WO2023104212A1 - Smart lawn mower - Google Patents
Smart lawn mower Download PDFInfo
- Publication number
- WO2023104212A1 WO2023104212A1 PCT/CN2022/138358 CN2022138358W WO2023104212A1 WO 2023104212 A1 WO2023104212 A1 WO 2023104212A1 CN 2022138358 W CN2022138358 W CN 2022138358W WO 2023104212 A1 WO2023104212 A1 WO 2023104212A1
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- WIPO (PCT)
- Prior art keywords
- distance
- fuselage
- preset
- cutting
- intelligent
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
- A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
- A01D34/63—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
- A01D34/82—Other details
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D75/00—Accessories for harvesters or mowers
- A01D75/18—Safety devices for parts of the machines
Definitions
- the invention relates to the technical field of self-moving tools, in particular to an intelligent lawnmower.
- Traditional outdoor commercial lawn mowers mainly include riding lawn mowers and walk lawn mowers. However, these lawn mowers are not smart products and require full human intervention, resulting in increased labor costs for mowing the lawn.
- an intelligent lawnmower includes: a body; a mobile module, disposed on the body, and configured to drive the body to move along a set path or within a working area ;
- the cutting mechanism includes a cutting element, and the cutting element is arranged at the bottom of the fuselage to perform the cutting task;
- the intelligent lawn mower also includes, the protection device has a protection state and a non-protection state, and in the protection state The protection device can protect the cutting element; and the control module is at least connected to the protection device and configured to control the protection device to be in the position according to the distance between the fuselage and a preset object.
- the guarded state or the non-guarded state is the protection device.
- the above intelligent lawn mower is integrated with a control module and a protective device, and the control module is configured to control the protective device to actively switch between the protective state and the non-protective state according to the distance between the fuselage and the preset object. For example: when the distance between the fuselage and the preset object is relatively long and there is no need to protect the cutting element, the control module controls the protective device to be in a non-protective state to ensure the normal operation of the cutting mechanism. When the distance between the fuselage and the preset object is short and the cutting element needs to be protected, the control module controls the protective device to take the initiative to protect the cutting element so that the intelligent lawn mower can cut close to the preset object.
- the intelligent lawn mower uses the control module to actively control the action of the protective device according to the distance between the fuselage and the preset object, so that it can accurately switch between the protective state and the non-protective state, and realizes the cutting of the intelligent lawn mower. Active protection for edges and safe cuts. In this way, for complex working conditions, such as: high-density grass, obstacles, steps, etc., this intelligent lawn mower does not require human participation, and can take into account the needs of cutting to the edge and cutting safety.
- the cutting mechanism has two opposite sides, the direction of the line between the two sides intersects the traveling direction of the fuselage
- the protection device includes: a driving mechanism, connected with the control module; and, the protective structure is connected with the driving mechanism and at least partly arranged on at least one side of the cutting mechanism; the control module is configured to When the distance between them is less than or equal to the preset distance, the driving mechanism is controlled to drive the protective structure to move relative to the fuselage to a preset position, so that the protective device is in the protective state.
- control module when the distance between the fuselage and the preset object is less than or equal to the preset distance, the control module is configured to control the driving mechanism to drive the protective structure along the direction toward the ground Move to the preset position.
- the driving mechanism includes a lifting mechanism; the protective structure moves relative to the fuselage at least between a first position and a second position, the first position is higher than the second position,
- the preset position includes the second position; when the distance between the fuselage and the preset object is less than or equal to the preset distance, the lifting mechanism drives the protective structure to move to the second position, to protect the cutting element; when the distance between the fuselage and the preset object is greater than the preset distance, the lifting mechanism drives the protective structure to move to or maintain at the first position.
- the height h of the bottom of the protection structure from the ground is 38 mm to 55 mm, and the side of the protection structure facing away from the fuselage and the outer contour of the cutting mechanism The distance D between them is greater than or equal to 90mm.
- the intelligent lawn mower further includes a distance acquisition module connected to the control module, and the distance acquisition module can at least acquire the distance between the fuselage and a preset object.
- the preset objects include obstacles in the working area, wherein the obstacles with pre-stored position information in the intelligent lawn mower are defined as marked obstacles, and the preset distance includes a first preset distance
- the distance acquisition module includes a positioning component configured to locate the position coordinates of the fuselage to determine the distance between the fuselage and the marked obstacle; when the fuselage and the marked obstacle When the distance between them is less than or equal to the first preset distance, the driving mechanism drives the protective structure to move to the preset position.
- the driving mechanism when the distance between the fuselage and the marked obstacle is less than or equal to the first preset distance, the driving mechanism starts to drive the protective structure to move, and makes the protective structure Moving to the preset position before the critical distance from the marked obstacle.
- the first preset distance ranges from 1.5m to 2.5m; the critical distance ranges from 0.2m to 0.8m.
- the preset objects include obstacles in the working area, wherein obstacles without pre-stored position information in the intelligent lawn mower are defined as random obstacles, and the preset distance includes the second preset distance Distance;
- the distance acquisition module includes a detection component, the detection component is at least configured to detect the random obstacle, and determine the distance between the fuselage and the random obstacle; when the fuselage and the random obstacle When the distance between them is less than or equal to the second preset distance, the driving mechanism drives the protective structure to move to the preset position.
- control module has a timing control function, and when the distance between the fuselage and the random obstacle is less than or equal to the second preset distance, the control module controls the detection component to The random obstacle is monitored within the preset time; after the preset time, if the distance between the fuselage and the random obstacle is still less than or equal to the second preset distance, the driving mechanism drives the protective structure Move to the preset position.
- the preset object includes the boundary of the working area; the preset distance includes a third preset distance; the distance acquisition module includes a positioning component, and the positioning component is configured to position the fuselage Position coordinates to determine the distance between the fuselage and the boundary; when the distance between the fuselage and the boundary is less than or equal to a third preset distance, the driving mechanism drives the protective structure to move to the Default position.
- the driving mechanism includes a first driver and a transmission member connected to the first driver, the protective structure is arranged on the transmission member, and the first driver drives the transmission member to moving on the fuselage to drive the protective structure to move relative to the fuselage.
- the protection structure includes a first protection member and a second protection member respectively arranged on two sides of the cutting mechanism, there are at least two transmission members, and the first protection member and the second protection member are respectively arranged on two sides of the cutting mechanism.
- the second protection elements are respectively connected to the corresponding transmission elements.
- the protective structure is circumferentially arranged outside the cutting mechanism.
- an intelligent lawnmower includes: a body; a mobile module, disposed on the body, and configured to drive the body to move along a set path or within a working area a cutting mechanism, including a cutting element, the cutting element is arranged at the bottom of the fuselage to perform cutting tasks; a control module, connected with the moving module and the cutting mechanism, is at least configured to control the intelligent lawn mower Mowing grass along the boundary of the working area; wherein the intelligent lawn mower further includes a protective structure configured to establish a protective barrier on the side of the cutting element, and the intelligent lawn mower along the edge During the cutting process, the sidemost part of the protective structure is the sidemost part of the intelligent lawnmower.
- the cutting element is better protected by this protective structure.
- the most edge part of the protective structure is the most edge part of the intelligent lawn mower. It can be seen that at least part of the protective structure is located on the outside of the fuselage during the edge cutting process, which is conducive to passing through the protective structure. Guarantee the safety of people or animals, and at the same time realize cutting to the edge, avoiding that the smart lawn mower stops working far away from the border, people or animals, leaving more uncut areas.
- such an arrangement can increase the horizontal distance from the outer end of the cutting element to the outer side of the protective structure, so that no bottom protection can be provided, thereby improving the passability of the intelligent lawnmower and reducing the preparation cost of the machine.
- an intelligent lawn mower includes: a body; a mobile module, disposed on the body, and configured to drive the body to move along a set path or within a working area a cutting mechanism, including a cutting element, the cutting element is arranged at the bottom of the fuselage to perform cutting tasks; wherein, the cutting diameter of the cutting element is greater than or equal to 500mm; a control module, with the mobile module and the cutting a mechanism linkage configured at least to control movement of the intelligent lawnmower to mow grass along the boundary of the work area; wherein the intelligent lawnmower further includes a protective structure configured to at least To build a protective barrier.
- Fig. 1 is the front view of the intelligent lawn mower structure of side protection described in one embodiment
- Fig. 2 is a bottom view of the intelligent lawn mower structure with side protection described in one embodiment
- Fig. 3 is a structural schematic diagram of an intelligent lawn mower for side protection when tall grass is cut in an embodiment
- Fig. 4 is a structural schematic diagram of an intelligent lawn mower for side protection when cutting low grass described in an embodiment
- Fig. 5 is the front view of the structure of the fully protected intelligent lawn mower described in one embodiment
- Fig. 6 is a structural schematic diagram of a fully protected intelligent lawn mower described in an embodiment
- Fig. 7 is a structural schematic diagram of an intelligent lawn mower for comprehensive protection when cutting tall grass described in an embodiment
- Fig. 8 is a structural schematic diagram of an intelligent lawn mower for comprehensive protection when cutting low grass described in an embodiment
- Fig. 9 is a schematic diagram of the front end structure of the protective structure described in one embodiment.
- Fig. 10 is a structural schematic diagram of an intelligent lawnmower when an obstacle is encountered in one embodiment
- Fig. 11 is a structural schematic diagram of an intelligent lawnmower when overcoming obstacles described in an embodiment
- Fig. 12 is an analysis diagram of the peripheral area of the intelligent mower described in one embodiment.
- an intelligent lawn mower 100 includes: a body 110 , a moving module 120 , a protection device and a control module.
- the moving module 120 is disposed on the fuselage 110 and is configured to drive the fuselage 110 to move along a set path or within a working area.
- the cutting mechanism 130 includes a cutting element (such as a multi-layer cutting blade as shown in FIG. 1 ), which is disposed at the bottom of the fuselage 110 to perform cutting tasks.
- the protection device has a protection state and a non-protection state, and in the protection state, the protection device can protect the cutting element.
- the control module is at least connected to the protective device, and is configured to control the protective device to be in a protective state or a non-protective state according to the distance between the fuselage 110 and a preset object.
- the above intelligent lawn mower 100 is integrated with a control module and a protective device, and the control module is configured to control the protective device to actively switch between the protective state and the non-protective state according to the distance between the fuselage 110 and the preset object. For example: when the distance between the fuselage 110 and the preset object is relatively long and there is no need to protect the cutting element, the control module controls the protection device to be in a non-protection state to ensure the normal operation of the cutting mechanism 130 . When the distance between the fuselage 110 and the preset object is relatively short and cutting elements are required for protection, the control module controls the protective device to take the initiative to protect the cutting elements so that the intelligent lawn mower 100 can cut close to the preset object .
- the intelligent lawn mower 100 uses the control module to actively control the action of the protective device according to the distance between the fuselage 110 and the preset object, so that it can accurately switch between the protective state and the non-protective state, and realize the intelligent lawn mower 100. Cut-to-edge and active protection for safe cutting. In this way, for complex working conditions, such as: high-density grass, obstacles 200, steps, etc., the intelligent lawn mower 100 does not require human participation, and can take into account the needs of cutting to the edge and cutting safety.
- the guard state and the non-guard state are two structural states of the guard device relative to the cutting mechanism 130 .
- the protective device can cover the cutting mechanism 130 to prevent people or animals from reaching into the cutting element from outside the fuselage 110 .
- the distance between the protective device and the ground can be designed to be less than or equal to the diameter of the human arm to achieve the protective effect.
- other parts of humans or animals can also be used as an example to define the protective state of the protective device.
- the protective device switches to the protective state by moving toward the ground; or, the protective device switches to the protective state by rotating or unwinding.
- the preset objects may include obstacles 200 with pre-built-in position information in the control module, such as: walls, fences, trees in the garden, swimming pools, ponds, etc.; Obstacles 200, for example: stones in the lawn, plastic bottles, animals, people, etc.
- the preset object can also include the boundary 400 of the working area, such as: when the distance between the fuselage 110 and the boundary 400 of the working area reaches the distance that can trigger the protection, the control module controls the protection device to switch to the protection state to prevent cutting Components are protected.
- the intelligent lawn mower 100 of this embodiment can be applied to domestic mowing, and can also be applied to outdoor commercial mowing and the like.
- the control module can be, but not limited to, a single-chip microcomputer, an electronic control unit (ECU for short), a programmable logic controller (PLC for short), and the like.
- the cutting mechanism 130 has two opposite sides 131 .
- the direction of the line between the two sides 131 intersects the traveling direction 111 of the fuselage 110 , that is, the two sides 131 should be understood as opposite sides in the traveling direction 111 of the fuselage 110 .
- “intersection” includes perpendicular and non-perpendicular states.
- the protection device includes a driving mechanism 160 and a protection structure 150 .
- the driving mechanism 160 is connected with the control module.
- the protection structure 150 is connected to the driving mechanism 160 and at least partially disposed on at least one side 131 of the cutting mechanism 130 .
- the control module is configured to control the driving mechanism 160 to drive the protective structure 150 to a preset position relative to the fuselage 110 when the distance between the fuselage 110 and the preset object is less than or equal to the preset distance, so that the protective device is in the protective position. state.
- the control module controls the driving mechanism 160 to move to drive the protective structure 150 to the preset position relative to the fuselage 110, so as to prevent the cutting At least one side 131 of the mechanism 130 is shielded.
- This facilitates the intelligent lawnmower 100 to perform cutting operations close to the preset object, so as to realize cutting to the edge and safe cutting requirements in complex working conditions.
- cutting to the edge does not refer to cutting all the surrounding grass of the preset object, but refers to cutting close to the edge of the preset object under the premise of protecting the safety of the preset object.
- a section of grass can be left uncut around the preset object; it can also be completely cut.
- the preset object is an obstacle 200
- the preset object is the boundary 400 of the working area and there is no obstruction near the boundary, after cutting to the edge, all the grass on the boundary 400 can be cleared.
- the protection structure 150 can move in ways such as, but not limited to, rotation, translation, and unwinding.
- the protection structure 150 can be designed as a roll-up structure.
- the drive mechanism 160 drives the roll-up structure to roll up to block at least one side of the cutting mechanism 130. 131.
- the driving mechanism 160 can be a motor, an air cylinder, a hydraulic cylinder, an electric cylinder, etc.; of course, it can also be a combined structure of a motor and a linkage mechanism.
- the protection of the cutting element by the protection structure 150 may be partial protection or overall protection.
- the protection structure 150 is disposed around one side 131 or two sides 131 ; or, please refer to FIG. 6 , the protection structure 150 is extended around the periphery of the cutting mechanism 130 .
- FIG. 9 when the protective structure 150 can protect the front end of the fuselage 110 , several comb grooves 153 can be arranged at intervals on the protective structure 150 . This makes it easier for uncut grass ahead to enter the cutting mechanism 130 using the comb slot 153 .
- the comb groove 153 is also beneficial to reduce the resistance between the protective structure 150 and the grass, and improve the passability of the intelligent lawnmower 100 .
- control module when the distance between the fuselage 110 and the preset object is less than or equal to the preset distance, the control module is configured to control the driving mechanism 160 to drive the protective structure 150 along the direction toward the ground Move to preset position. It can be seen from this that the movement mode of the protection structure 150 is towards the ground during protection, so as to lower the position of the protection structure 150 and realize the protection of the cutting element.
- the value of the preset position may be determined according to the object to be protected and the installation height of the cutting mechanism 130 .
- the preset position should not be set too low, otherwise, the passability of the intelligent lawn mower 100 will be reduced, and its normal cutting operation will be affected.
- the driving mechanism 160 includes a lifting mechanism 161 .
- the protective structure 150 moves relative to the fuselage 110 at least between a first position and a second position.
- the first position is higher than the second position.
- the preset positions include the second position.
- the lifting mechanism 161 drives the protection structure 150 to move to the second position to protect the cutting element.
- the lifting mechanism 161 drives the protective structure 150 to move to or maintain at the first position.
- the control module controls the lifting mechanism 161 to move to drive the protective structure 150 to the second position, so that it Switching to the protection state is convenient for the intelligent lawn mower 100 to meet the requirements of cutting to the edge and cutting safely under complicated working conditions.
- the control module controls the lifting mechanism 161 to move, and drives the protective structure 150 to move to or remain at the first position, Make the cutting mechanism 130 work normally.
- the lifting mechanism 161 can have various designs, as long as it can drive the protective structure 150 to move between at least the first position and the second position.
- the lifting mechanism 161 is designed as a combined structure such as a motor, a gear, and a rack; or it is designed as a combined structure such as a motor, a cam 1631, and a lifting rod; or, it can also be directly designed as a device with telescopic functions such as an air cylinder and a hydraulic cylinder. .
- the protection structure 150 when the protection structure 150 is in the first position, it is in a non-protection state; when the protection structure 150 is in the second position, it is in a protection state.
- the first position is controlled to be 100mm to 120mm from the ground, specifically a position near 114mm from the ground; or, the first position is controlled to be The highest position of the protective structure 150 moving away from the ground, etc.
- the design of the second position can be determined according to the object to be protected and the installation height of the cutting mechanism 130 . In terms of protection effect, the closer the second position is to the ground, the better, but considering the mowing efficiency and passability, the setting of the second position should not be too low.
- the height h of the bottom of the protective structure 150 from the ground is 38mm ⁇ 55mm.
- the height of the second position is reasonably designed so that the height of the bottom of the protective structure 150 from the ground is controlled to be 38 mm to 55 mm. While achieving effective protection, it is ensured that the intelligent lawn mower 100 can pass through stably during operation, and the mowing operation can be carried out stably.
- the height h of the bottom of the protective structure 150 from the ground is 55 mm.
- the distance D between the side of the protective structure 150 facing away from the fuselage 110 and the outer contour of the cutting mechanism 130 is greater than or equal to 90 mm, that is, the distance between the outer end of the cutting mechanism 130 and the outer side of the protective structure 150 in the horizontal direction is controlled. The distance between them is to meet the protection requirements of the fingers.
- the outer contour of the cutting mechanism 130 refers to the part at the outermost end of the cutting mechanism 130.
