Collision detection structure and lawnmower

Abstract

The application relates to the field of robots, and provides a collision detection structure and a mower. The collision detection structure comprises a plurality of first polarity Hall plates and a plurality of first magnetic pieces; the first polarity Hall plates are arranged along a height direction and are inclined in opposite directions, so that the first polarity Hall plates form an inclined angle with a front-rear direction; the first magnetic pieces are located on one side of the first polarity Hall plates, and the collision force direction of a buffer frame is determined by detecting the level change of the plurality of first polarity Hall plates. The mower comprises the collision detection structure. According to the application, the first polarity Hall plates are arranged in opposite directions to form an eight-shaped layout, different directions of collision can be effectively distinguished, the sensitivity and accuracy of detection are improved, the inclined angle of the first polarity Hall plates can be adjusted according to actual application requirements, the source direction of collision can be distinguished, and the sensitivity of left-right direction and front-rear direction collision can be flexibly adjusted.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and further to a collision detection structure and a lawnmower. Background Technology

[0002] Intelligent lawnmowers are typically equipped with obstacle avoidance functions, employing methods such as visual, radar, ultrasonic, or contact collision detection. Existing contact collision detection methods usually use magnets and non-polar Hall effect sensors, with the magnetic poles aligned with the Hall effect sensor's central axis. The magnet moves a preset distance in any horizontal direction before leaving the Hall effect sensor's sensing area. Collisions are detected by changes in the Hall effect sensor's high and low voltage levels, but this method cannot detect the direction of the collision, thus hindering accurate obstacle avoidance and impacting mowing efficiency. This method also cannot accurately preset the ratio of forward collision force to lateral collision force. To balance lateral collision detection sensitivity, the forward collision force cannot be set too high, affecting the lawnmower's obstacle-crossing performance; it may easily mistake dense grass for an obstacle. Furthermore, long-term use can cause magnet demagnetization, leading to changes in the preset collision force. Utility Model Content

[0003] To address the aforementioned technical problems, the purpose of this utility model is to provide a collision detection structure and a lawnmower. The collision detection structure uses a first polar Hall plate that is tilted in opposite directions to form a figure-eight layout, which can effectively distinguish relative movement in different directions and improve the sensitivity and accuracy of detection. At the same time, the tilt angle of the first polar Hall plate can be adjusted according to actual application needs to distinguish the direction of the collision source, and the collision sensitivity in the left-right and front-back directions can be flexibly adjusted to adapt to different detection scenarios.

[0004] To achieve the above objectives, this utility model provides a collision detection structure for detecting the relative movement relationship between a buffer frame and a housing. The housing has a left-right direction, a front-back direction, and a height direction. The collision detection structure includes a plurality of first polar Hall plates and a plurality of first magnetic components.

[0005] The first polar Hall plate is disposed on the housing along the height direction and adjacent first polar Hall plates are inclined in opposite or opposite directions, such that the first polar Hall plate forms an inclination angle with the front-back direction;

[0006] The first magnetic component is correspondingly disposed on the buffer frame and located on the side adjacent to or opposite to the first polar Hall plate. The direction of the impact force of the buffer frame is determined by detecting the level change of several first polar Hall plates.

[0007] In some embodiments, the tilt angle of the first polar Hall plate is 5-45 degrees, and the distance between the first magnetic element and the first polar Hall plate in the front-back direction is greater than the distance in the left-right direction.

[0008] In some embodiments, the tilt angle of the first polar Hall plate is 25 degrees.

[0009] In some embodiments, one of the first magnetic elements is located in the region between the two first polar Hall plates, and the other first magnetic element is located in the region where the two first polar Hall plates are located on opposite sides of each other.

[0010] When the buffer frame moves in the left and right direction, any one of the first magnetic elements will pass through the first polar Hall plate and generate a change in voltage level.

[0011] When the buffer frame moves in the front-to-back direction, the two first magnetic elements will simultaneously pass through the first polar Hall plate and generate a change in voltage level.

[0012] In some embodiments, the two first polar Hall plates are tilted toward each other in a figure-eight shape, and the two first magnetic elements are located in the region on one side away from each other of the two first polar Hall plates.

[0013] Alternatively, the two first polar Hall plates are tilted in opposite directions to form an inverted V-shape, and the two first magnetic elements are located in the area between the two first polar Hall plates.

[0014] In some embodiments, a second polar Hall plate and a second magnetic element are also included, wherein the second polar Hall plate is disposed in the housing along the left-right direction, and the second magnetic element is disposed in front of the second polar Hall plate;

[0015] When the buffer frame moves in the front-back, left-front, and right-front directions, the second magnetic element passes through the second polar Hall plate and generates a level change.

[0016] In some embodiments, the distance between the second magnetic element and the second polar Hall plate in the front-back direction is less than the distance between the first magnetic element and the first polar Hall plate in the front-back direction.

[0017] In some embodiments, the buffer frame is movably mounted to the housing via an elastic element, the elastic element comprising four rubber pillars, two of which are symmetrically arranged on the top of the housing, and two more of which are symmetrically arranged on both sides of the housing, with the two rubber pillars on the left and / or right sides of the housing's central axis being close to each other.

[0018] In some embodiments, a non-polar Hall plate and a second magnetic element are also included. The non-polar Hall plate is disposed on the housing along a horizontal plane, and the second magnetic element is disposed on the buffer frame. When the second magnetic element moves away from the non-polar Hall plate, the non-polar Hall plate generates a level change.

[0019] According to another aspect of this application, a lawnmower is further provided, including any of the collision detection structures described in the preferred embodiments above.

[0020] Compared with the prior art, the collision detection structure and lawnmower provided by this utility model have at least one of the following beneficial effects:

[0021] 1. The collision detection structure is designed with the first polar Hall plate tilted in opposite directions to form a figure-eight layout, which can effectively distinguish relative movement in different directions and improve the sensitivity and accuracy of detection. At the same time, the tilt angle of the first polar Hall plate can be adjusted according to the actual application requirements to distinguish the direction of the collision source, and the collision sensitivity in the left-right and front-back directions can be flexibly adjusted to adapt to different detection scenarios.

