Anti-collision vehicle head and robot

Abstract

Disclosed in the present application are an anti-collision vehicle head and a robot. The anti-collision vehicle head comprises: a vehicle head housing; an anti-collision sensing apparatus which comprises an anti-collision strip and an anti-collision sensor, wherein the anti-collision strip extends in the length direction thereof, the anti-collision sensor is arranged at a position where the anti-collision strip is in contact with an external obstacle, and the anti-collision strip is fixedly connected to the periphery of the vehicle head housing; and anti-collision identification apparatuses embedded in the left and right sides of the vehicle head housing and located in the same arrangement direction as the anti-collision sensing apparatus.

Description

A type of anti-collision vehicle front and robot Technical Field

[0001] This application relates to the field of robotics technology, and in particular to a collision avoidance vehicle front and robot. Background Technology

[0002] Robots include walking devices for walking and working devices for working. For example, in a robot used for mowing lawns, its working device could be a lawnmower blade; in a robot used for snow removal, its working device could be a snow roller; and in a robot used for blowing leaves, its working device could be a hair dryer.

[0003] Robots will walk and work in the work area based on a pre-defined path. However, due to the complexity and diversity of the work environment, robots often encounter various obstacles. To deal with this situation, robots are usually equipped with anti-collision bars as a protective measure to reduce the damage to the robot itself when colliding with obstacles. Although the external anti-collision bars in the robot can protect the robot after colliding with obstacles, the robot cannot identify the collision situation, that is, the accuracy of collision situation identification is insufficient. As a result, the robot may continue to collide with obstacles, affecting the robot's work efficiency.

[0004] Therefore, those skilled in the art urgently need to find a new technical solution to address the above problems. Technical issues

[0005] The embodiments of this application aim to provide a collision avoidance vehicle front and robot, which can solve the technical problem in the prior art that the work efficiency is affected after the robot collides with the obstacle. Technical solutions

[0006] The technical problem solved by the embodiments of this application is addressed by the following technical solution:

[0007] This application discloses a type of anti-collision vehicle front, comprising:

[0008] Front shell;

[0009] The anti-collision sensing device includes an anti-collision strip and an anti-collision sensor. The anti-collision strip extends along its length, and the anti-collision sensor is located at the position where the anti-collision strip contacts an external obstacle. The anti-collision strip is fixedly connected to the periphery of the front shell of the vehicle.

[0010] The collision avoidance recognition device is embedded on the left and right sides of the front shell of the vehicle, and is in the same orientation as the collision avoidance sensing device.

[0011] The robot disclosed in this application includes:

[0012] Front bumper;

[0013] The locomotion device, used for the robot's overall movement, is located on the robot's body;

[0014] The working device, used to mow grass, blow snow, or blow leaves in the target area, is located on the robot's crash-proof front. Beneficial effects

[0015] The aforementioned anti-collision vehicle front and robot, by installing anti-collision sensing equipment and anti-collision recognition equipment on the mounting frame at the rear of the robot, includes anti-collision sensors and anti-collision strips. During the robot's forward movement, the anti-collision sensors located along the length of the anti-collision strips can be used to determine when the robot collides with an external obstacle. The anti-collision recognition equipment can be used to identify obstacles in advance and whether a collision has actually occurred. Both are located in the same direction and work together during the collision process to improve the robot's accuracy in recognizing external obstacles. This allows the robot to effectively avoid obstacles based on the accuracy of the recognition, thereby improving the robot's working efficiency.

[0016] Details of one or more embodiments of this application are set forth in the following drawings and description, and other features and advantages of this application will become apparent from the specification, drawings and claims. Attached Figure Description

[0017] One or more embodiments are illustrated by way of example with reference numerals in the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings are not to be limited by scale.

[0018] Figure 1 is a schematic diagram of the structure of the anti-collision vehicle front disclosed in the embodiment of this application;

[0019] Figure 2 is a schematic diagram of the anti-collision recognition device disclosed in the embodiments of this application;

[0020] Figure 3 is a schematic diagram of the structure of the fixing frame disclosed in the embodiment of this application;

[0021] Figure 4 is a schematic diagram of the overall structure of the robot body disclosed in the embodiments of this application;

[0022] Figure 5 is a schematic diagram of the anti-collision sensing device disclosed in the embodiments of this application;

[0023] Figure 6 is a schematic diagram of the support structure disclosed in the embodiment of this application.

