Obstacle recognition system applied to self-moving equipment

Abstract

The utility model discloses an obstacle identification system applied to a self-moving device. The obstacle identification system comprises a control unit; the plurality of identification sensors are electrically connected with the control unit through a multi-path radio frequency switch, and the identification range of each identification sensor relative to the self-moving equipment is inconsistent; and the main controller is electrically connected with the control unit and is used for controlling the control unit to start the start and stop conditions of the plurality of identification sensors. According to the scheme, the multiple identification sensors are arranged on the self-moving equipment, the multiple identification sensors connected with the controller are controlled through the main controller, and the identification ranges of all the identification sensors are inconsistent, so that a movable part and a driving motor in the prior art are not used, the cost is saved, and the efficiency is improved. Meanwhile, each identification sensor is provided with a corresponding identification range in advance, mutual interference is avoided, the identification range is not limited by the rotation angle, and the identification ranges of all the identification sensors form a large identification range.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of self -moving equipment especially, a kind of obstacle identification system applied to self -moving equipment. BACKGROUND

[0002] Self -moving equipment as high intelligent device, it can be applied to multiple yard scene, such as mowing scene and snow scene, wherein, yard robot is equipped with ultrasonic sensor to identify outdoor obstacle.The current technical solution to broaden the angle of recognition, ultrasonic sensor is connected with movable element, and movable element is rotated by driving motor, so as to realize the multi-angle recognition of ultrasonic sensor in a certain range.However, this method has two main problems: one is that the introduction of movable element and driving motor increases overall cost;Second, due to the limitation of rotation angle, it is difficult to achieve comprehensive large-scale recognition in some cases.

[0003] Therefore, the person skilled in the art needs to find a new technical solution to solve the above problems. UTILITY MODEL CONTENT

[0004] The utility model embodiment provides a kind of obstacle identification system applied to self -moving equipment, to solve the technical problems of higher cost in the identification of obstacle in existing self -moving equipment and unable to large-scale identification.

[0005] To achieve the above object, provide a kind of obstacle identification system applied to self -moving equipment, the obstacle identification system applied to self -moving equipment includes:

[0006] Control unit;

[0007] Multiple identification sensors are electrically connected with the control unit by multiple radio frequency switches, and the identification range of each identification sensor is inconsistent with respect to self -moving equipment;

[0008] Main controller, electrically connected with the control unit, for controlling the control unit starts multiple identification sensors start-stop condition.

[0009] Optionally, the multifunctional signal pin in the control unit is electrically connected to the control pin in the multiple radio frequency switches.

[0010] Optionally, the control pin includes one radio frequency input pin and multiple radio frequency output pins;The number of radio frequency output pins is determined with the number of channels of the multiple radio frequency switches.

[0011] Optionally, the multifunctional signal pin in the control unit transmits control signal to the radio frequency input pin in the multiple radio frequency switches, and the control signal is used to switch to the radio frequency output pin of corresponding channel.

[0012] Optionally, the multi-path radio frequency switch comprises a radio frequency input port and a radio frequency output port, the radio frequency input port is electrically connected to a radio frequency signal source, and the radio frequency output port is electrically connected to a corresponding radio frequency load.

[0013] Optionally, a first general input and output pin in the control unit is electrically connected to a trigger control signal input pin in the identification sensor, and a second general input and output pin in the control unit is electrically connected to a echo signal output pin in the identification sensor.

[0014] Optionally, the main controller is electrically connected to the control unit through a serial port, and the main controller controls the control unit to control the plurality of identification sensors to identify in different identification ranges.

[0015] Optionally, a VCC pin in the control unit is electrically connected to a power output pin in the main control chip, and a GND pin in the control power supply is electrically connected to a ground pin in the main control chip.

[0016] Optionally, the control unit is arranged on a vehicle head of the self-moving device, and the main controller is arranged on a vehicle body of the self-moving device.