- the cutting mechanism 130 at least includes a cutter head and blades arranged at intervals on the cutter head.
- the cutting mechanism 130 The outer contour can be understood as the end of the blade sticking out of the cutter head. If the blade is designed to be foldable and shrinkable in the cutter head, the blade will be re-deployed under the centrifugal force of the cutter head rotation. At this time, the distance D between the outer end of the blade and the side of the protective structure 150 facing away from the fuselage 110 Greater than or equal to 90mm.
- the three cutting mechanisms 130 are disposed at the bottom of the fuselage 110 at intervals in a triangular shape.
- the smart lawnmower 100 further includes a distance acquisition module 140 connected to the control module.
- the distance acquisition module 140 can at least acquire the distance between the fuselage 110 and the preset object. In this way, through the distance acquisition module 140, the distance between the fuselage 110 and the preset object can be accurately acquired, so that the control module can control the action of the protective device in time In order to enable the intelligent mower 100 to achieve the purpose of stable cutting to the edge and safe cutting under complicated working conditions.
- the distance acquisition module 140 can be a positioning module, which determines the distance between itself and a known preset object according to its own positioning; it can also be a detection module, which detects the preset distance in front of the intelligent lawn mower 100 in real time. distance from itself, etc.
- the preset objects include obstacles 200 in the working area, wherein the obstacles 200 with pre-stored location information in the smart mower 100 are defined as marked obstacles.
- the preset distance includes a first preset distance; the distance acquisition module 140 includes a positioning component 142 configured to locate the position coordinates of the fuselage 110 to determine the distance between the fuselage 110 and the marked obstacle.
- the driving mechanism 160 drives the protective structure 150 to move to a preset position.
- the positioning component 142 locates the position coordinates of the fuselage 110 in the working area. Since the location information of the marked obstacle has been built in the intelligent mower 100, the distance between the fuselage 110 and the marked obstacle can be determined according to the position coordinates located by the positioning component 142. If the distance between the fuselage 110 and the marked obstacle is less than or equal to the first preset distance, it means that the intelligent mower 100 is relatively close to the marked obstacle. At this time, the driving mechanism 160 drives the protective structure 150 to actively protect the cutting element. , so that the intelligent mower 100 can work close to the marked obstacles, so as to meet the requirements of cutting to the edge and safe cutting operations.
- the marked obstacles can be determined according to different types of work areas, for example: the marked obstacles can be but not limited to walls, fences, trees in the garden, swimming pools, ponds, etc.
- the positioning component 142 is a position coordinate device capable of positioning the fuselage 110, such as: the positioning component 142 can be an RTK (Real Time Kinematic translated as real-time differential positioning) module, a GPS (Global Positioning System translated as global positioning) system), etc.
- the positioning component 142 can only receive satellite signals, or only receive base station signals broadcast by the base station, for example: the base station signals include at least differential messages; or receive satellite signals at the same time signal and base station signal.
- base stations can be deployed in the set path or work area. The base station receives satellite signals through an internal antenna and broadcasts differential messages to the outside.
- the positioning component 142 simultaneously receives satellite signals and base station signals, and feeds back positioning data to the control module to determine the position coordinates of the fuselage 110 .
- the positioning component 142 when receiving satellite signals and base station signals, has at least a built-in satellite antenna and a communication unit, and the positioning component 142 uses the satellite antenna to receive satellite signals; uses the communication unit to receive base station signals from the base station to obtain accurate positioning data.
- the control module receives the positioning data of the positioning component 142, the control module processes according to a preset algorithm to obtain the position data.
- the driving mechanism 160 starts to drive the protective structure 150 to move, and makes the protective structure 150 move within a critical distance from the marked obstacle. previously moved to the preset position. It can be seen that when the intelligent lawn mower 100 locates itself close to the marked obstacle, it starts to drive the protective structure 150 to move, and ensures that the protective structure 150 is protected in place before the fuselage 110 is at a critical distance from the marked obstacle, so that the protective structure 150 for more stable and secure protection.
- the first preset distance ranges from 1.5m to 2.5m.
- the critical distance ranges from 0.2m to 0.8m, that is, when the distance between the fuselage 110 and the marked obstacle is less than or equal to 1.5m to 2.5m, the protective structure 150 is controlled to move in advance (such as falling in advance, etc.), so that the protection The structure 150 is protected in advance at a distance of 0.2m-0.8m from the fuselage 110 to the marked obstacle, ensuring that the intelligent lawnmower 100 can achieve stable cutting to the side.
- the first preset distance is 2m; the critical distance is 0.5m.
- the preset objects include obstacles 200 in the working area, wherein the obstacles 200 with no pre-stored location information in the smart lawnmower 100 are defined as random obstacles.
- the preset distance includes a second preset distance.
- the distance acquisition module 140 includes a detection component 141 configured at least to detect random obstacles and determine the distance between the fuselage 110 and the random obstacles. When the distance between the fuselage 110 and the random obstacle is less than or equal to the second preset distance, the driving mechanism 160 drives the protective structure 150 to move to the preset position.
- the driving mechanism 160 drives the protective structure 150 to actively protect the cutting element, so that The intelligent lawn mower 100 can work close to random obstacles or work around, so that it can recognize its edge cutting, so as to meet the requirements of cutting to the edge and safe cutting operations.
- the speed of the smart lawn mower 100 decreases (below the normal working speed), for example, the normal working speed is 1 m /s ⁇ 3m/s, the speed can be reduced to about 0.5m/s when working close to the body, and if safety is further considered, it can also be reduced to 0.3m/s, 0.2m/s, etc.
- random obstacles are objects that do not often exist or appear in the work area, and have great uncertainty, such as: stones in the lawn, plastic bottles, animals, people, etc.
- the built-in location information cannot be used to locate it.
- the present application sets the detection component 141 to detect such obstacles 200 in real time, so as to determine the distance between random obstacles and the fuselage 110 .
- the detection component 141 can also detect the marked obstacle, which can cooperate with the positioning component 142, so that the distance information between the fuselage 110 and the marked obstacle can be acquired with higher accuracy.
- the second preset distance can be comprehensively determined according to the overall traveling speed of the smart lawn mower 100 and the moving speed of the protective structure 150 , for example, the second preset distance is set to about 2m. Meanwhile, the second preset distance and the first preset distance can be set to be consistent or inconsistent. When the second preset distance is inconsistent with the first preset distance, the first preset distance can be set larger than the second preset distance, which can expand the protection range of the marked obstacle, so that the protective structure 150 can be used for the marked obstacle. Move ahead.
- the protective structure 150 can be lifted, for example, to First or highest position.
- the detection component 141 may be, but not limited to, a vision module, a ranging sensor 1412, a radar device, and the like.
- the detection component 141 includes a camera 1411 and a sensor 1412 disposed on the body 110 .
- the camera 1411 can identify the obstacle 200 .
- the sensor 1412 can obtain the distance between the fuselage 110 and the obstacle 200 .
- the control module has a timing control function.
- the control module controls the detection component 141 to monitor the random obstacle within the preset time; after the preset time, if the fuselage 110 and If the distance between random obstacles is still less than or equal to the second preset distance, the driving mechanism 160 drives the protection structure 150 to move to the preset position. Due to the large uncertainty of random obstacles, for example: random obstacles can be fixed objects or objects that change at any time. The effective action of the protection structure 150 is controlled to prevent the cutting efficiency and cutting effect from being affected by driving the protection structure 150 when no protection is required.
- the detection component 141 detects the animal and obtains the distance between it and the machine body 110 .
- the control module controls the detection component 141 to continuously monitor the animal within a preset time. If the animal is disturbed by the cutting action of the intelligent lawnmower 100 and jumps away or moves away by itself within a preset time, and the distance between it and the fuselage 110 is greater than the second preset distance, after the preset time, the control module will The driving mechanism 160 is controlled not to act, so that the intelligent lawnmower 100 works normally.
- control module controls the driving mechanism 160 to move, driving the protective structure 150 to move to the preset position to provide effective protection for cutting elements.
- control module has a sequence control function, which can select whether the executive control mechanism acts or the executive control mechanism does not act after a preset time.
- control module is integrated with a control circuit, a conversion circuit, etc. Since the specific circuit structure in the control module is not the object of improvement in this embodiment, its specific structure can directly refer to existing documents or existing products.
- the preset object includes the boundary 400 of the working area.
- the preset distance includes a third preset distance.
- the distance acquisition module 140 includes a positioning component 142 configured to locate the position coordinates of the fuselage 110 to determine the distance between the fuselage 110 and the boundary 400 .
- the driving mechanism 160 drives the protective structure 150 to move to the preset position.
- the positioning component 142 locates the position coordinates of the fuselage 110 to obtain the distance between the fuselage 110 and the boundary 400 . If the distance between the fuselage 110 and the boundary 400 is less than or equal to the third preset distance, the driving mechanism 160 drives the protective structure 150 to move to a preset position (such as descending to a preset position) to protect the cutting element , so that when the intelligent lawn mower 100 walks along the boundary 400, the protective structure 150 is released throughout the process.
- a third preset distance judgment protection condition is set, so as to realize the safe operation of cutting the boundary 400 .
- the value of the third preset distance can also be determined according to the surrounding environment of the work area. For example, if there are fewer obstacles 200 outside the work area or it is relatively open (such as adjacent to the road), the third preset distance can be set to Set the distance definition to a smaller value, or even set it to 0, that is, there is no need to release the protective structure 150 in the whole process; if there are more obstacles 200 outside the working area, the third preset distance can be appropriately increased to ensure that the boundary 400 Cutting safety.
- marked obstacles may or may not exist on the boundary 400 (such as the open boundary 400 ).
- the control protection structure 150 remains in the non-protection state. If after continuing to walk, when the distance between the fuselage 110 and the marked obstacle is located less than or equal to the first preset distance, the driving mechanism 160 is controlled to move to the preset position in advance, so that it is in a protective state ; If it is detected that the distance between the fuselage 110 and the random obstacle is less than or equal to the second preset distance, control the driving mechanism 160 to move the protective structure 150 to the preset position.
- the protective structure 150 when the intelligent lawn mower 100 walks along the boundary 400 with marked obstacles, and the distance between the fuselage 110 and the marked obstacles is less than the first preset distance, the protective structure 150 is in a protective position all the way. state.
- the driving mechanism 160 includes a first driver 162 and a transmission member 164 connected to the first driver 162 .
- the protective structure 150 is disposed on the transmission member 164 .
- the first driver 162 drives the transmission member 164 to move relative to the body 110 to drive the protection structure 150 to move relative to the body 110 , so that the protection structure 150 can stably move to a preset position to achieve effective cutting protection.
- the first driver 162 can be an air cylinder, a hydraulic cylinder, an electric cylinder and other equipment with telescopic shafts, so that the transmission member 164 can reciprocate relative to the fuselage 110 .
- the first driver 162 can also be a motor.
- the transmission member 164 is directly connected to the first driver 162, the transmission member 164 is driven to rotate relative to the fuselage 110, so that the protective structure 150 is rotated to a preset position;
- the force transmission of the transmission structure 163 can be used to convert the rotation of the first driver 162 into the driving of the transmission member 164, and drive the protection structure 150 to move to the preset position.
- the driving mechanism 160 further includes a transmission structure 163, and the first driver 162 is a motor.
- the first driver 162 is connected to the transmission member 164 through the transmission structure 163 , so that the protection structure 150 can move stably through the transmission structure 163 .
- the transmission member 164 can realize motion modes such as swinging back and forth and moving up and down.
- the transmission structure 163 can be designed as a rotating shaft.
- the first driver 162 is connected to the rotating shaft through belts, gears and other components. At this time, the first driver 162 can drive the rotating shaft to rotate around its own axis, and drive the transmission member 164 to swing around the axis of the rotating shaft, so as to realize the swinging of the protective structure 150 up and down.
- the transmission structure 163 can be designed as a combined structure of the height adjustment rod 1632 and the cam 1631 or a combined structure of the gear and the rack. If the transmission structure 163 is a combined structure of the height adjustment rod 1632 and the cam 1631 , the protruding portion of the cam 1631 is in contact with the bottom of the height adjustment rod 1632 . At this time, as the first driver 162 rotates, the protruding portion of the cam 1631 can raise or lower the position of the height-adjusting rod 1632 to drive the transmission member 164 to move up and down.
- the transmission structure 163 can also have other designs, which are not listed one by one, as long as they can drive the protection structure 150 to move relative to the fuselage 110 .
- the protection structure 150 includes a first protection part 151 and a second protection part 152 respectively disposed on two sides 131 of the cutting mechanism 130 .
- the first guard 151 and the second guard 152 are respectively connected to the corresponding transmission members 164, that is, the guard in this embodiment adopts side guards, which realize effective and safe cutting under the premise of reducing the load of the intelligent lawn mower 100 .
- the protective structure 150 is circumferentially disposed outside the cutting mechanism 130 , that is, the protective structure 150 is completely protected outside the cutting mechanism 130 to improve the protective performance.
- the protective structure 150 floats up and down relative to the transmission member 164.
- the protective structure 150 encounters an obstacle 200, it is lifted by the obstacle 200 by using its floating performance, so that the smart mower The grass machine 100 realizes the function of overcoming obstacles at a high level, and improves its passability when encountering obstacles.
- the way to realize the floating of the protective structure 150 relative to the transmission member 164 can be provided with waist-shaped holes or other spaces for moving up and down on the transmission member 164; Structures such as chains 174 are connected to the transmission member 164 .
- the smart lawn mower 100 further includes a height adjustment mechanism 170 .
- the height adjustment mechanism 170 is used to drive the cutting mechanism 130 to perform cutting tasks at least at two predetermined cutting heights of different heights. In this way, the cutting mechanism 130 can cut grass of different heights, which is beneficial to expand the working range of the intelligent lawn mower 100 .
- the cutting mechanism 130 can be driven up through the height adjustment mechanism 170; and for low grass cutting, please refer to Figure 4 and Figure 8, the cutting mechanism can be driven through the height adjustment mechanism 170 130 down for low grass cutting etc.
- the height adjustment mechanism 170 includes a second driver 171 and at least one height adjustment member 172 rotatably connected to the body 110 .
- One end of the height-adjusting member 172 is matched with the output shaft of the second driver 171, and the other end is connected with the cutting mechanism 130.
- the second driver 171 drives the height-adjusting member 172 to swing
- one end of the transmission member 164 can raise or lower the cutting mechanism 130, that is, use
- the seesaw principle enables the cutting mechanism 130 to move up and down relative to the fuselage 110 .
- the second driver 171 may be, but not limited to, an air cylinder, a hydraulic cylinder, an electric cylinder, and the like.
- the height adjustment member 172 can be designed as or approximately an "L"-shaped structure.
- the height-adjusting member 172 may be a swing arm.
- At least two height-adjusting members 172 there are at least two height-adjusting members 172 . At least two height adjustment components 172 are arranged side by side and spaced apart on the fuselage 110 . A linkage rod 173 is rotatably connected between two adjacent height-adjusting members 172 , so that the second driver 171 can simultaneously drive the two height-adjusting members 172 to swing.
- the cutting mechanism 130 is connected to the height adjustment mechanism 170, and can float up and down relative to the height adjustment mechanism 170 in the height direction of the fuselage 110, so that when the cutting mechanism 130 encounters The obstacle 200 will be pushed up by the obstacle 200, so that it is easy to cross the obstacle 200, which is beneficial to improve the passability of the intelligent lawn mower 100.
- the "floating" implementation may be to connect the cutting mechanism 130 to the height adjustment mechanism 170 through springs, elastic rubber, chains 174 and other structures.
- a stop structure 180 is provided on the fuselage 110 to prevent the cutting mechanism from 130 Shaking is too large and affects safety and stability.
- the limiting structure 180 can be designed as a limiting plate and a limiting groove structure; it can also be designed as a connecting rod structure and the like.
- the limiting structure 180 includes a first connecting rod 181 and a second connecting rod 182 .
- the first connecting rod 181 is connected with the body 110
- the second connecting rod 182 is connected with the cutting mechanism 130 .
- the first link 181 is rotatably connected to the second link 182, and the rotation axis of the second link 182 on the first link 181 is parallel to the direction of the line between the two sides 131, that is, the second link 182
- the rotation plane is parallel to the left and right side surfaces of the fuselage 110 , which can not only allow the cutting mechanism 130 to float up and down, but also limit the cutting mechanism 130 to move left and right.
- the circumferential area of the fuselage 110 includes a first area 300 and a second area 310 respectively facing two sides 131 .
- a preset object such as: a marked obstacle or a random obstacle, etc.
- the driving mechanism 160 is controlled to drive the protection structure 150 to a preset position, so as to protect the two sides of the cutting mechanism 130 .
- the circumferential area of the fuselage 110 further includes a third area 320 located at the front end of the fuselage 110 in the traveling direction 111 .
- the moving module 120 drives the fuselage 110 to turn and/or reverse to achieve avoidance.
- the guard structure 150 can be released, and the way of turning or backing up can be used to avoid.
- the intelligent lawn mower 100 when it recognizes a human body, it can start turning or reversing after detecting the human body, and at the same time release the protective structure 150. When there is no human body in any area, the protective structure 150 can be restored to the non-protective state again.
- the protective device of the intelligent lawnmower 100 may always be in a protective state.
- the protective device can be fixedly arranged on the side of the cutting element in the form of mechanical protection, so that a protective barrier can always be established on the side of the cutting mechanism 130, and, during the mowing process of the intelligent lawnmower 100 along the edge, the The most side part of the protective structure is the most side part of the intelligent lawn mower 100 .
- Stones in the lawn, plastic bottles, or animals, human hands, and human feet that accidentally enter the bottom of the intelligent lawn mower 100 can be blocked from the outside of the cutting mechanism 130 through the protective structure, thereby forming better protection.
- the most side part of the protective structure is the most side part of the intelligent lawn mower 100, it can be seen that at least part of the protective structure is located outside the fuselage during the edge cutting process, which is conducive to passing through the protective structure.
