CN109426266A

CN109426266A - From mobile device

Info

Publication number: CN109426266A
Application number: CN201811000784.2A
Authority: CN
Inventors: 盛晓初; 冉沅忠; 庞艳军; 杜江; 李兴红
Original assignee: Positec Power Tools Suzhou Co Ltd
Current assignee: Positec Power Tools Suzhou Co Ltd
Priority date: 2017-08-30
Filing date: 2018-08-30
Publication date: 2019-03-05
Also published as: CN209417594U

Abstract

The present invention relates to one kind from mobile device, comprising: shell；The first ultrasonic sensor and the second ultrasonic sensor are provided on shell, first ultrasonic sensor and second ultrasonic sensor it is at an angle to each other arrange on the housing, the intelligent grass-removing further includes anti-crosstalk structure, and the ultrasonic wave for preventing the first ultrasonic sensor and the second ultrasonic sensor one of both from sending directly is received without barrier reflection by another in the two.Compared with prior art, the present invention can stop the transmitting-receiving region of the first ultrasonic sensor and the second ultrasonic sensor adjacent position by the way that anti-crosstalk structure is arranged, it avoids the first ultrasonic sensor and the second ultrasonic sensor from generating signal cross-talk between each other, ensure that the accuracy of short distance obstacle recognition.

Description

Self-moving equipment

Technical Field

The present invention relates to a self-moving device, and more particularly, to a self-moving device for preventing signal crosstalk.

Background

With the continuous progress of computer technology and artificial intelligence technology, self-moving robots similar to intelligent devices have started to slowly walk into the lives of people. Samsung, irex, etc., have developed fully automatic cleaners and have been put on the market. The full-automatic dust collector is small in size, integrates an environment sensor, a self-driving system, a dust collection system, a battery and a charging system, can automatically cruise and collect dust in a working area without manual operation, automatically returns to a charging station when the energy is low, is in butt joint and is charged, and then continues to cruise and collect dust. Meanwhile, companies such as hasskarna developed similar intelligent lawn mowers that can automatically mow and charge in a user's lawn without user intervention. The self-moving robot is greatly popular because the self-moving robot does not need to invest energy to manage after being set once, and the user is liberated from boring and time-consuming and labor-consuming housework such as cleaning, lawn maintenance and the like.

The self-moving robot needs to have a function of identifying the obstacle, and then automatically avoids when encountering the obstacle or before encountering the obstacle, particularly the avoidance of a short-distance obstacle close to the self-moving robot.

Disclosure of Invention

The invention also provides the self-moving equipment which can prevent signal crosstalk and improve the identification accuracy of the machine close-range obstacles.

In order to achieve the purpose, the technical scheme of the invention is as follows:

an autonomous mobile device, comprising:

a housing;

the moving module is arranged below the shell and used for driving the shell to move;

the driving module is used for driving the moving module to move;

the control module is used for controlling the self-moving equipment;

the mobile device comprises a shell, an ultrasonic sensor assembly and a crosstalk prevention structure, wherein the shell is provided with the ultrasonic sensor assembly used for identifying obstacles, the ultrasonic sensor assembly comprises a first ultrasonic sensor and a second ultrasonic sensor, the first ultrasonic sensor and the second ultrasonic sensor are arranged on the shell at an angle, and the crosstalk prevention structure is used for preventing ultrasonic waves sent by one of the first ultrasonic sensor and the second ultrasonic sensor from being directly received by the other of the first ultrasonic sensor and the second ultrasonic sensor without being reflected by the obstacles.

Further, the crosstalk prevention structure is arranged between the first ultrasonic sensor and the second ultrasonic sensor.

Further, the crosstalk prevention structure extends to the front side of the shell and is not in contact with the axis of the ultrasonic sensor.

Further, the crosstalk prevention structure extends towards the front side of the shell not to exceed the projection intersection point of the first ultrasonic sensor axis and the second ultrasonic sensor axis.

Furthermore, the crosstalk prevention structure is located on the front side of a connecting line of the sound wave emission point of the first ultrasonic sensor and the sound wave emission point of the second ultrasonic sensor and extends towards the front side of the shell.

Further, the crosstalk prevention structure includes a stopper wall disposed at an angle to the axis of the ultrasonic sensor.

Furthermore, the blocking wall comprises a first blocking wall and a second blocking wall, the second blocking wall is connected with the first blocking wall and extends from the first blocking wall to the front side of the shell, and the height of the second blocking wall in the height direction is gradually reduced.

Further, the first blocking wall is provided with a top end, the second blocking wall is provided with an upper connecting end connected with the first blocking wall, and the upper connecting end is lower than the top end in the height direction.

Further, the crosstalk prevention structure includes a top surface located above and a virtual parallel surface parallel to the top surface and located below, the upper connection end is lower than the top surface in the height direction, the second blocking wall has a lower connection end that is far away from the first blocking wall and lower than the upper connection end in the height direction and a connection surface that connects the upper connection end and the lower connection end, and an angle τ between the connection surface and the virtual parallel surface ranges from 35 ° to 55 °.

Furthermore, the crosstalk prevention structure comprises a top surface positioned above, a virtual parallel surface parallel to the top surface and positioned below, and a peripheral wall connected with the top surface, wherein the top surface and the peripheral wall jointly enclose the crosstalk prevention structure with a closed circumferential direction and a closed top surface.

Further, the ultrasonic sensor assembly is installed into the crosstalk prevention structure from the virtual parallel surface toward the top surface.

Further, the first ultrasonic sensor has a first axis, the second ultrasonic sensor has a second axis, the first axis and the second axis form an angle with each other in the range of 60 degrees to 110 degrees, the first axis is an axis of an ultrasonic sound field emitted by the first ultrasonic sensor, and the second axis is an axis of an ultrasonic sound field emitted by the second ultrasonic sensor.

Further, the first axis and the second axis are at an angle in the range of 70-90 degrees to each other.

Further, the first ultrasonic sensor has a first axis, the second ultrasonic sensor has a second axis, the housing has a housing axis, the angle between the first axis and/or the second axis and the housing axis ranges from 10 degrees to 80 degrees, the first axis is the axis of the ultrasonic sound field emitted by the first ultrasonic sensor, and the second axis is the axis of the ultrasonic sound field emitted by the second ultrasonic sensor.

Further, the angle between the first axis and/or the second axis and the axis of the housing is in the range of 25-55 °.

Further, the first ultrasonic sensor has a first axis, the second ultrasonic sensor has a second axis, the first axis and the second axis are coplanar in the height direction, the first axis is an axis of an ultrasonic sound field emitted by the first ultrasonic sensor, and the second axis is an axis of an ultrasonic sound field emitted by the second ultrasonic sensor.

Compared with the prior art, the anti-crosstalk structure has the advantages that the stop wall is used for preventing the ultrasonic waves emitted by the first ultrasonic sensor from being reflected by the barrier and directly received by the second ultrasonic sensor, so that the accuracy of identifying the close-distance barrier is ensured, the free internal structure of the anti-crosstalk structure can restrict the field emission range of the ultrasonic waves when the ultrasonic waves are just emitted, the ultrasonic waves are further prevented from being directly contacted with the shell to generate ultrasonic echoes, and the accuracy of detecting the barrier is ensured.

Drawings

The invention is further described with reference to the following figures and embodiments.

Fig. 1 is a schematic block diagram of an intelligent lawn mower according to the present invention.

Fig. 2 is a schematic top view of the intelligent lawn mower 100 according to the first embodiment of the present invention.

Fig. 3 is a schematic diagram of a first arrangement of ultrasonic sensor assemblies of the intelligent lawn mower 100 according to the first embodiment of the present invention.

Fig. 4 is a schematic diagram illustrating the relationship between the included angles of the axes of the ultrasonic sensor assemblies of the ultrasonic sensor assembly of the intelligent lawn mower 100 according to the first embodiment of the present invention.

Fig. 5 is a schematic diagram of the angle relationship between the ultrasonic sensor assembly of the intelligent lawn mower 100 and the axis of the housing according to the first embodiment of the present invention.

Fig. 6 is a schematic diagram of the detection range of the first arrangement of the ultrasonic sensor assembly of the intelligent lawn mower 100 according to the first embodiment of the present invention, which is a triangular beam.

Fig. 7 is a diagram illustrating the detection range of the second arrangement of the ultrasonic sensor assembly of the intelligent lawn mower 100 according to the first embodiment of the present invention with a triangular beam.

Fig. 8 is a diagram illustrating a detection range of the first arrangement of the ultrasonic sensor assembly of the intelligent lawn mower 100 according to the first embodiment of the present invention with an elliptical beam.

Fig. 9 is a diagram illustrating a detection range of the second arrangement of the ultrasonic sensor assembly of the intelligent lawn mower 100 according to the first embodiment of the present invention with an elliptical beam.

Fig. 10 is a schematic arrangement diagram of the ultrasonic sensor assembly of the intelligent lawn mower 100 according to the first embodiment of the present invention, including three ultrasonic sensors.

Fig. 11 is a schematic arrangement diagram of the ultrasonic sensor assembly of the intelligent lawn mower 100 according to the first embodiment of the present invention, including four ultrasonic sensors.

Fig. 12 is a schematic axial relationship diagram of an ultrasonic sensor assembly of a smart mower 200 according to a second embodiment of the present invention.

Fig. 13 is a detection range diagram of a first arrangement of the ultrasonic sensor assembly of the intelligent lawn mower 200 according to the second embodiment of the present invention.

Fig. 14 is a diagram illustrating a detection range of a second arrangement of the ultrasonic sensor assembly of the intelligent lawn mower 200 according to the second embodiment of the present invention.

Fig. 15 is a schematic arrangement diagram of an ultrasonic sensor assembly of a smart mower 200 according to a second embodiment of the present invention, including three ultrasonic sensors.

Fig. 16 is a schematic arrangement diagram of an ultrasonic sensor assembly of a smart mower 200 according to a second embodiment of the present invention, including four ultrasonic sensors.

Fig. 17 is a schematic axial relationship diagram of an ultrasonic sensor assembly of a smart mower 300 according to a third embodiment of the present invention.

Fig. 18 is a detection range diagram of a first arrangement of the ultrasonic sensor assembly of the intelligent lawn mower 300 according to the third embodiment of the present invention.

Fig. 19 is a diagram illustrating a detection range of a second arrangement of the ultrasonic sensor assembly of the intelligent lawn mower 300 according to the third embodiment of the present invention.

Fig. 20 is a schematic view of another detection range of the ultrasonic sensor assembly of the intelligent lawn mower 300 according to the third embodiment of the present invention.

Fig. 21 is a schematic axial relationship diagram of an ultrasonic sensor assembly of a smart mower 400 according to a fourth embodiment of the present invention, including two ultrasonic sensor assemblies.

Fig. 22 is a schematic axial relationship diagram of an ultrasonic sensor assembly of a smart mower 400 according to a fourth embodiment of the present invention, including three ultrasonic sensor assemblies.

Fig. 23 is a detection range diagram of a first arrangement of the ultrasonic sensor assembly of the intelligent lawn mower 400 according to the fourth embodiment of the present invention in fig. 22.

Fig. 24 is a diagram illustrating a detection range of a second arrangement of the ultrasonic sensor assembly of the intelligent lawn mower 400 according to the fourth embodiment of the present invention in fig. 22.

FIG. 25 is a flow chart of the control module 30 controlling the transmission and reception of the ultrasonic sensor assembly.

Fig. 26 is a schematic diagram of the signal received by the ultrasonic sensor assembly corresponding to the difference in the effective detection range of the intelligent lawn mower 100 according to the first embodiment of the present invention.

FIG. 27 is a schematic view of an elliptical beam of an ultrasonic transducer of the present invention.

Fig. 28 is a cross-sectional view of the elliptical beam of fig. 27.

Fig. 29 is a schematic diagram showing that the waveform surface of the ultrasonic beam of the ultrasonic sensor itself is non-circular.

Fig. 30 is a schematic view showing that the wave surface of the ultrasonic beam is circular and the wave surface is adjusted to an elliptical shape after the beam adjuster is provided.

Fig. 31 is a schematic view showing that the ultrasonic sensor is not offset in the intelligent lawnmower according to the present invention.

Fig. 32 is a schematic view of the ultrasonic sensor being offset downward at an angle of β degrees in the intelligent lawnmower of the present invention.

Fig. 33 is a schematic view of the ultrasonic sensor being upwardly offset by an angle of β in the intelligent lawnmower of the present invention.

FIG. 34 is a schematic view of a housing of the intelligent lawnmower with a sloped wall adjacent to the field of view of the ultrasonic sensor.

Fig. 35 is a schematic view of a curved surface on a wall of the housing adjacent to the field of view of the ultrasonic sensor in the intelligent lawn mower of the present invention.

FIG. 36 is a schematic view of a fifth ultrasonic sensor for identifying a slope of the intelligent lawn mower of the present invention.

Fig. 37 is a schematic diagram of the distance S between the axis of the ultrasonic sensor and the slope just under the slope foot when the intelligent mower meets the slope.

Fig. 38 is a schematic view of the intelligent mower of the present invention just starting to ascend a slope in a situation where the intelligent mower encounters a slope.

Fig. 39 is a schematic view of an included angle between the axis of the ultrasonic sensor and the slope surface when the intelligent mower of the invention just falls under the slope toe in the working condition of encountering the slope.

FIG. 40 is a schematic view of an included angle between an axis of an ultrasonic sensor and a slope surface when the intelligent mower starts to ascend in a slope condition

Fig. 41 is a schematic view of the ultrasonic sensor axis being parallel to the slope surface when the intelligent mower of the present invention completely ascends the slope in the working condition of encountering the slope.

FIG. 42 is a schematic view of the ultrasonic sensor blind zone of the intelligent lawn mower of the present invention.

Fig. 43 is a schematic diagram showing the comparison between the distance between the ultrasonic sensor and the obstacle of the intelligent mower of the present invention and the distance between the ultrasonic sensor and the obstacle of the intelligent mower having the same structure as the prior art, which does not solve the problem of the blind zone.

Fig. 44 is a schematic diagram illustrating a comparison between a detected slope of the intelligent mower of the present invention and a detected slope of a common obstacle at the same position of the intelligent mower of the prior art.

Fig. 45 is a schematic view of a detection wall using the ultrasonic sensor assembly of the intelligent lawnmower 100 according to the first embodiment of the present invention.

Fig. 46 is a schematic view of a detection wall using an ultrasonic sensor assembly of the intelligent lawnmower 200 according to the second embodiment of the present invention.

Fig. 47 is a schematic view of the ultrasonic sensor assembly of the intelligent lawn mower 100 using the first embodiment of the present invention passing through a narrow passageway.

Fig. 48 is a schematic view of the partitioned obstacle avoidance of the intelligent mower.

Fig. 49 is a schematic view of the partitioned obstacle avoidance of the intelligent mower.

Fig. 50 is a track diagram of the obstacle avoidance of the intelligent lawnmower of the present invention.

Fig. 51 is a structural view of an ultrasonic sensor of the intelligent lawnmower according to the present invention.

Fig. 52 is a structural view of an ultrasonic sensor of the intelligent lawnmower according to another aspect of the present invention.

Fig. 53 is a schematic view of a structure of field crosstalk of the structure of the intelligent mower with the same structure as the structure of the intelligent mower without the structure of crosstalk in the prior art.

Fig. 54 is a schematic perspective view of an anti-crosstalk structure of the intelligent mower of the present invention.

Fig. 55 is a schematic side view of the crosstalk prevention structure of fig. 54.

Fig. 56 is a schematic top view of the crosstalk prevention structure in fig. 54.

Fig. 57 is a cross-sectional view taken along line a-a of fig. 56.

Fig. 58 is a schematic front view of the crosstalk prevention structure of the intelligent mower of the present invention.

Fig. 59 is a schematic diagram of a circuit unit for controlling the ultrasonic component by the control module of the first embodiment.

Fig. 60 is a schematic diagram of a circuit unit for controlling an ultrasonic component by the control module of the second embodiment.

Fig. 61 is a schematic diagram of another embodiment of a circuit unit for controlling an ultrasonic component by a control module of the second embodiment.

FIG. 62 is a schematic view of another cross-talk prevention structure of the intelligent lawnmower of the present invention in relation to the position of the ultrasonic sensor.

Fig. 63 is a schematic view from another angle of fig. 62.

FIG. 64 is a schematic diagram of the method for detecting the transmission/reception signal of the ultrasonic sensor of the intelligent lawn mower.

FIG. 65 is a control block diagram of the present invention.

FIG. 66 is a flow chart of the method for recognizing obstacles by the intelligent lawn mower of the present invention.

Wherein,

1. 100, 200, 300, 400, 10 housing 84 mobile module

Intelligent mower

86 operating module 88 energy module 20 ultrasonic sensor assembly

21. 41, 61, 81 first 23, 43, 63, 83 second 30 control module

Ultrasonic sensor

A a first transceiving area B, a second transceiving area C, and a third transceiving area

D fourth transceiving area 11 first detection area 12 second detection area

13 third detection area 14 fourth detection area 15 fifth detection area

16 sixth detection area 17 seventh detection area 18 eighth detection area

31a,31b drive circuit 33a,33b transformer 35a,35b ADC

37a,37b data processing unit 25, 45, 65, 85 third 27, 47, 67 fourth ultrasound

Ultrasonic sensor wave sensor

92 fifth ultrasonic sensor 211, 411, 611 first axis 231, 431, 631 second axis

Wire line

210 housing axis 651 third axis 671 fourth axis

80. 89 anti-crosstalk structure 801 stop wall 90 beam adjuster

91 abutting wall 97 borderline 98 field of view

99 obstacle 201 ultrasonic sensor 2011 sound production surface

202PCB 203 transformer 204 capacitor

Mounting hole for 802 end face of 205 protective shell 2051

803. Top 804 parallel 805 upper connection end

806 lower connection end 807 hole center 808 front end face

809 is connected with the first retaining wall 8012 of the first retaining wall 8011

71 first position 72 second position 73 third position

891 first edge 892 and second edge 96 connecting the lines

21a first circuit board 23a second circuit board 893 first anti-crosstalk surface

894 second anti-crosstalk surface 87 receiving device 701 amplifying circuit module

705 sensor microcontroller 708 pulse circuit module 704 data buffer module

702 analog-to-digital conversion module 703 filtering module 709 reflected wave threshold

706 data processing module 707 main controller

Detailed Description

The invention discloses an intelligent mower capable of realizing non-contact obstacle avoidance, and the intelligent mower in each embodiment adopts an ultrasonic sensor to identify obstacles. In addition, an overlapping detection area is formed by arranging the ultrasonic sensors, the accessibility of the intelligent mower is improved, and short-distance non-contact obstacle avoidance can be realized.

Before describing embodiments of the present invention in detail, it should be noted that relational terms such as left and right, up and down, front and back, first and second, and the like may be used solely in the description of the present invention to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. The terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

In the description of the present invention, "front" represents a direction in which an ultrasonic wave transmitted by an ultrasonic sensor propagates, and "front" is defined as a moving direction of a machine, "rear" represents a direction opposite to "front," left "represents a left side in the moving direction," right "represents a right side in the moving direction opposite to" left, "up" represents a direction away from a working surface of the machine in operation, and "down" represents a direction approaching the working surface of the machine opposite to "up".

For the purposes of the present disclosure, the term "transmission/reception area" refers to an area where an obstacle that transmits/receives ultrasonic waves from an ultrasonic sensor and receives ultrasonic echoes is located. The "transmission/reception integrated" means that the ultrasonic sensor is responsible for both transmitting ultrasonic waves and receiving obstacle echoes. The "transmission area" refers to an area that can be reached by the ultrasonic waves emitted by the ultrasonic sensor. The "reception area" refers to an area where an obstacle, from which an echo of the obstacle can be received by the ultrasonic sensor, is located. The "field of view" refers to a range in which an obstacle that transmits an ultrasonic wave and can receive an ultrasonic echo by the ultrasonic sensor is located. For an ultrasonic sensor that is only responsible for receiving the echo of an obstacle, "field of view" refers to the area where the obstacle that the transmitting sensor is able to receive the echo of the obstacle is located if the receiving sensor is able to transmit a signal. The "acoustic wave transmission range" refers to a region where ultrasonic wave energy transmitted from the ultrasonic sensor reaches. The "sound emission surface" refers to a surface from which the ultrasonic sensor emits ultrasonic waves. The "overlapping detection region" refers to a place where ultrasonic beams emitted from two ultrasonic sensors can cross and overlap. "decision section" means a selected section over the field of view, the shape of which is a wave-shaped surface. "ultrasound beam" refers to the distribution of the acoustic field formed by the ultrasound pulses emitted by the ultrasound transducer over the imaging field. The "waveform surface" refers to a surface obtained by making a tangent plane along the axis of an ultrasonic beam emitted from the ultrasonic sensor. The "acoustic beam axis" refers to the direction of strongest radiation of the beam. The moving direction is a driving direction from the mobile device to the front. The axis of the ultrasonic sensor is the axis of an ultrasonic sound field emitted by the ultrasonic sensor, a section is made on the sound field, and the sound intensity of the position of the axis on the section is greater than the sound intensity of other positions, so that the position of the axis is defined. The first ranging blind area refers to a period of aftershock after the first ultrasonic sensor transmits the ultrasonic signal, in the period, the ultrasonic echo signal cannot be distinguished from the transmitted ultrasonic signal, and the second ranging blind area refers to a period of aftershock after the second ultrasonic sensor transmits the ultrasonic signal, in the period, the ultrasonic echo signal cannot be distinguished from the transmitted ultrasonic signal.

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

As shown in fig. 1, fig. 1 is a schematic block diagram of a self-moving device 1 for non-contact obstacle avoidance according to the present invention. The intelligent mower includes a housing 10, an ultrasonic sensor assembly 20 positioned on the housing 10, a movement module 84 positioned at the bottom of the housing 10, an operation module 86 for performing operations, a control module 30 for controlling automatic operations and movements of the intelligent mower, and an energy module 88 for supplying energy to the intelligent mower. The control module 30 is embodied in the form of a control circuit board having one or more processors, memory, other associated components, and corresponding peripheral circuitry disposed thereon. The control module 30 is provided with a control program to execute a predetermined command to control the intelligent lawn mower to automatically move and execute work in the work area. The self-moving equipment can be an intelligent mower or an intelligent sweeping robot. The description of the elements with respect to fig. 1 is equally applicable to the description of the following embodiments of the invention with respect to a smart lawn mower or self-moving device.

The ultrasonic sensor assembly 20 in the non-contact obstacle avoidance self-moving device 1 comprises at least one ultrasonic sensor. The ultrasonic sensor assembly 20 is located at the front end of the housing 10 and is used for detecting whether an obstacle exists in the advancing direction of the intelligent mower 100 and the distance between the obstacle and the mobile device 1. The ultrasonic sensor assembly 20 includes at least one ultrasonic sensor integrated with a transceiver, or includes at least one ultrasonic transmitting sensor and an ultrasonic receiving sensor intersecting the field of view of the ultrasonic transmitting sensor.

And a plurality of groups of ultrasonic transducers with separated transceiving functions. For ultrasonic transducers with separate transmit and receive functions, at least one of them transmits ultrasonic waves and the others receive obstacle echoes.

As shown in fig. 51 and 52, the ultrasonic sensor assembly 20 in the self-moving device 1 for non-contact obstacle avoidance according to the present invention includes an ultrasonic sensor 201, a PCB 202, a capacitor 204 mounted on the PCB, and a protective case 205 for positioning the PCB 202 and the ultrasonic sensor 201. The ultrasonic sensor 201 has an outward sound-emitting surface 2011, the protective shell 205 has an end surface 2051, the sound-emitting surface 2011 is level with the end surface 2051 or is recessed in the protective shell 205 relative to the end surface 2051, that is, the sound-emitting surface 2011 does not exceed the end surface 2051. As shown in fig. 52, in other embodiments of the present invention, when the ultrasonic sensor needs high voltage to transmit ultrasonic waves, a transformer 203 is further disposed on the PCB.

In the description of the present invention, all the description about the axis of the ultrasonic sensor refers to the axis passing through the sound emission surface 2011. All intelligent lawn mowers refer to the angle that forms each other between two ultrasonic sensor axles for two ultrasonic sensor mutually become the angle, and refer to two ultrasonic sensor axles parallel about two ultrasonic sensor parallels all. The axis of the housing 10 refers to the axis of the housing 10 in the front-back direction, the mutual angle between the ultrasonic sensor and the housing axis refers to the included angle between the axis of the ultrasonic sensor and the housing axis, and the parallel between the ultrasonic sensor and the housing axis refers to the parallel between the axis of the ultrasonic sensor and the housing axis. In the description of the present invention, the distance between the ultrasonic sensor and the obstacle refers to the distance from the axis of the sound emitting surface 2011 to the obstacle. The distance between the housing 10 and the obstacle refers to the distance between the foremost end of the housing and the obstacle. The distance between the intelligent mower and the obstacle refers to the distance between the foremost end of the shell and the obstacle.

In the description of the present invention, the width of the body ranges from the width of the housing 10 to the width of the moving module 84. The effective detection range of the ultrasonic sensor assembly 20 covers at least the width range of the body. The ultrasonic sensor assembly 20 has the effective detection range, so that the ultrasonic sensor assembly 20 can detect an obstacle right ahead of the intelligent mower in the moving process, and the intelligent mower is prevented from colliding with the obstacle in the moving process.

The intelligent mower capable of avoiding the obstacle in a non-contact manner disclosed by the invention identifies the obstacle through the ultrasonic sensor, the ultrasonic sensor transmits ultrasonic waves, the ultrasonic waves are reflected when touching the obstacle in front, the ultrasonic sensor receives the reflected ultrasonic echo, and the intelligent mower judges the distance between the ultrasonic sensor and the obstacle through the time difference between the ultrasonic wave transmission and the obstacle echo reception; and then, a preset distance is set through the control module 30 to limit the movement of the intelligent mower, when the distance between the ultrasonic sensor and the obstacle is smaller than the preset distance, the control module 30 of the intelligent mower judges that the obstacle to be avoided exists in front of the intelligent mower, the control module 30 controls the intelligent mower to adopt obstacle avoidance measures, and finally non-contact obstacle avoidance is achieved.

The present invention relates to an arrangement of an ultrasonic sensor assembly 20 having a plurality of embodiments, so as to form a plurality of embodiments of non-contact obstacle avoidance intelligent lawn mowers, and the following describes in detail the non-contact obstacle avoidance intelligent lawn mowers of different embodiments.

The first embodiment:

as shown in fig. 2, fig. 2 is a schematic top view of an intelligent lawn mower 100 according to a first embodiment of the present invention. The length direction of the intelligent mower 100 is the front-rear direction.

As shown in fig. 3 and 4, in the intelligent lawnmower 100 according to the first embodiment, the ultrasonic sensor assembly 20 includes a first ultrasonic sensor 21 and a second ultrasonic sensor 23. The first ultrasonic sensor 21 and the second ultrasonic sensor 23 are disposed at an angle to each other. The first ultrasonic sensor 21 has a first axis 211, the second ultrasonic sensor 23 has a second axis 231, and the smart lawn mower 100 has a housing axis 210 extending forward and rearward. The first axis 211 is an axis of the ultrasonic sound field emitted by the first ultrasonic sensor 21, and the second axis 231 is an axis of the ultrasonic sound field emitted by the second ultrasonic sensor 23.