[0017] The obstacle identification system for the self-moving device comprises a control unit, a plurality of identification sensors electrically connected to the control unit through a multi-path radio frequency switch, and a main controller electrically connected to the control unit and used for controlling the control unit to start and stop the plurality of identification sensors. According to the scheme, the plurality of identification sensors are arranged on the self-moving device, and the main controller is used for controlling the plurality of identification sensors connected to the control unit, wherein the identification ranges of the identification sensors are different. In this way, the movable part and the driving motor in the prior art are not used, cost is saved, the identification ranges of the identification sensors are set in advance, the identification sensors do not interfere with each other and are not limited by the rotation angle, and the identification ranges of all the identification sensors form a larger identification range. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the technical scheme of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the description of the embodiments of the present application. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0019] Figure 1 is a schematic diagram of the obstacle identification system for the self-moving device in an embodiment of the present application;

[0020] Figure 2 is another schematic view of the obstacle recognition system applied to the self-moving device in an embodiment of the utility model;

[0021] Figure 3 is another schematic view of the obstacle recognition system applied to the self-moving device in an embodiment of the utility model.

[0022] In the drawing: 1, the obstacle recognition system applied to the self-moving device; 2, control unit; 201, multifunctional signal pin; 202, first general input and output pin; 203, second general input and output pin; 204, VCC pin; 205, GND pin; 3, recognition sensor; 301, trigger control signal input pin; 302, echo signal output pin; 4, multi-path radio frequency switch; 401, control pin; 4011, radio frequency input pin; 4012, radio frequency output pin; 402, radio frequency input port; 403, radio frequency output port; 5, main controller; 501, power output pin; 502, ground pin. DETAILED DESCRIPTION

[0023] The technical solutions in the embodiments of the utility model will be described clearly and completely in conjunction with the drawings in the embodiments of the utility model. Obviously, the described embodiments are part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the utility model.

[0024] It should be understood that the utility model can be implemented in different forms, and should not be interpreted as being limited to the embodiments presented here. On the contrary, the presentation of these embodiments will make the disclosure complete and complete, and will fully convey the scope of the utility model to those skilled in the art.

[0025] In order to thoroughly understand the utility model, detailed structures and steps will be presented in the following description in order to explain the technical solutions presented by the utility model. The preferred embodiments of the utility model are described in detail as follows, however, in addition to these detailed descriptions, the utility model can have other implementation manners.

[0026] As Figures 1 to 3 shown, the embodiment provides an obstacle recognition system 1 applied to the self-moving device, which comprises:

[0027] a control unit 2;

[0028] a plurality of recognition sensors 3, which are electrically connected with the control unit 2 through a multi-path radio frequency switch 4, and the recognition range of each recognition sensor 3 is inconsistent with respect to the self-moving device;

[0029] The main controller 5 is electrically connected to the control unit 2 and is used to control the start and stop status of the multiple identification sensors 3 by the control unit 2.

[0030] The control unit 2 can be a secondary controller (MCU) installed on the front of the vehicle (not shown). It is controlled by the main controller 5 and can accept the control of the main controller 5 to control components (not shown) and / or functions on the front of the vehicle (not shown), such as controlling the snow-rolling module on the front of the vehicle (not shown) to perform snow-rolling operations, controlling the lawn-mowing module on the front of the vehicle (not shown) to perform lawn-mowing operations, and controlling the identification sensor 3 on the front of the vehicle (not shown) to activate its sensing function. The identification sensor 3 can be one or more types of obstacle-identifying sensors, such as infrared sensors and ultrasonic sensors. It can be installed at a high point on the front of the self-moving vehicle or at other identifiable locations. In this embodiment, multiple identification sensors 3 can be arranged around the side of the front of the vehicle (not shown). Each of the identification sensors 3 has a corresponding recognition range at its installation location on the self-moving device. For example, the recognition range of identification sensor 3 A is 0-30 degrees, and the recognition range of identification sensor 3 B is 30-60 degrees. Thus, a corresponding number of identification sensors 3 can be set according to the recognition range of the sensors, such as setting multiple identification sensors 3 within the range of 0-180 degrees. The multi-channel radio frequency switch 4 is a core component in the field of wireless communication, covering the frequency band from 3kHz to 300GHz. It has functions such as multiplexing, power management, and signal switching. The main controller 5 can be a main controller 5 installed on the vehicle body. It can control the functions installed on the front and body parts or / and the front of the vehicle body, such as controlling the walking parts at the bottom of the vehicle body to perform walking operations, and controlling the identification sensor 3 on the rear of the vehicle body to activate the sensing function, etc.

[0031] In this embodiment, multiple identification sensors 3 are set on the self-moving device, and the main controller 5 controls the multiple identification sensors 3 connected to the controller. The identification range of each identification sensor 3 is different. In this way, the moving parts and drive motors in the prior art can be eliminated, saving costs. At the same time, each identification sensor 3 is preset with a corresponding identification range, so they do not interfere with each other and are not limited by the rotation angle. The identification ranges of all identification sensors 3 form a large identification range.