- the structure guarantees the safety of people or animals, and at the same time realizes cutting to the edge, preventing the intelligent lawn mower 100 from stopping working at a distance from the border, people or animals, leaving more uncut areas.
- such an arrangement can increase the horizontal distance from the outer end of the cutting element to the outer side of the protective structure, and furthermore, no bottom protection can be provided, thereby improving the passability of the intelligent lawnmower 100 and reducing the manufacturing cost of the machine.
- the distance between the protective structure and the ground can be designed to be smaller than or equal to the diameter of a human arm, wherein, generally speaking, the diameter of a human arm can be 38 mm to 80 mm.
- the distance between the protective structure and the ground can be designed to be 25mm to 60mm to take into account the protection of stones, plastic bottles, and human hands in the lawn.
- the protective structure is configured to move relative to the fuselage when the external force received is greater than a predetermined value.
- the external force has a component force away from the surface of the working area.
- the predetermined value can be determined according to the lifting force of grass under general working conditions. For example, the lifting force of grass under general working conditions is about 5N, then the predetermined value can be set to 5N.
- the predetermined The value can float within a value range around 5N, for example, it can be 3N, 4N, 6N, 7N.
- the height of the cutting element of the cutting mechanism 130 on the fuselage is adjustable, and the protective structure can be set to be relatively fixed with the cutting mechanism 130. Real-time protection of cutting elements.
- the protective structure is circumferentially disposed on the outer side of the fuselage.
- the protective structure By arranging the protective structure on the outer side of the fuselage as a whole, it is beneficial to protect the cutting elements in all directions, thereby further ensuring safety.
- the edge-cutting direction of the smart lawn mower 100 is not limited. In other words, no matter which direction the smart lawn mower 100 cuts along the edge, it can meet the requirements of cutting edge and safety.
- the cutting diameter of the cutting element of the intelligent lawn mower 100 is greater than or equal to 500mm, to improve the cutting efficiency of the intelligent lawn mower 100, at the same time, the protective structure of the intelligent lawn mower 100 can always be in a protective state
- the protective structure can be fixedly arranged in the form of mechanical protection, so that a protective barrier is always established at least on the side of the cutting element. In this way, it is not only beneficial to improve the cutting efficiency, but also realize cutting to the edge, and meet the safety requirements.
- the protective structure when the cutting element is arranged closer to the fuselage, can also be configured to establish a protective barrier under the cutting element, thereby preventing human hands or animals from touching the cutting element from below; at the same time, the protective structure
- the structure can also be configured to move relative to the body when the external force is greater than a predetermined value, so as to be lifted when encountering obstacles or dense grass, thereby improving the passability of the smart lawnmower 100 .
- the external force has a component force away from the surface of the working area.
- the predetermined value may float within a value range around 5N, for example, may be 3N, 4N, 6N, 7N.
- the protective barrier at the base can be established by the protective structure comprising a first protective element and a second protective element articulated with the first protective element, wherein the first protective element is located on the side of the cutting element
- the second guard can move relative to the first guard to a guard position to establish a guard barrier below the cutting element.
- first and second are used for descriptive purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features.
- the features defined as “first” and “second” may explicitly or implicitly include at least one of these features.
- “plurality” means at least two, such as two, three, etc., unless otherwise specifically defined.
- the first feature may be in direct contact with the first feature or the first and second feature may be in direct contact with the second feature through an intermediary. touch.
- “above”, “above” and “above” the first feature on the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature.
- “Below”, “beneath” and “beneath” the first feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is less horizontally than the second feature.
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Abstract
A smart lawn mower (100), integrated with a control module and a protective device. The control module is configured to control, according to a distance between a machine body (110) and a preset object, the protective device to actively switch between a protective state and a non-protective state; when the distance between the machine body (110) and the preset object is relatively long and a cutting mechanism (130) does not need to be protected, the control module controls the protective device to be in the non-protective state to ensure the normal operation of the cutting mechanism (130); and when the distance between the machine body (110) and the preset object is relatively short and the cutting mechanism (130) needs to be protected, the control module controls the protective device to actively act to protect the cutting mechanism (130), such that the smart lawn mower (100) can get close to the preset object for cutting.
Description
本发明涉及自移动工具技术领域,特别是涉及智能割草机。The invention relates to the technical field of self-moving tools, in particular to an intelligent lawnmower.
传统的户外商用割草机主要包括骑乘式割草机和手推割草机。然而,这些割草机并非智能产品,需要人的全程干预,导致割草的人工成本增加。Traditional outdoor commercial lawn mowers mainly include riding lawn mowers and walk lawn mowers. However, these lawn mowers are not smart products and require full human intervention, resulting in increased labor costs for mowing the lawn.
另一方面,虽然也有智能的户外商用割草机,但是这些割草机的底盘较低,虽然符合安全性需求,但仅适用于足球场、高尔夫球场等简单工环境,换言之,这些割草机对于高密草、障碍物、台阶等复杂工况环境的处理能力有限。On the other hand, although there are also intelligent outdoor commercial lawn mowers, these lawn mowers have a low chassis. Although they meet safety requirements, they are only suitable for simple industrial environments such as football fields and golf courses. The ability to deal with complex working conditions such as high-density grass, obstacles, and steps is limited.
发明内容Contents of the invention
基于此,有必要提供一种智能割草机,可有效解决人为参与的问题,且能在高密草、障碍物、台阶等复杂工况下进行切割,并满足安全性需求。Based on this, it is necessary to provide an intelligent lawn mower that can effectively solve the problem of human participation, and can cut under complex working conditions such as high-density grass, obstacles, steps, etc., and meet safety requirements.
根据本申请的第一方面,一种智能割草机,包括:机身;移动模块,设于所述机身,且被配置为驱使所述机身沿着设定路径或在工作区域内移动;切割机构,包括切割元件,所述切割元件设于所述机身底部以执行切割任务;所述智能割草机还包括,防护装置,具有防护状态和非防护状态,在所述防护状态下所述防护装置能对所述切割元件进行防护;以及,控制模块,至少与所述防护装置连接,且被配置为根据所述机身与预设对象之间的距离,控制所述防护装置处于所述防护状态或所述非防护状态。According to the first aspect of the present application, an intelligent lawnmower includes: a body; a mobile module, disposed on the body, and configured to drive the body to move along a set path or within a working area ; The cutting mechanism includes a cutting element, and the cutting element is arranged at the bottom of the fuselage to perform the cutting task; the intelligent lawn mower also includes, the protection device has a protection state and a non-protection state, and in the protection state The protection device can protect the cutting element; and the control module is at least connected to the protection device and configured to control the protection device to be in the position according to the distance between the fuselage and a preset object. The guarded state or the non-guarded state.
上述的智能割草机,集成有控制模块与防护装置,并将控制模块配置为根据机身与预设对象之间的距离,控制防护装置主动在防护状态和非防护状态之间切换。例如:当机身与预设对象之间的距离较远,无需对切割元件进行防护时,控制模块控制防护装置处于非防护状态,以保证切割机构正常作业。当机身与预设对象之间的距离较近,需要对切割元件进行防护时,控制模块控制防护装置主动动作,对切割元件进行防护,以使智能割草机能够靠近预设对象进行切割。由此可知,本智能割草机利用控制模块根据机身与预设对象之间的距离,主动控制防护装置的动作,使之准确切换防护状态和非防护状态,实现智能割草机的切割到边和安全切割的主动防护。这样对于复杂工况,比如:高密草、障碍物、台阶等,本智能割草机无需人为参与,可兼顾切割到边和切割安全性的需求。The above intelligent lawn mower is integrated with a control module and a protective device, and the control module is configured to control the protective device to actively switch between the protective state and the non-protective state according to the distance between the fuselage and the preset object. For example: when the distance between the fuselage and the preset object is relatively long and there is no need to protect the cutting element, the control module controls the protective device to be in a non-protective state to ensure the normal operation of the cutting mechanism. When the distance between the fuselage and the preset object is short and the cutting element needs to be protected, the control module controls the protective device to take the initiative to protect the cutting element so that the intelligent lawn mower can cut close to the preset object. It can be seen that the intelligent lawn mower uses the control module to actively control the action of the protective device according to the distance between the fuselage and the preset object, so that it can accurately switch between the protective state and the non-protective state, and realizes the cutting of the intelligent lawn mower. Active protection for edges and safe cuts. In this way, for complex working conditions, such as: high-density grass, obstacles, steps, etc., this intelligent lawn mower does not require human participation, and can take into account the needs of cutting to the edge and cutting safety.
在其中一个实施例中,所述切割机构具有相对的两个侧方,两个所述侧方之间的连线方向与所述机身的行进方向相交,所述防护装置包括:驱动机构,与所述控制模块连接;以及,防护结构,与所述驱动机构连接,且至少部分设于所述切割机构的至少一个侧方;所述控制模块被配置为当所述机身与预设对象之间的距离小于或等于预设距离时,控制所述驱动机构驱动所述防护结构相对于所述机身运动至预设位置,以使所述防护装置处于所述防护状态。In one of the embodiments, the cutting mechanism has two opposite sides, the direction of the line between the two sides intersects the traveling direction of the fuselage, and the protection device includes: a driving mechanism, connected with the control module; and, the protective structure is connected with the driving mechanism and at least partly arranged on at least one side of the cutting mechanism; the control module is configured to When the distance between them is less than or equal to the preset distance, the driving mechanism is controlled to drive the protective structure to move relative to the fuselage to a preset position, so that the protective device is in the protective state.
在其中一个实施例中,当所述机身与预设对象之间距离小于或等于预设距离时,所述控制模块被配置为控制所述驱动机构驱动所述防护结构沿着朝向地面的方向运动至所述预设位置。In one of the embodiments, when the distance between the fuselage and the preset object is less than or equal to the preset distance, the control module is configured to control the driving mechanism to drive the protective structure along the direction toward the ground Move to the preset position.
在其中一个实施例中,所述驱动机构包括升降机构;所述防护结构相对所述机身至少在第一位置和第二位置之间运动,所述第一位置高于所述第二位置,所述预设位置包括所述第二位置;当所述机身与预设对象之间的距离小于或等于预设距离时,所述升降机构驱使所述防护结构运动至所述第二位置,以对所述切割元件进行防护;当所述机身与预设对象之间的距离大于预设距离时,所述升降机构驱使所述防护结构运动至或保持在所述第一位置。In one of the embodiments, the driving mechanism includes a lifting mechanism; the protective structure moves relative to the fuselage at least between a first position and a second position, the first position is higher than the second position, The preset position includes the second position; when the distance between the fuselage and the preset object is less than or equal to the preset distance, the lifting mechanism drives the protective structure to move to the second position, to protect the cutting element; when the distance between the fuselage and the preset object is greater than the preset distance, the lifting mechanism drives the protective structure to move to or maintain at the first position.
在其中一个实施例中,所述第二位置时,所述防护结构的底部离地高度h为38mm~55mm,所述防护结构背向所述机身的一侧面与所述切割机构的外轮廓之间的间距D大于或等于90mm。In one of the embodiments, in the second position, the height h of the bottom of the protection structure from the ground is 38 mm to 55 mm, and the side of the protection structure facing away from the fuselage and the outer contour of the cutting mechanism The distance D between them is greater than or equal to 90mm.
在其中一个实施例中,所述智能割草机还包括与所述控制模块连接的距离获取模块,所述距离获取模块至少能获取所述机身与预设对象之间的距离。In one of the embodiments, the intelligent lawn mower further includes a distance acquisition module connected to the control module, and the distance acquisition module can at least acquire the distance between the fuselage and a preset object.
在其中一个实施例中,预设对象包括工作区域中的障碍物,其中预存位置信息在所述智能割草机内的障碍物定义为标记障碍物,所述预设距离包括第一预设距离;所述距离获取模块包括定位组件,所述定位组件被配置为定位所述机身的位置坐标,以确定所述机身与标记障碍物之间的距离;当所述机身与标记障碍物之间的距离小于或者等于所述第一预设距离时,所述驱动机构驱使所述防护结构运动至所述预设位置。In one of the embodiments, the preset objects include obstacles in the working area, wherein the obstacles with pre-stored position information in the intelligent lawn mower are defined as marked obstacles, and the preset distance includes a first preset distance The distance acquisition module includes a positioning component configured to locate the position coordinates of the fuselage to determine the distance between the fuselage and the marked obstacle; when the fuselage and the marked obstacle When the distance between them is less than or equal to the first preset distance, the driving mechanism drives the protective structure to move to the preset position.
在其中一个实施例中,当所述机身与标记障碍物之间的距离小于或者等于所述第一预设距离时,所述驱动机构开始驱使所述防护结构运动,并使得所述防护结构在距离所述标记障碍物临界距离之前运动至所述预设位置。In one of the embodiments, when the distance between the fuselage and the marked obstacle is less than or equal to the first preset distance, the driving mechanism starts to drive the protective structure to move, and makes the protective structure Moving to the preset position before the critical distance from the marked obstacle.
在其中一个实施例中,所述第一预设距离的范围为1.5m~2.5m;所述临界距离的范围为0.2m~0.8m。In one embodiment, the first preset distance ranges from 1.5m to 2.5m; the critical distance ranges from 0.2m to 0.8m.
在其中一个实施例中,预设对象包括工作区域中的障碍物,其中未预存位置信息在所述智能割草机内 的障碍物定义为随机障碍物,所述预设距离包括第二预设距离;所述距离获取模块包括检测组件,所述检测组件至少被配置为检测所述随机障碍物,并确定所述机身与随机障碍物之间的距离;当所述机身与随机障碍物之间的距离小于或者等于所述第二预设距离时,所述驱动机构驱使所述防护结构运动至所述预设位置。In one of the embodiments, the preset objects include obstacles in the working area, wherein obstacles without pre-stored position information in the intelligent lawn mower are defined as random obstacles, and the preset distance includes the second preset distance Distance; the distance acquisition module includes a detection component, the detection component is at least configured to detect the random obstacle, and determine the distance between the fuselage and the random obstacle; when the fuselage and the random obstacle When the distance between them is less than or equal to the second preset distance, the driving mechanism drives the protective structure to move to the preset position.
在其中一个实施例中,所述控制模块具有时序控制功能,当所述机身与所述随机障碍物之间距离小于或者等于第二预设距离时,所述控制模块控制所述检测组件在预设时间之内对随机障碍物进行监测;预设时间后,若所述机身与随机障碍物之间的距离依然小于或者等于第二预设距离,则所述驱动机构驱使所述防护结构运动至所述预设位置。In one of the embodiments, the control module has a timing control function, and when the distance between the fuselage and the random obstacle is less than or equal to the second preset distance, the control module controls the detection component to The random obstacle is monitored within the preset time; after the preset time, if the distance between the fuselage and the random obstacle is still less than or equal to the second preset distance, the driving mechanism drives the protective structure Move to the preset position.
在其中一个实施例中,预设对象包括工作区域的边界;所述预设距离包括第三预设距离;所述距离获取模块包括定位组件,所述定位组件被配置为定位所述机身的位置坐标,以确定所述机身与边界之间的距离;当所述机身与边界之间的距离小于或者等于第三预设距离时,所述驱动机构驱使所述防护结构运动至所述预设位置。In one of the embodiments, the preset object includes the boundary of the working area; the preset distance includes a third preset distance; the distance acquisition module includes a positioning component, and the positioning component is configured to position the fuselage Position coordinates to determine the distance between the fuselage and the boundary; when the distance between the fuselage and the boundary is less than or equal to a third preset distance, the driving mechanism drives the protective structure to move to the Default position.
在其中一个实施例中,所述驱动机构包括第一驱动器及与所述第一驱动器连接的传动件,所述防护结构设于所述传动件,所述第一驱动器通过驱使所述传动件相对于所述机身运动,以带动所述防护结构相对于所述机身运动。In one of the embodiments, the driving mechanism includes a first driver and a transmission member connected to the first driver, the protective structure is arranged on the transmission member, and the first driver drives the transmission member to moving on the fuselage to drive the protective structure to move relative to the fuselage.
在其中一个实施例中,所述防护结构包括分别设于所述切割机构两个侧方的第一防护件与第二防护件,所述传动件为至少两个,所述第一防护件与所述第二防护件分别连接于对应的传动件上。In one of the embodiments, the protection structure includes a first protection member and a second protection member respectively arranged on two sides of the cutting mechanism, there are at least two transmission members, and the first protection member and the second protection member are respectively arranged on two sides of the cutting mechanism. The second protection elements are respectively connected to the corresponding transmission elements.
在其中一个实施例中,所述防护结构周向围设在所述切割机构外侧。In one of the embodiments, the protective structure is circumferentially arranged outside the cutting mechanism.
根据本申请的第二方面,一种智能割草机,包括:机身;移动模块,设于所述机身,且被配置为驱使所述机身沿着设定路径或在工作区域内移动;切割机构,包括切割元件,所述切割元件设于所述机身底部以执行切割任务;控制模块,与所述移动模块和所述切割机构连接,至少被配置为控制所述智能割草机沿所述工作区域的边界移动割草;其中,所述智能割草机还包括,防护结构,被配置为在所述切割元件的侧方建立防护屏障,并且,在所述智能割草机沿边切割过程中,所述防护结构的最靠边部位为所述智能割草机的最靠边部位。According to the second aspect of the present application, an intelligent lawnmower includes: a body; a mobile module, disposed on the body, and configured to drive the body to move along a set path or within a working area a cutting mechanism, including a cutting element, the cutting element is arranged at the bottom of the fuselage to perform cutting tasks; a control module, connected with the moving module and the cutting mechanism, is at least configured to control the intelligent lawn mower Mowing grass along the boundary of the working area; wherein the intelligent lawn mower further includes a protective structure configured to establish a protective barrier on the side of the cutting element, and the intelligent lawn mower along the edge During the cutting process, the sidemost part of the protective structure is the sidemost part of the intelligent lawnmower.
