Self-moving working equipment

Abstract

The utility model relates to the field of robots, in particular to self-moving working equipment which comprises a main body, a universal wheel assembly and a motion detection assembly. The universal wheel assembly is arranged at the bottom of the main body and comprises a universal wheel and a rotating shaft connected with the universal wheel; the motion detection assembly comprises a detection circuit board, a detected element and a plurality of detection elements, the detection circuit board is arranged in the main body, the plurality of detection elements are arranged on the detection circuit board and electrically connected with the detection circuit board, and the detected element is arranged in the universal wheel to move along with the universal wheel; wherein the plurality of detection elements are respectively located in different advancing directions of the self-moving working equipment, and the detection circuit board can detect the motion state and / or the advancing direction of the universal wheel according to detection signals of the plurality of detection elements. The self-moving working equipment can determine whether the self-moving working equipment encounters the obstacle or not according to the result that the motion detection assembly detects the motion state of the universal wheel, so that the ability of automatically monitoring the obstacle encountering is improved.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a self-moving working device. Background Art

[0002] Self-moving working equipment, such as self-propelled robots, are widely used in various life scenarios, such as garden lawn modification, pool cleaning, ground cleaning, transportation, etc. In the process of walking, the self-moving working equipment often encounters obstacles on the walking path. If the self-moving working equipment cannot detect the obstacle, it will have a certain impact on the self-moving working equipment's forward movement, work, or path planning. Therefore, how to design the self-moving working equipment to improve its ability to autonomously detect obstacles has become a technical problem that needs to be solved. Utility Model Content

[0003] The main purpose of the present application is to propose a self-moving working device to solve the technical problem that the existing self-moving working device cannot monitor the obstacle situation.

[0004] To achieve the above-mentioned purpose, an embodiment of the present application provides a self-moving working device, the self-moving working device comprising:

[0005] main body;

[0006] A universal wheel assembly is arranged at the bottom of the main body, and the universal wheel assembly comprises a universal wheel and a rotating shaft connected thereto;

[0007] A motion detection component, comprising a detection circuit board, a detected element and a plurality of detection elements, wherein the detection circuit board is arranged in the main body, the plurality of detection elements are arranged on the detection circuit board and are respectively electrically connected thereto, and the detected element is arranged in the universal wheel to follow its movement;

[0008] The plurality of detection elements are respectively located in different travel directions of the self-moving working device, and the detection circuit board can detect the motion state and / or travel direction of the universal wheel according to the detection signals of the plurality of detection elements.

[0009] The embodiment of the present application provides a self-moving working device, wherein the self-moving working device includes a main body, a universal wheel assembly and a motion detection assembly; the universal wheel assembly is arranged at the bottom of the main body, and the universal wheel assembly includes a universal wheel and a rotating shaft connected thereto; the motion detection assembly includes a detection circuit board, a detected element and a plurality of detection elements, the detection circuit board is arranged in the main body, the plurality of detection elements are all arranged on the detection circuit board and are respectively electrically connected thereto, and the detected element is arranged in the universal wheel to follow its movement; wherein the plurality of detection elements are respectively located in different travel directions of the self-moving working device, and the detection circuit board can detect the universal wheel according to the detection signals of the plurality of detection elements The motion state and / or travel direction of the universal wheel. During the walking process of the self-mobile working equipment, the self-mobile working equipment can determine whether the self-mobile working equipment encounters an obstacle based on the result of the motion detection component detecting the motion state of the universal wheel. For example, if the universal wheel stops moving, it means that the self-mobile working equipment encounters an obstacle and cannot move forward. For example, if the universal wheel stops moving in a certain direction of travel, it means that the self-mobile working equipment encounters an obstacle in that direction and cannot move forward. In this way, the self-mobile working equipment can autonomously monitor the obstacle situation to improve the ability of autonomously monitoring obstacles, so as to be able to subsequently change the forward path or change the path planning according to the obstacle situation.

[0010] In an optional embodiment, the multiple detection elements include a first detection element and a second detection element, the first detection element is configured to form a first detection signal indicating that the universal wheel is in a first azimuth angle range when receiving a trigger signal from the detected element; the second detection element is configured to form a second detection signal indicating that the universal wheel is in a second azimuth angle range when receiving a trigger signal from the detected element, and the first detection element and the second detection element are respectively arranged on opposite sides of the rotating axis.

[0011] In an optional embodiment, the multiple detection elements also include a third detection element, which is configured to form a third detection signal indicating that the universal wheel is in a third azimuth angle range when receiving a trigger signal from the detected element; the connecting line between the third detection element and the rotating axis is located between the first detection element and the second detection element.

[0012] In an optional embodiment, in the process of the detected element rolling with the universal wheel, the minimum distance between each detection element and the detected element is less than the detection distance threshold of the detection element, and the maximum distance between each detection element and the detected element is greater than the detection distance threshold of the detection element; the detection element is configured to form a fourth detection signal indicating that the universal wheel is in a rotating state when the received trigger signal of the detected element is a discrete signal; the detection element is configured to form a fifth detection signal indicating that the universal wheel is in a stopped state when the received trigger signal of the detected element is a continuous signal.

[0013] In an optional implementation, the detection element is a Hall sensor, and the detected element is a magnet.

[0014] In an optional implementation, there are multiple detected elements, and the multiple detected elements are evenly distributed on the universal wheel along the circumference of the universal wheel.

[0015] In an optional embodiment, the detected element is arranged close to the roller surface of the universal wheel. When the orientation of the universal wheel is consistent with the direction detected by the detection element, the orthographic projection of the detection element in the extension direction of the rotation axis is located within the range of the roller surface of the universal wheel.

[0016] In an optional embodiment, the self-moving working equipment also includes a connecting bracket, which is fixed to the bottom of the main body, and the connecting bracket is arranged around the circumference of the rotating shaft, and the side of the detection circuit board where the detection element is not arranged is fixed to the connecting bracket.

