Anti-collision guiding apparatus and self-moving device

Abstract

An anti-collision guiding apparatus mounted on a headstock (20) of a self-moving device. The anti-collision guiding apparatus comprises a connection assembly (11) and an anti-collision wheel (12), wherein the anti-collision wheel (12) is mounted on the connection assembly (11), the anti-collision wheel (12) is arranged parallel to a moving plane of the headstock (20), and the anti-collision wheel (12) is arranged in a manner of protruding outwards relative to the headstock (20). Further disclosed is a self-moving device comprising the anti-collision guiding apparatus.

Description

Anti-collision guide device and self-moving device

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on August 15, 2023, with application number 202322197429.1, and invention name “A collision avoidance device and self-moving device”, the entire contents of which are incorporated by reference into this application.

[0002] This application claims priority to the Chinese patent application filed with the Patent Office of China on September 4, 2023, with application number 202322405886.5, and invention name “A Collision-Proofing Guide Device and Self-Moving Device”, the entire contents of which are incorporated by reference into this application. Technical Field

[0003] The present application relates to the technical field of self-moving equipment, and in particular to an anti-collision guide device and a self-moving equipment. Background Art

[0004] The inventors realized that most self-propelled vehicles on the market use collision avoidance bars on their sides. The basic principle of these bars is that when the bars contact an obstacle, they compress inward, triggering a signal from sensors within the bars that stops the vehicle's movement. However, the gap between the bars and the obstacle is too small, making it easy for the vehicle to scrape against the wall, potentially damaging the vehicle or the obstacle.

[0005] Summary of the Invention

[0006] The main purpose of this application is to provide an anti-collision guide device, which aims to solve the problem that existing self-moving equipment uses collision bars to prevent collisions, which easily scratches obstacles.

[0007] To achieve the above-mentioned purpose, the anti-collision guide device proposed in this application is installed on the side of the front of the self-moving equipment, and the anti-collision guide device includes:

[0008] Connecting components; and

[0009] An anti-collision wheel is installed on the connecting assembly, the anti-collision wheel is arranged parallel to the movement direction of the vehicle head, and the anti-collision wheel is arranged to protrude relative to the vehicle head.

[0010] The present application also proposes a self-moving device, comprising a vehicle body, a front end and an anti-collision guide device, wherein the front end is mounted on the vehicle body, and the anti-collision guide device is arranged at an angle to the side of the front end.

[0011] The technical solution of the present application is achieved by installing an anti-collision guide device on the side of the front of the self-moving device, the anti-collision guide device includes a connecting assembly and an anti-collision wheel, the anti-collision wheel is installed on the connecting assembly, the anti-collision wheel is arranged parallel to the movement plane of the front of the vehicle, and the anti-collision wheel is arranged to protrude relative to the front of the vehicle; when the self-moving device wants to cut grass as close to the obstacle as possible and the anti-collision wheel collides with the obstacle, since the anti-collision wheel is arranged to protrude relative to the front of the vehicle, the distance between the body of the self-moving device and the obstacle is relatively large, so as to avoid contact between the body and the obstacle, thereby avoiding large-scale scratches on the obstacle.

[0012] The details of one or more embodiments of the disclosure are set forth in the accompanying drawings and the description below, and other features and advantages of the disclosure will be apparent from the description, the drawings, and the claims. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0014] FIG1 is a schematic structural diagram of an embodiment of a mobile device of the present application;

[0015] FIG2 is a schematic diagram of the three-dimensional structure of an embodiment of the anti-collision guide device of the present application;

[0016] FIG3 is a schematic diagram of the exploded structure of an embodiment of the anti-collision guide device of the present application;

[0017] FIG4 is a top view of an embodiment of a mobile device of the present application;

[0018] FIG5 is a schematic diagram of the three-dimensional structure of an embodiment of the present application when the mobile device is not installed with an upper shell;

[0019] FIG6 is a schematic structural diagram of an embodiment of the anti-collision guide device of the present application;

[0020] FIG7 is a schematic diagram of the explosion structure of an embodiment of the anti-collision guide device of the present application;

[0021] FIG8 is a schematic diagram of an exploded structure of an embodiment of the anti-collision guide device of the present application from another perspective;

[0022] FIG9 is a schematic cross-sectional view of an embodiment of the anti-collision guide device of the present application;

[0023] FIG10 is a schematic structural diagram of an embodiment of a mobile device of the present application;

[0024] FIG11 is a schematic diagram of a partially enlarged structure of point A in FIG10 ;

[0025] FIG12 is a structural diagram of an embodiment of the mobile device of the present application from another perspective.

[0026] Description of Figure Numbers:

[0027] The realization of the objectives, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0028] In order to better understand the embodiments of the present application, the relevant technologies of the present application are first introduced below.

[0029] In obstructed or rainy or snowy weather, the signal of the autonomous mobile device is relatively weak. At this time, the autonomous mobile device may scratch or hit the wall or obstacle while mowing. In order to avoid damaging the wall, a collision device is needed to sense the wall or obstacle. When the collision with the wall or obstacle is too deep, a signal will be sent to the autonomous mobile device to stop moving forward.

[0030] Most self-driving vehicles currently on the market use side impact bars to prevent collisions. The basic principle behind these bars is that when the bar contacts an obstacle, it compresses, triggering a signal from the sensor inside the bar that stops the vehicle. However, if the gap between the bar and the obstacle is too small, the sensor won't trigger immediately after the bar compresses, making it easy for the vehicle to scrape against the wall, potentially damaging the vehicle or the obstacle.

[0031] If the positioning signal of an automatic moving device is unstable during movement, it is easy for the device to collide with and scratch obstacles. For example, when a lawn mower is mowing the lawn, if you want to improve the integrity of lawn mowing, the lawn mower will inevitably need to contact the wall when used in the yard. The RTK (real-time dynamic carrier phase differential) signal of the lawn mower is prone to instability around the wall and in rainy and snowy weather. If the lawn mower loses the positioning signal at this time, it may scratch the wall. Therefore, a collision bar is generally added to the side of the lawn mower. When the RKT signal is lost, when the lawn mower hits the wall and the collision bar is compressed, the sensor inside the collision bar senses the signal and controls the body of the lawn mower to stop moving. In the above-mentioned anti-collision structure, the sensor will not be triggered immediately after the collision bar is compressed. Before that, the collision bar rubs against the wall, which can easily cause damage to both the lawn mower and the wall.

