CN105988470A - Automatic mower - Google Patents
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- CN105988470A CN105988470A CN201510081659.9A CN201510081659A CN105988470A CN 105988470 A CN105988470 A CN 105988470A CN 201510081659 A CN201510081659 A CN 201510081659A CN 105988470 A CN105988470 A CN 105988470A
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- automatic mower
- side plate
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- main casing
- walking
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Abstract
Provided in the invention is an automatic mower capable of walking and working automatically on a working surface. The automatic mower comprises a shell, a walking module, a working module and a main control module. The walking module consists of a wheel group installed on the shell and a walking motor driving the wheel group. The working module includes a cutting element and a cutting motor driving the cutting element to work. The main control module arranged in the shell connects the walking module to the working module and controls the automatic mower to work and walk. Besides, the shell is composed of a main shell body accommodating the main control module and a side board assembly; the side board assembly connected to the main shell body movably adjusts the distance between the outer edge of the side board assembly and the cutting element. Therefore, because the distance between the outer edge and the cutting element can be adjusted, so that different work conditions can be met. The automatic mower can carry out cutting by being against the wall or fence and thus the more remaining lawn parts can be mowed, so that great convenience is provided for the user. And the automatic mower can walk freely in a working area, so that the off-road performance is excellent.
Description
Technical field
The present invention relates to a kind of automatic mower.
Background technology
It with the continuous progress of computer technology and artificial intelligence technology, is similar to automatically cutting of intelligent robot
Grass machine has begun to the life coming into people slowly.Such as automatic dust catcher, this automatic dust catcher leads to
Constant volume is small and exquisite, is integrated with environmental sensor, from drive system, dust collecting system, battery and charging system, energy
It is enough not necessarily to manual control, voluntarily in indoor cruise, the auto-returned bus stop when energy is low, dock and charge,
Then proceed to dust suction of cruising.
Meanwhile, also having some companies to develop similar automatic mower, it can be automatically on the lawn of user
Middle mowing, charging, it is not necessary to user interferes.It is no need for after once arranging due to this automatic mowing system again
Putting into energy management, housework that is user is uninteresting from cleaning, lawn repairing etc. and that waste time and energy is liberated working
Out, therefore suffer from greatly welcoming.
But, the constant distance between its housing of existing automatic mower and cutting element.Therefore, it is anti-
Only unexpected occur, generally, the cutting element of automatic mower to housing distant.Using
When, just cannot be cut near the lawn preset near working region, this is remaining cut less than lawn also
User is needed to do it yourself the maintenance that places under repair.And if in order to obtain bigger cut coverage, and by housing with
It is relatively near that the distance of cutting element is arranged, just necessarily housing is arranged simultaneously closer to ground.So again
Walking on meadow for the automatic mower, cross-country ability difference can be affected.Therefore, user expects a kind of permissible very much
Meeting the automatic mower of different operating mode, it i.e. can have more preferable cross-country ability, can clear up again default
The bigger residue lawn area of areas adjacent, thus reduce the burden of user's lawn-care labor service further.
Content of the invention
For overcoming the defect of prior art, problem to be solved by this invention is: provide one can meet not
Automatic mower with operating mode.
For solving the problems referred to above, the technical scheme is that a kind of automatic mower, at worksheet
Automatically walking and work on face, comprising: housing；Walking module, including wheels being arranged on housing and driving
Move the running motor of described wheels；Operational module, including the cutting of cutting element and drive cutting element work
Motor；Main control module, is arranged in described housing, connects described walking module and described operational module, control
Make the work of described automatic mower and walking；Described housing includes main casing and the side housing described main control module
Board component, described lateral plate component be movably connected on described main casing regulate the outward flange of described lateral plate component with
The spacing of described cutting element.
Compared with prior art, the present invention can make side relative to the lateral plate component of main casing activity by arranging
The outward flange of board component is adjustable with the spacing of cutting element, with the demand of satisfied different operating modes.Lateral plate component
Outward flange and cutting element distance for less primary importance when, automatic mower can be against wall or hedge
Basketry cuts, and is used for clearing up more multiresidue lawn, brings great convenience to user；And work as lateral plate component
Outward flange when the bigger second place with cutting element distance, automatic mower can in working region from
By walking, normally work, there is preferable cross-country ability.
Preferably, described lateral plate component includes side plate, and described side plate is pivotably coupled to around pivot axis
Described main casing, described pivot axis is horizontally disposed with.