As shown in fig. 3 and 4, the first axis 211 and the second axis 231 intersect each other at an angle, and the first axis 211 and the second axis 231 intersect each other in front of the housing 10 in a plan view, and the intersection point of the intersection may be located at any position right in front of the housing 10. The first ultrasonic sensor 21 and the second ultrasonic sensor 23 protrude from the housing 10. So set up, through installing ultrasonic sensor protrusion casing 10 for the sound wave that ultrasonic sensor sent can not receive blockking of casing 10, has enlarged the launching range of sound wave, thereby has ensured that ultrasonic sensor can detect the barrier from mobile device dead ahead, also can detect the barrier from mobile device the place ahead both sides.

The first ultrasonic sensor 21 and the second ultrasonic sensor 23 are mutually at an angle σ 1 in the range of 60 ° to 110 °. In the preferred embodiment of the intelligent lawn mower 100 of the first embodiment, the intersection angle σ 1 of the first ultrasonic sensor 21 and the second ultrasonic sensor 23 is in the range of 70 ° to 90 °. The intersection of the first ultrasonic sensor 21 and the second ultrasonic sensor 23 within the numerical range of 70 degrees to 90 degrees ensures that the overlapping detection area is obtained, meanwhile, the overlapping detection area can be closer to the front of the intelligent mower 100, the ultrasonic wave emitted by one ultrasonic sensor is prevented from being directly received by the other ultrasonic sensor without being reflected by an obstacle, the signal crosstalk between the first ultrasonic sensor 21 and the second ultrasonic sensor 23 is reduced, and the accuracy of obstacle identification is improved. The angle formed between the first ultrasonic sensor 21 and the second ultrasonic sensor 23 means the angle formed between the first axis 211 and the second axis 231. The first axis 211 and the second axis 231 are at a smaller angle to each other in the advancing direction of the intelligent lawn mower.

As shown in FIG. 5, relative to the housing axis 210, the angle ω 1 between the first axis 211 and the housing axis 210 is in the range of 10-80, and in a preferred embodiment of the intelligent lawn mower 100 of this first embodiment, the angle ω 1 between the first axis 211 and the housing axis 210 is in the range of 25-55. The angle ω 2 between the second axis 231 and the housing axis 210 is in the range of 10 ° -80 °, and in a preferred embodiment of the intelligent lawn mower 100 of this first embodiment, the angle ω 2 between the second axis 231 and the housing axis 210 is in the range of 25 ° -55 °. In the angle range, while the overlapping detection area is ensured to be obtained, the overlapping detection area can be closer to the front of the intelligent mower 100, the ultrasonic wave emitted by one ultrasonic sensor is prevented from being directly received by the other ultrasonic sensor without being reflected by an obstacle, the signal crosstalk between the first ultrasonic sensor 21 and the second ultrasonic sensor 23 is reduced, and the accuracy of obstacle identification is improved.

As shown in fig. 3 and 4, in the intelligent lawnmower 100 according to the first embodiment of the present invention, both the first ultrasonic sensor 21 and the second ultrasonic sensor 23 are ultrasonic sensors that transmit and receive ultrasonic waves integrally, that is, one ultrasonic sensor can perform both functions of transmitting ultrasonic waves and receiving obstacle echoes. In other embodiments, the first ultrasonic sensor 21 and the second ultrasonic sensor 23 may be a combination of two independent ultrasonic sensors, one of which plays a role of transmitting ultrasonic waves and the other of which plays a role of receiving ultrasonic waves. In another embodiment, the first ultrasonic sensor 21 and the second ultrasonic sensor 23 may be a combination of a plurality of independent ultrasonic sensors, in which the first ultrasonic sensor 21 is an ultrasonic sensor having separate transmitting and receiving functions, at least one of the plurality of independent ultrasonic sensors transmits ultrasonic waves, and the rest of the plurality of independent ultrasonic sensors receive the obstacle echo.

As shown in fig. 6 and 8, fig. 6 and 8 are schematic diagrams illustrating a detection range of the ultrasonic sensor assembly of the intelligent lawn mower 100 according to the first embodiment of the present invention in a first arrangement, the difference between the two diagrams is that the ultrasonic beam is different, the ultrasonic beam of the ultrasonic sensor assembly shown in fig. 6 is triangular or nearly triangular, and the beam of the ultrasonic sensor assembly shown in fig. 8 is elliptical or nearly elliptical. In this first arrangement, the hardware parameters of the first ultrasonic sensor 21 and the second ultrasonic sensor 23 are identical. The first ultrasonic sensor 21 has a first transmission/reception area a. The second ultrasonic sensor 23 has a second transmission/reception region B. The first transmission/reception area a and the second transmission/reception area B form an overlap detection area directly in front of the smart mower 100. The first ultrasonic sensor 21 and the second ultrasonic sensor 23 in the overlapping detection area can both receive ultrasonic echoes, that is, if the first ultrasonic sensor 21 sends ultrasonic waves in the overlapping detection area, the first ultrasonic sensor 21 and the second ultrasonic sensor 23 can both receive ultrasonic echoes; if the second ultrasonic sensor 23 transmits ultrasonic waves, both the first ultrasonic sensor 21 and the second ultrasonic sensor 23 can receive ultrasonic echoes.

As shown in fig. 6 and 8, in the first arrangement of the intelligent mower 100 according to the first embodiment of the present invention, the first ultrasonic sensor 21 and the second ultrasonic sensor 23 are disposed at the front end of the housing 10 at an angle to each other, so that the first transmission/reception area a of the first ultrasonic sensor 21 and the second transmission/reception area B of the second ultrasonic sensor 23 partially overlap. The non-overlapping portion of the first transceiving area a is a first detection area 11 of the sensor assembly 20, the non-overlapping portion of the second transceiving area B is a second detection area 12 of the sensor assembly 20, and the overlapping portion of the first transceiving area a and the second transceiving area B is a third detection area 13 of the sensor assembly 20.

As shown in fig. 7 and 9, fig. 7 and 9 are schematic diagrams illustrating the detection range of the ultrasonic sensor assembly of the intelligent lawn mower 100 according to the first embodiment of the present invention in the second arrangement. This second arrangement of ultrasonic sensor assemblies differs from the first arrangement in that the ultrasonic sensor assembly 20 is mounted at a distance D from the front end of the housing. Specifically described, in this second arrangement embodiment, the ultrasonic sensor assembly 20 includes a first ultrasonic sensor 21 and a second ultrasonic sensor 23. The first ultrasonic sensor 21 and the second ultrasonic sensor 23 are arranged at an angle to each other at a distance D from the front end of the housing 10 with respect to the front end of the housing. The first ultrasonic sensor 21 has a first transmission/reception area a. The second ultrasonic sensor 23 has a second transmission/reception region B. The first transceiving area a of the first ultrasonic sensor 21 and the second transceiving area B of the second ultrasonic sensor 23 still partially overlap, still forming three detection areas of the ultrasonic sensor assembly 20. The first ultrasonic sensor 21 and the second ultrasonic sensor 23 in the overlapping detection area can both receive ultrasonic echoes, that is, if the first ultrasonic sensor 21 transmits ultrasonic waves, the first ultrasonic sensor 21 and the second ultrasonic sensor 23 can both receive ultrasonic echoes; if the second ultrasonic sensor 23 transmits ultrasonic waves, both the first ultrasonic sensor 21 and the second ultrasonic sensor 23 can receive ultrasonic echoes. The non-overlapping portion of the first transceiving area a is a first detection area 11 of the sensor assembly 20, the non-overlapping portion of the second transceiving area B is a second detection area 12 of the sensor assembly 20, and the overlapping portion of the first transceiving area a and the second transceiving area B is a third detection area 13 of the sensor assembly 20.

As shown in fig. 7 and 9, in this second arrangement of the intelligent mower 100 according to the first embodiment of the present invention, the first ultrasonic sensor 21 and the second ultrasonic sensor 23 may be disposed at any position in the longitudinal direction of the housing 10 in principle, and if the first ultrasonic sensor 21 and the second ultrasonic sensor 23 are disposed on the housing 10 closer to the rear end, the shape of the housing may be modified or the ultrasonic sensors may be disposed higher in order to ensure that the ultrasonic sensors transmit ultrasonic waves and receive obstacle echoes are not affected. In the preferred embodiment of the present invention, considering the factors of the transmission and reception of ultrasonic waves and the small occupied space, the first ultrasonic sensor 21 and the second ultrasonic sensor 23 are arranged at the front half part of the housing 10 in the length direction, and the distance D is less than or equal to half of the length of the housing 10.

In a preferred aspect of the intelligent lawn mower 100 according to the first embodiment of the present invention, the control module 30 controls the first ultrasonic sensor 21 and the second ultrasonic sensor 23 to alternately emit ultrasonic waves in time. The control module 30 controls the first ultrasonic sensor 21 to emit ultrasonic waves for a first period of time, the first ultrasonic sensor 21 and the second ultrasonic sensor 23 to receive the obstacle echo for the first period of time, the control module 30 controls the second ultrasonic sensor 23 to emit ultrasonic waves for a second period of time after the first period of time, and the first ultrasonic sensor 21 and the second ultrasonic sensor 23 to receive the obstacle echo for the second period of time.

In a preferred embodiment of the intelligent lawn mower 100 according to the first embodiment of the present invention, the control module 30 determines the orientation of the obstacle according to the combination of the echoes of the obstacle transmitted and received by the first ultrasonic sensor 21 and the second ultrasonic sensor 23 in the ultrasonic sensor assembly 20. Specifically, when only the first ultrasonic sensor 21 of the ultrasonic sensor assembly 20 transmits ultrasonic waves and only the first ultrasonic sensor 21 receives an obstacle echo, the control module 30 determines that the obstacle is located in the first detection area. When only the second ultrasonic sensor 23 of the ultrasonic sensor assembly 20 transmits ultrasonic waves and only the second ultrasonic sensor 23 receives an obstacle echo, the control module 30 determines that an obstacle is located in the second detection area. When the first ultrasonic sensor 21 transmits ultrasonic waves and the first ultrasonic sensor 21 and the second ultrasonic sensor 23 receive the echo of the obstacle in the ultrasonic sensor assembly 20, the control module 30 determines that the obstacle is located in the third detection area. When the second ultrasonic sensor 23 of the ultrasonic sensor assembly 20 transmits ultrasonic waves and the first ultrasonic sensor 21 and the second ultrasonic sensor 23 receive an obstacle echo, the control module 30 determines that an obstacle is located in the third detection area. When the first ultrasonic sensor 21 of the ultrasonic sensor assembly 20 transmits ultrasonic waves and the second ultrasonic sensor 23 receives an obstacle echo, the control module 30 determines that the obstacle is located in the third detection area. When the second ultrasonic sensor 23 of the ultrasonic sensor assembly 20 transmits ultrasonic waves and the first ultrasonic sensor 21 receives an obstacle echo, the control module 30 determines that the obstacle is located in the third detection area.

In a preferred embodiment of the intelligent lawn mower 100 according to the first embodiment of the present invention, the control module 30 calculates the distance of the obstacle from the intelligent lawn mower according to the time difference between the transmission of the ultrasonic wave and the reception of the obstacle echo by the ultrasonic sensor assembly 20.

In a preferred aspect of the intelligent mower 100 according to the first embodiment of the present invention, the first ultrasonic sensor 21 has a first axis, and the second ultrasonic sensor 23 has a second axis, and the first axis and the second axis are coplanar in the height direction, so that the intelligent mower can obtain the maximum overlapping detection area, and the arrangement of the ultrasonic sensor structure and the design of the mounting structure of the housing 10 can be facilitated due to the coplanar axes because the same ultrasonic sensor is selected.

In a preferred embodiment of the intelligent lawn mower 100 according to the first embodiment of the present invention, in order to ensure that the intelligent lawn mower 100 according to the first embodiment can recognize an obstacle in the forward direction, the effective detection range of the ultrasonic sensor assembly 20 must cover the area right in front of the main body of the intelligent lawn mower 100. In a preferred embodiment of the intelligent lawn mower 100 of the first embodiment of the present invention, the effective detection range of the ultrasonic sensor assembly 20 is the sum of the first detection area, the second detection area and the third detection area. Specifically, the effective detection width of the ultrasonic sensor unit 20 covers the width range of the body with the left-right direction of the intelligent lawnmower 100 as the width direction.

In other preferred embodiments of the intelligent lawn mower 100 according to the first embodiment of the present invention, the ultrasonic sensor assembly 20 used comprises more than two ultrasonic sensors, i.e. the ultrasonic sensor assembly 20 may comprise three or more ultrasonic sensors, and when there are more than two ultrasonic sensors, the ultrasonic wave transmitted by the ultrasonic sensors has different requirements under different arrangement conditions. In principle, when more than two ultrasonic sensors have overlapping detection areas with other sensors, the ultrasonic sensors need to alternately transmit ultrasonic waves in time with other ultrasonic sensors having overlapping detection areas, and when more than two ultrasonic sensors do not have overlapping detection areas with other ultrasonic sensors, the ultrasonic sensors can be selected to simultaneously transmit ultrasonic waves with other ultrasonic sensors, or the ultrasonic sensors can be selected to alternately transmit ultrasonic waves in time with other ultrasonic sensors. The arrangement of more than two ultrasonic sensors and the transmission of ultrasonic waves will be described with reference to specific drawings and embodiments.

As shown in fig. 10, fig. 10 shows an embodiment of the intelligent lawn mower 100 according to the first embodiment of the present invention, which includes three ultrasonic sensors, specifically, the ultrasonic sensor assembly 20 includes a first ultrasonic sensor 21, a second ultrasonic sensor 23, and a third ultrasonic sensor 25. The first ultrasonic sensor 21 and the second ultrasonic sensor 23 are arranged in an angular crossing manner, a field-of-view overlapping detection area is formed right in front of the housing 10, and the third ultrasonic sensor 25 is parallel to the housing axis. As in the first arrangement, the third ultrasonic sensor 25 does not form a field-of-view overlapping detection region with any of the first ultrasonic sensor 21 and the second ultrasonic sensor 23 directly in front of the housing 10, and the third ultrasonic sensor 25 has a fourth detection region. The third ultrasonic sensor 25 may alternatively transmit ultrasonic waves simultaneously with the first ultrasonic sensor 21 or the second ultrasonic sensor 23 or may alternatively transmit ultrasonic waves in time with the first ultrasonic sensor 21 and the second ultrasonic sensor 23, based on the fact that the third ultrasonic sensor 25 does not form a field-of-view overlapping detection region with any one of the first ultrasonic sensor 21 and the second ultrasonic sensor 23 directly in front of the housing 10.

As shown in fig. 10, when the third ultrasonic sensor 25 transmits ultrasonic waves simultaneously with the first ultrasonic sensor 21 or the second ultrasonic sensor 23, the control module 30 controls the first ultrasonic sensor 21 and the third ultrasonic sensor 25 to transmit ultrasonic waves for a first period of time, the first ultrasonic sensor 21, the second ultrasonic sensor 23, and the third ultrasonic sensor 25 to receive obstacle echoes for the first period of time, the control module 30 controls the third ultrasonic sensor 25 and the second ultrasonic sensor 23 to transmit ultrasonic waves for a second period of time after the first period of time, and the first ultrasonic sensor 21, the second ultrasonic sensor 23, and the third ultrasonic sensor 25 to receive obstacle echoes for the second period of time.

As shown in fig. 10, when the third ultrasonic sensor 25 alternately transmits ultrasonic waves with the first ultrasonic sensor 21 and the second ultrasonic sensor 23, the control module 30 controls the first ultrasonic sensor 21 to transmit ultrasonic waves in a first time period, the first ultrasonic sensor 21, the second ultrasonic sensor 23 and the third ultrasonic sensor 25 to receive the obstacle echoes in the first time period, the control module 30 controls the second ultrasonic sensor 23 to transmit the ultrasonic waves in a second time period after the first time period, the first ultrasonic sensor 21, the second ultrasonic sensor 23 and the third ultrasonic sensor 25 to receive the obstacle echoes in the second time period, the control module 30 controls the third ultrasonic sensor 25 to transmit the ultrasonic waves in a third time period after the second time period, and the first ultrasonic sensor 21, the second ultrasonic sensor 23 and the third ultrasonic sensor 25 to receive the obstacle echoes in the third time period.

As shown in fig. 10, in the embodiment of the smart mower 100 including three ultrasonic sensors according to the first embodiment of the present invention, the first ultrasonic sensor 21 and the second ultrasonic sensor 23 are disposed at the front end of the housing 10 at an angle to each other such that the first transmission/reception area a of the first ultrasonic sensor 21 and the second transmission/reception area B of the second ultrasonic sensor 23 partially overlap. The third transmission/reception area C of the third ultrasonic sensor 25 does not overlap the first transmission/reception area a of the first ultrasonic sensor 21 and the second transmission/reception area B of the second ultrasonic sensor 23. The non-overlapping portion of the first transceiving area a is a first detection area 11 of the sensor assembly 20, the non-overlapping portion of the second transceiving area B is a second detection area 12 of the sensor assembly 20, and the overlapping portion of the first transceiving area a and the second transceiving area B is a third detection area 13 of the sensor assembly 20. The third transceiving area C is a fourth detection area 14.

As shown in fig. 10, the control module 30 can still determine the direction of the obstacle according to the combination of the first ultrasonic sensor 21, the second ultrasonic sensor 23 and the third ultrasonic sensor 25 in the ultrasonic sensor assembly 20, specifically, when only the first ultrasonic sensor 21 in the ultrasonic sensor assembly 20 transmits the ultrasonic wave and only the first ultrasonic sensor 21 receives the obstacle echo, the control module 30 determines that the obstacle is located in the first detection area 11. When only the second ultrasonic sensor 23 of the ultrasonic sensor assembly 20 transmits ultrasonic waves and only the second ultrasonic sensor 23 receives an obstacle echo, the control module 30 determines that an obstacle is located in the second detection area 12. When the first ultrasonic sensor 21 transmits ultrasonic waves and the first ultrasonic sensor 21 and the second ultrasonic sensor 23 receive the echo of the obstacle in the ultrasonic sensor assembly 20, the control module 30 determines that the obstacle is located in the third detection area 13. When the second ultrasonic sensor 23 of the ultrasonic sensor assembly 20 transmits ultrasonic waves and the first ultrasonic sensor 21 and the second ultrasonic sensor 23 receive the echo of the obstacle, the control module 30 determines that the obstacle is located in the third detection area 13. When the first ultrasonic sensor 21 of the ultrasonic sensor assembly 20 transmits ultrasonic waves and the second ultrasonic sensor 23 receives an obstacle echo, the control module 30 determines that the obstacle is located in the third detection area 13. When the second ultrasonic sensor 23 of the ultrasonic sensor assembly 20 emits ultrasonic waves and the first ultrasonic sensor 21 receives an obstacle echo, the control module 30 determines that the obstacle is located in the third detection area 13. When the third ultrasonic sensor 25 of the ultrasonic sensor assembly 20 transmits ultrasonic waves and only the third ultrasonic sensor 25 receives the obstacle echo, the control module 30 determines that the obstacle is located in the fourth detection area 14.

As shown in fig. 11, fig. 11 is an embodiment in which the ultrasonic sensor assembly 20 includes four ultrasonic sensors, and the ultrasonic sensor assembly 20 includes a first ultrasonic sensor 21, a second ultrasonic sensor 23, a third ultrasonic sensor 25, and a fourth ultrasonic sensor 27. The first ultrasonic sensor 21 has a first transmission/reception area a, and the second ultrasonic sensor 23 has a second transmission/reception area B. The first ultrasonic sensor 21 and the second ultrasonic sensor 23 are arranged at an angle to each other and form a field-of-view overlapping detection region, i.e., a third detection region, directly in front of the housing 10. The third ultrasonic sensor 25 has a third transmission/reception area C, and the fourth ultrasonic sensor 27 has a fourth transmission/reception area D. The third ultrasonic sensor 25 does not form an overlap detection region directly in front of the housing 10 with any of the first ultrasonic sensor 21 and the second ultrasonic sensor 23, and the fourth ultrasonic sensor 27 forms an overlap detection region directly in front of the housing 10 with any of the first ultrasonic sensor 21 and the second ultrasonic sensor 23. The fourth ultrasonic sensor 27 forms a new overlap detection region by crossing the first ultrasonic sensor 21 and the second ultrasonic sensor 23. As shown in fig. 11, the third ultrasonic sensor 25 and the fourth ultrasonic sensor 27 are parallel to each other, the third ultrasonic sensor 25 and the fourth ultrasonic sensor 27 are both parallel to the axis of the housing, and the fourth ultrasonic sensor 27 is located between the first ultrasonic sensor 21 and the second ultrasonic sensor 23. In other embodiments, it is only necessary that the fourth ultrasonic sensor 27 forms an overlapping detection region with the first ultrasonic sensor 21 and the second ultrasonic sensor 23, and the third ultrasonic sensor 25 does not form an overlapping detection region with any other sensor, and the arrangement of their axes is not limited.

As shown in fig. 11, the third ultrasonic sensor 25 may selectively transmit ultrasonic waves simultaneously with the first ultrasonic sensor 21 and the second ultrasonic sensor 23 or may selectively transmit ultrasonic waves alternately in time with the first ultrasonic sensor 21 and the second ultrasonic sensor 23, based on the fact that the third ultrasonic sensor 25 does not form an overlapping detection region with either the first ultrasonic sensor 21 or the second ultrasonic sensor 23 directly in front of the housing 10. Because the fourth ultrasonic sensor 27 and any one of the first ultrasonic sensor 21 and the second ultrasonic sensor 23 form an overlapping detection area right in front of the housing 10, the fourth ultrasonic sensor 27 needs to alternately transmit ultrasonic waves with the first ultrasonic sensor 21 and the second ultrasonic sensor 23 in time, so as to avoid crosstalk caused by the multiple ultrasonic sensors transmitting ultrasonic waves together for obstacle identification.

As shown in fig. 11, when the third ultrasonic sensor 25 transmits ultrasonic waves simultaneously with the first ultrasonic sensor 21, the second ultrasonic sensor 23, or the fourth ultrasonic sensor 27, the control module 30 controls the first ultrasonic sensor 21 and the third ultrasonic sensor 25 to transmit ultrasonic waves in a first period of time, the first ultrasonic sensor 21, the second ultrasonic sensor 23, the third ultrasonic sensor 25, and the fourth ultrasonic sensor 27 to receive obstacle echoes in the first period of time, the control module 30 controls the third ultrasonic sensor 25 and the second ultrasonic sensor 23 to transmit ultrasonic waves in a second period of time after the first period of time, the first ultrasonic sensor 21, the second ultrasonic sensor 23, the third ultrasonic sensor 25, and the fourth ultrasonic sensor 27 to receive obstacle echoes in the second period of time, and the control module 30 controls the third ultrasonic sensor 25 and the fourth ultrasonic sensor 27 to receive obstacle echoes in a third period of time after the second period of time The ultrasonic waves are emitted in the segment, and the first ultrasonic sensor 21, the second ultrasonic sensor 23, the third ultrasonic sensor 25 and the fourth ultrasonic sensor 27 receive the obstacle echo in the third time period.

As shown in fig. 11, when the third ultrasonic sensor 25 alternately transmits ultrasonic waves with the first ultrasonic sensor 21 and the second ultrasonic sensor 23, the control module 30 controls the first ultrasonic sensor 21 to transmit ultrasonic waves for a first period of time, the first ultrasonic sensor 21, the second ultrasonic sensor 23, the third ultrasonic sensor 25 and the fourth ultrasonic sensor 27 to receive obstacle echoes for the first period of time, the control module 30 controls the second ultrasonic sensor 23 to transmit ultrasonic waves for a second period of time after the first period of time, the first ultrasonic sensor 21, the second ultrasonic sensor 23, the third ultrasonic sensor 25 and the fourth ultrasonic sensor 27 to receive obstacle echoes for the second period of time, the control module 30 controls the third ultrasonic sensor 25 to transmit ultrasonic waves for a third period of time after the second period of time, the first ultrasonic sensor 21, The second ultrasonic sensor 23, the third ultrasonic sensor 25 and the fourth ultrasonic sensor 27 receive the obstacle echo in a third time period, the control module 30 controls the fourth ultrasonic sensor 27 to transmit the ultrasonic wave in a fourth time period after the third time period, and the first ultrasonic sensor 21, the second ultrasonic sensor 23, the third ultrasonic sensor 25 and the fourth ultrasonic sensor 27 receive the obstacle echo in the fourth time period.

As shown in fig. 11, in the embodiment of the smart mower 100 including four ultrasonic sensors according to the first embodiment of the present invention, the non-overlapping portion of the first transmission/reception area a is the first detection area 11 of the sensor assembly 20, the non-overlapping portion of the second transmission/reception area B is the second detection area 12 of the sensor assembly 20, and the third transmission/reception area C is the fourth detection area 13. The non-overlapping portion of the fourth transceiving area D is the fourth detection area 14 of the sensor assembly 20, and the overlapping portion of the first transceiving area a, the second transceiving area B, and the fourth transceiving area D is the fifth detection area 15 of the sensor assembly 20. The remaining part of the overlapping part of the first transmission/reception area a and the fourth transmission/reception area D, which is not overlapped with the second transmission/reception area B, is the seventh detection area 17, and the remaining part of the overlapping part of the second transmission/reception area B and the fourth transmission/reception area D, which is not overlapped with the first transmission/reception area a, is the sixth detection area 16.

As shown in fig. 11, the control module 30 can still determine the direction of the obstacle according to the combination of the echoes of the obstacle transmitted and received by the first ultrasonic sensor 21, the second ultrasonic sensor 23, the third ultrasonic sensor 25 and the fourth ultrasonic sensor 27 in the ultrasonic sensor assembly 20. Specifically, when only the first ultrasonic sensor 21 of the ultrasonic sensor assembly 20 transmits ultrasonic waves and only the first ultrasonic sensor 21 receives an obstacle echo, the control module 30 judges that an obstacle is located in the first detection region 11. When only the second ultrasonic sensor 23 of the ultrasonic sensor assembly 20 transmits ultrasonic waves and only the second ultrasonic sensor 23 receives an obstacle echo, the control module 30 determines that an obstacle is located in the second detection area 12. When only the third ultrasonic sensor 25 in the ultrasonic sensor assembly 20 transmits ultrasonic waves and only the third ultrasonic sensor 25 receives an obstacle echo, the control module 30 determines that an obstacle is located in the third detection area 13. When only the fourth ultrasonic sensor 27 of the ultrasonic sensor assembly 20 transmits ultrasonic waves and only the fourth ultrasonic sensor 27 receives an obstacle echo, the control module 30 determines that an obstacle is located in the fourth detection area 14. When the first ultrasonic sensor 21, the second ultrasonic sensor 23, or the fourth ultrasonic sensor 27 in the ultrasonic sensor assembly 20 emits ultrasonic waves and the first ultrasonic sensor 21, the second ultrasonic sensor 23, and the fourth ultrasonic sensor 27 all receive the obstacle echo, the control module 30 determines that the obstacle is located in the fifth detection area 15. When the first ultrasonic sensor 21 of the ultrasonic sensor assembly 20 emits ultrasonic waves and the second ultrasonic sensor 23 and the fourth ultrasonic sensor 27 both receive the echo of the obstacle, the control module 30 determines that the obstacle is located in the fifth detection area 15. When the second ultrasonic sensor 23 of the ultrasonic sensor assembly 20 emits ultrasonic waves and the first ultrasonic sensor 21 and the fourth ultrasonic sensor 27 both receive the echo of the obstacle, the control module 30 determines that the obstacle is located in the fifth detection area 15. When the fourth ultrasonic sensor 27 in the ultrasonic sensor assembly 20 emits ultrasonic waves and both the first ultrasonic sensor 21 and the second ultrasonic sensor 23 receive the echo of the obstacle, the control module 30 determines that the obstacle is located in the fifth detection area 15. When the second ultrasonic sensor 23 or the fourth ultrasonic sensor 27 in the ultrasonic sensor assembly 20 transmits ultrasonic waves and both the second ultrasonic sensor 23 and the fourth ultrasonic sensor 27 receive the obstacle echo, the control module 30 determines that the obstacle is located in the sixth detection area 16. When the second ultrasonic sensor 23 of the ultrasonic sensor assembly 20 emits ultrasonic waves and the fourth ultrasonic sensor 27 receives an obstacle echo, the control module 30 determines that an obstacle is located in the sixth detection area 16. When the fourth ultrasonic sensor 27 in the ultrasonic sensor assembly 20 emits ultrasonic waves and the second ultrasonic sensor 23 receives an obstacle echo, the control module 30 determines that an obstacle is located in the sixth detection area 16. When the first ultrasonic sensor 21 or the fourth ultrasonic sensor 27 in the ultrasonic sensor assembly 20 transmits ultrasonic waves and both the first ultrasonic sensor 21 and the fourth ultrasonic sensor 27 receive the obstacle echo, the control module 30 determines that the obstacle is located in the seventh detection area 17. When the first ultrasonic sensor 21 of the ultrasonic sensor assembly 20 transmits ultrasonic waves and the fourth ultrasonic sensor 27 receives an obstacle echo, the control module 30 determines that an obstacle is located in the seventh detection area 17. When the fourth ultrasonic sensor 27 in the ultrasonic sensor assembly 20 emits ultrasonic waves and the first ultrasonic sensor 21 receives an obstacle echo, the control module 30 determines that an obstacle is located in the seventh detection area 17.