[0032] To solve the above problem, when the self-propelled device wants to cut grass as close to the obstacle as possible and the anti-collision wheel collides with the obstacle, the anti-collision wheel is arranged to protrude relative to the front of the device, so the distance between the body of the self-propelled device and the obstacle is relatively large, thereby preventing the body from contacting the obstacle and thus preventing large-scale scratches on the obstacle.

[0033] That is, the anti-collision wheels protrude from both sides of the automatic moving device. When the anti-collision wheels collide with obstacles, the anti-collision wheels roll along the obstacles, which provides motion guidance for the self-moving device and avoids damage to the obstacles caused by friction between the anti-collision wheels and the obstacles, thereby achieving the purpose of protecting the self-moving device and the obstacles; the obstacles have a supporting force acting on the anti-collision wheels, and the supporting force causes the anti-collision wheels to drive the rotating shaft structure to slide along the base assembly until the rotating shaft structure collide with the sensing end; and the sensing end obtains a real-time interaction force sensing value between the anti-collision wheels and the rotating shaft structure. The sensing end controls the driving control structure of the self-moving device based on the comparison result of the preset value and the real-time interaction force sensing value to achieve the purpose of controlling the movement direction. When the real-time interaction force sensing value is greater than or equal to the preset value, the sensing component controls the self-moving device to move away from the obstacle. When the interaction force sensing value is less than the preset value, the sensing component controls the self-moving device to keep moving close to the obstacle, so that the interaction force sensing value is always less than the preset value, thereby keeping the self-moving device close to the obstacle but not damaging the obstacle. The side guide protection device of the self-moving device determines whether the guide component is in excessive contact with the obstacle by sensing the interaction force between the guide component and the obstacle, and adaptively adjusts the operating state of the self-moving device.

[0034] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0035] It should be noted that all directional indications in the embodiments of the present application (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0036] In this application, unless otherwise specified or limited, the terms "connection" and "fixation" should be understood in a broad sense. For example, "fixation" can mean fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. For those skilled in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0037] In addition, in this application, descriptions such as "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features specified as "first" and "second" may explicitly or implicitly include at least one of such features. In addition, the meaning of "and / or" appearing throughout the text is to include three parallel solutions. Taking "A and / or B as an example", it includes solution A, or solution B, or solutions that satisfy both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but this must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is mutually contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0038] This application proposes an anti-collision guide device 10. Referring to Figures 1 to 5 , Figure 1 is a schematic structural diagram of an embodiment of a mobile device 100 of this application; Figure 2 is a schematic perspective structural diagram of an embodiment of the anti-collision guide device 10 of this application; Figure 3 is a schematic exploded structural diagram of an embodiment of the anti-collision guide device 10 of this application; Figure 4 is a top view of an embodiment of the mobile device 100 of this application; and Figure 5 is a schematic perspective structural diagram of an embodiment of the mobile device 100 of this application without an upper shell installed.

[0039] In the embodiment of the present application, as shown in FIG. 1 to FIG. 5 , the anti-collision guide device 10 proposed in the present application is installed on the side of the front end 20 of the self-moving device 100. The anti-collision guide device 10 includes:

[0040] Connecting assembly 11; and

[0041] The anti-collision wheel 12 is installed on the connecting assembly 11 . The anti-collision wheel 12 is arranged parallel to the movement direction of the vehicle head 20 , and the anti-collision wheel 12 is arranged to protrude relative to the vehicle head 20 .

[0042] The technical solution of the present application is to install an anti-collision guide device 10 on the side of the front end 20 of the self-moving device 100, and the anti-collision guide device 10 includes a connecting component 11 and an anti-collision wheel 12. The anti-collision wheel 12 is installed on the connecting component 11, and the anti-collision wheel 12 is arranged parallel to the movement plane of the front end 20, and the anti-collision wheel 12 is arranged to protrude relative to the front end 20; when the self-moving device 100 wants to cut grass as close to the obstacle 40 as possible, and the anti-collision wheel 12 collides with the obstacle 40, since the anti-collision wheel 12 is arranged to protrude relative to the front end 20, the distance between the body 30 of the self-moving device 100 and the obstacle 40 is relatively large, so as to avoid contact between the body 30 and the obstacle 40, thereby avoiding large-scale scratches on the obstacle 40.

[0043] In one embodiment, the obstacle is a wall 40 .

[0044] In one embodiment, as shown in Figures 1 and 4, the anti-collision wheel 12 always remains parallel to the direction of movement of the front 20, regardless of whether the self-moving device 100 is moving forward or turning right, and the anti-collision wheel 12 is protruded relative to the side of the front 20. When the self-moving device 100 wants to cut grass as close to the wall 40 as possible, the entire body 30 needs to be attached to the wall 40. The anti-collision wheel 12 of the present application is installed on the side of the front 20 through the connecting assembly 11, and the anti-collision wheel 12 is protruded relative to the body 30 and the front 20. When the anti-collision wheel 12 contacts the wall 40, it can prevent the body 30 of the self-moving device 100 from contacting the wall 40, thereby preventing the wall 40 from being scratched over a large area.

[0045] In one embodiment, the anti-collision wheel 12 includes a tire 120 and a hub 121. The hub 121 is used to connect to the connecting assembly 11. The tire of the anti-collision wheel 12 can be made of a soft material, such as silicone rubber. During the process of the anti-collision wheel 12 contacting the wall 40, the tire 120 of the anti-collision wheel 12 will not damage the wall 40. After the anti-collision wheel 12 contacts the wall 40, the body 30 of the self-moving device 100 can continue to move forward, and the anti-collision wheel 12 continues to roll against the wall 40 without causing friction marks on the wall, thereby protecting the wall 40.

[0046] As shown in FIG. 1 to FIG. 5 , the anti-collision guide device 10 further includes a first sensor 13 . The first sensor 13 is installed on the connecting component 11 and is signal-connected to the anti-collision wheel 12 .

[0047] In one embodiment, the first sensor 13 may be installed on the anti-collision wheel 12 via the connecting assembly 11 .