通过该防护结构对切割元件形成较佳的防护。并且,在沿边切割过程中,防护结构的最靠边部位为智能割草机的最靠边部位,可知,沿边过程中至少有部分的防护结构是位于机身的外侧的,从而有利于通过该防护结构保证人或动物等安全性,同时实现切割到边,避免智能割草机在距边界、人或动物等较远处即停止工作,留下较多未切割区域。另一方面,如此设置可以增大切割元件外端至防护结构外侧的水平距离,进而可以不设置底部防护,从而提高智能割草机的通过性,并降低机器的制备成本。The cutting element is better protected by this protective structure. And, in the cutting process along the edge, the most edge part of the protective structure is the most edge part of the intelligent lawn mower. It can be seen that at least part of the protective structure is located on the outside of the fuselage during the edge cutting process, which is conducive to passing through the protective structure. Guarantee the safety of people or animals, and at the same time realize cutting to the edge, avoiding that the smart lawn mower stops working far away from the border, people or animals, leaving more uncut areas. On the other hand, such an arrangement can increase the horizontal distance from the outer end of the cutting element to the outer side of the protective structure, so that no bottom protection can be provided, thereby improving the passability of the intelligent lawnmower and reducing the preparation cost of the machine.
根据本申请的第三方面,一种智能割草机,包括:机身;移动模块,设于所述机身,且被配置为驱使所述机身沿着设定路径或在工作区域内移动;切割机构,包括切割元件,所述切割元件设于所述机身底部以执行切割任务;其中,所述切割元件的切割直径大于或等于500mm;控制模块,与所述移动模块和所述切割机构连接,至少被配置为控制所述智能割草机沿所述工作区域的边界移动割草;其中,所述智能割草机还包括,防护结构,被配置为至少在所述切割元件的侧方建立防护屏障。According to a third aspect of the present application, an intelligent lawn mower includes: a body; a mobile module, disposed on the body, and configured to drive the body to move along a set path or within a working area a cutting mechanism, including a cutting element, the cutting element is arranged at the bottom of the fuselage to perform cutting tasks; wherein, the cutting diameter of the cutting element is greater than or equal to 500mm; a control module, with the mobile module and the cutting a mechanism linkage configured at least to control movement of the intelligent lawnmower to mow grass along the boundary of the work area; wherein the intelligent lawnmower further includes a protective structure configured to at least To build a protective barrier.
如此,既有利于提高切割效率,也能实现切割到边,并满足安全性的需求。In this way, it is not only beneficial to improve the cutting efficiency, but also realize cutting to the edge, and meet the safety requirements.
构成本申请的一部分的附图用来提供对本发明的进一步理解,本发明的示意性实施例及其说明用于解释本发明,并不构成对本发明的不当限定。The accompanying drawings constituting a part of this application are used to provide further understanding of the present invention, and the schematic embodiments and descriptions of the present invention are used to explain the present invention, and do not constitute an improper limitation of the present invention.
为了更清楚地说明本发明实施例中的技术方案,下面将对实施例描述中所需要使用的附图作简单地介绍,显而易见地,下面描述中的附图仅仅是本发明的一些实施例,对于本领域普通技术人员来讲,在不付出创造性劳动的前提下,还可以根据这些附图获得其他的附图。In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings that need to be used in the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention. For those skilled in the art, other drawings can also be obtained based on these drawings without creative effort.
图1为一个实施例中所述的侧面防护的智能割草机结构正视图;Fig. 1 is the front view of the intelligent lawn mower structure of side protection described in one embodiment;
图2为一个实施例中所述的侧面防护的智能割草机结构仰视图;Fig. 2 is a bottom view of the intelligent lawn mower structure with side protection described in one embodiment;
图3为一个实施例中所述的高草切割时侧面防护的智能割草机结构示意图;Fig. 3 is a structural schematic diagram of an intelligent lawn mower for side protection when tall grass is cut in an embodiment;
图4为一个实施例中所述的低草切割时侧面防护的智能割草机结构示意图;Fig. 4 is a structural schematic diagram of an intelligent lawn mower for side protection when cutting low grass described in an embodiment;
图5为一个实施例中所述的全面防护的智能割草机结构正视图;Fig. 5 is the front view of the structure of the fully protected intelligent lawn mower described in one embodiment;
图6为一个实施例中所述的全面防护的智能割草机结构示意图;Fig. 6 is a structural schematic diagram of a fully protected intelligent lawn mower described in an embodiment;
图7为一个实施例中所述高草切割时全面防护的智能割草机结构示意图;Fig. 7 is a structural schematic diagram of an intelligent lawn mower for comprehensive protection when cutting tall grass described in an embodiment;
图8为一个实施例中所述的低草切割时全面防护的智能割草机结构示意图;Fig. 8 is a structural schematic diagram of an intelligent lawn mower for comprehensive protection when cutting low grass described in an embodiment;
图9为一个实施例中所述的防护结构前端结构示意图;Fig. 9 is a schematic diagram of the front end structure of the protective structure described in one embodiment;
图10为一个实施例中所述的遇障时智能割草机结构示意图;Fig. 10 is a structural schematic diagram of an intelligent lawnmower when an obstacle is encountered in one embodiment;
图11为一个实施例中所述的越障时智能割草机结构示意图;Fig. 11 is a structural schematic diagram of an intelligent lawnmower when overcoming obstacles described in an embodiment;
图12为一个实施例中所述的智能割草机周向区域分析图。Fig. 12 is an analysis diagram of the peripheral area of the intelligent mower described in one embodiment.
100、智能割草机;110、机身;111、行进方向;120、移动模块;130、切割机构;131、侧方;140、距离获取模块;141、检测组件;1411、摄像头;1412、传感器;142、定位组件;150、防护结构;151、第一防护件;152、第二防护件;153、梳槽;160、驱动机构;161、升降机构;162、第一驱动器;163、传动结构;1631、凸轮;1632、调高杆;164、传动件;170、调高机构;171、第二驱动器;172、调高件;173、联动杆;174、锁链;180、限位结构;181、第一连杆;182、第二连杆;200、障碍物;300、第一区域;310、第二区域;320、第三区域;400、边界。100. Intelligent lawn mower; 110. Body; 111. Traveling direction; 120. Mobile module; 130. Cutting mechanism; 131. Side; 140. Distance acquisition module; 141. Detection component; 1411. Camera; 1412. Sensor ; 142, positioning assembly; 150, protective structure; 151, first protective piece; 152, second protective piece; 153, comb groove; 160, driving mechanism; 161, lifting mechanism; 162, first driver; ; 1631, cam; 1632, height adjustment rod; 164, transmission part; 170, height adjustment mechanism; 171, second driver; 172, height adjustment part; 173, linkage rod; 174, chain; , the first link; 182, the second link; 200, the obstacle; 300, the first area; 310, the second area; 320, the third area; 400, the boundary.
为使本发明的上述目的、特征和优点能够更加明显易懂,下面结合附图对本发明的具体实施方式做详细的说明。在下面的描述中阐述了很多具体细节以便于充分理解本发明。但是本发明能够以很多不同于在此描述的其它方式来实施,本领域技术人员可以在不违背本发明内涵的情况下做类似改进,因此本发明不受下面公开的具体实施例的限制。In order to make the above objects, features and advantages of the present invention more comprehensible, specific implementations of the present invention will be described in detail below in conjunction with the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. However, the present invention can be implemented in many other ways different from those described here, and those skilled in the art can make similar improvements without departing from the connotation of the present invention, so the present invention is not limited by the specific embodiments disclosed below.
在一些实施例中,请参考图1与图5,一种智能割草机100,包括:机身110、移动模块120、防护装置及控制模块。移动模块120设于机身110,且被配置为驱使机身110沿着设定路径或在工作区域内移动。切割机构130包括切割元件(如图1所示的多层切割刀片),切割元件设于机身110底部以执行切割任务。防护装置具有防护状态和非防护状态,在防护状态下防护装置能对切割元件进行防护。控制模块至少与防护装置连接,且被配置为根据机身110与预设对象之间的距离,控制防护装置处于防护状态或非防护状态。In some embodiments, please refer to FIG. 1 and FIG. 5 , an intelligent lawn mower 100 includes: a body 110 , a moving module 120 , a protection device and a control module. The moving module 120 is disposed on the fuselage 110 and is configured to drive the fuselage 110 to move along a set path or within a working area. The cutting mechanism 130 includes a cutting element (such as a multi-layer cutting blade as shown in FIG. 1 ), which is disposed at the bottom of the fuselage 110 to perform cutting tasks. The protection device has a protection state and a non-protection state, and in the protection state, the protection device can protect the cutting element. The control module is at least connected to the protective device, and is configured to control the protective device to be in a protective state or a non-protective state according to the distance between the fuselage 110 and a preset object.
上述的智能割草机100,集成有控制模块与防护装置,并将控制模块配置为根据机身110与预设对象之间的距离,控制防护装置主动在防护状态和非防护状态之间切换。例如:当机身110与预设对象之间的距离较远,无需对切割元件进行防护时,控制模块控制防护装置处于非防护状态,以保证切割机构130正常作业。当机身110与预设对象之间的距离较近,需要切割元件进行防护时,控制模块控制防护装置主动动作,对切割元件进行防护,以使智能割草机100能够靠近预设对象进行切割。由此可知,本智能割草机100利用控制模块根据机身110与预设对象之间的距离,主动控制防护装置的动作,使之准确切换防护状态和非防护状态,实现智能割草机100的切割到边和安全切割的主动防护。这样对于复杂工况,比如:高密草、障碍物200、台阶等,本智能割草机100无需人为参与,可兼顾切割到边和切割安全性的需求。The above intelligent lawn mower 100 is integrated with a control module and a protective device, and the control module is configured to control the protective device to actively switch between the protective state and the non-protective state according to the distance between the fuselage 110 and the preset object. For example: when the distance between the fuselage 110 and the preset object is relatively long and there is no need to protect the cutting element, the control module controls the protection device to be in a non-protection state to ensure the normal operation of the cutting mechanism 130 . When the distance between the fuselage 110 and the preset object is relatively short and cutting elements are required for protection, the control module controls the protective device to take the initiative to protect the cutting elements so that the intelligent lawn mower 100 can cut close to the preset object . It can be seen from this that the intelligent lawn mower 100 uses the control module to actively control the action of the protective device according to the distance between the fuselage 110 and the preset object, so that it can accurately switch between the protective state and the non-protective state, and realize the intelligent lawn mower 100. Cut-to-edge and active protection for safe cutting. In this way, for complex working conditions, such as: high-density grass, obstacles 200, steps, etc., the intelligent lawn mower 100 does not require human participation, and can take into account the needs of cutting to the edge and cutting safety.
需要说明的是,防护状态和非防护状态分别为防护装置相对于切割机构130的两种结构状态。防护状态时,防护装置可对切割机构130进行遮挡,防止人或动物等从机身110外部伸入能接触到切割元件。比如:以人手臂为例,防护装置处于防护状态时,防护装置与地面之间的距离可设计为小于或等于人手臂的直径大小,以实现防护作用。当然,也可以人其他部分或动物为例,来定义防护装置的防护状态。It should be noted that the guard state and the non-guard state are two structural states of the guard device relative to the cutting mechanism 130 . In the protective state, the protective device can cover the cutting mechanism 130 to prevent people or animals from reaching into the cutting element from outside the fuselage 110 . For example, taking the human arm as an example, when the protective device is in the protective state, the distance between the protective device and the ground can be designed to be less than or equal to the diameter of the human arm to achieve the protective effect. Of course, other parts of humans or animals can also be used as an example to define the protective state of the protective device.
同时,防护装置切换成防护状态的动作方式有多种,比如:防护装置以朝地面移动的方式切换成防护状态;或者,防护装置以旋转或卷开等方式切换成防护状态等。At the same time, there are many ways for the protective device to switch to the protective state. For example, the protective device switches to the protective state by moving toward the ground; or, the protective device switches to the protective state by rotating or unwinding.
还需说明的是,预设对象可包括有预先内置位置信息在控制模块中的障碍物200,例如:墙、篱笆、庭院中的树、游泳池、池塘等;也可包括未预先内置位置信息的障碍物200,例如:草坪中的石块、塑料瓶、动物,人等。当然,预设对象还可包括工作区域的边界400,比如:当机身110与工作区域的边界400之间距离达到能触发防护的距离时,控制模块控制防护装置切换为防护状态,以对切割元件进行防护。It should also be noted that the preset objects may include obstacles 200 with pre-built-in position information in the control module, such as: walls, fences, trees in the garden, swimming pools, ponds, etc.; Obstacles 200, for example: stones in the lawn, plastic bottles, animals, people, etc. Of course, the preset object can also include the boundary 400 of the working area, such as: when the distance between the fuselage 110 and the boundary 400 of the working area reaches the distance that can trigger the protection, the control module controls the protection device to switch to the protection state to prevent cutting Components are protected.
另外,本实施例的智能割草机100可应用于家用割草,也可应用于户外商用割草等。对此,在本实施例中不作具体限定。同时,控制模块可为但不仅限于单片机、电子控制器(electronic Control Unit简称ECU)、可编辑逻辑控制器(Programmable Logic Controller简称PLC)等。In addition, the intelligent lawn mower 100 of this embodiment can be applied to domestic mowing, and can also be applied to outdoor commercial mowing and the like. This is not specifically limited in this embodiment. At the same time, the control module can be, but not limited to, a single-chip microcomputer, an electronic control unit (ECU for short), a programmable logic controller (PLC for short), and the like.
可选地,请参考图2与图6,切割机构130具有相对的两个侧方131。两个侧方131之间的连线方向与机身110的行进方向111相交,即两个侧方131应理解为机身110行进方向111上的相对两侧。其中,“相交”包括垂直和非垂直状态。防护装置包括驱动机构160与防护结构150。驱动机构160与控制模块连接。防护结构150与驱动机构160连接,且至少部分设于切割机构130的至少一个侧方131。控制模块被配置为当机身110与预设对象之间的距离小于或等于预设距离时,控制驱动机构160驱动防护结构150相对于机身110运动至预设位置,以使防护装置处于防护状态。Optionally, please refer to FIG. 2 and FIG. 6 , the cutting mechanism 130 has two opposite sides 131 . The direction of the line between the two sides 131 intersects the traveling direction 111 of the fuselage 110 , that is, the two sides 131 should be understood as opposite sides in the traveling direction 111 of the fuselage 110 . Wherein, "intersection" includes perpendicular and non-perpendicular states. The protection device includes a driving mechanism 160 and a protection structure 150 . The driving mechanism 160 is connected with the control module. The protection structure 150 is connected to the driving mechanism 160 and at least partially disposed on at least one side 131 of the cutting mechanism 130 . The control module is configured to control the driving mechanism 160 to drive the protective structure 150 to a preset position relative to the fuselage 110 when the distance between the fuselage 110 and the preset object is less than or equal to the preset distance, so that the protective device is in the protective position. state.
由此可知,当机身110与预设对象之间的距离小于或等于预设距离时,控制模块控制驱动机构160动作,驱使防护结构150相对机身110运动至预设位置上,以对切割机构130的至少一个侧方131进行防护。这样便于智能割草机100能接近预设对象进行切割作业,以实现复杂工况的切割到边和安全切割需求。It can be seen from this that when the distance between the fuselage 110 and the preset object is less than or equal to the preset distance, the control module controls the driving mechanism 160 to move to drive the protective structure 150 to the preset position relative to the fuselage 110, so as to prevent the cutting At least one side 131 of the mechanism 130 is shielded. This facilitates the intelligent lawnmower 100 to perform cutting operations close to the preset object, so as to realize cutting to the edge and safe cutting requirements in complex working conditions.
需要说明的是,“切割到边”并非指将预设对象的周边草全部切割,而是指在保护预设对象安全的前提下,接近预设对象的边缘进行切割。切割后,预设对象的周边可留下一段区域的草未切割;也可全部切割完。比如:当预设对象为障碍物200时,切割到边后,会在障碍物200的周边留下0.15m左右的草为切割,此时可通过打草机等设备进行处理。当预设对象为工作区域的边界400且边界附近没有阻挡时,切割到边后,可将边界400上的草全部清除。It should be noted that "cutting to the edge" does not refer to cutting all the surrounding grass of the preset object, but refers to cutting close to the edge of the preset object under the premise of protecting the safety of the preset object. After cutting, a section of grass can be left uncut around the preset object; it can also be completely cut. For example: when the preset object is an obstacle 200, after cutting to the edge, about 0.15m of grass will be left around the obstacle 200 for cutting, which can be processed by equipment such as a grass trimmer. When the preset object is the boundary 400 of the working area and there is no obstruction near the boundary, after cutting to the edge, all the grass on the boundary 400 can be cleared.
防护结构150在驱动机构160的驱使下,其运动方式可为但不仅限于转动、平移、卷开等方式。其中,当防护结构150的运动方式为卷开方式时,防护结构150可设计为卷帘结构,在防护时,通过驱动机构160驱使卷帘结构卷开,以遮挡切割机构130的至少一个侧方131。同时,驱动机构160可为电机、气缸、液压缸、电缸等设备;当然也可为电机与连杆机构的组合结构等。Driven by the drive mechanism 160, the protection structure 150 can move in ways such as, but not limited to, rotation, translation, and unwinding. Wherein, when the movement mode of the protection structure 150 is the roll-out mode, the protection structure 150 can be designed as a roll-up structure. During protection, the drive mechanism 160 drives the roll-up structure to roll up to block at least one side of the cutting mechanism 130. 131. Meanwhile, the driving mechanism 160 can be a motor, an air cylinder, a hydraulic cylinder, an electric cylinder, etc.; of course, it can also be a combined structure of a motor and a linkage mechanism.