The intelligent mower 100 of the first embodiment of the invention detects an obstacle through the ultrasonic sensor, the intelligent mower 100 has a preset distance, and when the distance between the intelligent mower 100 and the obstacle is less than or equal to the preset distance, the intelligent mower avoids the obstacle without continuously moving towards the obstacle, and realizes non-contact obstacle avoidance of the intelligent mower. Through the difference of the preset distance values, when the distance is relatively small, the relative close-distance non-contact obstacle avoidance can be realized, and when the distance is relatively large, the relative close-distance non-contact obstacle avoidance can be realized. In addition, the ultrasonic sensors are arranged in an angle-crossing manner, so that the position and the direction of the obstacle can be obtained, the accuracy of positioning the obstacle is improved, the intelligent mower 100 can adapt to different working conditions, and meanwhile, the intelligent mower 100 can conveniently take targeted obstacle avoidance measures after the direction is known, for example, if the obstacle is on the right side, left turning is carried out on the premise of meeting the left turning condition.

The control module 30 determines the position of the obstacle according to different conditions of the ultrasonic waves received by the ultrasonic sensor assembly 20, so as to control the advancing direction of the intelligent mower, specifically avoid the obstacle, and improve the obstacle avoiding efficiency. Specifically, for the intelligent lawn mower 100 according to the first embodiment of the present invention, when an obstacle appears in the third detection area, the control module 30 controls the intelligent lawn mower to move backward, or stop, or turn left, or turn right, or move backward and turn left, or move backward and turn right; when the obstacle appears in the first detection area, the control module 30 controls the intelligent mower to move backwards, or stop the intelligent mower, or turn left, or move backwards and turn left; when an obstacle appears in the second detection area, the control module 30 controls the intelligent mower to retreat, or stop, or turn to the right, or retreat and turn to the right. In a specific obstacle avoidance measure, the control module 30 reasonably selects the obstacle according to the distance between the obstacle and the intelligent mower 100.

Second embodiment:

as shown in fig. 12 and 13, fig. 12 is a schematic top view of an intelligent lawn mower 200 according to a second embodiment of the present invention. Fig. 13 is a schematic diagram of an arrangement and a detection range of the ultrasonic sensor assembly of the intelligent lawn mower 200 according to the second embodiment of the present invention. In the intelligent lawn mower 200 of this second embodiment, the ultrasonic sensor assembly 20 includes the first ultrasonic sensor 41 and the second ultrasonic sensor 43. The first ultrasonic sensor 41 and the second ultrasonic sensor 43 are disposed in parallel with each other with the ultrasonic wave transmission direction directed toward the front of the housing 10.

As shown in fig. 12, in the preferred embodiment of the intelligent lawn mower 200 of the second embodiment of the present invention, the first ultrasonic sensor 41 has a first axis 411, the second ultrasonic sensor 43 has a second axis 431, and the housing 10 has a housing axis 210. The first axis 411 and the second axis 431 are parallel to each other, and the first axis 411, the second axis 431, and the housing axis 210 are all parallel to each other. In other embodiments, it is sufficient to ensure that the first axis 411 and the second axis 431 are parallel to each other, and whether the first axis 411 and the second axis 431 are parallel to the housing axis 210 is not limited. The first axis 411 is an axis of the ultrasonic sound field emitted by the first ultrasonic sensor 41, and the second axis 431 is an axis of the ultrasonic sound field emitted by the second ultrasonic sensor 43.

As further shown in fig. 13, the hardware parameters of the first ultrasonic sensor 41 and the second ultrasonic sensor 43 are identical. The first ultrasonic sensor 41 has a first transmission/reception area a. The second ultrasonic sensor 43 has a second transmission/reception region B. The first transmission/reception area a and the second transmission/reception area B form an overlap detection area directly in front of the smart mower 1. Both the first ultrasonic sensor 41 and the second ultrasonic sensor 43 in the overlapping detection region can receive ultrasonic echoes, that is, if the first ultrasonic sensor 41 transmits ultrasonic waves, both the first ultrasonic sensor 41 and the second ultrasonic sensor 43 can receive ultrasonic echoes; if the second ultrasonic sensor 43 transmits ultrasonic waves, both the first ultrasonic sensor 41 and the second ultrasonic sensor 43 can receive ultrasonic echoes.

As shown in fig. 13, in the second embodiment of the intelligent mower 200 according to the first arrangement, the first ultrasonic sensor 41 and the second ultrasonic sensor 43 are disposed in parallel at the front end of the housing 10 in the left-right direction, as described above. So that the first transceiving area a of the first ultrasonic sensor 41 and the second transceiving area B of the second ultrasonic sensor 43 partially overlap. The non-overlapping portion of the first transceiving area a is a first detection area 11 of the sensor assembly 20, the non-overlapping portion of the second transceiving area B is a second detection area 12 of the sensor assembly 20, and the overlapping portion of the first transceiving area a and the second transceiving area B is a third detection area 13 of the sensor assembly 20.

As shown in fig. 14, fig. 14 is a schematic view of the detection range of the ultrasonic sensor assembly 20 of the intelligent lawn mower 200 according to the second embodiment of the present invention in the second arrangement. This second arrangement of the ultrasonic sensor assembly 20 differs from the first arrangement in that the ultrasonic sensor assembly 20 is mounted at a distance D from the front end of the housing. Specifically described, the ultrasonic sensor assembly 20 includes a first ultrasonic sensor 41 and a second ultrasonic sensor 43. The hardware parameters of the first ultrasonic sensor 41 and the second ultrasonic sensor 43 are identical. The first ultrasonic sensor 41 has a first transmission/reception area a. The second ultrasonic sensor 43 has a second transmission/reception region B. The first transmission/reception area a and the second transmission/reception area B form an overlap detection area directly in front of the smart mower 1. Both the first ultrasonic sensor 41 and the second ultrasonic sensor 43 in the overlapping detection region can receive ultrasonic echoes, that is, if the first ultrasonic sensor 41 transmits ultrasonic waves, both the first ultrasonic sensor 41 and the second ultrasonic sensor 43 can receive ultrasonic echoes; if the second ultrasonic sensor 43 transmits ultrasonic waves, both the first ultrasonic sensor 41 and the second ultrasonic sensor 43 can receive ultrasonic echoes.

As shown in fig. 14, in the second arrangement of the intelligent mower 200 according to the second embodiment of the present invention, the first ultrasonic sensor 41 and the second ultrasonic sensor 43 are disposed in parallel in the left-right direction at the front end of the housing 10. So that the first transceiving area a of the first ultrasonic sensor 41 and the second transceiving area B of the second ultrasonic sensor 43 partially overlap. The non-overlapping portion of the first transceiving area a is a first detection area 11 of the sensor assembly 20, the non-overlapping portion of the second transceiving area B is a second detection area 12 of the sensor assembly 20, and the overlapping portion of the first transceiving area a and the second transceiving area B is a third detection area 13 of the sensor assembly 20.

As shown in fig. 14, in this second arrangement of the intelligent mower 200 according to the second embodiment of the present invention, the first ultrasonic sensor 41 and the second ultrasonic sensor 43 may be disposed at any position in the longitudinal direction of the housing 10 in principle, and if the first ultrasonic sensor 41 and the second ultrasonic sensor 43 are disposed closer to the rear end of the housing 10, the shape of the housing may be modified or the ultrasonic sensors may be disposed higher in order to ensure that the ultrasonic sensors transmit ultrasonic waves and receive obstacle echoes are not affected. In the preferred embodiment of the present invention, considering the factors of the transmission and reception of ultrasonic waves and the small occupied space, the first ultrasonic sensor 41 and the second ultrasonic sensor 43 are arranged at the front half part of the housing 10 in the length direction, and the distance D is less than or equal to half of the length of the housing 10.

In a preferred embodiment of the intelligent lawn mower 200 of the second embodiment of the present invention, the control module 30 controls the first ultrasonic sensor 41 and the second ultrasonic sensor 43 to alternately emit ultrasonic waves in time. The control module 30 controls the first ultrasonic sensor 41 to transmit ultrasonic waves for a first period of time, the first ultrasonic sensor 41 and the second ultrasonic sensor 43 to receive the obstacle echo for the first period of time, and the control module 30 controls the second ultrasonic sensor 43 to transmit ultrasonic waves for a second period of time after the first period of time, and the first ultrasonic sensor 41 and the second ultrasonic sensor 43 to receive the obstacle echo for the second period of time.

In a preferred embodiment of the intelligent lawn mower 200 according to the second embodiment of the present invention, the control module 30 determines the orientation of the obstacle according to the combination of the echoes of the obstacle transmitted and received by the first ultrasonic sensor 41 and the second ultrasonic sensor 43 in the ultrasonic sensor assembly 20. When only the first ultrasonic sensor 41 of the ultrasonic sensor assembly 20 transmits ultrasonic waves and only the first ultrasonic sensor 41 receives an obstacle echo, the control module 30 determines that an obstacle is located in the first detection region 11. When only the second ultrasonic sensor 43 of the ultrasonic sensor assembly 20 transmits ultrasonic waves and only the second ultrasonic sensor 43 receives an obstacle echo, the control module 30 judges that an obstacle is located in the second detection region 12. When the first ultrasonic sensor 41 transmits ultrasonic waves and the first ultrasonic sensor 41 and the second ultrasonic sensor 43 receive the echo of the obstacle in the ultrasonic sensor assembly 20, the control module 30 determines that the obstacle is located in the third detection area 13. When the second ultrasonic sensor 43 of the ultrasonic sensor assembly 20 transmits ultrasonic waves and the first ultrasonic sensor 41 and the second ultrasonic sensor 43 receive the echo of the obstacle, the control module 30 determines that the obstacle is located in the third detection region 13. When the first ultrasonic sensor 41 emits ultrasonic waves and the second ultrasonic sensor 43 receives an obstacle echo in the ultrasonic sensor assembly 20, the control module 30 determines that an obstacle is located in the third detection area 13. When the second ultrasonic sensor 43 of the ultrasonic sensor assembly 20 transmits ultrasonic waves and the first ultrasonic sensor 41 receives an obstacle echo, the control module 30 determines that an obstacle is located in the third detection area 13.

In a preferred embodiment of the intelligent lawn mower 200 according to the second embodiment of the present invention, the control module 30 calculates the distance of the obstacle from the intelligent lawn mower based on the time difference between the transmission of the ultrasonic wave and the reception of the obstacle echo by the ultrasonic sensor assembly 20.

In a preferred embodiment of the intelligent mower 200 according to the second embodiment of the present invention, the first axis 411 and the second axis 431 are coplanar in the height direction, so that the intelligent mower can obtain the maximum overlapping detection area, and the coplanarity of the axes can be beneficial to the arrangement of the ultrasonic sensor structure and the design of the mounting structure of the housing 10 due to the same ultrasonic sensor selected.

In a preferred embodiment of the intelligent lawn mower 200 according to the second embodiment of the present invention, in order to ensure that the intelligent lawn mower 200 according to the second embodiment can recognize an obstacle in the forward direction, the effective detection range of the ultrasonic sensor assembly 20 covers the area directly in front of the body of the intelligent lawn mower 200. In the intelligent lawn mower 200 of the second embodiment of the present invention, the effective detection range of the ultrasonic sensor assembly 20 is the sum of the first detection area, the second detection area, and the third detection area.

In other preferred embodiments of the intelligent lawn mower 200 according to the second embodiment of the present invention, when the ultrasonic sensor assembly 20 used includes more than two ultrasonic sensors, that is, in order to obtain a larger area of overlapping detection area and position information of obstacles in front of the intelligent lawn mower 200, the ultrasonic sensor assembly 20 may include three or more ultrasonic sensors, and when the number of the ultrasonic sensors is more than two, the ultrasonic waves transmitted from the ultrasonic sensors have different requirements in different arrangement situations. The larger the overlapping detection area of the plurality of ultrasonic sensors is, the wider the detection range of the obstacle is, and the more accurate the position information of the obstacle is obtained, so that the accuracy of detecting the obstacle right in front of the intelligent mower 200 can be improved through the cooperative work of the plurality of ultrasonic sensors.

As shown in fig. 15, fig. 15 shows an embodiment in which the intelligent lawn mower 200 according to the second embodiment of the present invention includes three ultrasonic sensors, and the axes of the three ultrasonic sensors are parallel to each other. Specifically described, the ultrasonic sensor assembly 20 includes a first ultrasonic sensor 41, a second ultrasonic sensor 43, and a third ultrasonic sensor 45. The first ultrasonic sensor 41 has a first transmission/reception area a. The second ultrasonic sensor 43 has a second transmission/reception region B. The third ultrasonic sensor 45 has a third transmission/reception area C. The three ultrasonic sensors are all parallel to each other, wherein the first ultrasonic sensor 41 and the second ultrasonic sensor 43 form a field-of-view overlapping detection region directly in front of the housing 10, the third ultrasonic sensor 45 and the second ultrasonic sensor 43 form a field-of-view overlapping detection region directly in front of the housing 10, but the third ultrasonic sensor 45 and the first ultrasonic sensor 41 do not form a field-of-view overlapping detection region directly in front of the housing 10. Since the third ultrasonic sensor 45 and the second ultrasonic sensor 43 form a detection region with an overlapped field of view right in front of the housing 10, and the first ultrasonic sensor 41 does not form a detection region with an overlapped field of view right in front of the housing 10, the third ultrasonic sensor 45 may transmit ultrasonic waves simultaneously with the first ultrasonic sensor 41, or may transmit ultrasonic waves alternately with the first ultrasonic sensor 41, while the third ultrasonic sensor 45 and the second ultrasonic sensor 43 need to transmit ultrasonic waves alternately.

As shown in fig. 15, when the third ultrasonic sensor 45 transmits ultrasonic waves simultaneously with the first ultrasonic sensor 41, the control module 30 controls the first ultrasonic sensor 41 and the third ultrasonic sensor 45 to transmit ultrasonic waves in a first period of time, the first ultrasonic sensor 41, the second ultrasonic sensor 43, and the third ultrasonic sensor 45 to receive an obstacle echo in the first period of time, the control module 30 controls the second ultrasonic sensor 43 to transmit ultrasonic waves in a second period of time after the first period of time, and the first ultrasonic sensor 41, the second ultrasonic sensor 43, and the third ultrasonic sensor 45 to receive an obstacle echo in the second period of time.

As shown in fig. 15, when the third ultrasonic sensor 45 transmits ultrasonic waves alternately with the first ultrasonic sensor 41 and the second ultrasonic sensor 43, the control module 30 controls the first ultrasonic sensor 41 to transmit ultrasonic waves in a first period, the first ultrasonic sensor 41, the second ultrasonic sensor 43 and the third ultrasonic sensor 45 to receive the obstacle echoes in the first period, the control module 30 controls the second ultrasonic sensor 43 to transmit the ultrasonic waves in a second period after the first period, the first ultrasonic sensor 41, the second ultrasonic sensor 43 and the third ultrasonic sensor 45 to receive the obstacle echoes in the second period, the control module 30 controls the third ultrasonic sensor 45 to transmit the ultrasonic waves in a third period after the second period, and the first ultrasonic sensor 41, the second ultrasonic sensor 43 and the third ultrasonic sensor 45 to receive the obstacle echoes in the third period.

As shown in fig. 15, the non-overlapping portion of the first transceiving area a is a first detection area 11 of the sensor element 20, the non-overlapping portion of the second transceiving area B is a second detection area 12 of the sensor element 20, the non-overlapping portion of the third transceiving area C is a third detection area 13 of the sensor element 20, the overlapping portion of the first transceiving area a and the second transceiving area B is a fourth detection area 14 of the sensor element 20, and the overlapping portion of the second transceiving area B and the third transceiving area C is a fifth detection area 15 of the sensor element 20.

As shown in fig. 15, the control module 30 may still determine the direction of the obstacle according to the combination of the echoes of the obstacle transmitted and received by the first ultrasonic sensor 41, the second ultrasonic sensor 43 and the third ultrasonic sensor 45 in the ultrasonic sensor assembly 20, and regarding the specific determination method, the determination of the obstacle in the transceiving area of the first ultrasonic sensor 41 and the second ultrasonic sensor 43 may refer to the foregoing determination method. Since the third ultrasonic sensor 45 and the second ultrasonic sensor 43 are similar to the first ultrasonic sensor 41 and the second ultrasonic sensor 43 in the overlapping manner, the obstacle position determination manner is the same as that of the first ultrasonic sensor 41 and the second ultrasonic sensor 43, and a description thereof will not be repeated.

As shown in fig. 16, fig. 16 shows an embodiment in which the intelligent lawnmower 200 according to the second embodiment of the present invention includes four ultrasonic sensors, and the axes of the four ultrasonic sensors are parallel to each other. Specifically described, the ultrasonic sensor assembly 20 includes a first ultrasonic sensor 41, a second ultrasonic sensor 43, a third ultrasonic sensor 45, and a fourth ultrasonic sensor 47. The four ultrasonic sensors are all parallel to each other, wherein the first ultrasonic sensor 41 and the second ultrasonic sensor 43 form a field-of-view overlapping detection region directly in front of the housing 10, the third ultrasonic sensor 45 and the second ultrasonic sensor 43 form a field-of-view overlapping detection region directly in front of the housing 10, but the third ultrasonic sensor 45 and the first ultrasonic sensor 41 do not form a field-of-view overlapping detection region directly in front of the housing 10. The fourth ultrasonic sensor 47 does not have any of the first ultrasonic sensor 41, the second ultrasonic sensor 43, and the third ultrasonic sensor 45 to form a field-of-view overlapping detection region directly in front of the housing 10. Since the third ultrasonic sensor 45 and the second ultrasonic sensor 43 form a detection region with an overlapping field of view directly in front of the housing 10 and the first ultrasonic sensor 41 does not form a detection region with an overlapping field of view directly in front of the housing 10, the third ultrasonic sensor 45 may transmit ultrasonic waves simultaneously with the first ultrasonic sensor 41 or alternately with the first ultrasonic sensor 41, and the third ultrasonic sensor 45 and the second ultrasonic sensor 43 alternately transmit ultrasonic waves. The fourth ultrasonic sensor 47 may select to transmit ultrasonic waves simultaneously with the first ultrasonic sensor 41, the second ultrasonic sensor 43, and the third ultrasonic sensor 45 or may select to transmit ultrasonic waves alternately in time with the first ultrasonic sensor 41, the second ultrasonic sensor 43, and the third ultrasonic sensor 45, based on the fact that the fourth ultrasonic sensor 47 does not form a field-of-view overlapping detection region with any of the first ultrasonic sensor 41, the second ultrasonic sensor 43, and the third ultrasonic sensor 45 directly in front of the housing 10.

As shown in fig. 16, when the fourth ultrasonic sensor 47 transmits ultrasonic waves simultaneously with the first ultrasonic sensor 41, the second ultrasonic sensor 43, or the third ultrasonic sensor 45, the control module 30 controls the first ultrasonic sensor 41 and the fourth ultrasonic sensor 47 to transmit ultrasonic waves in a first period, the first ultrasonic sensor 41, the second ultrasonic sensor 43, the third ultrasonic sensor 45, and the fourth ultrasonic sensor 47 to receive an obstacle echo in the first period, the control module 30 controls the fourth ultrasonic sensor 47 and the second ultrasonic sensor 43 to transmit ultrasonic waves in a second period after the first period, the first ultrasonic sensor 41, the second ultrasonic sensor 43, the third ultrasonic sensor 45, and the fourth ultrasonic sensor 47 to receive an obstacle echo in the second period, and the control module 30 controls the fourth ultrasonic sensor 47 and the third ultrasonic sensor 45 to receive an obstacle echo in the third period after the second period The ultrasonic waves are emitted in the segment, and the first ultrasonic sensor 41, the second ultrasonic sensor 43, the third ultrasonic sensor 45, and the fourth ultrasonic sensor 47 receive the obstacle echo in the third period.

As shown in fig. 16, when the fourth ultrasonic sensor 47 sends ultrasonic waves in turn with the first ultrasonic sensor 41, the second ultrasonic sensor 43, and the third ultrasonic sensor 45, the control module 30 controls the first ultrasonic sensor 41 to emit the ultrasonic waves for a first period of time, the first ultrasonic sensor 41, the second ultrasonic sensor 43, the third ultrasonic sensor 45, and the fourth ultrasonic sensor 47 to receive the obstacle echo for the first period of time, the control module 30 controls the second ultrasonic sensor 43 to emit the ultrasonic waves for a second period of time after the first period of time, the first ultrasonic sensor 41, the second ultrasonic sensor 43, the third ultrasonic sensor 45, and the fourth ultrasonic sensor 47 to receive the obstacle echo for the second period of time, the control module 30 controls the third ultrasonic sensor 45 to emit the ultrasonic waves for a third period of time after the second period of time, the first ultrasonic sensor 41, the second ultrasonic sensor 43, the third ultrasonic sensor 45 and the fourth ultrasonic sensor 47 receive the obstacle echo in a third period of time, the control module 30 controls the fourth ultrasonic sensor 47 to emit the ultrasonic wave in a fourth period of time after the third period of time, and the first ultrasonic sensor 41, the second ultrasonic sensor 43, the third ultrasonic sensor 45 and the fourth ultrasonic sensor 47 receive the obstacle echo in the fourth period of time. Of course, since the third ultrasonic sensor 45 does not overlap the detection area with the first ultrasonic sensor 41, the third ultrasonic sensor 45 may transmit signals simultaneously with the first ultrasonic sensor 41 or alternatively with the first ultrasonic sensor 41, so that there may be more signal transmission combinations, and the description thereof will not be repeated.

As shown in fig. 16, the control module 30 may still determine the direction of the obstacle according to the combination of the echoes of the obstacle transmitted and received by the first ultrasonic sensor 41, the second ultrasonic sensor 43, the third ultrasonic sensor 45 and the fourth ultrasonic sensor 47 in the ultrasonic sensor assembly 20, and regarding the specific determination method, the determination method of the obstacle in the transceiving area of the first ultrasonic sensor 41 and the second ultrasonic sensor 43 may refer to the above determination method. The obstacle determination in the transceiving areas of the second ultrasonic sensor 43 and the third ultrasonic sensor 45 can be performed by referring to the first ultrasonic sensor 41 and the second ultrasonic sensor 43, and the same method is used. When the fourth ultrasonic sensor 27 transmits ultrasonic waves and only the fourth ultrasonic sensor 27 receives an obstacle echo, the control module judges that an obstacle is located in a detection area where the fourth ultrasonic sensor 27 is located.

The intelligent mower 200 according to the second embodiment of the invention detects an obstacle through the ultrasonic sensor, the intelligent mower 200 has a preset distance, and when the distance between the intelligent mower 200 and the obstacle is less than or equal to the preset distance, the intelligent mower avoids the obstacle without continuing to move forward to the obstacle, and realizes non-contact obstacle avoidance of the intelligent mower. Through the difference of the preset distance values, when the distance is relatively small, the relative close-distance non-contact obstacle avoidance can be realized, and when the distance is relatively large, the relative close-distance non-contact obstacle avoidance can be realized. In addition, through ultrasonic sensor parallel arrangement and formation overlap detection area, can learn the position at barrier place, improve the accuracy of barrier location, help intelligent lawn mower 200 to adapt to different operating modes moreover, simultaneously, still make things convenient for intelligent lawn mower 200 to take the pertinent obstacle avoidance measure after knowing the direction, for example if the barrier is when the right side, carry out the left turn under the prerequisite that satisfies the left turn condition.

The third embodiment:

as shown in fig. 17 and 18, fig. 17 is a schematic top view of an intelligent lawn mower 300 according to a third embodiment of the present invention. Fig. 18 is a schematic diagram of an arrangement and a detection range of the ultrasonic sensor assembly of the intelligent lawn mower 300 of the third embodiment shown in fig. 17. In the intelligent mower 300 of the third embodiment, the ultrasonic sensor module 20 includes a first ultrasonic sensor 61 and a second ultrasonic sensor 63, the first ultrasonic sensor 61 receives and transmits ultrasonic waves in the first transceiving area, and the second ultrasonic sensor 63 receives and transmits ultrasonic waves in the second transceiving area. The first ultrasonic sensor 61 and the second ultrasonic sensor 63 are arranged on the housing 10 in parallel and adjacent to each other in the width direction of the smart mower so that the first transceiving area and the second transceiving area do not overlap. This embodiment detects an obstacle by the first ultrasonic sensor 61 and the second ultrasonic sensor 63, and realizes non-contact obstacle avoidance by the restriction of a preset distance.

As shown in fig. 17 and 18, in a preferred embodiment of the intelligent lawn mower 300 according to the third embodiment of the present invention, the ultrasonic sensor assembly 20 further includes a third ultrasonic sensor 65 and a fourth ultrasonic sensor 67. The third ultrasonic sensor 65 receives and transmits ultrasonic waves in the third transceiving area. The fourth ultrasonic sensor 67 receives and transmits ultrasonic waves in the fourth transceiving area. The third ultrasonic sensor 65 is located on the other side of the first ultrasonic sensor 61 not adjacent to the second ultrasonic sensor 63, and the third ultrasonic sensor 65 and the first ultrasonic sensor 61 are arranged on the housing 10 at an angle to each other such that the first transmitting and receiving area and the third receiving area partially overlap. The fourth ultrasonic sensor 67 is located on the other side of the second ultrasonic sensor 63 not adjacent to the first ultrasonic sensor 61, the fourth ultrasonic sensor 67 and the second ultrasonic sensor 63 are disposed on the housing 10 at an angle to each other such that the second transceiving region and the fourth receiving region partially overlap, and the four ultrasonic sensors form four sensing regions, wherein a portion where the first transceiving region and the third transceiving region overlap with each other is a third sensing region 13, a portion outside the first transceiving region overlapping is a first sensing region 11, a portion where the second transceiving region and the fourth transceiving region overlap with each other is a fourth sensing region 14, and a portion outside the second transceiving region overlapping is a second sensing region 12.

