Automatic walking equipment
By installing obstacle avoidance sensors on the front or side of the housing of the automatic walking device and setting obstacle avoidance sensors in the function box at the rear, the problem of single obstacle avoidance dimensions of automatic walking device is solved, and obstacle detection and effective obstacle avoidance are achieved in multiple directions, improving the safety and maintenance efficiency of the equipment.
Patent Information
- Application Number
- CN202420701165.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-04-08
- Publication Date
- 2025-04-25
- Estimated Expiration
- 2034-04-08
AI Technical Summary
The obstacle avoidance dimensions of existing automatic walking equipment are relatively single and cannot meet the comprehensive obstacle avoidance needs.
An automatic walking device is designed, with obstacle avoidance sensors or vision sensors installed on the front or side of the housing, and a function box is installed on the back of the housing, and obstacle avoidance sensors are installed in the function box to realize multi-dimensional obstacle detection.
Through multi-directional obstacle detection, automatic walking equipment can avoid obstacles more effectively, improve safety and stability, while simplifying the maintenance process and reducing maintenance costs.
Smart Images
Figure CN222801043U_ABST
Abstract
Description
Technical Field
[0001] The utility model patent relates to the field of automation technology, and in particular to an automatic walking device. Background Art
[0002] With the advancement of science and technology, automation technology is becoming more and more popular. Fully automatic working robots such as lawn mowers, snow blowers, and leaf blowers are inseparable from the traction of automatic walking equipment. During the working process of automatic walking equipment, obstacles that hinder its walking often exist in the working area. Automatic walking equipment usually has the ability to avoid obstacles and can replan the path to avoid obstacles after judging the distance of obstacles. In the existing technology, the obstacle avoidance dimension of automatic walking equipment is relatively single, which cannot meet the full range of obstacle avoidance of automatic walking equipment. Utility Model Content
[0003] The utility model provides an automatic walking device in view of the deficiencies in the prior art, aiming to solve the problem that the obstacle avoidance dimension of the automatic walking device is relatively single.
[0004] The utility model achieves the above-mentioned purpose through the following technical solutions.
[0005] The utility model provides an automatic walking device, comprising:
[0006] A shell having at least one of an obstacle avoidance sensor or a visual sensor at the front or side thereof; and a function box mounted at the rear of the shell, wherein the function box has an obstacle avoidance sensor installed inside the function box, wherein the obstacle avoidance sensor emits a ranging medium to the rear of the automatic walking device and receives the ranging medium reflected back.
[0007] In some embodiments, two obstacle avoidance sensors are provided, and the two obstacle avoidance sensors are symmetrically distributed about the symmetry axis of the automatic walking device.
[0008] In some embodiments, one of the obstacle avoidance sensors has a first axis, and the other obstacle avoidance sensor has a second axis, and an angle formed by the first axis and the second axis is 32° to 40°.
[0009] In some embodiments, the functional box includes a box body and a cover body, and the box body faces outwards and the cover body faces inwards, and is snap-fitted and assembled to the housing.
[0010] In some embodiments, the box body has a first hollow portion for mounting the obstacle avoidance sensor, so that the obstacle avoidance sensor is at least partially exposed to the outside of the box body through the first hollow portion.
[0011] In some embodiments, the box body further has a first mounting position for mounting an electric control board of the obstacle avoidance sensor, and a second mounting position for mounting a control board.
[0012] In some embodiments, the cover body has a second hollow position, and the box body has a third hollow position, and the second hollow position and the third hollow position are adapted to the outer contour of the charging structure of the autonomous walking device.
[0013] In some embodiments, the box body has a covering member detachably connected to the box body to reveal or cover the third hollow position.
[0014] In some embodiments, the cover has one or more holes for outlet wires.
[0015] In some embodiments, the function box has a third installation position for installing a towing hook, and the towing hook is connected to the towing carrier, so that the automatic walking device drives the towing carrier to walk.
[0016] In some embodiments, the obstacle avoidance sensor is an ultrasonic sensor.
[0017] The beneficial effect of the utility model is that the automatic walking device of the utility model overcomes the problem that the obstacle avoidance of the automatic walking device in the prior art is not multi-dimensional enough and cannot meet the all-round obstacle avoidance of the automatic walking device. The front or side of the automatic walking device has an obstacle avoidance mechanism. At the same time, a function box with an obstacle avoidance sensor is arranged at the rear of the shell, so that the automatic walking device can judge whether there are obstacles in multiple directions; the function box adopts an integrated design, which is convenient for replacement operation during maintenance. Compared with the disassembly of the entire shell, the replacement of the function box is simpler and faster, which reduces the maintenance cost and improves the maintenance efficiency. Since the maintenance is more convenient and the disassembly of the entire shell is avoided, the time and human resources required for maintenance are also reduced, further reducing the overall maintenance cost. In general, this improved design of the utility model not only improves the intelligence level and safety performance of the automatic walking device, but also effectively reduces the maintenance cost and improves the maintenance efficiency, which is of significant significance for promoting the development of related industries. BRIEF DESCRIPTION OF THE DRAWINGS
[0018] In order to more clearly illustrate the technical solutions in the implementation modes of the present invention, the drawings required for use in the description of the implementation modes will be briefly introduced below. Obviously, the drawings described below are only some implementation modes of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.