[0024] The attached icon numbers and their corresponding meanings are as follows:

[0025] 1. Vehicle front shell; 101. Mounting position; 1011. Lead wire hole; 1012. Third mounting hole; 2. Collision-proof sensing device; 201. Collision-proof strip; 3. Collision-proof identification device; 301. Fixing frame; 3011. First mounting hole; 3012. First positioning post; 3013. Second positioning post; 302. Sensing probe; 303. Second mounting hole; 304. Power signal line; 4. Mounting frame; 401. Mounting plate; 402. Mounting strip; 403. Connecting strip; 404. Main frame; 4041. Wire hole; 4011. Support component; 40111. Bottom end; 40112. Upper end; 40113. Fourth mounting hole; 5. First collision-proof device; 6. Second collision-proof device; 7. Walking device; 8. Vehicle body; 9. Collision-proof front.

[0026] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. The best embodiment of the present invention

[0027] To facilitate understanding of this application, a more detailed description is provided below with reference to the accompanying drawings and specific embodiments. It should be noted that when an element is described as being "fixed to" another element, it can be directly on the other element, or one or more intermediate elements may exist between them. When an element is described as being "connected" to another element, it can be directly connected to the other element, or one or more intermediate elements may exist between them. The terms "upper," "lower," "inner," "outer," "vertical," and "horizontal," etc., used in this specification to indicate orientation or positional relationships are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing this application and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as limiting this application.

[0028] Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Words such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed after the word and their equivalents, without excluding other elements or objects. Words such as "connected" or "linked" are not limited to physical or mechanical connections but can include electrical connections, whether direct or indirect. Unless otherwise defined, the features such as "parallel," "perpendicular," and "identical" used in the embodiments of this application include strictly defined "parallel," "perpendicular," and "identical," as well as cases where "generally parallel," "generally perpendicular," and "generally identical" include a certain margin of error. For example, "generally" as described above may indicate that the difference between the compared objects is within 10% or 5% of the average value of the compared objects. Unless otherwise specified in the embodiments of this application, the quantity of a component or element is implied; it means that the component or element may be one or more, or can be understood as at least one. "At least one" means one or more, and "more" means at least two.

[0029] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of the application. The term "and / or" as used in this specification includes any and all combinations of one or more of the associated listed items.

[0030] Furthermore, the technical features involved in the different embodiments of this application described below can be combined with each other as long as they do not conflict with each other. Obviously, the described embodiments are only a part of the embodiments of this application, not all of them. All other embodiments obtained by those skilled in the art based on the described embodiments of this application without creative effort are within the scope of protection of this application.

[0031] As shown in Figure 1, an anti-collision front end 9 disclosed in this application includes:

[0032] Car front shell 1;

[0033] The anti-collision sensing device 2 includes an anti-collision strip 201 and an anti-collision sensor (not shown). The anti-collision strip 201 extends along its length, and the anti-collision sensor (not shown) is located at the position where the anti-collision strip 201 contacts an external obstacle. The anti-collision strip 201 is fixedly connected to the periphery of the front shell 1.

[0034] The collision avoidance recognition device 3 is embedded on the left and right sides of the front shell 1, and is in the same orientation as the collision avoidance sensing device 2.

[0035] The front shell 1 can be made of any material that can withstand a certain amount of impact. It can be an integral structure that can be directly installed in the chassis of the front of the vehicle. For example, when the anti-collision front 9 is a lawnmower, a blade disc for storing lawnmower blades and wheels for the front of the vehicle can be installed at the bottom of the chassis. In addition, an anti-collision strip 201 from the anti-collision sensing device 2 will be installed on the periphery of the front shell 1. When the front of the vehicle collides with an external obstacle, the anti-collision strip 201 will make contact with and collide with the external obstacle first.