[0017] In an optional embodiment, the main body includes a forward end, a first side edge and a second side edge located on opposite sides of the forward end; the number of the universal wheel assembly and the number of the connecting brackets are both two, one connecting bracket is arranged toward the forward end and biased towards the first side edge, and the other connecting bracket is arranged toward the forward end and biased towards the second side edge.

[0018] In an optional embodiment, the detection circuit board is arranged around the rotating shaft in a bent shape, two ends of the detection circuit board are respectively located on both sides of the rotating shaft, and the detection element is provided at least at one end of the detection circuit board. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments are briefly introduced below.

[0020] Figure 1It is a simplified side view of a self-moving working device provided by an embodiment of the present application;

[0021] Figure 2 It is a stereoscopic view of a self-moving working device provided by an embodiment of the present application;

[0022] Figure 3 It is a bottom schematic diagram of a self-moving working device provided in an embodiment of the present application;

[0023] Figure 4 It is a partially exploded schematic diagram of the bottom of a self-moving working device provided in an embodiment of the present application;

[0024] Figure 5 It is a structural schematic diagram of a universal wheel assembly of a self-mobile working equipment provided by an embodiment of the present application;

[0025] Figure 6 The structure of a universal wheel assembly, a support bracket, and a motion detection assembly of a self-moving working device provided in an embodiment of the present application is schematically shown. Figure 1 ;

[0026] Figure 7 The structure of a universal wheel assembly, a support bracket, and a motion detection assembly of a self-moving working device provided in an embodiment of the present application is schematically shown. Figure 2 ;

[0027] Figure 8 The structure of a universal wheel assembly of a self-moving working device provided by an embodiment of the present application is at a first azimuth angle. Figure 1 ;

[0028] Fig. 9 The structure of a universal wheel assembly of a self-moving working device provided by an embodiment of the present application is at a first azimuth angle. Figure 2 ;

[0029] Fig.10 The structure of a universal wheel assembly of a self-moving working device provided by an embodiment of the present application is in a second azimuth angle. Figure 2 ;

[0030] Fig.11 The structure diagram of a universal wheel assembly of a self-moving working device provided by an embodiment of the present application is at a third angle. Figure 2 ;

[0031] Fig.12 This is a schematic diagram of the internal structure of a universal wheel of a self-moving working device provided in an embodiment of the present application. Figure 1 ;

[0032] Fig.13 This is a schematic diagram of the internal structure of a universal wheel of a self-moving working device provided in an embodiment of the present application. Figure 2 .

[0033] Description of Figure Numbers:

[0034] Self-moving working equipment 100; main body 10; forward end 10a; first side 10b; second side 10c; chassis 11; top cover 12; cutter head assembly 13; universal wheel assembly 20; universal wheel 21; wheel hub 211; outer ring body 212; inner ring body 213; first connecting plate 214; second connecting plate 215; groove 216; protrusion 217; tire 227; rotating shaft 22; first vertical section 221; first curved section 222; horizontal section 22 3; second curved section 224; second vertical section 225; third curved section 226; connecting bearing 23; motion detection assembly 30; detection circuit board 31; detected element 32; first detected element 32a; second detected element 32b; third detected element 32c; fourth detected element 32d; detection element 33; first detection element 33a; second detection element 33b; third detection element 33c; driving wheel assembly 40; connecting bracket 50. DETAILED DESCRIPTION

[0035] The technical solution of the present application will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the embodiments described in the present application are only a part of the embodiments, not all of the embodiments. Based on the embodiments provided in the present application, all other embodiments obtained by ordinary technicians in this field without creative work belong to the protection scope of the present application.

[0036] Reference to "embodiments" in this application means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it mutually exclusive, independent, or alternative to other embodiments. It can be explicitly and implicitly understood by those skilled in the art that the embodiments described in this application can be combined with other embodiments.

[0037] The terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example: a component or device including one or more parts is not limited to the one or more parts listed, but optionally includes one or more parts that are not listed but inherent to the exemplified product, or one or more parts that it should have based on the described function.

[0038] The embodiment of the present application provides a self-moving working device 100. The self-moving working device 100 includes but is not limited to a smart lawn mower, a smart cleaning robot, a smart car, a smart suitcase, etc. This embodiment takes the self-moving working device 100 as a smart lawn mower as an example to specifically illustrate the inventive concept of the present application, and other structures can refer to the inventive concept described below.

[0039] See also Figure 1 and Figure 2 The self-moving working equipment 100 includes a main body 10, a universal wheel assembly 20 and a motion detection assembly 30.

[0040] Among them, see Figure 1 and Figure 2 , the main body 10 includes but is not limited to the fuselage structure of the self-mobile working equipment 100. For example, the main body 10 also includes but is not limited to the chassis 11, the top cover 12, the cutter disc assembly 13, the cutter disc lifting assembly, etc. Among them, the chassis 11 is the main bearing member, which is used to bear most of the structure. The top cover 12 is covered on the chassis 11, and the top cover 12 and the chassis 11 are surrounded to form a receiving space to accommodate the cutter disc lifting assembly, etc. Of course, in other embodiments, a middle shell may also be included, and the middle shell may be arranged between the top cover 12 and the chassis 11. The middle shell can be designed as a plurality of grooves at different positions, and the middle shell can form a receiving groove with at least one of the chassis 11 and / or the top cover 12 to accommodate different components or modules, so as to regularize the positions of various components on the self-mobile working equipment 100. Figure 2 Part of the structure of the middle top cover 12 has been omitted.

[0041] See also Figure 1 and Figure 2 , wherein the universal wheel assembly 20 is installed at a position close to the front end of the chassis 11. The front end mentioned in the present application refers to the end position of the self-mobile working equipment 100 in the travel direction D1.

