Collision detection assembly and mowing robot

Abstract

The utility model relates to the technical field of robots, and particularly discloses a collision detection assembly and a mowing robot. The collision detection assembly comprises a fixing frame, a sensor assembly and a collision transmission piece, and the sensor assembly is used for detecting the change of the collision transmission piece; the impact transmission piece at least comprises two touch rods, the touch rods are movably arranged on the fixing frame, and an extension section and a matching cavity in clearance fit with the extension section are arranged between every two adjacent touch rods. According to the collision detection assembly, a multi-touch-rod combination is adopted, and a telescopic structure and an elastic piece are combined, so that the detection sensitivity and the direction recognition capability are improved, and the adaptability and the self-resetting function are enhanced; and through a clearance fit mechanism of the matching cavity and the extension section, the detection precision and stability in a complex environment are further improved. The collision detection assembly is applied to the mowing robot, collision damage is effectively reduced, the maintenance cost is reduced, and the overall operation efficiency and safety are improved.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, and more specifically to a collision detection component and a lawn mowing robot. Background Art

[0002] With the support of artificial intelligence and Internet of Things technologies, the intelligence level of lawn mower robots is constantly improving, mainly reflected in how to achieve functions such as global planning, path optimization and autonomous obstacle avoidance. The application of these technologies not only improves the working efficiency and safety of lawn mower robots, but also greatly reduces the operating burden of users. Among them, the autonomous obstacle avoidance or collision detection function can effectively prevent obstacles from scratching the robot shell or damaging internal parts such as blades, motors, and transmission systems, reducing maintenance costs and extending service life.

[0003] Obstacles include but are not limited to fences, tree trunks, walls, stones, etc. They may appear in the path of the mowing robot, posing potential threats from multiple angles such as the front, side, and even below. Secondly, outdoor lawns are often accompanied by multiple factors such as undulating terrain, changing slopes, and dense vegetation. The complexity of the working environment further increases the difficulty of obstacle avoidance for the mowing robot. In addition, weather conditions such as rainy days and foggy days will also affect the robot's vision and sensor performance, making obstacle avoidance more difficult.

[0004] To address the above issues, existing lawn mowing robots generally use sensor technology and algorithm processing technology to quickly determine the location and distance of obstacles. However, how to deal with collisions at different angles in different environments and achieve accurate and stable obstacle avoidance is still a difficult and hot topic in current technology research and development. Utility Model Content

[0005] The utility model aims to overcome at least one of the deficiencies of the above-mentioned prior art and provides a collision detection component and a lawn mowing robot, which are used to solve the problem that the existing collision detection component has poor detection effect when facing collisions at different angles.

[0006] The technical solution adopted by the utility model is to provide a collision detection component, including a fixing frame, a sensor component and an impact transmission member, wherein the sensor component is used to detect changes in the impact transmission member; the impact transmission member includes at least two touch rods, the touch rods are movably arranged on the fixing frame, and an extension section is respectively provided between two adjacent touch rods, and a matching cavity that forms a clearance match with the extension section.

[0007] The impact transmission component composed of more than two touch rods is different from the traditional integrated design, which makes the combination of the impact transmission component flexible and can more sensitively transmit impacts in different directions and angles; the unit of the touch rod is reduced to avoid the sensitivity reduction caused by local deformation of the integrated impact transmission component; the mutual connection between the multiple touch rod combinations is formed by the extension section and the matching cavity, so that the overall detection effect is better.

[0008] Furthermore, the impact transmission member includes three touch rods, and the touch rods include: a forward touch rod arranged in the middle, and two lateral touch rods arranged on both sides of the forward touch rod. This solution separates the detection of common side collision and frontal collision in a related manner through a three-stage design, which is more suitable for different collisions to cause different changes in the touch rods, and is conducive to identifying the collision direction while triggering the sensor assembly.

[0009] Furthermore, the forward touch rod is rotatably connected to the fixing frame. The design of the rotatable connection is conducive to the forward touch rod detecting the collision caused by the obstacle below, improving the adaptability and detection effect, and can rotate after the collision to reduce the extrusion deformation, and can also use its own weight to reset itself.

[0010] Furthermore, a telescopic structure is provided on the fixing frame, and the lateral touch rod is connected to the fixing frame through the telescopic structure. The telescopic structure is provided with an elastic member, and the touch rod triggers the sensor assembly through the telescopic structure. The telescopic structure can better adapt to side collisions. The elastic member is used for self-reset of the lateral touch rod on the one hand, and for protection on the other hand. The telescopic structure itself can realize good drive of the sensor assembly, simplifying the detection design.

[0011] Furthermore, both sides of the forward touch rod are provided with extension sections, and the side collision rod is provided with matching cavities on both sides close to the forward touch rod; an opening connected to the outside is formed on one side of the matching cavity close to the forward touch rod, and the opening extends to the bottom surface of the side collision rod, and / or a gap is left between the forward touch rod and the side collision rod. The setting of the opening, on the one hand, enables the extension section and the matching cavity to form a lateral retractable connection, thereby pulling the forward collision rod and the other side collision rod when the side collision rod is hit; on the other hand, the extension section can lift the two side collision rods from below, so that the forward collision rod can match with the side collision rod when it flips over. The setting of the gap ensures that the various touch rods do not interfere with each other except for the connection between the extension sections.