[0036] The anti-collision sensing device 2 may include an anti-collision strip 201 and an anti-collision sensor (not shown). The anti-collision strip 201 may be made of metal and may be hollow inside. A protective sleeve with protective or cushioning material may be provided at the position where the anti-collision strip 201 contacts an external obstacle. The protective sleeve may be made of a material with a certain elastic deformation. After the protective sleeve is provided, fixing plugs for fixing the protective sleeve to the anti-collision strip 201 and preventing water ingress may be provided on both sides of the anti-collision strip 201, respectively. In this way, the anti-collision strip 201 can play a protective function when colliding with an obstacle. The anti-collision sensor (not shown) may be located inside the anti-collision strip 201, which is also the position where the anti-collision strip 201 is most likely to come into contact with an external obstacle. The anti-collision sensor can be triggered when it comes into contact with an obstacle (Figure 201). The detection circuit in the (not shown) includes a collision avoidance sensor (not shown) that can be a pressure sensor or a photoelectric sensor. The sensitive element in the pressure sensor is in contact with the outer shell of the collision avoidance strip 201. After the collision avoidance strip 201 comes into contact with an external obstacle, the collision avoidance strip 201 will cause the sensitive element to deform or displace, and the detection circuit in the pressure sensor can then detect the collision signal. The photoelectric sensor has a transmitter and a receiver. The passage between the transmitter and the receiver can be kept open. The transmitter is in contact with the outer shell of the collision avoidance strip 201. After the collision avoidance strip 201 comes into contact with an external obstacle, the collision avoidance strip 201 will cause the transmitter to displace, thereby closing the original passage, and the detection circuit in the photoelectric sensor can then detect the collision signal.

[0037] The collision avoidance recognition device 3 may include a visual sensor or an ultrasonic sensor, which are mainly used to identify external obstacles and determine the information between the robot and the obstacle. For example, the visual sensor determines the information between the robot and the obstacle by analyzing the captured photos. The ultrasonic radar is a detection device that can emit ultrasonic waves to the outside world. It determines the information between the robot and the obstacle by calculating the ultrasonic wave signal fed back when the ultrasonic wave reaches the obstacle.

[0038] In this embodiment, a collision avoidance sensing device 2 and a collision avoidance identification device 3 are installed on the robot's front housing 1. The collision avoidance sensing device 2 includes a collision avoidance sensor (not shown) and a collision avoidance strip 201. During the robot's forward movement, the collision avoidance sensor (not shown) located along the length of the collision avoidance strip 201 can be used to determine if the robot collides with an external obstacle. The collision avoidance identification device 3 can be used to determine the obstacle in advance and whether a collision has actually occurred. The two devices are located in the same direction and work together during the collision process to improve the robot's accuracy in recognizing external obstacles. This allows the robot to effectively avoid obstacles based on the accuracy of the recognition, thereby improving the robot's working efficiency.

[0039] As shown in Figure 2, in some embodiments, the collision avoidance identification device 3 includes a mounting bracket 301, and the front end housing 1 has a mounting position 101 adapted to the mounting bracket 301 of the collision avoidance identification device 3 at a position away from the collision avoidance sensing device 2.

[0040] The mounting bracket 301 can be square, and the mounting position 101 can be a mounting position 101 opened in the front shell 1. The shape of the mounting position 101 can match the mounting bracket 301 of the collision avoidance recognition device 3. For example, if the mounting bracket 301 is square, the shape of the mounting position 101 can be rectangular. In this way, using the mounting position 101 that is compatible with the mounting bracket 301 of the collision avoidance recognition device 3 can make the collision avoidance recognition device 3 stably embedded in the front shell 1, and at the same time reduce the entry of external impurities into the interior of the front shell 1.

[0041] As shown in Figure 2, in some embodiments, the mounting bracket 301 has a first mounting hole 3011, and the anti-collision identification device 3 includes a sensing probe 302, which is adapted to be installed in the first mounting hole 3011.

[0042] In this case, a hole adapted to the sensing probe 302 can be opened at the middle position of the fixing bracket 301. When the sensing probe 302 is elongated, the first mounting hole 3011 can also be elongated. In this way, the sensing probe 302 can be fixed in the fixing bracket 301 by using the first mounting hole 3011 adapted to the sensing probe 302, thereby reducing the vibration rate of the sensing probe 302.

