Collision detection device, collision detection method, and mobile robot

Abstract

Embodiments of the present application provide a collision detection device, a collision detection method, and a mobile robot. The collision detection device comprises: a magnet having a first magnetic pole part and a second magnetic pole part, the connecting line between the first magnetic pole part and the second magnetic pole part forming a first direction; and a sensing assembly arranged opposite to the magnet, the sensing assembly comprising a first sensor and a second sensor, and the connecting line between the first sensor and the second sensor forming a second direction, wherein the first direction is perpendicular to the second direction. According to the embodiments of the present application, the sensing assembly is used for sensing the magnetic field generated by the magnet, and when the collision detection device is installed on any object, any collision occurring to the object can be accurately captured by the sensors, regardless of the direction of the collision, thereby realizing high-precision and low-cost detection of collision events.

Description

Collision detection device, collision detection method and mobile robot Technical Field

[0001] The present application relates to the field of robot detection technology, and in particular to a collision detection device, a collision detection method and a mobile robot. Background Art

[0002] With the rapid development of smart devices, the use of mobile intelligent robots has become widespread, such as indoor and outdoor robots such as lawn mowers, lawn mowers, and sweepers. Obstacles are unavoidable in the actual application areas of these robots, so equipping these robots with corresponding collision detection devices can effectively reduce the probability of robot collisions and minimize secondary damage after collisions.

[0003] In related technologies, collision detection for robots typically involves installing multiple contact sensors on the robot. When the robot collides with an obstacle, the robot uses the collision force parameters sensed by these sensors to determine the collision direction and perform appropriate actions to prevent secondary damage. However, this type of collision detection device requires multiple contact sensors on the robot's housing, which is costly to install. Reducing the number of contact sensors can lead to inaccurate collision direction detection. Summary of the Invention

[0004] The main purpose of the embodiments of the present application is to provide a collision detection device, a collision detection method and a mobile robot, which can reduce the installation cost while accurately detecting the collision direction when the robot collides.

[0005] To achieve the above objectives, a first aspect of an embodiment of the present application provides a collision detection device, comprising:

[0006] The magnet has a first magnetic pole portion and a second magnetic pole portion, wherein a line connecting the first magnetic pole portion and the second magnetic pole portion forms a first direction;

[0007] The sensing component is arranged opposite to the magnet, and the sensing component includes a first sensor and a second sensor. The line connecting the first sensor and the second sensor forms a second direction, wherein the first direction is perpendicular to the second direction.

[0008] In some embodiments, the first sensor and the second sensor are located on the same side of the magnet.

[0009] In some embodiments, the distance between the first sensor and the magnet is equal to the distance between the second sensor and the magnet.

[0010] In some embodiments, the distance is no greater than 20 mm.

[0011] In some embodiments, the first sensor and the second sensor are symmetrically arranged about a central axis of the magnet.

[0012] In some embodiments, the sensing component is located within a projection range of the magnet in the second direction.

[0013] In some embodiments, the distance between the first sensor or the second sensor and the end of the magnet is no more than 10 mm.

[0014] To achieve the above-mentioned objectives, a second aspect of an embodiment of the present application provides a collision detection method for a mobile robot. The mobile robot is equipped with a collision detection device as described in the first aspect. The method includes:

[0015] Acquire a first magnetic field strength and a second magnetic field strength detected by the collision detection device;

[0016] Whether the mobile robot is subjected to a collision is detected according to the first magnetic field strength and the second magnetic field strength.

[0017] In some embodiments, the method for determining whether the mobile robot is subjected to a collision based on the first magnetic field strength and the second magnetic field strength includes:

[0018] If the first magnetic field strength is greater than a preset value and the second magnetic field strength remains unchanged, it is detected that the left side of the mobile robot has been collided;

[0019] If the first magnetic field strength remains unchanged and the second magnetic field strength is greater than a preset value, it is detected that the right side of the mobile robot has been collided;

[0020] If both the first magnetic field strength and the second magnetic field strength change, it is detected that the front side or the rear side of the mobile robot is hit.

[0021] In some embodiments, if a collision is detected on the front or rear side of the mobile robot, the method further comprises:

[0022] Obtaining the driving direction of the mobile robot;

[0023] If the traveling direction is forward, the front side of the mobile robot is collided;

[0024] If the traveling direction is backward, the rear side of the mobile robot is hit.

[0025] To achieve the above objectives, a third aspect of an embodiment of the present application provides another collision detection method for a mobile robot. The mobile robot is equipped with two first collision detection devices and a second collision detection device as described in the first aspect. The method includes:

[0026] Acquire a first magnetic field strength and a second magnetic field strength detected by the first collision detection device;

[0027] Acquiring a third magnetic field strength and a fourth magnetic field strength detected by the second collision detection device;

[0028] Whether the mobile robot is subjected to a collision is detected according to the first magnetic field strength, the second magnetic field strength, the third magnetic field strength, and the fourth magnetic field strength.

[0029] In some embodiments, the method for detecting whether the mobile robot is subjected to a collision based on the first magnetic field strength, the second magnetic field strength, the third magnetic field strength, and the fourth magnetic field strength includes:

[0030] If the first magnetic field strength is greater than a preset value, and the second magnetic field strength, the third magnetic field strength, and the fourth magnetic field strength remain unchanged, it is detected that the left side of the mobile robot has been collided;

[0031] If the second magnetic field strength is greater than a preset value, and the first magnetic field strength, the third magnetic field strength, and the fourth magnetic field strength remain unchanged, it is detected that the right side of the mobile robot has been hit;

[0032] If the third magnetic field strength is greater than a preset value, and the first magnetic field strength, the second magnetic field strength, and the fourth magnetic field strength remain unchanged, it is detected that the front side of the mobile robot has been hit;

[0033] If the fourth magnetic field strength is greater than a preset value, and the first magnetic field strength, the second magnetic field strength, and the third magnetic field strength remain unchanged, it is detected that the rear side of the mobile robot has been hit;

[0034] If the first magnetic field strength and the third magnetic field strength are both greater than a preset value, and the second magnetic field strength and the fourth magnetic field strength remain unchanged, it is detected that the left front side of the mobile robot has been hit;

[0035] If the second magnetic field strength and the third magnetic field strength are both greater than a preset value, and the first magnetic field strength and the fourth magnetic field strength remain unchanged, it is detected that the right front side of the mobile robot has been hit;

[0036] If the first magnetic field strength and the fourth magnetic field strength are both greater than a preset value, and the second magnetic field strength and the third magnetic field strength remain unchanged, it is detected that the left rear side of the mobile robot has been hit;

[0037] If the second magnetic field strength and the fourth magnetic field strength are both greater than the preset value, and the first magnetic field strength and the third magnetic field strength remain unchanged, it is detected that the right rear side of the mobile robot has been hit.

[0038] To achieve the above objectives, a fourth aspect of the embodiments of the present application provides a mobile robot, comprising:

[0039] body;

[0040] At least one collision detection device as described in the first aspect, wherein the collision detection device is used to detect a collision suffered by the fuselage.

[0041] In some embodiments, the body includes a movable module and a fixed module, the magnet is disposed on the movable module, and the sensor component is disposed on the fixed module.

[0042] In some embodiments, the movable module includes an upper shell, and the magnet is disposed on the upper shell.