[0022] 2. The first polar Hall plate is tilted along the height direction, so that the first magnetic element and the first polar Hall plate form a first distance in the front-back direction and a second distance in the left-right direction; by adjusting the tilt angle of the first polar Hall plate with respect to the front-back direction, the ratio of the first distance and the second distance is precisely controlled, thereby controlling the detection sensitivity in the front-back direction and the left-right direction.

[0023] 3. By setting the tilt angle of the first polar Hall plate to an acute angle greater than 5 degrees and less than 45 degrees, and by reasonably controlling the first distance and the second distance between the first magnetic component and the first polar Hall plate in the front-back direction and the left-right direction, the sensitivity in the front-back direction can be effectively reduced, the obstacle-crossing performance can be increased, and the detection accuracy in the left-right direction can be improved.

[0024] 4. The second polar Hall plate is arranged along the left and right direction of the housing, forming a complementary detection layout with the first polar Hall plate. This allows the second polar Hall plate to detect the relative movement of the buffer frame in the left front direction and the right front direction, further enhancing the detection capability and coverage, thereby achieving comprehensive coverage of movement in different directions. Attached Figure Description

[0025] The preferred embodiments will be described below in a clear and easy-to-understand manner, in conjunction with the accompanying drawings, to further explain the above-mentioned characteristics, technical features, advantages and implementation methods of this utility model.

[0026] Figure 1 This is an orientation diagram of the shell;

[0027] Figure 2This is a top view of the collision detection structure;

[0028] Figure 3 This is a diagram showing the positions of the first polar Hall plate and the first magnetic component;

[0029] Figure 4 This is a tilt diagram of the first polarity Hall plate;

[0030] Figure 5 This is a diagram showing the positions of the second polar Hall plate and the second magnetic component;

[0031] Figure 6 This is a diagram illustrating a collision from directly in front;

[0032] Figure 7 This is a diagram illustrating the collision from the right front.

[0033] Figure 8 This is a diagram of the collision on the right side.

[0034] Explanation of icon numbers:

[0035] First polarity Hall plate 1, housing 11, left-right direction 111, second distance 1111, front-back direction 112, first distance 1121, height direction 113, tilt angle 12, rubber column 13, first magnetic component 2, buffer frame 21, second polarity Hall plate 3, second magnetic component 4. Detailed Implementation

[0036] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the specific implementation methods of this utility model will be described below with reference to the accompanying drawings. Obviously, the drawings described below are merely some embodiments of this utility model. For those skilled in the art, other drawings and other implementation methods can be obtained based on these drawings without any creative effort.

[0037] To keep the drawings concise, each figure only schematically shows the parts relevant to the utility model, and these do not represent the actual structure of the product. Furthermore, for ease of understanding, in some figures, only one of the components with the same structure or function is schematically depicted, or only one is labeled. In this document, "one" not only means "only one," but can also mean "more than one."

[0038] It should also be further understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0039] In this document, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0040] Furthermore, in the description of this application, the terms "first," "second," etc., are used only for distinguishing descriptions and should not be construed as indicating or implying relative importance. It should be noted that the above embodiments can be freely combined as needed. The above are merely preferred embodiments of this utility model. It should be pointed out that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this utility model, and these improvements and modifications should also be considered within the protection scope of this utility model.

[0041] Further, refer to Figures 1 to 4 This utility model provides a collision detection structure that uses the collision detection method in any of the above embodiments to detect the relative movement relationship between the buffer frame 21 and the housing 11. The housing 11 has a left-right direction 111, a front-back direction 112, and a height direction 113. The collision detection structure includes a plurality of first polar Hall plates 1 and a plurality of first magnetic elements 2. The first polar Hall plates 1 are disposed on the housing 11 along the height direction 113 and adjacent first polar Hall plates 1 are tilted in opposite directions, such that the first polar Hall plates 1 form an inclination angle 12 with the front-back direction 112. The first magnetic elements 2 are correspondingly disposed on the buffer frame 21 and located on the side adjacent to or opposite to the first polar Hall plates 1. The direction of the collision force of the buffer frame 21 is determined by detecting the level change of the plurality of first polar Hall plates 1.

[0042] In this embodiment, the collision detection structure is arranged in a figure-eight shape by tilting the first polar Hall plate 1 in opposite directions, which can effectively distinguish relative movements in different directions and improve the sensitivity and accuracy of detection. At the same time, the tilt angle of the first polar Hall plate 1 can be adjusted according to actual application needs to distinguish the direction of the collision source, and the collision sensitivity in the left-right direction 111 and the front-back direction 112 can be flexibly adjusted to adapt to different detection scenarios.

[0043] Specifically, the first polarity Hall plate 1 is a digital output Hall effect switch, which typically responds only to a single magnetic pole. Therefore, it does not detect magnetic field strength but rather detects a single magnetic pole. The first polarity Hall plate 1 is positioned along the height direction 113, such that the magnetic pole detection on the left and right sides 111 of the first polarity Hall plate 1 is different. When the first magnetic element 2 passes through the first polarity Hall plate 1, a level change occurs. It can be understood that a high or low level change occurs when the central axis of the first magnetic element 2 crosses the plane of the first polarity Hall plate 1. For example, a low level is output when a specific magnetic pole is detected, and a high level is output otherwise. That is, a low level is output when the first magnetic element 2 is on the left side of the first polarity Hall plate 1, and a high level is output when the first magnetic element 2 is on the right side of the first polarity Hall plate 1. Therefore, as long as the first magnetic element 2 is placed on one side of the first polar Hall plate 1, when the buffer frame 21 moves relative to the housing 11, the first magnetic element 2 will move from one side of the first polar Hall plate 1 to the other side. The first polar Hall plate 1 senses the change in magnetic field, causing a high-low level conversion. However, when the magnet is always on one side of the first polar Hall plate 1, there will be no level change.