[0043] As shown in Figures 1, 2, and 3, in some embodiments, the mounting bracket 301 is provided with a first positioning post 3012 and a second positioning post 3013, the anti-collision identification device 3 includes a second mounting hole 303, and the mounting position 101 is provided with a third mounting hole 1012. The first positioning post 3012 is adapted to the second mounting hole 303, and the second positioning post 3013 is adapted to the third mounting hole 101 to fix the anti-collision identification device 3 in the mounting position 101 of the front housing 1.

[0044] The mounting bracket 301 may be provided with a first positioning post 3012 and a second positioning post 3013 near the mounting position 101. The number of the first positioning post 3012 and the second positioning post 3013 is not specifically limited. The more the number, the better the fixing effect. The length of the second positioning post 3013 is longer than that of the first positioning post 3012. The collision avoidance identification device 3 is provided with a sensing probe 302 in the middle. The sensing probe 302 is provided with a second mounting hole 303 on both sides. Thus, the first positioning post 3012 of the mounting bracket 301 can be inserted into the second mounting hole 303, and the second positioning post 3013 of the mounting bracket 301 can be inserted into the third mounting hole 1012, so as to achieve the effect of fitting and fixing between the collision avoidance identification device 3 and the mounting position 101 of the vehicle front shell 1.

[0045] As shown in Figures 1 and 2, in some embodiments, the mounting position 101 has a lead hole 1011, and the anti-collision identification device 3 includes a power signal line 304, which passes through the lead hole 1011.

[0046] In this device, a lead hole 1011 is provided at the center position of the mounting position 101, which can be aligned with the first mounting hole 3011. The collision avoidance identification device 3 is electrically connected to the power supply device in the robot body 8 through the power signal line 304, and can also be connected to the controller in the robot body 8 through the power signal line 304 to feed back the collision signal to the controller in a timely manner.

[0047] As shown in Figures 1 and 2, in some embodiments, the angle range of the sensing probe 302 after passing through the first mounting hole 3011 is 30 degrees to 60 degrees.

[0048] The sensing probe 302 has an adjustable detection angle at the first mounting hole 3011. The adjusted detection angle not only has a certain detection range on one side of its mounting position 101, but is also not blocked by other structures of the anti-collision front 9. In this embodiment, the preferred angle is 30 degrees, and the sensing probe 302 has no error at 30 degrees.

[0049] As shown in Figure 1, in some embodiments, the anti-collision strip 201 protrudes outward from the periphery of the front shell 1 that can contact the external obstacle.

[0050] The outer perimeter can be the outermost edge of the front shell 1. The anti-collision strip 201 protrudes outward from this outer perimeter. When the robot collides with an external obstacle, the anti-collision strip 201 can first contact the external obstacle, thus protecting the front of the robot.

[0051] As shown in Figure 1, in some embodiments, the anti-collision strip 201 has an accommodating space (not shown), the anti-collision sensor (not shown) is disposed in the accommodating space (not shown), and is in contact with the outer shell of the anti-collision strip 201.

[0052] The anti-collision strip 201 can be a hollow arched shape. The arched shape gives the anti-collision strip 201 a strong structure to resist the collision of external obstacles, and forms an internal space for placing anti-collision sensors (not shown). It can also serve as a space for placing the power signal line 304 of the anti-collision sensor (not shown). The power signal line 304 is wired internally to prevent external interference to the anti-collision sensor (not shown). In addition, there is no specific requirement for the number of anti-collision sensors (not shown) placed in the space. For example, anti-collision sensors (not shown) can be set on the center side and the left and right sides of the anti-collision strip 201, so that the robot can sense the specific location of the collision after a collision occurs at one of the locations.

[0053] In some embodiments, the anti-collision sensor (not shown) is located on the center side facing the front of the anti-collision strip 201, or / and the anti-collision sensor (not shown) is located on both sides facing the front of the anti-collision strip 201.

