the circuit electrically connecting the first pole 101 and the controller 2, so as to prevent static electricity in the circuit electrically connecting the first pole 101 and the controller 2 from damaging the controller 2.

[0042] In this embodiment, the anti-static device 106 is an ESD (Electrostatic Discharge) device, which refers to electrostatic discharge, that is, the charge transfer caused by objects with different electrostatic potentials approaching or directly contacting each other. The metal pole in this embodiment may generate static electricity after touching the user's head. If this part of the static electricity is not processed, the controller 2 will be damaged by static electricity.

[0043] like Figure 2 As shown, as an embodiment, the other end of the filter 105 is grounded, and the other end of the anti-static device 106 is grounded.

[0044] In this embodiment, the filter 105 and the anti-static device 106 are both grounded to prevent electric shock. When electrical equipment leaks or the equipment casing is charged, grounding can introduce the current directly into the ground through the grounding wire to prevent the current from returning to the power supply through the human body, thereby protecting personal safety and preventing equipment damage. Grounding can effectively introduce abnormal voltages such as static electricity in the equipment into the ground, thereby preventing the equipment from being damaged by voltage shocks.

[0045] like Figure 2 As shown, as an embodiment, a resistor 5 is connected in series between the induction sensor 1 and the controller 2 to prevent static electricity from damaging the controller 2 .

[0046] In this embodiment, a resistor 5 is also provided between the inductive sensor 1 and the controller 2 to prevent static electricity from damaging the controller 2. The addition of the resistor 5 can form a mechanism with better anti-static effect together with the anti-static device 106.

[0047] like Figure 2 As shown, as an embodiment, the controller 2 includes a vehicle head controller 201 and a vehicle body controller 202 , wherein one port of the vehicle head controller 201 is electrically connected to the inductive sensor 1 , and another port of the vehicle head controller 201 is electrically connected to the vehicle body controller 202 .

[0048] In this embodiment, the body controller 202 serves as the main controller of the entire self-moving device, which can be used to control the operation of all devices of the entire self-moving device, such as a travel motor or a mowing device, etc.; the front controller 201 is the controller of the front device, which can transmit information from the front sensors and devices to the body controller; the front controller 201 is electrically connected to the body controller via a signal line (not shown) and a power line (not shown), the signal line (not shown) is used to transmit information, and the power line (not shown) is used to transmit power from the body to the front.

[0049] The present invention provides a self-moving device sensing system, which belongs to the technical field of self-moving device. The self-moving device sensing system includes: a sensing sensor 1, which is arranged at the upper shell of the self-moving device, and includes a first pole 101 and a second pole 102. When there is water on the upper shell of the self-moving device, the first pole 101 and the second pole 102 are electrically connected, and the resistance value in the sensing sensor 1 changes; a controller 2, which is electrically connected to the sensing sensor 1, and is used to receive the information that the sensing sensor 1 transmits that there is water on the upper shell of the self-moving device, and control the self-moving device to move to a water-avoiding position. In this way, the sensing sensor 1 arranged at the upper shell of the self-moving device can timely identify whether the self-moving device is disturbed by water, and the corresponding information is fed back to the controller. The controller 2 controls the self-moving device to take avoidance measures in time to ensure the normal operation of the components, thereby ensuring the normal operation of the self-moving device.

[0050] The embodiments described above are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the protection scope of the present invention.

Claims

1. A self-propelled equipment sensing system, characterized in that: include: The inductive sensor is arranged at the upper shell of the self-moving device, and comprises a first pole and a second pole. When water exists in the upper shell of the self-moving device, the first pole and the second pole are electrically connected, and the resistance value in the inductive sensor changes. The controller is electrically connected to the inductive sensor and is used to receive information transmitted by the inductive sensor that water exists on the upper shell of the self-moving device, and control the self-moving device to move to a water-avoiding position.

2. A self-propelled device sensing system as claimed in claim 1, characterized in that: The self-moving device sensing system also includes a camera, which is arranged at a position of the self-moving device and is electrically connected to the controller for obtaining external environmental information and transmitting the external environmental information to the controller. The controller controls the self-moving device to move to a water-avoiding position based on the information of the presence of water on the shell of the self-moving device obtained by the sensing sensor and the external environmental information.

3. A self-propelled device sensing system as claimed in claim 1, characterized in that: The inductive sensor includes a first inductive sensor and a second inductive sensor. The first inductive sensor is arranged at an upper shell position of a front portion of the self-moving device, and the second inductive sensor is arranged at an upper shell position of a rear portion of the self-moving device. The first inductive sensor and the second inductive sensor are electrically connected to the controller, respectively.

4. A self-propelled device sensing system as claimed in claim 1, characterized in that: The inductive sensor includes an inductive resistor consisting of a first pole and a second pole. The first pole of the inductive resistor is electrically connected to the controller, and the second pole of the inductive resistor is grounded.

5. A self-propelled device sensing system as claimed in claim 4, characterized in that: The inductive sensor further comprises a pull-up resistor, which is connected in series to a circuit whose first pole is electrically connected to the controller, and is used to keep the circuit in a high-level working state.

6. A self-propelled device sensing system as claimed in claim 5, characterized in that: The inductive sensor further includes a filter, one end of which is connected in series to a circuit in which the first pole is electrically connected to the controller, for filtering the circuit in which the first pole is electrically connected to the controller.

7. A self-propelled device sensing system as claimed in claim 6, characterized in that: The induction sensor further includes an anti-static device, one end of which is connected in series to a circuit electrically connecting the first pole and the controller, for preventing static electricity of the circuit electrically connecting the first pole and the controller from damaging the controller.

8. A self-propelled device sensing system as claimed in claim 7, characterized in that: The other end of the filter is grounded, and the other end of the antistatic device is grounded.

9. The self-propelled device sensing system according to claim 1, characterized in that: A resistor is connected in series between the induction sensor and the controller to prevent static electricity from damaging the controller.

10. The self-propelled device sensing system according to claim 1, characterized in that: The controller comprises a vehicle head controller and a vehicle body controller. One port of the vehicle head controller is electrically connected to the inductive sensor, and the other port of the vehicle head controller is electrically connected to the vehicle body controller.

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