[0019] Figure 1 A schematic diagram of a functional box provided by an embodiment of the utility model is shown;
[0020] Figure 2 A schematic diagram of a functional box provided by an embodiment of the utility model is shown, wherein the shielding member is in a disassembled state;
[0021] Figure 3 An exploded view of a functional box provided by an embodiment of the utility model is shown;
[0022] Figure 4 A cross-sectional view of a functional box from a certain viewing angle is shown;
[0023] Figure 5 A schematic diagram of an automatic walking device provided by an embodiment of the utility model is shown;
[0024] Description of Figure Numbers:
[0025] 100. Automatic walking equipment;
[0026] 10. Shell;
[0027] 20. Function box;
[0028] 21, box body; 211, first hollow portion; 212, first mounting position; 213, second mounting position; 214, third hollow position; 215, cover; 216, third mounting position;
[0029] 22, cover body; 221, second hollow position; 222, hole position;
[0030] 23. obstacle avoidance sensor; 231. first axis; 232. second axis;
[0031] 24. Visual sensor. DETAILED DESCRIPTION
[0032] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.
[0033] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.
[0034] The utility model proposes an automatic walking device 100, which has a path planning function. Usually, the automatic walking device 100 can be connected with different working equipment to form an automatic walking device with specific working functions such as an automatic snow sweeper, an automatic lawn mower, an automatic leaf blower, and an automatic transport vehicle; in addition, the automatic walking device 100 can also realize the corresponding working function by installing an operating module on itself. The automatic walking device 100 generates a predetermined walking path based on the user-set area, and can be a mobile carrier such as a crawler vehicle and a wheeled vehicle.
[0035] In the related art, the obstacle avoidance dimension of the autonomous walking device 100 is relatively single, which may easily lead to collision with obstacles in different directions and damage the device; when the obstacle is a person, it may also cause the risk of personal injury.
[0036] Based on this, the applicant conducted in-depth research to solve the problem that the obstacle avoidance dimension of the automatic walking device 100 is relatively single, so as to form the technical solution of the present application.
[0037] It should be noted that in the prior art, the obstacle avoidance sensor 23 is usually directly set on the housing 10. When the obstacle avoidance sensor 23 fails and needs to be repaired, the entire housing 10 needs to be disassembled, which is a cumbersome process and requires a long time of manpower. Moreover, since the automatic walking equipment 100 is updated more and more frequently, the obstacle avoidance sensor 23 module must be redesigned along with the new housing 10, which brings additional workload to the designers.
[0038] The utility model provides an automatic walking device 100, referring to Figure 5 , including a shell 10, having at least one of an obstacle avoidance sensor 23 or a visual sensor 24 at the front or side thereof, and a function box 20, which is assembled at the rear of the shell 10, and the function box 20 has an obstacle avoidance sensor 23 installed inside the function box 20, and the obstacle avoidance sensor 23 emits a ranging medium to the rear of the automatic walking device and receives the ranging medium reflected back.
[0039] Specifically, the obstacle avoidance sensor 23 can be one or more of an ultrasonic sensor, an infrared sensor, and a laser sensor; the housing 10 can cover most of the components of the automatic walking device 100, such as a power supply module, a control module, a drive module, etc., and mainly provides external protection for the automatic walking device 100. The front or side of the housing 10 has an obstacle avoidance sensor 23 or a visual sensor 24, so that the automatic walking device 100 has a front or side obstacle avoidance function. The visual sensor 24 identifies obstacles by monitoring the surrounding environment and feeds back the distance between the obstacles and the automatic walking device 100; the obstacle avoidance sensor 23 can emit a ranging medium and receive the reflected ranging medium, thereby feeding back the distance between the obstacle and the automatic walking device 100; the function box 20 is fixedly connected to the rear of the housing 10, so that the obstacle avoidance sensor 23 is also provided inside it, so that the rear of the automatic walking device 100 also has an obstacle avoidance function. When the automatic walking device 100 determines that the obstacle is too close or there is an obstacle, the device can automatically stop or change the direction of travel, thereby avoiding collision with obstacles in multiple dimensions, ensuring safety and stability during the automatic walking process.