[0044] Specifically, when relative movement occurs between the buffer frame 21 and the housing 11, the first magnetic element 2 passes through the magnetic field sensing area of ​​the first polar Hall plate 1, causing a change in the voltage level of the first polar Hall plate 1. By monitoring these voltage level changes, the relative movement relationship between the buffer frame 21 and the housing 11 can be determined in real time, thereby detecting the occurrence of a collision. The first polar Hall plate 1 is set along the height direction 113 of the housing 11, and the first magnetic element 2 is located on either side of the first polar Hall plate 1 in the left-right direction 111, so that the first polar Hall plate 1 can detect whether the first magnetic element 2 is located on the left or right side of the first polar Hall plate 1, and determine the displacement of the first magnetic element 2 relative to the first Hall plate in the left-right direction 111. Adjacent first polar Hall plates 1 are tilted in opposite directions to form a figure-eight structure. This tilting arrangement causes the first polar Hall plate 1 and the housing 11 to form a certain tilt angle 12 in the front-back direction 112. This unique layout allows for the determination of the displacement of the first magnetic component 2 relative to the first Hall plate in the front-rear direction 112, thereby enabling multi-directional detection of the relative movement between the buffer frame 21 and the housing 11, improving the sensitivity and accuracy of the detection. Furthermore, by adjusting the tilt angle 12 of the first polar Hall plate 1, the difference in the magnitude of the impact force in the front and other directions of the buffer frame 21 can be adjusted.

[0045] The first magnetic element 2 is correspondingly disposed on the buffer frame 21 and located on the side adjacent to or opposite to the first polar Hall plate 1. This ensures that the first magnetic element 2 can effectively trigger the magnetic field induction of the first polar Hall plate 1 when the buffer frame 21 and the housing 11 move relative to each other. By detecting the level change of the first polar Hall plate 1, it can be determined whether the first magnetic element 2 passes through the first polar Hall plate 1, thereby achieving accurate detection of collisions.

[0046] In detail, when the direction of the force source is different, such as the right side, the right front, and the front, the sensing state of the two first polarity Hall plates 1 is different, and the whole machine can detect the direction of the collision source and make a backward or rotating motion in the opposite direction of the obstacle. For example, when the buffer frame 21 collides on the right side and the right front side, the first magnetic element 2 moves away from the first polarity Hall plate 1, the second magnetic element 2 passes through the second polarity Hall plate 1, the level of the first polarity Hall plate 1 is 0, and the level of the second polarity Hall plate 1 is 1; when the buffer frame 21 collides directly in front, the first magnetic element 2 passes through the first polarity Hall plate 1, the second magnetic element 2 passes through the second polarity Hall plate 1, the level of the first polarity Hall plate 1 is 1, and the level of the second polarity Hall plate 1 is 1; when the buffer frame 21 collides on the left side and the left front side, the first magnetic element 2 passes through the first polarity Hall plate 1, the second magnetic element 2 moves away from the second polarity Hall plate 1, the level of the first polarity Hall plate 1 is 1, and the level of the second polarity Hall plate 1 is 0.

[0047] Meanwhile, the installation method of the buffer frame 21 and the housing 11 is prior art in this field and is not further limited in this application. This application uses elastic elements to connect the buffer frame 21 and the housing 11. The elastic elements include, but are not limited to, rubber pillars 13. This application uses four rubber pillars 13 to connect the buffer frame 21 and the housing 11. A pair of rubber pillars 13 are symmetrically arranged on the front end of the housing 11, and a pair of rubber pillars 13 are symmetrically arranged on both sides of the housing 11 in the left and right directions. The two rubber pillars 13 on the left are arranged close to each other, and the two rubber pillars 13 on the right are also arranged close to each other. In this way, when receiving the impact force from the left front and the right front, the distance of the first magnetic element 2 on the left and right sides is different. For example, when receiving the impact force from the right front, the buffer frame 21 rotates clockwise around the center of the line connecting the two rubber pillars 13 on the left. At this time, the displacement of the first magnetic element 2 on the left is small and close to the first polar Hall plate 1, while the displacement of the first magnetic element 2 on the right is large and crosses the first polar Hall plate 1.

[0048] It is worth noting that the collision detection structure of this application is applicable to various occasions requiring precise collision detection, such as industrial equipment, robots, and vehicles. By rationally arranging the position and number of the first polar Hall plate 1 and the first magnetic component 2, comprehensive detection of collisions from different directions can be achieved, improving the safety and reliability of the system. Furthermore, this collision detection structure can be combined with other sensors (such as accelerometers and pressure sensors) to further improve the accuracy and reliability of detection. Through multi-sensor fusion technology, more comprehensive and accurate collision detection can be achieved.

[0049] Furthermore, the tilt angle 12 of the first polar Hall plate 1 is 5-45 degrees, and the distance between the first magnetic element 2 and the first polar Hall plate 1 in the front-back direction 112 is greater than the distance in the left-right direction 111.

[0050] In this embodiment, by setting the tilt angle 12 of the first polar Hall plate 1 to 5-45 degrees and reasonably adjusting the distance between the first magnetic element 2 and the first polar Hall plate 1 in the front-back direction 112 and the left-right direction 111, the collision detection structure of this application can achieve high-precision and high-sensitivity collision detection.

[0051] Specifically, the distance between the first magnetic component 2 and the first polar Hall plate 1 in the front-back direction 112 is greater than the distance in the left-right direction 111. By increasing the distance in the front-back direction 112, the detection sensitivity in that direction can be reduced, thereby avoiding misjudging normal obstacle-crossing actions as collisions. This is particularly important for improving the robustness of the system. In the left-right direction 111, because the distance between the magnetic component and the Hall plate is shorter, the magnetic field sensing is more sensitive, and smaller collision forces can be detected more accurately. This is very effective for detecting minute movements of the buffer frame 21 in the left-right direction 111. This distance setting allows the system to effectively distinguish relative movements in different directions, improving the accuracy and reliability of detection. Preferably, the tilt angle 12 of the first polar Hall plate 1 is 25 degrees.