[0032] like Figure 2 As shown, in one embodiment, the multifunction signal pin 201 in the control unit 2 is electrically connected to the control pin 401 in the multiplex RF switch 4.

[0033] The multifunctional signal pin 201 is used to switch the channel of the multi-path radio frequency switch 4, which can be considered as an IO port in the control unit 2. The multifunctional signal pin 201 in the control unit 2 is electrically connected to the control pin 401 in the multi-path radio frequency switch 4 to realize the matching of the control signals and ensure the normal transmission of the control signals.

[0034] As shown in Figure 2 and Figure 3 , in an embodiment, the control pin 401 includes one radio frequency input pin 4011 and a plurality of radio frequency input pins 4012. The number of the radio frequency input pins 4012 is determined according to the number of channels of the multi-path radio frequency switch 4.

[0035] The radio frequency input pin 4011 is used to receive a radio frequency signal. The number of the plurality of radio frequency input pins 4012 depends on the number of channels of the radio frequency switch. For example, a single-pole double-throw (SPDT) radio frequency switch has two radio frequency input pins 4012, while a single-pole four-throw (SP4T) radio frequency switch has four radio frequency input pins 4012.

[0036] In addition, the multi-path radio frequency switch 4 can include a positive electrode (not shown) and a negative electrode (not shown) electrically connected to a working power supply.

[0037] As shown in Figure 2 and Figure 3 , in an embodiment, the multifunctional signal pin 201 in the control unit 2 transmits a control signal to the radio frequency input pin 4011 in the multi-path radio frequency switch 4. The control signal is used to switch to the corresponding channel radio frequency input pin 4012.

[0038] The control signal can be a switching signal issued by the control unit 2. Through the signal, the multi-path radio frequency switch 4 can switch to the corresponding channel radio frequency input pin 4012 at any time, or switch according to the corresponding signal receiving sequence to complete the switching of all channels of the multi-path radio frequency switch 4.

[0039] As shown in Figure 2 , in an embodiment, the multi-path radio frequency switch 4 includes a radio frequency input port 402 and a radio frequency output port 403. The radio frequency input port 402 is electrically connected to a radio frequency signal source (not shown), and the radio frequency output port 403 is electrically connected to a corresponding radio frequency load (not shown).

[0040] The radio frequency input port 402 of the multi-path radio frequency switch 4 is connected to a radio frequency signal source (such as an antenna, a signal generator, etc.), and the radio frequency output port 403 of the multi-path radio frequency switch 4 is connected to a corresponding radio frequency load (such as a receiver, a measuring device, etc.).

[0041] As shown in Figure 2As shown, in one embodiment, the first general-purpose input / output pin 202 of the control unit 2 is electrically connected to the trigger control signal input pin 301 of the identification sensor 3, and the second general-purpose input / output pin 203 of the control unit 2 is electrically connected to the echo signal output pin 302 of the identification sensor 3.

[0042] Among them, the first general-purpose input / output pin 202 can be a GPIO (general-purpose input / output) pin, the second general-purpose input / output pin 203 can also be a GPIO (general-purpose input / output) pin, the trigger control signal input pin 301 can be a TRIG pin, and the echo signal output pin 302 can be an ECHO pin. TRIG is the trigger control signal input pin 301. When a high-level signal of more than 10μs is provided to the TRIG pin, the identification sensor 3 will automatically emit ultrasonic pulses (usually 8 square waves of 40KHz). ECHO is the echo signal output pin 302. When the identification sensor 3 successfully emits ultrasonic waves, the ECHO pin will become high and remain high until the sensor receives the echo. The duration of the high level of the ECHO pin is the time from the emission to the return of the ultrasonic wave.

[0043] In this embodiment, after the control unit 2 is electrically connected to the multiplex RF switch 4, the first general-purpose input / output pin 202 in the control unit 2 is electrically connected to the trigger control signal input pin 301 in the identification sensor 3 and set to output mode. The second general-purpose input / output pin 203 in the control unit 2 is electrically connected to the echo signal output pin 302 in the identification sensor 3 and set to input mode.

[0044] The specific working principle is as follows: Control unit 2 sends a trigger signal to identification sensor 3 through the TRIG pin; after receiving the trigger signal, identification sensor 3 automatically emits a pulse; the pulse propagates in the air and is reflected back after encountering an obstacle; after identification sensor 3 receives the echo, the ECHO pin becomes high level; control unit 2 starts timing until the ECHO pin becomes low level; control unit 2 calculates the distance based on the timing result and the speed of sound.