[0043] In some embodiments, a positioning module is provided on the upper shell, and the magnet is disposed in the positioning module.

[0044] In some embodiments, a mounting cavity is provided at the bottom of the positioning module, and the magnet is fixedly disposed at the bottom of the mounting cavity.

[0045] In some embodiments, the fixed module has a protrusion, and a horizontal distance between the mounting cavity and the protrusion is greater than a movable distance of the movable module.

[0046] In some embodiments, the bottom of the mounting cavity is parallel to the second direction.

[0047] In some embodiments, an opening is provided at the bottom of the mounting cavity corresponding to the position of the sensor component.

[0048] In some embodiments, a fixing position for fixing the magnet is provided at the bottom of the mounting cavity.

[0049] In some embodiments, the mobile robot is equipped with a collision detection device, and the sensing direction of the collision detection device is perpendicular to the central axis of the mobile robot.

[0050] In some embodiments, the collision detection device is disposed offset from the central axis of the fuselage.

[0051] In some embodiments, the mobile robot is configured with a first collision detection device and a second collision detection device, and the first collision detection device and the second collision detection device are located on or on both sides of the central axis of the fuselage.

[0052] In some embodiments, the first collision detection device has a first sensing direction, the second collision detection device has a second sensing direction, and the first sensing direction and the second sensing direction are perpendicular to each other.

[0053] In some embodiments, when the first collision detection device and the second collision detection device are both arranged on the central axis of the fuselage, the first collision detection device and the second collision detection device are arranged front and back.

[0054] The collision detection device, collision detection method, and mobile robot proposed in the embodiments of the present application include a magnet having a first magnetic pole portion and a second magnetic pole portion, wherein a line connecting the first magnetic pole portion and the second magnetic pole portion forms a first direction; a sensing assembly disposed opposite the magnet, the sensing assembly including a first sensor and a second sensor, wherein a line connecting the first sensor and the second sensor forms a second direction, wherein the first direction is perpendicular to the second direction. The embodiments of the present application utilize the sensing assembly to sense the magnetic field generated by the magnet. When the collision detection device is mounted on any object, the sensor can accurately capture any collision on the object regardless of the direction of the collision, thereby enabling high-precision and low-cost detection of collision events. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] FIG1 is a side view and a top view of a collision detection device provided in an embodiment of the present application.

[0056] FIG2 is a schematic structural diagram of a magnet provided in yet another embodiment of the present application.

[0057] FIG3 is a flow chart of a collision detection method for a mobile robot provided in yet another embodiment of the present application.

[0058] FIG4 is a flow chart of step 302 in FIG3 .

[0059] FIG5 is a schematic diagram showing changes in the first magnetic field strength and the second magnetic field strength provided in another embodiment of the present application.

[0060] FIG6 is a flowchart of front and rear side collision detection of a mobile robot carrying a single collision detection device provided by another embodiment of the present application.

[0061] FIG7 is a flowchart of another collision detection method for a mobile robot provided in yet another embodiment of the present application.

[0062] FIG8 is a schematic diagram of the arrangement of a first collision detection device and a second collision detection device provided in another embodiment of the present application.

[0063] FIG9 is a schematic structural diagram of a mobile robot provided in yet another embodiment of the present application.

[0064] FIG10 is a schematic structural diagram of a mobile robot with a movable module and a fixed module provided in yet another embodiment of the present application.

[0065] FIG11 is a schematic structural diagram of a mobile robot with an upper shell, a positioning module, and a mounting cavity provided in another embodiment of the present application.

[0066] FIG12 is a schematic structural diagram of a mobile robot with a protrusion provided in yet another embodiment of the present application.

[0067] FIG13 is a schematic diagram of a mobile robot equipped with a collision detection device provided in yet another embodiment of the present application.

[0068] FIG14 is a schematic diagram of another mobile robot equipped with a collision detection device provided in yet another embodiment of the present application.

[0069] FIG15 is a schematic diagram of a first mobile robot equipped with two collision detection devices provided in yet another embodiment of the present application.

[0070] FIG16 is a schematic diagram of a second mobile robot equipped with two collision detection devices provided in yet another embodiment of the present application.

[0071] FIG17 is a schematic diagram of a third mobile robot equipped with two collision detection devices provided in yet another embodiment of the present application.

[0072] FIG18 is a schematic diagram of a fourth mobile robot equipped with two collision detection devices provided in yet another embodiment of the present application.

[0073] FIG19 is a schematic diagram of the movement of two magnets and a sensor assembly after a first collision provided by another embodiment of the present application.

[0074] FIG20 is a schematic diagram of the movement of two magnets and a sensor assembly after a second collision provided by another embodiment of the present application.

[0075] FIG21 is a schematic diagram of the movement of two magnets and a sensor assembly after a third collision provided by another embodiment of the present application.

[0076] FIG22 is a schematic diagram of the movement of two magnets and a sensor assembly after a fourth collision provided by another embodiment of the present application.

[0077] FIG23 is a schematic diagram of the movement of two magnets and a sensor assembly after a fifth collision provided by another embodiment of the present application.

[0078] FIG24 is a schematic diagram of the movement of two magnets and a sensor assembly after a sixth collision provided by another embodiment of the present application.

[0079] FIG25 is a schematic diagram of the movement of two magnets and a sensor assembly after a seventh collision provided by another embodiment of the present application.

[0080] FIG26 is a schematic diagram of the movement of two magnets and a sensor assembly after an eighth collision provided by another embodiment of the present application.

[0081] Explanation of the accompanying drawings: Collision detection device 100, magnet 110, first magnetic pole portion 111, second magnetic pole portion 112, sensing assembly 120, first sensor 121, second sensor 122, third sensor 123, fourth sensor 124, mobile robot 200, body 210, movable module 220, upper shell 221, positioning module 222, mounting cavity 223, opening 224, fixing module 230, protrusion 231, first collision detection device 1001 and second collision detection device 1002. DETAILED DESCRIPTION

[0082] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0083] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application pertains. The terms used herein are for the purpose of describing the embodiments of this application only and are not intended to limit this application.

[0084] With the rapid development of smart devices, the use of mobile intelligent robots has become widespread, such as indoor and outdoor robots such as lawn mowers, lawn mowers, and sweepers. Obstacles are unavoidable in the actual application areas of these robots, so equipping these robots with corresponding collision detection devices can effectively reduce the probability of robot collisions and minimize secondary damage after collisions.

[0085] In related technologies, collision detection for robots typically involves installing multiple contact sensors on the robot. When the robot collides with an obstacle, the robot uses the collision force parameters sensed by these sensors to determine the collision direction and perform appropriate actions to prevent secondary damage. However, this type of collision detection device requires multiple contact sensors on the robot's housing, which is costly to install. Reducing the number of contact sensors can lead to inaccurate collision direction detection.

[0086] The embodiment of the present application utilizes a sensor component to sense the magnetic field generated by a magnet. When the collision detection device is installed on any object, when the object is hit by a collision, regardless of the direction of the collision, the sensor can accurately capture it, thereby achieving high-precision and low-cost detection of collision events.

[0087] The embodiments of the present application provide a collision detection device, a collision detection method, and a mobile robot, which are specifically described through the following embodiments. First, the collision detection device in the embodiments of the present application is described.