Preferably, being provided with flexible member between described main casing and described side plate, described flexible member provides
Elastic force promote described side plate have around described pivotal axis towards away from described main casing rotate trend.
Preferably, described pivot axis and the direct of travel of described automatic mower be arranged in parallel.
Preferably, described lateral plate component includes the first side plate that quantity is M and the second side plate that quantity is N,
Wherein said first side plate and the second side plate mutually interlock, and described first, second side plate is around respective pivot
Shaft axis is pivotably coupled to described main casing, and described pivot axis is horizontally disposed with.
Preferably, described main casing includes the front side wall of circular arc, and described first, second side plate is pivotly
It is connected on described front side wall.
Preferably, described second side plate is provided with accepting groove, and described first plate portion is contained in described accepting groove.
Preferably, between described first side plate and described second side plate at least one and described main casing
Being provided with flexible member, the elastic force that described flexible member provides promotes described lateral plate component to have around described pivot
Axle axis is towards the trend rotating away from described main casing.
Preferably, described lateral plate component can vertically be movably attached in described main casing.
Preferably, described automatic mower also includes boundary recognition module and the driving mould being connected with main control module
Block, described boundary recognition module obtains sideband signal, and main control module drives according to described sideband signal controls
Lateral plate component activity described in dynamic module drive.
Preferably, described automatic mower includes electron boundary fence, exists around described electron boundary fence
Described sideband signal；Described boundary recognition module obtains described sideband signal.
Preferably, described automatic mower includes the image collecting device being connected with boundary recognition module, described
Boundary recognition module sideband signal according to the Image Acquisition that described image acquisition device arrives.
Brief description
Fig. 1 is the schematic diagram in working region for the automatic mower of first embodiment of the invention.
Fig. 2 is the stereogram of the automatic mower shown in Fig. 1.
Fig. 3 is the schematic diagram that the automatic mower shown in Fig. 1 removes part main casing and wheels.
Fig. 4 is the schematic diagram of the cutting element of the automatic mower shown in Fig. 1.
Fig. 5 is the scheme of installation of the lateral plate component of the automatic mower shown in Fig. 1.
Fig. 6 is the schematic diagram that the automatic mower shown in Fig. 1 removes part main casing and wheels, now side plate
Assembly is in primary importance.
Fig. 7 is the schematic diagram that the automatic mower shown in Fig. 1 removes part main casing and wheels, now side plate
Assembly is in the second place.
Fig. 8 is the schematic diagram that the automatic mower shown in Fig. 1 is walked in working region.
Fig. 9 is the stereogram of the automatic mower of second embodiment of the invention.
Figure 10 is the right view of the automatic mower shown in Fig. 9.
Figure 11 is the schematic diagram that the automatic mower shown in Fig. 9 is walked in working region.
Wherein,
30. working regions 32. non-active area 34. border
36. housing 38. walking module 40. operational modules
42. main casing 44. lateral plate component 46. wheels
47. drive shaft 48. cutting element 49. edges
50. cutting motor 51. outward flange 52. rotation dishes
54. first side plate 56. second side plate 58. pivot axis
60. pivot axis 62. front side wall 64. supports
66. connecting portion 68. accepting groove 70. limit assemblies
72. confined planes 74. stop surface 100. automatic mowers
200. automatic mower 202. lateral plate component 204. side plates
205. outward flange 206. pivot axis 208. right side wall automatic mowers
Detailed description of the invention
Below in conjunction with the accompanying drawings and detailed description of the invention the present invention is described in further detail.
Fig. 1 show the automatic mower of first embodiment of the invention.Automatic mower is at ground or other tables
General work.In the present embodiment, working surface can include working region 30 and non-active area 32,
The boundary line of working region 30 and non-active area 32 forms border 34, for limiting the work of automatic mower
Dynamic scope.Working region 30 and non-active area 32 can be clearly distinguished from, such as hedge, wall etc.；When
Right working region 30 and non-active area 32 may be used without electron boundary fence, as laid wire, wireless penetrating
Frequently RFID border or infrared border etc..
Below in conjunction with Fig. 2, the concrete structure of automatic mower 100 is described.Automatic mower 100 includes shell
Body the 36th, walking module the 38th, operational module 40 (can be found in Fig. 3) and main control module (not shown).