[0052] Furthermore, one first magnetic element 2 is located in the area between two first polar Hall plates 1, and the other first magnetic element 2 is located in the area where the two first polar Hall plates 1 are far apart from each other; when the buffer frame 21 moves in the left-right direction 111, either first magnetic element 2 will pass through the first polar Hall plate 1 and generate a level change; when the buffer frame 21 moves in the front-back direction 112, both first magnetic elements 2 will pass through the first polar Hall plate 1 at the same time and generate a level change.

[0053] In this embodiment, by setting the two first magnetic components 2 in different areas, the collision detection structure can accurately detect the movement of the buffer frame 21 in the left-right direction 111 and the front-back direction 112. This not only improves the sensitivity and accuracy of the detection, but also effectively distinguishes the movement in different directions, providing a reliable solution for collision detection under complex working conditions.

[0054] Specifically, this application tilts adjacent first polar Hall plates 1 in a V-shape, either facing or in opposite directions, to ensure that when impacted in the front-to-back direction 112, both first magnetic elements 2 can pass through the first polar Hall plates 1 and generate a voltage level change, thus distinguishing it from a single voltage level change in the left-to-right direction 111. The first polar Hall plates 1 are arranged along the height direction 113, and adjacent first polar Hall plates 1 are tilted in a V-shape, either facing or in opposite directions. The two first magnetic elements 2 are respectively located in different areas, allowing them to produce different sensing effects when moving in different directions. One first magnetic element 2 is located in the area between the two first polar Hall plates 1, while the other first magnetic element 2 is located in the area where the two first polar Hall plates 1 are far apart from each other.

[0055] When the buffer frame 21 moves 111 degrees left and right, one of the first magnetic elements 2 passes through the corresponding first polarity Hall plate 1. Since the first magnetic element 2 is located in the area between the two first polarity Hall plates 1, it generates a level change on the first polarity Hall plate 1 when it passes through it. This level change can be captured by the detection system, thereby determining the movement of the buffer frame 21 in the left and right direction 111. In this case, only one first magnetic element 2 participates in sensing, so the level change signal is relatively simple. By analyzing the characteristics of this signal, the direction and intensity of the movement can be accurately determined.

[0056] When the buffer frame 21 moves in the forward-backward direction 112, the two first magnetic elements 2 simultaneously pass through their respective first polarity Hall plates 1. Since the two first magnetic elements 2 are located in different areas, they generate voltage level changes on the two first polarity Hall plates 1 when they pass through simultaneously. In this case, both first magnetic elements 2 participate in sensing simultaneously, so the voltage level change signal is relatively complex. By analyzing the voltage level change signal on the two first polarity Hall plates 1, the movement of the buffer frame 21 in the forward-backward direction 112 can be accurately determined. This cooperative sensing method of the two first magnetic elements 2 not only improves the detection sensitivity but also effectively distinguishes movement in the forward-backward direction 112 from movement in other directions.

[0057] It is worth noting that the figure-eight structure allows the two first polarity Hall plates 1 to form two distinct sensing regions in space. This structure not only increases the detection coverage but also enables precise differentiation of movements in different directions by utilizing the different positions of the two magnetic components.

[0058] Preferably, the two first polarity Hall plates 1 are tilted towards each other in a V-shape, and the two first magnetic elements 2 are located in areas where the two first polarity Hall plates 1 are far apart from each other. When the buffer frame 21 moves in the left-right direction 111, one of the first magnetic elements 2 will pass through the corresponding first polarity Hall plate 1, generating a change in voltage level. In the V-shaped structure, when the buffer frame 21 moves in the left-right direction 111, one of the first magnetic elements 2 will pass through the corresponding first polarity Hall plate 1, generating a change in voltage level. By analyzing the voltage change of a single Hall plate, the movement of the buffer frame 21 in the left-right direction 111 can be accurately determined. When the buffer frame 21 moves in the front-back direction 112, both first magnetic elements 2 will pass through both first polarity Hall plates 1 simultaneously, generating a change in voltage level. By analyzing the voltage change of the two first polarity Hall plates 1, the movement of the buffer frame 21 in the front-back direction 112 can be accurately determined.

[0059] In a modified embodiment, the two first polar Hall plates 1 are tilted in opposite directions to form an inverted V-shape, and the two first magnetic elements 2 are located in the area between the two first polar Hall plates 1.

[0060] It is worth noting that by appropriately selecting the figure-eight structure (either upright or inverted), precise differentiation of movement in different directions can be achieved. This design not only improves the sensitivity and accuracy of detection but also effectively avoids false positives.

[0061] Further, refer to Figure 5 It also includes a second polar Hall plate 3 and a second magnetic element 4. The second polar Hall plate 3 is disposed on the housing 11 along the left-right direction 111, and the second magnetic element 4 is disposed in front of the second polar Hall plate 3. When the buffer frame 21 moves in the front-back direction 112, the left front direction and the right front direction, the second magnetic element 4 passes through the second polar Hall plate 3 and generates a level change.

[0062] In this embodiment, the second polar Hall plate 3 is arranged along the left and right direction 111 of the housing 11, forming a complementary detection layout with the first polar Hall plate 1, so that the second polar Hall plate 3 can detect the relative movement of the buffer frame 21 in the left front direction and the right front direction, further enhancing the detection capability and coverage, thereby achieving full coverage of movement in different directions.