[0088] To better describe the collision detection device provided in an embodiment of the present application, in this embodiment, reference is made to FIG1 , which shows a side view and a top view of the collision detection device provided in an embodiment of the present application. As shown in FIG1 , the collision detection device 100 includes: a magnet 110 and a sensor assembly 120. The magnet 110 includes a first magnetic pole portion 111 and a second magnetic pole portion 112. The sensor assembly 120 includes a first sensor 121 and a second sensor 122. The line connecting the first magnetic pole portion 111 and the second magnetic pole portion 112 forms a first direction. The sensor assembly 120 is disposed opposite the magnet 110 and includes a first sensor 121 and a second sensor 122. The line connecting the first sensor 121 and the second sensor 122 forms a second direction, wherein the first direction is perpendicular to the second direction. That is, as shown in FIG1 , the first direction formed by the line connecting the first magnetic pole portion 111 and the second magnetic pole portion 112 is a vertical direction, and the second direction formed by the line connecting the first sensor 121 and the second sensor 122 is a horizontal direction. These two directions are perpendicular to each other. This design enables the collision detection device 100 to cause relative displacement between the magnet 110 and the sensor assembly 120 (including the first sensor 121 and the second sensor 122) when it is subjected to a collision, regardless of the direction of the collision, so that the magnetic field intensity obtained by the first sensor 121 and the second sensor 122 sensing the magnetic field emitted by the magnet 110 changes, so that the collision can be accurately detected by the first sensor 121 and the second sensor 122, thereby achieving high-precision detection of collision events.

[0089] In some embodiments, the first sensor 121 and the second sensor 122 may be Hall effect sensors, which can be used to sense changes in the magnetic field emitted by the magnet 110. It is understood that a Hall effect sensor is a sensor that can detect changes in a magnetic field. Based on the Hall effect, when a magnetic field passes through the sensor, the Hall effect sensor can measure the strength of the magnetic field and convert it into an electrical signal for output. Hall effect sensors are commonly used to detect magnetic field strength, magnetic pole position, speed, and current, among other things.

[0090] Referring to Figure 2, a schematic diagram of the structure of a magnet is shown. Magnet 110 is evenly divided into a first magnetic pole portion 111 and a second magnetic pole portion 112, where first magnetic pole portion 111 is an N pole and second magnetic pole portion 112 is an S pole. Magnet 110 has a height of H, a length of L, and a width of D. In this embodiment, the height, length, and width of magnet 110 are not subject to any restrictions.

[0091] In some embodiments, as shown in the top view of FIG1 , the first sensor 121 and the second sensor 122 are both located on the same side of the magnet 110, thereby simplifying the structure of the collision detection device 100 and making the collision detection device 100 more compact. Furthermore, the same-side arrangement ensures that the magnetic field emitted by the magnet 110 sensed by the first sensor 121 and the second sensor 122 has the same magnetic field direction, avoiding sensing errors caused by different magnetic field directions and helping to improve the accuracy and sensitivity of collision detection by the collision detection device 100.

[0092] In some embodiments, as shown in the top view of FIG1 , the distance between the first sensor 121 and the magnet 110 is equal to the distance between the second sensor 122 and the magnet 110. Because the first and second sensors 121, 122 are at the same distance from the magnet 110, the first and second sensors 121, 122 are subject to roughly the same environmental interference and error factors (such as temperature, humidity, and electromagnetic interference). This helps reduce measurement errors caused by environmental factors and improves system stability and accuracy. Furthermore, this distance setting can simplify wiring, support structures, and installation processes, helping to reduce costs, minimize space usage, and improve production efficiency.

[0093] In some embodiments, the distance between the first sensor 121 and the second sensor 122 and the magnet 110, as well as the distance between the second sensor 122 and the magnet 110, is no greater than 20 mm. Magnetic field changes at close range can be captured more quickly by the first sensor 121 and the second sensor 122, so the first sensor 121 and the second sensor 122 respond more quickly to collision detection. Furthermore, the close proximity of the first sensor 121, the second sensor 122, and the magnet 110 allows the first sensor 121, the second sensor 122, and the magnet 110 to be integrated into a smaller space, which contributes to a more compact and efficient design of the collision detection device 100.

[0094] In some embodiments, as shown in the top view of FIG1 , the first sensor 121 and the second sensor 122 are symmetrically arranged about the central axis of the magnet 110. This ensures that, in the absence of a collision, the first sensor 121 and the second sensor 122 sense the magnetic field more evenly and symmetrically. However, after a collision occurs, the difference in the magnetic field sensed by the first sensor 121 and the second sensor 122 changes more rapidly, thereby improving the detection sensitivity of the collision detection device 100. Furthermore, the symmetrical arrangement of the first and second sensors 121, 122 helps reduce errors caused by uneven magnetic field distribution or sensor position deviations, thereby improving the accuracy of collision measurements by the collision detection device 100.

[0095] In some embodiments, as shown in the top view in FIG1 , the distance between the first sensor 121 and the second sensor 122 and the adjacent magnet ends is no more than 10 mm. It is understood that the magnet ends refer to the left and right ends of the magnet 110. This arrangement allows the first sensor 121 or the second sensor 122 to more easily and quickly exceed the magnet ends in a vertical plane when the main body of the collision detection device 100 is subjected to a collision due to relative displacement between the magnet 110 and the sensor assembly 120 (including the first sensor 121 and the second sensor 122), so that the sensor assembly 120 can detect changes in the magnetic field more quickly, thereby improving the sensitivity of the collision detection device 100 to detecting collisions.

[0096] The embodiment of the present application further provides a collision detection method for a mobile robot, wherein the mobile robot is equipped with the above-mentioned collision detection device 100 .

[0097] 3 , which is a flow chart of a collision detection method for a mobile robot provided in an embodiment of the present application, the method is mainly executed by the robot, and the method includes the following steps S301 to S302 .

[0098] Step S301: Acquire the first magnetic field strength and the second magnetic field strength detected by the collision detection device.

[0099] Step S302: Detect whether the mobile robot is hit by a collision based on the first magnetic field strength and the second magnetic field strength.

[0100] In some embodiments, for a mobile robot equipped with the above-mentioned collision detection device 100, during the movement of the mobile robot, the first sensor 121 in the collision detection device 100 carried by the mobile robot obtains the first magnetic field strength in real time and the second sensor 122 obtains the second magnetic field strength in real time. The first magnetic field strength and the second magnetic field strength are then used to detect and determine whether the mobile robot has been hit during the real-time movement. From the above-mentioned description of the collision detection device 100, it can be determined that when the mobile robot collides, the first sensor 121 and the second sensor 122 will move relative to the magnet, causing the first magnetic field strength sensed by the first sensor 121 and / or the second magnetic field strength sensed by the second sensor 122 to change, thereby quickly determining whether the mobile robot has been hit based on the first magnetic field strength and the second magnetic field strength. The following will further describe how to determine whether the mobile robot has been hit based on the first magnetic field strength and the second magnetic field strength.

[0101] 4 , the method for determining whether the mobile robot is subjected to a collision according to the first magnetic field strength and the second magnetic field strength includes the following steps S401 to S403 .

[0102] Step S401: If the first magnetic field strength is greater than a preset value and the second magnetic field strength remains unchanged, it is detected that the left side of the mobile robot has been hit.