[0054] The anti-collision strip 201 can also be equipped with an anti-collision sensor (not shown) at the center of its front. By setting anti-collision sensors (not shown) on both sides of the anti-collision strip 201, both sides of the anti-collision strip 201 can be detected simultaneously. Thus, by setting three anti-collision sensors (not shown) on the front of the anti-collision strip 201, the anti-collision function can be achieved from three angles. Moreover, each of the three anti-collision sensors (not shown) is independently connected to the obstacle avoidance circuit, which can increase the detection accuracy of the anti-collision device and facilitate the accurate location of unknown obstacles.

[0055] As shown in Figure 1, this application also discloses a robot, including:

[0056] 9. Anti-collision front end;

[0057] The walking device 7 is used for the robot's overall movement and is located on the robot's body 8;

[0058] The working device, used to mow grass, blow snow, or blow leaves in the target area, is located on the robot's front bumper 9.

[0059] The walking device 7 can be a tracked wheel device, located on the side of the robot body 8 closest to the ground; the working device can be selected and installed according to different application scenarios, and it is installed in the anti-collision head 9, such as a lawnmower head for mowing, a snowplow head for snow removal, or a leaf blower head for blowing leaves; the anti-collision head 9 is the front of the robot, used to identify obstacles and determine the distance between the robot and the obstacles while the robot is moving forward; the target area can be the area where the robot works, such as a courtyard area.

[0060] As shown in Figure 4, in some embodiments, the rear of the vehicle body 8 is also provided with a collision avoidance sensing device; the collision avoidance sensing device includes:

[0061] Mounting bracket 4 includes mounting plate 401;

[0062] The first anti-collision device 5 includes an anti-collision strip 201 and an anti-collision sensor. The anti-collision strip 201 extends along its length. The anti-collision sensor is located at the position where the anti-collision strip 201 contacts an external obstacle. The anti-collision strip 201 is fixedly connected to the mounting frame 4.

[0063] The second anti-collision device 6 is mounted on the mounting plate 401 and is in the same orientation as the first anti-collision device 5.

[0064] One end of the mounting frame 4 is connected to the tail of the robot body, and the other end is connected to the first anti-collision device 5. The mounting frame 4 is also provided with a mounting plate 401 for connecting the second anti-collision device 6. In this way, the first anti-collision device 5 and the second anti-collision device 6 can be stably present on the robot. The robot can also identify the collision situation of the tail through the first anti-collision device 5 and the second anti-collision device 6. The collision situation of the tail includes the situation where the robot tail collides with the obstacle, and it can also include the situation where the robot identifies the obstacle in advance.

[0065] The first anti-collision device 5 includes an anti-collision strip 201 and an anti-collision sensor (not shown). The anti-collision strip 201 can be made of metal and can be hollow inside. A protective sleeve with protective or cushioning material can be provided at the position where the anti-collision strip 201 contacts an external obstacle. The protective sleeve can be made of a material with a certain elastic deformation. After the protective sleeve is provided, fixing plugs for fixing the protective sleeve to the anti-collision strip 201 and preventing water ingress can be respectively provided on both sides of the anti-collision strip 201. In this way, the anti-collision strip 201 can play a protective function when colliding with an obstacle. The anti-collision sensor (not shown) can be located inside the anti-collision strip 201, which is also the position where the anti-collision strip 201 is likely to come into contact with an external obstacle. The anti-collision sensor can be triggered when it comes into contact with an obstacle. The detection circuit (not shown in the figure) includes a collision avoidance sensor (not shown in the figure), which may include a pressure sensor and a photoelectric sensor. The sensitive element in the pressure sensor is in contact with the outer shell of the collision avoidance strip 201. After the collision avoidance strip 201 comes into contact with an external obstacle, the collision avoidance strip 201 will cause the sensitive element to deform or displace, and the detection circuit in the pressure sensor can then detect the collision signal. The photoelectric sensor is equipped with a transmitter and a receiver. The passage between the transmitter and the receiver can be kept open. The transmitter is in contact with the outer shell of the collision avoidance strip 201. After the collision avoidance strip 201 comes into contact with an external obstacle, the collision avoidance strip 201 will cause the transmitter to displace, thereby closing the original passage, and the detection circuit in the photoelectric sensor can then detect the collision signal.