[0063] Specifically, the second polar Hall plate 3 is arranged along the left-right direction 111 of the housing 11, and the second magnetic element 4 is arranged in front of the second polar Hall plate 3. When the buffer frame 21 moves in the front-back direction 112, the second magnetic element 4 can effectively pass through the magnetic field sensing area of ​​the second polar Hall plate 3, thereby triggering a change in the voltage level of the second polar Hall plate 3. At the same time, both first polar Hall plates 3 also generate a change in voltage level. By detecting this change in voltage level, the movement of the buffer frame 21 in the front-back direction 112 can be accurately determined. When the buffer frame 21 moves in the right-front or left-front direction, due to the collision angle, only one of the first polar Hall plates 1 may experience a level change, which is consistent with the detection result in the left-right direction 111. The second polar Hall plate 3 and the second magnetic element 4 are used to distinguish the left-right direction 111 from the right-front and left-front directions. When the buffer frame 21 moves in the right-front or left-front direction, the second magnetic element 4 can effectively trigger the magnetic field induction of the second polar Hall plate 3, thereby achieving timely collision detection and distinguishing the right-front and left-front directions from the left-right direction 111, improving the accuracy of multi-directional detection. It is worth noting that in this application, the second polar Hall plate 3 is located relatively between a pair of first polar Hall plates 1. In summary, referring to... Figures 6 to 8 That is, if the voltage level of one first polarity Hall plate 1 and the second polarity Hall plate 3 changes, they will collide in the right front direction and the left front direction; if the voltage level of both first polarity Hall plates 1 and the second polarity Hall plates 3 changes, they will collide in front of each other; if the voltage level of one first polarity Hall plate 1 changes, it will collide in the left and right directions, that is, collide in the left and right directions.

[0064] Generally, collision detection only needs to distinguish between impact forces directly in front and those on the left and right sides. However, because there is a time difference in the simultaneous triggering of the two first polarity Hall plates 1, the detection area directly in front of the buffer frame 21 is relatively small, resulting in a lower probability of correctly identifying a direct impact, and sometimes even inaccurate judgment. Therefore, in this embodiment, the second magnetic component 4 and the second polarity Hall plate 3 are provided to divide the impact detection area of ​​the buffer frame 21 into a direct front area, a left front area, a right front area, a left side area, and a right side area. When the second polarity Hall plate 3 and the right first polarity Hall plate 1 produce a level change, it can be determined as a right front impact; if the second polarity Hall plate 3 and both first polarity Hall plates 1 produce a level change, it can be determined as a direct front impact. If only the right first polarity Hall plate 1 produces a level change, it can be determined as a right side impact.

[0065] Preferably, the distance between the second magnetic element 4 and the second polar Hall plate 3 in the front-rear direction 112 is smaller than the distance between the first magnetic element 2 and the first polar Hall plate 1 in the front-rear direction 112. This can significantly widen the detection area of ​​the collision force in front of the buffer frame 21. Therefore, this not only increases the coverage of the detection area in front, but also allows the detection sensitivity to be adjusted according to actual needs, thereby avoiding misjudging normal obstacle crossing actions as collisions.

[0066] By appropriately adjusting the distance between the second magnetic element 4 and the second polar Hall plate 3 in the front-rear direction 112, the detection sensitivity can be flexibly controlled. In a modified embodiment, the distance between the second magnetic element 4 and the second polar Hall plate 3 in the front-rear direction 112 can also be set to a larger distance, which can reduce the sensitivity in that direction, thereby avoiding misjudging normal obstacle-crossing actions as collisions, while ensuring timely detection when a collision occurs. Making the distance between the second magnetic element 4 and the second polar Hall plate 3 in the front-rear direction 112 smaller than the distance between the first magnetic element 2 and the first polar Hall plate 1 in the front-rear direction 112 can be achieved by either increasing or decreasing the distance between the second magnetic element 4 and the second polar Hall plate 3 in the front-rear direction 112.

[0067] Furthermore, when the second polar Hall plate 3 is not provided, the tilt angle of the first polar Hall plate 1 is the first preset angle; when the second polar Hall plate 3 is provided, the tilt angle of the first polar Hall plate 1 is the second preset angle, which is smaller than the first preset angle, and is used to increase the distance between the first magnetic element 2 and the first polar Hall plate 1 in the front-back direction 112.

[0068] In this embodiment, when the second polar Hall plate 3 is not provided, the tilt angle of the first polar Hall plate 1 is the first preset angle. After the second polar Hall plate 3 is provided, the tilt angle of the first polar Hall plate 1 is the first preset angle. The second preset angle is smaller than the first preset angle, which is used to increase the distance between the first magnetic element 2 and the first polar Hall plate 1 in the front-back direction 112.

[0069] Specifically, by reducing the distance between the second magnetic element 4 and the second polar Hall plate 3 in the front-rear direction 112, the distance between the second magnetic element 4 and the second polar Hall plate 3 in the front-rear direction 112 is made smaller than the distance between the first magnetic element 2 and the first polar Hall plate 1 in the front-rear direction 112. This does not require increasing the distance between the second magnetic element 4 and the second polar Hall plate 3 in the front-rear direction 112, and does not increase the sensitivity of the second magnetic element 4 and the second polar Hall plate 3, thereby avoiding misjudging normal obstacle-crossing actions as collisions, while ensuring timely detection when a collision occurs. For example, without the second polarity Hall plate 3, the buffer frame 21 needs to move 10cm in the front-to-back direction 112 so that the first magnetic element 2 generates a level change after passing through the first polarity Hall plate 1. With the second polarity Hall plate 3, the buffer frame 21 still needs to maintain the same sensitivity. Therefore, the distance between the second magnetic element 4 and the second polarity Hall plate 3 in the front-to-back direction 112 is set to 10cm. To avoid interference between the first polarity Hall plate 1 and the second polarity Hall plate 3, the contact collision time of the first polarity Hall plate 1 needs to be increased, i.e., the distance between the first magnetic element 2 and the first polarity Hall plate 1 in the front-to-back direction 112 needs to be increased. This requires reducing the tilt angle of the first polarity Hall plate 1, i.e., reducing the first preset angle. Therefore, the first preset angle is smaller than the second preset angle. Preferably, the first preset angle is 25 degrees and the second preset angle is 20 degrees.