[0103] Step S402: If the first magnetic field strength remains unchanged and the second magnetic field strength is greater than a preset value, it is detected that the right side of the mobile robot has been hit.

[0104] Step S403: If both the first magnetic field strength and the second magnetic field strength change, it is detected that the front side or the rear side of the mobile robot is hit.

[0105] In some embodiments, when only one collision detection device 100 is provided on a mobile robot and the collision detection device 100 is positioned horizontally within the mobile robot, the collision detection device 100 is primarily used for collision detection on the left and right ends of the mobile robot. After obtaining the first and second magnetic field intensities, the first and second magnetic field intensities are compared in real time with preset values. If the first magnetic field intensities are greater than the preset values ​​and the second magnetic field intensities remain unchanged, a collision is detected on the left side of the mobile robot. If the first magnetic field intensities remain unchanged and the second magnetic field intensities are greater than the preset values, a collision is detected on the right side of the mobile robot. If both the first and second magnetic field intensities change, a collision is detected on the front or rear side of the mobile robot. If both the first and second magnetic field intensities change, a collision is detected on the front or rear side of the mobile robot. Thus, by utilizing the changing first and second magnetic field intensities, the real-time collision status of the mobile robot can be quickly and accurately determined. It is understood that the preset values ​​are standard magnetic field intensities used to determine whether the mobile robot has experienced a collision. In embodiments, there are no restrictions on the setting of the preset values; they can be set based on statistical values ​​from historical collision data or according to user needs.

[0106] Referring to Figure 5 , which is a schematic diagram illustrating changes in the first and second magnetic field intensities according to an embodiment of the present application, as shown in the second figure in Figure 5 , before a collision occurs between the mobile robot and the first sensor 121 (i.e., X) and the second sensor 122 (i.e., Y) are located directly below the magnet 110. At this time, the first magnetic field intensity sensed by the first sensor 121 (i.e., X_ADC) and the second magnetic field intensity sensed by the second sensor 122 (i.e., Y_ADC) are both approximately 3000 (this value refers to the intensity of the magnetic field signal converted into an electrical signal, and its unit is typically the least significant bit (LSB)). As shown in the first figure in Figure 5, after the collision occurs, the magnet 110 moves to the left relative to the first sensor 121 (i.e., X) and the second sensor 122 (i.e., Y). At this time, the first sensor 121 (i.e., X) is still directly below the magnet 110. At this time, the first magnetic field strength (i.e., X_ADC) sensed by the first sensor 121 is less than 2050 (similar to the above 3000, this value refers to the strength of the magnetic field signal converted into an electrical signal); the second sensor 122 (i.e., Y) has left the vertical coverage range of the magnet 110. At this time, the second magnetic field strength (i.e., Y_ADC) sensed by the second sensor 122 is approximately 3000. By determining that the second magnetic field strength is greater than the first magnetic field strength, it can be determined that the collision direction of the mobile robot is on the right. As shown in the third figure in Figure 5, after the collision occurs, the magnet 110 moves to the right relative to the first sensor 121 (i.e., X) and the second sensor 122 (i.e., Y). At this time, the first sensor 121 (i.e., X) leaves the vertical coverage range of the magnet 110, and the first magnetic field strength (i.e., X_ADC) sensed by the first sensor 121 is approximately 3000; the second sensor 122 (i.e., Y) is still within the vertical coverage range of the magnet 110. At this time, the second magnetic field strength (i.e., Y_ADC) sensed by the second sensor 122 is less than 2050. By determining that the second magnetic field strength is less than the first magnetic field strength, it can be determined that the collision direction of the mobile robot is on the left.

[0107] In some embodiments, because only one collision detection device 100 is provided laterally on the mobile robot, while the mobile robot can quickly and accurately detect collisions on the left or rear sides, when the mobile robot is hit from the front or rear, the aforementioned method cannot directly determine the collision location. Therefore, the following further describes how to determine whether the mobile robot has been hit from the front or rear in this situation.

[0108] 6 , if it is detected that the front side or the rear side of the mobile robot is hit by a collision, the collision detection method of the mobile robot further includes the following steps S601 to S603 .

[0109] Step S601: Acquire the driving direction of the mobile robot.

[0110] Step S602: If the driving direction is forward, the front side of the mobile robot is hit.

[0111] Step S603: If the traveling direction is backward, the rear side of the mobile robot is hit.

[0112] In some embodiments, when it is determined that the mobile robot has collided and the first magnetic field strength sensed by the first sensor 121 and the second magnetic field strength sensed by the second sensor 122 have both changed, it can be determined that the front or rear side of the mobile robot has been collided. At this time, the driving direction of the mobile robot will be obtained, and then based on the driving direction, it can be specifically determined whether the mobile robot has been collided on the front or rear side. Specifically: if the driving direction of the mobile robot is the forward direction, it is determined that the front side of the mobile robot has been collided; if the driving direction of the mobile robot is the backward direction, it is determined that the rear side of the mobile robot has been collided. This overcomes the situation where it is impossible to distinguish between collisions on the front or rear side of the mobile robot when only one collision detection device 100 is set horizontally, and further improves the practicality and reliability of the collision detection method of the mobile robot.

[0113] The embodiment of the present application also provides another collision detection method for a mobile robot, wherein the mobile robot is configured with two collision detection devices 100 described above, namely a first collision detection device 1001 and a second collision detection device 1002. The first collision detection device 1001 includes the magnet, the first sensor 121, and the second sensor 122 in the collision detection device 100 described above, and the second collision detection device 1002 includes another magnet, the third sensor 123, and the fourth sensor 124 in the collision detection device 100 described above. Furthermore, the first collision detection device 1001 and the second collision detection device 1002 are arranged in directions perpendicular to each other, i.e., the first collision direction measured by the first collision detection device 1001 and the second collision direction measured by the second collision detection device 1002 are perpendicular to each other.

[0114] 7 , which is a flowchart of another mobile robot collision detection method provided in an embodiment of the present application, the method is mainly performed by the mobile robot, and the method includes the following steps S701 to S703 .

[0115] Step S701: Acquire the first magnetic field strength and the second magnetic field strength detected by the first collision detection device 1001.

[0116] Step S702: Acquire the third magnetic field strength and the fourth magnetic field strength detected by the second collision detection device 1002.

[0117] Step S703: Detect whether the mobile robot is hit by a collision based on the first magnetic field strength, the second magnetic field strength, the third magnetic field strength, and the fourth magnetic field strength.

[0118] In some embodiments, for a mobile robot equipped with the two collision detection devices 100 described above, during the movement of the mobile robot, the first sensor 121 in the first collision detection device 1001 obtains the first magnetic field strength in real time, and the second sensor 122 obtains the second magnetic field strength in real time. Furthermore, the third sensor 123 in the second collision detection device 1002 obtains the third magnetic field strength in real time, and the fourth sensor 124 obtains the fourth magnetic field strength in real time. Subsequently, the first magnetic field strength, the second magnetic field strength, the third magnetic field strength, and the fourth magnetic field strength are used to detect and determine whether the mobile robot has been subjected to a collision during real-time operation. By providing two collision detection devices 100 on the mobile robot, the detection range and accuracy of collision detection during the operation of the mobile robot can be increased. The following further describes how to detect whether the mobile robot has been subjected to a collision based on the first magnetic field strength, the second magnetic field strength, the third magnetic field strength, and the fourth magnetic field strength.