As shown in fig. 18, both the first ultrasonic sensor 61 and the third ultrasonic sensor 65 in the overlapped third detection region 13 can receive ultrasonic echoes, that is, if the first ultrasonic sensor 61 transmits ultrasonic waves, both the first ultrasonic sensor 61 and the third ultrasonic sensor 65 can receive ultrasonic echoes; if the third ultrasonic sensor 65 transmits ultrasonic waves, both the first ultrasonic sensor 61 and the third ultrasonic sensor 65 can receive ultrasonic echoes. Similarly, the second ultrasonic sensor 63 and the fourth ultrasonic sensor 67 in the overlapped fourth detection region 14 can both receive ultrasonic echoes, that is, if the second ultrasonic sensor 63 transmits ultrasonic waves, both the second ultrasonic sensor 63 and the fourth ultrasonic sensor 67 can receive ultrasonic echoes; if the fourth ultrasonic sensor 67 transmits ultrasonic waves, both the second ultrasonic sensor 63 and the fourth ultrasonic sensor 67 can receive ultrasonic echoes.

In other embodiments, the first ultrasonic sensor 61 and the second ultrasonic sensor 63 may be disposed on both sides, respectively, and the third ultrasonic sensor 65 and the fourth ultrasonic sensor 67 may be disposed between the first ultrasonic sensor 61 and the second ultrasonic sensor 63, with axes of the first ultrasonic sensor 61 and the third ultrasonic sensor 65 intersecting at an angle, and the second ultrasonic sensor 63 intersecting at an angle with the fourth ultrasonic sensor 67. The layout modes can be combined differently according to requirements.

As shown in fig. 19, fig. 19 is a schematic view showing the detection range of the ultrasonic sensor assembly of the intelligent lawn mower 300 according to the third embodiment of the present invention in the second arrangement. This second arrangement of ultrasonic sensor assemblies differs from the first arrangement in that the ultrasonic sensor assembly 20 is mounted at a distance D from the front end of the housing. Specifically described, in this second arrangement embodiment, the ultrasonic sensor assembly 20 includes a first ultrasonic sensor 61, a second ultrasonic sensor 63, a third ultrasonic sensor 65, and a fourth ultrasonic sensor 67. The first ultrasonic sensor 61 receives and transmits ultrasonic waves in the first transceiving area, and the second ultrasonic sensor 63 receives and transmits ultrasonic waves in the second transceiving area. The third ultrasonic sensor 65 receives and transmits ultrasonic waves in the third transceiving area. The fourth ultrasonic sensor 67 receives and transmits ultrasonic waves in the fourth transceiving area. The first ultrasonic sensor 61 and the second ultrasonic sensor 63 are arranged on the housing 10 in parallel and adjacent to each other in the width direction of the smart mower so that the first transceiving area and the second transceiving area do not overlap. The third ultrasonic sensor 65 is located on the other side of the first ultrasonic sensor 61 not adjacent to the second ultrasonic sensor 63, and the third ultrasonic sensor 65 and the first ultrasonic sensor 61 are arranged on the housing 10 at an angle to each other such that the first transmitting and receiving area and the third receiving area partially overlap. The fourth ultrasonic sensor 67 is located on the other side of the second ultrasonic sensor 63 not adjacent to the first ultrasonic sensor 61, the fourth ultrasonic sensor 67 and the second ultrasonic sensor 63 are arranged on the housing 10 at an angle to each other such that the second transmitting and receiving area and the fourth receiving area partially overlap, the four ultrasonic sensors form four detection areas, the four detection areas are arranged in the same manner as the first one, and the reference numerals of the areas refer to fig. 17 and are the same as fig. 17.

As shown in fig. 18, in this second arrangement of the intelligent mower 300 according to the third embodiment of the present invention, the first ultrasonic sensor 61, the second ultrasonic sensor 63, the third ultrasonic sensor 65, and the fourth ultrasonic sensor 67 may be disposed at any position in the longitudinal direction of the housing 10 in principle, and if the first ultrasonic sensor 61, the second ultrasonic sensor 63, the third ultrasonic sensor 65, and the fourth ultrasonic sensor 67 are disposed on the housing 10 closer to the rear end, the shape of the housing may be modified or the ultrasonic sensors may be disposed higher in order to ensure that the ultrasonic sensors transmit ultrasonic waves and receive obstacle echoes are not affected. In the preferred embodiment of the present invention, considering the factors of the transmission and reception of ultrasonic waves and the small occupied space, the first ultrasonic sensor 61, the second ultrasonic sensor 63, the third ultrasonic sensor 65 and the fourth ultrasonic sensor 67 are arranged at the front half part of the housing 10 in the length direction, and the distance D is less than or equal to half of the length of the housing 10.

As shown in fig. 17, the intelligent mower 300 of the third embodiment has a housing axis 210 in the front-rear direction, and the axis of the third ultrasonic sensor 65 and the axis of the fourth ultrasonic sensor 67 are at an angle to each other. The axes of the first ultrasonic sensor 61 and the second ultrasonic sensor 63 are parallel to each other. The sound emitting ends of the third and fourth ultrasonic sensors 65, 67 are offset toward the housing axis such that the first and third ultrasonic sensors 61, 65 are disposed at an angle to each other and the second and fourth ultrasonic sensors 63, 67 are disposed at an angle to each other. The first ultrasonic sensor 61 and the third ultrasonic sensor 65 are at an angle γ 1 in the range of 10 ° -80 ° to each other. In a preferred embodiment of the intelligent lawn mower 100 of the first embodiment, the crossing angle γ 1 of the first ultrasonic sensor 61 and the third ultrasonic sensor 65 is in the range of 25 ° -55 °. The intersection of the first ultrasonic sensor 61 and the third ultrasonic sensor 65 of the 25-55 numerical range ensures that the overlapping detection area is closer to the front of the intelligent mower 300 while the requirement of the overlapping detection area is obtained. The angle γ 2 formed by the second ultrasonic sensor 63 and the fourth ultrasonic sensor 67 is in the range of 10 ° to 80 °. In the preferred embodiment of the intelligent lawn mower 300 of the first embodiment, the crossing angle γ 2 of the second ultrasonic sensor 63 and the fourth ultrasonic sensor 67 is in the range of 25 ° -55 °. The intersection of the second ultrasonic sensor 63 and the fourth ultrasonic sensor 67 of the 25-55 numerical range ensures that the requirement of the overlapping detection area is obtained and the overlapping detection area is closer to the front of the intelligent mower 300.

In a preferred embodiment of the intelligent lawn mower 300 according to the third embodiment of the present invention, since the transmission and reception areas of the first ultrasonic sensor 61 and the second ultrasonic sensor 63 do not overlap, the first ultrasonic sensor 61 and the second ultrasonic sensor 63 may transmit signals alternately or simultaneously. When the control module 30 controls the first ultrasonic sensor 61 and the second ultrasonic sensor 63 to alternately transmit ultrasonic waves in time, the control module 30 controls the first ultrasonic sensor 61 to transmit ultrasonic waves in a first time period, the first ultrasonic sensor 61, the second ultrasonic sensor 63, the third ultrasonic sensor 65 and the fourth ultrasonic sensor 67 to receive obstacle echo in the first time period, the control module 30 controls the second ultrasonic sensor 63 to transmit ultrasonic waves in a second time period after the first time period, and the first ultrasonic sensor 61, the second ultrasonic sensor 63, the third ultrasonic sensor 65 and the fourth ultrasonic sensor 67 to receive obstacle echo in the second time period. When the control module 30 controls the first ultrasonic sensor 61 and the second ultrasonic sensor 63 to simultaneously transmit ultrasonic waves in time, the control module 30 controls the first ultrasonic sensor 61 and the second ultrasonic sensor 63 to transmit ultrasonic waves in a first period of time, and the first ultrasonic sensor 61, the second ultrasonic sensor 63, the third ultrasonic sensor 65, and the fourth ultrasonic sensor 67 to receive an obstacle echo in the first period of time.

In a preferred embodiment of the intelligent lawn mower 300 according to the third embodiment of the present invention, the control module 30 determines the position of the obstacle according to the combination of the emission of the first ultrasonic sensor 61 and the second ultrasonic sensor 63 in the ultrasonic sensor assembly 20 and the reception of the echo of the obstacle by the first ultrasonic sensor 61, the second ultrasonic sensor 63, the third ultrasonic sensor 65 and the fourth ultrasonic sensor 67. When only the first ultrasonic sensor 61 of the ultrasonic sensor assembly 20 transmits ultrasonic waves and only the first ultrasonic sensor 61 receives an obstacle echo, the control module 30 judges that an obstacle is located in the first detection area. When only the second ultrasonic sensor 63 of the ultrasonic sensor assembly 20 transmits ultrasonic waves and only the second ultrasonic sensor 63 receives an obstacle echo, the control module 30 judges that an obstacle is located in the second detection area. When the first ultrasonic sensor 61 transmits ultrasonic waves and the first ultrasonic sensor 61 and the third ultrasonic sensor 65 receive the echo of the obstacle in the ultrasonic sensor assembly 20, the control module 30 determines that the obstacle is located in the third detection area. When the second ultrasonic sensor 63 emits ultrasonic waves and the second ultrasonic sensor 63 and the fourth ultrasonic sensor 67 receive the echo of the obstacle in the ultrasonic sensor assembly 20, the control module 30 determines that the obstacle is located in the fourth detection area.

In a preferred embodiment of the intelligent lawn mower 300 according to the third embodiment of the present invention, the control module 30 calculates the distance of the obstacle from the intelligent lawn mower based on the time difference between the transmission of the ultrasonic wave and the reception of the obstacle echo by the ultrasonic sensor assembly 20.

As shown in fig. 17, in a preferred embodiment of the intelligent mower 300 according to the third embodiment of the present invention, the first ultrasonic sensor 61 has a first axis 611, the second ultrasonic sensor 63 has a second axis 631, the third ultrasonic sensor 65 has a third axis 651, and the fourth ultrasonic sensor 67 has a fourth axis 671, and the first axis 611, the second axis 631, the third axis 651, and the fourth axis 671 are coplanar in the height direction, so that the intelligent mower can obtain the maximum overlapping detection area, and the coplanar axes can facilitate the arrangement of the ultrasonic sensor structures and the design of the mounting structure of the housing 10 since the ultrasonic sensors are selected to be the same. The first axis 611 is the axis of the ultrasonic sound field emitted by the first ultrasonic sensor 61, the second axis 631 is the axis of the ultrasonic sound field emitted by the second ultrasonic sensor 63, the third axis 651 is the axis of the ultrasonic sound field emitted by the third ultrasonic sensor 65, and the fourth axis 67 is the axis of the ultrasonic sound field emitted by the fourth ultrasonic sensor 671.

As shown in fig. 20, fig. 20 is a schematic view of the detection range of another embodiment of the ultrasonic sensor assembly of the intelligent lawn mower 300 according to the third embodiment of the present invention, in this embodiment, the transmission and reception areas of the third ultrasonic sensor 65 and the fourth ultrasonic sensor 67 are wide, that is, the transmission and reception area of the third ultrasonic sensor 65 overlaps with the first ultrasonic sensor 61 and the second ultrasonic sensor 63 at the same time, and the transmission and reception area of the fourth ultrasonic sensor 67 overlaps with the first ultrasonic sensor 61 and the second ultrasonic sensor 63 at the same time. The first ultrasonic sensor 61 receives and transmits ultrasonic waves in the first transceiving area, and the second ultrasonic sensor 63 receives and transmits ultrasonic waves in the second transceiving area. The third ultrasonic sensor 65 receives and transmits ultrasonic waves in the third transceiving area. The fourth ultrasonic sensor 67 receives and transmits ultrasonic waves in the fourth transceiving area. The non-overlapping portion of the first transceiving region is a first detection region 11 of the sensor element 20, the non-overlapping portion of the second transceiving region is a second detection region 12 of the sensor element 20, the overlapping portion of the first transceiving region, the third transceiving region, and the fourth transceiving region is a third detection region 13 of the sensor element 20, the overlapping portion of the first transceiving region and the fourth transceiving region and the non-overlapping portion of the third detection region is a fourth detection region 14 of the sensor element 20, the overlapping portion of the first transceiving region and the third transceiving region and the non-overlapping portion of the fourth detection region is a fifth detection region 15 of the sensor element 20, the overlapping portion of the second transceiving region, the third transceiving region, and the fourth transceiving region is a sixth detection region 16 of the sensor element 20, the overlapping portion of the second transceiving region and the third transceiving region and the non-overlapping portion of the sixth detection region is a seventh detection region 17 of the sensor element 20, the portion of the second transceiving area and the fourth transceiving area that overlap and do not overlap with the sixth detection area is the eighth detection area 18 of the sensor assembly 20.

As shown in fig. 20, the control module 30 determines the direction of the obstacle according to the combination of the ultrasonic waves emitted by the first ultrasonic sensor 61 and the second ultrasonic sensor 63 in the ultrasonic sensor assembly 20 and the obstacle echoes received by the first ultrasonic sensor 61, the second ultrasonic sensor 63, the third ultrasonic sensor 65 and the fourth ultrasonic sensor 67. When only the first ultrasonic sensor 61 of the ultrasonic sensor assembly 20 transmits ultrasonic waves and only the first ultrasonic sensor 61 receives an obstacle echo, the control module 30 judges that an obstacle is located in the first detection region 11. When only the second ultrasonic sensor 63 of the ultrasonic sensor assembly 20 transmits ultrasonic waves and only the second ultrasonic sensor 63 receives an obstacle echo, the control module 30 determines that an obstacle is located in the second detection region 12. When the first ultrasonic sensor 21 in the ultrasonic sensor assembly 20 emits ultrasonic waves and the first ultrasonic sensor 61, the third ultrasonic sensor 65 and the fourth ultrasonic sensor 67 all receive the echo of the obstacle, the control module 30 determines that the obstacle is located in the third detection area 13. When the first ultrasonic sensor 21 of the ultrasonic sensor assembly 20 emits ultrasonic waves and only the first ultrasonic sensor 61 and the fourth ultrasonic sensor 67 receive the echo of the obstacle, the control module 30 determines that the obstacle is located in the fourth detection area 14. When the first ultrasonic sensor 21 of the ultrasonic sensor assembly 20 emits ultrasonic waves and only the first ultrasonic sensor 61 and the third ultrasonic sensor 65 receive the echo of the obstacle, the control module 30 determines that the obstacle is located in the fifth detection area 15. When the second ultrasonic sensor 63 of the ultrasonic sensor assembly 20 emits ultrasonic waves and the second ultrasonic sensor 63, the third ultrasonic sensor 65 and the fourth ultrasonic sensor 67 all receive the echo of the obstacle, the control module 30 determines that the obstacle is located in the sixth detection area 16. When the second ultrasonic sensor 63 of the ultrasonic sensor assembly 20 emits ultrasonic waves and only the second ultrasonic sensor 63 and the fourth ultrasonic sensor 67 receive the obstacle echo, the control module 30 determines that the obstacle is located in the eighth detection area 18. When the second ultrasonic sensor 63 of the ultrasonic sensor assembly 20 emits ultrasonic waves and only the second ultrasonic sensor 63 and the third ultrasonic sensor 65 receive the echo of the obstacle, the control module 30 determines that the obstacle is located in the seventh detection area 17. In a preferred embodiment of this manner of the intelligent lawn mower 300 of the third embodiment of the present invention, the control module 30 calculates the distance of the obstacle from the intelligent lawn mower based on the time difference between the transmission of the ultrasonic wave and the reception of the obstacle echo by the ultrasonic sensor assembly 20.

The intelligent mower 300 according to the third embodiment of the present invention detects an obstacle through the ultrasonic sensor, the intelligent mower 300 has a preset distance, and when the distance between the intelligent mower 300 and the obstacle is less than or equal to the preset distance, the intelligent mower avoids the obstacle without continuing to move forward to the obstacle, and thus, non-contact obstacle avoidance of the intelligent mower is achieved. Through the difference of the preset distance values, when the distance is relatively small, the relative close-distance non-contact obstacle avoidance can be realized, and when the distance is relatively large, the relative close-distance non-contact obstacle avoidance can be realized. In addition, the ultrasonic sensors are arranged in an angle-crossing manner, so that the position of the obstacle can be obtained, the accuracy of positioning the obstacle is improved, the intelligent mower 300 can adapt to different working conditions, and meanwhile, the intelligent mower 300 can conveniently take targeted obstacle avoidance measures after knowing the direction, for example, if the obstacle is on the right side, left turning is carried out on the premise of meeting the left turning condition.

The fourth embodiment:

as shown in fig. 21, fig. 21 is a schematic diagram illustrating an arrangement and an axial relationship of ultrasonic sensors including two ultrasonic sensors in an intelligent lawn mower 400 according to a fourth embodiment of the present invention. The ultrasonic sensor module 20 includes two ultrasonic sensors including a first ultrasonic sensor 81 and a second ultrasonic sensor 83, the first ultrasonic sensor 81 receives and transmits ultrasonic waves in a first transceiving region, the second ultrasonic sensor 83 receives ultrasonic waves in a second receiving region, and the first ultrasonic sensor and the second ultrasonic sensor are disposed on the housing 10 at an angle to each other such that the first transceiving region and the second receiving region partially overlap, a portion where the first transceiving region and the second receiving region overlap with each other is a third sensing region, and a portion other than the overlap in the first transceiving region is a first sensing region.

As shown in fig. 21, the first ultrasonic sensor 81 has a first axis 811, and the second ultrasonic sensor 83 has a second axis 831. The first axis 811 is the axis of the ultrasonic sound field emitted by the first ultrasonic sensor 81, and the second axis 831 is the axis of the ultrasonic sound field emitted by the second ultrasonic sensor 83. The angle ε 1 between the first axis 811 and the second axis 831 can range from 10 ° to 80 °. In a preferred version of this embodiment of the invention, the angle ε 1 between the first axis 811 and the second axis 831 can range from 25 ° to 55 °. The second ultrasonic sensor 93 is independently responsible for receiving the echo of the obstacle, so that the ultrasonic echo can still be accurately received in the blind area range of the first ultrasonic sensor 91, the obstacle detection in a short distance is realized, and the obstacle avoidance in a short distance in a non-contact manner is further realized. In other embodiments, the first ultrasonic sensor 81 may be responsible for only transmitting ultrasonic waves in the first receiving area, and the second ultrasonic sensor 83 may be responsible for receiving ultrasonic waves in the second receiving area, which still enables the detection of an obstacle, and the distance of the obstacle detection may be achieved according to the position of the overlapping area of the first ultrasonic sensor 81 and the second ultrasonic sensor 83. The intelligent mower 400 has a preset distance, and when the distance between the intelligent mower 100 and the obstacle is less than or equal to the preset distance, the intelligent mower keeps away from the obstacle without continuing to advance towards the obstacle, and non-contact obstacle avoidance of the intelligent mower is achieved. Through the difference of the preset distance values, when the distance is relatively small, the relative close-distance non-contact obstacle avoidance can be realized, and when the distance is relatively large, the relative close-distance non-contact obstacle avoidance can be realized.

As shown in fig. 22, fig. 22 is a schematic view of a detection range of a first arrangement mode in which an ultrasonic sensor assembly of the intelligent lawn mower 400 according to the fourth embodiment of the present invention includes three ultrasonic sensors. The ultrasonic sensor assembly 20 includes a first ultrasonic sensor 81, a second ultrasonic sensor 83, and a third ultrasonic sensor 85. The first ultrasonic sensor 81 is typically an ultrasonic sensor capable of performing both functions of transmitting ultrasonic waves and receiving obstacle echoes, and the second ultrasonic sensor 83 and the third ultrasonic sensor 85 are reception sensors that do not transmit ultrasonic waves. The second ultrasonic sensor 83 and the third ultrasonic sensor 85 are respectively located on both sides of the first ultrasonic sensor 81 and are disposed to intersect the first ultrasonic sensor 81 at an angle. The angle of intersection may be set so that the overlap detection region is as close as possible to the short-range detection region in the front part of the apparatus. The mode can realize the short-distance detection of the obstacle and can know the direction of the obstacle. In another embodiment of this embodiment, the first ultrasonic sensor 81 may only transmit ultrasonic waves, that is, the first ultrasonic sensor 81 may be a single ultrasonic transmitting sensor, the second ultrasonic sensor 83 and the third ultrasonic sensor 85 may still be receiving sensors, and the second ultrasonic sensor 83 and the third ultrasonic sensor 85 may form overlapping detection areas at different positions from the first ultrasonic sensor 81, so as to increase the range for recognizing obstacles.

As shown in fig. 22, the first ultrasonic sensor 81 has a first axis 811, the second ultrasonic sensor 83 has a second axis 831, and the third ultrasonic sensor 85 has a third axis 851. The second axis 831 and the third axis 851 intersect the first axis 811, respectively, and in the embodiment of the present invention shown in fig. 22, the intersection angle between the second axis 831 and the first axis 811 is the same as the intersection angle between the third axis 851 and the first axis 811. In other embodiments, the intersection angle between the second axis 831 and the first axis 811 can be different than the intersection angle between the third axis 851 and the first axis 811. The angle e 3 between the first axis 811 and the second axis 831 ranges from 10 to 80. In a preferred version of this embodiment of the invention, the angle ε 3 between the first axis 811 and the second axis 831 can range from 25 ° to 55 °. The angle e 2 between the first axis 811 and the third axis 851 is in the range of 10-80. In a preferred version of this embodiment of the invention, the angle ε 2 between the first axis 811 and the third axis 851 is in the range of 25-55. The second ultrasonic sensor 93 is independently responsible for receiving the echo of the obstacle, so that the ultrasonic echo can still be accurately received in the blind area range of the first ultrasonic sensor 91, the obstacle detection in a short distance is realized, and the obstacle avoidance in a short distance in a non-contact manner is further realized.

In a preferred embodiment of the intelligent lawnmower 400 according to the fourth embodiment of the present invention, the first axis 811, the second axis 831, and the third axis 851 are coplanar in the height direction, so that the intelligent lawnmower 400 can obtain the maximum overlapping detection area, and the coplanar axes can facilitate the arrangement of the ultrasonic sensor structure and the design of the mounting structure of the housing 10 since the ultrasonic sensors are selected to be the same.

As shown in fig. 23, fig. 23 is a schematic view of the detection range of the ultrasonic sensor assembly of the intelligent lawn mower 400 according to the fourth embodiment of the present invention in the first arrangement. In this first arrangement, the first ultrasonic sensor 81 has a first transmitting and receiving area. The second ultrasonic sensor 83 has a second receiving area. The third ultrasonic sensor 85 has a third receiving area. The first transmitting/receiving area, the second receiving area, and the third receiving area form an overlap detection area directly in front of the smart mower 400. The first ultrasonic sensor 81, the second ultrasonic sensor 83 and the third ultrasonic sensor 85 in the overlap detection region may all receive ultrasonic echoes, that is, if the first ultrasonic sensor 81 transmits ultrasonic waves, the first ultrasonic sensor 81, the second ultrasonic sensor 83 and the third ultrasonic sensor 85 may all receive ultrasonic echoes.

As shown in fig. 23, the non-overlapping portion of the first transceiving area is the first detection area 11 of the sensor assembly 20, and the overlapping portion of the first transceiving area, the second reception area, and the third reception area is the second detection area 12 of the sensor assembly 20. The portion of the first transceiving area overlapping the second receiving area excluding the second detection area is the fourth detection area 14 of the sensor assembly 20. The third detection region 13 of the sensor unit 20 is defined as a portion where the first transmission/reception region overlaps the third reception region, excluding the second detection region.

As shown in fig. 24, fig. 24 is a schematic view of a detection range of the second arrangement mode in which the ultrasonic sensor assembly of the intelligent lawn mower 400 according to the fourth embodiment of the present invention includes three ultrasonic sensors. This second arrangement of ultrasonic sensor assemblies differs from the first arrangement in that the ultrasonic sensor assembly 20 is mounted at a distance D from the front end of the housing. Specifically described, in this second arrangement embodiment, the ultrasonic sensor assembly 20 includes a first ultrasonic sensor 81, a second ultrasonic sensor 83, and a third ultrasonic sensor 85. The second ultrasonic sensor 83 and the third ultrasonic sensor 85 are respectively located on both sides of the first ultrasonic sensor 81 and are disposed to intersect the first ultrasonic sensor 81 at an angle. The angle of intersection may be set so that the overlap detection region is as close as possible to the short-range detection region in the front part of the apparatus. The mode can realize the short-distance detection of the obstacle and can know the direction of the obstacle.

In this second arrangement embodiment, the first ultrasonic sensor 81 has a first transmitting and receiving area, as shown in fig. 24. The second ultrasonic sensor 83 has a second receiving area. The third ultrasonic sensor 85 has a third receiving area. The first transmitting/receiving area, the second receiving area, and the third receiving area form an overlap detection area directly in front of the smart mower 400. The first ultrasonic sensor 81, the second ultrasonic sensor 83 and the third ultrasonic sensor 85 in the overlap detection region may all receive ultrasonic echoes, that is, if the first ultrasonic sensor 81 transmits ultrasonic waves, the first ultrasonic sensor 81, the second ultrasonic sensor 83 and the third ultrasonic sensor 85 may all receive ultrasonic echoes. The non-overlapping portion of the first transceiving area is a first detection area 11 of the sensor assembly 20, and the overlapping portion of the first transceiving area, the second reception area, and the third reception area is a second detection area 12 of the sensor assembly 20. The portion of the first transceiving area overlapping the second receiving area excluding the second detection area is the fourth detection area 14 of the sensor assembly 20. The third detection region 13 of the sensor unit 20 is defined as a portion where the first transmission/reception region overlaps the third reception region, excluding the second detection region.

As shown in fig. 24, in this second arrangement of the intelligent mower 400 according to the fourth embodiment of the present invention, the first ultrasonic sensor 81, the second ultrasonic sensor 83, and the third ultrasonic sensor 85 may be disposed at any position in the longitudinal direction of the housing 10 in principle, and if the first ultrasonic sensor 81, the second ultrasonic sensor 83, and the third ultrasonic sensor 85 are disposed on the housing 10 closer to the rear end, the shape of the housing may be modified or the ultrasonic sensors may be disposed higher in order to ensure that the ultrasonic sensors transmit ultrasonic waves and receive obstacle echoes are not affected. In the preferred embodiment of the present invention, considering the factors of the transmission and reception of ultrasonic waves and the small occupied space, the first ultrasonic sensor 81, the second ultrasonic sensor 83 and the third ultrasonic sensor 85 are arranged at the front half part of the housing 10 in the length direction, and the distance D is less than or equal to half of the length of the housing 10.

In a preferred embodiment of the intelligent lawn mower 400 according to the fourth embodiment of the present invention, the control module 30 determines the orientation of the obstacle according to the combination of the ultrasonic waves emitted from the first ultrasonic sensor 81 in the ultrasonic sensor assembly 20 and the echoes received by the first ultrasonic sensor 81, the second ultrasonic sensor 83 and the third ultrasonic sensor 85. When only the first ultrasonic sensor 81 of the ultrasonic sensor assembly 20 transmits ultrasonic waves and only the first ultrasonic sensor 81 receives an obstacle echo, the control module 30 judges that an obstacle is located in the first detection region 11. When the first ultrasonic sensor 81 in the ultrasonic sensor assembly 20 emits ultrasonic waves and the first ultrasonic sensor 81, the second ultrasonic sensor 83 and the third ultrasonic sensor 85 all receive the echo of the obstacle, the control module 30 determines that the obstacle is located in the second detection area 12. When the first ultrasonic sensor 81 in the ultrasonic sensor assembly 20 transmits ultrasonic waves and only the first ultrasonic sensor 81 and the second ultrasonic sensor 83 receive the echo of the obstacle, the control module 30 determines that the obstacle is located in the third detection area 13. When the first ultrasonic sensor 81 of the ultrasonic sensor assembly 20 transmits ultrasonic waves and only the first ultrasonic sensor 81 and the third ultrasonic sensor 85 receive the echo of the obstacle, the control module 30 determines that the obstacle is located in the fourth detection area 14.