Housing 36 includes main casing 42 and the lateral plate component 44 being connected with main casing 42.Wherein walking module is the 38th,
Operational module 40 is installed on main casing 42, and main control module is installed in main casing 42.Housing 36
Connect the effect of fixing modules, it is also possible to be installed on the modules of automatic mower 100 for protection.
Main control module is connected respectively with walking module the 38th, operational module 40.
It is understood that automatic mower 100 also includes the energy module being placed in housing 36 (in figure
Not shown), energy module is connected respectively with walking module 38 and main control module, for carrying for these modules
For the energy needed for work.Wherein, energy module can provide module for the energy based on fuel, and fuel can
To be gasoline or diesel oil etc..Energy module can also is that battery bag.This battery bag can be rechargeable battery pack；
When automatic mower 100 works, rechargeable battery pack release electric energy is to maintain automatic mower 100 to work；
When automatic mower 100 does not works, rechargeable battery pack may be coupled to external power source with electric energy supplement.
When automatic mower 100 detects that rechargeable battery pack electricity is not enough, automatic mower 100 also can be certainly
Dynamic searching charging device electric energy supplement.
Walking module 38 is for the modules walking driving housing 36 and installed, thus realizes automatically
The walking of hay mover 100.Walking module 38 includes wheels 46 and for driving the running motor (figure of wheels 46
Not shown in).Wheels 46 can have multiple method to set up, and the quantity of general wheels 46 is multiple, such as extremely
Few 3.And the diameter of multiple wheels 46 also can not sample, as front-wheel is less, trailing wheel is bigger.Multiple
Wheels 46, the symmetrically arranged multiple wheels 46 of direction of travel especially relative to automatic mower 100 can
With with different rotational speed, so that automatic mower 100 can turn to.It is understood that row
Walk module 38 can also is that other can realize walking module, such as mechanical arm or crawler belt etc., at this no longer
Repeat.
Seeing Fig. 3 and Fig. 4, automatic mower 100 includes operational module 40, to perform specifically to work.
Such as operational module 40 can be cutting module, including cutting element 48 and driving cutting for mowing are first
The cutting motor 50 of part.
In the present embodiment, cut motor 50 to be arranged on main casing 42, cutting motor 50 is driven rotation
Turning ground drive shaft 47, drive shaft 47 being provided with rotation dish 52, cutting element 48 is arranged on rotation dish 52
Edge, thus cut motor 50 and can be operated with drive cutting element 48.Certainly, cutting element 48
Can be multiple small blade composition, it is also possible to be single bar blade etc..Under normal circumstances, motor is permissible
Drive shaft is directly driven to rotate, it is also possible to drive drive shaft to rotate by the transmission mechanism such as gear, turbine.
Main control module is for controlling the walking of automatic mower 100 and the modules of automatic mower 100
Normal work.Main control module is connected respectively with walking module 38 and operational module 40, is used for controlling institute
State automatic mower work and walking.In describing the invention, unless otherwise noted, the direction art relating to
Language, such as front, back, left, right, up and inferior, is all normal with automatic mower 100 as shown in Figure 1
Direction (direction as shown by arrows) during traveling of advancing is reference.
Seeing Fig. 5 to Fig. 7, lateral plate component 44 is movably connected on main casing 42, is used for regulating side
Distance between board component 44 and cutting element 48.Make automatic mower 100 i.e. can against wall or
Hedge cuts, and increases cut coverage, brings great convenience to user；Again can be in working region
Having good cross-country ability, walk more freely, thus automatic mower 100 can meet different works
Condition.
In the present embodiment, the distance between lateral plate component 44 and cutting element 48 refers to cutting element 48
Edge 49 and the outward flange 51 of lateral plate component 44 between horizontal range.Certainly, if lateral plate component
44 are connected to housing movably in a vertical direction, and the distance between lateral plate component 44 and cutting element 48 refers to
Be the vertical distance between the lower edge of cutting element 48 and the lower edge of lateral plate component 44.
Lateral plate component 44 can be rotatably set on main casing 42, the outward flange 51 of lateral plate component 44 with cut
The distance cut between the edge 49 of element 48 also changes therewith.As shown in Figure 6, lateral plate component 44 is positioned at
One position, cutting element 48 is the first distance D1 with the spacing of the outward flange 51 of lateral plate component 44；As
Shown in Fig. 7, cutting element 48 is second distance D2 with the spacing of the outward flange 51 of lateral plate component 44.