[0119] Referring to FIG8 , there is shown a schematic diagram of the arrangement of a first collision detection device 1001 and a second collision detection device 1002 provided in an embodiment of the present application. The first collision detection device 1001 is horizontally arranged at one end of the mobile robot and can be used to detect collisions in the left-right direction of the mobile robot; the second collision detection device 1002 is vertically arranged at the other end of the mobile robot and can be used to detect collisions in the front-back direction of the mobile robot. Furthermore, the distance D between the first collision detection device 1001 and the second collision detection device 1002 is at least 25 mm, thereby avoiding mutual interference between the two magnetic fields in the first collision detection device 1001 and the second collision detection device 1002, and avoiding sensing errors in the first sensor 121, the second sensor 122, the third sensor 123, and the fourth sensor 124, thereby improving the accuracy of collision detection during operation of the mobile robot.

[0120] Based on the two collision detection devices 100 shown in FIG8 , a method for detecting whether a mobile robot is subjected to a collision according to the first magnetic field strength, the second magnetic field strength, the third magnetic field strength, and the fourth magnetic field strength includes the following specific situations.

[0121] 1) If the first magnetic field strength is greater than a preset value, and the second magnetic field strength, the third magnetic field strength, and the fourth magnetic field strength remain unchanged, it is detected that the left side of the mobile robot has been hit.

[0122] 2) If the second magnetic field strength is greater than the preset value, and the first magnetic field strength, the third magnetic field strength, and the fourth magnetic field strength remain unchanged, it is detected that the right side of the mobile robot has been hit.

[0123] 3) If the third magnetic field strength is greater than the preset value, and the first magnetic field strength, the second magnetic field strength, and the fourth magnetic field strength remain unchanged, it is detected that the front side of the mobile robot has been hit.

[0124] 4) If the fourth magnetic field strength is greater than the preset value and the first magnetic field strength, the second magnetic field strength, and the third magnetic field strength remain unchanged, it is detected that the rear side of the mobile robot has been hit.

[0125] 5) If the first magnetic field strength and the third magnetic field strength are both greater than the preset value, and the second magnetic field strength and the fourth magnetic field strength remain unchanged, it is detected that the left front side of the mobile robot has been hit.

[0126] 6) If the second magnetic field strength and the third magnetic field strength are both greater than the preset value, and the first magnetic field strength and the fourth magnetic field strength remain unchanged, it is detected that the right front side of the mobile robot has been hit.

[0127] 7) If the first magnetic field strength and the fourth magnetic field strength are both greater than the preset value, and the second magnetic field strength and the third magnetic field strength remain unchanged, it is detected that the left rear side of the mobile robot has been hit.

[0128] 8) If the second magnetic field strength and the fourth magnetic field strength are both greater than the preset value, and the first magnetic field strength and the third magnetic field strength remain unchanged, it is detected that the right rear side of the mobile robot has been hit.

[0129] By using two collision detection devices 100 , omnidirectional collision detection can be implemented for the mobile robot through the above eight situations. The detection method is simple and can achieve high-precision omnidirectional collision detection.

[0130] The present invention also provides a mobile robot. FIG9 is a schematic diagram of the structure of the mobile robot provided by the present invention. The mobile robot 200 includes a body 210 and the aforementioned collision detection device 100. When the body 210 is struck by a collision, the collision detection device 100 can quickly detect the collision.

[0131] Referring to Figure 10, it is a schematic diagram of the structure of a mobile robot with a movable module and a fixed module provided in an embodiment of the present application. As shown in Figure 10, the fuselage 210 includes a movable module 220 and a fixed module 230, wherein the magnet 110 is arranged on the movable module 220, and the sensor component 120 (including the first sensor 121 and the second sensor 122) is arranged on the fixed module 230. When the mobile robot 200 is hit by a collision, the movable module 220 will move relative to the fixed module 230, causing the magnet 110 and the sensor component 120 (including the first sensor 121 and the second sensor 122) to move relative to each other, causing the first magnetic field intensity sensed by the first sensor 121 and / or the second magnetic field intensity sensed by the second sensor 122 to change, thereby using different first magnetic field intensities and second magnetic field intensities to quickly and accurately detect the occurrence point of the collision. In addition, this setting method has a simple structure and is easy to set up.

[0132] 11 is a schematic diagram of a structure of a mobile robot with an upper shell, a positioning module, and an installation cavity provided in an embodiment of the present application. As shown in FIG11 , the movable module 220 includes an upper shell 221 .

[0133] In some embodiments, magnet 110 is positioned on upper housing 221 to ensure accurate collision detection. When mobile robot 200 collides with an obstacle, magnet 110 on upper housing 221 first contacts the obstacle, triggering sensor assembly 120. Sensor assembly 120 then generates an accurate collision signal using the first and second magnetic field intensities. Positioning magnet 110 on upper housing 221 allows for earlier collision detection, enabling timely implementation of safety measures, such as deceleration or parking, to mitigate potential damage and injury.

[0134] In some embodiments, as shown in FIG11 , the upper housing 221 is provided with a positioning module 222, wherein the magnet 110 is disposed in the positioning module 222. Since the positioning module 222 is disposed at the front portion of the mobile robot 200, the magnet 110 is disposed in the positioning module 222 relatively forward. When the mobile robot 200 is hit by a collision, the collision detection device 100 can detect the collision earlier, thereby enabling timely safety measures such as deceleration or parking to reduce potential damage and injury.

[0135] In some embodiments, as shown in FIG11 , a mounting cavity 223 is provided at the bottom of the positioning module 222, and the magnet 110 is disposed at the bottom of the mounting cavity 223. This arrangement places the magnet 110 closer to the sensing assembly 120 (including the first sensor 121 and the second sensor 122), allowing the first sensor 121 and the second sensor 122 to more quickly capture magnetic field changes at close range, thereby increasing the response speed of the first sensor 121 and the second sensor 122.

[0136] Referring to Figure 12, there is shown a schematic structural diagram of a mobile robot with a protrusion provided in an embodiment of the present application. As shown in Figure 12, the fixed module 230 also has a protrusion 231, and the horizontal distance between the mounting cavity 223 and the protrusion 231 is greater than the movable distance of the movable module 220. It can be understood that the protrusion is the upper convex part of the mobile robot, which is used to set the emergency stop button and the control button. Through this arrangement, in the event of a collision, the protrusion 231 is prevented from limiting the movable distance of the movable module 220, thereby causing the first magnetic field strength and the second magnetic field strength sensed by the sensor component 120 to be inaccurate, resulting in inaccurate detection of the collision direction.

[0137] In some embodiments, as shown in FIG12 , the bottom of the mounting cavity 223 is parallel to the second direction formed by the line connecting the first sensor 121 and the second sensor 122. This ensures that the line connecting the magnet 110 and the first sensor 121 and the second sensor 122 is parallel, thereby increasing the sensitivity of the first sensor 121 and the second sensor 122 to changes in the magnetic field emitted by the magnet 110, thereby increasing the sensitivity of the collision detection.

[0138] In some embodiments, as shown in FIG12 , an opening 224 is provided at the bottom of the mounting cavity 223 corresponding to the position of the sensing assembly (including the first sensor 121 and the second sensor 122 ), so that the first sensor 121 and the second sensor 122 can receive the magnetic field signal emitted by the stronger magnet 110 .

