Collision detection structure and mower
By incorporating a novel layout of magnetic and sensor components on the lawnmower's buffer assembly, the sensitivity and accuracy issues of existing contact-based obstacle avoidance detection in lawnmowers have been resolved, resulting in more efficient and accurate obstacle detection.
Patent Information
- Application Number
- CN202520349582.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-03-03
- Publication Date
- 2026-01-02
- Estimated Expiration
- 2035-03-03
AI Technical Summary
Existing contact-based obstacle avoidance detection methods for lawnmowers, which rely on Hall effect sensors and magnets, have low sensitivity, low accuracy, high probability of error, and high cost.
The magnetic component of the buffer assembly is located below the sensing component of the housing. The buffer assembly is movably located on the outer periphery of the housing. When subjected to external force, the magnetic component and the sensing component move away from each other. The sensing component generates an electrical signal to determine the location of the obstacle. The limiting component is used to prevent interference from the left and right sides of the buffer assembly.
The sensitivity and accuracy of the sensing components have been improved, costs have been reduced, and false judgments caused by overlapping detection areas have been avoided, resulting in more accurate obstacle detection.
Smart Images
Figure CN223756062U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to the lawn mower technical field further relates to a collision detection structure and lawn mower. BACKGROUND
[0002] Most of the intelligent products on the market have obstacle avoidance function, some of which avoid obstacles through vision, some of which avoid obstacles through radar ultrasonic, and some of which avoid obstacles through contact collision. The visual obstacle avoidance on the market is limited by technical conditions and environmental influence conditions, and has poor stability, high misidentification probability, large ultrasonic radar obstacle avoidance blind area and poor stability. At present, the stability of contact type obstacle avoidance is relatively high, but most of the contact type obstacle avoidance lawn mower products on the market determine whether to be impacted by whether the hall and the magnet are close to each other. This detection method needs the magnet to reach the position of the hall trigger to make the hall generate an electric signal to determine the position and direction of the obstacle. At this time, the sensitivity of the hall to the magnet is low, the accuracy is low, and the error probability is large. SUMMARY
[0003] In view of the above technical problems, the utility model aims at providing a collision detection structure and lawn mower, the magnetic part of the buffer assembly is arranged below the induction assembly of the shell, the buffer assembly is movably arranged on the outer periphery of the shell, when the buffer assembly is subjected to external force, the magnetic part and the induction assembly are away from each other, the induction assembly generates an electric signal and determines the direction of the obstacle. At this time, the sensitivity of the induction assembly is high, and the precision is high.
[0004] In order to achieve the above purpose, the utility model provides a collision detection structure, which comprises a shell and a buffer assembly, and an induction assembly is arranged on the shell.
[0005] The buffer assembly is movably arranged on the outer periphery of the shell, a magnetic part is arranged on the buffer assembly, and the magnetic part is located directly below the induction assembly. When the buffer assembly is subjected to force and moves, the magnetic part is adapted to be away from the induction assembly, so that the induction assembly can detect the magnetic part away from the induction assembly and generate an electric signal.
[0006] In some embodiments, the buffer assembly comprises a first part, a second part and a third part, the first part and the third part are located on the left and right sides of the shell respectively, the second part connects the first part and the third part and is located in front of the shell, one induction assembly is arranged on the left and right sides of the shell, and one magnetic part is arranged on the first part and the third part.
[0007] When the induction assembly on the left side of the shell generates an electric signal, there is an obstacle on the left side of the shell.
[0008] When the inductive component on the right side of the shell generates an electric signal, there is an obstacle on the right side of the shell;
[0009] When the inductive components on the left and right sides of the shell generate electric signals, there is an obstacle in front of the shell.
[0010] In some embodiments, the inductive component is arranged on the bottom of the shell, and the inner side walls of the first part and the third part are further provided with a placing part, which is located below the shell. The magnetic member is arranged on the placing part and matches the inductive component.
[0011] In some embodiments, the inductive component is a Hall sensor, and the Hall sensor is located on the inner bottom side wall of the shell. The magnetic member is a magnet, and the magnet is located on the top of the placing part of the buffer component.
[0012] In some embodiments, a limiting member is further included, which is adapted to abut against the outer side wall of the buffer component and the inner side wall of the shell, so that when one side of the shell is subjected to an external force, one side of the buffer component moves, and the other side of the buffer component is limited by the limiting member and remains stationary, so that the left and right sides of the buffer component do not interfere with each other.