Second distance D2 is more than the first distance D1.So, when automatic mower 100 is cut to border, as run into
When at wall, hedge, lateral plate component 44 rotates relative to main casing 42, reduces the outside of lateral plate component 44
Distance between the edge 49 of edge 51 and cutting element 48 so that it is reach the first distance D1.So automatically
Hay mover 100 can cut against wall or hedge, saves user and does it yourself to repair wall or hedge
Neighbouring lawn, brings great convenience；And the lower edge of lateral plate component 44 is closer to working surface, also
It is possible to prevent unexpected generation, play good safe effect.And when automatic mower 100 is in working region
Normal when walking, the distance between the outward flange 51 of lateral plate component 44 and cutting element 48 be maintained at second away from
From D2, now the lower edge of lateral plate component 44 from working surface farther out, adds cross-country ability；Meanwhile,
Due to lateral plate component 44 outward flange 51 apart from cutting element 48 farther out, it is possible to prevent unexpected generation, play
Good safe effect.
Here, what the first distance D1 can be arranged is as far as possible little, and its scope may be configured as 5-30mm.But can
Being understood by, in the present invention, the first distance D1 is not limited to above-mentioned scope 5-30mm, the first distance
D1 may be arranged as less than 5mm or is more than 30mm.Then could be arranged to be more than as second distance D2
Any value of 80mm, such as the one in 85mm, 90mm, 95mm or 100mm, it may even go so far that
More than 100mm.
Referring back to Fig. 5, lateral plate component 44 includes the first side plate 54 that quantity is M and quantity is N second
Side plate 56, wherein said first side plate and the second side plate mutually interlock.First, second side plate 54 and 56 encloses
It is pivotably coupled on main casing 42 around respective pivot axis 58,60.Here, pivot axis 58
It is horizontally disposed with 60.Lateral plate component 44 pivots relative to main casing 42, for regulating cutting element 48
Horizontal range between edge 49 and lateral plate component 44 outward flange 51.
Main casing 42 includes forward and backward, four, left and right sidewall (not shown), and lateral plate component 44 can
With on a sidewall at least installed therein.Here, the front side wall 62 substantially circular arc of main casing 42,
First, second side plate 54 and 56 is pivotably coupled on the front side wall 62 of circular arc.Front side wall 62 with
Other three sidewalls can be one-body molded, it is also possible to is provided separately and is linked together by attachment means.
Front side wall 62 is provided with support 64, and the first side plate 54 is provided with symmetrically arranged connecting portion 66, pin
Axle 67 passes through the hole on connecting portion 66 and support 64, thus the first side plate 54 is pivotably coupled to front side
On wall 62.Certainly, those skilled in the art also can it is readily conceivable that other structure of employing, such as connecting portion
66 directly with the scheme such as the hole of support 64 is connected, do not repeat them here.
The connection side of the second side plate 56 same first side plate 54 and front side wall 62 with the connected mode of front side wall 62
Formula, does not repeats them here.
Second side plate 56 is provided with accepting groove 68, and the first side plate 54 partial receipt is in accepting groove 64.As
This, either the first side plate 54 and the second side plate 56 any of which rotate, the first side plate 54 and the second side plate
56 other in which also and then rotate, thus the first side plate 54 and the second side plate 56 mutually interlock.Certainly,
Those skilled in the art also can it is readily conceivable that other structure of employing by the first and second side plates 54 and 56
Gearing is got up, and does not repeats them here.
Quantity M of first, second side plate 54 and 56, N are specifically by first, second side plate 54 and 56
Design determines.Other affect first, second side plate 54 and 56 quantity M, the factor of N is front side wall
The geometry of 62.First side plate 54 quantity M and the second side plate 56 quantity N can be equally, it is also possible to
Different.In the present embodiment, quantity M of the first side plate 54 is 3；Quantity N of the second side plate 56
It is 2.And first side plate 54 and the second side plate 56 with the first side plate the 54th, the second side plate the 56th, the first side plate
54th, the second such order of side plate 56 is arranged.Wherein the cross section of the second side plate 56 is " work " type, and two right
Claim the accepting groove 68 arranging to be arranged on both sides, house the first side plate 54 respectively.
In the present embodiment, lateral plate component 44 is rotatably disposed at the periphery of front side wall 62.At lateral plate component
44 when being positioned at primary importance, and the lower edge of front side wall 62 is not more than lateral plate component 44 from the distance of working surface
Distance from working surface.Certainly, the lower edge of front side wall 62 also can offer breach, and lateral plate component
44 can hide this breach, so, the outer surface of lateral plate component 44 can beyond the outer surface of front side wall or
Flush with outer surface with front side wall.