[0139] In some embodiments, as shown in FIG12 , a fixing position for fixing the magnet 110 is provided at the bottom of the mounting cavity 223. The fixing position is used to fix the magnet 110 so that the magnet 110 itself does not shake.

[0140] Referring to FIG13 , there is shown a schematic diagram of a mobile robot equipped with a collision detection device 100 according to an embodiment of the present application. As shown in FIG13 , the mobile robot 200 is equipped with a collision detection device 100. The sensing direction of the collision detection device 100 is perpendicular to the central axis of the mobile robot 200, thereby enabling the collision detection device 100 to detect collisions on the left and right sides of the mobile robot 200. It should be understood that the central axis of the mobile robot refers to a virtual straight line passing through the center point of symmetry of the mobile robot 200 and the center of the mobile robot 200.

[0141] Referring to Figure 14, there is shown a schematic diagram of another mobile robot equipped with a collision detection device according to an embodiment of the present application. As shown in Figure 14, in the mobile robot 200, the collision detection device 100 is arranged offset from the central axis of the body 210, which can better adapt to the requirements of different body 210 structures.

[0142] In some embodiments, the mobile robot 200 is equipped with two collision detection devices 100 (respectively, a first collision detection device 1001 and a second collision detection device 1002). The two collision detection devices 100 are located on the central axis of the body 210. The first collision detection device 1001 has a first sensing direction, and the second collision detection device 1002 has a second sensing direction. The first sensing direction and the second sensing direction are perpendicular to each other. Therefore, the first magnetic field intensity and the second magnetic field intensity obtained by the first collision detection device 1001 and the third magnetic field intensity and the fourth magnetic field intensity obtained by the second collision detection device 1002 can be used simultaneously to simultaneously perform collision detection in multiple directions of the mobile robot 200, including the front, back, left, right, left front, right front, left back, and right back.

[0143] When the first collision detection device 1001 and the second collision detection device 1002 are both arranged on the central axis of the fuselage 210, the first collision detection device 1001 and the second collision detection device 1002 are arranged front and back. Through this arrangement, the collisions on the front, rear, left, right, left front side, right front side, left rear side and right rear side of the mobile robot 200 can be accurately detected.

[0144] Referring to FIG15 , there is shown a schematic diagram of a first mobile robot equipped with two collision detection devices according to an embodiment of the present application. Two collision detection devices 100 are provided on the body 210. The first collision detection device 1001 in the front has a first sensing direction in the horizontal direction, which can detect left-right collisions of the mobile robot 200. The second collision detection device 1002 in the rear has a second sensing direction in the vertical direction, which can detect front-back collisions of the mobile robot 200. The first collision detection device 1001 and the second collision detection device 1002 can simultaneously detect collisions in all directions of the mobile robot 200.

[0145] Referring to FIG16 , there is shown a schematic diagram of a second mobile robot equipped with two collision detection devices according to an embodiment of the present application. Two collision detection devices 100 are provided on the body 210. The first sensing direction of the second collision detection device 1002 at the rear is horizontal, and can detect left-right collisions of the mobile robot 200. The second sensing direction of the first collision detection device 1001 at the front is vertical, and can detect front-back collisions of the mobile robot 200. The first collision detection device 1001 and the second collision detection device 1002 can simultaneously detect collisions in all directions of the mobile robot 200.

[0146] In some embodiments, the first collision detection device 1001 and the second collision detection device 1002 can also be arranged on both sides of the fuselage 210. Referring to Figure 17, it is a schematic diagram of a third mobile robot equipped with two collision detection devices provided in an embodiment of the present application. Among them, the first collision detection device 1001 on the left side of the central axis of the fuselage 210 has a first sensing direction of the horizontal direction, which can detect left and right collisions of the mobile robot 200, and the second collision detection device 1002 on the right side of the central axis of the fuselage 210 has a second sensing direction of the vertical direction, which can detect front and back collisions of the mobile robot 200. The first collision detection device 1001 and the second collision detection device 1002 can simultaneously detect collisions in all directions of the mobile robot 200.

[0147] 18 is a schematic diagram of a fourth mobile robot equipped with two collision detection devices according to an embodiment of the present application. The first collision detection device 1001, located to the left of the central axis of the body 210, has a first sensing direction that is vertical and can detect collisions in the front-to-back direction of the mobile robot 200. The second collision detection device 1002, located to the right of the central axis of the body 210, has a second sensing direction that is horizontal and can detect collisions in the left-to-right direction of the mobile robot 200. The first collision detection device 1001 and the second collision detection device 1002 can simultaneously detect collisions in all directions of the mobile robot 200.

[0148] In some embodiments, when a mobile robot 200 equipped with two collision detection devices 100 collides with an obstacle during operation, the active module 220 will drive the magnets in the two collision detection devices 100 and their sensor components to undergo relative displacement, causing at least one of the first magnetic field strength, the second magnetic field strength, the third magnetic field strength, and the fourth magnetic field strength detected by the two collision detection devices 100 to change, thereby quickly and accurately determining the range of the collision of the mobile robot 200.

[0149] Referring to FIG19 , which is a schematic diagram of the movement of two magnets and a sensor assembly after a first collision provided by an embodiment of the present application, when the left side of the mobile robot 200 is collided, the movable module 220 drives the magnets 110 of the two collision detection devices 100 to move to the right, causing the sensing positions of the first sensor assembly of the first collision detection device 1001 and the second sensor assembly of the second collision detection device 1002 in the magnetic fields emitted by their corresponding magnets to change. At this time, the mobile robot 200 can determine that the left side of the mobile robot 200 has been collided by judging that the first magnetic field strength is less than the second magnetic field strength and the third magnetic field strength is equal to the fourth magnetic field strength.

[0150] Referring to Figure 20, there is shown a schematic diagram of the movement of two magnets and a sensor assembly after a second collision provided by an embodiment of the present application. When the right side of the mobile robot 200 is collided, the movable module 220 drives the magnets 110 of the two collision detection devices 100 to move leftward, causing the sensing positions of the first sensor assembly of the first collision detection device 1001 and the second sensor assembly of the second collision detection device 1002 in the magnetic fields emitted by their corresponding magnets to change. At this time, the mobile robot 200 can determine that the right side of the mobile robot 200 has been collided by judging that the first magnetic field strength is greater than the second magnetic field strength and the third magnetic field strength is equal to the fourth magnetic field strength.

[0151] Referring to Figure 21, there is shown a schematic diagram of the movement of two magnets and a sensor assembly after a third collision, as provided in an embodiment of the present application. When the front side of the mobile robot 200 is collided, the movable module 220 drives the magnets 110 of the two collision detection devices 100 to move backward, causing the sensing positions of the first sensor assembly of the first collision detection device 1001 and the second sensor assembly of the second collision detection device 1002 to change in the magnetic fields emitted by their corresponding magnets. At this time, the mobile robot 200 can determine that the front side of the mobile robot 200 has been collided by judging that the first magnetic field strength is equal to the second magnetic field strength and the third magnetic field strength is less than the fourth magnetic field strength.