In a preferred embodiment of the intelligent lawn mower 400 according to the fourth embodiment of the present invention, the control module 30 calculates the distance of the obstacle from the intelligent lawn mower based on the time difference between the transmission of the ultrasonic wave and the reception of the obstacle echo by the ultrasonic sensor assembly 20.

The embodiments of the intelligent lawn mower according to the foregoing four embodiments of the present invention are also applicable to other self-moving devices, such as an intelligent sweeping robot, and the description about the intelligent sweeping robot or more embodiments of the self-moving devices is not repeated here, and the embodiments of the other self-moving devices are the same as the intelligent lawn mower 100, 200, 300, 400 according to the foregoing four embodiments of the present invention.

Fig. 25 is a flow chart of the control module 30 controlling the transmission and reception of the ultrasonic sensor assembly 20. The ultrasonic sensor assembly 20 of all embodiments of the present invention is applied, and the ultrasonic sensor in the intelligent lawn mower 100 of the first embodiment is described as an example. The control module 30 controls the first ultrasonic sensor 21 and the second ultrasonic sensor 23 to emit ultrasonic waves at intervals on a time axis, and the specific steps are as follows:

step S11: the first ultrasonic sensor 21 emits ultrasonic waves at a first time;

step S12: the first ultrasonic sensor 21 and the second ultrasonic sensor 23 receive ultrasonic waves;

step S13: the second ultrasonic sensor 23 emits ultrasonic waves at a second time;

step S14: the first ultrasonic sensor 21 and the second ultrasonic sensor 23 receive ultrasonic waves.

The control module 30 controls the ultrasonic sensor assembly 20 to cyclically perform obstacle detection according to the steps shown in fig. 25. If an obstacle exists in the effective detection range, the transmitted ultrasonic waves are reflected by the obstacle to form echoes. The ultrasonic sensor assembly 20 receives the echo, and the control module 30 analyzes and determines the direction and distance of the obstacle according to the echo information. If no obstacle exists in the valid detection range, the ultrasonic sensor assemblies of the step S12 and the step S14 cannot receive the ultrasonic echo, and then analyze and judge that no obstacle exists in the advancing direction of the intelligent lawn mower 100. The time difference T between the transmission of the ultrasonic waves by the first ultrasonic sensor 21 and the second ultrasonic sensor 23 is referred to as an effective reception period. The specific time of the effective receiving time period T is different according to the intensity of the driving signal generated by the driving circuit and the hardware parameters of the ultrasonic sensor. The step of alternately emitting the ultrasonic waves is also applicable to the intelligent lawn mowers 200 and 300 of the present invention.

Fig. 26 is a schematic diagram of the situation of signals received by the ultrasonic sensor assembly corresponding to different conditions of obstacles in the effective detection range of the intelligent lawn mower, and fig. 26 illustrates the ultrasonic sensor in the intelligent lawn mower 100 according to the first embodiment. The waveform diagram is only used to show the waveform diagram received by the ultrasonic sensor assembly when the obstacle is at different directions, and does not represent the received signal waveform of the real sensor assembly. In the present embodiment, the case where the first ultrasonic sensor 21 emits ultrasonic waves is taken as an example to describe a schematic diagram of the signals received by the first ultrasonic sensor 21 and the second ultrasonic sensor 23 when an obstacle appears in different directions. In the received signal waveform of fig. 17, a rectangular-like waveform M represents self-oscillation after the ultrasonic wave is emitted from the ultrasonic sensor, and a diamond-like waveform N represents reflected ultrasonic wave received by the ultrasonic sensor. Since the first ultrasonic sensor 21 emits ultrasonic waves in this embodiment, the reception signal diagram of the first ultrasonic sensor 21 always has a waveform a resembling a rectangle. The same transmission and reception case applies to the smart lawnmowers 200 and 300 according to the present invention.

As shown in fig. 26(a), the first ultrasonic sensor 21 emits an ultrasonic wave at time t 0. In the period from t0 to t1, neither the first ultrasonic sensor 21 nor the second ultrasonic sensor 23 receives the reflected ultrasonic wave. The control module 30 determines that no obstacle is present within the effective detection range of the intelligent lawn mower 100. the time period T0-T1 is the valid reception period T described above.

As shown in fig. 26(b), the first ultrasonic sensor 21 emits an ultrasonic wave at time t 0. In the period from t0 to t1, the first ultrasonic sensor 21 receives the transmitted wave and the second ultrasonic sensor 23 does not receive the reflected ultrasonic wave. The control module 30 determines that an obstacle is present in the first detection area of the smart lawn mower 100.

As shown in fig. 26(c), the first ultrasonic sensor 21 emits an ultrasonic wave at time t 0. In the period from t0 to t1, the first ultrasonic sensor 21 does not receive the transmitted wave and the second ultrasonic sensor 23 receives the reflected ultrasonic wave. The control module 30 determines that an obstacle is present in the second detection area of the smart lawn mower 100.

As shown in fig. 26(d), the first ultrasonic sensor 21 emits an ultrasonic wave at time t 0. In the period from t0 to t1, neither the first ultrasonic sensor 21 nor the second ultrasonic sensor 23 receives the reflected ultrasonic wave. The control module 30 determines that an obstacle is present in the third detection area of the smart lawn mower 100.

As shown in fig. 27 and 28, in the intelligent lawn mower according to a preferred embodiment of the present invention, the ultrasonic sensor sends ultrasonic waves to form an ultrasonic field of view for detecting obstacles, and since the intelligent lawn mower only needs to detect obstacles within a certain height range in the advancing direction of the intelligent lawn mower in the height direction, but needs to detect obstacles within a width range of the intelligent lawn mower right in front of the intelligent lawn mower, in order to obtain a wider obstacle detection range, the field of view of the intelligent lawn mower is preferably non-circular, such as an elliptical field of view, an axis perpendicular to the field of view is made into a section, the waveform is shaped like an ellipse, and has a major axis direction 2a and a minor axis direction 2b, and the housing 10 has a bottom surface which is a reference surface formed by a plurality of contact points with the ground when the mobile device is operated. The major axis direction is installed to be substantially parallel to the bottom surface of the case 10, and the minor axis direction is installed to be substantially perpendicular to the bottom surface of the case 10. The basic meaning here includes two layers, the first layer means that the major axis direction is completely parallel to the bottom surface of the case 10 and the minor axis direction is completely perpendicular to the bottom surface of the case 10; the second layer means that the major axis direction is approximately parallel (not absolutely parallel) to the bottom surface of the housing 10 and the minor axis direction is approximately perpendicular (not absolutely perpendicular) to the bottom surface of the housing 10. By such definition, the installation and the setting of the ultrasonic sensor can be flexibly carried out, so that the ultrasonic field of view satisfies the condition that the long axis is larger than the short axis, namely, the width field of view value is larger than the height field of view value, more obstacles can be detected in the width direction of the shell, and the accuracy of detecting the obstacles in front of the shell is ensured. It is understood that the field of view is a flat shape to ensure a larger width detection range, while in comparison, the measurement of obstacles in the height range is somewhat unnecessary, for example, a swing with the housing above the housing, so that a larger detection range is not required in height, but a detection range as large as possible in width is required, which can cover more obstacles in the width direction right in front of the housing, and the axial dimension in the width direction is larger than that in the height direction, i.e., the major axis is larger than the minor axis. In one embodiment, the undulated face is elliptical. The description of the ultrasonic beams and the wave surface in this embodiment is also applicable to the intelligent lawn mowers 100, 200, 300, 400 of the above four embodiments of the present invention.

As shown in fig. 29, in the ultrasonic sensor module 20 according to a preferred embodiment of the present invention, in order to obtain a non-circular waveform surface of the ultrasonic beam, it is directly selected that the waveform surface of the ultrasonic beam of the ultrasonic sensor itself is non-circular, the field of view 98 is non-circular, and the waveform surface is obtained by making a cut perpendicular to the axis of the ultrasonic sensor. The description of the wave surface of the ultrasonic wave beam of the ultrasonic sensor itself in this embodiment is equally applicable to the intelligent lawn mowers 100, 200, 300, 400 of the aforementioned four embodiments of the present invention.

As shown in fig. 30, in the ultrasonic sensor assembly 20 according to a preferred embodiment of the present invention, in order to obtain a non-circular ultrasonic beam, the ultrasonic beam of the ultrasonic sensor 20 'may be selected to have a circular waveform surface, the field of view 98' may be non-circular, a beam adjuster 90 for adjusting the shape of the ultrasonic beam emitted from the ultrasonic sensor may be disposed at an end of the ultrasonic sensor where the ultrasonic wave is emitted, the ultrasonic beam obtained by the adjustment of the beam adjuster 90 has a non-circular waveform surface, and the field of view 98 of the ultrasonic sensor assembly 20 has a non-circular shape, and the waveform surface is obtained by cutting the ultrasonic beam perpendicularly to the axis of the ultrasonic beam. The description of the wave surface of the ultrasonic wave beam of the ultrasonic sensor itself and the arrangement of the beam adjuster 90 in this embodiment are also applicable to the intelligent lawn mowers 100, 200, 300, 400 of the aforementioned four embodiments of the present invention.

In another embodiment, the self-moving apparatus is provided with a lateral direction that coincides with the machine width direction and a longitudinal direction that is perpendicular to the machine width direction and coincides with the machine height direction, and the range of the ultrasonic beam emitted by the ultrasonic sensor in the lateral direction is larger than the range in the longitudinal direction. A tangent plane is made perpendicular to the axis of an ultrasonic wave beam emitted by the ultrasonic sensor to obtain a wave surface, and the length of the wave surface in the transverse direction is greater than that in the longitudinal direction. As long as the ultrasonic sensor satisfies the mounting condition, a wider obstacle recognition range can be obtained in the lateral direction.

In the ultrasonic sensor assembly 20 according to a preferred embodiment of the present invention, a sound wave guide tube may be disposed on the ultrasonic sensor, and in order to obtain a larger overlapped detection area, the sound wave emission range may be increased by the sound wave guide tube.

In the intelligent mower according to a preferred embodiment of the present invention, when the distance between the obstacle and the intelligent mower is smaller than the preset distance, the control module 30 controls the intelligent mower to perform a preset obstacle avoidance measure. The preset distance is in a positive relation with at least one of moving speed, acceleration and inertia of the intelligent mower. Inertia is related to the mass of the intelligent mower, and the setting position of the movable module shaft, namely, the mass distribution of the intelligent mower, because the mass distribution of the intelligent mower is influenced by different positions of the movable module shaft, and further the inertia is influenced. The preset distance is less than or equal to 25 cm. When the intelligent mower needs to realize close-distance non-contact obstacle avoidance, the preset distance is less than or equal to 15 cm. When a slope or a narrow passage exists in the working environment of the intelligent mower, the preset distance is less than or equal to 10 centimeters. By taking the length size of the intelligent mower as a reference value, the preset distance is less than or equal to 40% of the length of the shell. When the intelligent mower needs to realize close-distance non-contact obstacle avoidance, the preset distance is less than or equal to 24% of the length of the shell. When a slope or a narrow passage exists in the working environment of the intelligent mower, the preset distance is less than or equal to 15% of the length of the shell. By taking the width dimension of the intelligent mower as a reference value, the preset distance is less than or equal to 60% of the width of the shell. When the intelligent mower needs to realize close-distance non-contact obstacle avoidance, the preset distance is less than or equal to 35% of the width of the shell. When a slope or a narrow passage exists in the working environment of the intelligent mower, the preset distance is less than or equal to 25% of the width of the shell. As mentioned above, the preset distance is set in relation to the length and width of the housing, because the intelligent lawn mower is not only related to the preset distance but also related to the length and width of the housing in order to realize non-contact obstacle avoidance when selecting different obstacle avoidance logics. The above description about the preset distance is equally applicable to the intelligent lawn mowers 100, 200, 300, 400 of the above four embodiments of the present invention.

In the intelligent mower according to a preferred embodiment of the present invention, after the signal of the ultrasonic sensor is sent out, all obstacles in the transmission range of the front ultrasonic wave have echoes returned, and many ultrasonic echoes are received by the ultrasonic sensor, but for some far obstacles, the intelligent mower has no influence on the intelligent mower, and the intelligent mower mainly needs to identify a near obstacle, and then achieves the purpose of non-contact obstacle avoidance. The control module 30 analyzes only the ultrasonic echoes received within the limited analysis range in order to reduce unnecessary data analysis. The defined analysis range is related to the length of the housing 10. The limited analysis range is preferably 200 cm or less, which is the range from the foremost end of the housing 10 to 200 cm in front of the housing 10. In the preferred embodiment of the present invention, the range defining the analysis range is preferably 90 cm or less, which is a range from the foremost end of the housing 10 to 90 cm in front of the housing 10. The above description about the definition of the analysis range is equally applicable to the intelligent lawn mowers 100, 200, 300, 400 of the above four embodiments of the present invention.

In the intelligent mower according to a preferred embodiment of the present invention, the intelligent mower needs to detect obstacles in the advancing direction thereof, and only detects obstacles that meet a certain height range, and obstacles that exceed the height range may not be detected, for example, obstacles that exceed the height of the intelligent mower 1 by more than 5cm may not be detected. The detected obstacle has the requirement of a height range, and whether the obstacle is detected is determined on the premise that the obstacle falls into the field of view range of the ultrasonic sensor, so that ultrasonic echoes generated by the obstacle can be detected by the ultrasonic field of view sent by the ultrasonic sensor, and the directions of the field of view are determined to be different due to the fact that the installation height and the pitch angle of the ultrasonic sensor are different.

In the intelligent mower according to a preferred embodiment of the present invention, as shown in fig. 31 to 33, the installation height of the ultrasonic sensor is H1, and the height limit value of the obstacle to be recognized is H2 (for the intelligent mower, the height of grass to be cut is generally set by H2), i.e., the height is higher than H2 and is recognized as an obstacle, and the height is lower than H2 and is not recognized as an obstacle. The relation between the installation height H1 of the ultrasonic sensor and the height H2 of grass to be cut off, H1 is H2+ L sin (phi +/-sigma), wherein L is the distance from the axis of the ultrasonic sensor to the judgment section, phi is half of the angle of a view field determined by the performance of the sensor, sigma is the offset angle of the center line of the ultrasonic sensor relative to the bottom surface of the shell, and if the ultrasonic sensor is inclined upwards to-sigma, if the ultrasonic sensor is inclined downwards to + sigma. Based on the installation height H1, the field of view 98 of the ultrasonic sensor can be satisfied to cover a range larger than H2, and an object higher than H2 can be recognized and obstacle recognition can be performed. In one embodiment, the installation height of the ultrasonic sensor relative to the ground is 19 cm to 20 cm according to the height requirement of mowing, in the height range, most of grass can be mowed, and the grass with higher height can also be mowed, because the ultrasonic sensor can not identify most of grass as an obstacle in the installation height range of the ultrasonic sensor, most of grass can be mowed, and for sporadic grass with higher height, the obtained ultrasonic echo signals are not enough to be judged as the obstacle due to less high grass and generally not concentrated distribution, so that the grass with higher height can be mowed. If the height of the ultrasonic sensor is set to be less than 19 cm, the ultrasonic sensor receives a lot of ultrasonic echoes from grass, and a situation in which the grass is considered as an obstacle exists, thereby affecting the working efficiency of the lawn mower. The setting of the height H1 with respect to the ultrasonic sensor in the present embodiment is also applicable to the intelligent lawn mowers 100, 200, 300, 400 of the above-described four embodiments of the present invention.

In one embodiment, the ultrasonic sensor is mounted at a height in a range of 19 cm to 20 cm relative to the ground. The difference between the installation height of the ultrasonic sensor relative to the ground and the height of the cutter head relative to the ground is 100-300 mm by taking the height of the cutter head as a reference. The setting of the height of the ultrasonic sensor in this embodiment is also applicable to the smart lawnmowers 100, 200, 300, 400 of the above-described four embodiments of the present invention.

In the embodiments, when the self-moving equipment approaches to the obstacle, the cutter head continues to work, and the arrangement can ensure the treatment of the peripheral area of the obstacle

In the intelligent mower according to a preferred embodiment of the present invention, the intelligent mower has a roughly determined mowing height range to be mowed, so that an object larger than the height of grass to be mowed is recognized as an obstacle, and meanwhile, in order to complete the determination of the height of grass to be mowed, the field of view of the ultrasonic sensor is not recognized as an obstacle, and since the performance of the ultrasonic sensor determines the values of Φ and σ, and the distance of L after the cross section is selected is determined, the installation height H1 of the ultrasonic sensor can be calculated by the formula H1 being H2+ L sin (± Φ) as long as the height H2 to be mowed is determined. Since the values of the mowing heights H2 may be different, after an initial mowing height H2 is set, the elastic variation of the value of H2 can be controlled by internal software, for example, the detection signal intensity near the sensor axis in the sensor field of view is greater than that in the outer field of view far away from the sensor axis, and the height H2 can be changed by selecting the identification signal intensity, so as to achieve the micro-adjustment of different mowing heights. The setting of the height H1 with respect to the ultrasonic sensor in the present embodiment is also applicable to the intelligent lawn mowers 100, 200, 300, 400 of the above-described four embodiments of the present invention.

In the intelligent lawn mower according to a preferred embodiment of the present invention, since the heights of the grass on the lawn are not all the same, the height of the mowing height H2 is selected to cut most of the grass, and a part of the grass with a height higher than the mowing height H2 still needs to be cut, but since the height of the part of the grass is greater than the value of H2, the part of the grass is identified as an obstacle to be removed, which results in that the grass cannot be cut. The reflected wave threshold value is preset in the intelligent mower, for high grass entering the field of view of the ultrasonic sensor, the top end of the grass enters the field of view of the ultrasonic sensor, echo signals generated at the top end of the grass are weak, ultrasonic echoes smaller than the reflected wave threshold value can be determined as high grass, the intelligent mower continues to advance to cut the high grass, echo signals larger than the reflected wave threshold value are determined as obstacles, and obstacle avoidance measures need to be taken by the intelligent mower. In practical application, sometimes, the intensity difference between the echo signal generated by the tall grass and the echo signal generated by the obstacle is relatively small, the threshold value of the reflected wave is set to be relatively high, and in order to avoid colliding with the obstacle, the echo signal of some tall grass is still higher than the threshold value of the reflected wave, so that the tall grass is considered as the obstacle, and the tall grass is not cut. For the situation, the circuit can be improved, the amplification factor is adjusted, the signal difference between the high grass echo and the obstacle echo is opened through the adjustment of the amplification factor, and then the high grass and the obstacle can be obviously distinguished through the setting of a reasonable threshold value of the reflected wave. The threshold of the reflected wave according to the present invention may be a reflected signal intensity value. The description related to the ultrasonic sensor reflected wave threshold setting in the present embodiment is also applicable to the intelligent lawn mowers 100, 200, 300, 400 of the above-described four embodiments of the present invention.

As shown in fig. 34 and 35, in the intelligent lawn mower according to the preferred embodiment of the present invention, in order to further improve the accuracy of the ultrasonic sensor in recognizing the obstacle, the upper surface of the abutting wall 91 on the housing 10 adjacent to the field of view of the ultrasonic sensor (the upper surface is the surface adjacent to the field of view) needs to be lower than the outermost edge of the field of view of the ultrasonic sensor (the virtual edge of the field of view) in the height direction, so that the housing 10 can be prevented from blocking the transmission of the ultrasonic wave, and on one hand, the housing 10 can be prevented from reflecting the ultrasonic wave, and the reflected ultrasonic echo can be prevented from affecting the ultrasonic wave emitted by the sensor, and on the other hand, the ultrasonic wave for recognizing the obstacle can be prevented from affecting the accuracy of. Further, the level of the beam axis can be ensured, and the sensor has a beam axis, and in a preferred embodiment, the beam axis needs to be in a horizontal state, and the abutting wall 91 is lower than the outermost edge of the field of view of the ultrasonic sensor in the height direction, so that the housing structure does not block the field of view, and further, the position of the beam axis is not changed, and the beam axis is ensured to be in a horizontal state. The shape of the upper surface of the abutting wall 91 adjacent to the field of view of the ultrasonic sensor is not limited. The field of view of the ultrasonic sensor has a boundary line 97 adjacent to the housing 10, and the upper surface of the abutment wall 91 on the housing 10 at a position adjacent to the boundary line 97 is lower than the boundary line 97. The boundary line 97 has a minimum distance δ 1 between the upper surface of the abutment wall 91 greater than 0. The description about the abutting wall 91 of the housing 10 in the present embodiment is equally applicable to the intelligent lawn mowers 100, 200, 300, 400 of the above-described four embodiments of the present invention.

As shown in fig. 34, the upper surface of the abutting wall 91 may be a curved surface, an inclined surface, or other irregular surfaces, in the intelligent lawn mower according to a preferred embodiment of the present invention, the abutting wall 91 is an inclined surface, the inclined surface is lower than the boundary line 97, and the relationship between the abutting wall 91 and the boundary line 97 can be achieved by the design of the housing 10, such as a slot on the housing along the field of view of the ultrasonic sensor, so as to facilitate the transmission of the ultrasonic waves without being blocked. The relationship between the adjacent wall 91 and the boundary 97 can also be achieved by adjusting the installation position and the pitch angle of the ultrasonic sensor relative to the front end of the intelligent mower, where the installation position of the ultrasonic sensor includes the installation position of the ultrasonic sensor along the front-back direction of the housing 10 and the installation height of the ultrasonic sensor, and also includes whether the ultrasonic sensor is embedded in the housing 10 or installed outside the housing 10, and although adjusting the position and the pitch angle of the ultrasonic sensor affects the detection field of view of the ultrasonic sensor, the sound wave transmission direction of the ultrasonic sensor can still be adjusted by other auxiliary structures. The ultrasonic transducer has an axis, the inclined surface is inclined at an angle θ 1 compared with the axis, the inclination angle θ 1 is required to be equal to or larger than φ ± σ (if the ultrasonic transducer is horizontally mounted with σ equal to 0, if the ultrasonic transducer is inclined upward by- σ, and if the ultrasonic transducer is inclined downward by + σ), the definition of the angle ensures that the ultrasonic waves emitted by the ultrasonic transducer do not hit the housing 10 to generate ultrasonic echoes. In this embodiment, the tangent and the bevel are one plane, since they are already bevels.

As shown in fig. 35, in the intelligent mower according to a preferred embodiment of the present invention, the abutting wall 91 is a curved surface, the abutting wall 91 is lower than the boundary line 97, and the relationship between the curved surface and the outermost edge of the boundary line 97 can be achieved by the design of the curved surface on the housing 10. The relationship between the inclined surface and the outermost edge of the boundary line 97 may be achieved by adjusting the installation position and the pitch angle of the ultrasonic sensor with respect to the front end of the intelligent lawn mower. The ultrasonic transducer has an axis, the curved surface has a tangent line with an inclination angle θ 2 with respect to the axis, the inclination angle θ 2 being required to be θ 2 ≧ Φ ± σ (if the ultrasonic transducer is mounted horizontally σ ═ 0, if the ultrasonic transducer is tilted upward- σ, if the ultrasonic transducer is tilted downward + σ), the definition of the angle ensures that the ultrasonic waves emitted by the ultrasonic transducer do not hit the housing 10 to generate ultrasonic echoes. The formula θ ≧ Φ ± σ is summarized as in fig. 34 and 35 (if the ultrasonic sensor is mounted horizontally σ is 0, if the ultrasonic sensor is tilted upward by- σ, if the ultrasonic sensor is tilted downward by + σ).

In the intelligent lawn mower according to the other preferred embodiment of the present invention, the abutting wall 91 may have an irregular shape other than a slope or a curved surface, such as a wave shape, a step shape, or the like. The above description of the invention regarding the angular relationship of the tangent line of the abutting wall 91 and the ultrasonic sensor is equally applicable to the intelligent lawn mowers 100, 200, 300, 400 of the above four embodiments of the invention.

As shown in fig. 36, in the intelligent mower according to a preferred embodiment of the present invention, the intelligent mower may further include a fifth ultrasonic sensor 92, an output end of the fifth ultrasonic sensor 92 is connected to an input end of the control module 30, the fifth ultrasonic sensor 92 is configured to detect whether there is a slope in a forward direction of the intelligent mower in real time, and the control module 30 is configured to control whether the intelligent mower ascends according to slope information detected by the fifth ultrasonic sensor 92. The fifth ultrasonic sensor 92 is installed on the housing 10 at an angle relative to the bottom surface of the housing 10, when the intelligent lawn mower mows grass on flat ground, the fifth ultrasonic sensor 92 cannot recognize an obstacle, and when there is a slope in front of the intelligent lawn mower, the fifth ultrasonic sensor 92 receives an ultrasonic echo reflected by the slope surface and recognizes that the obstacle is a slope. The installation angle of the axis of the fifth ultrasonic sensor 92 with respect to the bottom surface of the housing 10 depends mainly on the inclination angle of the slope in the working area. When the machine is initially set, the approximate parameters of the slope angle of the slope can be input into the intelligent mower according to the working environment. The arrangement and description of the fifth ultrasonic sensor 92 of this embodiment are equally applicable to the intelligent lawn mowers 100, 200, 300, 400 of the above-described four embodiments of the present invention. In practical application, when the height of the housing is high, the distance from the slope to the axis of the ultrasonic sensor is greater than the blind area range, so the fifth ultrasonic sensor 92 can be installed at the front end of the housing; when the height of the shell is low, the distance from the slope surface to the axis of the ultrasonic sensor may be in a dead zone range, and in order to avoid the dead zone of the fifth ultrasonic sensor 92, the fifth ultrasonic sensor 92 may be arranged higher than the shell.

According to the intelligent mower, when the intelligent mower reaches the preset distance, in order to avoid collision with the obstacle, the intelligent mower does not continue to advance towards the obstacle, and preset obstacle avoidance measures are executed, wherein the preset obstacle avoidance measures are that the control module controls the intelligent mower to stop moving, or turn, or move and turn, or continue to move along the original direction after turning, or decelerate and turn. The distance between the intelligent mower and the obstacle is larger than 0.

In the intelligent mower according to a preferred embodiment of the present invention, as long as the intelligent mower 100 can be stopped or retreated quickly, the preset distance may be infinitely small and close to 0 cm, but not equal to 0, for example, when the braking effect of the intelligent mower 10 is good enough to realize instant braking or retreating, the intelligent mower can reach the effect of approaching an obstacle infinitely but not colliding. However, in order to optimize the movement of the intelligent lawn mower and improve the mowing efficiency, the lawn mower is expected to perform preset movement logic to continue working instead of stopping.