[0012] Furthermore, an inclined surface is provided at the lower part of the forward touch rod, and the side of the inclined surface away from the fixing frame is higher than the side close to the fixing frame. The inclined surface helps to better adapt to the collision of obstacles below.

[0013] Furthermore, the sensor assembly includes at least two detection points, and the detection points detect the two touch rods respectively. More than two detection points can ensure the accuracy of touch detection, and more recognition functions can be realized through the mutual combination of touch points, thereby improving the detection effect.

[0014] Furthermore, the extension section is at least partially located in the matching cavity; a gap is left between the extension section and the inner side of the matching cavity; when the relative position change between two adjacent touch rods exceeds a preset value, the extension section and the inner wall of the matching cavity are abutted to form a pull, so that both touch rods can trigger the sensor assembly. Through the gap and abutment between the inner wall of the matching cavity and the extension section, it can better meet the detection accuracy requirements in complex environments such as grassland, and take into account the correlation and relative independence between the touch rods.

[0015] Another object of the utility model is to provide a lawn mower robot, comprising a body and a moving wheel arranged at the lower part of the body, wherein the body is provided with a collision detection assembly as described above. The collision detection assembly can effectively solve the detection requirements of the lawn mower robot when it touches at different angles, and reduce damage to the lawn mower robot.

[0016] Furthermore, the fixing frame is connected to the body, the touch rod is arranged in front of the body; the sensor assembly is arranged in the body; one end of the touch rod extends outside the moving wheel and forms a shield in front of the moving wheel. The part of the collision detection assembly except the sensor assembly is arranged in front of the lawn mower robot, which can achieve a better detection effect. One end of the touch rod extends outside the moving wheel, which can not only expand the detection range of the touch, but also help protect the moving wheel.

[0017] Compared with the prior art, the beneficial effects of the utility model are:

[0018] The utility model provides a collision detection component, which adopts a combination of multiple touch rods and a flexible connection structure, effectively solving the problem of insufficient sensitivity of the traditional integrated design and realizing accurate perception of multi-directional collisions. In particular, the three-section touch rod design, combined with the application of telescopic structure and elastic parts, not only improves the detection sensitivity and direction recognition ability, but also enhances the adaptability and self-reset function. In addition, through the clearance matching mechanism between the matching cavity and the extension section, the detection accuracy and stability in complex environments are further improved. Applying this collision detection component to a lawn mower robot significantly improves the detection effect of the lawn mower robot when facing collisions at different angles, effectively reduces collision damage, reduces maintenance costs, and improves overall operating efficiency and safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a structural schematic diagram of the collision detection component provided by the utility model.

[0020] Figure 2 This is a schematic diagram of the bottom surface of the collision detection component provided by the utility model.

[0021] Figure 3 This is a side schematic diagram of the collision detection component provided by the utility model.

[0022] Explanation of reference numerals: fixing frame 100 , sensor assembly 200 , impact transmission member 300 , forward touch rod 310 , lateral touch rod 320 , extension section 330 , matching cavity 340 . DETAILED DESCRIPTION

[0023] The drawings of the present invention are only used for illustrative purposes and cannot be construed as limiting the present invention. In order to better illustrate the following embodiments, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of the actual product; for those skilled in the art, it is understandable that some well-known structures and their descriptions in the drawings may be omitted.

[0024] like Figure 1 and Figure 2 As shown, this embodiment provides a lawn mowing robot, including a main body and a moving wheel arranged at the lower part of the main body, and a collision detection component is arranged on the main body. The figure only shows the chassis of the front half of the main body and two moving wheels. The collision detection component includes a fixed frame 100, a sensor component 200 and an impact transmission member 300, and the sensor component 200 is used to detect the change of the impact transmission member 300; the impact transmission member 300 includes three touch rods, and the touch rod includes a forward touch rod 310 arranged in the middle, and two lateral touch rods 320 respectively arranged on both sides of the forward touch rod 310; the touch rod is movably arranged on the fixed frame 100, and an extension section 330 is respectively provided between two adjacent touch rods, and a matching cavity 340 that forms a clearance fit with the extension section 330. The three-section impact transmission component 300 is different from the traditional one-piece design. It separates the detection of common side collision and frontal collision in a related manner, and can more sensitively transmit collisions in different directions and angles; the unit of the touch rod is reduced to avoid the one-piece impact transmission component 300 being affected by local deformation and causing a decrease in sensitivity; the extension section 330 and the matching cavity 340 form an interconnection between the multiple touch rod combinations, so that the overall detection effect is better.

[0025] The forward touch rod 310 is rotatably connected to the fixing frame 100. The design of the rotatable connection is conducive to the forward touch rod 310 detecting the collision caused by the obstacle below, improving the adaptability and detection effect, and can rotate after the collision to reduce the extrusion deformation, and can also use its own weight to reset itself.