[0152] Referring to Figure 22, there is shown a schematic diagram of the movement of two magnets and a sensor assembly after a fourth collision, provided in an embodiment of the present application. When the rear side of the mobile robot 200 is collided, the movable module 220 drives the magnets 110 of the two collision detection devices 100 to move forward, causing the sensing positions of the first sensor assembly of the first collision detection device 1001 and the second sensor assembly of the second collision detection device 1002 in the magnetic fields emitted by their corresponding magnets to change. At this time, the mobile robot 200 can determine that the rear side of the mobile robot 200 has been collided by judging that the first magnetic field strength is equal to the second magnetic field strength and the third magnetic field strength is greater than the fourth magnetic field strength.

[0153] Referring to FIG23 , there is shown a fifth schematic diagram of the movement of two magnets and a sensor assembly after a collision, provided in an embodiment of the present application. When the left front side of the mobile robot 200 is collided, the movable module 220 drives the magnets 110 of the two collision detection devices 100 to move rightward and rearward, causing the sensing positions of the first sensor assembly of the first collision detection device 1001 and the second sensor assembly of the second collision detection device 1002 in the magnetic fields emitted by their corresponding magnets to change. At this time, the mobile robot 200 can determine that the left front side of the mobile robot 200 has been collided by judging that the first magnetic field strength is less than the second magnetic field strength, and the third magnetic field strength is less than the fourth magnetic field strength.

[0154] Referring to Figure 24, there is shown a sixth schematic diagram of the movement of two magnets and a sensor assembly after a collision, provided in an embodiment of the present application. When the right front side of the mobile robot 200 is collided, the movable module 220 drives the magnets 110 of the two collision detection devices 100 to move leftward and rearward, causing the sensing positions of the first sensor assembly of the first collision detection device 1001 and the second sensor assembly of the second collision detection device 1002 in the magnetic fields emitted by their corresponding magnets to change. At this time, the mobile robot 200 can determine that the right front side of the mobile robot 200 has been collided by judging that the first magnetic field strength is greater than the second magnetic field strength and the third magnetic field strength is less than the fourth magnetic field strength.

[0155] Referring to Figure 25, there is shown a seventh schematic diagram of the movement of two magnets and a sensor assembly after a collision, provided in an embodiment of the present application. When the left rear side of the mobile robot 200 is collided, the movable module 220 drives the magnets 110 of the two collision detection devices 100 to move toward the right front, causing the sensing positions of the first sensor assembly of the first collision detection device 1001 and the second sensor assembly of the second collision detection device 1002 in the magnetic fields emitted by their corresponding magnets to change. At this time, the mobile robot 200 can determine that the left rear side of the mobile robot 200 has been collided by judging that the first magnetic field strength is less than the second magnetic field strength and the third magnetic field strength is greater than the fourth magnetic field strength.

[0156] Referring to Figure 26, there is shown a schematic diagram of the movement of two magnets and a sensor assembly after an eighth collision, provided in an embodiment of the present application. When the right rear side of the mobile robot 200 is collided, the movable module 220 drives the magnets 110 of the two collision detection devices 100 to move toward the left front, causing the sensing positions of the first sensor assembly of the first collision detection device 1001 and the second sensor assembly of the second collision detection device 1002 in the magnetic fields emitted by their corresponding magnets to change. At this time, the mobile robot 200 can determine that the right rear side of the mobile robot 200 has been collided by judging that the first magnetic field strength is greater than the second magnetic field strength, and the third magnetic field strength is greater than the fourth magnetic field strength.

[0157] In some embodiments, when the mobile robot 200 collides, corresponding control measures are taken, such as controlling the mobile robot 200 to move a predetermined distance in the opposite direction of the collision to prevent the mobile robot 200 from suffering secondary damage. If the right rear side of the mobile robot 200 is collided, the mobile robot 200 is controlled to move toward the left front side; if the right front side of the mobile robot 200 is collided, the mobile robot 200 is controlled to move toward the left rear side; if the left rear side of the mobile robot 200 is collided, the mobile robot 200 is controlled to move toward the right front side; if the left front side of the mobile robot 200 is collided, the mobile robot 200 is controlled to move toward the right rear side; if the left side of the mobile robot 200 is collided, the mobile robot 200 is controlled to move toward the right side; if the right side of the mobile robot 200 is collided, the mobile robot 200 is controlled to move toward the left side; if the front side of the mobile robot 200 is collided, the mobile robot 200 is controlled to move toward the rear side; if the rear side of the mobile robot 200 is collided, the mobile robot 200 is controlled to move toward the front side.

[0158] In some embodiments, before a collision occurs, the mobile robot 200 uses the first magnetic field strength as a first collision standard value, the second magnetic field strength as a second collision standard value, the third magnetic field strength as a third collision standard value, and the fourth magnetic field strength as a fourth collision standard value, such as 3000 LSB. Then, after a collision occurs, the mobile robot 200 calculates a first difference between the first collision standard value and the first magnetic field strength, a second difference between the second collision standard value and the second magnetic field strength, a third difference between the third collision standard value and the third magnetic field strength, and a fourth difference between the fourth collision standard value and the fourth magnetic field strength based on the changed first, second, third, and fourth magnetic field strengths. Next, the mobile robot 200 selects at least one difference from the first, second, third, and fourth differences as a target difference, and then compares the target difference with the collision threshold at the corresponding collision orientation, thereby determining the collision intensity of the collision at that location based on the comparison result. In this way, when the mobile robot 200 collides, the collision data can be judged more accurately, and whether the mobile robot 200 has suffered greater damage can be determined based on the collision force. The moving distance of the mobile robot 200 in the opposite direction can be further determined based on the collision force, so as to better avoid secondary damage to the mobile robot 200 after the collision.

[0159] It is understandable that there is a mapping relationship between the collision threshold and the collision intensity. For example, the collision intensity levels are divided from light to heavy. The collision intensity corresponding to the collision threshold of 0 to 500LSB is a mild first-level collision, the collision intensity corresponding to the collision threshold of 500LSB to 1500LSB is a heavier second-level collision, and the collision intensity corresponding to the collision threshold of 1500LSB or above is a severe third-level collision. Taking the collision standard value of 3000LSB as an example, when the magnetic field strength after the collision is 2050LSB, that is, the difference at this time is 950LSB, which is within the threshold of 500LSB to 1500LSB. At this time, the collision is a second-level collision.

[0160] The embodiments described in the embodiments of this application are intended to more clearly illustrate the technical solutions of the embodiments of this application and do not constitute a limitation on the technical solutions provided by the embodiments of this application. Those skilled in the art will appreciate that with the evolution of technology and the emergence of new application scenarios, the technical solutions provided in the embodiments of this application are also applicable to similar technical problems.

[0161] Those skilled in the art will understand that the technical solutions shown in the figures do not constitute a limitation on the embodiments of the present application, and may include more or fewer steps than shown in the figures, or a combination of certain steps, or different steps.

[0162] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, i.e., they may be located in one place or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of this embodiment.

[0163] Those skilled in the art will appreciate that all or some of the steps in the methods, systems, and functional modules / units in the devices disclosed above may be implemented as software, firmware, hardware, or appropriate combinations thereof.