As shown in fig. 48 and 49, in the intelligent lawn mower according to a preferred embodiment of the present invention, the intelligent lawn mower may select the obstacle avoidance logic according to three virtual detection areas formed by the control module, and may also perform virtual partition obstacle avoidance by using a preset distance L. As shown in fig. 48 and 49, fig. 48 and 49 are schematic diagrams of the partitioned obstacle avoidance of the intelligent lawn mower, the housing 10 has a housing axis 210 extending in the front-back direction, and the control module 30 is provided with a virtual E-zone closest to the housing, F-zones and G-zones located in front of the E-zone, and an H-zone located in front of the F-zones and the G-zone in front of the housing 10. The regions F and G are located on both sides of the housing axis 210 with the axis as a boundary, and the detection range of the ultrasonic sensor assembly 20 at least covers the regions E, F and G. The intelligent mower in the area E can generate damage and collision with obstacles when going forward or turning. And the intelligent mower in the F area can not generate damage collision with the barrier when turning right. And the intelligent mower in the G area can not generate damage collision with the barrier when turning left. The intelligent mower in the H area cannot damage and collide with obstacles when going forward or turning. When the obstacle is detected in the area E, the control module controls the intelligent mower to execute backward obstacle avoidance measures. When the obstacles are detected in the F area and the G area, the control module controls the intelligent mower to execute backward obstacle avoidance measures. When the obstacle is detected only in the area F, the control module controls the intelligent mower to execute an obstacle avoidance measure of right-turning or backward movement. When the obstacle is detected only in the G area, the control module controls the intelligent mower to execute obstacle avoidance measures of left-turning or backward movement. When the obstacle is detected in the H area, the control module controls the intelligent mower to execute obstacle avoidance measures of advancing, retreating or turning. When no obstacle is detected in the zone E, the zone F and the zone G, the control module controls the intelligent mower to execute obstacle avoidance measures of advancing, retreating or turning

As shown in fig. 48, for the regions of the F zone and the G zone near the housing axis 210, which belong to the obstacle avoidance floating region, the intelligent mower may not turn left or right, so for the region, a backward obstacle avoidance measure may be directly adopted, for the area of the floating region, mainly related to the speed of the intelligent mower and the width of the machine, the control module 30 may calculate, according to the distance of the obstacle, the speed of the intelligent mower, the structural parameters of the body, and the turning radius, which obstacle avoidance logic may be adopted to avoid colliding with the obstacle according to an algorithm. Regarding the division of the zone E, virtual setting can be performed according to a preset distance, the virtual setting can be performed according to a software mode, and the range of the virtual zone E is different along with different moving speeds of the intelligent mower, so that the short-distance non-contact obstacle avoidance can be realized as much as possible, and the accessibility of the intelligent mower is improved. The requirement of setting the zone E is that the intelligent mower can only take backward obstacle avoidance measures within the range of the zone E. When the machine is controlled by software, because the size information (such as length, width, chamfer radian of the side face of the front end and the like) and the performance parameters (such as braking capacity, signal transmission speed and the like) of the machine are arranged in the machine, the machine can automatically distinguish the range of the E area by combining the preset distance and the current movement speed.

As shown in fig. 48, taking the intelligent mower 100 of the first embodiment as an example, the sum L1+ L2 in the zone E range is equal, the sum L1 '+ L2' is equal, L1 is the distance from the axis of the first ultrasonic sensor to the obstacle, and L2 is the distance from the axis of the second ultrasonic sensor to the obstacle. As shown in fig. 49, the sum of L3+ L4 is equal, the sum of L3 '+ L4' is equal, L3 is the distance from the axis of the first ultrasonic sensor to the obstacle, and L4 is the distance from the axis of the second ultrasonic sensor to the obstacle in the same ranges of F zone and G zone. The descriptions of obstacle avoidance for the embodiments of the present invention illustrated in fig. 48 and 49 are also applicable to the intelligent lawn mowers 100, 200, 300, 400 of the above four embodiments of the present invention.

As shown in fig. 50, fig. 50 is a logic diagram of obstacle avoidance performed by the intelligent mower of the present invention, when the intelligent mower of the present invention keeps a certain distance from an obstacle 99, both the distance H1 and the distance H2 are greater than 0, and the intelligent mower of the present invention can achieve non-contact obstacle avoidance. The circles in the figure indicate the assumed obstacles 99.

The embodiment solves the problem of short-distance non-contact obstacle avoidance.

As shown in fig. 42, the general transmitting-receiving integrated ultrasonic sensor 21 has a problem of a blind zone because it needs to simultaneously perform the operations of transmitting ultrasonic waves and receiving an obstacle echo, and the principle of forming the blind zone is as follows: the ultrasonic wave is transmitted by a high-voltage pulse, and after the pulse is finished, the ultrasonic wave sensor has a long-time aftershock. In the aftershock time period, the reflected wave signal of the sound wave is not distinguished from the transmitted wave signal, so that a ranging blind area of the ultrasonic sensor is formed. The aftershocks have different time and the distance measuring blind areas are correspondingly different. The radius of a range-finding blind area of a common ultrasonic sensor is more than 30 cm. Therefore, as shown in fig. 43, fig. 43(a) is the preset distance S1 of the ultrasonic sensor in which the blind zone exists, and fig. 43(b) is the preset distance S2 of the ultrasonic sensor in which the partial blind zone is solved, S2< S1. If the problem of the blind area is completely solved, the size of the S2 is smaller, so that if the problem of the blind area is not solved, the self-moving equipment adopting the ultrasonic sensor as a non-contact obstacle avoidance means cannot judge the obstacle within 30 centimeters away from the ultrasonic sensor. Therefore, in order to avoid colliding with the obstacle, the distance of the reaction action from the mobile device must be larger than the blind area radius, that is, the preset distance (the distance required to avoid the obstacle) must be larger than the blind area radius. This can affect the body accessibility of the self-moving device. Regarding the blind area problem, the blind area can be reduced or eliminated by hardware improvement in the prior art, and can also be reduced or eliminated by a software algorithm, but no matter the hardware improvement or the application of the software algorithm, additional structural setting or algorithm processing is required. The self-moving equipment of the embodiment of the invention can realize the purpose of reducing or eliminating the blind area without improving hardware and increasing software algorithm. Embodiments for solving the near-distance non-contact obstacle avoidance problem will be described below with reference to specific embodiments.

Fifth embodiment:

the self-moving apparatus of the fifth embodiment of the present invention is the same in structure and control as the intelligent lawn mower 100 of the first embodiment, and will not be described repeatedly and provided repeatedly in the drawings. The description is made directly with reference to the drawings of the intelligent lawn mower 100 of the first embodiment.

As shown in fig. 6 and 8, the self-moving device according to the fifth embodiment of the present invention is different from the intelligent lawn mower 100 according to the first embodiment in that the third detection area covers at least a part of the first distance measurement blind area of the first ultrasonic sensor 21 and a part of the second distance measurement blind area of the second ultrasonic sensor 23 at the same time in the first arrangement of the self-moving device according to the fifth embodiment (the first arrangement is the same as the first arrangement of the intelligent lawn mower 100 according to the first embodiment).

As shown in fig. 7 and 9, the self-moving apparatus according to the fifth embodiment of the present invention is different from the intelligent lawnmower 100 according to the first embodiment in that in the second arrangement of the self-moving apparatus according to the fifth embodiment (the second arrangement is the same as the second arrangement of the intelligent lawnmower 100 according to the first embodiment), the position of the ultrasonic sensor module 20 is moved backward with respect to the front end of the housing 10, and for the ultrasonic sensor having a blind area, a part or all of the blind area of the ultrasonic sensor falls on the housing 10. Therefore, the third detection area does not need to cover all of the first ranging blind areas of the first ultrasonic sensor 21 and the second ranging blind areas of the second ultrasonic sensor 23. In the second arrangement of the self-moving apparatus of the fifth embodiment, the third detection area only needs to cover the blind areas (the blind area of the first ultrasonic sensor and the blind area of the second ultrasonic sensor) located at the front end of the housing 10 at the same time. Therefore, the specific values of the angles formed between the first ultrasonic sensor 21 and the second ultrasonic sensor 23 only need to make the third detection area cover the blind area at the front end of the housing 10 at the same time.

As shown in fig. 3 and 4, in the self-moving apparatus according to the fifth embodiment of the present invention, the first ultrasonic sensor 21 and the second ultrasonic sensor 23 are at an angle σ 1 ranging from 60 ° to 110 °. In a preferred embodiment of the self-moving apparatus of the fifth embodiment, the crossing angle σ 1 of the first ultrasonic sensor 21 and the second ultrasonic sensor 23 is in the range of 70 ° to 90 °. The intersection of the first ultrasonic sensor 21 and the second ultrasonic sensor 23 in the numerical range of 70 degrees to 90 degrees can ensure that the overlapping detection area covers a blind area, and can also avoid that the ultrasonic wave transmitted by one ultrasonic sensor is directly received by the other ultrasonic sensor without being reflected by an obstacle, thereby reducing the signal crosstalk between the first ultrasonic sensor 21 and the second ultrasonic sensor 23 and improving the accuracy of obstacle identification. The angle formed between the first ultrasonic sensor 21 and the second ultrasonic sensor 23 means the angle formed between the first axis 211 and the second axis 231.

As shown in fig. 5, in the self-moving apparatus of the fifth embodiment of the present invention, an angle ω 1 between the first axis 211 and the housing axis 210 is in the range of 10 ° -80 °, and an angle ω 2 between the second axis 231 and the housing axis 210 is in the range of 25 ° -55 °, with respect to the housing axis 210. In the angle range, the coverage blind zone of the overlapping detection area can be ensured, the ultrasonic wave emitted by one ultrasonic sensor can be prevented from being directly received by the other ultrasonic sensor without being reflected by an obstacle, the signal crosstalk between the first ultrasonic sensor 21 and the second ultrasonic sensor 23 is reduced, and the accuracy of obstacle identification is improved.

In the self-moving apparatus according to the fifth embodiment of the present invention, specific values of the angles formed between the first ultrasonic sensor 21 and the second ultrasonic sensor 23 may vary according to hardware parameters such as the distance between the first ultrasonic sensor 21 and the second ultrasonic sensor 23 and the beam divergence angle of the ultrasonic sensor. In practical applications, the arrangement of the first ultrasonic sensor 21 and the second ultrasonic sensor 23 only needs to reach the third detection area capable of forming an overlap, and the third detection area can cover at least a part of the first ranging blind area of the first ultrasonic sensor 21 and a part of the second ranging blind area of the second ultrasonic sensor 23 at the same time.

In the self-moving apparatus according to the fifth embodiment of the present invention, since an obstacle in the overlapping detection area may receive ultrasonic echoes from more than one ultrasonic sensor, taking the case where the first ultrasonic sensor 21 transmits ultrasonic waves as an example, when there is an obstacle in the overlapping detection area and the obstacle is located within the blind area range of the first ultrasonic sensor 21, since the blind area of the first ultrasonic sensor 21 itself still actually exists, the first ultrasonic sensor 21 itself cannot distinguish whether the ultrasonic echo of the obstacle is the ultrasonic echo of the obstacle or the aftershock after the ultrasonic wave is transmitted by itself, but since the second ultrasonic sensor 23 can receive the ultrasonic echo in the overlapping detection area, and for the second ultrasonic sensor 23, the position of the obstacle is not within the blind area range of the second ultrasonic sensor 23, or even if the position of the obstacle is within the blind area range of the second ultrasonic sensor 23, because the second ultrasonic sensor 23 does not emit ultrasonic waves at this time and is only responsible for receiving the echo of the obstacle, the second ultrasonic sensor 23 can be distinguished from the ultrasonic echo of the obstacle without being subjected to crosstalk, and based on the principle, the first ultrasonic sensor 21 and the second ultrasonic sensor 23 are arranged in an intersecting manner at an angle, so that a ranging blind area of the self-moving device can be shortened or even eliminated, the accessibility of the self-moving device is improved, and the self-moving device is facilitated to adapt to different working conditions. And because the test blind area of the ultrasonic sensor is shortened or eliminated, the preset distance can be set to be smaller, and the short-distance obstacle detection can be realized on the premise of realizing the non-contact obstacle avoidance. For the self-moving equipment, the close distance can enable the mower to cut more grass, which is beneficial to improving the working efficiency.

In the self-moving device of the fifth embodiment of the present invention, the problem of the blind area can be solved at the same time only by the cross design of the two ultrasonic sensors, so as to achieve the effect of accessibility, achieve the purpose of knowing the direction of the obstacle, and also consider the solution of the problem of different working conditions (such as an ascending slope, a narrow passage, and a side wall) at the same time, and the description of the different working conditions is described below. The self-moving equipment of the fifth embodiment of the invention has the advantages of fewer used parts, convenient part arrangement, more solved problems and saved use cost.

In another embodiment of the self-moving apparatus according to the fifth embodiment of the present invention, as in the intelligent lawnmower 100 according to the first embodiment, three or more ultrasonic sensors may be provided, and the coverage of the blind area may be ensured by sequentially increasing the area of the overlapping area. The arrangement of the three or more ultrasonic sensors, the signal transmission/reception definition, and the position determination of the obstacle are the same as those in the intelligent lawnmower 100 according to the first embodiment.

Sixth embodiment:

the self-moving apparatus according to the sixth embodiment of the present invention is identical in structure and control to the intelligent lawn mower 200 according to the second embodiment, and a repetitive description and a repetitive provision of drawings will not be provided herein. The description is made directly with reference to the drawings of the intelligent lawn mower 200 of the second embodiment.

As shown in fig. 13, the self-moving apparatus of the sixth embodiment of the present invention is different from the intelligent lawnmower 200 of the second embodiment in that in the first arrangement of the self-moving apparatus of the sixth embodiment (the first arrangement is the same as the first arrangement of the intelligent lawnmower 200 of the second embodiment), the third detection area covers at least a part of the first distance measurement blind area of the first ultrasonic sensor 41 and a part of the second distance measurement blind area of the second ultrasonic sensor 43 at the same time.

As shown in fig. 14, the self-moving apparatus according to the sixth embodiment of the present invention is different from the intelligent lawnmower 200 according to the second embodiment in that, in the second arrangement of the self-moving apparatus according to the sixth embodiment (the second arrangement is the same as the second arrangement of the intelligent lawnmower 200 according to the second embodiment), the position of the ultrasonic sensor assembly 20 is moved backward with respect to the front end of the housing 10, and for the ultrasonic sensor having a blind area, a part or all of the blind area of the ultrasonic sensor falls on the housing 10. Therefore, the third detection area does not need to cover all of the first ranging blind area of the first ultrasonic sensor 41 and the second ranging blind area of the second ultrasonic sensor 43. In the second arrangement of the self-moving apparatus of the sixth embodiment, the third detection area only needs to cover the blind areas (the blind area of the first ultrasonic sensor and the blind area of the second ultrasonic sensor) located at the front end of the housing 10 at the same time.

In the self-moving apparatus according to the sixth embodiment of the present invention, since an obstacle in the overlapping detection area may receive ultrasonic echoes from more than one ultrasonic sensor, taking the case where the first ultrasonic sensor 41 transmits ultrasonic waves as an example, when an obstacle exists in the overlapping detection area and the obstacle is located within the blind area range of the first ultrasonic sensor 41, since the blind area of the first ultrasonic sensor 41 itself still actually exists, the first ultrasonic sensor 41 itself cannot distinguish whether the ultrasonic echo of the obstacle is the ultrasonic echo of the obstacle or the aftershock after the ultrasonic wave is transmitted by itself, but since the second ultrasonic sensor 43 can receive the ultrasonic echo in the overlapping detection area, and for the second ultrasonic sensor 43, the position of the obstacle is not within the blind area range of the second ultrasonic sensor 43, or even if the position of the obstacle is within the blind area range of the second ultrasonic sensor 43, because the second ultrasonic sensor 43 does not emit ultrasonic waves at this time and is only responsible for receiving the echo of the obstacle, the second ultrasonic sensor 43 can be distinguished from the ultrasonic echo of the obstacle without being subjected to crosstalk, and based on the principle, the first ultrasonic sensor 41 and the second ultrasonic sensor 43 are arranged in an intersecting manner at an angle, so that a ranging blind area of the self-moving device can be shortened or even eliminated, the accessibility of the self-moving device is improved, and the self-moving device is facilitated to adapt to different working conditions. And because the test blind area of the ultrasonic sensor is shortened or eliminated, the preset distance can be set to be smaller, and the short-distance obstacle detection can be realized on the premise of realizing the non-contact obstacle avoidance. For the self-moving equipment, the close distance can enable the mower to cut more grass, which is beneficial to improving the working efficiency.

The self-moving equipment of the sixth embodiment of the invention can simultaneously solve the problems of accessibility and obstacle direction by only arranging the two ultrasonic sensors in parallel, and can also simultaneously consider the solution of the problems of different working conditions (such as uphill), and the self-moving equipment of the sixth embodiment of the invention has the advantages of fewer used parts, convenient part arrangement, more solved problems and saved use cost.

In another embodiment of the self-moving apparatus according to the sixth embodiment of the present invention, as in the intelligent lawnmower 200 according to the second embodiment, three or more ultrasonic sensors may be provided, and the coverage of the blind area may be ensured by sequentially increasing the area of the overlapping area. The arrangement of the three or more ultrasonic sensors, the signal transmission/reception definition, and the position determination of the obstacle are the same as those in the intelligent lawnmower 200 according to the second embodiment.

Seventh embodiment:

the self-moving apparatus of the seventh embodiment of the present invention is the same in structure and control as the intelligent lawn mower 300 of the third embodiment, and a repetitive description and a repetitive provision of drawings will not be made herein. The description is made directly with reference to the drawings of the intelligent lawn mower 300 of the third embodiment.

As shown in fig. 18, the self-moving apparatus according to the seventh embodiment of the present invention is different from the intelligent lawnmower 300 according to the third embodiment in that, in the first arrangement of the self-moving apparatus according to the seventh embodiment (the first arrangement is the same as the first arrangement of the intelligent lawnmower 300 according to the third embodiment), the overlapping area where the third ultrasonic sensor 65 and the first ultrasonic sensor 61 intersect covers the first distance measuring blind area of the first ultrasonic sensor 61, and the overlapping area where the second ultrasonic sensor 63 and the fourth ultrasonic sensor 67 intersect covers the second distance measuring blind area of the second ultrasonic sensor 63. In this embodiment, in the range of the blind zone of the first ultrasonic sensor 61, the third ultrasonic sensor 65 can accurately receive the ultrasonic echo of the obstacle, and in the range of the blind zone of the second ultrasonic sensor 63, the fourth ultrasonic sensor 67 can accurately receive the ultrasonic echo of the obstacle, so as to achieve the purpose of reducing or eliminating the blind zone.

As shown in fig. 19, the self-moving apparatus according to the seventh embodiment of the present invention is different from the intelligent mower 300 according to the third embodiment in that in the second arrangement of the self-moving apparatus according to the seventh embodiment (the second arrangement is the same as the first arrangement of the intelligent mower 300 according to the third embodiment), the position of the ultrasonic sensor assembly 20 is moved backward with respect to the front end of the housing 10, and for the ultrasonic sensor having a blind area, a part or all of the blind area of the ultrasonic sensor falls on the housing 10. Therefore, the third detection area and the fourth detection area do not need to cover all of the first ranging blind areas of the first ultrasonic sensor 61 and the second ranging blind areas of the second ultrasonic sensor 63. In the second arrangement of the intelligent mower 300 according to the seventh embodiment, the third detection area and the fourth detection area only need to cover the blind areas (the blind area of the first ultrasonic sensor and the blind area of the second ultrasonic sensor) located at the front end of the housing 10.

As shown in fig. 18 and 19, in practical applications, the third ultrasonic sensor 65 and the fourth ultrasonic sensor 67 are arranged only to form a third detection area and a fourth detection area which are overlapped, the third detection area can cover at least a part of the first distance measurement dead zone of the first ultrasonic sensor 61, and the fourth detection area can cover at least a part of the second distance measurement dead zone of the second ultrasonic sensor 63.

In this first arrangement of the self-moving apparatus according to the seventh embodiment of the present invention, since an obstacle in the overlapping detection area may receive an ultrasonic echo from more than one ultrasonic sensor, taking the case where the first ultrasonic sensor 61 transmits an ultrasonic wave, when an obstacle is present in the overlapping detection area and the obstacle is located within the range of the blind zone of the first ultrasonic sensor 61, since the blind zone of the first ultrasonic sensor 61 itself still actually exists, the first ultrasonic sensor 61 itself cannot distinguish whether it is an ultrasonic echo of the obstacle or a aftershock after transmitting an ultrasonic wave by itself, but since the third ultrasonic sensor 65 can also receive an ultrasonic echo in the overlapping detection area, and since the third ultrasonic sensor 65 does not transmit an ultrasonic wave and is responsible for receiving only an obstacle echo, the third ultrasonic sensor 65 can distinguish it as an ultrasonic echo of the obstacle without crosstalk, based on this principle, the first ultrasonic sensor 61 and the third ultrasonic sensor 65 are disposed to intersect with each other at an angle, and the second ultrasonic sensor 63 and the fourth ultrasonic sensor 67 are disposed to intersect with each other at an angle, so that the ranging blind zone of the self-moving device of the seventh embodiment can be shortened or even eliminated, the accessibility of the self-moving device is improved, and the self-moving device of the seventh embodiment can be adapted to different working conditions. And because the test blind area of the ultrasonic sensor is shortened or eliminated, the preset distance can be set to be smaller, and the short-distance obstacle detection can be realized on the premise of realizing the non-contact obstacle avoidance. For the mower, the mower can cut more grass in a short distance, and the working efficiency is improved.

As shown in fig. 17, in the self-moving apparatus of the seventh embodiment of the present invention, the first ultrasonic sensor 61 and the third ultrasonic sensor 65 are at an angle γ 1 ranging from 10 ° to 80 °. In a preferred embodiment of the self-moving apparatus of the seventh embodiment, the crossing angle γ 1 of the first ultrasonic sensor 61 and the third ultrasonic sensor 65 is in the range of 25 ° -55 °. The 25-55 degree value range can ensure the coverage dead zone of the overlapped detection area. The angle formed between the first ultrasonic sensor 61 and the third ultrasonic sensor 65 is an angle formed between the first axis 611 and the third axis 651. The angle γ 2 between the second ultrasonic sensor 63 and the fourth ultrasonic sensor 67 is in the range of 10-80 °. In a preferred embodiment of the self-moving apparatus of the seventh embodiment, the crossing angle γ 2 of the second ultrasonic sensor 63 and the fourth ultrasonic sensor 67 is in the range of 25 ° -55 °. The 25-55 degree value range can ensure the coverage dead zone of the overlapped detection area. The angle formed between the second ultrasonic sensor 63 and the fourth ultrasonic sensor 67 means the angle formed between the second axis 631 and the fourth axis 671.

Eighth embodiment:

the self-moving apparatus according to the eighth embodiment of the present invention is identical to the intelligent lawn mower 400 according to the fourth embodiment in structure and control, and will not be described repeatedly herein and provided repeatedly in the drawings. The description is made directly using the drawings of the intelligent lawn mower 400 of the first embodiment.

As shown in fig. 23, the self-moving apparatus according to the eighth embodiment of the present invention is different from the intelligent lawnmower 400 (including only two ultrasonic sensors) according to the fourth embodiment in that the overlapping detection area formed by the second ultrasonic sensor 83 crossing the first ultrasonic sensor 81 covers at least a part of the first ranging blind area of the first ultrasonic sensor 81.

As shown in fig. 22, in the first arrangement of the self-moving device according to the eighth embodiment of the present invention (the first arrangement is the same as the first arrangement of the smart mower 400 according to the fourth embodiment), the third detection area formed by the overlapping arrangement of the second ultrasonic sensor 83, the third ultrasonic sensor 85 and the first ultrasonic sensor 81 at an angle to each other can reduce or eliminate the blind area by covering at least a part of the first ranging blind area in the first transceiving area at the same time through the third detection area.

As shown in fig. 24, the self-moving apparatus according to the eighth embodiment of the present invention is different from the intelligent lawnmower 400 according to the fourth embodiment in that in the second arrangement of the self-moving apparatus according to the eighth embodiment (the second arrangement is the same as the second arrangement of the intelligent lawnmower 400 according to the fourth embodiment), the position of the ultrasonic sensor assembly 20 is moved backward with respect to the front end of the housing 10, and for the ultrasonic sensor having a blind area, a part or all of the blind area of the ultrasonic sensor falls on the housing 10. The overlapping area of the second ultrasonic sensor 83, the third ultrasonic sensor 85 and the first ultrasonic sensor 81 forming an angle with each other does not need to cover the first distance measuring blind area of all the first ultrasonic sensors 81, and the third detection area only needs to cover the blind area of the first ultrasonic sensors 81 at the front end of the housing 10. Second and third ultrasonic sensors 83 and 85 and first ultrasonic sensor 81

As shown in fig. 21 and 22, in the self-moving apparatus according to the eighth embodiment of the present invention, the second ultrasonic sensor 83 and the first ultrasonic sensor 81 form an angle ∈ 2 ranging from 10 ° to 80 °. In a preferred embodiment of the self-moving apparatus of the eighth embodiment, the crossing angle e 2 of the second ultrasonic sensor 83 and the first ultrasonic sensor 81 is in the range of 25 ° to 55 °. The intersection of the second ultrasonic sensor 83 and the first ultrasonic sensor 81 in the numerical range of 25 ° to 55 ° can ensure that the overlapping detection area covers the blind area. The angle formed between the second ultrasonic sensor 83 and the first ultrasonic sensor 81 means the angle formed between the second axis 831 and the first axis 811. The third ultrasonic sensor 85 and the first ultrasonic sensor 81 form an angle e 3 in the range of 10 to 80. In a preferred embodiment of the self-moving apparatus of the eighth embodiment, the crossing angle e 3 of the third ultrasonic sensor 85 and the first ultrasonic sensor 81 is in the range of 25 ° to 55 °. The intersection of the third ultrasonic sensor 85 of the 25-55 numerical range with the first ultrasonic sensor 81 can ensure that the overlapping detection area covers the blind area. The angle formed between the third ultrasonic sensor 85 and the first ultrasonic sensor 81 means the angle formed between the third axis 851 and the first axis 811.

As shown in fig. 21, in the self-moving apparatus according to the eighth embodiment of the present invention, only two ultrasonic sensors may be included, that is, the second ultrasonic sensor 83 and the first ultrasonic sensor 81, respectively, and the second ultrasonic sensor 83 intersects with the first ultrasonic sensor 81 to form an overlapping region, and the second ultrasonic sensor 83 may receive the obstacle echo in the first ranging blind area of the first ultrasonic sensor 81. The second ultrasonic sensor 83 is at an angle e 1 to the first ultrasonic sensor 81 in the range of 10-80. In a preferred embodiment of the self-moving apparatus of the eighth embodiment, the crossing angle e 1 of the second ultrasonic sensor 83 and the first ultrasonic sensor 81 is in the range of 25 ° to 55 °.

In the self-moving device according to the eighth embodiment of the present invention, since an independent ultrasonic sensor may receive an ultrasonic echo from an obstacle in the overlapping detection area, the ultrasonic sensor responsible for receiving the obstacle echo can distinguish the ultrasonic echo from the obstacle without being subjected to crosstalk, based on this principle, the range-finding blind area of the self-moving device according to the eighth embodiment can be shortened or even eliminated, the accessibility of the self-moving device is improved, and the self-moving device is facilitated to adapt to different working conditions. And because the test blind area of the ultrasonic sensor is shortened or eliminated, the preset distance can be set to be smaller, and the short-distance obstacle detection can be realized on the premise of realizing the non-contact obstacle avoidance. For the self-moving equipment, the close distance can enable the mower to cut more grass, which is beneficial to improving the working efficiency.

An embodiment for solving the problem of uphill.