还需说明的是,防护结构150对切割元件的防护可为部分防护,也可为整体防护。例如:请参考图2,防护结构150围设于一个侧方131或两个侧方131上;或者,请参考图6,防护结构150环绕切割机构130的***延伸设置等。请参考图9,当防护结构150能对机身110的前端具有防护功能时,防护结构150上可间隔设置若干梳槽153。这样可利用梳槽153使得前方未切割的草更容易进入切割机构130中。同时,通过梳槽153也有利于减少防护结构150与草之间的阻力,提高智能割草机100的通过性。It should also be noted that the protection of the cutting element by the protection structure 150 may be partial protection or overall protection. For example: please refer to FIG. 2 , the protection structure 150 is disposed around one side 131 or two sides 131 ; or, please refer to FIG. 6 , the protection structure 150 is extended around the periphery of the cutting mechanism 130 . Please refer to FIG. 9 , when the protective structure 150 can protect the front end of the fuselage 110 , several comb grooves 153 can be arranged at intervals on the protective structure 150 . This makes it easier for uncut grass ahead to enter the cutting mechanism 130 using the comb slot 153 . At the same time, the comb groove 153 is also beneficial to reduce the resistance between the protective structure 150 and the grass, and improve the passability of the intelligent lawnmower 100 .
可选地,请参考图1与图5,当机身110与预设对象之间距离小于或等于预设距离时,控制模块被配置为控制驱动机构160驱动防护结构150沿着朝向地面的方向运动至预设位置。由此可知,防护结构150在防护时其运动方式为朝向地面的方向运动方式,以降低防护结构150所在位置,实现对切割元件的防护。Optionally, please refer to FIG. 1 and FIG. 5 , when the distance between the fuselage 110 and the preset object is less than or equal to the preset distance, the control module is configured to control the driving mechanism 160 to drive the protective structure 150 along the direction toward the ground Move to preset position. It can be seen from this that the movement mode of the protection structure 150 is towards the ground during protection, so as to lower the position of the protection structure 150 and realize the protection of the cutting element.
需要说明的是,预设位置的取值可根据被防护的对象和切割机构130的安装高度而定。当然,预设位置也不可设定过低,过低会降低智能割草机100的通过性,影响其正常切割作业。It should be noted that the value of the preset position may be determined according to the object to be protected and the installation height of the cutting mechanism 130 . Of course, the preset position should not be set too low, otherwise, the passability of the intelligent lawn mower 100 will be reduced, and its normal cutting operation will be affected.
在一些实施例中,请参考图2与图6,驱动机构160包括升降机构161。防护结构150相对机身110至少在第一位置和第二位置之间运动。第一位置高于第二位置。预设位置包括第二位置。当机身110与预设对象之间的距离小于或等于预设距离时,升降机构161驱使防护结构150运动至第二位置,以对切割元件进行防护。当机身110与预设对象之间的距离大于预设距离时,升降机构161驱使防护结构150运动至或保持在第一位置。由此可知,在切割过程中,当机身110与预设对象之间距离小于或等于预设距离时,控制模块控制升降机构161动作,驱使防护结构150运动至第二位置上,以使之切换为防护状态,便于智能割草机100在复杂工况下实现切割到边和安全切割的需求。当机身110与预设对象之间距离大于预设距离,即智能割草机100处于安全切割区域时,控制模块控制升降机构161动作,驱使防护结构150运动至或保持在第一位置上,使得切割机构130正常作业。In some embodiments, please refer to FIG. 2 and FIG. 6 , the driving mechanism 160 includes a lifting mechanism 161 . The protective structure 150 moves relative to the fuselage 110 at least between a first position and a second position. The first position is higher than the second position. The preset positions include the second position. When the distance between the fuselage 110 and the preset object is less than or equal to the preset distance, the lifting mechanism 161 drives the protection structure 150 to move to the second position to protect the cutting element. When the distance between the fuselage 110 and the preset object is greater than the preset distance, the lifting mechanism 161 drives the protective structure 150 to move to or maintain at the first position. It can be seen that, during the cutting process, when the distance between the fuselage 110 and the preset object is less than or equal to the preset distance, the control module controls the lifting mechanism 161 to move to drive the protective structure 150 to the second position, so that it Switching to the protection state is convenient for the intelligent lawn mower 100 to meet the requirements of cutting to the edge and cutting safely under complicated working conditions. When the distance between the fuselage 110 and the preset object is greater than the preset distance, that is, when the intelligent lawn mower 100 is in the safe cutting area, the control module controls the lifting mechanism 161 to move, and drives the protective structure 150 to move to or remain at the first position, Make the cutting mechanism 130 work normally.
需要说明的是,升降机构161可有多种设计,只需能驱使防护结构150至少第一位置与第二位置之间运动均可。比如:升降机构161设计为电机、齿轮及齿条等组合结构;或者设计为电机、凸轮1631及升降杆等组合结构;又或者,还可直接设计为气缸、液压缸等具有伸缩功能的设备等。It should be noted that the lifting mechanism 161 can have various designs, as long as it can drive the protective structure 150 to move between at least the first position and the second position. For example: the lifting mechanism 161 is designed as a combined structure such as a motor, a gear, and a rack; or it is designed as a combined structure such as a motor, a cam 1631, and a lifting rod; or, it can also be directly designed as a device with telescopic functions such as an air cylinder and a hydraulic cylinder. .
还需说明的是,防护结构150位于第一位置时,处于非防护状态;防护结构150位于第二位置时,则处于防护状态。同时,第一位置和第二位置的位置设计有多种,比如:将第一位置控制为距离地面100mm~120mm的位置,具体可为距离地面114mm附近的位置;或者,将第一位置控制为防护结构150背离地面运动的最高位置等。而第二位置的设计可根据被防护的对象和切割机构130的安装高度而定。从防护效果而言,第二位置离地越近越好,但考虑割草效率和通过性,第二位置的设置也不应过低。It should also be noted that when the protection structure 150 is in the first position, it is in a non-protection state; when the protection structure 150 is in the second position, it is in a protection state. At the same time, there are various designs for the first position and the second position. For example, the first position is controlled to be 100mm to 120mm from the ground, specifically a position near 114mm from the ground; or, the first position is controlled to be The highest position of the protective structure 150 moving away from the ground, etc. The design of the second position can be determined according to the object to be protected and the installation height of the cutting mechanism 130 . In terms of protection effect, the closer the second position is to the ground, the better, but considering the mowing efficiency and passability, the setting of the second position should not be too low.
可选地,请参考图1,第二位置时,防护结构150的底部离地高度h为38mm~55mm。如此,合理设计第二位置的高度,使得防护结构150的底部离地高度控制为38mm~55mm,在实现有效防护的同时,保证智能割草机100作业时稳定通过,确保割草作业稳定进行。Optionally, please refer to FIG. 1 , in the second position, the height h of the bottom of the protective structure 150 from the ground is 38mm˜55mm. In this way, the height of the second position is reasonably designed so that the height of the bottom of the protective structure 150 from the ground is controlled to be 38 mm to 55 mm. While achieving effective protection, it is ensured that the intelligent lawn mower 100 can pass through stably during operation, and the mowing operation can be carried out stably.
具体地,第二位置时,防护结构150的底部离地高度h为55mm。Specifically, in the second position, the height h of the bottom of the protective structure 150 from the ground is 55 mm.
另外,请参考图2,防护结构150背向机身110的一侧面与切割机构130的外轮廓之间的间距D大于或等于90mm,即控制水平方向上切割机构130外端距防护结构150外侧之间距离,以满足触指的防护要求。In addition, please refer to FIG. 2 , the distance D between the side of the protective structure 150 facing away from the fuselage 110 and the outer contour of the cutting mechanism 130 is greater than or equal to 90 mm, that is, the distance between the outer end of the cutting mechanism 130 and the outer side of the protective structure 150 in the horizontal direction is controlled. The distance between them is to meet the protection requirements of the fingers.
需要说明的是,切割机构130的外轮廓是指切割机构130上位于其最外端的部分,比如:切割机构130至少包括刀盘与间隔设于刀盘上的刀片,此时,切割机构130的外轮廓可理解为刀片伸出刀盘外的一端。若刀片设计为可折叠收缩于刀盘内的结构时,刀片会在刀盘的旋转离心力下重新展开,此时刀片的外端与防护结构150背向机身110的一侧面之间的间距D大于或等于90mm。It should be noted that the outer contour of the cutting mechanism 130 refers to the part at the outermost end of the cutting mechanism 130. For example, the cutting mechanism 130 at least includes a cutter head and blades arranged at intervals on the cutter head. At this time, the cutting mechanism 130 The outer contour can be understood as the end of the blade sticking out of the cutter head. If the blade is designed to be foldable and shrinkable in the cutter head, the blade will be re-deployed under the centrifugal force of the cutter head rotation. At this time, the distance D between the outer end of the blade and the side of the protective structure 150 facing away from the fuselage 110 Greater than or equal to 90mm.
另外,切割机构130可为一个,也可多个。比如:切割机构130为三个。三个切割机构130呈三角式间隔设于机身110的底部。In addition, there may be one cutting mechanism 130, or multiple. For example: there are three cutting mechanisms 130 . The three cutting mechanisms 130 are disposed at the bottom of the fuselage 110 at intervals in a triangular shape.
在一些实施例中,请参考图1与图5,智能割草机100还包括与控制模块连接的距离获取模块140。距离获取模块140至少能获取机身110与预设对象之间的距离,如此,通过距离获取模块140,准确获取机身110与预设对象之间的距离,便于控制模块能及时控制防护装置动作,以使智能割草机100在复杂工况下实现稳定切割到边和安全切割的目的。In some embodiments, please refer to FIG. 1 and FIG. 5 , the smart lawnmower 100 further includes a distance acquisition module 140 connected to the control module. The distance acquisition module 140 can at least acquire the distance between the fuselage 110 and the preset object. In this way, through the distance acquisition module 140, the distance between the fuselage 110 and the preset object can be accurately acquired, so that the control module can control the action of the protective device in time In order to enable the intelligent mower 100 to achieve the purpose of stable cutting to the edge and safe cutting under complicated working conditions.
需要说明的是,距离获取模块140可为定位模块,根据自身的定位,确定出自身与已知预设对象之间的距离;也可为检测模块,实时检测智能割草机100前方的预设与自身之间的距离等。It should be noted that the distance acquisition module 140 can be a positioning module, which determines the distance between itself and a known preset object according to its own positioning; it can also be a detection module, which detects the preset distance in front of the intelligent lawn mower 100 in real time. distance from itself, etc.
可选地,请参考图1与图5,预设对象包括工作区域中的障碍物200,其中预存位置信息在智能割草机100内的障碍物200定义为标记障碍物。预设距离包括第一预设距离;距离获取模块140包括定位组件142,定位组件142被配置为定位机身110的位置坐标,以确定机身110与标记障碍物之间的距离。当机 身110与标记障碍物之间的距离小于或者等于第一预设距离时,驱动机构160驱使防护结构150运动至预设位置。Optionally, please refer to FIG. 1 and FIG. 5 , the preset objects include obstacles 200 in the working area, wherein the obstacles 200 with pre-stored location information in the smart mower 100 are defined as marked obstacles. The preset distance includes a first preset distance; the distance acquisition module 140 includes a positioning component 142 configured to locate the position coordinates of the fuselage 110 to determine the distance between the fuselage 110 and the marked obstacle. When the distance between the fuselage 110 and the marked obstacle is less than or equal to the first preset distance, the driving mechanism 160 drives the protective structure 150 to move to a preset position.
当智能割草机100正常作业时,定位组件142定位出机身110在工作区域内的位置坐标。由于标记障碍物的位置信息已内置在智能割草机100内,因此,根据定位组件142定位出的位置坐标可确定机身110与标记障碍物之间的距离。若机身110与标记障碍物之间的距离小于或者等于第一预设距离时,说明智能割草机100较为接近标记障碍物,此时,驱动机构160驱使防护结构150,对切割元件主动防护,使得智能割草机100能接近标记障碍物近身作业,以满足切割到边及安全切割作业需求。When the intelligent lawnmower 100 works normally, the positioning component 142 locates the position coordinates of the fuselage 110 in the working area. Since the location information of the marked obstacle has been built in the intelligent mower 100, the distance between the fuselage 110 and the marked obstacle can be determined according to the position coordinates located by the positioning component 142. If the distance between the fuselage 110 and the marked obstacle is less than or equal to the first preset distance, it means that the intelligent mower 100 is relatively close to the marked obstacle. At this time, the driving mechanism 160 drives the protective structure 150 to actively protect the cutting element. , so that the intelligent mower 100 can work close to the marked obstacles, so as to meet the requirements of cutting to the edge and safe cutting operations.
需要说明的是,标记障碍物可根据不同工作区域类型而定,比如:标记障碍物可为但不仅限于墙、篱笆、庭院中的树、游泳池、池塘等。It should be noted that the marked obstacles can be determined according to different types of work areas, for example: the marked obstacles can be but not limited to walls, fences, trees in the garden, swimming pools, ponds, etc.
还需说明的是,定位组件142为能定位机身110的位置坐标设备,比如:定位组件142可为RTK(Real Time Kinematic译为实时差分定位)模组、GPS(Global Positioning System译为全球定位***)等。请参考图1与图5,当定位组件142为RTK模组时,其可仅接收卫星信号,也可仅接收由基站所广播的基站信号,比如:基站信号至少包括差分电文;或者同时接收卫星信号和基站信号。在移动导航时,为提高定位精度,可在设定的路径或者工作区域中布设基站。基站通过内部天线接收卫星信号,并向外广播差分电文。此时,定位组件142同时接收卫星信号和基站信号,并向控制模块反馈定位数据,以确定机身110的位置坐标。It should also be noted that the positioning component 142 is a position coordinate device capable of positioning the fuselage 110, such as: the positioning component 142 can be an RTK (Real Time Kinematic translated as real-time differential positioning) module, a GPS (Global Positioning System translated as global positioning) system), etc. Please refer to FIG. 1 and FIG. 5, when the positioning component 142 is an RTK module, it can only receive satellite signals, or only receive base station signals broadcast by the base station, for example: the base station signals include at least differential messages; or receive satellite signals at the same time signal and base station signal. During mobile navigation, in order to improve the positioning accuracy, base stations can be deployed in the set path or work area. The base station receives satellite signals through an internal antenna and broadcasts differential messages to the outside. At this time, the positioning component 142 simultaneously receives satellite signals and base station signals, and feeds back positioning data to the control module to determine the position coordinates of the fuselage 110 .
同时,在接收卫星信号和基站信号时,定位组件142至少内置有卫星天线和通信单元,定位组件142利用卫星天线接收卫星信号;利用通信单元接收基站的基站信号,以获取精准的定位数据。当控制模块接收定位组件142的定位数据时,控制模块按照预设算法处理,以获取位置数据。At the same time, when receiving satellite signals and base station signals, the positioning component 142 has at least a built-in satellite antenna and a communication unit, and the positioning component 142 uses the satellite antenna to receive satellite signals; uses the communication unit to receive base station signals from the base station to obtain accurate positioning data. When the control module receives the positioning data of the positioning component 142, the control module processes according to a preset algorithm to obtain the position data.
在一些实施例中,当机身110与标记障碍物之间的距离小于或者等于第一预设距离时,驱动机构160开始驱使防护结构150运动,并使得防护结构150在距离标记障碍物临界距离之前运动至预设位置。由此可知,当智能割草机100定位出自身已接近标记障碍物时,开始驱使防护结构150运动,并确保防护结构150在机身110距离标记障碍物临界距离之前防护到位,以使防护结构150实现更稳定、安全的防护。In some embodiments, when the distance between the fuselage 110 and the marked obstacle is less than or equal to the first preset distance, the driving mechanism 160 starts to drive the protective structure 150 to move, and makes the protective structure 150 move within a critical distance from the marked obstacle. previously moved to the preset position. It can be seen that when the intelligent lawn mower 100 locates itself close to the marked obstacle, it starts to drive the protective structure 150 to move, and ensures that the protective structure 150 is protected in place before the fuselage 110 is at a critical distance from the marked obstacle, so that the protective structure 150 for more stable and secure protection.
可选地,第一预设距离的范围为1.5m~2.5m。临界距离的范围为0.2m~0.8m,即当机身110与标记障碍物之间的距离小于或等于1.5m~2.5m时,控制防护结构150提前动作(比如提前下降等),以使防护结构150在机身110距离标记障碍物0.2m~0.8m提前防护到位,保证智能割草机100实现稳定的切割到边作业。Optionally, the first preset distance ranges from 1.5m to 2.5m. The critical distance ranges from 0.2m to 0.8m, that is, when the distance between the fuselage 110 and the marked obstacle is less than or equal to 1.5m to 2.5m, the protective structure 150 is controlled to move in advance (such as falling in advance, etc.), so that the protection The structure 150 is protected in advance at a distance of 0.2m-0.8m from the fuselage 110 to the marked obstacle, ensuring that the intelligent lawnmower 100 can achieve stable cutting to the side.
具体地,第一预设距离为2m;临界距离为0.5m。Specifically, the first preset distance is 2m; the critical distance is 0.5m.
在一些实施例中,请参考图1与图5,预设对象包括工作区域中的障碍物200,其中未预存位置信息在智能割草机100内的障碍物200定义为随机障碍物。预设距离包括第二预设距离。距离获取模块140包括检测组件141,检测组件141至少被配置为检测随机障碍物,并确定机身110与随机障碍物之间的距离。当机身110与随机障碍物之间的距离小于或者等于第二预设距离时,驱动机构160驱使防护结构150运动至预设位置。In some embodiments, please refer to FIG. 1 and FIG. 5 , the preset objects include obstacles 200 in the working area, wherein the obstacles 200 with no pre-stored location information in the smart lawnmower 100 are defined as random obstacles. The preset distance includes a second preset distance. The distance acquisition module 140 includes a detection component 141 configured at least to detect random obstacles and determine the distance between the fuselage 110 and the random obstacles. When the distance between the fuselage 110 and the random obstacle is less than or equal to the second preset distance, the driving mechanism 160 drives the protective structure 150 to move to the preset position.