[0164] The terms "first", "second", "third", "fourth", etc. (if any) in the specification of the present application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0165] It should be understood that in this application, "at least one (item)" means one or more, and "plurality" means two or more. "And / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally indicates that the previous and next associated objects are in an "or" relationship. "At least one of the following items" or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0166] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the above-mentioned units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0167] The units described above as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0168] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0169] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes multiple instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of various embodiments of the present application. The aforementioned storage medium includes: various media that can store programs, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0170] The preferred embodiments of the present invention are described above with reference to the accompanying drawings, but are not intended to limit the scope of the present invention. Any modifications, equivalent substitutions, and improvements made by those skilled in the art without departing from the scope and essence of the present invention should be within the scope of the present invention.

Claims

1. A collision detection device, characterized in that: include: The magnet has a first magnetic pole portion and a second magnetic pole portion, wherein a line connecting the first magnetic pole portion and the second magnetic pole portion forms a first direction; a sensing assembly disposed opposite to the magnet, the sensing assembly comprising a first sensor and a second sensor, wherein a line connecting the first sensor and the second sensor forms a second direction; The first direction is perpendicular to the second direction.

2. The collision detection device according to claim 1, characterized in that: The first sensor and the second sensor are located on the same side of the magnet.

3. The collision detection device according to claim 2, characterized in that: The distance between the first sensor and the magnet is equal to the distance between the second sensor and the magnet.

4. The collision detection device according to claim 3, characterized in that: The distance is no greater than 20 mm.

5. The collision detection device according to claim 1, characterized in that: The first sensor and the second sensor are symmetrically arranged about a central axis of the magnet.

6. The collision detection device according to claim 1, characterized in that: The sensing component is located within the projection range of the magnet in the second direction.

7. The collision detection device according to claim 1, characterized in that: The distance between the first sensor or the second sensor and the end of the magnet is no more than 10 mm.

8. A collision detection method for a mobile robot, characterized in that: The mobile robot is provided with a collision detection device according to any one of claims 1 to 7, and the method comprises: Acquire a first magnetic field strength and a second magnetic field strength detected by the collision detection device; Whether the mobile robot is subjected to a collision is detected according to the first magnetic field strength and the second magnetic field strength.

9. The collision detection method according to claim 8, characterized in that: The method for determining whether the mobile robot is subjected to a collision based on the first magnetic field strength and the second magnetic field strength includes: If the first magnetic field strength is greater than a preset value and the second magnetic field strength remains unchanged, it is detected that the left side of the mobile robot has been collided; If the first magnetic field strength remains unchanged and the second magnetic field strength is greater than a preset value, it is detected that the right side of the mobile robot has been collided; If both the first magnetic field strength and the second magnetic field strength change, it is detected that the front side or the rear side of the mobile robot is hit.

10. The collision detection method according to claim 9, characterized in that: If it is detected that the front side or the rear side of the mobile robot is hit by a collision, the method further includes: Obtaining the driving direction of the mobile robot; If the traveling direction is forward, the front side of the mobile robot is collided; If the traveling direction is backward, the rear side of the mobile robot is hit.

11. A collision detection method for a mobile robot, characterized in that: The mobile robot is equipped with two first collision detection devices and a second collision detection device according to any one of claims 1 to 7, and the method comprises: Acquire a first magnetic field strength and a second magnetic field strength detected by the first collision detection device; acquiring a third magnetic field strength and a fourth magnetic field strength detected by the second collision detection device; Whether the mobile robot is subjected to a collision is detected according to the first magnetic field strength, the second magnetic field strength, the third magnetic field strength, and the fourth magnetic field strength.

12. The collision detection method according to claim 11, characterized in that: The method for detecting whether the mobile robot is subjected to a collision based on the first magnetic field strength, the second magnetic field strength, the third magnetic field strength, and the fourth magnetic field strength includes: If the first magnetic field strength is greater than a preset value, and the second magnetic field strength, the third magnetic field strength, and the fourth magnetic field strength remain unchanged, it is detected that the left side of the mobile robot has been collided; If the second magnetic field strength is greater than a preset value, and the first magnetic field strength, the third magnetic field strength, and the fourth magnetic field strength remain unchanged, it is detected that the right side of the mobile robot has been hit; If the third magnetic field strength is greater than a preset value, and the first magnetic field strength, the second magnetic field strength, and the fourth magnetic field strength remain unchanged, it is detected that the front side of the mobile robot has been hit; If the fourth magnetic field strength is greater than a preset value, and the first magnetic field strength, the second magnetic field strength, and the third magnetic field strength remain unchanged, it is detected that the rear side of the mobile robot has been hit; If the first magnetic field strength and the third magnetic field strength are both greater than a preset value, and the second magnetic field strength and the fourth magnetic field strength remain unchanged, it is detected that the left front side of the mobile robot has been hit; If the second magnetic field strength and the third magnetic field strength are both greater than a preset value, and the first magnetic field strength and the fourth magnetic field strength remain unchanged, it is detected that the right front side of the mobile robot has been hit; If the first magnetic field strength and the fourth magnetic field strength are both greater than a preset value, and the second magnetic field strength and the third magnetic field strength remain unchanged, it is detected that the left rear side of the mobile robot has been hit; If the second magnetic field strength and the fourth magnetic field strength are both greater than the preset value, and the first magnetic field strength and the third magnetic field strength remain unchanged, it is detected that the right rear side of the mobile robot has been hit.

13. A mobile robot, characterized in that: include: body; At least one collision detection device according to any one of claims 1 to 7, wherein the collision detection device is used to detect a collision suffered by the fuselage.

14. The mobile robot according to claim 13, characterized in that: The body includes a movable module and a fixed module. The magnet is arranged on the movable module, and the sensor component is arranged on the fixed module.

15. The mobile robot according to claim 14, characterized in that: The movable module includes an upper shell, and the magnet is arranged on the upper shell.

16. The mobile robot according to claim 15, characterized in that: A positioning module is provided on the upper shell, and the magnet is arranged in the positioning module.

17. The mobile robot according to claim 16, characterized in that: The bottom of the positioning module is provided with a mounting cavity, and the magnet is fixedly arranged at the bottom of the mounting cavity.

18. The mobile robot according to claim 17, characterized in that: The fixed module has a protruding portion, and a horizontal distance between the mounting cavity and the protruding portion is greater than a movable distance of the movable module.

19. The mobile robot according to claim 17, characterized in that: The bottom of the installation cavity is parallel to the second direction.

20. The mobile robot according to claim 17, wherein: An opening is provided at the bottom of the installation cavity corresponding to the position of the sensor component.

21. The mobile robot according to claim 17, wherein: A fixing position for fixing the magnet is provided at the bottom of the installation cavity.

22. The mobile robot according to claim 13, characterized in that: The mobile robot is equipped with a collision detection device, and the sensing direction of the collision detection device is perpendicular to the central axis of the mobile robot.

23. The mobile robot according to claim 22, characterized in that: The collision detection device is arranged away from the central axis of the fuselage.

24. The mobile robot according to claim 13, wherein: The mobile robot is equipped with a first collision detection device and a second collision detection device, and the first collision detection device and the second collision detection device are located on or on both sides of the central axis of the body.

25. The mobile robot according to claim 24, characterized in that The first collision detection device has a first sensing direction, and the second collision detection device has a second sensing direction. The first sensing direction and the second sensing direction are perpendicular to each other.

26. The mobile robot according to claim 24, characterized in that When the first collision detection device and the second collision detection device are both arranged on the central axis of the fuselage, the first collision detection device and the second collision detection device are arranged front and back.

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