[0045] like Figures 1 to 3 As shown, in one embodiment, the main controller 5 and the control unit 2 are electrically connected via a serial port, and the main controller 5 controls the multiple identification sensors 3 to perform identification within different identification ranges by controlling the control unit 2.

[0046] The main controller 5 and the control unit 2 can be electrically connected via a serial port, which can be UART (Universal Asynchronous Receiver / Transmitter), SPI (Serial Peripheral Interface), I2C (Two-Wire Serial Bus), etc. The control unit 2 needs to send control signals or receive status indications to the main controller 5. The corresponding control unit 2 pins can be connected to the general-purpose input / output pins of the main controller 5 to ensure that the level and logic of the control signals are compatible with the main controller.

[0047] This embodiment can control some of the multiple identification sensors 3 to perform identification after startup, or it can control multiple identification sensors 3 to perform identification sequentially in a preset order.

[0048] like Figure 2 As shown, in one embodiment, the VCC pin 204 in the control unit 2 is electrically connected to the power output pin 501 in the main control chip, and the GND pin 205 in the control power supply is electrically connected to the ground pin 502 in the main control chip.

[0049] Among them, the VCC (or VDD) pin of control unit 2 is connected to the power output pin 501 of the main control chip, and the GND pin 205 of control unit 2 is connected to the ground pin 502 of the main control chip; the power supply voltage range of control unit 2 is usually wide, such as 3.3V.

[0050] This embodiment ensures that the power supply voltages of the control unit 2 and the main control chip are compatible.

[0051] In addition, the VCC and GND of the identification sensor 3 are connected to the power supply and ground pins 502 of the control unit, respectively.

[0052] In one embodiment, the control unit 2 is disposed on the front of the self-moving device (not shown), and the main controller 5 is disposed on the body of the self-moving device (not shown).

[0053] The front of the vehicle (not shown) and the body (not shown) each have their own controllers. There is a primary and secondary relationship between the two controllers, and each controller can send out corresponding control signals to control the corresponding components.

[0054] The above-described embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this utility model, and should all be included within the protection scope of this utility model.

Claims

1. An obstacle recognition system for self-moving devices, characterized in that, include: Control unit; Multiple identification sensors are electrically connected to the control unit via multiple radio frequency switches, and the identification range of each identification sensor relative to the self-moving device is different; The main controller, electrically connected to the control unit, is used to control the start and stop status of the multiple identification sensors initiated by the control unit.

2. The obstacle recognition system for self-moving devices as described in claim 1, characterized in that, The multi-function signal pin in the control unit is electrically connected to the control pin in the multi-channel RF switch.

3. The obstacle recognition system for self-moving devices as described in claim 2, characterized in that, The control pin includes one RF input pin and multiple RF output pins; the number of RF output pins is determined by the number of channels of the multiplex RF switch.

4. The obstacle recognition system for self-moving devices as described in claim 3, characterized in that, The multi-function signal pin in the control unit transmits control signals to the RF input pin in the multiplex RF switch, and the control signals are used to switch to the RF output pin of the corresponding channel.

5. The obstacle recognition system for self-moving devices as described in claim 1, characterized in that, The multi-channel RF switch includes an RF input port and an RF output port. The RF input port is electrically connected to an RF signal source, and the RF output port is electrically connected to a corresponding RF load.

6. The obstacle recognition system for self-moving devices as described in claim 4, characterized in that, The first general-purpose input / output pin of the control unit is electrically connected to the trigger control signal input pin of the identification sensor, and the second general-purpose input / output pin of the control unit is electrically connected to the echo signal output pin of the identification sensor.

7. An obstacle recognition system for self-moving devices as described in claim 1, characterized in that, The main controller and the control unit are electrically connected via a serial port. The main controller controls the control unit to control multiple identification sensors to perform identification within different identification ranges.

8. An obstacle recognition system for self-moving devices as described in claim 1, characterized in that, The VCC pin in the control unit is electrically connected to the power output pin in the main controller, and the GND pin in the control unit is electrically connected to the ground pin in the main controller.

9. An obstacle recognition system for self-moving devices as described in any one of claims 1 to 8, characterized in that, The control unit is located on the front of the self-moving device, and the main controller is located on the body of the self-moving device.

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