[0013] In some embodiments, the limiting member is arranged on the top of the buffer component, and the shell is provided with a movable slot, and the limiting member is adapted to be movably arranged in the movable slot.
[0014] When the magnetic member is located directly below the inductive component, the limiting member abuts against one end of the movable slot away from the shell.
[0015] In some embodiments, the limiting member is located above the placing part of the buffer component, and the central axis of the limiting member is located on the same vertical plane as the central axis of the magnetic member and the central axis of the inductive component in the width direction of the shell.
[0016] In some embodiments, the shell includes an upper cover and a bottom plate, and the upper cover is adapted to cover the bottom plate. The bottom of the upper cover is further provided with the movable slot, and the buffer component is movably connected to the bottom plate by an elastic member. The elastic member is vertically connected to the shell and the buffer component.
[0017] In some embodiments, the elastic member includes four elastic rubber columns, and the four elastic rubber columns are located at the four corners of the buffer component. The axial ends of the elastic rubber columns are adapted to fixedly connect the bottom plate of the shell and the bottom of the buffer component.
[0018] According to another aspect of the present application, a mower is further provided, which includes any one of the above preferred embodiments of the collision detection structure.
[0019] Compared with the prior art, the collision detection structure and the mower provided by the utility model have at least one of the following beneficial effects:
[0020] 1. The magnetic part of the buffer assembly is arranged directly below the induction assembly of the shell, and the buffer assembly is movably arranged on the outer periphery of the shell. When the buffer assembly is subjected to external force, the magnetic part and the induction assembly move away from each other, the induction assembly generates an electric signal and determines the position of the obstacle. At this time, the sensitivity and accuracy of the induction assembly are high.
[0021] 2. The front of the shell is not provided with an induction assembly and a magnetic part. Only when the magnetic parts on the left and right sides of the shell move simultaneously and the induction assemblies on the left and right sides both generate an electric signal, there is an obstacle directly in front of the shell. The number of induction assemblies and magnetic parts is the least, the utilization is the highest, and the cost is low.
[0022] 3. The limiting part is suitable for abutting against the outer side wall of the buffer assembly and the inner side wall of the shell. After one side of the buffer assembly is deformed and approaches the shell, the other end of the buffer assembly also moves away from the shell, preventing the left and right sides of the buffer assembly from affecting each other and improving the accuracy of the induction assembly.
[0023] 4. The limiting part prevents the other side of the buffer assembly from moving outward and generating an electric signal after one side of the buffer assembly hits an obstacle, solving the interference problem of the buffer assembly hitting at different positions, making the detection more accurate, accurately determining the hitting area corresponding to the triggering of the induction assembly, and the sensing areas corresponding to the triggering of the two induction assemblies not coinciding, making the detection more accurate and preventing false judgments caused by the coincidence of the detection areas.
[0024] 5. The limiting part is arranged on the top of the buffer assembly and directly above the placement part. The central axis of the limiting part, the central axis of the magnetic part, and the central axis of the induction assembly are all located on the same vertical plane in the width direction of the shell. The limiting part is relatively close to the magnetic part, and the limiting effect of the limiting part on the magnetic part is the best. BRIEF DESCRIPTION OF DRAWINGS
[0025] The above features, technical characteristics, advantages and implementation methods of the utility model will be further described in a clear and understandable manner in combination with the preferred embodiments and the accompanying drawings.
[0026] Figure 1 is a cross-sectional view of the collision detection structure;
[0027] Figure 2 is an exploded view of the mower;
[0028] Figure 3 is a position diagram of the buffer assembly;
[0029] Figure 4is a structure diagram of the buffering assembly.
[0030] Explanation of reference numerals:
[0031] The shell 1, the upper cover 11, the bottom disc 12, the induction assembly 121, the elastic piece 13, the buffering assembly 2, the first part 21, the second part 22, the third part 23, the placing part 231, the magnetic piece 24, and the limiting piece 25. DETAILED DESCRIPTION
[0032] In order to more clearly illustrate the technical solutions of the embodiments of the present application or the prior art, the specific embodiments of the present application will be described below with reference to the drawings. Obviously, the drawings described below are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained from these drawings without creative labor, and other embodiments can also be obtained.