[0070] In a modified embodiment, a non-polar Hall plate and a second magnetic element 4 are also included. The non-polar Hall plate is disposed horizontally on the housing 11, and the second magnetic element is disposed on the buffer frame 21. When the second magnetic element 4 moves away from the non-polar Hall plate, the non-polar Hall plate generates a voltage level change. That is, the third Hall plate can be either a second polar Hall plate or a non-polar Hall plate. In this case, the third Hall plate only needs to detect the impact force in its front-back direction 112, which can be achieved with a common Hall plate. Therefore, this application does not further limit the third Hall plate.

[0071] Furthermore, this application also provides a lawnmower including the collision detection structure in any of the above embodiments.

[0072] Furthermore, this utility model provides a collision detection method for detecting the relative movement relationship between a buffer frame 21 and a housing 11. The housing 11 has a left-right direction 111, a front-back direction 112, and a height direction 113. The collision detection method specifically includes: S11, installing a first polar Hall plate 1 at an angle along the height direction 113 onto the housing 11, such that the first polar Hall plate 1 forms an angle 12 with the front-back direction 112; S12, setting a first magnetic element 2 on the buffer frame 21 and located on one side of the first polar Hall plate 1, the first magnetic element 2 and the first polar Hall plate 1 forming a first distance 1121 in the front-back direction 112 and a second distance 1111 in the left-right direction 111; S13, by adjusting the angle 12 of the first polar Hall plate 1, changing the ratio of the first distance 1121 and the second distance 1111, thereby controlling the detection sensitivity in the front-back direction 112 and the left-right direction 111.

[0073] In this embodiment, the first polar Hall plate 1 is tilted along the height direction 113, so that the first magnetic element 2 and the first polar Hall plate 1 form a first distance 1121 in the front-back direction 112 and a second distance 1111 in the left-right direction 111. By adjusting the tilt angle 12 between the first polar Hall plate 1 and the front-back direction 112, the ratio of the first distance 1121 and the second distance 1111 is precisely controlled, thereby controlling the detection sensitivity in the front-back direction 112 and the left-right direction 111.

[0074] Specifically, the key to this collision detection method lies in the tilted installation of the first polar Hall plate 1. The first polar Hall plate 1 is tilted to either side in the left-right direction 111, so that the first polar Hall plate 1 and the front-back direction 112 of the housing 11 form a preset tilt angle 12. This tilted installation method creates an inclined surface for the first polar Hall plate 1 in space, providing a unique angular advantage for subsequent magnetic field detection.

[0075] A first magnetic element 2 is disposed on a buffer frame 21, and the first magnetic element 2 is located on one side of the first polar Hall plate 1. When the first polar Hall plate 1 is installed at an angle, the first magnetic element 2 and the first polar Hall plate 1 form a first distance 1121 in the front-back direction 112 and a second distance 1111 in the left-right direction 111. The formation of the first distance 1121 and the second distance 1111 is due to the angled installation of the first polar Hall plate 1 and the specific position of the first magnetic element 2, which also provides different movement path lengths for magnetic field induction. The first distance 1121, the second distance 1111, and the first polar Hall plate 1 form a right triangle, with the first distance 1121 and the second distance 1111 being the legs of the right triangle, and the angle between the first distance 1121 and the first polar Hall plate 1 is the tilt angle 12. The length of the first polar Hall plate 1 is known, and through this tilt angle 12, a proportional relationship between the first distance 1121 and the second distance 1111 can be established. Furthermore, by adjusting the tilt angle 12 of the first polar Hall plate 1, the ratio of the first distance 1121 to the second distance 1111 can be changed, allowing the detection system to flexibly control the detection sensitivity in the forward / backward direction 112 and the left / right direction 111 according to the movement requirements in different directions. For example, when more sensitive detection of forward / backward movement 112 is required, the tilt angle 12 of the first polar Hall plate 1 can be appropriately increased, thereby reducing the first distance 1121 and enhancing the magnetic field induction intensity; conversely, when more sensitive left / right movement 111 is required, the tilt angle 12 of the first polar Hall plate 1 can be decreased, reducing the second distance 1111 to improve the detection sensitivity in that direction.

[0076] It is worth noting that the first polarity Hall plate 1 is tilted to either side in the left or right direction 111 because when the buffer frame 21 receives a collision force, it may move irregularly in an arc or wave shape. This would cause the first magnetic element 2 to pass back and forth across the first polarity Hall plate 1, leading to incorrect judgments by the first polarity Hall plate 1. Tilting the first polarity Hall plate 1 avoids this problem. Furthermore, the installation method of the buffer frame 21 and the housing 11 is prior art and is not further limited in this application. This application uses an elastic element to movably connect the buffer frame 21 and the housing 11. The elastic element includes, but is not limited to, the rubber column 13.

[0077] Preferably, the tilt angle 12 of the first polar Hall plate 1 is an acute angle of less than 45 degrees, and the distance between the first magnetic element 2 and the first polar Hall plate 1 in the left-right direction 111 does not exceed the distance in the front-back direction 112, so that the detection collision force required in the front-back direction 112 is greater than the detection collision force required in the left-right direction 111.

[0078] In this embodiment, by setting the tilt angle 12 of the first polar Hall plate 1 to an acute angle of less than 45 degrees, and by reasonably controlling the first distance 1121 and the second distance 1111 between the first magnetic component 2 and the first polar Hall plate 1 in the front-back direction 112 and the left-right direction 111, the sensitivity in the front-back direction 112 can be effectively reduced, the obstacle crossing performance can be increased, and the detection accuracy in the left-right direction 111 can be improved.