[0048] As the anti-collision wheel 12 approaches the wall 40 and contacts the wall 40, the pressure exerted on the anti-collision wheel 12 acts on the connecting assembly 11, squeezing the first sensor on the connecting assembly 11, causing the first sensor 13 to sense a signal value indicating a compression. As the force exerted by the anti-collision wheel 12 against the wall 40 increases, the signal value sensed by the first sensor 13 also increases. At this point, the direction of the body 30 of the self-moving device 100 can be adjusted to gradually return the self-moving device 100 to the intended trajectory. However, in the event of signal interference or other unpredictable circumstances, the body 30 of the self-moving device 100 may not adjust its direction in time and may continue to advance against the wall. The pressure exerted on the anti-collision wheel 12 by the wall 40 is transmitted through the connecting assembly 11 to the first sensor 13 until the signal value sensed by the first sensor 13 reaches a set threshold, at which point the body 30 of the self-moving device 100 may be stopped. Among them, the first sensor 13 can select a pressure first sensor 13 to determine whether the anti-collision wheel 12 is in excessive contact with the wall 40 by sensing the interaction force between the anti-collision wheel 12 and the wall 40, or the first sensor 13 can select a photoelectric first sensor 13 to determine the overall compression distance of the anti-collision guide device 10 through the interaction force between the anti-collision wheel 12 and the wall 40, and then determine whether the anti-collision guide device is in excessive contact with the wall 40 through the compression distance.

[0049] In one embodiment, the connecting assembly 11 includes a first connecting member 111 connected to the front of the vehicle 20 and a second connecting member 112 connected to the anti-collision wheel 12, the second connecting member 112 extends along the height direction of the front of the vehicle 20, the anti-collision wheel 12 is installed on the second connecting member 112, and the first sensor 13 is arranged between the first connecting member 111 and the second connecting member 112.

[0050] In one embodiment, the first connecting member 111 is used to connect with the vehicle head 20, and the second connecting member 112 is used to install the anti-collision wheel 12. Since the anti-collision wheel 12 is arranged on the outside of the vehicle head 20 and is arranged to protrude relative to the vehicle head 20, there is a gap between the first connecting member 111 and the anti-collision wheel 12. For this reason, the second connecting member 112 is provided to connect the first connecting member 111 and the anti-collision wheel 12 together. Since the anti-collision wheel 12 is parallel to the movement direction of the vehicle head 20, the second connecting member 112 needs to extend along the height direction of the vehicle head 20 to connect with the hub 121 of the anti-collision wheel 12. The first sensor 13 is provided between the first connecting member 111 and the second connecting member 112 and is connected to the anti-collision wheel 12. The detection range of the first sensor 13 can be 0 to 100 kilograms.

[0051] As shown in Figures 2 and 3 , the second connecting member 112 includes a base 1121, a first protruding shaft 1122, and a second protruding shaft 1123. The first protruding shaft 1122 and the second protruding shaft 1123 are disposed on the base 1121. The first protruding shaft 1122 is connected to the anti-collision wheel 12, and the second protruding shaft 1123 is connected to the first sensor 13. As shown in Figures 2 and 3 , the first protruding shaft 1122 and the second protruding shaft 1123 can be disposed on two sides of the base 1121 that are perpendicular to each other.

[0052] In one embodiment, the base body 1121 of the second connecting member 112 may be in the shape of a rectangular parallelepiped. The first protruding shaft 1122 of the second connecting member 112 is used to mount the anti-collision wheel 12, and the second protruding shaft 1123 of the second connecting member 112 is used to connect to the first sensor 13. The anti-collision wheel 12 is rotatably mounted on the first protruding shaft 1122 of the second connecting member 112, and a fastener locks the anti-collision wheel 12 to prevent the anti-collision wheel 12 from escaping from the first protruding shaft 1122 of the second connecting member 112. The second connecting member 112 may be an integrally molded structure. The first sensor 13 is connected to the anti-collision wheel 12 through the second connecting member 112, so that the squeezing force of the wall 40 on the anti-collision wheel 12 can be transmitted to the first sensor 13 through the second connecting member 112.

[0053] In another embodiment, as shown in FIG5 , the base 1121 of the first connector 111 may be L-shaped, with one end of the first connector 111 connected to the anti-collision wheel 12. The second connector 112 may be an integrally formed structure. Because the anti-collision wheel 12 is parallel to the direction of motion of the vehicle head 20, the base 1121 of the second connector 112 extends along the height of the vehicle head 20 to connect with the hub 121 of the anti-collision wheel 12.

[0054] As shown in FIG. 2 and FIG. 3 , the first connecting member 111 includes a pressing plate 1110 and a limiting plate 1111 . The pressing plate 1110 is connected to the vehicle head 20 . The limiting plate 1111 is connected to the pressing plate 1110 and is also connected to the first sensor 13 .

[0055] In one embodiment, the limiting plate 1111 can be connected to a fixing bolt within the accommodating cavity 21 of the vehicle head 20, so that the first connecting member 1111 is fixed within the accommodating cavity 21 of the vehicle head 20. The first connecting member 111 of the connecting assembly 11 can be mounted on the fixing bolt. The second connecting member 112 of the connecting assembly 11 can be disposed outside the vehicle head 20, and the first sensor 13 is mounted between the first connecting member 111 and the second connecting member 112. The first sensor 13 can be accommodated within the accommodating cavity 21. The second connecting member 112 is used to mount the anti-collision wheel 12.

[0056] In one embodiment, the pressure plate 1110 is connected to the vehicle head 20, and the limiting plate 1111 is used to limit the position of the first sensor 13. As shown in Figures 2 and 3, the limiting plate 1111 is provided with a limiting hole 1112, and the connecting assembly 11 includes a fastener 113, which passes through the limiting hole 1112 and is connected to the first sensor 13. The limiting plate 1111 and the second connecting member 1112 together limit the position of the first sensor 13, so that the first sensor 13 is mounted between the limiting plate 1111 and the second connecting member 1112 and cannot be removed.

[0057] In one embodiment, one end of the first sensor 13 is installed in the limiting hole 1112 of the limiting plate 1111 , and the fastener 113 passes through the limiting hole 1112 to limit the first sensor 13 to the limiting plate 1111 .