[0042] See also Figure 1 and Figure 2 It can be understood that the main body 10 also includes a driving wheel assembly 40, and the driving wheel assembly 40 is installed at a position near the rear end of the chassis 11. The rear end described in the present application is an end that is arranged opposite to the front end. The rear end described in the present application is the end position in the backward direction of the self-mobile working equipment 100. The driving wheel assembly 40 includes at least one pair of driving wheels and a driving motor that drives the pair of driving wheels. The driving motor drives the driving wheels to roll, and the driving wheels rub against the ground to form a driving force that drives the self-mobile working equipment 100 to move. By controlling the rotation direction and speed of the pair of driving wheels, the self-mobile working equipment 100 can move forward, backward, turn left, turn right, turn, etc.

[0043] The universal wheel assembly 20 can be freely turned within a horizontal reference plane to flexibly move in various directions, so that the self-movable working equipment 100 can maintain a stable balance in different environments.

[0044] See also Figure 3 and Figure 4 The universal wheel assembly 20 and the driving wheel assembly 40 are arranged at the bottom of the main body 10 in front and back to drive the body part of the main body 10 of the self-moving working equipment 100 to move. Figure 3 Part of the structure of the mid-chassis 11 has been omitted. Figure 4 Part of the structure of the mid-chassis 11 has been omitted.

[0045] The structural design of the universal wheel assembly 20 and the motion detection assembly 30 is described below with reference to the accompanying drawings.

[0046] Optional, see Figure 5 , the universal wheel assembly 20 includes a universal wheel 21 and a rotating shaft 22 connected thereto. Furthermore, the universal wheel assembly 20 also includes a connecting bearing 23, a ball and a fixed seat. The fixed seat is fixed to the chassis 11, and the specific fixing method includes but is not limited to screw fixing. One end of the connecting bearing 23 is connected to the fixed seat, and the other end is connected to one end of the rotating shaft 22, and the other end of the rotating shaft 22 is connected to the universal wheel 21. The ball is arranged in the connecting part between the fixed seat and the connecting bearing 23, so that the connecting bearing 23 can rotate freely in the horizontal reference plane relative to the fixed seat, and then drive the universal wheel 21 to rotate through the rotating shaft 22, so as to realize the free and flexible rotation of the universal wheel 21 in the horizontal reference plane.

[0047] In an alternative embodiment, see Figure 5 The rotating shaft 22 is in the shape of a bent rod, and the rotating shaft 22 includes a first vertical section 221, a first curved section 222, a horizontal section 223, a second curved section 224, a second vertical section 225, and a third curved section 226 which are connected in sequence. The first vertical section 221 is fixedly connected to the connecting bearing 23. The vertical projection of the first vertical section 221 may correspond to the vicinity of the center line of the roller surface of the universal wheel 21. The horizontal section 223 is arranged between the roller surface of the universal wheel 21 and the connecting bearing 23. The second vertical section 225 is located on the horizontal side of the universal wheel 21. One end of the third curved section 226 away from the second vertical section 225 is connected to the central axis of the universal wheel 21. The rotating shaft 22 can be formed by bending a rod. In the above design, the rotating shaft 22 is designed to be in the shape of a bent rod, and is bent in the above-mentioned manner to fix the universal wheel 21 to the connecting bearing 23. At the same time, the structure is simple, the preparation process is saved, and the rotating shaft 22 occupies less space.

[0048] In addition, the universal wheel 21 can also roll freely around its central axis. The central axis of the universal wheel 21 is located in the horizontal reference plane.

[0049] See also Figure 6 The motion detection component 30 includes a detection circuit board 31 , a detected element 32 and a plurality of detection elements 33 .

[0050] The detection circuit board 31 is arranged in the main body 10. For example, the detection circuit board 31 is located in the receiving space between the chassis 11 and the middle shell. The detection circuit board 31 can be fixedly connected to the chassis 11. The detection circuit board 31 is electrically connected to the main control board of the self-mobile working device 100 through an electrical connection line. The main board of the self-mobile working device 100 supplies power to the detection circuit board 31, provides control signals to the detection circuit board 31, and receives detection signals from the detection circuit board 31. Among them, the main control board and the detection circuit board 31 can be the same circuit board, or different circuit boards.

[0051] See also Figure 6 The plurality of detection elements 33 are all disposed on the detection circuit board 31 and are respectively electrically connected to the wiring on the detection circuit board 31. The plurality of detection elements 33 are electrically connected to the main control board of the self-mobile working device 100 via the wiring and electrical connection wires on the detection circuit board 31. The positions of the plurality of detection elements 33 are fixed relative to the chassis 11.

[0052] The detected element 32 is disposed in the universal wheel 21 to move with the universal wheel 21. Optionally, when the universal wheel 21 rotates or turns, the detected element 32 rotates or turns with the universal wheel 21, and the distance between the detected element 32 and the plurality of detection elements 33 changes during this process.

[0053] Among them, see Figure 7 , the plurality of detection elements 33 are respectively located in different travel directions D1 of the self-moving working device 100. For example, with the horizontal reference plane as a reference, the self-moving working device 100 can move along different travel directions D1 (different azimuths) in the horizontal reference plane, and the plurality of detection elements 33 are respectively arranged at different azimuths to detect the signal strength of the detected element 32, thereby detecting the travel direction D1 (azimuth) of the universal wheel 21.

[0054] The detection circuit board 31 can detect the motion state and / or the travel direction D1 (ie, the azimuth angle of the universal wheel 21 ) of the universal wheel 21 according to the detection signals of the plurality of detection elements 33 .

[0055] Specifically, when the universal wheel 21 stops rotating, the detection signal amplitude of the main detection element 33 among the multiple detection elements 33 remains unchanged within a certain period of time, including but not limited to the following situations: the main detection element 33 cannot detect the signal of the detected element 32 within a certain period of time or the detection signal amplitude remains unchanged within a certain period of time. When the universal wheel 21 rotates, the detection signal amplitude of the main detection element 33 among the multiple detection elements 33 changes within a certain period of time. Therefore, the detection circuit board 31 can detect whether the motion state of the universal wheel 21 is stopped or rotated according to the detection signals of the multiple detection elements 33.