Fig. 37-41 show schematically the situation where the mobile device is encountering a slope, fig. 39 shows an angle between the sensor axis and the slope of β 1, fig. 40 shows an angle between the sensor axis and the slope of β 2, a slope with an angle of α exists in the forward direction of the mobile device, as shown in fig. 37, the ultrasonic wave emitted by the ultrasonic sensor assembly 20 is blocked by the slope and reflected to the ultrasonic sensor assembly 20, the control module 30 analyzes and calculates the distance S between the location where the reflected wave is generated and the mobile device based on the time difference between the reflected wave and the emitted wave received by the ultrasonic sensor assembly 20, the distance S is the distance detected by the ultrasonic sensor assembly when the sensor assembly 20 is disposed at the front end of the housing 10 from the mobile device, the distance S is the distance D detected by the ultrasonic sensor assembly when the sensor assembly 20 is disposed at a distance D from the front end of the housing 10, the control module 30 determines only a specific distance D from the front end of the ultrasonic sensor assembly that the distance S is less than the predetermined distance D when the distance S is determined based on the time difference between the emitted and received by the ultrasonic wave, the control module 30 determines whether the specific distance L is equal to the predetermined distance L, and the distance L when the control module 30 is determined to be equal to the predetermined distance L.

In the prior art, since the self-moving device cannot realize short-distance detection, the value of the preset distance L is relatively large and is generally larger than the value of S, so that the self-moving device is avoided without approaching a slope.

On the other hand, in the prior art, because the ultrasonic sensor generally has a ranging blind area, the preset distance L must be greater than the radius r of the ranging blind area, when the radius r of the ranging blind area is greater or the slope α is greater, the self-moving device has not moved to the position of the slope toe of the slope, and the distance S is less than or equal to the preset distance L, the control module 30 controls the self-moving device to perform an obstacle avoidance measure, so that the self-moving device does not approach the slope surface, and the obstacle is avoided.

As shown in fig. 44, fig. 44 shows the obstacle distance measurement result and the obstacle echo signal for the case where the normal obstacle corresponds to the slope. Fig. 44a (1) shows that the self-moving device encounters a slope and obtains the distance S3, fig. 44b (1) shows that the self-moving device encounters a common obstacle 73 and obtains the distance S4, and fig. 44b (2) shows that the ultrasonic echo intensity value of the obstacle 73 received by the self-moving device is higher than the reflected wave threshold 709, so the control module analyzes the received ultrasonic echo to obtain that the obstacle 73 exists at the position. The same distance S4 corresponds to the first location 71 on the slope, but although the field of view from the mobile device may be able to cover the first location 71 and receive the ultrasonic echo transmitted from the first location 71, as can be seen from fig. 44a (2), the echo intensity value of the ultrasonic wave reflected from the first location 71 is lower than the reflected wave threshold 709, so although the ultrasonic echo can be received, the actual control module does not consider the first location 71 to be an obstacle to be avoided. As can be seen from fig. 44b (1), the point of the obstacle detected by the self-moving device is actually at the second position 72, and the distance between the second position 72 and the ultrasonic sensor of the self-moving device is S3, S3 > S4, i.e., the distance actually measured by the self-moving device is larger, but since the self-moving device of the present invention has improved accessibility, the value of the preset distance L is relatively smaller, so even when the self-moving device walks down the slope, the measured distance value is still larger than the preset distance L, and therefore the self-moving device will continue to advance and go up the slope.

An embodiment for solving the problem of uphill will be described below with reference to a specific embodiment.

Ninth embodiment:

the self-moving apparatus according to the ninth embodiment of the present invention is identical to the self-moving apparatus according to the fifth embodiment, and the repetitive description and the repetitive provision of the drawings will not be made herein. In the self-moving device of the ninth embodiment of the present invention, the range-finding blind area of the self-moving device can be shortened or eliminated by forming the field-of-view overlapping detection area coverage blind area by the two ultrasonic sensors forming an angle with each other, the preset distance L does not need to be greater than or equal to the radius r of the blind area, and the preset distance L can be a very small value, for example, about 5 cm. When the mobile device moves to the slope toe of the slope, the distance S from the front end of the shell of the mobile device to the slope surface is larger than the preset distance L, the mobile device still moves forward in the original direction, and the mobile device climbs up the slope surface from the slope toe. After the mobile device climbs up the slope, the ultrasonic sensor assembly 20 has the same slope angle with the casing 10, and the ultrasonic waves emitted by the ultrasonic sensor assembly 20 are not reflected by the slope. Therefore, the probability that the slope is judged to be the obstacle by the self-moving equipment in the embodiment of the invention is greatly reduced, so that the self-moving equipment is prevented from entering the slope area to execute work.

Tenth embodiment:

the self-moving apparatus according to the tenth embodiment of the present invention is identical to the self-moving apparatus according to the sixth embodiment, and the repetitive description and the repetitive provision of the drawings will not be made herein. The self-moving device of the tenth embodiment of the present invention only has two ultrasonic sensors arranged in parallel, so that the detection areas of the ultrasonic sensors are overlapped, and the overlapped detection areas cover the blind areas, thereby shortening or eliminating the distance measurement blind area of the self-moving device, the preset distance L does not need to be greater than or equal to the radius r of the blind area, and the preset distance L may be a very small value, such as about 5 cm. When the mobile device moves to the slope toe of the slope, the distance S from the front end of the shell of the mobile device to the slope surface is larger than the preset distance L, the mobile device still moves forward in the original direction, and the mobile device climbs up the slope surface from the slope toe. After the mobile device climbs up the slope, the ultrasonic sensor assembly 20 has the same slope angle with the casing 10, and the ultrasonic waves emitted by the ultrasonic sensor assembly 20 are not reflected by the slope. Therefore, the probability that the slope is judged to be the obstacle by the self-moving equipment in the embodiment of the invention is greatly reduced, so that the self-moving equipment is prevented from entering the slope area to execute work.

Eleventh embodiment:

the self-moving apparatus according to the eleventh embodiment of the present invention is identical to the self-moving apparatus according to the seventh embodiment, and a repetitive description and a repetitive drawing are not provided herein. In the self-moving apparatus according to the eleventh embodiment of the present invention, an overlapping area formed by the intersection of the third ultrasonic sensor 65 and the first ultrasonic sensor 61 covers a first ranging blind area of the first ultrasonic sensor 61, and an overlapping area formed by the intersection of the second ultrasonic sensor 63 and the fourth ultrasonic sensor 67 covers a second ranging blind area of the second ultrasonic sensor 63. In this embodiment, in the range of the blind zone of the first ultrasonic sensor 61, the third ultrasonic sensor 65 can accurately receive the ultrasonic echo of the obstacle, and in the range of the blind zone of the second ultrasonic sensor 63, the fourth ultrasonic sensor 67 can accurately receive the ultrasonic echo of the obstacle, so that the purpose of reducing or eliminating the blind zone can be achieved, and the accessibility of the self-moving device of the eleventh embodiment is improved. Since the self-moving device of the eleventh embodiment of the present invention has good accessibility, the preset distance L is small, and the distance value between the slope and the self-moving device of the eleventh embodiment of the present invention is larger than the preset distance L, the self-moving device of the eleventh embodiment of the present invention directly realizes the slope ascending.

Twelfth embodiment:

the self-moving apparatus according to the twelfth embodiment of the present invention is identical to the self-moving apparatus according to the eighth embodiment, and the repetitive description and the repetitive provision of the drawings will not be made herein. In the self-moving device of the twelfth embodiment of the present invention, since an independent ultrasonic sensor may receive an ultrasonic echo from an obstacle in the overlapping detection area, the ultrasonic sensor responsible for receiving the obstacle echo can be distinguished from the ultrasonic echo of the obstacle without crosstalk, and based on this principle, the ranging blind area of the self-moving device of the twelfth embodiment can be shortened or even eliminated, and the accessibility of the self-moving device is improved. Since the self-moving device of the twelfth embodiment of the present invention has good accessibility, the preset distance L is small, and the distance value between the self-moving device of the twelfth embodiment of the present invention and the slope is greater than the preset distance L, the self-moving device of the eleventh embodiment of the present invention directly realizes the slope ascending.

Embodiments that address the problem of side walls.

As shown in fig. 45 and 46, fig. 45 and 46 are schematic views illustrating the operation condition when the mobile device encounters a wall from an oblique side. As shown in fig. 45, when the ultrasonic sensor is installed horizontally forward, the ultrasonic waves transmitted by the ultrasonic sensor are transmitted forward, and cannot be accurately identified from the mobile device to the wall on the inclined side because the ultrasonic wave of the ultrasonic sensor may not be received by the ultrasonic sensor after being transmitted, and the ultrasonic echo may be directly reflected by the wall.

For the special situation, as shown in fig. 46, the intelligent mower 100 according to the first embodiment of the present invention can solve the problem of the side wall, that is, the at least two ultrasonic sensors are designed to be at an angle, because the fields of view of the two ultrasonic sensors are crossed, no matter what angle the self-moving device and the wall are in, one of the ultrasonic sensors can always send ultrasonic waves and receive ultrasonic echoes, and then recognize that the wall is an obstacle, the moving direction of the self-moving device can be switched, and the above steps are repeated until the two ultrasonic sensors cannot receive the ultrasonic echoes.

Embodiments that address the problem of narrow channels.

When a narrow passage exists in a working area, under the condition that the width between the narrow passages is small, the distance for taking reaction action from the mobile equipment is necessarily larger than the radius of a blind area, the mobile equipment receives a reflected signal of ultrasonic waves no matter the mobile equipment turns left or turns right, so that the control module judges that the mobile equipment is always positioned in an obstacle, the mobile equipment cannot pass through the narrow passage, and the areas nearby the two sides of the passage cannot be mowed or cleaned easily.

As shown in fig. 47, fig. 47 is a schematic view of a working condition that the self-moving device encounters a narrow passage, and compared with the prior art, if the arrangement manner of the ultrasonic sensors in the intelligent lawn mower 100 according to the first embodiment of the present invention is adopted, that is, at least two ultrasonic sensors are designed to form an angle with each other, the preset distance L is smaller because the fields of view of the two ultrasonic sensors intersect with each other, so that the self-moving device can be closer to two side boundaries of the narrow passage. When the mobile device arrives at the narrow passage, the distance between the two sides of the narrow passage detected by the ultrasonic sensors and the mobile robot is still larger than the preset distance L, so that the mobile robot can smoothly enter the narrow passage, and after the mobile robot enters the narrow passage, the advancing direction of the mobile robot can be adjusted constantly through the design that the two ultrasonic sensors form an angle with each other, and the collision between the mobile robot and the side wall of the narrow passage is avoided. Therefore, the probability that the self-moving device cannot pass due to the narrow channel width is reduced, and the width distance of the non-performed work near the two side boundaries is also reduced.

Embodiments that address the issue of crosstalk prevention.

The self-moving apparatus of the thirteenth embodiment of the present invention is identical to the intelligent lawn mower 100 of the first embodiment, and the repeated description and the repeated drawings are not provided herein. The self-moving apparatus of the thirteenth embodiment of the present invention is different from the intelligent lawn mower 100 of the first embodiment in that: the first ultrasonic sensor 21 and the second ultrasonic sensor 23 in the self-moving device of the thirteenth embodiment have a physically isolated crosstalk prevention structure, and the crosstalk prevention structure may be an independent physical structure located between the first ultrasonic sensor 21 and the second ultrasonic sensor 23, or at least two physical structures respectively located outside or between the first ultrasonic sensor 21 and the second ultrasonic sensor 23.

As shown in fig. 62, 63, and 53 to 58, the self-moving apparatus further includes crosstalk prevention structures 80 and 89 for preventing the ultrasonic waves transmitted by one of the first ultrasonic sensor 21 and the second ultrasonic sensor 23 from being directly received by the other of the first ultrasonic sensor and the second ultrasonic sensor without being reflected by an obstacle. The crosstalk prevention structures 80, 89 are provided between the first ultrasonic sensor 21 and the second ultrasonic sensor 23. The crosstalk preventing structures 80, 89 extend toward the front side of the housing 10 without contacting the ultrasonic sensor axis. The crosstalk prevention structures 80, 89 extend toward the front side of the housing 10 no more than the intersection of the projections of the first and second ultrasonic sensor axes. The crosstalk preventing structures 80, 89 are located on the front side of the connecting line of the sound wave emission point of the first ultrasonic sensor 21 and the sound wave emission point of the second ultrasonic sensor 23 and extend toward the front side of the housing. The anti-crosstalk structures 80, 89 include a stop wall 801 disposed at an angle to the ultrasonic sensor axis.

As shown in fig. 62 and 63, in the first embodiment of the crosstalk prevention structure 80, the crosstalk prevention structure 89 is provided between the first ultrasonic sensor 21 and the second ultrasonic sensor 23. The crosstalk prevention structure 89 includes two stop walls, one of which (i.e., a first crosstalk prevention surface 893 described below) faces and extends partially into the first transceiving region, and the other of which (i.e., a second crosstalk prevention surface 894 described below) faces and extends partially into the second transceiving region. The first ultrasonic sensor 21 has a first axis 211 and the second ultrasonic sensor 23 has a second axis 231. The crosstalk preventing structure 89 has a first crosstalk preventing surface 893 facing the first ultrasonic sensor 21 and a second crosstalk preventing surface 894 facing the second ultrasonic sensor 23, the crosstalk preventing structure 89 does not exceed the first axis 211 and the second axis 231. The crosstalk-preventing structure 89 has a first edge 891 closest to the first axis 211 and a second edge 892 closest to the second axis 231. The first edge 891 does not exceed the first axis 211 and the second edge 892 does not exceed the second axis 231. In this embodiment of the present invention, the first edge 891 is an edge of the first anti-crosstalk surface 893 and the second edge 892 is an edge of the second anti-crosstalk surface 894. The first crosstalk preventing surface 893 extends partially into the first transceiving region and the second crosstalk preventing surface 894 extends partially into the second transceiving region. In this way, the crosstalk prevention structure 89 can block the transmitting and receiving areas at the adjacent positions of the first ultrasonic sensor 21 and the second ultrasonic sensor 23, and prevent the first ultrasonic sensor 21 and the second ultrasonic sensor 23 from generating signal crosstalk.

As shown in fig. 53, in the second embodiment of the crosstalk prevention structure, the first ultrasonic sensor 21 and the second ultrasonic sensor 23 have the crosstalk prevention structure 80 at the periphery, and each crosstalk prevention structure 80 has a stop wall 801. In this embodiment, the distance between the first ultrasonic sensor 21 and the second ultrasonic sensor 23 is 190mm to 200mm, and the structure of the stopper wall 801 is designed as follows within this distance range. The two stopper walls 801 extend partially into the first transceiving area and the second transceiving area, respectively. The stopper walls 801 of the first ultrasonic sensor 21 and the second ultrasonic sensor 23 correspond to the first crosstalk prevention surface 893 and the second crosstalk prevention surface 894 of the first embodiment. In this way, the crosstalk prevention structure 89 can block the transmitting and receiving areas at the adjacent positions of the first ultrasonic sensor 21 and the second ultrasonic sensor 23, and prevent the first ultrasonic sensor 21 and the second ultrasonic sensor 23 from generating signal crosstalk. As shown in fig. 2, the two crosstalk-proof structures 80 are symmetrically disposed along the housing axis 210.

Fig. 53 shows the difference between the arrangement of the stop wall 801 and the arrangement of no stop wall 801, and it can be seen from fig. 53(a) that the ultrasonic wave emitted from one of the ultrasonic sensors, i.e. the field of view 98, directly covers the adjacent other ultrasonic sensor, and because the axes of the two ultrasonic sensors are arranged at an angle, part of the ultrasonic wave emitted from one of the ultrasonic sensors is directly received by the adjacent other ultrasonic sensor, which may cause crosstalk to the ultrasonic wave emitted from the adjacent other ultrasonic sensor. As can be seen from fig. 53(b), after the stop wall 801 of the present invention is provided, the field of view 98 formed by the ultrasonic waves emitted from one of the ultrasonic sensors does not cover the adjacent other ultrasonic sensor, so that signal crosstalk between the ultrasonic sensors is avoided.

As shown in fig. 54 to 58, the crosstalk prevention structure 80 further includes a mounting hole 802 for corresponding to the sound emission surface of the ultrasonic sensor, a top surface 803, and a virtual parallel surface 804 parallel to the top surface 803, the sound emission surface of the ultrasonic sensor facing the mounting hole 802. The stopper wall 801 includes a first stopper wall 8011 and a second stopper wall 8012. The first blocking wall 8011 and the second blocking wall 8012 may be an integral structure or a separate structure, and when the first blocking wall 8011 and the second blocking wall 8012 are separate structures, the function of the blocking wall 801 is realized by overlapping the two structures. The second stopper 8012 is connected to the first stopper 8011 and extends from the first stopper 8011 to the front side of the housing, and the height of the second stopper 8012 is gradually reduced in the vertical direction. The first blocking wall has a top end, which in the embodiment of the invention is the top surface 803. The second blocking wall has an upper connection end 805, and the upper connection end 805 is lower than the top end in the height direction. The second stopper 8012 extends from the upper connecting end 805 to the front side of the housing 10, and gradually decreases in height in the height direction. The width of the first blocking wall 8011 is L3, most of the ultrasonic waves emitted by the ultrasonic sensor and causing mutual crosstalk are blocked by the first blocking wall 8011, and the remaining less interfering ultrasonic waves only need to be blocked by the second blocking wall 8012.

As shown in fig. 54 to 58, the second blocking wall 8012 has a gradually decreasing area toward the moving direction of the self-moving apparatus. Second blocking wall 8012 has an upper connecting end 805 connected to first blocking wall 8011 below top surface 803, a lower connecting end 806 remote from first blocking wall 8011 and below upper connecting end 805 in the height direction, and a connecting face 809 connecting upper connecting end 805 and lower connecting end 806. The crosstalk prevention structure 80 has a front end surface 808 substantially perpendicular to the top surface 803, where substantially perpendicular means that the front end surface may be completely perpendicular or may be approximately perpendicular.

Through the arrangement of the first blocking wall 8011 and the second blocking wall 8012, the first blocking wall 8011 can block most of crosstalk ultrasonic waves, the second blocking wall 8012 is lower than the first blocking wall 8011 in structure to block the rest crosstalk prevention waves, and is approximately triangular in structure, and has a characteristic that the area gradually decreases toward the moving direction of the mobile device, and the second blocking wall 8012 extends from the upper connecting end 805 to the front side of the housing 10, and the height in the height direction gradually decreases, the shape design of the second blocking wall 8012 is unique, the height in the height direction gradually decreases, and crosstalk prevention gradually transits through a step shape, so that excessive ultrasonic waves can be avoided, and crosstalk prevention can be performed while obstacle detection is not affected, and the accuracy of near-distance obstacle detection is ensured.

As shown in fig. 57, the mounting hole 802 has a hole center 807. The distance L between the hole center 807 and the front end face 808 is greater than 5mm, the distance L2 between the upper connecting end 805 and the front end face 808 is less than 10mm, and the distance L1 between the lower connecting end 806 and the front end face 808 is less than 20 mm. The upper connecting end 805 is less than 16mm from the hole center 807 in height direction, and the angle τ between the connecting surface 809 and the virtual parallel surface 804 is in the range of 35 ° -55 °. Through different parameter designs, the ultrasonic wave emitted by the first ultrasonic sensor 21 can be ensured not to be directly received by the second ultrasonic sensor 23 without passing through the obstacle, the accuracy of identifying the close-distance obstacle is ensured, and the stability of the ultrasonic wave signal emitted by the second ultrasonic sensor 23 is ensured.

As shown in fig. 58, the stopper wall 801 is disposed obliquely with respect to the top surface 803, i.e., the angle between the stopper wall 801 and the top surface 80 is not equal to 90 °, since the virtual parallel surface 804 is parallel to the top surface 803, the angle μ between the virtual parallel surface 804 and the stopper wall 801 is greater than 0 °, and the angle μ is smaller than 90 °, and the angle μ is not equal to 90 °. In the crosstalk prevention structure 80 of the present invention, the blocking wall 801 is disposed in an inclined manner, taking the first ultrasonic sensor 21 as an example, when the first ultrasonic sensor 21 emits ultrasonic waves, since the blocking wall 801 is disposed in an inclined manner, a part of the ultrasonic waves are directly emitted from the blocking wall 801 and are not reflected back to the first ultrasonic sensor 21, and thus the ultrasonic waves directly reflected back to the first ultrasonic sensor 21 can be reduced, and since the ultrasonic waves directly emitted back by the blocking wall 801 are reduced, even if the first ultrasonic sensor 21 receives ultrasonic echoes reflected by a part of the blocking wall 801, the echo intensity values are weak and do not reach the threshold of reflected wave threshold for obstacle determination, the first ultrasonic sensor 21 does not determine obstacles in a short distance, and accuracy of determination on obstacles in a short distance is improved.

The crosstalk prevention structure 80 has a peripheral wall (i.e. a sidewall surrounding the periphery and connected with the top surface at an angle) connected to the top surface 803, the top surface 803 and the peripheral wall together enclose the crosstalk prevention structure 80 with a closed periphery and a closed top surface, only an opening is arranged below the whole structure, and thus, the ultrasonic wave probe can be protected by allowing rainwater to flow downwards along the top surface and the peripheral wall of the anti-crosstalk structure 80 in the rainy day, and on the other hand, only an opening is reserved below, and the ultrasonic wave sensor assembly is installed into the anti-crosstalk structure 80 from the virtual parallel surface towards the top surface 803, so that the installation of the sensor assembly is facilitated, meanwhile, after the sensor assembly is installed, one side of the 80 virtual parallel surface of the anti-crosstalk structure is directly and fixedly connected with the shell of the mower, and the opening below the sensor assembly is sealed, so that the ultrasonic sensor assembly is protected in an all-round mode.

According to the invention, the stopping wall is arranged at the adjacent position of the first ultrasonic sensor 21 and the second ultrasonic sensor 23, so that when the first ultrasonic sensor 21 and the second ultrasonic sensor 23 are crossed at an angle, the stopping wall can prevent the ultrasonic wave emitted by the first ultrasonic sensor 21 from being directly received by the second ultrasonic sensor 23 after being reflected by the obstacle, and the accuracy of near-distance obstacle identification is ensured. Meanwhile, the crosstalk prevention structure 80 can also restrict the field emission range of the ultrasonic wave when the ultrasonic wave is just sent out by using the free internal structure, so that the ultrasonic wave is further prevented from directly contacting the shell 10 to generate ultrasonic echo, and the accuracy of detecting the obstacle is ensured.

The embodiment of the crosstalk prevention structure is suitable for the scheme of the crossed layout of the two ultrasonic sensors, namely the scheme of the projected intersection of the axes of the two sensors.

For the non-contact obstacle avoidance intelligent mower or the self-moving device, when the obstacle is detected, the control module controls the self-moving device to move continuously without backing up. The embodiment of the invention realizes at least five types of obstacle avoidance, namely the control module controls the moving module to move along a preset path, and the distance between the shell and the obstacle is always kept larger than zero; the control module controls the moving module to move along a path different from the current advancing direction; the control module controls the moving module to move in the direction away from the obstacle; the control module controls the self-moving equipment to decelerate and move around the periphery of the obstacle to avoid the obstacle; the control module identifies that the distance between an obstacle on one side of the moving direction of the shell and the shell is smaller than a preset distance, and controls the moving module to move along the other side of the moving direction. The five forms of non-contact obstacle avoidance embodiments are as follows:

an autonomous mobile device, comprising:

a housing;

the driving module is used for driving the moving module to move;

the control module is used for controlling the intelligent mower;

an ultrasonic module is arranged on the shell and used for identifying obstacles in the advancing direction of the mobile device, the ultrasonic sensor module comprises at least two ultrasonic sensors, including a first ultrasonic sensor and a second ultrasonic sensor, the first ultrasonic sensor receives and transmits ultrasonic waves in a first transceiving area, the second ultrasonic sensor receives and transmits ultrasonic waves in a second transceiving area, the first ultrasonic sensor and the second ultrasonic sensor are arranged on the shell at an angle with each other, so that the first transceiving area and the second transceiving area are partially overlapped to form three detection areas, wherein the part where the first transceiving area and the second transceiving area are overlapped with each other is a third detection area, the part where the first transceiving area is overlapped with the second transceiving area is a first detection area, and the part where the second transceiving area is overlapped with the second detection area is a second detection area, when an obstacle is detected, the control module controls the mobile device to continue moving without backing up and keeps the distance between the shell and the obstacle larger than zero all the time. In one embodiment, the control module controls the moving module to move along a preset path, and the distance between the shell and the obstacle is always larger than zero.

An autonomous mobile device, comprising:

a housing;

the driving module is used for driving the moving module to move;

the control module is used for controlling the intelligent mower;

an ultrasonic module is arranged on the shell and used for identifying obstacles in the advancing direction of the mobile device, the ultrasonic sensor module comprises at least two ultrasonic sensors, including a first ultrasonic sensor and a second ultrasonic sensor, the first ultrasonic sensor receives and transmits ultrasonic waves in a first transceiving area, the second ultrasonic sensor receives and transmits ultrasonic waves in a second transceiving area, the first ultrasonic sensor and the second ultrasonic sensor are arranged on the shell at an angle with each other, so that the first transceiving area and the second transceiving area are partially overlapped to form three detection areas, wherein the part where the first transceiving area and the second transceiving area are overlapped with each other is a third detection area, the part where the first transceiving area is overlapped with the second transceiving area is a first detection area, and the part where the second transceiving area is overlapped with the second detection area is a second detection area, when an obstacle is detected, the control module controls the mobile device to continue moving in a path different from the current forward direction without backing up.

An autonomous mobile device, comprising:

a housing;

the driving module is used for driving the moving module to move;

the control module is used for controlling the intelligent mower;

an ultrasonic module is arranged on the shell and used for identifying obstacles in the advancing direction of the mobile device, the ultrasonic sensor module comprises at least two ultrasonic sensors, including a first ultrasonic sensor and a second ultrasonic sensor, the first ultrasonic sensor receives and transmits ultrasonic waves in a first transceiving area, the second ultrasonic sensor receives and transmits ultrasonic waves in a second transceiving area, the first ultrasonic sensor and the second ultrasonic sensor are arranged on the shell at an angle with each other, so that the first transceiving area and the second transceiving area are partially overlapped to form three detection areas, wherein the part where the first transceiving area and the second transceiving area are overlapped with each other is a third detection area, the part where the first transceiving area is overlapped with the second transceiving area is a first detection area, and the part where the second transceiving area is overlapped with the second detection area is a second detection area, when an obstacle is detected, the control module controls the mobile device to continue moving in a direction away from the obstacle without backing up.

An autonomous mobile device, comprising:

a housing;

the driving module is used for driving the moving module to move;

the control module is used for controlling the intelligent mower;

an ultrasonic module is arranged on the shell and used for identifying obstacles in the advancing direction of the mobile device, the ultrasonic sensor module comprises at least two ultrasonic sensors, including a first ultrasonic sensor and a second ultrasonic sensor, the first ultrasonic sensor receives and transmits ultrasonic waves in a first transceiving area, the second ultrasonic sensor receives and transmits ultrasonic waves in a second transceiving area, the first ultrasonic sensor and the second ultrasonic sensor are arranged on the shell at an angle with each other, so that the first transceiving area and the second transceiving area are partially overlapped to form three detection areas, wherein the part where the first transceiving area and the second transceiving area are overlapped with each other is a third detection area, the part where the first transceiving area is overlapped with the second transceiving area is a first detection area, and the part where the second transceiving area is overlapped with the second detection area is a second detection area, the control module controls the mobile module to move, and when the obstacle is detected, the control module controls the mobile device to decelerate and continue to move around the periphery of the obstacle without backing up and avoid the obstacle.