[0058] As shown in Figures 2 and 3, the first sensor 13 includes a sensor body 133 and two positioning shafts 131 arranged opposite to each other on the sensor body 133. The two positioning shafts 131 are both provided with positioning holes 132. The second protruding shaft 1123 is inserted into the positioning hole 132 on one of the positioning shafts 131, and the fastener 113 is inserted into the positioning hole 132 on the other positioning shaft 131.

[0059] In one embodiment, a positioning shaft 131 is provided on both sides of the first sensor 13, and the second protruding shaft 1123 is inserted into one of the positioning shafts 131 of the first sensor 13. The first protruding shaft 1122 is connected to the anti-collision wheel 12, so that the second connecting member 112 can connect the anti-collision wheel 12 to the first sensor 13. The positioning shaft 131 on the other side of the first sensor 13 is inserted into the limiting hole 1112 of the limiting plate 1111. The fastener 113 passes through the limiting hole 1112 and connects to the first sensor 13, thereby restraining the first sensor 13 on the limiting plate 1111.

[0060] The present application also proposes another anti-collision guide device, referring to Figures 6 to 12, Figure 6 is a structural schematic diagram of an embodiment of the anti-collision guide device of the present application; Figure 7 is an exploded structural schematic diagram of an embodiment of the anti-collision guide device of the present application; Figure 8 is an exploded structural schematic diagram of another perspective of an embodiment of the anti-collision guide device of the present application; Figure 9 is a cross-sectional structural schematic diagram of an embodiment of the anti-collision guide device of the present application; Figure 10 is a structural schematic diagram of an embodiment of a self-mobile device of the present application; Figure 11 is a locally enlarged structural schematic diagram of point A in Figure 10; Figure 12 is a structural schematic diagram of another perspective of an embodiment of a self-mobile device of the present application.

[0061] In one embodiment of the present application, as shown in Figures 6 to 12, the anti-collision guide device 10 includes a base assembly 16, a guide assembly 17, and a sensing assembly 18. The base assembly 16 is connected to the first mounting surface 201 of the self-moving device 100. The guide assembly 17 includes a rotating shaft structure 171 and an anti-collision wheel 12. The anti-collision wheel 12 is rotatably connected to the rotating shaft structure 171, and the rotating shaft structure 171 is slidably connected to the base assembly 16. The guide assembly 17 can slide along the base assembly 16. The sensing assembly 18 is connected to the second mounting surface 202 of the self-moving device 100. The sensing assembly 18 is located on one side of the rotating shaft structure 171 and has a sensing end 1821. The rotating shaft structure 171 can slide along the base assembly 16 and abut against the sensing end 1821. The sensing end 1821 is used to detect the interaction force between the 321 and the rotating shaft structure 171. The sensing assembly 18 is electrically connected to the drive control structure of the self-moving device 100. The rotating shaft structure 171 is at least a portion of the connecting assembly 11.

[0062] Specifically, the first mounting surface 201 and the second mounting surface 202 are both provided on the self-moving device 100; the anti-collision wheel 12 protrudes on both sides of the self-moving device 100. When the anti-collision wheel 12 abuts against the obstacle 40, the anti-collision wheel 12 rolls along the obstacle 40, which has the function of providing motion guidance for the self-moving device 100, while preventing the anti-collision wheel 12 from causing damage to the obstacle 40 due to friction with the obstacle 40, thereby achieving the purpose of protecting the self-moving device 100 and the obstacle 40; the obstacle 40 has a supporting force acting on the anti-collision wheel 12, which causes the anti-collision wheel 12 to drive the rotating shaft structure 171 to slide along the base assembly 16 until the rotating shaft structure 171 abuts against the sensing end 1821; and the sensing end 1821 obtains a real-time interaction force sensing value between the anti-collision wheel 12 and the rotating shaft structure 171. The sensing end 1821 controls the driving control structure of the self-moving device 100 based on the comparison result of the preset value and the real-time interaction force sensing value to achieve the purpose of controlling the movement direction. When the real-time interaction force sensing value is greater than or equal to a preset value, the sensing component 18 controls the self-moving device 100 to move away from the obstacle 40. When the interaction force sensing value is less than the preset value, the sensing component 18 controls the self-moving device 100 to keep moving close to the obstacle 40, so that the interaction force sensing value is always less than the preset value, thereby keeping the self-moving device 100 close to the obstacle 40 but not damaging the obstacle 40. The anti-collision guide device 10 determines whether the guide component 17 is in excessive contact with the obstacle 40 by sensing the interaction force between the guide component 17 and the obstacle 40, and adaptively adjusts the operating state of the self-moving device 100. It should be noted that if the interaction force sensing value is greater than the preset value, it is judged as excessive contact, and excessive contact may cause damage to the obstacle 40. The obstacle 40 includes a wall or other object.

[0063] When the force of the anti-collision wheel 12 pressing against the obstacle 40 becomes greater and greater, the sensing value of the interaction force sensed by the sensing component 18 also becomes greater and greater. At this time, the direction of the body 30 of the self-moving device 100 can be adjusted and the self-moving device 100 can be gradually adjusted back to the predetermined track.

[0064] However, in the event of signal interference or other unpredictable situations, the body of the self-moving device 100 does not adjust its direction in time but continues to advance against the obstacle 40. The pressure from the obstacle 40 on the anti-collision wheel 12 is transmitted to the sensing component 18 through the rotating shaft mechanism 171 until the signal value sensed by the sensing component reaches the set threshold, at which point the body of the self-moving device 100 can be stopped.

[0065] In one embodiment, the rotating shaft structure 171 includes a connecting block 1711, a mounting shaft 1712 and a bearing 1713. The connecting block 1711 is slidably connected to the base assembly 16. One end of the mounting shaft 1712 is connected to the connecting block 1711. The bearing 1713 is passed through the mounting shaft 1712. The outer surface of the bearing 1713 is connected to the anti-collision wheel 12.