[0056] The main detection element 33 refers to the detection element 33 with the largest detection signal strength. For example, if there are three detection elements 33, the detection element 33 in the middle detects the largest signal strength, while the detection elements 33 on both sides detect weaker signals, so the detection element 33 in the middle is the main detection element 33.

[0057] For example, see Figure 7 , the first detection element 33a, the second detection element 33b and the third detection element 33c of the multiple detection elements 33 are respectively located at different direction angles. Specifically, when the travel direction D1 of the universal wheel 21 is a first azimuth angle, the first detection element 33a of the multiple detection elements 33 can detect a detection signal greater than a preset strength value. When the travel direction D1 of the universal wheel 21 is a second azimuth angle, the second detection element 33b of the multiple detection elements 33 can detect a detection signal greater than a preset strength value. When the travel direction D1 of the universal wheel 21 is a third azimuth angle, the third detection element 33c of the multiple detection elements 33 can detect a detection signal greater than a preset strength value. Therefore, the detection circuit board 31 can detect the travel direction D1 (i.e., azimuth angle) of the universal wheel 21 according to the detection signal strength of different detection elements 33 among the multiple detection elements 33.

[0058] The self-movable working device 100 provided in the embodiment of the present application includes a main body 10, a universal wheel assembly 20 and a motion detection assembly 30; the universal wheel assembly 20 is arranged at the bottom of the main body 10, and the universal wheel assembly 20 includes a universal wheel 21 and a rotating shaft 22 connected thereto; the motion detection assembly 30 includes a detection circuit board 31, a detected element 32 and a plurality of detection elements 33, the detection circuit board 31 is arranged in the main body 10, the plurality of detection elements 33 are all arranged on the detection circuit board 31 and are respectively electrically connected thereto, and the detected element 32 is arranged in the universal wheel 21 to follow its movement; wherein the plurality of detection elements 33 are respectively located in different travel directions D1 of the self-movable working device 100, and the detection circuit board 31 can detect according to the detection signals of the plurality of detection elements 33 The motion state and / or travel direction D1 of the universal wheel 21. During the walking process of the self-mobile working equipment 100, the self-mobile working equipment 100 can determine whether the self-mobile working equipment 100 encounters an obstacle based on the result of the motion detection component 30 detecting the motion state of the universal wheel 21. For example, if the universal wheel 21 stops moving (the driving wheel or the driving motor does not stop working at this time), it means that the self-mobile working equipment 100 encounters an obstacle and cannot move forward. For example, if the universal wheel 21 stops moving in a certain travel direction D1, it means that the self-mobile working equipment 100 encounters an obstacle in this direction and cannot move forward. In this way, the self-mobile working equipment 100 can autonomously monitor the obstacle situation to improve the ability of autonomously monitoring the obstacle, so as to be able to change the forward path or change the path planning according to the obstacle situation later.

[0059] Taking the self-moving working equipment 100 as a lawn mower as an example, the motion detection component 30 can be used as a collision detection component for detecting whether the lawn mower is hit. The collision detection component includes a detection element 33 and a detected element 32. The detected element 32 is arranged in the universal wheel 21. The detection element 33 is arranged in the main body 10 and fixed in a preset direction. When the lawn mower moves along the preset direction, the detected element 32 can rotate with the universal wheel 21. According to the signal generated by the detected element 32, it can be determined whether the universal wheel 21 collides in the preset direction. During the rotation of the universal wheel 21, when the detected element 32 rotates to the detection range of the detection element 33, the detection element 33 will generate a corresponding electrical signal. If the lawn mower collides with an obstacle while moving, the universal wheel 21 will stop rotating, thereby causing the detected element 32 to stop at a certain position. In this way, the detection element 33 will not be able to detect the detected element 32, or the detected element 32 will just stop within the detection range of the detection element 33. The detection element 33 can continuously detect the detected element 32 and generate a continuous electrical signal, based on which it can also be determined that the universal wheel 21 has collided with an obstacle.

[0060] In addition, the motion detection component 30 can also be used as a collision direction detection component of the lawn mower. Detection elements 33 are set in different travel directions D1 (azimuths) in the main body 10. When the universal wheel 21 rotates to a preset azimuth, the detection element 33 set at the azimuth can detect a detection signal greater than a preset strength to determine the travel direction D1 of the universal wheel 21 at this time. When the travel direction D1 of the universal wheel 21 is consistent with the travel direction D1 of the lawn mower, the travel direction D1 of the lawn mower at this time can be determined. Furthermore, when it is determined that the universal wheel 21 has collided with an obstacle, combined with the azimuth of the universal wheel 21 at this time, the direction of the obstacle at this time can be determined, providing a reference for the subsequent lawn mower to intelligently avoid obstacles.

[0061] For example, when the lawn mower encounters an obstacle while the universal wheel 21 is in the left deflection state, the lawn mower can retreat a preset distance and then control the driving wheel to turn right, and then move forward, and after one or more attempts, avoid the obstacle to achieve autonomous obstacle avoidance. For example, when the lawn mower encounters an obstacle while the universal wheel 21 is in the right deflection state, the lawn mower can retreat a preset distance and then control the driving wheel to turn left, and then move forward, and after one or more attempts, avoid the obstacle to achieve autonomous obstacle avoidance.

[0062] Optionally, the present application does not specifically limit the number of the detection elements 33. The detection of the azimuth angle of the universal wheel 21 by the multiple detection elements 33 includes but is not limited to the following structures and implementations.

[0063] In an alternative embodiment, see Figure 7 The plurality of detection elements 33 include at least a first detection element 33a and a second detection element 33b.

[0064] The first detecting element 33a is configured to generate a first detection signal indicating that the universal wheel 21 is in a first azimuth angle range when receiving a trigger signal from the detected element 32.

[0065] Specifically, in the horizontal reference plane, with the central axis in the front-rear direction of the mobile working device 100 as a reference, the azimuth angle when the central axis points forward is 0°, and the azimuth angle when the central axis points backward is 180°.