[0066] The second anti-collision device 6 may include a visual sensor or an ultrasonic sensor, which are mainly used to identify external obstacles and determine the information between the robot and the obstacle. For example, the visual sensor determines the information between the robot and the obstacle by analyzing the captured photos. The ultrasonic radar is a detection device that can emit ultrasonic waves to the outside world. It determines the information between the robot and the obstacle by calculating the ultrasonic wave signal fed back when the ultrasonic wave reaches the obstacle.

[0067] In this embodiment, a first anti-collision device 5 and a second anti-collision device 6 are installed on the mounting frame 4 at the tail of the robot. The first anti-collision device 5 includes an anti-collision sensor (not shown) and an anti-collision strip 201. During the robot's movement, the anti-collision sensor (not shown) located along the length of the anti-collision strip 201 can be used to determine whether the robot collides with an external obstacle within a certain collision range. The second anti-collision device 6 can be used to determine the obstacle in advance and whether a collision actually occurs with the external obstacle. The two devices are located in the same direction and are used in combination during the collision process to improve the robot's recognition accuracy of external obstacles. As a result, the robot can effectively avoid obstacles based on the recognition accuracy, thereby improving the robot's working efficiency.

[0068] It should be noted that the first anti-collision device 5 of the anti-collision device is equivalent to the anti-collision sensing device 2 of the anti-collision front 9, and the second anti-collision device 6 of the anti-collision device is equivalent to the anti-collision recognition device 3 of the anti-collision front 9. The difference between the anti-collision device and the device in the anti-collision front 9 is that their installation positions are different. The anti-collision device is located at the rear of the robot body 8, while the anti-collision front 9 is located at the front of the robot.

[0069] As shown in Figure 5, in some embodiments, the anti-collision strip 201 is fixedly connected to the mounting strip 402 at a position away from contact with external obstacles.

[0070] The mounting strip 402 can be a column structure with the effect of reinforcing ribs. Another mounting plate 401 can also be provided at the position opposite to the mounting plate 401 in the mounting strip 402. The edges of the two mounting plates 401 can protrude to form an installation space. This installation space can be used to set the position of the anti-collision strip 201 away from contact with external obstacles. The screws provided on the mounting plate 401 can be fixedly connected to one side of the anti-collision strip 201. In this way, the anti-collision strip 201 can be firmly fixed in the mounting strip 402.

[0071] As shown in Figure 5, in some embodiments, the mounting bracket 4 further includes a mounting strip 402 and a connecting strip 403 having a mounting plate 401, wherein the connecting strip 403 is fixedly connected to the side of the mounting strip 402 that is not the mounting plate 401.

[0072] Among them, an installation plate 401 is provided at the top of the installation strip 402. The connection between the installation plate 401 and the anti-collision strip 201 can be made by screws or clips. The connecting strip 403 can also be a column structure, which is directly fixedly connected to the installation strip 402. The installation strip 402 and the connecting strip 403 can be connected as one piece or not. The connecting strip 403 mainly fixes the anti-collision strip 201 to the robot body so that the anti-collision strip 201 can also be moved together when the robot moves.

[0073] As shown in Figure 5, in some embodiments, the mounting bracket 4 further includes a main frame 404 fixedly connected to the connecting strip 403. The main frame 404 is provided with a wire hole 4041. The second anti-collision device 6 is provided with a power signal line 304 at a position away from the identification direction. The power signal line 304 passes through the wire hole 4041.

[0074] The main frame 404 may be provided with a structure for connecting to the robot body 8, such as by fixing it to the body 8 through the mounting holes provided on the main frame 404. In addition, the main frame 404 is provided with a wire hole 4041 for the power signal line 304 to pass through. The second anti-collision device 6 is electrically connected to the power supply device in the robot body 8 through the power signal line 304, and can also be connected to the controller in the robot body 8 through the power signal line 304 to feed back the collision signal to the controller in a timely manner.

[0075] As shown in Figures 5 and 6, in some embodiments, the mounting plate 401 is provided with a support member 4011, and the second anti-collision device 6 includes a sensing probe 302, which is mounted on the support member 4011.