[0033] In order to make the drawing simple, only the parts related to the present application are shown in each drawing, and they do not represent the actual structure of the product. In addition, in order to make the drawing simple and easy to understand, in some drawings, only one of the components with the same structure or function is shown, or only one of them is marked. In this paper, "one" not only means "only one", but also means "more than one".
[0034] It should be further understood that the term "and / or" used in the specification and claims of the present application means any combination of one or more of the associated listed terms and all possible combinations, and includes these combinations.
[0035] In this paper, it should be noted that unless otherwise specified and limited, the terms "mounting", "connection", "connection" should be understood broadly, for example, it can be fixed connection, or detachable connection, or integrally connected; it can be mechanical connection, or electrical connection; it can be directly connected, or indirectly connected through intermediate medium, or the communication inside two elements. For ordinary skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.
[0036] In addition, in the description of the present application, the terms "first", "second" and the like are only used for distinction and description, and cannot be understood as indicating or implying relative importance. It should be pointed out that the above embodiments can be freely combined according to the needs. The above is only the preferred embodiment of the present application, and it should be pointed out that for ordinary skilled in the art, without departing from the principle of the present application, some improvements and refinements can also be made, which should be regarded as the protection scope of the present application.
[0037] ReferenceFigures 1 to 3 The utility model provides a kind of collision detection structure, including shell 1 and buffer assembly 2, shell 1 is equipped with sensing component 121;Buffer assembly 2 is movably arranged on the outer periphery of shell 1, buffer assembly 2 is equipped with magnetic piece 24, magnetic piece 24 is located just below sensing component 121 relatively;Buffer assembly 2 is moved after stress, and magnetic piece 24 is suitable for relatively away from sensing component 121, so that sensing component 121 can detect the magnetic piece 24 relatively away from sensing component 121 and generate electric signal.
[0038] In the embodiment, the magnetic piece 24 of the buffer assembly 2 is arranged just below the sensing component 121 of the shell 1, and the buffer assembly 2 is movably arranged on the outer periphery of the shell 1. When the buffer assembly 2 is subjected to external force, the magnetic piece 24 and the sensing component 121 move away from each other, the sensing component 121 generates an electric signal and determines the direction of the obstacle. At this time, the sensing component 121 has high sensitivity and high precision.
[0039] Specifically, the buffer assembly 2 is movably arranged on the outer periphery of the shell 1, and the buffer assembly 2 can offset the impact force generated by the shell 1 hitting the obstacle, preventing the shell 1 from being damaged. The shell 1 is provided with a sensing component 121. The buffer assembly 2 is provided with a magnetic piece 24 located just below the sensing component 121. When not hitting the obstacle, the magnetic piece 24 is located just below the sensing component 121, and the sensing component 121 does not generate an electric signal or generates a small electric signal. When the buffer assembly 2 is subjected to external force and moves, the magnetic piece 24 moves away from the sensing component 121 and the magnetic field strength of the magnetic piece 24 changes, and the sensing component 121 converts the changed magnetic signal into an electric signal. Unlike the existing magnetic piece 24 and sensing component 121, which generate an electric signal by moving close to each other, in the present application, as long as the magnetic piece 24 moves away from the sensing component 121, the sensing component 121 can generate an electric signal accordingly. The sensing component 121 has high sensitivity and high precision in sensing the magnetic piece 24.