[0079] Specifically, the tilt angle 12 of the first polar Hall plate 1 is precisely set to an acute angle less than 45 degrees. At this time, the first polar Hall plate 1 forms an inclined plane in space, thereby generating different sensing movement distances in the front-back direction 112 and the left-right direction 111. Specifically, based on the characteristics of a right triangle, and since the tilt angle 12 is an acute angle less than 45 degrees, the second distance 1111 corresponding to the tilt angle 12 is always less than the first distance 1121 adjacent to the tilt angle 12. That is, the distance between the first magnetic element 2 and the first polar Hall plate 1 in the left-right direction 111 is controlled to not exceed the distance in the front-back direction 112, making the required detection collision force in the front-back direction 112 greater than the required detection collision force in the left-right direction 111.

[0080] Because the second distance 1111 between the first magnetic component 2 and the first polar Hall plate 1 in the left-right direction 111 is shorter, the magnetic field sensing of the first polar Hall plate 1 is more sensitive or the sensing time is shorter, thus allowing for more accurate detection of smaller impact forces. However, in the front-back direction 112, because the first distance 1121 between the first magnetic component 2 and the first polar Hall plate 1 in the front-back direction 112 is longer, the magnetic field sensing of the first polar Hall plate 1 is relatively weaker or the sensing time is longer, requiring a larger impact force to trigger detection. In other words, collisions in the left-right direction 111 can be detected when the deformation on the left and right sides is small, while collisions in the front-back direction 112 can only be detected when the deformation in the front-back direction 112 is large. Reflected in the buffer frame 21, this means that the detection impact force required in the front-back direction 112 is greater than that required in the left-right direction 111. This not only improves the accuracy of detection but also enhances the robustness of the system, enabling it to work more reliably under complex working conditions. For example, when the collision force in the left-right direction 111 is 5N, the machine should be able to sense it and take an avoidance action; while when the collision force in the front-back direction 112 is 10N, the machine should be able to sense it and take an avoidance action, thus improving the machine's obstacle-crossing ability when moving forward.

[0081] Further, refer to Figure 3The adjacent first polar Hall plates 1 are intersected in opposite or opposite tilting directions to form a figure-eight structure; a number of first magnetic elements 2 are disposed on the adjacent or opposite sides of the first polar Hall plates 1; wherein, when the first polar Hall plate 1 is in the shape of a regular figure-eight, the first magnetic elements 2 are installed on the side of the adjacent first polar Hall plates 1 that is far away from each other; when the first polar Hall plate 1 is in the shape of an inverted figure-eight, the first magnetic elements 2 are installed in the area between the adjacent first polar Hall plates 1.

[0082] In this embodiment, adjacent first polar Hall plates 1 intersect in opposite or opposite tilting directions to form a figure-eight structure. In the figure-eight structure, several first magnetic elements 2 are disposed on adjacent or opposite sides of the first polar Hall plates 1, which can effectively improve the sensitivity and directionality of magnetic field induction.

[0083] Specifically, the figure-eight structure allows the first polar Hall plate 1 to flexibly adjust its detection sensitivity according to actual needs. For example, by changing the tilt angle 12 of the first polar Hall plate 1 and the position of the first magnetic element 2, differentiated adjustments can be made to the sensitivity in the front-back direction 112 and the left-right direction 111. When the first polar Hall plates 1 intersect in opposite tilt directions, a regular figure-eight shape is formed. By reasonably adjusting the tilt angle 12 of the first polar Hall plate 1 and the position of the first magnetic element 2, accurate detection of relative movement in different directions can be achieved. For example, in the regular figure-eight structure, the first magnetic element 2 is installed on the side of adjacent first polar Hall plates 1 that is far apart from each other, which can enhance the magnetic field induction in the left-right direction 111, thereby improving the detection sensitivity in that direction. The first polar Hall plate 1 can more accurately detect the relative movement relationship between the buffer frame 21 and the housing 11, while avoiding misjudging obstacle crossing as a collision, thereby improving the reliability and practicality of the system.

[0084] In this configuration, the first magnetic element 2 on the left is mounted on the left side of the first polarity Hall plate 1, and the other first magnetic element 2 on the right is mounted on the right side of the first polarity Hall plate 1. When there is an impact force on the right side of the buffer frame 21, the first magnetic element 2 on the right passes through the first polarity Hall plate 1 on the right and generates a voltage level change, while the first magnetic element 2 on the left does not pass through the first polarity Hall plate 1 on the left and does not generate a voltage level change. However, in this application, the first magnetic elements 2 are mounted on opposite sides of adjacent first polarity Hall plates 1 because when there is an impact force in front of the buffer frame 21, both first magnetic elements 2 pass through their respective first polarity Hall plates 1 and generate a voltage level change, thus distinguishing them from impacts on the left and right sides.

[0085] Similarly, when the first polarity Hall plates 1 intersect in opposite tilt directions, they form an inverted V-shape. At this time, the first magnetic element 2 is installed in the area between adjacent first polarity Hall plates 1. That is, the first magnetic element 2 on the left is installed to the right of the first polarity Hall plate 1 on the left, and the other first magnetic element 2 on the right is installed to the left of the first polarity Hall plate 1 on the right. When there is an impact force on the right side of the buffer frame 21, the first magnetic element 2 on the right does not pass through the first polarity Hall plate 1 on the right and does not produce a voltage level change, while the first magnetic element 2 on the left passes through the first polarity Hall plate 1 on the left and produces a voltage level change. In this application, the first magnetic element 2 is installed in the area between adjacent first polarity Hall plates 1 because when there is an impact force in front of the buffer frame 21, both first magnetic elements 2 pass through their respective corresponding first polarity Hall plates 1 and produce a voltage level change, thus distinguishing them from impacts on the left and right sides.

[0086] Therefore, if any of the first magnetic elements 2 produces a level change, then the first magnetic element 2 passes through the first polar Hall plate 1, and the buffer frame 21 moves in the left-right direction 111; if the first magnetic elements 2 produce level changes at the same time, then several first magnetic elements 2 pass through the first polar Hall plate 1, and the buffer frame 21 moves in the front-back direction 112.