[0066] The anti-collision wheel 12 is rotatably connected to the mounting shaft 1712 through the bearing 1713, and the mounting shaft 1712 is slidably connected to the base assembly 16 through the connecting block 1711; when the anti-collision wheel 12 hits the obstacle 40, if the self-moving device 100 continues to move along the obstacle 40, the anti-collision wheel 12 can roll along the obstacle 40, reducing the damage of the anti-collision wheel 12 to the obstacle 40, protecting the obstacle 40 from being scratched by the self-moving device 100, and avoiding scratches on the self-moving device 100. The pressure exerted by the obstacle 40 on the anti-collision wheel 12 is transmitted to the bearing 1713, the mounting shaft 1712 and the connecting block 1711, causing the connecting block 1711 to slide along the base assembly 16 and collide with the sensing end 1821 of the sensing assembly 18. The sensing end 1821 obtains the sensing value of the interaction force and compares the sensing value of the interaction force with a preset value. When the sensing value of the interaction force is greater than the preset value, the sensing assembly 18 controls the self-moving device 100 to move away from the obstacle 40. When the sensing value of the interaction force is less than the preset value, the sensing assembly 18 controls the self-moving device 100 to keep moving close to the obstacle 40.

[0067] In one embodiment, a limiting protrusion 17121 is provided at one end of the installation shaft 1712 connected to the connecting block 1711 , and a nut 1714 is provided at the other end of the installation shaft 1712 , and the nut 1714 is threadedly connected to the installation shaft 1712 .

[0068] The outer ring of the bearing 1713 is connected to the wheel core of the anti-collision wheel 12 , the inner ring of the bearing 1713 is connected to the connecting shaft, and the limiting protrusion 17121 and the nut 1714 are respectively located on both sides of the anti-collision wheel 12 .

[0069] In one embodiment, the base assembly 16 includes a base 161, a first limit block 162, a second limit block 163 and a third limit block 164. The first limit block 162, the second limit block 163 and the third limit block 164 are respectively connected to the three sides of the base 161 and surround them to form a slide groove.

[0070] The base 161 is connected to the first limiting block 162 , the second limiting block 163 and the third limiting block 164 by screws, which has the advantage of convenient assembly.

[0071] In one embodiment, the slide slot is provided with an opening on one side of the base 161 ; the opening faces the sensing component 18 .

[0072] The first limit block 162 , the second limit block 163 and the third limit block 164 are respectively connected to three sides of the base 161 and form an opening at the fourth side of the base 161 . One side of the rotating shaft structure 171 slides from the opening to the outside of the slide groove and abuts against the sensing end 1821 of the sensing component 18 .

[0073] In one embodiment, the base assembly 16 also includes a sliding assembly 18, which includes a slider 181 and a sliding guide bar 182. The slider guide bar 182 is connected to the base 161, and the slider guide bar 181 extends to the side where the slide groove 1811 is provided with an opening; the slider 181 can slide along the slider guide bar 181; the slider 181 is connected to the connecting block 1711.

[0074] The sliding guide bar 182 is located in the sliding groove 1811 , and the slider 181 slides along the sliding guide bar 182 . The sliding guide bar 182 has a guiding function, thereby improving the movement stability of the slider 181 .

[0075] In one embodiment, the slider 181, base 161, first stopper 162, second stopper 163, third stopper 164, and sliding guide bar 182 are all made of plastic. The sides of the slider 181 that slide along the sliding guide bar 182 and the slide groove 1811 are chamfered. A groove 1811 is defined on the bottom surface where the slider 181 connects to the sliding guide bar 182. The sliding guide bar 182 is positioned within the groove 1811, and the sliding guide bar 182 and the groove 1811 are slidably engaged.

[0076] The plastic material comprises tetrafluoroethylene (PTFE), also known as Teflon, which has an extremely low coefficient of friction, resulting in excellent self-lubrication between slider 181 and guide bar 182. Teflon also offers excellent wear resistance, extending the service life of base assembly 16. The sides of slider 181 that slide along guide bar 182 are chamfered, creating grease storage spaces between slider 181 and guide bar 182, as well as on the inner wall of groove 1811, reducing the sliding friction of slider 181.

[0077] In one embodiment, the sensing assembly 18 includes a mounting block 181, a second sensor 182, and an elastic member 183. The mounting block 181 is configured to be detachably connected to the second mounting surface 202. The second sensor 182 has a fixed end 1822 and a sensing end 1821. The fixed end 1822 is connected to the mounting block 181, and the sensing end 1821 extends into the elastic member 183. One end of the elastic member 183 abuts against the second sensor 182, and the other end of the elastic member 183 abuts against the rotating shaft structure 171. It should be noted that the elastic member 183 may be a spring.

[0078] The second sensor 182 may be a pressure sensor or a photoelectric sensor to determine the overall compression distance of the anti-collision guide device 10 through the interaction force between the anti-collision wheel 12 and the obstacle 40 , and then determine whether the anti-collision guide device 10 is in excessive contact with the obstacle 40 through the compression distance.

[0079] The mounting block 181 is used to connect with the second mounting surface 202 of the self-moving device 100, the second sensor 182 is connected to the mounting block 181, and the elastic member 183 includes a spring, which is passed through the sensing end 1821, and the limiting protrusion 17121 is used to abut against one end of the spring, and the other end of the spring is connected to the fixing groove 17111; when the anti-collision wheel 12 abuts against the obstacle 40, the obstacle 40 provides a supporting force to make the rotating shaft structure 171 approach the sensing end 1821 of the second sensor 182, the slider 181 and the sliding guide bar 182 slide relative to each other, and the spring is compressed until the connecting block 1711 of the rotating shaft structure 171 abuts against the sensing end 1821, and the pressure of the connecting block 1711 acts on the sensing end 1821, and the sensing end 1821 obtains the sensing value of the interaction force. The sensing end 1821 controls the driving control structure of the self-moving device 100 according to the comparison result between the preset value and the sensing value of the interaction force to achieve the purpose of the movement direction. The sensed value of the interaction force is kept below a preset value, thereby allowing the self-moving device 100 to remain close to the obstacle 40 without damaging it. Because the self-moving device 100 may experience bumps during operation, and the spring is always in a compressed state after installation, the slider 181 can be kept in contact with the third limit block 164. This effectively prevents the sensed value of the interaction force obtained by the second sensor 182 from exceeding the preset value before the anti-collision guide device 10 contacts the obstacle 40, thereby preventing the second sensor 182 from making an erroneous judgment and affecting the operation of the self-moving device 100.