[0026] The fixing frame 100 is provided with a telescopic structure, and the lateral touch rod 320 is connected to the fixing frame 100 through the telescopic structure. The telescopic structure is provided with an elastic member, and the touch rod triggers the sensor assembly 200 through the telescopic structure. The telescopic structure can better adapt to the side collision. The elastic member is used for self-reset of the lateral touch rod 320 on the one hand, and for protection on the other hand. The telescopic structure itself can realize good drive of the sensor assembly 200, simplifying the detection design.

[0027] The two sides of the forward touch rod 310 are provided with extension sections 330, and the two sides of the side collision rod close to the forward touch rod 310 are provided with matching cavities 340; the side of the matching cavity 340 close to the forward touch rod 310 forms an opening connected to the outside, and the opening extends to the bottom surface of the side collision rod. The setting of the opening, on the one hand, enables the extension section 330 and the matching cavity 340 to form a lateral telescopic connection, so that the forward collision rod and the other side collision rod are pulled when the side collision rod is hit; on the other hand, the extension section 330 can lift the two side collision rods from the bottom, so that the forward collision rod can match with the side collision rod when it is flipped.

[0028] There is a gap between the forward contact rod 310 and the side impact rod 310. The setting of the gap makes the contact rods not interfere with each other except the connection of the extension section 330.

[0029] like Figure 1 and Figure 3 As shown, the lower part of the impact transmission member 300 is provided with an inclined surface, and the side of the inclined surface away from the fixing frame 100 is higher than the side close to the fixing frame 100. The inclined surface helps to better adapt to the collision of obstacles below.

[0030] The sensor assembly 200 includes at least two detection points, and the detection points detect two touch rods respectively. More than two detection points can ensure the accuracy of touch detection, and more recognition functions can be achieved through the combination of touch points to improve the detection effect.

[0031] The extension section 330 is partially located in the matching cavity 340; a gap is left between the extension section 330 and the inner side of the matching cavity 340; when the relative position change between two adjacent touch rods exceeds a preset value, the extension section 330 and the inner wall of the matching cavity 340 are abutted to form a pull, so that both touch rods can trigger the sensor assembly 200. Through the gap and abutment between the inner wall of the matching cavity 340 and the extension section 330, it can better meet the detection accuracy requirements in complex environments such as grassland, and take into account the correlation and relative independence between the touch rods.

[0032] Obviously, the above embodiments of the utility model are only examples for clearly explaining the technical solution of the utility model, and are not intended to limit the specific implementation methods of the utility model. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the claims of the utility model shall be included in the protection scope of the claims of the utility model.

Claims

1. A collision detection assembly, comprising a fixing frame, a sensor assembly and an impact transmission member, wherein the sensor assembly is used to detect changes in the impact transmission member; characterized in that: The impact transmission member comprises at least two touch rods, which are movably arranged on the fixing frame. An extension section and a matching cavity which forms a clearance match with the extension section are respectively arranged between two adjacent touch rods.

2. A collision detection component according to claim 1, characterized in that: The impact transmission member includes three touch rods, and the touch rods include: a forward touch rod arranged in the middle, and two lateral touch rods respectively arranged on both sides of the forward touch rod.

3. A collision detection component according to claim 2, characterized in that: The positive touch rod is rotatably connected to the fixing frame.

4. A collision detection component according to claim 2, characterized in that: The fixing frame is provided with a telescopic structure, and the lateral touch rod is connected to the fixing frame through the telescopic structure; the telescopic structure is provided with an elastic member, and the touch rod triggers the sensor assembly through the telescopic structure.

5. A collision detection component according to claim 2, characterized in that: Both sides of the forward touch rod are provided with extended sections, and the lateral touch rod is provided with matching cavities on both sides close to the forward touch rod; an opening connected to the outside is formed on one side of the matching cavity close to the forward touch rod, and the opening extends to the bottom surface of the lateral touch rod; and / or a gap is left between the forward touch rod and the lateral touch rod.

6. A collision detection assembly according to any one of claims 2 to 5, characterized in that: An inclined surface is provided at the lower portion of the forward touch rod, and a side of the inclined surface away from the fixing frame is higher than a side close to the fixing frame.

7. A collision detection assembly according to any one of claims 1 to 5, characterized in that: The sensor assembly includes at least two detection points, and the detection points detect two touch rods respectively.

8. A collision detection assembly according to any one of claims 2 to 5, characterized in that: The extension section is at least partially located in the matching cavity; a gap is left between the extension section and the inner side surface of the matching cavity; when the relative position change between two adjacent touch rods exceeds a preset value, the extension section abuts against the inner wall of the matching cavity to form a pulling force, so that both touch rods can trigger the sensor assembly.

9. A lawn mowing robot, comprising a body and a moving wheel arranged at the lower part of the body, characterized in that: The main body is provided with a collision detection component as claimed in any one of claims 1 to 8.

10. The lawn mowing robot according to claim 9, characterized in that: The fixing frame is connected to the body, the touch rod is arranged in front of the body; the sensor assembly is arranged in the body; one end of the touch rod extends outside the moving wheel and forms a shield in front of the moving wheel.

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