[0066] In the horizontal reference plane, the azimuth angle of the line between the first detection element 33a and the first vertical segment 221 of the rotation axis 22 is a first azimuth angle, for example, the first azimuth angle is 0°, or 30°, or 45°, or 60°, or 330°, or 315°, or 300°, etc.

[0067] In this embodiment, the first detection method of the first detection element 33a is that when the center position of the roller surface of the universal wheel 21 is facing the first detection element 33a, the first detection element 33a can receive the trigger signal of the detected element 32 on the universal wheel 21 and output the first detection signal. For example, the azimuth angle of the line between the first detection element 33a and the first vertical section 221 of the rotating shaft 22 is 30°. When the first detection element 33a receives the trigger signal of the detected element 32 and forms the first detection signal, it indicates that the first azimuth angle range of the universal wheel 21 is 30°. At this time, the first azimuth angle range is an angle, that is, the first azimuth angle.

[0068] In this embodiment, the second detection method of the first detection element 33a is that when the center position of the roller surface of the universal wheel 21 is located near the first detection element 33a, the first detection element 33a can receive the trigger signal of the detected element 32 on the universal wheel 21 and output the first detection signal. For example, the azimuth angle of the line between the first detection element 33a and the first vertical section 221 of the rotating shaft 22 is 60°. When the first detection element 33a receives the trigger signal of the detected element 32 and forms the first detection signal, it indicates that the first azimuth angle range of the universal wheel 21 is 30° to 90°. At this time, the first azimuth angle range is an angle range, for example, within the range of plus or minus 30° with the first azimuth angle as the center.

[0069] It should be noted that the above azimuth angle of 60°, the first azimuth angle range of 30° to 90°, and the first azimuth angle range of plus or minus 30° centered on the first azimuth angle are all examples. In actual products, they can be designed according to actual needs.

[0070] The second detecting element 33 b is configured to generate a second detection signal indicating that the universal wheel 21 is in a second azimuth angle range when receiving the trigger signal of the detected element 32 .

[0071] The detection principle between the second detection element 33 b and the detected element 32 is the same as the detection principle between the first detection element 33 a and the detected element 32 .

[0072] Optionally, the first detection element 33a and the second detection element 33b are respectively arranged on opposite sides of the rotating shaft 22. Specifically, the line between the first detection element 33a and the first vertical section 221 of the rotating shaft 22, and the line between the second detection element 33b and the first vertical section 221 of the rotating shaft 22 are respectively located on both sides of the central axis of the front-to-back direction of the mobile working device 100, so as to respectively detect the azimuth angles (traveling direction D1) on both sides of the central axis of the front-to-back direction of the mobile working device 100. Optionally, the detection angle range of each detection element 33 can be 90°, so as to increase the azimuth angle detection range of the universal wheel 21.

[0073] In this embodiment, the first detection method of the second detection element 33b is that when the center position of the roller surface of the universal wheel 21 is facing the second detection element 33b, the second detection element 33b can receive the trigger signal of the detected element 32 on the universal wheel 21 and output the second detection signal. For example, the azimuth angle of the line between the second detection element 33b and the first vertical section 221 of the rotating shaft 22 is 330°. When the second detection element 33b receives the trigger signal of the detected element 32 and forms the second detection signal, it indicates that the second azimuth angle range of the universal wheel 21 is 330°. At this time, the second azimuth angle range is an angle, that is, the second azimuth angle.

[0074] In this embodiment, the second detection method of the second detection element 33b is that when the center position of the roller surface of the universal wheel 21 is located near the second detection element 33b, the second detection element 33b can receive the trigger signal of the detected element 32 on the universal wheel 21 and output the second detection signal. For example, the azimuth angle of the line between the second detection element 33b and the first vertical section 221 of the rotating shaft 22 is 300°. When the second detection element 33b receives the trigger signal of the detected element 32 and forms the second detection signal, it indicates that the second azimuth angle range of the universal wheel 21 is 330° to 270°. At this time, the second azimuth angle range is an angle range, for example, within a range of plus or minus 30° with the second azimuth angle as the center.

[0075] Accordingly, the azimuth angle range detected by the second detection element 33 b is different from that detected by the first detection element 33 a.

[0076] For example, see Figure 8 and Fig. 9 In the horizontal reference plane, the azimuth angle of the line between the first detection element 33a and the first vertical section 221 of the rotation axis 22 is a first azimuth angle, for example, the first azimuth angle is 60°, or 45°, etc. Figure 8 It is a schematic diagram of the chassis 11 with some structures omitted. Fig. 9 It is a schematic diagram of the chassis 11 with some structures omitted.

[0077] For example, see Fig.10 The azimuth angle of the line between the second detection element 33b and the first vertical section 221 of the rotation axis 22 is a second azimuth angle, for example, the second azimuth angle is 300°, or 315°, etc. Fig.10 It is a schematic diagram of the chassis 11 with some structures omitted.

[0078] For another example, the first azimuth angle range is 30° to 90°, and the second azimuth angle range is 330° to 270°.

[0079] Optional, see Fig.11 , the plurality of detection elements 33 further include a third detection element 33c. The line between the third detection element 33c and the rotation axis 22 is located between the first detection element 33a and the second detection element 33b. Optionally, the line between the third detection element 33c and the rotation axis 22 is the central axis of the front-to-back direction of the mobile working device 100. Fig.11 It is a schematic diagram of the chassis 11 with some structures omitted.

[0080] The third detection element 33 c is configured to generate a third detection signal indicating that the universal wheel 21 is in a third azimuth range when receiving the trigger signal of the detected element 32 .

[0081] The detection principle between the third detection element 33 c and the detected element 32 is the same as the detection principle between the first detection element 33 a and the detected element 32 .

[0082] In this embodiment, the first detection method of the third detection element 33c is that when the center position of the roller surface of the universal wheel 21 is facing the third detection element 33c, the third detection element 33c can receive the trigger signal of the detected element 32 on the universal wheel 21 and output the third detection signal. For example, the azimuth angle of the line between the third detection element 33c and the first vertical section 221 of the rotating shaft 22 is 0°. When the third detection element 33c receives the trigger signal of the detected element 32 and forms the third detection signal, it indicates that the third azimuth angle range of the universal wheel 21 is 0°. At this time, the third azimuth angle range is an angle, that is, the third azimuth angle.