[0040] In more detail, reference is made to Figure 2 and Figure 4The buffer assembly 2 comprises a first part 21, a second part 22 and a third part 23, the first part 21 and the third part 23 are respectively located on the left and right sides of the shell 1, the second part 22 is connected to the first part 21 and the third part 23 and is located in front of the shell 1, the left and right sides of the shell 1 are respectively provided with an induction assembly 121, and the first part 21 and the third part 23 are respectively provided with a magnetic piece 24; when the induction assembly 121 on the left side of the shell 1 detects the magnetic field change of the magnetic piece 24 on the first part 21 and generates an electric signal, there is an obstacle on the left side of the shell 1; when the induction assembly 121 on the right side of the shell 1 detects the magnetic field change of the magnetic piece 24 on the third part 23 and generates an electric signal, there is an obstacle on the right side of the shell 1; when the induction assemblies 121 on the left and right sides of the shell 1 detect the magnetic field changes of the magnetic pieces 24 on the first part 21 and the third part 23 and generate electric signals, there is an obstacle in front of the shell 1. The buffer assembly 2 is in a C shape, and the buffer assembly 2 is suitable for covering the front end, the left end and the right end of the shell 1. The collision detection structure of the present application only needs to be provided with induction assemblies 121 on the left and right sides of the shell 1, and the buffer assembly 2 is provided with magnetic pieces 24 matched with the induction assemblies 121, so that the obstacles on the left side, the right side and the front of the shell 1 can be detected, the front of the shell 1 is not provided with the induction assemblies 121 and the magnetic pieces 24, and only when the magnetic pieces 24 on the left and right sides of the shell 1 move at the same time and the induction assemblies 121 on the left and right sides of the shell 1 generate electric signals, there is an obstacle in front of the shell 1, the number of the induction assemblies 121 and the magnetic pieces 24 is the least, the utilization is the highest, and the cost is low. It should be noted that in the transformed embodiment, the induction assemblies 121 can also be arranged on the buffer assembly 2, and the magnetic pieces 24 are correspondingly arranged on the shell 1, that is, the corresponding positions of the induction assemblies 121 and the magnetic pieces 24 are not limited by the present application.
[0041] Further, the induction assembly 121 is arranged on the bottom of the shell 1, and the inner side wall of the first part 21 and the third part 23 is further provided with a placing part 231, the placing part 231 is located below the shell 1, and the magnetic piece 24 is arranged on the placing part 231 and matched with the induction assembly 121. In the embodiment, the inner side wall of the buffer assembly 2 is provided with the placing part 231, the placing part 231 extends to below the shell 1, so that the magnetic piece 24 is matched with the induction assembly 121 up and down.
[0042] Specifically, the sensing assembly 121 is preferably a Hall sensor, which is located opposite to the bottom side wall inside the shell 1. The sensing assembly 121 is located opposite to the inside of the shell 1, which can enhance the safety performance of the sensing assembly 121, and avoid water entering or damaging the sensing assembly 121. The placement portion 231 is located below the bottom plate 12 of the shell 1. The placement portion 231 is preferably located in the middle of the first portion 21 and the third portion 23 of the buffer assembly 2 in the front-rear direction. The magnetic member 24 is preferably a magnet, which is located opposite to the top of the placement portion 231 of the buffer assembly 2. The placement portion 231 can be fixedly installed inside the buffer assembly 2 by screws or other fasteners, or can be integrally formed with the buffer assembly 2, which is not limited further herein. It is worth noting that the sensing assembly 121 can also be an anisotropic magnetoresistive sensor, a tunnel magnetoresistive sensor, a microswitch, or a travel switch, as long as it can judge the signal change through the displacement or magnetic change of the magnetic member 24, which is not limited further herein.
[0043] Further, with reference to Figures 2 to 4 Further, the limiting member 25 is adapted to abut against the outer side wall of the buffer assembly 2 and the inner side wall of the shell 1, so that when one side of the shell 1 is subjected to an external force, one side of the buffer assembly 2 moves, and the other side of the buffer assembly 2 is limited by the limiting member 25 and remains stationary, so that the left and right sides of the buffer assembly 2 do not interfere with each other.
[0044] In this embodiment, the limiting member 25 is adapted to abut against the outer side wall of the buffer assembly 2 and the inner side wall of the shell 1, so that when one side of the buffer assembly 2 is deformed and approaches the shell 1, the other end of the buffer assembly 2 also moves away from the shell 1, preventing the left and right sides of the buffer assembly 2 from affecting each other, and improving the accuracy of the sensing assembly 121.