当智能割草机100正常作业时,通过检测组件141至少检测出随机障碍物,并确定机身110与随机障碍物之间的距离。若机身110与随机障碍物的距离小于或者等于第二预设距离时,说明智能割草机100较为接近随机障碍物,此时,驱动机构160驱使防护结构150,对切割元件主动防护,使得智能割草机100能接近随机障碍物近身作业或绕行作业,使之能识别到其边缘切割,以满足切割到边及安全切割作业需求。When the smart lawnmower 100 is working normally, at least a random obstacle is detected by the detection component 141, and the distance between the fuselage 110 and the random obstacle is determined. If the distance between the fuselage 110 and the random obstacle is less than or equal to the second preset distance, it means that the intelligent mower 100 is relatively close to the random obstacle. At this time, the driving mechanism 160 drives the protective structure 150 to actively protect the cutting element, so that The intelligent lawn mower 100 can work close to random obstacles or work around, so that it can recognize its edge cutting, so as to meet the requirements of cutting to the edge and safe cutting operations.
在一些实施方式中,智能割草机100接近随机障碍物近身作业或绕行作业时,智能割草机100的速度减小(降至正常作业速度以下),例如,正常作业的速度为1m/s~3m/s,则近身作业时速度可降为0.5m/s左右,若进一步考虑安全性,也可降为0.3m/s、0.2m/s等。In some embodiments, when the smart lawn mower 100 works close to a random obstacle or works around it, the speed of the smart lawn mower 100 decreases (below the normal working speed), for example, the normal working speed is 1 m /s~3m/s, the speed can be reduced to about 0.5m/s when working close to the body, and if safety is further considered, it can also be reduced to 0.3m/s, 0.2m/s, etc.
需要说明的是,随机障碍物为工作区域中不常存在或出现的物体,具有很大不确定性,比如:草坪中的石块、塑料瓶、动物,人等。对于这一部分障碍物200是无法通过内置位置信息予以定位。为此,本申请设置检测组件141实时检测该类障碍物200,以确定随机障碍物与机身110之间的距离。当然,检测组件141也可对标记障碍物进行检测,这样可与定位组件142协调配合,使得机身110与标记障碍物之间的距离信息获取精度更高。It should be noted that random obstacles are objects that do not often exist or appear in the work area, and have great uncertainty, such as: stones in the lawn, plastic bottles, animals, people, etc. For this part of the obstacle 200, the built-in location information cannot be used to locate it. To this end, the present application sets the detection component 141 to detect such obstacles 200 in real time, so as to determine the distance between random obstacles and the fuselage 110 . Of course, the detection component 141 can also detect the marked obstacle, which can cooperate with the positioning component 142, so that the distance information between the fuselage 110 and the marked obstacle can be acquired with higher accuracy.
还需说明的是,第二预设距离可根据智能割草机100的整体行进速度和防护结构150的运动速度综合而定,比如:将第二预设距离设定为2m左右。同时,第二预设距离与第一预设距离可设定为一致,也可设定为不一致。当第二预设距离与第一预设距离不一致时,可将第一预设距离大于第二预设距离设定,这样能扩大标记障碍物的防护范围,使得防护结构150对于标记障碍物可提前动作。It should also be noted that the second preset distance can be comprehensively determined according to the overall traveling speed of the smart lawn mower 100 and the moving speed of the protective structure 150 , for example, the second preset distance is set to about 2m. Meanwhile, the second preset distance and the first preset distance can be set to be consistent or inconsistent. When the second preset distance is inconsistent with the first preset distance, the first preset distance can be set larger than the second preset distance, which can expand the protection range of the marked obstacle, so that the protective structure 150 can be used for the marked obstacle. Move ahead.
可选地,当智能割草机100检测到距标记障碍物的距离大于第一预设距离或距随机障碍物的距离大于第二预设距离时,防护结构150可进行抬升,例如,抬升至第一位置或最高位置。Optionally, when the intelligent lawn mower 100 detects that the distance from the marked obstacle is greater than the first preset distance or the distance from the random obstacle is greater than the second preset distance, the protective structure 150 can be lifted, for example, to First or highest position.
可选地,检测组件141可为但不仅限于视觉模组、测距传感器1412、雷达设备等。Optionally, the detection component 141 may be, but not limited to, a vision module, a ranging sensor 1412, a radar device, and the like.
具体地,请参考图1与图5,检测组件141包括设于机身110上的摄像头1411与传感器1412。摄像头1411能识别障碍物200。传感器1412能获取机身110与障碍物200之间的距离。Specifically, please refer to FIG. 1 and FIG. 5 , the detection component 141 includes a camera 1411 and a sensor 1412 disposed on the body 110 . The camera 1411 can identify the obstacle 200 . The sensor 1412 can obtain the distance between the fuselage 110 and the obstacle 200 .
可选地,控制模块具有时序控制功能。当机身110与随机障碍物之间距离小于或者等于第二预设距离时,控制模块控制检测组件141在预设时间之内对随机障碍物进行监测;预设时间后,若机身110与随机障碍物之间的距离依然小于或者等于第二预设距离,则驱动机构160驱使防护结构150运动至预设位置。由于随机障碍物存在较大不确定性,比如:随机障碍物可为固定不动的物体,也可为随时变动的物体,因此,本控制模块内置时序控制功能,延迟判断防护动作时间,以便准确控制防护结构150的有效动作,避免在无需防护时驱使防护结构150动作而影响切割效率和切割效果。Optionally, the control module has a timing control function. When the distance between the fuselage 110 and the random obstacle is less than or equal to the second preset distance, the control module controls the detection component 141 to monitor the random obstacle within the preset time; after the preset time, if the fuselage 110 and If the distance between random obstacles is still less than or equal to the second preset distance, the driving mechanism 160 drives the protection structure 150 to move to the preset position. Due to the large uncertainty of random obstacles, for example: random obstacles can be fixed objects or objects that change at any time. The effective action of the protection structure 150 is controlled to prevent the cutting efficiency and cutting effect from being affected by driving the protection structure 150 when no protection is required.
为便于理解,以动物作为随机障碍物进行说明,当智能割草机100正常作业时,检测组件141检测到动物,并获取其与机身110之间的距离。当两者之间的距离小于第二预设距离时,控制模块控制检测组件141在预设时间内对动物进行持续监测。若该动物受智能割草机100切割动作惊扰在预设时间内自行跳开或远离,并使得其与机身110之间的距离大于第二预设距离时,预设时间后,控制模块则控制驱动机构160不动作,以使智能割草机100正常作业。For ease of understanding, an animal is used as a random obstacle for illustration. When the smart lawn mower 100 is operating normally, the detection component 141 detects the animal and obtains the distance between it and the machine body 110 . When the distance between the two is less than the second preset distance, the control module controls the detection component 141 to continuously monitor the animal within a preset time. If the animal is disturbed by the cutting action of the intelligent lawnmower 100 and jumps away or moves away by itself within a preset time, and the distance between it and the fuselage 110 is greater than the second preset distance, after the preset time, the control module will The driving mechanism 160 is controlled not to act, so that the intelligent lawnmower 100 works normally.
若该动物不受切割动作惊扰或受其惊扰后依然与机身110之间的距离小于或等于第二预设距离时,预设时间后,控制模块控制驱动机构160动作,驱使防护结构150运动至预设位置上,为切割元件提供有效防护。If the animal is not disturbed by the cutting action or the distance between the animal and the fuselage 110 is less than or equal to the second preset distance after being disturbed by it, after the preset time, the control module controls the driving mechanism 160 to move, driving the protective structure 150 to move to the preset position to provide effective protection for cutting elements.
需要说明的是,控制模块具有时序控制功能,能在预设时间后选择执行控制机构动作还是执行控制机构不动作。比如:控制模块内集成有控制电路、变换电路等,由于控制模块中具体电路结构非本实施例所改进的对象,因此,其具体结构可直接参考现有文献或现有产品。It should be noted that the control module has a sequence control function, which can select whether the executive control mechanism acts or the executive control mechanism does not act after a preset time. For example: the control module is integrated with a control circuit, a conversion circuit, etc. Since the specific circuit structure in the control module is not the object of improvement in this embodiment, its specific structure can directly refer to existing documents or existing products.
在一些实施例中,请参考图2与图6,预设对象包括工作区域的边界400。预设距离包括第三预设距离。距离获取模块140包括定位组件142,定位组件142被配置为定位机身110的位置坐标,以确定机身110与边界400之间的距离。当机身110与边界400之间的距离小于或者等于第三预设距离时,驱动机构160驱使防护结构150运动至预设位置。In some embodiments, please refer to FIG. 2 and FIG. 6 , the preset object includes the boundary 400 of the working area. The preset distance includes a third preset distance. The distance acquisition module 140 includes a positioning component 142 configured to locate the position coordinates of the fuselage 110 to determine the distance between the fuselage 110 and the boundary 400 . When the distance between the fuselage 110 and the boundary 400 is less than or equal to the third preset distance, the driving mechanism 160 drives the protective structure 150 to move to the preset position.
由此可知,当智能割草机100正常作业时,定位组件142定位出机身110的位置坐标,以获取机身110与边界400之间的距离。若机身110与边界400之间的距离小于或等于第三预设距离时,驱动机构160驱使防护结构150运动至预设位置上(比如下降至预设位置上),以对切割元件进行防护,使得智能割草机100沿边界400行走时,全程释放防护结构150。如此,本实施例在边界400切割时,设置第三预设距离判断防护条件,以实现边界400切割安全作业。It can be seen that, when the smart lawn mower 100 is working normally, the positioning component 142 locates the position coordinates of the fuselage 110 to obtain the distance between the fuselage 110 and the boundary 400 . If the distance between the fuselage 110 and the boundary 400 is less than or equal to the third preset distance, the driving mechanism 160 drives the protective structure 150 to move to a preset position (such as descending to a preset position) to protect the cutting element , so that when the intelligent lawn mower 100 walks along the boundary 400, the protective structure 150 is released throughout the process. In this way, in this embodiment, when the boundary 400 is cut, a third preset distance judgment protection condition is set, so as to realize the safe operation of cutting the boundary 400 .
需要说明的是,第三预设距离的取值也可根据工作区域周边环境而定,比如:若工作区域外具有较少障碍物200或较为空旷(如邻近路面)时,可将第三预设距离定义较小值,甚至可将其设定为0,即全程无需释放防护结构150;若工作区域外具有较多障碍物200时,可适当增大第三预设距离,以确保边界400切割的安全性。It should be noted that the value of the third preset distance can also be determined according to the surrounding environment of the work area. For example, if there are fewer obstacles 200 outside the work area or it is relatively open (such as adjacent to the road), the third preset distance can be set to Set the distance definition to a smaller value, or even set it to 0, that is, there is no need to release the protective structure 150 in the whole process; if there are more obstacles 200 outside the working area, the third preset distance can be appropriately increased to ensure that the boundary 400 Cutting safety.
还需说明的是,在另一些实施例中,边界400上可存在标记障碍物,也可不存在标记障碍物(比如空旷的边界400)。例如:当智能割草机100沿无标记障碍物的边界400行走、且机身110与边界400之间的距离大于第三预设距离时,控制防护结构150保持非防护状态。若继续行走后,定位出机身110与标记障碍物之间的距离小于或等于第一预设距离时,控制驱动机构160动作,提前驱使防护结构150运动至预设位置,使之处于防护状态;若检测出机身110与随机障碍物之间的距离小于或等于第二预设距离时,控制驱动机构160动作,驱使防护结构150运动至预设位置。It should also be noted that, in some other embodiments, marked obstacles may or may not exist on the boundary 400 (such as the open boundary 400 ). For example: when the intelligent lawn mower 100 walks along the boundary 400 without marked obstacles, and the distance between the fuselage 110 and the boundary 400 is greater than the third preset distance, the control protection structure 150 remains in the non-protection state. If after continuing to walk, when the distance between the fuselage 110 and the marked obstacle is located less than or equal to the first preset distance, the driving mechanism 160 is controlled to move to the preset position in advance, so that it is in a protective state ; If it is detected that the distance between the fuselage 110 and the random obstacle is less than or equal to the second preset distance, control the driving mechanism 160 to move the protective structure 150 to the preset position.
在另一些实施例中,当智能割草机100沿具有标记障碍物的边界400行走、且机身110与标记障碍物之间的距离小于第一预设距离时,防护结构150则全程处于防护状态。In some other embodiments, when the intelligent lawn mower 100 walks along the boundary 400 with marked obstacles, and the distance between the fuselage 110 and the marked obstacles is less than the first preset distance, the protective structure 150 is in a protective position all the way. state.
在一些实施例中,请参考图2与图6,驱动机构160包括第一驱动器162及与第一驱动器162连接的传动件164。防护结构150设于传动件164。第一驱动器162通过驱使传动件164相对于机身110运动,以带动防护结构150相对于机身110运动,如此,使得防护结构150能稳定运动至预设位置,以实现有效切割防护。In some embodiments, please refer to FIG. 2 and FIG. 6 , the driving mechanism 160 includes a first driver 162 and a transmission member 164 connected to the first driver 162 . The protective structure 150 is disposed on the transmission member 164 . The first driver 162 drives the transmission member 164 to move relative to the body 110 to drive the protection structure 150 to move relative to the body 110 , so that the protection structure 150 can stably move to a preset position to achieve effective cutting protection.
需要说明的是,第一驱动器162可为气缸、液压缸、电缸等具有伸缩轴的设备,以使传动件164能相对机身110往复移动。当然,第一驱动器162也可为电机,当传动件164直接与第一驱动器162连接时,传动件164在其驱使下相对机身110转动,以使防护结构150转动至预设位置上;当传动件164与第一驱动器162之间通过传动结构163连接时,可利用传动结构163的力传递,将第一驱动器162的旋转转换为对传动件164的驱动,带动防护结构150移动至预设位置上等。It should be noted that the first driver 162 can be an air cylinder, a hydraulic cylinder, an electric cylinder and other equipment with telescopic shafts, so that the transmission member 164 can reciprocate relative to the fuselage 110 . Of course, the first driver 162 can also be a motor. When the transmission member 164 is directly connected to the first driver 162, the transmission member 164 is driven to rotate relative to the fuselage 110, so that the protective structure 150 is rotated to a preset position; When the transmission member 164 and the first driver 162 are connected through the transmission structure 163, the force transmission of the transmission structure 163 can be used to convert the rotation of the first driver 162 into the driving of the transmission member 164, and drive the protection structure 150 to move to the preset position. Great location.
可选地,请参考图2,驱动机构160还包括传动结构163,第一驱动器162为电机。第一驱动器162通过传动结构163与传动件164连接,如此,通过传动结构163使得防护结构150稳定移动。Optionally, please refer to FIG. 2 , the driving mechanism 160 further includes a transmission structure 163, and the first driver 162 is a motor. The first driver 162 is connected to the transmission member 164 through the transmission structure 163 , so that the protection structure 150 can move stably through the transmission structure 163 .
需要说明的是,传动件164在传动结构163的作用下可实现来回摆动、上下移动等运动方式。当传动件164的运动方式为来回摆动时,传动结构163可设计为转轴。第一驱动器162与转轴之间通过皮带、齿轮等部件连接。此时第一驱动器162能驱使转轴绕自身轴线旋转,带动传动件164绕转轴的轴线摆动,以实现防护结构150上下摆动。当传动件164的运动方式为上下移动时,传动结构163可设计为调高杆1632 与凸轮1631组合结构或者齿轮与齿条组合结构等。若传动结构163为调高杆1632与凸轮1631组合结构时,凸轮1631的凸起部抵触在调高杆1632的底部。此时,随着第一驱动器162旋转,凸轮1631的凸起部能抬起或降低调高杆1632的位置,以带动传动件164上下移动。当然,传动结构163还可有其他设计,对此,不一一列举,只需能满足带动防护结构150相对于机身110运动即可。It should be noted that, under the action of the transmission structure 163 , the transmission member 164 can realize motion modes such as swinging back and forth and moving up and down. When the motion of the transmission member 164 is to swing back and forth, the transmission structure 163 can be designed as a rotating shaft. The first driver 162 is connected to the rotating shaft through belts, gears and other components. At this time, the first driver 162 can drive the rotating shaft to rotate around its own axis, and drive the transmission member 164 to swing around the axis of the rotating shaft, so as to realize the swinging of the protective structure 150 up and down. When the movement mode of the transmission member 164 is to move up and down, the transmission structure 163 can be designed as a combined structure of the height adjustment rod 1632 and the cam 1631 or a combined structure of the gear and the rack. If the transmission structure 163 is a combined structure of the height adjustment rod 1632 and the cam 1631 , the protruding portion of the cam 1631 is in contact with the bottom of the height adjustment rod 1632 . At this time, as the first driver 162 rotates, the protruding portion of the cam 1631 can raise or lower the position of the height-adjusting rod 1632 to drive the transmission member 164 to move up and down. Of course, the transmission structure 163 can also have other designs, which are not listed one by one, as long as they can drive the protection structure 150 to move relative to the fuselage 110 .
在一些实施例中,请参考图2,防护结构150包括分别设于切割机构130两个侧方131的第一防护件151与第二防护件152。传动件164为至少两个。第一防护件151与第二防护件152分别连接于对应的传动件164上,即本实施例的防护采用侧面防护,在减轻智能割草机100的负重的前提下,实现有效的安全切割。In some embodiments, please refer to FIG. 2 , the protection structure 150 includes a first protection part 151 and a second protection part 152 respectively disposed on two sides 131 of the cutting mechanism 130 . There are at least two transmission elements 164 . The first guard 151 and the second guard 152 are respectively connected to the corresponding transmission members 164, that is, the guard in this embodiment adopts side guards, which realize effective and safe cutting under the premise of reducing the load of the intelligent lawn mower 100 .
在另一个实施例中,请参考图6,防护结构150周向围设在切割机构130外侧,即防护结构150全面防护在切割机构130外,提高防护性能。In another embodiment, please refer to FIG. 6 , the protective structure 150 is circumferentially disposed outside the cutting mechanism 130 , that is, the protective structure 150 is completely protected outside the cutting mechanism 130 to improve the protective performance.
在一些实施例中,请参考图10与图11,防护结构150相对传动件164上下浮动,当防护结构150遇到障碍物200时,利用其浮动性能,被障碍物200抬起,使得智能割草机100实现高度越障功能,提高其遇障的通过性。In some embodiments, please refer to FIG. 10 and FIG. 11 , the protective structure 150 floats up and down relative to the transmission member 164. When the protective structure 150 encounters an obstacle 200, it is lifted by the obstacle 200 by using its floating performance, so that the smart mower The grass machine 100 realizes the function of overcoming obstacles at a high level, and improves its passability when encountering obstacles.