[0083] In this embodiment, the third detection method of the third detection element 33c is that when the center position of the roller surface of the universal wheel 21 is located near the third detection element 33c, the third detection element 33c can receive the trigger signal of the detected element 32 on the universal wheel 21 and output the third detection signal. For example, the azimuth angle of the line between the third detection element 33c and the first vertical section 221 of the rotating shaft 22 is 300°. When the third detection element 33c receives the trigger signal of the detected element 32 and forms the third detection signal, it indicates that the third azimuth angle range of the universal wheel 21 is -30° (i.e. 330°) to 30°. At this time, the third azimuth angle range is an angle range, for example, within a range of plus or minus 30° with the third azimuth angle as the center.

[0084] Correspondingly, the azimuth angle ranges detected by the third detection element 33c, the second detection element 33b, and the first detection element 33a are different.

[0085] For example, in the horizontal reference plane, the azimuth angle of the line between the first detection element 33a and the first vertical section 221 of the rotating shaft 22 is a first azimuth angle, for example, the first azimuth angle is 30°, which corresponds to the azimuth of the universal wheel 21 deflected 30° to the left. The azimuth angle of the line between the second detection element 33b and the first vertical section 221 of the rotating shaft 22 is a second azimuth angle, for example, the second azimuth angle is 330°, which corresponds to the azimuth of the universal wheel 21 deflected 30° to the right. The azimuth angle of the line between the third detection element 33c and the first vertical section 221 of the rotating shaft 22 is a third azimuth angle, for example, the third azimuth angle is 0°, which corresponds to the straight-ahead azimuth of the universal wheel 21.

[0086] According to the detection signal of the first detection element 33a, the second detection element 33b, or the third detection element 33c, it can be determined that the current azimuth angle of the universal wheel 21 is 30° left deflection, 30° right deflection, or straight ahead.

[0087] Furthermore, when the self-mobile working equipment 100 encounters an obstacle, the azimuth of the obstacle can be determined to be 30° to the left, 30° to the right, or straight ahead according to the detection signal of the first detection element 33a, the second detection element 33b, or the third detection element 33c.

[0088] For another example, in the horizontal reference plane, the first azimuth angle range that the first detection element 33a can detect is 30° to 90°, which corresponds to the left deflection range of the universal wheel 21. The specific angle range of the left deflection of the universal wheel 21 can correspond to different amplitudes of the first detection signal, that is, the specific angle of the left deflection of the universal wheel 21 is detected according to the different amplitudes of the first detection signal. The second azimuth angle range that the second detection element 33b can detect is 270° to 330°, which corresponds to the right deflection range of the universal wheel 21. The specific angle range of the right deflection of the universal wheel 21 can correspond to different amplitudes of the second detection signal, that is, the specific angle of the right deflection of the universal wheel 21 is detected according to the different amplitudes of the second detection signal. The third azimuth angle range that the third detection element 33c can detect is -30° to 30°, which corresponds to the range near the front of the universal wheel 21. The specific angle range of the area in front of the universal wheel 21 may correspond to different amplitudes of the third detection signal, that is, the specific angle of the area in front of the universal wheel 21 may be detected according to different amplitudes of the third detection signal.

[0089] Any azimuth angle of the current universal wheel 21 can be determined according to the detection signal of the first detection element 33a, the second detection element 33b, or the third detection element 33c.

[0090] Furthermore, when the self-moving working device 100 encounters an obstacle, the current obstacle in each direction can be determined according to the detection signal of the first detection element 33a, the second detection element 33b, or the third detection element 33c.

[0091] Taking the self-mobile working device 100 as a lawn mower as an example, the number of the detection elements 33 is set to three, namely the first detection element 33a, the second detection element 33b and the third detection element 33c. The first detection element 33a is fixed to the left side of the lawn mower, the third detection element 33c is fixed to the front of the lawn mower, and the second detection element 33b is fixed to the right side of the lawn mower.

[0092] See also Figure 8 and Fig. 9 When the lawn mower moves to the left and the universal wheel 21 turns to the left, the first detection element 33a can detect the detected element 32 and generate a first detection signal. At this time, the second detection element 33b and the third detection element 33c cannot detect a signal or the detected signal is less than a preset intensity value, so as to determine that the universal wheel 21 is turning to the left at this time. Fig.11 When the lawn mower moves forward, the third detection element 33c can detect the detected element 32 and generate a third detection signal. At this time, the first detection element 33a and the third detection element 33c cannot detect any signal or the detected signal is less than the preset intensity value, so as to determine that the universal wheel 21 is facing forward at this time. Fig.10When the lawn mower moves to the right, the second detection element 33b can detect the detected element 32 and generate a second detection signal. The first detection signal, the second detection signal and the third detection signal are different voltage signals or current signals. In this way, the detection circuit board 31 can realize the collision detection of the universal wheel 21 in various directions according to the different detection signals received.

[0093] Optionally, during the rolling of the detected element 32 along with the universal wheel 21, the minimum distance between each of the detection elements 33 and the detected element 32 is less than the detection distance threshold of the detection element 33. The maximum distance between each of the detection elements 33 and the detected element 32 is greater than the detection distance threshold of the detection element 33.

[0094] Specifically, when the detected element 32 rolls with the universal wheel 21, when the detected element 32 rotates to the detection distance threshold range of the detection element 33, the detection element 33 can receive the trigger signal of the detected element 32; when the detected element 32 rotates beyond the detection distance threshold of the detection element 33, the detection element 33 cannot receive the trigger signal of the detected element 32, so that the trigger signal received by the detection element 33 during the rolling of the detected element 32 with the universal wheel 21 is a discrete signal, for example, the trigger signal is an analog signal. The amplitude of the trigger signal is related to the distance between the detection element 33 and the detected element 32, for example, it is a linear relationship. The trigger signal received by the detection element 33 forms a detection signal, which can be a digital signal, used to indicate that the universal wheel 21 is in a rotating state or a stopped rotating state.