[0045] Specifically, the limiting piece 25 makes the other side of the buffer assembly 2 not move outward and generate an electrical signal after one side of the buffer assembly 2 hits an obstacle, solves the interference problem of each position of the buffer assembly 2 hitting, detects more accurately, can accurately judge the corresponding hitting area after the sensing assembly 121 triggers, the corresponding sensing areas of the two sensing assemblies 121 triggered separately and the two sensing assemblies 121 triggered simultaneously do not coincide, the detection is more accurate, and misjudgment caused by overlapping detection areas is avoided. Because the application has only sensing assemblies 121 on both sides of the shell 1, when one side of the buffer assembly 2 is subjected to an external force, the other side of the buffer assembly 2 will generate a force away from the shell 1 according to the principle of the lever. In order to avoid the other side of the buffer assembly 2 moving away from the shell 1 and the magnetic piece 24 moving away from the sensing assembly 121, the application sets a limiting piece 25 for limiting the tendency of the buffer assembly 2 to move outward. At this time, the side wall of the buffer assembly 2 cannot exceed the outer edge of the shell 1, that is, the buffer assembly 2 can only move inward, forward and backward, thereby avoiding the mutual interference of the forces on both sides of the buffer assembly 2. The magnetic piece 24 is located directly below the sensing assembly 121. In the initial state, the magnetic piece 24 and the sensing assembly 121 are close to each other, and the initial signal value is A. After the buffer assembly 2 is hit, the magnetic piece 24 can move away from the sensing assembly 121 from the left, front, rear or right, front, rear directions. After the magnetic piece 24 and the sensing assembly 121 move away from each other, the signal value is B at this time. The sensing assembly 121 changes the signal, and it is determined that the collision is triggered. The detection range of the magnetic piece 24 and the sensing assembly 121 moving away from each other is wider. The displacement of the magnetic piece 24 in the left, front, and rear directions will all cause the sensing assembly 121 to generate an electrical signal. The sensing assembly 121 has high sensitivity and high precision in sensing the movement of the magnetic piece 24.
[0046] Preferably, the limiting piece 25 is arranged on the top of the buffer assembly 2, and the shell 1 is provided with a movable groove, and the limiting piece 25 is movably arranged in the movable groove. When the magnetic piece 24 is located directly below the sensing assembly 121, the limiting piece 25 abuts against one end of the movable groove away from the shell 1, that is, when the buffer assembly 2 is subjected to an external force, it can only move inward, so that the force on the buffer assembly 2 corresponds to the electrical signal generated by the sensing assembly 121, and other interference is avoided. The limiting piece 25 is preferably a limiting column, a limiting block, a limiting hook, a limiting rope or other limiting structures. Of course, the position of the limiting piece 25 can also be in other areas and other forms, as long as the movement of the magnetic piece 24 on one side of the buffer assembly 2 does not interfere with the magnetic piece 24 on the other side of the buffer assembly 2.
[0047] Specifically, the shell 1 comprises an upper cover 11 and a bottom plate 12, the upper cover 11 is adapted to cover the bottom plate 12, the bottom of the upper cover 11 is further provided with a movable slot, the limiting piece 25 at the top of the buffer assembly 2 is adapted to be slidably installed in the movable slot at the bottom of the upper cover 11, the buffer assembly 2 is movably connected to the bottom plate 12 through the elastic piece 13, the elastic piece 13 vertically connects the shell 1 and the buffer assembly 2, the activity and freedom of the buffer assembly 2 are better, and the three-direction movement of the magnetic piece 24 on the buffer assembly 2 is facilitated. The elastic piece 13 comprises four elastic rubber columns, the four elastic rubber columns are oppositely located at the four corners of the buffer assembly 2, and the axial ends of the elastic rubber columns are adapted to be fixedly connected to the bottom plate 12 of the shell 1 and the bottom of the buffer assembly 2, so that the stability of the buffer assembly 2 is better. It is worth noting that the forming mode of the movable slot is not limited by the present application, which can be a groove formed in the bottom of the upper cover 11 and forming a movable slot, or the outer edge of the upper cover 11 can be beyond the outer edge of the bottom plate 12, so that there is a gap between the outer edge of the upper cover 11 and the outer edge of the bottom plate 12 and forming a movable slot, and the limiting piece 25 is adapted to abut against the inner side wall of the outer edge of the upper cover 11. In the transformed embodiment, the limiting piece 25 can also be arranged at the bottom of the upper cover 11 and adapted to abut against the outer side wall of the buffer assembly 2, so that the outer side wall of the buffer assembly 2 does not exceed the inner side wall of the upper cover 11. At the same time, the movable connection of the buffer assembly 2 and the shell 1 comprises but is not limited to the elastic piece 13, and can also be achieved by the mechanisms such as sliding groove and sliding rail, sliding groove and sliding block, and straight gear rack.
[0048] Further, the limiting piece 25 is arranged at the top of the buffer assembly 2 and above the placement portion 231 of the buffer assembly 2, and the central axis of the limiting piece 25, the central axis of the magnetic piece 24 and the central axis of the induction assembly 121 are all located on the same vertical plane in the width direction of the shell 1.