[0080] In addition, when the automatic moving device returns to the predetermined track and maintains a safe distance from the obstacle, the supporting force of the obstacle 40 on the anti-collision guide device 10 disappears, the spring recovers and drives the guide assembly 17 back to the initial position, realizing the automatic reset function.

[0081] In one embodiment, the connecting block 1711 is provided with a fixing groove 17111, and the other end of the elastic member 183 is connected to the fixing groove 17111; a gap 19 is provided between the sensing end 1821 and the connecting block 1711; a gap 19 is provided between the sensing end 1821 and the connecting block 1711; the width of the gap 19 ranges from 0.5 mm to 2 mm. The slider 181 and the sliding guide bar 182 slide relative to each other, the spring is compressed, and the gap 19 between the connecting block 1711 of the rotating shaft structure 171 and the sensing end 1821 gradually becomes smaller until the connecting block 1711 and the sensing end 1821 are against each other; the distance of the gap 19 between the sensing end 1821 and the rotating shaft structure 171 is set to 0.5mm~2mm, so that when the self-moving device 100 is against the obstacle 40, the second sensor 182 can obtain the sensing value of the interaction force, thereby improving the sensing accuracy and more effectively protecting the obstacle 40; at the same time, the spring characteristics are utilized to make the spring always press against the connecting block 1711 and exert force all the time. Once the anti-collision wheel 12 leaves the obstacle 40, the spring will push the guide assembly 17 back to the initial position, so that the triggering accuracy of the anti-collision guide device 10 is guaranteed, and the sensing value of the interaction force greater than the preset value will not be generated for no reason when the lawn operation does not contact the obstacle 40. The fixing groove 17111 has the function of guiding the spring, allowing the spring to always perform linear expansion and contraction motion in the fixing groove 17111 and not be offset to other places due to vibration. In the initial state of the spring, one end of the spring is fixed in the fixing groove 17111, which can effectively reduce the risk of the spring falling from the sensing end 1821.

[0082] In one embodiment, the outer surface of the anti-collision wheel 12 is made of rubber material. Rubber material has good wear resistance and is more durable than other materials. Due to the elasticity of rubber material, the anti-collision wheel 12 can provide excellent protection to prevent the obstacle 40 from being damaged.

[0083] The technical solution of the present application adopts a base component 16 to be connected to the first mounting surface of the self-moving device 100, so that the anti-collision wheel 12 of the guide component 17 is rotatably connected to the rotating shaft structure 171, and the rotating shaft structure 171 is slidingly connected to the base component 16; the sensing component 18 is connected to the second mounting surface 202 of the self-moving device 100; the sensing component 18 is located on one side of the rotating shaft structure 171, and the sensing component 18 is provided with a sensing end 1821, and the rotating shaft structure 171 can slide along the base component 16 and abut against the sensing end 1821; the sensing end 1821 is used to obtain the sensing value of the interaction force between 321 and the rotating shaft structure 171; the sensing end 1821 is used to be electrically connected to the drive control structure of the self-moving device 100. Specifically, the first mounting surface 201 and the second mounting surface 202 are both provided on the self-moving device 100; the anti-collision wheel 12 protrudes on both sides of the self-moving device 100. When the anti-collision wheel 12 abuts against the obstacle 40, the anti-collision wheel 12 rolls along the obstacle 40, which has the function of providing motion guidance for the self-moving device 100, while preventing the anti-collision wheel 12 from causing damage to the obstacle 40 due to friction with the obstacle 40, thereby achieving the purpose of protecting the self-moving device 100 and the obstacle 40; the obstacle 40 has a supporting force acting on the anti-collision wheel 12, which causes the anti-collision wheel 12 to drive the rotating shaft structure 171 to slide along the base assembly 16 until the rotating shaft structure 171 abuts against the sensing end 1821; and the sensing end 1821 obtains a real-time interaction force sensing value between the anti-collision wheel 12 and the rotating shaft structure 171. The sensing end 1821 controls the driving control structure of the self-moving device 100 based on the comparison result of the preset value and the real-time interaction force sensing value to achieve the purpose of controlling the movement direction. When the real-time interaction force sensing value is greater than or equal to a preset value, the sensing component 18 controls the self-moving device 100 to move away from the obstacle 40. When the interaction force sensing value is less than the preset value, the sensing component 18 controls the self-moving device 100 to remain close to the obstacle 40, ensuring that the interaction force sensing value is always less than the preset value, thereby keeping the self-moving device 100 close to the obstacle 40 without damaging the obstacle 40. The anti-collision guide device 10 determines whether the guide component 17 is in excessive contact with the obstacle 40 by sensing the interaction force between the guide component 17 and the obstacle 40, and adaptively adjusts the operating state of the self-moving device 100. It should be noted that if the interaction force sensing value is greater than the preset value, it is judged as excessive contact, which may cause damage to the obstacle 40.

[0084] This application also proposes a self-moving device 100, which, with reference to Figures 1 to 5, includes a vehicle body 30, a front end 20, and an anti-collision guide device 10. The specific structure of the anti-collision guide device 10 is based on the above-mentioned embodiments. Since this self-moving device 100 adopts all the technical solutions of all the above-mentioned embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above-mentioned embodiments, which will not be described in detail here. The front end 20 is mounted on the vehicle body 30, and the anti-collision guide device 10 is arranged at an angle to the side of the front end 20.

[0085] In one embodiment, the anti-collision guide device 10 is mounted on the side of the vehicle front 20 and is arranged at an angle to the side of the vehicle front 20. Furthermore, the anti-collision wheel 12 of the anti-collision guide device 10 is made of a relatively soft silicone rubber material to minimize damage to the wall 40 during contact between the anti-collision wheel 12 and the wall 40.

[0086] In one embodiment, the anti-collision guide device 10 is disposed on the side of the vehicle front 20 and forms an angle with the side of the vehicle front 20 that is greater than 90 degrees. The anti-collision guide device 10 is disposed at an oblique angle on the side of the vehicle front 20 to minimize occupied space and increase the sensing range of the first sensor 13, thereby facilitating the first sensor 13 to sense whether the anti-collision wheel 12 is in contact with the wall 40.