[0076] The support member 4011 can have various shapes and mainly serves to mount the sensor probe 302. It can also assist the sensor probe 301 in identifying external obstacles within a certain range. The sensor probe 302 can be an ultrasonic probe or a camera.

[0077] As shown in Figures 5 and 6, in some embodiments, the support member 4011 includes a bottom end 40111 and an upper end 40112 fixedly connected to the bottom end 40111. The bottom end 40111 is disposed on the mounting plate 401, and the upper end 40112 is inclined relative to the bottom end 40111 and has a fourth mounting hole 40113 adapted to the sensing probe 302.

[0078] The support member 4011 may include a bottom end 40111 and an upper end 40112. The bottom end 40111 and the upper end 40112 are fixedly connected. The bottom end 40111 of the support member 4011 is fixedly connected to the mounting plate 401. A fourth mounting hole 40113 that can be adapted to the sensing probe 302 in the second anti-collision device 6 is provided at the upper end 40112 of the support frame. In this way, the sensing probe 302 in the second anti-collision device 6 can be fixed on the robot and achieve stable recognition of external obstacles.

[0079] As shown in Figures 4 and 5, in some embodiments, the angle range of the sensing probe 302 mounted on the support member 4011 is 10 degrees to 30 degrees.

[0080] The upper end has a mounting surface that is inclined, with an angle ranging from 10 to 30 degrees. Thus, the angle between the sensor 302 in the mounting surface and the mounting plate 401 is also between 10 and 30 degrees. Within this angle range, the sensor 302 can accurately identify external obstacles and will not be blocked by other devices or components of the robot, such as the anti-collision strip 201 of the first anti-collision device 5 on the robot.

[0081] As shown in Figure 4, in some embodiments, the anti-collision strip 201 has an accommodating space (not shown), the anti-collision sensor (not shown) is disposed in the accommodating space (not shown), and is in contact with the outer shell of the anti-collision strip 201.

[0082] The anti-collision strip 201 can be a hollow arched shape. The arched shape gives the anti-collision strip 201 a strong structure to resist the collision of external obstacles, and forms an internal space for placing anti-collision sensors (not shown). It can also serve as a space for placing the power signal line 304 of the anti-collision sensor (not shown). The power signal line 304 is wired internally to prevent external interference to the anti-collision sensor (not shown). In addition, there is no specific requirement for the number of anti-collision sensors (not shown) placed in the space. For example, anti-collision sensors (not shown) can be set on the center side and the left and right sides of the anti-collision strip 201, so that the robot can sense the specific location of the collision after a collision occurs at one of the locations.

[0083] In some embodiments, the anti-collision sensor (not shown) is located on the center side facing the front of the anti-collision strip 201, or / and the anti-collision sensor (not shown) is located on both sides facing the front of the anti-collision strip 201.

[0084] The anti-collision strip 201 can also be equipped with an anti-collision sensor (not shown) at the center of its front. By setting anti-collision sensors (not shown) on both sides of the anti-collision strip 201, both sides of the anti-collision strip 201 can be detected simultaneously. Thus, by setting three anti-collision sensors (not shown) on the front of the anti-collision strip 201, the anti-collision function can be achieved from three angles. Moreover, each of the three anti-collision sensors (not shown) is independently connected to the obstacle avoidance circuit, which can increase the detection accuracy of the anti-collision device and facilitate the accurate location of unknown obstacles.

[0085] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and not to limit them; under the concept of this application, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of different aspects of this application as described above, which are not provided in detail for the sake of brevity; although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A crashworthy vehicle nose, wherein, include: Front shell; The anti-collision sensing device includes an anti-collision strip and an anti-collision sensor. The anti-collision strip extends along its length, and the anti-collision sensor is located at the position where the anti-collision strip contacts an external obstacle. The anti-collision strip is fixedly connected to the periphery of the front shell of the vehicle. The collision avoidance recognition device is embedded on the left and right sides of the front shell of the vehicle, and is in the same orientation as the collision avoidance sensing device.