[0087] It is worth noting that the detection magnetic poles of the two first polarity Hall plates 1 can be the same or opposite. This application does not impose further limitations here, as long as the first magnetic element 2 passes through the first polarity Hall plate 1 and generates a change in voltage level. At the same time, the tilt angles 12 of the plurality of first polarity Hall plates 1 can be the same or different, and can be set according to the application scenario.

[0088] Furthermore, it also includes S14, in which the second polar Hall plate 3 is disposed on the housing 11 along the left-right direction 111, and the second magnetic element 4 is disposed in front of the second polar Hall plate 3. The second polar Hall plate 3 can detect the movement of the buffer frame 21 in the front-back direction 112, and can effectively distinguish between collisions in the right front direction, the left front direction and the left-right direction 111.

[0089] In this embodiment, the second polar Hall plate 3 is first installed along the left and right direction 111 of the housing 11, and then the second magnetic component 4 is placed in front of the second polar Hall plate 3. This can effectively distinguish the collisions in the right front direction, left front direction and left and right direction 111, and improve the accuracy of multi-directional detection.

[0090] Specifically, depending on the direction of the force source on the buffer frame 21, the collision may occur in the right front direction or the left front direction. The second polar Hall plate 3 and the second magnetic element 4 can effectively distinguish between the right front direction, the left front direction, and the left and right directions 111. The second polar Hall plate 3 is installed along the left and right direction 111 of the housing 11, and the second magnetic element 4 is placed in front of the second polar Hall plate 3, so that the second polar Hall plate 3 can detect the relative movement of the buffer frame 21 in the front-back direction 112. When an impact occurs in the left and right direction 111, the second magnetic element 4 does not pass through the second polar Hall plate 3, and the second polar Hall plate 3 does not produce a change in voltage level. However, when impacts occur in the front-back direction 112, the right front direction, or the left front direction, the second magnetic element 4 can effectively trigger the magnetic field induction of the second polar Hall plate 3, thereby achieving timely detection of the collision and distinguishing between the right front direction, the left front direction, and the left and right directions 111, thus improving the accuracy of multi-directional detection.

[0091] Preferably, in step S15, the distance between the second magnetic element 4 and the second polar Hall plate 3 in the front-rear direction 112 is smaller than the distance between the first magnetic element 2 and the first polar Hall plate 1 in the front-rear direction 112, so as to widen the detection area of ​​the impact force in front of the buffer frame 21.

[0092] It should be noted that the above embodiments can be freely combined as needed. The above are merely preferred embodiments of this utility model. It should be pointed out that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this utility model, and these improvements and modifications should also be considered within the protection scope of this utility model.

Claims

1. A collision detection structure for detecting the relative movement between a buffer frame and a housing, wherein the housing has a left-right direction, a front-back direction, and a height direction, characterized in that, It includes several first polarity Hall plates and several first magnetic components; The first polar Hall plate is disposed on the housing along the height direction and adjacent first polar Hall plates are inclined in opposite or opposite directions, such that the first polar Hall plate forms an inclination angle with the front-back direction; The first magnetic component is correspondingly disposed on the buffer frame and located on the side adjacent to or opposite to the first polar Hall plate. The direction of the impact force of the buffer frame is determined by detecting the level change of several first polar Hall plates.

2. The collision detection structure according to claim 1, characterized in that, The tilt angle of the first polar Hall plate is 5-45 degrees, and the distance between the first magnetic element and the first polar Hall plate in the front-back direction is greater than the distance in the left-right direction.

3. The collision detection structure according to claim 2, characterized in that, The tilt angle of the first polar Hall plate is 25 degrees.

4. The collision detection structure according to claim 1, characterized in that, One of the first magnetic elements is located in the region between the two first polar Hall plates, and the other of the first magnetic elements is located in the region where the two first polar Hall plates are located on opposite sides of each other. When the buffer frame moves in the left and right direction, any one of the first magnetic elements will pass through the first polar Hall plate and generate a change in voltage level. When the buffer frame moves in the front-to-back direction, the two first magnetic elements will simultaneously pass through the first polar Hall plate and generate a change in voltage level.

5. A collision detection structure according to claim 4, characterized in that, The two first polar Hall plates are tilted towards each other in a figure-eight shape, and the two first magnetic elements are located in the area where the two first polar Hall plates are far apart from each other. Alternatively, the two first polar Hall plates are tilted in opposite directions to form an inverted V-shape, and the two first magnetic elements are located in the area between the two first polar Hall plates.

6. A collision detection structure according to any one of claims 1-5, characterized in that, It also includes a second polar Hall plate and a second magnetic element, wherein the second polar Hall plate is disposed in the housing along the left-right direction, and the second magnetic element is disposed in front of the second polar Hall plate; When the buffer frame moves in the front-back, left-front, and right-front directions, the second magnetic element passes through the second polar Hall plate and generates a level change.

7. A collision detection structure according to claim 6, characterized in that, The distance between the second magnetic element and the second polar Hall plate in the front-back direction is less than the distance between the first magnetic element and the first polar Hall plate in the front-back direction.

8. A collision detection structure according to claim 7, characterized in that, The buffer frame is movably mounted on the housing via an elastic element. The elastic element includes four rubber pillars, two of which are symmetrically arranged on the top of the housing and two of which are symmetrically arranged on both sides of the housing. The two rubber pillars on the left and / or right sides of the central axis of the housing are close to each other.

9. A collision detection structure according to any one of claims 1-5, characterized in that, It also includes a non-polar Hall plate and a second magnetic element. The non-polar Hall plate is disposed on the housing along the horizontal plane, and the second magnetic element is disposed on the buffer frame. When the second magnetic element moves away from the non-polar Hall plate, the non-polar Hall plate generates a level change.

10. A lawnmower, characterized in that, Includes a collision detection structure as described in any one of claims 1-9.

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