An autonomous mobile device, comprising:

a housing;

the driving module is used for driving the moving module to move;

the control module is used for controlling the intelligent mower;

an ultrasonic module is arranged on the shell and used for identifying obstacles in the advancing direction of the mobile device, the ultrasonic sensor module comprises at least two ultrasonic sensors, including a first ultrasonic sensor and a second ultrasonic sensor, the first ultrasonic sensor receives and transmits ultrasonic waves in a first transceiving area, the second ultrasonic sensor receives and transmits ultrasonic waves in a second transceiving area, the first ultrasonic sensor and the second ultrasonic sensor are arranged on the shell at an angle with each other, so that the first transceiving area and the second transceiving area are partially overlapped to form three detection areas, wherein the part where the first transceiving area and the second transceiving area are overlapped with each other is a third detection area, the part where the first transceiving area is overlapped with the second transceiving area is a first detection area, and the part where the second transceiving area is overlapped with the second detection area is a second detection area, the control module identifies that the distance between an obstacle on one side of the moving direction of the shell and the shell is smaller than a preset distance, and controls the moving module to move along the other side of the moving direction.

The structure or the definition of the transmission and reception signal of the ultrasonic sensor in the above four ways is the same as that of the intelligent lawn mower 100 of the first embodiment, and the definition of the crosstalk preventing structure is the same as that of the crosstalk preventing structure in the self-moving apparatus of the above thirteenth embodiment, and the description thereof will not be repeated.

FIG. 59 is a schematic diagram of the circuit elements of the control module controlling the ultrasonic sensor assembly. Taking the intelligent mower 100 of the first embodiment as an example, other embodiments can be obtained by the same or the same method as the self-moving device. The ultrasonic sensor assembly 20 includes a first ultrasonic sensor 21 and a second ultrasonic sensor 23. Each ultrasonic sensor has a respective ultrasonic transmission processing circuit and ultrasonic reception processing circuit. As shown in fig. 44, the ultrasonic wave transmission processing circuit of the first ultrasonic sensor 21 includes a drive circuit 31a and a transformer 32 a. One end of the driving circuit 31a is connected to the MCU in the control module 30, and receives a start signal of the MCU, so as to generate a driving signal with a preset frequency. The drive signal is converted into an electric signal suitable for the parameter of the first ultrasonic sensor 21 by voltage conversion of the transformer 32 a. The electrical signal drives the first ultrasonic sensor 21 to emit ultrasonic waves of a predetermined frequency. The specific mode of the driving circuit 31a may be a single-ended burst mode or a double-ended push-pull mode, and is preferably a double-ended push-pull mode. The preset frequency of the drive signal is typically designed according to the hardware parameters of the sensor employed. In this embodiment, the predetermined frequency range is greater than 25KHZ, preferably from 57KHZ to 60KHZ, such as 58.5 KHZ. In this embodiment, the ultrasonic wave transmission processing circuit of the second ultrasonic sensor 23 is the same as the ultrasonic wave transmission processing circuit of the first ultrasonic sensor 21, and the description thereof is omitted.

Referring to fig. 59, fig. 59 is a circuit unit for controlling the ultrasonic sensor assembly by the control module according to an embodiment of the present invention. The ultrasonic wave reception processing circuit of the first ultrasonic sensor 21 includes an analog-to-digital conversion unit 35a and a data processing unit 37 a. The first ultrasonic sensor 21 receives the ultrasonic waves reflected by the obstacle, and converts the ultrasonic waves into an electric signal to be input to the analog-to-digital conversion unit 35 a. The analog-to-digital conversion unit 35a converts the analog signal into a digital signal and outputs the digital signal to the data processing unit 37 a. The data processing unit 37a performs a series of processes on the digital signal to obtain a signal 1DC, and transmits 1DC to the control module 30. The control module 30 receives 1DC and learns the distance of the obstacle from the analysis of 1 DC. The data processing unit 37 mainly includes operations such as filtering, rectifying, sampling, or extracting, etc., to achieve the function of shielding the crosstalk signal and/or making the signal form of the 1DC conform to the analysis form of the control module 30. In this embodiment, the ultrasonic wave reception processing circuit of the second ultrasonic sensor 23 is the same as the ultrasonic wave reception processing circuit of the first ultrasonic sensor 21, and the description thereof is omitted.

Preferably, the MCU has a synchronization signal therein, and when the first ultrasonic sensor 21 transmits an ultrasonic wave, the MCU transmits the synchronization signal to the receiving part of the second ultrasonic sensor 23. When the first ultrasonic sensor 21 starts to transmit ultrasonic waves, the second ultrasonic sensor 23 starts to receive ultrasonic waves. Similarly, when the second ultrasonic sensor 23 emits ultrasonic waves, the MCU transmits a synchronization signal to the receiving section of the first ultrasonic sensor 21. When the second ultrasonic sensor 23 starts to transmit ultrasonic waves, the first ultrasonic sensor 21 starts to receive ultrasonic waves.

The first ultrasonic sensor assembly comprises a first ultrasonic sensor 21 and a first circuit board 21a, the second ultrasonic sensor assembly comprises a second ultrasonic sensor 23 and a second circuit board 23a, and the first ultrasonic sensor assembly and the second ultrasonic sensor assembly synchronously receive ultrasonic emission instructions sent by the main control board. Two modes are provided for realizing synchronous instruction receiving of the first ultrasonic sensor assembly and the second ultrasonic sensor assembly. In the first mode, the main control board 200 sends an ultrasonic emission instruction to the first circuit board 21a, and the first circuit board 21a transmits the received ultrasonic emission instruction to the second circuit board 23a synchronously. As shown in fig. 8, the first circuit board 21a and the second circuit board 23a implement mutual setting of the synchronization signals by means of software. As shown in fig. 60, the first circuit board 21a and the second circuit board 23a realize mutual setting of the synchronization signals by providing two transmission lines. In the second mode, the main control board sends out ultrasonic emission commands to the first circuit board 21a and the second circuit board 23a at the same time to realize mutual setting of synchronous signals.

In one embodiment, the main control board controls at least two ultrasonic sensor assemblies to alternately transmit ultrasonic signals

As shown in fig. 60, fig. 60 is a circuit unit for controlling an ultrasonic sensor assembly by a control module according to a second embodiment of the present invention. The intelligent lawnmower 100 according to the first embodiment will be described as an example. First circuit board 21a of first ultrasonic sensor 21 includes first MCU and first transformer, first MCU receives the ultrasonic wave that returns through the barrier reflection with first ultrasonic sensor 21 and passes through the serial ports and transmit for third MCU, second circuit board 23a of second ultrasonic sensor 23 includes second MCU and second transformer, second MCU receives the ultrasonic wave that returns through the barrier reflection with second ultrasonic sensor 23 and passes through the serial ports and transmit for third MCU, third MCU can carry out the analysis to the ultrasonic wave of the reflection of first MCU and second MCU transmission and learn the distance and the positional information of barrier, export the processing result for the mainboard at last, the mainboard can select to carry out relevant logic control. The main control board is used for providing movement and work control for the mobile equipment. The first circuit board 21a and the second circuit board 23a may further include a data processing unit therein, and the data processing unit mainly includes operations such as filtering, rectifying, sampling or extracting, so as to achieve the function of shielding crosstalk signals and/or making the acquired signal form conform to the third MCU analysis form. In this embodiment, a connection line 96 is provided between the first circuit board 21a and the second circuit board 23a, and the connection line 96 is used for transmitting the synchronization signal. When the first ultrasonic sensor 21 transmits an ultrasonic wave, the connection line 96 transmits a synchronization signal to the receiving portion of the second ultrasonic sensor 23. When the first ultrasonic sensor 21 starts to transmit ultrasonic waves, the second ultrasonic sensor 23 starts to receive ultrasonic waves. Similarly, when the second ultrasonic sensor 23 emits an ultrasonic wave, the connection line 96 transmits a synchronization signal to the receiving portion of the first ultrasonic sensor 21. When the second ultrasonic sensor 23 starts to transmit ultrasonic waves, the first ultrasonic sensor 21 starts to receive ultrasonic waves. In another embodiment in which the control module of the second embodiment controls the circuit unit of the ultrasonic sensor module, the first circuit board 21a of the first ultrasonic sensor 21 may not include a transformer, and the transformer may not be required at the time of low voltage.

In the embodiment of the invention, the ultrasonic sensor is connected with a processing circuit board, and the processing circuit board is provided with an operational amplifier circuit for realizing the function of an amplifying module and an AD conversion circuit for realizing the AD conversion function. The circuit board is provided with a chip capable of realizing the function of a data buffer storage module and a relatively small MCU capable of realizing the function of a data extraction module, the control module is internally provided with another relatively large MCU for realizing the function of a data analysis module, the relatively large MCU can realize the analysis of data to generate distance information and position information, and software is arranged in the relatively large MCU to complete the comparison between the distance value between an obstacle and an ultrasonic sensor and the preset distance. In other embodiments, the comparison of the preset distances may also be implemented in a hardware manner, such as FPGA, DSP, or the like. The large MCU may be provided on the main board or on a circuit board alone. The integrated analysis module can collect dust on the motherboard, can not collect dust on the motherboard, but collect dust on one circuit board with a relatively large MCU. The main controller is arranged on the main board and used for controlling the movement of the mobile device according to the result of the existing analysis. The analysis result can be transmitted to the main controller through hardware, or can be transmitted to the main controller through an electric signal, such as a high electric frequency indication or a low electric frequency indication or a communication way. In other embodiments, a single large MCU may be used to implement the functionality of both the relatively small MCU and the relatively large MCU of the present invention.

As shown in fig. 61, in another embodiment in which the control module of the second embodiment controls the circuit unit of the ultrasonic sensor assembly, a connection circuit may not be provided between the first circuit board 21a and the second circuit board 23a, a synchronization signal may be directly set in the second MCU, and when the first ultrasonic sensor 21 transmits an ultrasonic wave, the second MCU transmits the synchronization signal to the receiving part of the second ultrasonic sensor 23. When the first ultrasonic sensor 21 starts to transmit ultrasonic waves, the second ultrasonic sensor 23 starts to receive ultrasonic waves. Similarly, when the second ultrasonic sensor 23 emits ultrasonic waves, the second MCU transmits a synchronization signal to the receiving section of the first ultrasonic sensor 21. When the second ultrasonic sensor 23 starts to transmit ultrasonic waves, the first ultrasonic sensor 21 starts to receive ultrasonic waves.

In the two embodiments of the circuit unit in which the control module controls the ultrasonic sensor assembly according to the second embodiment, the first MCU may directly transmit the acquired data to the third MCU for analysis and processing, and the first MCU may also set a data analysis unit internally, and transmit the acquired data to the second MCU for analysis and processing again after preprocessing. The third MCU can transmit instructions, such as a pulse number requirement, an amplification factor requirement, an ultrasonic wave transmission instruction, an ultrasonic echo reception instruction, and the like, to the first ultrasonic sensor 21 and the second ultrasonic sensor 23.

With respect to the two embodiments of the circuit unit of the control module controlling the ultrasonic sensor assembly according to the second embodiment, the data packet processing processed by the third MCU is described in conjunction with the first ultrasonic sensor 21 and the second ultrasonic sensor 23 in the intelligent lawn mower 100 according to the first embodiment. When the first ultrasonic sensor 21 sends an ultrasonic wave, the third MCU will obtain an echo signal received by the first ultrasonic sensor 21 and an echo signal received by the second ultrasonic sensor 23, which are referred to as a first path signal; when the second ultrasonic sensor 23 sends an ultrasonic wave, the third MCU obtains an echo signal received by the second ultrasonic sensor 23 and an echo signal received by the first ultrasonic sensor 21, which are referred to as a second path of signal, the first path of signal and the second path of signal collectively include four groups of ultrasonic echoes, and the third MCU obtains information of the obstacle by analyzing the four groups of ultrasonic echoes. When the first ultrasonic sensor 21 continues to send ultrasonic waves, the third MCU obtains an echo signal received by the first ultrasonic sensor 21 and an echo signal received by the second ultrasonic sensor 23, which are referred to as third signals, the second and third signals collectively include four groups of ultrasonic echoes, and the third MCU obtains information of an obstacle by analyzing the four groups of ultrasonic echoes. In this cycle, the third MCU always performs obstacle analysis on four groups of ultrasonic echoes obtained after the first ultrasonic sensor 21 and the second ultrasonic sensor 23 respectively transmit ultrasonic waves.

The above description of the circuit unit is also applicable to the self-moving device of the aforementioned thirteen embodiments of the present invention. In fig. 60 and 61, there are two examples of ultrasonic difference sensors, and if there are a plurality of ultrasonic difference sensors, there are circuits multiplexed to the third MCU, and with respect to the instruction to transmit ultrasonic waves, the third MCU gives a corresponding instruction, and with respect to the principle that the transmission and reception of signals by the plurality of ultrasonic sensors follow, such as alternate transmission in time with alternate transmission of detection areas overlapping, and the description will not be repeated here.

As shown in fig. 64, the self-moving device of the embodiment of the present invention can know the transmission and reception of the signal of the ultrasonic sensor assembly by a test method, and is described by taking the intelligent lawn mower 100 of the first embodiment as an example, where the specific test method is as follows: the first ultrasonic sensor 21 of the self-moving equipment is connected with a receiving device 87 capable of receiving ultrasonic signals, the second ultrasonic sensor 23 is connected with another receiving device 87 capable of receiving ultrasonic signals, then the two receiving devices 87 are connected to an oscilloscope, and electric signals transmitted to the oscilloscope by the receiving device 87 are displayed on the oscilloscope. By the time at which the two receiving devices 87 receive the ultrasonic signals, it is possible to determine whether the first ultrasonic sensor 21 and the second ultrasonic sensor 23 alternately transmit in time in turn. It is also possible to block the ultrasonic wave emitted by the first ultrasonic sensor 21 by using an object, and observe whether the signal received by the second ultrasonic sensor 23 is affected, that is, whether the signal output result of the second ultrasonic sensor 23 is affected, if the signal output result is affected, it is proved that the second ultrasonic sensor 23 receives the ultrasonic echo of the ultrasonic wave emitted by the first ultrasonic sensor 21, that is, when the first ultrasonic sensor 21 transmits the ultrasonic wave, the second ultrasonic sensor 23 can simultaneously receive the ultrasonic echo reflected by the ultrasonic wave emitted by the first ultrasonic sensor 21. The testing method of the second ultrasonic sensor 23 is the same as that of the first ultrasonic sensor 21, and the description thereof is not repeated. It is also possible to use an obstacle to move in front of the machine to observe the situation that the first ultrasonic sensor 21 and the second ultrasonic sensor 23 receive the echo signals, and if the first ultrasonic sensor 21 and the second ultrasonic sensor 23 can both receive the ultrasonic echoes in some areas, it is proved that the fields of view of the first ultrasonic sensor 21 and the second ultrasonic sensor 23 have overlap, that is, the first ultrasonic sensor 21 and the second ultrasonic sensor 23 have overlapping detection areas, and the obstacle is in the overlapping detection areas. By using the method of the ultrasonic echo, the field ranges of the first ultrasonic sensor 21 and the second ultrasonic sensor 23 can be known, and when an obstacle is very close to the front end of the self-moving equipment, the blind area position of the ultrasonic sensor can be known through waveform display on an oscilloscope.

As shown in fig. 65, fig. 65 is a control block diagram of the mobile device of the present invention. The first ultrasonic sensor 21 of the intelligent lawnmower 100 according to the first embodiment is taken as an example, and the control of the ultrasonic sensors according to the other embodiments is the same. The sensor microcontroller 705 transmits an instruction to the pulse circuit module 708, the pulse circuit module 708 transmits an instruction for sending ultrasonic waves to the ultrasonic sensor 21, the ultrasonic sensor receives the instruction for sending the ultrasonic waves, the ultrasonic sensor receives an obstacle echo, the obstacle echo is amplified through the amplification circuit module 701, analog-to-digital conversion processing is performed through the analog-to-digital conversion module 702, filtering processing is performed through the filtering module 703, processed data enter the data cache module 704, the sensor microcontroller 705 transmits the data in the data cache module 704 to the data processing module 706 for data analysis, and an analysis result is fed back to the main controller 707 to be executed. The dashed lines in fig. 65 indicate that this part is the control module to which the ultrasound assembly relates. The control block diagram for the self-moving device is applicable to the description of the intelligent lawn mower or the self-moving device of the thirteen embodiments of the present invention. The method is also applicable to the four obstacle avoidance embodiments, namely the control module controls the moving module to move along a preset path, and the distance between the shell and the obstacle is always larger than zero; the control module controls the moving module to move along a path different from the current advancing direction; the control module controls the moving module to move in the direction away from the obstacle; the control module identifies that the distance between an obstacle on one side of the moving direction of the shell and the shell is smaller than a preset distance, and controls the moving module to move along the other side of the moving direction.

As shown in fig. 66, fig. 66 is a flowchart of a method for identifying an obstacle from the control module 30 of the mobile device according to the present invention. While the intelligent lawn mower 100 of the first embodiment is described, the self-moving devices of the other embodiments are replaced by corresponding methods according to the number of the ultrasonic sensors and the ultrasonic transmission mode (alternate transmission or simultaneous transmission).

As shown in fig. 66, the method for identifying an obstacle by a self-moving device, the self-moving device including a control module and a first ultrasonic sensor, the control method includes the steps of:

s11: starting data acquisition;

s12: the ultrasonic sensor sends ultrasonic waves and receives barrier echoes;

s13: obtaining the distance of the obstacle and the echo intensity according to the analysis of the echo of the obstacle;

s14: and comparing the distance between the obstacles with a preset distance, and comparing the echo intensity with a reflected wave threshold value to judge the condition of the obstacles.

When the self-moving apparatus includes the first ultrasonic sensor 21 and the second ultrasonic sensor 23, the method of receiving the echo of the obstacle includes the steps of:

s111: starting data acquisition;

s112: one of the first ultrasonic sensor 21 and the second ultrasonic sensor 23 transmits ultrasonic waves in a time period ti, and the first ultrasonic sensor 21 and the second ultrasonic sensor 23 receive obstacle echoes in the time period ti to obtain an ith group of obstacle echoes;

s113: the other one of the first ultrasonic sensor 21 and the second ultrasonic sensor 23 emits ultrasonic waves in a time period ti +1 after the time period ti, and the first ultrasonic sensor 21 and the second ultrasonic sensor 23 receive obstacle echoes in the time period ti +1 to obtain an i +1 th group of obstacle echoes;

s114: analyzing the i +1 th group of obstacle echoes and the i th group of obstacle echoes to obtain obstacle distances and echo intensities;

s115: and comparing the distance between the obstacles with a preset distance, and comparing the echo intensity with a reflected wave threshold value to judge the condition of the obstacles.

When i is 1, the control method includes the steps of:

s11: starting data acquisition;

s12: the control module controls the first ultrasonic sensor 21 to send ultrasonic waves in a first time period, and the first ultrasonic sensor 21 and the second ultrasonic sensor 23 receive obstacle echoes in the first time period to obtain a first group of obstacle echoes;

s13: the control module controls the second ultrasonic sensor 23 to emit ultrasonic waves in a second time period after the first time period, and the first ultrasonic sensor 21 and the second ultrasonic sensor 23 receive the obstacle echoes in the second time period to obtain a second group of obstacle echoes;

s14: the control module is used for carrying out distance analysis and echo intensity analysis by combining the first group of obstacle echoes and the second group of obstacle echoes, comparing the distance value obtained by analysis with a preset distance, and comparing the echo intensity value obtained by analysis with a transmitting wave threshold value to obtain obstacle information.

When the time turns i to 2, the control method includes the steps of:

s11: starting data acquisition;

s14: the control module is used for carrying out distance analysis and echo intensity analysis by combining the first group of obstacle echoes and the second group of obstacle echoes, comparing the distance value obtained by analysis with a preset distance, and comparing the echo intensity value obtained by analysis with a transmitting wave threshold value to obtain obstacle information;

s15: the control module controls the first ultrasonic sensor 21 to send ultrasonic waves in a third time period, and the first ultrasonic sensor 21 and the second ultrasonic sensor 23 receive obstacle echoes in the third time period to obtain a third group of obstacle echoes;

s16: the control module performs distance analysis and echo intensity analysis by combining the third group of obstacle echoes and the second group of obstacle echoes, compares the distance value obtained by analysis with a preset distance, and compares the echo intensity value obtained by analysis with a transmitting wave threshold value to obtain obstacle information.

When alternating in time i-3, the control method comprises the steps of:

s11: starting data acquisition;

s16: the control module performs distance analysis and echo intensity analysis by combining the third group of obstacle echoes and the second group of obstacle echoes, compares the distance value obtained by analysis with a preset distance, and compares the echo intensity value obtained by analysis with a transmitting wave threshold value to obtain obstacle information;

s17: the control module controls the second ultrasonic sensor 23 to emit ultrasonic waves in a fourth time period after the third time period, and the first ultrasonic sensor 21 and the second ultrasonic sensor 23 receive the obstacle echoes in the fourth time period to obtain a fourth group of obstacle echoes;

s18: and the control module performs distance analysis and echo intensity analysis by combining the fourth group of obstacle echoes and the third group of obstacle echoes, compares the distance value obtained by analysis with a preset distance, and compares the echo intensity value obtained by analysis with a transmitting wave threshold value to obtain obstacle information.

By analogy with the above example, the control module performs distance analysis and echo intensity analysis on the i +1 th group of obstacle echoes obtained in the ti +1 time period and the ti th group of obstacle echoes obtained in the previous ti time period each time, compares the distance value obtained by analysis with a preset distance, and compares the echo intensity value obtained by analysis with a transmit wave threshold value to obtain obstacle information. the time period ti and the time period ti-1 are time periods when the first ultrasonic sensor 21 and the second ultrasonic sensor 23 emit signals respectively and alternately transmit ultrasonic waves as the time periods advance by the first ultrasonic sensor 21 and the second ultrasonic sensor 23.

The method for judging the obstacle by comparing the obstacle distance with the preset distance and comparing the echo intensity with the reflected wave threshold value in the above steps S14 and S115 is to judge that there is no obstacle when the distance value obtained by the analysis is greater than the set threshold value.

The method for determining the obstacle by comparing the obstacle distance with the preset distance and comparing the echo intensity with the reflected wave threshold value in the steps S14 and S115 includes determining that there is no obstacle when the distance value obtained by the analysis is smaller than the preset threshold value and the echo intensity value obtained by the analysis is smaller than the transmitted wave threshold value.

The method for determining the obstacle by comparing the obstacle distance with the preset distance and comparing the echo intensity with the reflected wave threshold value in the above steps S14 and S115 is to determine that there is an obstacle when the distance value obtained by the analysis is smaller than the set threshold value, but the echo intensity value obtained by the analysis is larger than the transmitted wave threshold value.

In step S13, the processing of the obstacle echo includes:

carrying out amplification factor adjustment on the ultrasonic echo analog signal;

performing analog-to-digital conversion on the signal after the amplification factor adjustment;

the analog-to-digital converted signal is digitally filtered.

The voltage and the pulse number have a certain relationship with the field of view of the ultrasonic sensor, and the larger the voltage, the larger the pulse number, and the wider the field of view.

While only a few embodiments of the present inventions have been described and illustrated herein, those skilled in the art will readily envision other means or structures for performing the functions and/or obtaining the structures described herein, and each of such variations or modifications is deemed to be within the scope of the present inventions.

Claims

1. An autonomous mobile device, comprising:

a housing;

the driving module is used for driving the moving module to move;

the control module is used for controlling the self-moving equipment;

the self-moving equipment is characterized in that an ultrasonic sensor assembly used for identifying obstacles is arranged on the shell, the ultrasonic sensor assembly comprises a first ultrasonic sensor and a second ultrasonic sensor, the first ultrasonic sensor and the second ultrasonic sensor are arranged on the shell at an angle, and the self-moving equipment further comprises a crosstalk prevention structure used for preventing ultrasonic waves sent by one of the first ultrasonic sensor and the second ultrasonic sensor from being directly received by the other of the first ultrasonic sensor and the second ultrasonic sensor without being reflected by the obstacles.

2. The self-moving apparatus according to claim 1, wherein the crosstalk prevention structure is provided between the first ultrasonic sensor and the second ultrasonic sensor.

3. The self-moving apparatus of claim 1, wherein the crosstalk prevention structure extends toward the front side of the housing without contacting the ultrasonic sensor axis.

4. The self-moving apparatus of claim 1, wherein the crosstalk prevention structure extends toward the front side of the housing no more than an intersection of projections of the first ultrasonic sensor axis and the second ultrasonic sensor axis.

5. The self-moving apparatus according to claim 1, wherein the crosstalk prevention structure is located at a front side of a connecting line of the first ultrasonic sensor sound wave emitting point and the second ultrasonic sensor sound wave emitting point and extends toward the front side of the housing.

6. The self-moving apparatus of claim 1, wherein the anti-crosstalk structure comprises a stop wall disposed at an angle to an ultrasonic sensor axis.

7. The self-moving apparatus according to claim 6, wherein the stopper wall includes a first stopper wall and a second stopper wall connected to the first stopper wall and extending from the first stopper wall toward the front side of the housing, the second stopper wall gradually decreasing in height.

8. The self-moving apparatus as claimed in claim 7, wherein the first blocking wall has a top end, and the second blocking wall has an upper connecting end connected to the first blocking wall, the upper connecting end being lower than the top end in a height direction.

9. The self-moving apparatus as claimed in claim 8, wherein the crosstalk prevention structure comprises an upper top surface and a lower virtual parallel surface parallel to the top surface, the upper connection end is lower than the top surface in a height direction, the second blocking wall has a lower connection end which is far from the first blocking wall and lower than the upper connection end in the height direction and a connection surface which connects the upper connection end and the lower connection end, and an angle τ between the connection surface and the virtual parallel surface is in a range of 35 ° -55 °.

10. The self-moving device as claimed in claim 1, wherein the crosstalk prevention structure comprises an upper top surface, a lower virtual parallel surface parallel to the top surface, and a peripheral wall connecting the top surface, the top surface and the peripheral wall together enclosing the crosstalk prevention structure with a closed circumferential and top surface.

11. The self-moving apparatus according to claim 10, wherein the ultrasonic sensor assembly is installed in the crosstalk prevention structure from the virtual parallel surface toward the top surface.

12. The self-propelled device of claim 1, wherein the first ultrasonic transducer has a first axis and the second ultrasonic transducer has a second axis, the first axis and the second axis being at an angle in the range of 60 ° -110 ° to each other, the first axis being an axis of an ultrasonic sound field emitted by the first ultrasonic transducer and the second axis being an axis of an ultrasonic sound field emitted by the second ultrasonic transducer.

13. The self-propelled device of claim 12, wherein the first axis and the second axis are at an angle in a range of 70 ° -90 ° to each other.

14. The self-moving apparatus according to claim 1, wherein the first ultrasonic sensor has a first axis, the second ultrasonic sensor has a second axis, the housing has a housing axis, the first axis and/or the second axis is in the range of 10 ° -80 ° from the housing axis, the first axis is the axis of the ultrasonic sound field emitted by the first ultrasonic sensor, and the second axis is the axis of the ultrasonic sound field emitted by the second ultrasonic sensor.

15. A self-moving apparatus as claimed in claim 14, wherein the angle between the first and/or second axes and the housing axis is in the range 25 ° -55 °.

16. The self-moving apparatus according to claim 1, wherein the first ultrasonic sensor has a first axis and the second ultrasonic sensor has a second axis, the first axis and the second axis being coplanar in a height direction, the first axis being an axis of an ultrasonic sound field emitted by the first ultrasonic sensor, the second axis being an axis of an ultrasonic sound field emitted by the second ultrasonic sensor.