2. The crashworthy vehicle nose of claim 1 wherein, The collision avoidance identification device includes a mounting bracket, and the front end of the vehicle has a mounting position adapted to the mounting bracket of the collision avoidance identification device at a position away from the collision avoidance sensing device.

3. The crashworthy vehicle nose of claim 2 wherein, The mounting bracket has a first mounting hole, and the anti-collision recognition device includes a sensing probe, which is adapted to be installed in the first mounting hole.

4. A crashworthy vehicle nose as claimed in claim 2 or 3 wherein, The mounting bracket is provided with a first positioning post and a second positioning post. The collision avoidance identification device includes a second mounting hole. The mounting position has a third mounting hole. The first positioning post is adapted to the second mounting hole. After the second positioning post is adapted to the third mounting hole, the collision avoidance identification device is fixed in the mounting position of the vehicle front shell.

5. The crashworthy vehicle nose of claim 4 wherein, The mounting position has a lead hole, and the anti-collision identification device includes a power signal line, which passes through the lead hole.

6. The crashworthy vehicle nose of claim 2 wherein, The angle range of the sensing probe after passing through the first mounting hole is 30 degrees to 60 degrees.

7. The crashworthy vehicle nose of claim 1 wherein, The anti-collision strip protrudes outward from the periphery of the front shell of the vehicle, allowing it to contact external obstacles.

8. The crashworthy vehicle nose of claim 1 wherein, The anti-collision strip has an internal accommodating space, and the anti-collision sensor is located in the accommodating space and is in contact with the outer shell of the anti-collision strip.

9. The crashworthy vehicle nose of claim 1 wherein, The anti-collision sensor is located on the center side of the front of the anti-collision strip, or / and the anti-collision sensor is located on both sides of the front of the anti-collision strip.

10. A robot, wherein, include: The anti-collision front end as described in claims 1-9; The locomotion device, used for the robot's overall movement, is located on the robot's body; The working device, used to mow grass, blow snow, or blow leaves in the target area, is located on the robot's crash-proof front.

11. The robot of claim 10, wherein, The rear of the vehicle body is also equipped with a collision avoidance sensor; the collision avoidance sensor includes: Mounting bracket, including mounting plate; The first anti-collision device includes an anti-collision strip and an anti-collision sensor. The anti-collision strip extends along its length, and the anti-collision sensor is located at the position where the anti-collision strip contacts an external obstacle. The anti-collision strip is fixedly connected to the mounting frame. The second anti-collision device is mounted on the mounting plate and is positioned in the same orientation as the first anti-collision device.

12. The robot of claim 11, wherein, The mounting bracket also includes a mounting strip with a mounting plate and a connecting strip, wherein the connecting strip is fixedly connected to the side of the mounting strip that is not the mounting plate.

13. The robot of claim 12, wherein, The mounting strip is fixedly connected to the anti-collision strip at a position away from contact with external obstacles.

14. The robot of claim 12, wherein, The mounting bracket also includes a main frame fixedly connected to the connecting strip. The main frame is provided with a wire hole. A power signal line is provided at a position away from the identification direction of the second anti-collision device, and the power signal line passes through the wire hole.

15. The robot of claim 11, wherein, The mounting plate is provided with a support member, and the second anti-collision device includes a sensing probe, which is mounted on the support member.

16. The robot of claim 15, wherein, The support comprises a bottom end part and an upper end part fixedly connected with the bottom end part, the bottom end part is arranged on the mounting plate, the upper end part is arranged obliquely relative to the bottom end part, and a mounting hole adapted to the inductive probe is arranged on the upper end part.

17. The robot of claim 16, wherein, The angle range of the inductive probe after being arranged in the mounting hole is 10-30 degrees.

18. The robot of claim 11, wherein, The anti-collision strip is internally provided with a containing space, the anti-collision sensor is arranged in the containing space, and the anti-collision sensor is in abutting arrangement with the shell of the anti-collision strip.

19. The robot of claim 11, wherein, The anti-collision sensor is arranged on the center side of the front face of the anti-collision strip, or / and the anti-collision sensor is arranged on the two side sides of the front face of the anti-collision strip.

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