[0095] Optionally, the detection element 33 is configured to form a fourth detection signal indicating that the universal wheel 21 is in a rotation state when the trigger signal of the detected element 32 received by the detection element 33 is a discrete signal with different amplitudes, and a fourth detection signal is formed at this time, and the fourth detection signal is used to indicate that the universal wheel 21 is in a rotation state. The fourth detection signal can be a high-level signal in the digital pulse signal.

[0096] The detection element 33 is configured to form a fifth detection signal indicating that the universal wheel 21 is in a stopped state when the trigger signal of the detected element 32 received by the detection element 33 is a continuous signal. When the trigger signal of the detected element 32 received by the detection element 33 is a continuous signal with the same amplitude, a fifth detection signal is formed at this time, and the fifth detection signal is used to indicate that the universal wheel 21 is in a stopped state. The fifth detection signal can be a low-level signal in a digital pulse signal.

[0097] Further, the detection circuit board 31 can detect whether the self-mobile working device 100 encounters an obstacle according to the motion state of the universal wheel 21 and the driving wheel. In addition, the rotation speed of the universal wheel 21 is determined according to the frequency when the received trigger signal of the detected element 32 is a discrete signal. When the frequency of the discrete signal is large, it means that the rotation speed of the universal wheel 21 is large, and the moving speed of the self-mobile working device 100 is fast. When the frequency of the discrete signal is small, it means that the rotation speed of the universal wheel 21 is small, and the moving speed of the self-mobile working device 100 is slow.

[0098] In an optional embodiment, the detection element 33 is a Hall sensor. The detected element 32 is a magnet, for example, a magnet. The Hall sensor and the magnet cooperate to detect whether the universal wheel 21 collides with an obstacle and the travel direction D1 of the universal wheel 21.

[0099] Optionally, there are multiple detected elements 32. The multiple detected elements 32 are evenly distributed on the universal wheel 21 along the circumference of the universal wheel 21. In other embodiments, there is one detected element 32.

[0100] Compared with setting the number of detected elements 32 to be one, this embodiment can increase the frequency of the detection element 33 detecting the trigger signal by setting the number of detected elements 32 to be multiple, thereby avoiding the universal wheel 21 being mistakenly determined as a stopped state when it moves slowly, thereby increasing the detection accuracy of encountering obstacles.

[0101] See also Fig.12 , the present application does not specifically limit the number of the detected elements 32. For example, the number of the detected elements 32 is four, which are respectively recorded as the first detected element 32a, the second detected element 32b, the third detected element 32c, and the fourth detected element 32d. The first detected element 32a, the second detected element 32b, the third detected element 32c, and the fourth detected element 32d are evenly spaced along the circumference of the universal wheel 21, that is, the angle between two adjacent detected elements 32 is 90°.

[0102] By setting four detected elements 32 and evenly distributing them along the circumference of the universal wheel 21, the frequency of the detection element 33 detecting the trigger signal can be increased, and the discrete signal can have a certain periodic condition, reducing the calculation complexity of the detection signal. For example, when driving at a constant speed, a periodic trigger signal can be detected. When four trigger signals are detected, it means that the universal wheel 21 rotates one circle, and the detection signal can be obtained as a high-level pulse.

[0103] Optionally, the detected element 32 is disposed close to the roller surface of the universal wheel 21 to reduce the minimum distance between the detecting element 33 and the detected element 32 , thereby improving the detection accuracy of the detecting element 33 receiving the trigger signal of the detected element 32 .

[0104] Furthermore, when the orientation of the universal wheel 21 is consistent with the direction detected by the detection element 33, the orthographic projection of the detection element 33 in the extension direction of the rotation axis 22 is located within the range of the roller surface of the universal wheel 21, further reducing the minimum distance between the detection element 33 and the detected element 32, thereby improving the detection accuracy. Further optionally, when the orientation of the universal wheel 21 is consistent with the direction detected by the detection element 33, the detection element 33 may face the center circle of the roller surface of the universal wheel 21. Further, the detected element 32 may be arranged in the universal wheel 21 and face the center circle of the roller surface, so that the detected element 32 and the detection element 33 can be at least partially opposite.

[0105] Optional, see Figure 4 The self-movable working device 100 also includes a connecting bracket 50 .

[0106] The connecting bracket 50 is fixed to the bottom of the main body 10. The connecting bracket 50 is arranged around the circumference of the rotating shaft 22. The bearing surface of the connecting bracket 50 faces the side where the universal wheel 21 is located, and the side of the detection circuit board 31 where the detection element 33 is not arranged is fixed to the connecting bracket 50. The side of the detection circuit board 31 where the detection element 33 is arranged faces the side where the universal wheel 21 is located, so that the detection element 33 faces the detected element 32 on the universal wheel 21.

[0107] Optional, see Fig. 9 The main body 10 includes a forward end 10a (i.e., the front end mentioned above), a first side edge 10b and a second side edge 10c located on opposite sides of the forward end 10a. The number of the universal wheel assembly 20 and the number of the connecting brackets 50 are both two. One of the connecting brackets 50 is disposed toward the forward end 10a and biased toward the first side edge 10b, and the other of the connecting brackets 50 is disposed toward the forward end 10a and biased toward the second side edge 10c.

[0108] Optional, see Figure 7 The detection circuit board 31 is arranged around the rotating shaft 22 in a bent shape. For example, the detection circuit board 31 is roughly U-shaped. The two ends of the detection circuit board 31 are respectively located on both sides of the rotating shaft 22. At least one end of the detection circuit board 31 is provided with the detection element 33, so that the detection circuit board 31 can reduce the size of the circuit board as much as possible while providing multiple detection elements 33, save costs and reduce the space occupied by the detection circuit board 31.