[0087] The angle between the anti-collision guide device 10 and the side of the vehicle head 20 can be less than 90 degrees. The anti-collision guide device 10 is also arranged at an oblique angle on the side of the vehicle head 20 to reduce the occupied space.

[0088] As shown in Figures 1, 4 and 5, the anti-collision wheel 12 protrudes from the outside of the vehicle head 20, and the vehicle head 20 is provided with a accommodating cavity 21. Part of the structure of the connecting component 11 is installed in the accommodating cavity 21, and the other part of the structure protrudes from the outside of the vehicle head 20 and is connected to the anti-collision wheel 12.

[0089] In one embodiment, a fixing bolt for mounting the connecting assembly 11 may be provided within the accommodating cavity 21 of the vehicle head 20, and the first connecting member 111 of the connecting assembly 11 may be mounted on the fixing bolt. The second connecting member 112 of the connecting assembly 11 may be disposed on the exterior of the vehicle head 20, and the first sensor 13 may be mounted between the first connecting member 111 and the second connecting member 112. The first sensor 13 may be housed within the accommodating cavity 21. The second connecting member 112 is used to mount the anti-collision wheel 12.

[0090] As shown in FIG1 , FIG4 and FIG5 , the anti-collision guide device 10 includes a first anti-collision guide device 14 and a second anti-collision guide device 15 . The first anti-collision guide device 14 and the second anti-collision guide device 15 are respectively arranged on both sides of the vehicle front 20 and are symmetrically arranged.

[0091] In one embodiment, the first anti-collision guide device 14 and the second anti-collision guide device 15 are respectively installed on both sides of the self-moving device 100, and the first anti-collision guide device 14 and the second anti-collision guide device 15 are symmetrically arranged.

[0092] When the self-moving device 100 wants to mow grass as close to the wall 40 on the right side of the self-moving device 100 as possible, the entire body 30 needs to be attached to the right wall 40. The anti-collision wheel 12 of the first anti-collision guide device 14 is arranged to protrude relative to the body 30 and the front end 20. The first anti-collision wheel 12 contacts the wall 40 on the right side of the self-moving device 100 to prevent the body 30 of the self-moving device 100 from contacting the wall 40, thereby preventing the self-moving device 100 from scratching the wall 40 on the right side of the self-moving device 100.

[0093] When the self-moving device 100 wants to mow grass as close to the wall 40 on the left side of the self-moving device 100 as possible, the entire body 30 needs to be attached to the left wall 40. The anti-collision wheels 12 of the second anti-collision guide device 15 are arranged to protrude relative to the body 30 and the front end 20. The second anti-collision wheels 12 contact the wall 40 to prevent the body 30 of the self-moving device 100 from contacting the wall 40, thereby preventing large-scale scratches on the wall 40.

[0094] In one embodiment, the anti-collision wheel 12 protrudes from the outside of the vehicle head 20, and the vehicle head 20 is provided with a receiving cavity 21, and the first connecting member 111 can be installed in the receiving cavity 21. The upper shell of the vehicle head 20 is covered, and the vehicle head 20 can be provided with a through hole corresponding to the second connecting member 112, so that the second connecting member 112 passes through the through hole and is arranged on the outside of the vehicle head 20. The second connecting member 112 protrudes from the outside of the vehicle head 20 and is connected to the anti-collision wheel 12 to limit the anti-collision wheel 12 to the outside of the vehicle head 20. Specifically, the end of the second connecting member 112 away from the first sensor 13 extends along the height direction of the vehicle head 20 so as to be rotatably connected to the wheel hub 121 of the anti-collision wheel 12. The first sensor 13 is provided between the first connecting member 111 and the second connecting member 112, and the first sensor 13 can be located in the receiving cavity 21.

[0095] This application also proposes another self-propelled device 100. Referring to Figures 6 to 12, the self-propelled device 100 includes a head 30, a head 20, a drive control structure, and an anti-collision guide device 10. The specific structure of the anti-collision guide device 10 is similar to the above-mentioned embodiments. Since the self-propelled device 100 adopts all the technical solutions of all the above-mentioned embodiments, it at least has all the beneficial effects brought about by the technical solutions of the above-mentioned embodiments, and will not be described in detail here. Specifically, the head 20 is mounted on the head 30, and the anti-collision guide device 10 protrudes on both sides of the head 20. The drive control structure is used to drive the head 20 and the head 30 to move. The sensing component 18 is electrically connected to the drive control structure. Since the self-propelled device 100 generally moves parallel to an obstacle 40, the self-propelled device 100 can sense the distance to the obstacle 40 through the anti-collision guide devices 10 on both sides. Specifically, the second sensor in the sensing component 18 is electrically connected to the drive control structure to achieve the purpose of controlling the self-propelled device. The self-propelled device can include an automated mobile device such as a lawn mower, a snowplow, or a robot.

[0096] Specifically, the drive control structure includes a controller and a drive motor. The controller receives the interaction force sensing value from the sensing end 1821, and then controls the drive motor corresponding to the vehicle body walking component according to the interaction force sensing value, and finally controls the movement direction of the front and body of the mobile device 100 through the drive motor.

[0097] In one embodiment, referring to Figures 10 to 12 , the front end 20 of the self-propelled device 100 is equipped with at least four sets of anti-collision guide devices 10, one at each of the four corners of the front end 20. The top surface of the front end 20 is provided with a first mounting surface 201 and a second mounting surface 202. The base assembly 16 is threadedly connected to the first mounting surface 201, and the sensing assembly 18 is threadedly connected to the second mounting surface 202. Regardless of the angle at which the front end 20 contacts an obstacle 40, the self-propelled device 100 can sense the distance to the obstacle 40 through the anti-collision guide devices 10.

[0098] The above description is only a preferred embodiment of the present application and does not limit the patent scope of the present application. All equivalent structural transformations made by using the contents of the present application description and drawings under the inventive concept of the present application, or direct / indirect application in other related technical fields are included in the patent protection scope of the present application.