需要说明的是,防护结构150相对传动件164浮动的实现方式可在传动件164上设置腰型孔或其他可供上下活动的空间等;或者,也可将防护结构150通过弹簧、弹性橡胶、锁链174等结构连接在传动件164上。It should be noted that, the way to realize the floating of the protective structure 150 relative to the transmission member 164 can be provided with waist-shaped holes or other spaces for moving up and down on the transmission member 164; Structures such as chains 174 are connected to the transmission member 164 .
在一些实施例中,请参考图1与图5,智能割草机100还包括调高机构170。调高机构170用于驱使切割机构130至少在两个不同高度的预定切割高度上执行切割任务。如此,使得切割机构130能切割不同高度的草,有利于扩大智能割草机100的作业范围。比如:对于高草切割,请参考图3与图7,可通过调高机构170驱使切割机构130上升;而对于低草切割,请参考图4与图8,可通过调高机构170驱使切割机构130下降,以实现低草切割等。In some embodiments, please refer to FIG. 1 and FIG. 5 , the smart lawn mower 100 further includes a height adjustment mechanism 170 . The height adjustment mechanism 170 is used to drive the cutting mechanism 130 to perform cutting tasks at least at two predetermined cutting heights of different heights. In this way, the cutting mechanism 130 can cut grass of different heights, which is beneficial to expand the working range of the intelligent lawn mower 100 . For example: for tall grass cutting, please refer to Figure 3 and Figure 7, the cutting mechanism 130 can be driven up through the height adjustment mechanism 170; and for low grass cutting, please refer to Figure 4 and Figure 8, the cutting mechanism can be driven through the height adjustment mechanism 170 130 down for low grass cutting etc.
可选地,请参考图1与图5,调高机构170包括第二驱动器171、及转动连接于机身110上的至少一个调高件172。调高件172一端与第二驱动器171的输出轴配合,另一端与切割机构130连接,第二驱动器171驱使调高件172摆动时,传动件164一端能抬高或降低切割机构130,即利用跷跷板原理,使得切割机构130能相对机身110上下升降。Optionally, please refer to FIG. 1 and FIG. 5 , the height adjustment mechanism 170 includes a second driver 171 and at least one height adjustment member 172 rotatably connected to the body 110 . One end of the height-adjusting member 172 is matched with the output shaft of the second driver 171, and the other end is connected with the cutting mechanism 130. When the second driver 171 drives the height-adjusting member 172 to swing, one end of the transmission member 164 can raise or lower the cutting mechanism 130, that is, use The seesaw principle enables the cutting mechanism 130 to move up and down relative to the fuselage 110 .
可选地,第二驱动器171可为但不仅限于气缸、液压缸、电缸等。另外,为了提高调节件的传动效率,可将调高件172设计为或近似为“L”形结构。可选的,调高件172可以是摆臂。Optionally, the second driver 171 may be, but not limited to, an air cylinder, a hydraulic cylinder, an electric cylinder, and the like. In addition, in order to improve the transmission efficiency of the adjustment member, the height adjustment member 172 can be designed as or approximately an "L"-shaped structure. Optionally, the height-adjusting member 172 may be a swing arm.
可选地,请参考图1与图5,调高件172为至少两个。至少两个调高件172并列间隔设于机身110上。相邻两个调高件172之间转动连接有联动杆173,以使第二驱动器171能同时驱使两个调高件172进行摆动。Optionally, please refer to FIG. 1 and FIG. 5 , there are at least two height-adjusting members 172 . At least two height adjustment components 172 are arranged side by side and spaced apart on the fuselage 110 . A linkage rod 173 is rotatably connected between two adjacent height-adjusting members 172 , so that the second driver 171 can simultaneously drive the two height-adjusting members 172 to swing.
在一些实施例中,请参考图1与图5,切割机构130连接于调高机构170,并在机身110的高度方向上能相对调高机构170上下浮动,如此,当切割机构130遇到障碍物200时,会被障碍物200顶起,以使容易越过该障碍物200,有利于提高智能割草机100的通过性。其中,“浮动”实现方式可为将切割机构130通过弹簧、弹性橡胶、锁链174等结构连接在调高机构170上。In some embodiments, please refer to FIG. 1 and FIG. 5, the cutting mechanism 130 is connected to the height adjustment mechanism 170, and can float up and down relative to the height adjustment mechanism 170 in the height direction of the fuselage 110, so that when the cutting mechanism 130 encounters The obstacle 200 will be pushed up by the obstacle 200, so that it is easy to cross the obstacle 200, which is beneficial to improve the passability of the intelligent lawn mower 100. Wherein, the "floating" implementation may be to connect the cutting mechanism 130 to the height adjustment mechanism 170 through springs, elastic rubber, chains 174 and other structures.
可选地,请参考图1与图5,为避免切割机构130相对机身110左右位移(即朝向两个侧方131进行位移),在机身110上设置限位结构180,以避免切割机构130晃动过大而影响安全性和稳定性。Optionally, please refer to FIG. 1 and FIG. 5 , in order to prevent the cutting mechanism 130 from moving left and right relative to the fuselage 110 (that is, to move toward the two sides 131 ), a stop structure 180 is provided on the fuselage 110 to prevent the cutting mechanism from 130 Shaking is too large and affects safety and stability.
需要说明的是,限位结构180可设计为限位板与限位槽结构;也可设计为连杆结构等。It should be noted that the limiting structure 180 can be designed as a limiting plate and a limiting groove structure; it can also be designed as a connecting rod structure and the like.
具体地,请参考图1与图5,限位结构180包括第一连杆181与第二连杆182。第一连杆181与机身110连接,第二连杆182与切割机构130连接。第一连杆181与第二连杆182转动连接,且第二连杆182在第一连杆181上的转动轴线与两个侧方131之间连线方向平行,即第二连杆182的旋转平面与机身110的左右两侧面平行,这样既能允许切割机构130上下浮动,又能限制切割机构130左右晃动位移。Specifically, please refer to FIG. 1 and FIG. 5 , the limiting structure 180 includes a first connecting rod 181 and a second connecting rod 182 . The first connecting rod 181 is connected with the body 110 , and the second connecting rod 182 is connected with the cutting mechanism 130 . The first link 181 is rotatably connected to the second link 182, and the rotation axis of the second link 182 on the first link 181 is parallel to the direction of the line between the two sides 131, that is, the second link 182 The rotation plane is parallel to the left and right side surfaces of the fuselage 110 , which can not only allow the cutting mechanism 130 to float up and down, but also limit the cutting mechanism 130 to move left and right.
在一些实施例中,请参考图12,机身110的周向区域包括分别朝向两个侧方131的第一区域300与第二区域310。当第一区域300和/或第二区域310中存在预设对象(比如:标记障碍物或随机障碍物等),且机身110与预设对象之间距离小于或等于前述预设距离时,控制驱动机构160驱使防护结构150运动至预设位置,以对切割机构130的两侧面进行防护。In some embodiments, please refer to FIG. 12 , the circumferential area of the fuselage 110 includes a first area 300 and a second area 310 respectively facing two sides 131 . When there is a preset object (such as: a marked obstacle or a random obstacle, etc.) in the first area 300 and/or the second area 310, and the distance between the fuselage 110 and the preset object is less than or equal to the aforementioned preset distance, The driving mechanism 160 is controlled to drive the protection structure 150 to a preset position, so as to protect the two sides of the cutting mechanism 130 .
可选地,请参考图12,机身110的周向区域还包括在行进方向111上位于机身110前端的第三区域320。当第三区域320中存在预设对象,且机身110与预设对象之间的距离小于或等于预设距离时,移动模块120驱使机身110转向和/或倒退,以实现避让。当然,当第一区域300、第二区域310和第三区域320中均存在预设对象时,可采用边释放防护结构150,边转向或倒退的方式行进避让。Optionally, please refer to FIG. 12 , the circumferential area of the fuselage 110 further includes a third area 320 located at the front end of the fuselage 110 in the traveling direction 111 . When a preset object exists in the third area 320 and the distance between the fuselage 110 and the preset object is less than or equal to the preset distance, the moving module 120 drives the fuselage 110 to turn and/or reverse to achieve avoidance. Of course, when there are preset objects in the first area 300 , the second area 310 and the third area 320 , the guard structure 150 can be released, and the way of turning or backing up can be used to avoid.
另外,若在第一区域300、第二区域310及第三区域320中任一区域中,智能割草机100识别人体时,可在检测到人体后即启动转向或倒退动作,同时释放防护结构150。待任一区域中均不存在人体时,则可重新将防护结构150恢复至非防护状态。In addition, if in any one of the first area 300, the second area 310, and the third area 320, when the intelligent lawn mower 100 recognizes a human body, it can start turning or reversing after detecting the human body, and at the same time release the protective structure 150. When there is no human body in any area, the protective structure 150 can be restored to the non-protective state again.
在另一些实施例中,智能割草机100的防护装置可始终处于防护状态。例如,可通过机械防护的形式,将防护装置固定设置在切割元件的侧方,从而能始终在切割机构130的侧方建立防护屏障,并且,在智能割草机100沿边割草过程中,该防护结构的最靠边部位为智能割草机100的最靠边部位。In some other embodiments, the protective device of the intelligent lawnmower 100 may always be in a protective state. For example, the protective device can be fixedly arranged on the side of the cutting element in the form of mechanical protection, so that a protective barrier can always be established on the side of the cutting mechanism 130, and, during the mowing process of the intelligent lawnmower 100 along the edge, the The most side part of the protective structure is the most side part of the intelligent lawn mower 100 .
通过该防护结构可将草坪中的石块、塑料瓶、或是意外进入智能割草机100底部的动物、人手、人脚阻挡在切割机构130外侧,从而形成较佳的防护。并且,在沿边切割过程中,防护结构的最靠边部位为智能割草机100的最靠边部位,可知,沿边过程中至少有部分的防护结构是位于机身的外侧的,从而有利于通过该防护结构保证人或动物等安全性,同时实现切割到边,避免智能割草机100在距边界、人或动物等较远处即停止工作,留下较多未切割区域。另一方面,如此设置可以增大切割元件外端至防护结构外侧的水平距离,进而可以不设置底部防护,从而提高智能割草机100的通过性,并降低机器的制备成本。Stones in the lawn, plastic bottles, or animals, human hands, and human feet that accidentally enter the bottom of the intelligent lawn mower 100 can be blocked from the outside of the cutting mechanism 130 through the protective structure, thereby forming better protection. And, in the cutting process along the edge, the most side part of the protective structure is the most side part of the intelligent lawn mower 100, it can be seen that at least part of the protective structure is located outside the fuselage during the edge cutting process, which is conducive to passing through the protective structure. The structure guarantees the safety of people or animals, and at the same time realizes cutting to the edge, preventing the intelligent lawn mower 100 from stopping working at a distance from the border, people or animals, leaving more uncut areas. On the other hand, such an arrangement can increase the horizontal distance from the outer end of the cutting element to the outer side of the protective structure, and furthermore, no bottom protection can be provided, thereby improving the passability of the intelligent lawnmower 100 and reducing the manufacturing cost of the machine.
可选的,防护结构与地面之间的距离可设计为小于或等于人手臂的直径大小,其中,一般来说,人手臂的直径大小可以是38mm~80mm。在另一些场景中,防护结构与地面之间的距离可设计为25mm~60mm,以兼顾草坪中的石块、塑料瓶、以及人手的保护。Optionally, the distance between the protective structure and the ground can be designed to be smaller than or equal to the diameter of a human arm, wherein, generally speaking, the diameter of a human arm can be 38 mm to 80 mm. In other scenarios, the distance between the protective structure and the ground can be designed to be 25mm to 60mm to take into account the protection of stones, plastic bottles, and human hands in the lawn.
在一些实施方式中,防护结构被配置为在所受外力大于预定值时相对于机身移动。可选的,该外力具有远离工作区域表面方向的分力。可选的,该预定值可以根据一般工况下草的抬升力确定,例如,一般工况下草的抬升力大约为5N,则该预定值可设置为5N,当然,根据草的疏密,该预定值可在5N附近的取值范围内浮动,例如,可以是3N、4N、6N、7N。通过上述设置,有利于在遇到障碍或是较密的草时使防护结构被抬起,从而提升智能割草机100的通过性。In some embodiments, the protective structure is configured to move relative to the fuselage when the external force received is greater than a predetermined value. Optionally, the external force has a component force away from the surface of the working area. Optionally, the predetermined value can be determined according to the lifting force of grass under general working conditions. For example, the lifting force of grass under general working conditions is about 5N, then the predetermined value can be set to 5N. Of course, according to the density of grass, the predetermined The value can float within a value range around 5N, for example, it can be 3N, 4N, 6N, 7N. Through the above setting, it is beneficial to lift the protective structure when encountering obstacles or dense grass, thereby improving the passability of the intelligent lawnmower 100 .
在一些实施方式中,切割机构130的切割元件在机身上的高度可调,防护结构可以设置为与切割机构130相对固定,例如,防护结构可以跟随切割机构130一起升降,从而实现防护结构对切割元件的实时防护。In some embodiments, the height of the cutting element of the cutting mechanism 130 on the fuselage is adjustable, and the protective structure can be set to be relatively fixed with the cutting mechanism 130. Real-time protection of cutting elements.
在一些实施方式中,防护结构周向围设在机身外侧。通过将防护结构整体设置在机身外侧,有利于全方位地对切割元件进行防护,从而进一步保证安全性。另一方面,如此可不限制智能割草机100的沿边切割方向,换言之,无论智能割草机100沿哪个方向沿边切割,都能兼顾切割到边和安全性的需求。In some embodiments, the protective structure is circumferentially disposed on the outer side of the fuselage. By arranging the protective structure on the outer side of the fuselage as a whole, it is beneficial to protect the cutting elements in all directions, thereby further ensuring safety. On the other hand, in this way, the edge-cutting direction of the smart lawn mower 100 is not limited. In other words, no matter which direction the smart lawn mower 100 cuts along the edge, it can meet the requirements of cutting edge and safety.
在另一些实施例中,智能割草机100的切割元件的切割直径大于或等于500mm,以提高智能割草机100的切割效率,同时,可使智能割草机100的防护结构始终处于防护状态,例如,可通过机械防护的形式,将防护结构固定设置,以至少在切割元件的侧方始终建立防护屏障。如此,既有利于提高切割效率,也能实现切割到边,并满足安全性的需求。In some other embodiments, the cutting diameter of the cutting element of the intelligent lawn mower 100 is greater than or equal to 500mm, to improve the cutting efficiency of the intelligent lawn mower 100, at the same time, the protective structure of the intelligent lawn mower 100 can always be in a protective state For example, the protective structure can be fixedly arranged in the form of mechanical protection, so that a protective barrier is always established at least on the side of the cutting element. In this way, it is not only beneficial to improve the cutting efficiency, but also realize cutting to the edge, and meet the safety requirements.
在一些实施方式中,当切割元件设置地距机身较近时,防护结构还可被配置为在切割元件的下方建立防护屏障,从而避免人手或动物等从下方接触到切割元件;同时,防护结构还可被配置为在所受外力大于预定值时相对于机身移动,以在遇到障碍或是较密的草时被抬起,从而提升智能割草机100的通过性。可选的,该外力具有远离工作区域表面方向的分力。可选的,该预定值可在5N附近的取值范围内浮动,例如,可以是3N、4N、6N、7N。In some embodiments, when the cutting element is arranged closer to the fuselage, the protective structure can also be configured to establish a protective barrier under the cutting element, thereby preventing human hands or animals from touching the cutting element from below; at the same time, the protective structure The structure can also be configured to move relative to the body when the external force is greater than a predetermined value, so as to be lifted when encountering obstacles or dense grass, thereby improving the passability of the smart lawnmower 100 . Optionally, the external force has a component force away from the surface of the working area. Optionally, the predetermined value may float within a value range around 5N, for example, may be 3N, 4N, 6N, 7N.
在一些实施方式中,底部的防护屏障可以通过以下方式建立:防护结构包括第一防护件和与第一防护件活动连接的第二防护件,其中,第一防护件位于所述切割元件的侧方,第二防护件可相对于第一防护件运动至一防护位置,以在切割元件的下方建立防护屏障。In some embodiments, the protective barrier at the base can be established by the protective structure comprising a first protective element and a second protective element articulated with the first protective element, wherein the first protective element is located on the side of the cutting element On the other hand, the second guard can move relative to the first guard to a guard position to establish a guard barrier below the cutting element.
以上实施例的各技术特征可以进行任意的组合,为使描述简洁,未对上述实施例中的各个技术特征所有可能的组合都进行描述,然而,只要这些技术特征的组合不存在矛盾,都应当认为是本说明书记载的范围。The technical features of the above embodiments can be combined arbitrarily. To make the description concise, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, they should be It is considered to be within the range described in this specification.
以上实施例仅表达了本发明的几种实施方式,其描述较为具体和详细,但并不能因此而理解为对发明专利范围的限制。应当指出的是,对于本领域的普通技术人员来说,在不脱离本发明构思的前提下,还可以做出若干变形和改进,这些都属于本发明的保护范围。因此,本发明专利的保护范围应以所附权利要求为准。The above examples only express several implementation modes of the present invention, and the description thereof is relatively specific and detailed, but it should not be construed as limiting the scope of the patent for the invention. It should be noted that, for those skilled in the art, several modifications and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent for the present invention should be based on the appended claims.
在本发明的描述中,需要理解的是,术语“中心”、“纵向”、“横向”、“长度”、“宽度”、“厚度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”、“顺时针”、“逆时针”、“轴向”、“径向”、“周向”等指示的方位或位置关系为基于附图所示的方位或位置关系,仅是为了便于描述本发明和简化描述,而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作,因此不能理解为对本发明的限制。In describing the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", " Back", "Left", "Right", "Vertical", "Horizontal", "Top", "Bottom", "Inner", "Outer", "Clockwise", "Counterclockwise", "Axial" , "radial", "circumferential" and other indicated orientations or positional relationships are based on the orientations or positional relationships shown in the drawings, which are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying the referred device or Elements must have certain orientations, be constructed and operate in certain orientations, and therefore should not be construed as limitations on the invention.