[0109] Optional, see Figure 7 , the two ends of the detection circuit board 31 are respectively provided with a first detection element 33a and a second detection element 33b, and the detection circuit board 31 is also provided with a third detection element 33c located between the first detection element 33a and the second detection element 33b. Such a design can realize that the detection circuit board 31 is provided with the first detection element 33a, the second detection element 33b and the third detection element 33c, while reducing the size of the circuit board as much as possible, saving costs and reducing the space occupied by the detection circuit board 31.

[0110] The following is an example of a specific way of installing the detected element 32 in the universal wheel 21 in conjunction with the drawings. It should be noted that the way of installing the detected element 32 in the universal wheel 21 includes but is not limited to the following implementation methods.

[0111] For details, please refer to Fig.12 and Fig.13 The universal wheel 21 includes a hub 211 and a tire 227, wherein the tire 227 covers and is bonded to the outer peripheral surface of the hub 211. The hub 211 includes an outer ring body 212, an inner ring body 213, a first connecting plate 214 and a second connecting plate 215.

[0112] See also Fig.12 and Fig.13 The tire 227 is arranged on the outer circumference of the outer ring body 212, the inner ring body 213 is arranged inside the outer ring body 212, the first connecting plate 214 is located between the outer ring body 212 and the inner ring body 213 and is integrally formed with the outer ring body 212 and the inner ring body 213, and the second connecting plate 215 is arranged between the inner ring body 213 and the central axis of the universal wheel 21 and is integrally formed with the central axis of the universal wheel 21 and the inner ring body 213. A groove 216 is arranged on the inner wall of the outer ring body 212, and one end of the detected element 32 is accommodated in the groove 216. A protrusion 217 protruding toward the outer ring body 212 is arranged on the inner ring body 213 at a position facing the groove 216, and the other end of the detected element 32 abuts against the protrusion 217, so that the detected element 32 is tightly fitted and installed in the universal wheel 21. Since one end of the detected element 32 is provided in the groove 216 of the outer ring body 212, one end of the magnet is close to the roller surface of the universal wheel 21. This makes it easy to reduce the minimum distance between the detected element 32 and the detection element 33, thereby improving the detection accuracy of the detection element 33 receiving the trigger signal of the detected element 32.

[0113] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in the field can change, modify, replace and modify the above embodiments within the scope of the present application, and these improvements and modifications are also regarded as the scope of protection of the present application.

Claims

1. A self-moving working device, characterized in that: The self-mobile working equipment comprises: main body; A universal wheel assembly is arranged at the bottom of the main body, and the universal wheel assembly comprises a universal wheel and a rotating shaft connected thereto; A motion detection component, comprising a detection circuit board, a detected element and a plurality of detection elements, wherein the detection circuit board is arranged in the main body, the plurality of detection elements are arranged on the detection circuit board and are respectively electrically connected thereto, and the detected element is arranged in the universal wheel to follow its movement; The plurality of detection elements are respectively located in different travel directions of the self-moving working device, and the detection circuit board can detect the motion state and / or travel direction of the universal wheel according to the detection signals of the plurality of detection elements.

2. The self-moving working device according to claim 1, characterized in that: The multiple detection elements include a first detection element and a second detection element. The first detection element is configured to form a first detection signal indicating that the universal wheel is in a first azimuth angle range when receiving a trigger signal from the detected element; the second detection element is configured to form a second detection signal indicating that the universal wheel is in a second azimuth angle range when receiving a trigger signal from the detected element. The first detection element and the second detection element are respectively arranged on opposite sides of the rotating shaft.

3. The self-moving working device according to claim 2, characterized in that: The multiple detection elements also include a third detection element, which is configured to form a third detection signal indicating that the universal wheel is in a third azimuth angle range when receiving a trigger signal from the detected element; a connecting line between the third detection element and the rotating axis is located between the first detection element and the second detection element.

4. The self-moving working device according to any one of claims 1 to 3, characterized in that: In the process that the detected element rolls with the universal wheel, the minimum distance between each of the detection elements and the detected element is less than the detection distance threshold of the detection element, and the maximum distance between each of the detection elements and the detected element is greater than the detection distance threshold of the detection element; The detection element is configured to form a fourth detection signal indicating that the universal wheel is in a rotating state when the trigger signal received from the detected element is a discrete signal; the detection element is configured to form a fifth detection signal indicating that the universal wheel is in a stopped state when the trigger signal received from the detected element is a continuous signal.

5. The self-moving working device according to any one of claims 1 to 3, characterized in that: The detecting element is a Hall sensor, and the detected element is a magnet.

6. The self-moving working device according to any one of claims 1 to 3, characterized in that: The number of the detected elements is multiple, and the multiple detected elements are evenly distributed on the universal wheel along the circumference of the universal wheel.

7. The self-moving working device according to any one of claims 1 to 3, characterized in that: The detected element is arranged close to the roller surface of the universal wheel. When the orientation of the universal wheel is consistent with the detection direction of the detection element, the orthographic projection of the detection element in the extension direction of the rotating shaft is located within the range of the roller surface of the universal wheel.

8. The self-moving working device according to any one of claims 1 to 3, characterized in that: The self-moving working device also includes a connecting bracket, which is fixed to the bottom of the main body and arranged around the circumference of the rotating shaft. The side of the detection circuit board where the detection element is not arranged is fixed to the connecting bracket.

9. The self-moving working device according to claim 8, characterized in that: The main body includes a forward end, a first side edge and a second side edge located on opposite sides of the forward end; the number of the universal wheel assembly and the number of the connecting brackets are both two, one of the connecting brackets is arranged toward the forward end and biased toward the first side edge, and the other connecting bracket is arranged toward the forward end and biased toward the second side edge.

10. The self-moving working device according to claim 9, characterized in that: The detection circuit board is arranged around the rotating shaft in a bent shape, two ends of the detection circuit board are respectively located on both sides of the rotating shaft, and the detection element is provided at least at one end of the detection circuit board.

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