[0049] In the present embodiment, the limiting piece 25 is arranged at the top of the buffer assembly 2 and directly above the placement portion 231, the central axis of the limiting piece 25, the central axis of the magnetic piece 24 and the central axis of the induction assembly 121 are all located on the same vertical plane in the width direction of the shell 1, the limiting piece 25 is relatively close to the magnetic piece 24, and the limiting effect of the limiting piece 25 on the magnetic piece 24 is best.
[0050] Specifically, the induction assembly 121 is located directly above the magnetic piece 24, and the distance between the induction assembly 121 and the magnetic piece 24 is the smallest. Preferably, the induction assembly 121 is coaxially arranged with the magnetic piece 24. The limiting piece 25 is two, and the two limiting pieces 25 are arranged on the left and right sides of the buffer assembly 2 respectively. The limiting piece 25 is located above the magnetic piece 24 or the placement part 231. The limiting piece 25 and the magnetic piece 24 are arranged in the width direction of the shell 1. The central axis of the limiting piece 25 is parallel to the central axis of the induction assembly 121 and the central axis of the magnetic piece 24. At this time, the central axis of the limiting piece 25, the central axis of the magnetic piece 24, and the central axis of the induction assembly 121 are located on the same vertical plane in the width direction of the shell 1. The limiting piece 25 is relatively close to the magnetic piece 24. The distance between the limiting piece 25 and the magnetic piece 24 is the shortest. The limiting effect of the limiting piece 25 on the magnetic piece 24 is the best. The outward movement of the magnetic piece 24 can be effectively avoided, and the accidental outward movement of the magnetic piece 24 is reduced. It is worth noting that the two groups of induction assemblies 121, magnetic pieces 24 and limiting pieces 25 are symmetrically arranged on both sides of the width direction of the shell 1.
[0051] Further, the application provides a mower comprising the collision detection structure in any of the above embodiments. In this embodiment, through the position arrangement and structure design of the collision detection structure, the purpose of being able to judge the direction of the obstacle through contact type obstacle avoidance in the working of the mower is achieved, and then reasonable obstacle avoidance action is made, and the obstacle avoidance ability and efficiency of the machine are improved.
[0052] Specifically, the application detects the obstacle signal by combining the magnetic piece 24 and the induction assembly 121. After the machine collides with the obstacle, the magnetic piece 24 at the collision point position moves away from the induction assembly 121. The induction assembly 121 detects the change of the signal. The corresponding collision point position has the obstacle. The robot can make correct obstacle avoidance action and make reasonable path planning.
[0053] The shell 1 can be the outer shell of the robot. The left side, the right side and the front of the shell 1 are surrounded by a semicircular arc-shaped buffer assembly 2. The buffer assembly 2 is suspended on the chassis 12 of the shell 1 through four elastic rubber columns. When the buffer assembly 2 of the robot contacts the obstacle, the buffer assembly 2 drives the elastic rubber column to displace and deform. When the obstacle is removed, the elastic force of the elastic rubber makes the buffer assembly 2 automatically return. Two limiting pieces 25 are arranged above the magnetic pieces 24 on the left and right sides of the buffer assembly 2. When the robot upper cover 11 is installed, the two limiting columns are tightly attached to the inner side of the robot upper cover 11. When the buffer assembly 2 is subjected to force on the left and right sides, due to the action of the limiting piece 25, only the force receiving side of the buffer assembly 2 displaces and deforms, and the other side basically remains unchanged.
[0054] When the front side collides with the obstacle, the buffer assembly 2 moves backward as a whole: the left magnetic piece 24 moves away from the left inductive assembly 121, and the left inductive assembly 121 is triggered; the right magnetic piece 24 moves away from the right inductive assembly 121, and the right inductive assembly 121 is triggered; the left and right inductive assemblies 121 are triggered at the same time, which represents that the front side encounters the obstacle, and the robot makes corresponding obstacle avoidance actions.
[0055] When the left side collides with the obstacle, the buffer assembly 2 moves to the right: the left magnetic piece 24 moves away from the left inductive assembly 121, and the left inductive assembly 121 is triggered; the right limiting piece 25 of the buffer assembly 2 is limited after colliding with the robot upper cover 11, so that the right magnetic piece 24 basically remains in the original position close to the right inductive assembly 121, and the right inductive assembly 121 is not triggered; at this time, it represents that the left side of the robot encounters the obstacle, and the robot makes corresponding obstacle avoidance actions.