[0040] Please refer to Figure 1 In some implementations, two obstacle avoidance sensors 23 are provided, and the two obstacle avoidance sensors 23 are symmetrically distributed about the symmetry axis of the automatic walking device 100 .
[0041] In order to make the automatic walking device 100 recognize the rear obstacles in a wider range, the function box 20 is provided with two obstacle avoidance sensors 23 symmetrically distributed about the symmetry axis of the automatic walking device 100, so that the device can fully perceive the rear environment and reduce the detection blind area, including the obstacles on the left and right sides. This comprehensive perception ensures that the device can detect and avoid obstacles in time when moving backward, and improves the accuracy and reliability of obstacle avoidance.
[0042] Please refer to Figure 4 In some embodiments, one of the obstacle avoidance sensors 23 has a first axis 231, and the other obstacle avoidance sensor 23 has a second axis 232, and the angle formed by the first axis 231 and the second axis 232 is 32° to 40°.
[0043] In order to minimize the detection overlap range of the two obstacle avoidance sensors 23 and avoid the occurrence of detection blind spots, the two obstacle avoidance sensors 23 provided in this embodiment have an angle formed by the first axis 231 and the second axis 232 limited to 32° to 40°, which can maximize the reduction of the detection overlap area of the two obstacle avoidance sensors 23 while avoiding the occurrence of detection blind spots.
[0044] Specifically, the angle formed by the axes of the two obstacle avoidance sensors 23 can be selected to be 32°, 34°, 36°, 38°, etc. Such a setting can optimally adjust the detection range of the obstacle avoidance sensor 23.
[0045] Please refer to Figure 5 In some embodiments, the function box 20 includes a box body 21 and a cover body 22 , and the box body 21 faces outward and the cover body 22 faces inward and is snap-fitted to the housing 10 .
[0046] The function box 20 includes a box body 21 and a cover body 22, which can be fastened together to form a closed internal space, effectively protecting the electronic components and circuits inside the box body 21 and the cover body 22. In this embodiment, there is enough space inside the housing 10 to accommodate the function box 20, and the contour of the box body 21 of the function box 20 is adapted to the position of the function box 20 installed at the rear of the housing 10. When the box body 21 of the function box 20 faces outward and the cover body 22 faces inward, the function box 20 and the housing 10 are harmoniously matched in appearance.
[0047] Please refer to Figure 1 In some embodiments, the box body 21 has a first hollow portion 211 for mounting the obstacle avoidance sensor 23 , so that the obstacle avoidance sensor 23 is at least partially exposed to the outside of the box body 21 through the first hollow portion 211 .
[0048] The obstacle avoidance sensor 23 measures the distance by emitting a ranging medium and receiving the reflected ranging medium. A first hollow portion 211 for mounting the obstacle avoidance sensor 23 is provided in the box body 21. The obstacle avoidance sensor 23 directly interacts with the external environment through the first hollow portion 211 without being restricted by the box body 21, effectively avoiding signal attenuation or interference, and ensuring the accuracy and stability of the ranging process. Therefore, providing a special first hollow portion 211 helps to optimize the working performance of the obstacle avoidance sensor 23 and enhance its application value in the automatic control system.
[0049] Please refer to Figure 3 In some embodiments, the box body 21 further has a first mounting position 212 for mounting an electric control board of the obstacle avoidance sensor 23, and a second mounting position 213 for mounting a control board.
[0050] The obstacle avoidance sensor 23 body is installed on the box body 21, and its electric control board and control board are respectively installed on the first and second installation positions 213 of the box body 21, so as to realize the effective connection and control of the sensor and the control circuit. In some embodiments, in order to further optimize the circuit connection and maintenance, the first installation position 212 is usually set around the installation position of the obstacle avoidance sensor 23 body, so as to facilitate the wiring and connection of the circuit. Installing the circuit board and the control board inside the function box 20 and constraining the circuit inside the box body 21 is conducive to the reliable circuit connection between the electric control board and the control board and the obstacle avoidance sensor 23, and effectively avoiding the confusion of the circuit wiring.
[0051] Please refer to Figure 3 In some embodiments, the cover body 22 has a second hollow position 221 , and the box body 21 has a third hollow position 214 . The second hollow position 221 and the third hollow position 214 are adapted to the outer contour of the charging structure of the autonomous walking device 100 .