Claims

1. An anti-collision guide device, wherein: Installed on the side of the front of the self-moving equipment, the anti-collision guide device includes: Connecting components; and An anti-collision wheel is installed on the connecting assembly, the anti-collision wheel is arranged parallel to the movement direction of the vehicle head, and the anti-collision wheel is arranged to protrude outward relative to the vehicle head.

2. The anti-collision guide device according to claim 1, wherein: The anti-collision guide device also includes a first sensor, which is installed on the connecting component and is connected to the anti-collision wheel signal.

3. The anti-collision guide device according to claim 2, wherein: The connecting assembly includes a first connecting member connected to the front of the vehicle and a second connecting member connected to the anti-collision wheel, the second connecting member extends along the height direction of the front of the vehicle, the anti-collision wheel is installed on the second connecting member, and the first sensor is arranged between the first connecting member and the second connecting member.

4. The anti-collision guide device according to claim 3, wherein: The second connecting member includes a seat body, a first protruding shaft and a second protruding shaft. The first protruding shaft and the second protruding shaft are arranged on the seat body. The first protruding shaft is connected to the anti-collision wheel, and the second protruding shaft is connected to the first sensor.

5. The anti-collision guide device according to claim 3, wherein: The first connecting member includes a pressing plate and a limiting plate. The pressing plate is connected to the vehicle head, and the limiting plate is connected to the pressing plate and connected to the first sensor.

6. The anti-collision guide device according to claim 5, wherein: The limiting plate is provided with a limiting hole, and the connecting assembly includes a fastener, which passes through the limiting hole and is connected to the first sensor.

7. The anti-collision guide device according to claim 6, wherein: The first sensor includes a sensor body and two positioning shafts arranged opposite to each other on the sensor body, both positioning shafts are provided with positioning holes, the second convex shaft is inserted into the positioning hole on one of the positioning shafts, and the fastener is inserted into the positioning hole on the other positioning shaft.

8. An anti-collision guide device as claimed in claim 1, wherein: The anti-collision guide device also includes: A base assembly, configured to connect to a first mounting surface of the self-moving device; The guide assembly comprises a rotating shaft structure and the anti-collision wheel, wherein the anti-collision wheel is rotatably connected to the rotating shaft structure, and the rotating shaft structure is slidably connected to the base assembly; the guide assembly slides along the base assembly; and the rotating shaft structure is at least a part of the connecting assembly; A sensing component is used to connect with the second mounting surface of the self-moving device; the sensing component is located on one side of the rotating shaft structure, and the sensing component is provided with a sensing end. The rotating shaft structure slides along the base component and abuts against the sensing end. The sensing end is used to sense the interaction force between the rotating shaft structure and the sensing end is used to be electrically connected to the driving control structure of the self-moving device.

9. The anti-collision guide device according to claim 8, wherein: The rotating shaft structure includes a connecting block, a mounting shaft and a bearing. The connecting block is slidably connected to the base assembly, one end of the mounting shaft is connected to the connecting block, the other end of the mounting shaft passes through the bearing, and the outer surface of the bearing is connected to the anti-collision wheel.

10. The anti-collision guide device according to claim 9, wherein: A limiting protrusion is provided at one end of the installation shaft connected to the connecting block; a nut is provided at the other end of the installation shaft, and the nut is threadedly connected to the installation shaft so that the installation shaft is connected to the anti-collision wheel.

11. The anti-collision guide device according to claim 8, wherein: The base assembly includes a base, a first limit block, a second limit block and a third limit block. The first limit block, the second limit block and the third limit block are respectively connected to three sides of the base and surround to form a slide groove.

12. The anti-collision guide device according to claim 11, wherein: The slide slot is provided with an opening at one side of the base; the opening faces the sensing component.

13. The anti-collision guide device according to claim 12, wherein: The base assembly also includes a sliding assembly, which includes a slider and a sliding guide bar, wherein the slider guide bar is connected to the base; the slider is connected to the connecting block; and the sides of the slider along which the slider slides along the sliding guide bar are both chamfered.

14. The anti-collision guide device according to any one of claims 9 to 13, wherein: The sensing component includes a mounting block, a second sensor and an elastic member, wherein the mounting block is used to be detachably connected to the second mounting surface; the second sensor is provided with a fixed end and a sensing end, the fixed end is connected to the mounting block, the sensing end extends into the elastic member, one end of the elastic member abuts against the second sensor, and the other end of the elastic member abuts against the rotating shaft structure.

15. The anti-collision guide device according to claim 14, wherein: The connecting block is provided with a fixing groove, and one end of the elastic member away from the second sensor is connected to the fixing groove; and / or, A gap is provided between the sensing end and the connecting block; the width of the gap ranges from 0.5 mm to 2 mm; and / or, The outer surface of the anti-collision wheel is made of rubber material; and / or, The base assembly is made of plastic material.

16. A self-propelled device, wherein: It comprises a vehicle body, a front of the vehicle and the anti-collision guide device as described in any one of claims 1 to 15, wherein the front of the vehicle is mounted on the vehicle body, and the anti-collision guide device is arranged at a side of the front of the vehicle at an angle.

17. The self-moving device according to claim 16, wherein: The anti-collision wheel protrudes from the outside of the vehicle head, and the vehicle head is provided with a receiving cavity. Part of the structure of the connecting component is installed in the receiving cavity, and the other part of the structure protrudes from the outside of the vehicle head and is connected to the anti-collision wheel.

18. The self-moving device according to claim 16, wherein: The anti-collision guide device comprises a first anti-collision guide device and a second anti-collision guide device, wherein the first anti-collision guide device and the second anti-collision guide device are respectively arranged on both sides of the front of the vehicle and are symmetrically arranged.

19. The self-moving device according to claim 16, wherein: The self-moving device comprises a driving control structure and a sensing end, wherein the driving control structure is used to drive the vehicle head and the vehicle body to move, and the sensing end is electrically connected to the driving control structure.

20. The anti-collision guide device according to claim 16 or 19, wherein: The front of the vehicle is provided with at least four groups of anti-collision guide devices, which are respectively arranged at the four corners of the front of the vehicle; the upper surface of the front of the vehicle is provided with a first mounting surface and a second mounting surface, the base component is threadedly connected to the first mounting surface, and the sensing component is threadedly connected to the second mounting surface.

Images