[0056] When the right side collides with the obstacle, the buffer assembly 2 moves to the left: the right magnetic piece 24 moves away from the right inductive assembly 121, and the right inductive assembly 121 is triggered; the left limiting piece 25 of the buffer assembly 2 is limited after colliding with the robot upper cover 11, so that the left magnetic piece 24 basically remains in the original position close to the left inductive assembly 121, and the left inductive assembly 121 is not triggered; at this time, it represents that the right side of the robot encounters the obstacle, and the robot makes corresponding obstacle avoidance actions.
[0057] It should be noted that the above embodiments can be freely combined as needed. The above is only a preferred embodiment of the present application, and it should be pointed out that for ordinary skilled in the art, on the premise of not departing from the principles of the present application, a number of improvements and refinements can be made, and these improvements and refinements should be regarded as the protection scope of the present application.
Claims
1. A collision detection structure characterized by, The application relates to a collision detection structure. The shell is provided with an induction assembly; The buffer assembly is movably arranged on the outer periphery of the shell, and is provided with a magnetic piece which is located directly below the induction assembly; when the buffer assembly is moved under the action of force, the magnetic piece is adapted to move away from the induction assembly, so that the induction assembly can detect the magnetic field change of the magnetic piece moving away from the induction assembly and generate an electric signal.
2. The collision detection structure according to claim 1, wherein The buffer assembly comprises a first part, a second part and a third part, the first part and the third part are respectively located on the left and right sides of the shell, the second part is connected to the first part and the third part and is located in front of the shell, the left and right sides of the shell are respectively provided with an induction assembly, and the first part and the third part are respectively provided with a magnetic piece; When the induction assembly on the left side of the shell generates an electric signal, there is an obstacle on the left side of the shell; When the induction assembly on the right side of the shell generates an electric signal, there is an obstacle on the right side of the shell; When the induction assemblies on the left and right sides of the shell generate electric signals, there is an obstacle in front of the shell.
3. The collision detection structure according to claim 2, wherein The induction assembly is arranged on the bottom of the shell, the inner side walls of the first part and the third part are further provided with a placing part, the placing part is located below the shell, and the magnetic piece is arranged on the placing part and matched with the induction assembly.
4. The collision detection structure according to claim 3, wherein The induction assembly is a Hall sensor, the Hall sensor is located on the inner bottom side wall of the shell, and the magnetic piece is a magnet, which is located on the top of the placing part of the buffer assembly.
5. The collision detection structure according to any one of claims 1-4, further comprising a limiting piece adapted to abut against the outer side wall of the buffer assembly and the inner side wall of the shell, so that when one side of the shell is subjected to external force, one side of the buffer assembly moves, the other side of the buffer assembly is limited by the limiting piece and remains stationary, and the left and right sides of the buffer assembly do not interfere with each other.
6. The collision detection structure according to claim 5, wherein The limiting piece is arranged on the top of the buffer assembly, the shell is provided with a movable slot, and the limiting piece is movably arranged in the movable slot; When the magnetic piece is located directly below the induction assembly, the limiting piece abuts against one end of the movable slot which is away from the shell.
7. The collision detection structure according to claim 6, wherein The limiting piece is located above the placing part of the buffer assembly, and the central axis of the limiting piece, the central axis of the magnetic piece and the central axis of the induction assembly are located on the same vertical plane in the width direction of the shell.
8. The collision detection structure according to claim 6, wherein The shell comprises an upper cover and a bottom plate, the upper cover is suitable for covering the bottom plate, the bottom of the upper cover is also provided with the movable slot, the buffer assembly is movably connected with the bottom plate through elastic members, and the elastic members are vertically connected with the shell and the buffer assembly.
9. The crash detection structure of claim 8, wherein, The elastic members comprise four elastic rubber columns, the four elastic rubber columns are oppositely located at four corners of the buffer assembly, and axial two ends of the elastic rubber columns are suitable for fixedly connecting the bottom plate of the shell and the bottom of the buffer assembly.
10. A lawnmower characterised in that, The crash detection structure of any one of claims 1-9.