[0052] It should be noted that some automatic walking devices 100 are powered by batteries, and a charging structure, such as a charging interface, is provided at the rear thereof. The function box 20 is provided with a second hollow position 221 and a third hollow position 214, which can place the charging structure in the function box 20, allowing external wiring to pass through the charging structure in the function box 20 to charge the automatic walking device 100. The second hollow position 221 provided on the cover body 22 is used to fix the charging structure, and the third hollow position 214 on the box body 21 is used to allow the connection of the external connector to the charging structure. In this way, the addition of the function box 20 does not cause the obstruction of the original charging structure, thereby improving the ease of use of the automatic walking device 100.
[0053] Please refer to Figure 2 In some embodiments, the box body 21 has a covering member 215 detachably connected to the box body 21 to reveal or cover the third hollow position 214 .
[0054] The cover 215 can realize the closure or opening of the third hollow position 214. When charging operation is required, the cover 215 can be removed or uncovered to expose the charging interface for charging. When charging is not required, the cover 215 is installed or closed again to ensure that the third hollow position 214 is effectively covered to prevent water or dust from entering the box body 21. In order to further enhance the waterproof effect, the design of the cover 215 can also be set to have a waterproof function, such as using a sealing rubber ring or waterproof material to improve the waterproof effect and ensure that the charging interface inside the box body 21 is in a dry state. In order to achieve a more effective waterproof effect, the interior of the function box 20 can also use glue filling to enhance the waterproof effect of the obstacle avoidance sensor 23 and its circuit board and control board.
[0055] In some embodiments, the function box 20 has a third installation position 216 for installing a towing hook, and the towing hook is connected to the towing carrier, so that the automatic walking device 100 drives the towing carrier to walk.
[0056] The towing carrier is connected by a towing hook, and the automatic walking device 100 can carry the towing carrier to move, thereby achieving the purpose of transporting items or performing other specific tasks, and providing more possibilities for the functional expansion of the automatic walking device.
[0057] In some embodiments, the obstacle avoidance sensor 23 is an ultrasonic sensor. An ultrasonic sensor is a sensor that uses ultrasonic beams to measure distance. When the obstacle avoidance sensor 23 is an ultrasonic sensor, the distance measuring medium is ultrasonic waves. Its working principle is based on the characteristics of sound waves propagating in the air. By emitting ultrasonic pulses and receiving their reflected waves, the distance between the target object and the sensor is calculated.
[0058] In the description of the present invention, it should be understood that the terms "length", "width", "depth", "upper", "lower", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, which are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as a limitation on the present invention. Terms such as "installation" and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, an integral connection, or a transmission connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances. The description of the term "some embodiments" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In the present invention, the schematic representation of the above terms does not necessarily target the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. Furthermore, those skilled in the art may combine and associate different embodiments or examples described in the present invention as well as features of different embodiments or examples without mutual contradiction.
Claims
1. An automatic walking device, characterized in that: include: a housing having at least one of an obstacle avoidance sensor or a vision sensor on the front or side thereof; and A function box is mounted on the rear of the housing and has an obstacle avoidance sensor installed inside the function box. The obstacle avoidance sensor emits a distance measuring medium to the rear of the automatic walking device and receives the distance measuring medium reflected back.
2. The automatic walking device according to claim 1, characterized in that: There are two obstacle avoidance sensors, and the two obstacle avoidance sensors are symmetrically distributed about the symmetry axis of the automatic walking device.
3. The automatic walking device according to claim 2, characterized in that: One of the obstacle avoidance sensors has a first axis, and the other obstacle avoidance sensor has a second axis. The angle formed by the first axis and the second axis is 32° to 40°.
4. The automatic walking device according to claim 1, characterized in that: The functional box comprises a box body and a cover body, wherein the box body faces outwards and the cover body faces inwards, and is snap-fitted and assembled on the housing.
5. The automatic walking device according to claim 4, characterized in that: The box body has a first hollow portion for mounting the obstacle avoidance sensor, so that the obstacle avoidance sensor is at least partially exposed to the outside of the box body through the first hollow portion.
6. The automatic walking device according to claim 4, characterized in that: The box body also has a first installation position for installing the electric control board of the obstacle avoidance sensor, and a second installation position for installing the control board.
7. The automatic walking device according to claim 4, characterized in that: The cover body has a second hollow position, and the box body has a third hollow position. The second hollow position and the third hollow position are adapted to the outer contour of the charging structure of the automatic walking device.
8. The automatic walking device according to claim 7, characterized in that: The box body has a covering member detachably connected to the box body to reveal or cover the third hollow position.
9. The automatic walking device according to claim 4, characterized in that: The cover body has one or more holes for leading out wires.
10. The automatic walking device according to claim 1, characterized in that: The function box has a third installation position for installing a towing hook, and the towing hook is connected to the towing carrier, so that the automatic walking device drives the towing carrier to walk.
11. The automatic walking device according to claim 1, characterized in that: The obstacle avoidance sensor is an ultrasonic sensor.