此外,术语“第一”、“第二”仅用于描述目的,而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此,限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个该特征。在本发明的描述中,“多个”的含义是至少两个,例如两个,三个等,除非另有明确具体的限定。In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features. Thus, the features defined as "first" and "second" may explicitly or implicitly include at least one of these features. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.
在本发明中,除非另有明确的规定和限定,术语“安装”、“相连”、“连接”、“固定”等术语应做广义理 解,例如,可以是固定连接,也可以是可拆卸连接,或成一体;可以是机械连接,也可以是电连接;可以是直接相连,也可以通过中间媒介间接相连,可以是两个元件内部的连通或两个元件的相互作用关系,除非另有明确的限定。对于本领域的普通技术人员而言,可以根据具体情况理解上述术语在本发明中的具体含义。In the present invention, unless otherwise clearly specified and limited, terms such as "installation", "connection", "connection" and "fixation" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection , or integrated; it may be mechanically connected or electrically connected; it may be directly connected or indirectly connected through an intermediary, and it may be the internal communication of two components or the interaction relationship between two components, unless otherwise specified limit. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention according to specific situations.
在本发明中,除非另有明确的规定和限定,第一特征在第二特征“上”或“下”可以是第一和第二特征直接接触,或第一和第二特征通过中间媒介间接接触。而且,第一特征在第二特征“之上”、“上方”和“上面”可是第一特征在第二特征正上方或斜上方,或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征“之下”、“下方”和“下面”可以是第一特征在第二特征正下方或斜下方,或仅仅表示第一特征水平高度小于第二特征。In the present invention, unless otherwise clearly specified and limited, the first feature may be in direct contact with the first feature or the first and second feature may be in direct contact with the second feature through an intermediary. touch. Moreover, "above", "above" and "above" the first feature on the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. "Below", "beneath" and "beneath" the first feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is less horizontally than the second feature.
需要说明的是,当元件被称为“固定于”或“设置于”另一个元件,它可以直接在另一个元件上或者也可以存在居中的元件。当一个元件被认为是“连接”另一个元件,它可以是直接连接到另一个元件或者可能同时存在居中元件。本文所使用的术语“垂直的”、“水平的”、“上”、“下”、“左”、“右”以及类似的表述只是为了说明的目的,并不表示是唯一的实施方式。It should be noted that when an element is referred to as being “fixed on” or “disposed on” another element, it may be directly on the other element or there may be an intervening element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or intervening elements may also be present. As used herein, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions are for the purpose of illustration only and are not intended to represent the only embodiments.
Claims (20)
- 一种智能割草机,包括:A smart lawnmower comprising:机身;body;移动模块,设于所述机身,且被配置为驱使所述机身沿着设定路径或在工作区域内移动;a moving module, disposed on the fuselage, and configured to drive the fuselage to move along a set path or within a working area;切割机构,包括切割元件,所述切割元件设于所述机身底部以执行切割任务;a cutting mechanism, including cutting elements, which are arranged on the bottom of the fuselage to perform cutting tasks;其特征在于,所述智能割草机还包括,It is characterized in that, the intelligent mower also includes,防护装置,具有防护状态和非防护状态,在所述防护状态下所述防护装置能对所述切割元件进行防护;以及,a guard having a guarded state and an unshielded state in which the guard guards the cutting element; and,控制模块,至少与所述防护装置连接,且被配置为根据所述机身与预设对象之间的距离,控制所述防护装置处于所述防护状态或所述非防护状态。The control module is at least connected to the protection device and is configured to control the protection device to be in the protection state or the non-protection state according to the distance between the fuselage and a preset object.
- 根据权利要求1所述的智能割草机,其特征在于,所述切割机构具有相对的两个侧方,两个所述侧方之间的连线方向与所述机身的行进方向相交,The intelligent lawnmower according to claim 1, wherein the cutting mechanism has two opposite sides, and the direction of the line between the two sides intersects the traveling direction of the fuselage,所述防护装置包括:The guards include:驱动机构,与所述控制模块连接;以及,a drive mechanism connected to the control module; and,防护结构,与所述驱动机构连接,且至少部分设于所述切割机构的至少一个侧方;a protective structure connected to the drive mechanism and at least partially disposed on at least one side of the cutting mechanism;所述控制模块被配置为当所述机身与预设对象之间的距离小于或等于预设距离时,控制所述驱动机构驱动所述防护结构相对于所述机身运动至预设位置,以使所述防护装置处于所述防护状态。The control module is configured to control the drive mechanism to drive the protective structure to move to a preset position relative to the fuselage when the distance between the fuselage and the preset object is less than or equal to the preset distance, so that the protection device is in the protection state.
- 根据权利要求2所述的智能割草机,其特征在于,当所述机身与预设对象之间距离小于或等于预设距离时,所述控制模块被配置为控制所述驱动机构驱动所述防护结构沿着朝向地面的方向运动至所述预设位置。The intelligent lawn mower according to claim 2, wherein when the distance between the body and the preset object is less than or equal to the preset distance, the control module is configured to control the driving mechanism to drive the The protective structure moves to the preset position along the direction toward the ground.
- 根据权利要求3所述的智能割草机,其特征在于,The intelligent lawnmower according to claim 3, characterized in that,所述驱动机构包括升降机构;The driving mechanism includes a lifting mechanism;所述防护结构相对所述机身至少在第一位置和第二位置之间运动,所述第一位置高于所述第二位置,所述预设位置包括所述第二位置;The protective structure moves relative to the fuselage at least between a first position and a second position, the first position is higher than the second position, and the preset position includes the second position;当所述机身与预设对象之间的距离小于或等于预设距离时,所述升降机构驱使所述防护结构运动至所述第二位置,以对所述切割元件进行防护;当所述机身与预设对象之间的距离大于预设距离时,所述升降机构驱使所述防护结构运动至或保持在所述第一位置。When the distance between the fuselage and the preset object is less than or equal to the preset distance, the lifting mechanism drives the protective structure to move to the second position to protect the cutting element; when the When the distance between the fuselage and the preset object is greater than the preset distance, the lifting mechanism drives the protective structure to move to or maintain at the first position.
- 根据权利要求4所述的智能割草机,其特征在于,所述第二位置时,所述防护结构的底部离地高度h为38mm~55mm,所述防护结构背向所述机身的一侧面与所述切割元件的外轮廓之间的间距D大于或等于90mm。The intelligent lawn mower according to claim 4, characterized in that, in the second position, the height h of the bottom of the protective structure from the ground is 38 mm to 55 mm, and the protective structure is facing away from one side of the fuselage. The distance D between the flanks and the outer contour of the cutting element is greater than or equal to 90 mm.
- 根据权利要求2所述的智能割草机,其特征在于,所述智能割草机还包括与所述控制模块连接的距离获取模块,所述距离获取模块至少能获取所述机身与预设对象之间的距离。The intelligent lawn mower according to claim 2, characterized in that, the intelligent lawn mower also includes a distance acquisition module connected to the control module, and the distance acquisition module can at least obtain the distance between the fuselage and the preset distance between objects.
- 根据权利要求6所述的智能割草机,其特征在于,The intelligent lawnmower according to claim 6, characterized in that,预设对象包括工作区域中的障碍物,其中预存位置信息在所述智能割草机内的障碍物定义为标记障碍物,所述预设距离包括第一预设距离;The preset objects include obstacles in the working area, wherein the obstacles with pre-stored position information in the smart mower are defined as marked obstacles, and the preset distance includes a first preset distance;所述距离获取模块包括定位组件,所述定位组件被配置为定位所述机身的位置坐标,以确定所述机身与标记障碍物之间的距离;The distance acquisition module includes a positioning component configured to locate the position coordinates of the fuselage to determine the distance between the fuselage and the marked obstacle;当所述机身与标记障碍物之间的距离小于或者等于所述第一预设距离时,所述驱动机构驱使所述防护结构运动至所述预设位置。When the distance between the fuselage and the marked obstacle is less than or equal to the first preset distance, the driving mechanism drives the protective structure to move to the preset position.
- 根据权利要求7所述的智能割草机,其特征在于,当所述机身与标记障碍物之间的距离小于或者等于所述第一预设距离时,所述驱动机构开始驱使所述防护结构运动,并使得所述防护结构在距离所述标记障碍物临界距离之前运动至所述预设位置。The intelligent lawn mower according to claim 7, wherein when the distance between the fuselage and the marked obstacle is less than or equal to the first preset distance, the driving mechanism starts to drive the protective The structure moves so that the protective structure moves to the preset position before a critical distance from the marked obstacle.
- 根据权利要求8所述的智能割草机,其特征在于,所述第一预设距离的范围为1.5m~2.5m;所述临界距离的范围为0.2m~0.8m。The intelligent lawnmower according to claim 8, characterized in that, the first preset distance ranges from 1.5m to 2.5m; the critical distance ranges from 0.2m to 0.8m.
- 根据权利要求6所述的智能割草机,其特征在于,The intelligent lawnmower according to claim 6, characterized in that,预设对象包括工作区域中的障碍物,其中未预存位置信息在所述智能割草机内的障碍物定义为随机障碍物,所述预设距离包括第二预设距离;The preset objects include obstacles in the working area, wherein obstacles without pre-stored position information in the intelligent lawn mower are defined as random obstacles, and the preset distance includes a second preset distance;所述距离获取模块包括检测组件,所述检测组件至少被配置为检测所述随机障碍物,并确定所述机身与随机障碍物之间的距离;The distance acquisition module includes a detection component configured at least to detect the random obstacle and determine the distance between the fuselage and the random obstacle;当所述机身与随机障碍物之间的距离小于或者等于所述第二预设距离时,所述驱动机构驱使所述防护结构运动至所述预设位置。When the distance between the fuselage and the random obstacle is less than or equal to the second preset distance, the driving mechanism drives the protective structure to move to the preset position.
- 根据权利要求10所述的智能割草机,其特征在于,所述控制模块具有时序控制功能,当所述机身与所述随机障碍物之间距离小于或者等于第二预设距离时,所述控制模块控制所述检测组件在预设时间之内对随机障碍物进行监测;预设时间后,若所述机身与随机障碍物之间的距离依然小于或者等于第二预 设距离,则所述驱动机构驱使所述防护结构运动至所述预设位置。The intelligent lawnmower according to claim 10, wherein the control module has a sequence control function, and when the distance between the fuselage and the random obstacle is less than or equal to the second preset distance, the The control module controls the detection component to monitor random obstacles within a preset time; after the preset time, if the distance between the fuselage and the random obstacle is still less than or equal to a second preset distance, then The driving mechanism drives the protection structure to move to the preset position.
- 根据权利要求6所述的智能割草机,其特征在于,The intelligent lawnmower according to claim 6, characterized in that,预设对象包括工作区域的边界;Preset objects include the boundaries of the working area;所述距离获取模块包括定位组件,所述定位组件被配置为定位所述机身的位置坐标,以确定所述机身与边界之间的距离;所述预设距离包括第三预设距离;The distance acquisition module includes a positioning component configured to locate the position coordinates of the fuselage to determine the distance between the fuselage and the boundary; the preset distance includes a third preset distance;当所述机身与边界之间的距离小于或者等于第三预设距离时,所述驱动机构驱使所述防护结构运动至所述预设位置。When the distance between the fuselage and the boundary is less than or equal to a third preset distance, the driving mechanism drives the protective structure to move to the preset position.
- 根据权利要求2-12任一项所述的智能割草机,其特征在于,所述驱动机构包括第一驱动器及与所述第一驱动器连接的传动件,所述防护结构设于所述传动件,所述第一驱动器通过驱使所述传动件相对于所述机身运动,以带动所述防护结构相对于所述机身运动。The intelligent lawn mower according to any one of claims 2-12, wherein the drive mechanism includes a first driver and a transmission member connected to the first driver, and the protection structure is arranged on the transmission The first driver drives the transmission member to move relative to the fuselage to drive the protective structure to move relative to the fuselage.
- 根据权利要求13所述的智能割草机,其特征在于,所述防护结构包括分别设于所述切割机构两个侧方的第一防护件与第二防护件,所述传动件为至少两个,所述第一防护件与所述第二防护件分别连接于对应的传动件上。The intelligent lawn mower according to claim 13, wherein the protection structure includes a first protection member and a second protection member respectively arranged on two sides of the cutting mechanism, and the transmission member is at least two One, the first protective element and the second protective element are respectively connected to corresponding transmission elements.
- 根据权利要求13所述的智能割草机,其特征在于,所述防护结构周向围设在所述切割机构外侧。The intelligent lawnmower according to claim 13, characterized in that, the protective structure is arranged around the outer side of the cutting mechanism in a circumferential direction.
- 一种智能割草机,包括:A smart lawnmower comprising:机身;body;移动模块,设于所述机身,且被配置为驱使所述机身沿着设定路径或在工作区域内移动;a moving module, disposed on the fuselage, and configured to drive the fuselage to move along a set path or within a working area;切割机构,包括切割元件,所述切割元件设于所述机身底部以执行切割任务;a cutting mechanism, including cutting elements, which are arranged on the bottom of the fuselage to perform cutting tasks;控制模块,与所述移动模块和所述切割机构连接,至少被配置为控制所述智能割草机沿所述工作区域的边界移动割草;a control module, connected to the movement module and the cutting mechanism, configured at least to control the intelligent mower to mow grass along the boundary of the work area;其特征在于,所述智能割草机还包括,It is characterized in that, the intelligent mower also includes,防护结构,被配置为在所述切割元件的侧方建立防护屏障,并且,在所述智能割草机沿边切割过程中,所述防护结构的最靠边部位为所述智能割草机的最靠边部位。a protective structure configured to establish a protective barrier on the side of the cutting element, and, during the edge cutting process of the intelligent lawn mower, the most edge part of the protective structure is the most edge of the intelligent lawn mower parts.
- 根据权利要求16所述的智能割草机,其特征在于,所述防护结构被配置为在所受外力大于预定值时相对于所述机身移动。The intelligent lawnmower according to claim 16, wherein the protective structure is configured to move relative to the fuselage when the external force received is greater than a predetermined value.
- 根据权利要求16所述的智能割草机,其特征在于,所述防护结构周向围设在所述机身外侧。The intelligent lawnmower according to claim 16, characterized in that, the protective structure is arranged around the outer side of the fuselage in a circumferential direction.
- 一种智能割草机,包括:A smart lawnmower comprising:机身;body;移动模块,设于所述机身,且被配置为驱使所述机身沿着设定路径或在工作区域内移动;a moving module, disposed on the fuselage, and configured to drive the fuselage to move along a set path or within a working area;切割机构,包括切割元件,所述切割元件设于所述机身底部以执行切割任务;其中,所述切割元件的切割直径大于或等于500mm;A cutting mechanism, including a cutting element, the cutting element is arranged at the bottom of the fuselage to perform cutting tasks; wherein, the cutting diameter of the cutting element is greater than or equal to 500mm;控制模块,与所述移动模块和所述切割机构连接,至少被配置为控制所述智能割草机沿所述工作区域的边界移动割草;a control module, connected to the movement module and the cutting mechanism, configured at least to control the intelligent mower to mow grass along the boundary of the work area;其特征在于,所述智能割草机还包括,It is characterized in that, the intelligent mower also includes,防护结构,被配置为至少在所述切割元件的侧方建立防护屏障。A guard structure configured to create a guard barrier at least laterally of the cutting element.
- 根据权利要求19所述的智能割草机,其特征在于,所述防护结构还被配置为在所述切割元件的下方建立防护屏障,以及在所受外力大于预定值时相对于所述机身移动。The intelligent lawnmower according to claim 19, wherein the protective structure is further configured to establish a protective barrier under the cutting element, and to establish a protective barrier relative to the fuselage when the external force is greater than a predetermined value. move.
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US4216643A (en) * | 1977-08-26 | 1980-08-12 | Malone James P | Guard means for rotary mowers |
CN106134620A (en) * | 2015-04-02 | 2016-11-23 | 苏州宝时得电动工具有限公司 | Intelligent grass-removing and control method thereof |
CN106561148A (en) * | 2015-10-13 | 2017-04-19 | 苏州宝时得电动工具有限公司 | Mowing machine |
CN107548663A (en) * | 2017-09-11 | 2018-01-09 | 河北农业大学 | Obstacle avoiding device and obstacle avoiding method for cutting knife of hillside orchard mower |
US20190274252A1 (en) * | 2016-11-30 | 2019-09-12 | Agro Intelligence Aps | Safety system for mowers and mower therewith |
CN113366964A (en) * | 2020-03-10 | 2021-09-10 | 苏州宝时得电动工具有限公司 | Cutting device and intelligent mower |
-
2022
- 2022-12-12 CN CN202280078876.0A patent/CN118338776A/en active Pending
- 2022-12-12 WO PCT/CN2022/138358 patent/WO2023104212A1/en unknown
Patent Citations (6)
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US4216643A (en) * | 1977-08-26 | 1980-08-12 | Malone James P | Guard means for rotary mowers |
CN106134620A (en) * | 2015-04-02 | 2016-11-23 | 苏州宝时得电动工具有限公司 | Intelligent grass-removing and control method thereof |
CN106561148A (en) * | 2015-10-13 | 2017-04-19 | 苏州宝时得电动工具有限公司 | Mowing machine |
US20190274252A1 (en) * | 2016-11-30 | 2019-09-12 | Agro Intelligence Aps | Safety system for mowers and mower therewith |
CN107548663A (en) * | 2017-09-11 | 2018-01-09 | 河北农业大学 | Obstacle avoiding device and obstacle avoiding method for cutting knife of hillside orchard mower |
CN113366964A (en) * | 2020-03-10 | 2021-09-10 | 苏州宝时得电动工具有限公司 | Cutting device and intelligent mower |
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