Being provided with flexible member (not shown) between front side wall 62 and lateral plate component 44, flexible member carries
The elastic force of confession promotes the first side plate 54 and the second side plate 56 to have around respective pivot axis 58,60 towards far
The trend rotating from front side wall 62.That is, elastic force promotes lateral plate component 44 to keep the of second distance D2
Two positions.And flexible member can be torsion spring, stage clip etc., the number of setting and position can set as required
Fixed.As being disposed therein between certain first side plate 54 or the second side plate 56 and front side wall 62；Or set respectively
Put between certain the first side plate and certain the second side plate 56 and front side wall 62 etc..
It is additionally provided with limit assembly 70 between front side wall 62 and lateral plate component 44, be used for constrained side board component
The pivoting angle of 44.Limit assembly 70 includes the confined planes 72 being arranged on connecting portion 66 and props up with being arranged on
Stop surface 74 on frame 64, when lateral plate component 44 is switched to the second place, confined planes 72 is only resisted against
On block face 74, pivot further for constrained side board component 44.Limit assembly 70 can be arranged on the first side
Plate 54 and the second side plate 56 are at least one.
During specific works, as shown in Figure 8, automatic mower 100 is under the control of main control module, in work
Automatically walking and work in region 30, when lateral plate component 44 is positioned at the second place, lateral plate component 44 and cutting
For second distance D2 farther out between element 48, now lateral plate component 44 from working surface farther out, adds
Cross-country ability, such automatic mower 100 can be walked freely in working region 30.And work as and run to limit
During boundary 34, during such as the barrier such as wall, hedge, at least one is tactile for first, second side plate 54 and 56
And rotate to barrier, turn between lateral plate component 44 and cutting element 48 as the first nearer distance
D1, automatic mower 100 can cut against wall or hedge, saves user and does it yourself to repair wall
Lawn near wall or hedge, brings great convenience.Meanwhile, the lower edge of lateral plate component 44 is closer to work
Make surface, it is also possible to prevent unexpected generation, play good safe effect.
So, lateral plate component 44 rotates between the first position and the second position relative to main casing 42.Can
To be understood by, lateral plate component 44 also can as required, any in the middle of primary importance and the second place
Position is fixed relative to main casing 42.
Below in conjunction with Fig. 9, second embodiment of the present invention is described.Present embodiment is specifically related to
Be also a kind of automatic mower 200, exist with the difference of automatic mower 100 in the first embodiment
In its lateral plate component 202, other parts are substantially identical with the first embodiment.
Lateral plate component 202 includes side plate 204.Side plate 204 is rotatably connected at around pivot axis 206
On main casing 42, pivot axis 206 is horizontally disposed with.
Same first embodiment, main casing 42 include forward and backward, (direction term is with Fig. 9 for four, left and right sidewall
Shown automatic mower 200 normally advance travel when direction, direction as shown by arrows be reference), side
Plate 204 can be mounted at least on forward and backward, four, left and right one of them sidewall of sidewall.Here, side
Plate 204 is installed in rotation on the right side wall 208 of main casing 42.Pivot axis 206 and automatic mower
The direct of travel of 200 be arranged in parallel.
In the present embodiment, side plate 204 is rotatably disposed at the lower limb of right side wall 208, and its outer surface can
With the outer surface beyond right side wall 208 or the flush with outer surface with right side wall 208.Certainly, right side wall 208
Lower edge also can offer breach, side plate 208 can hide this breach, and its outer surface can exceed right side wall
The outer surface of 208 or the flush with outer surface with right side wall 208.Or side plate 204 is arranged on right side wall 208
Periphery, when side plate 204 is positioned at primary importance, the lower edge of right side wall 208 from working surface distance not
More than side plate 204 from the distance of working surface.
As shown in Figure 10, side plate 204 rotates relative to main casing 42, the outward flange of side plate 204 205 with
Distance between the edge 49 of cutting element 48 also changes therewith.Side plate 204 is positioned at primary importance, strictly according to the facts
Shown in line, distance between the outward flange 205 of side plate 204 and the edge 49 of cutting element 48 be first away from
From D1.Shown in dotted line, side plate 204 is positioned at the second place, the edge 49 of cutting element 48 and side plate
Distance between the outward flange 205 of 204 is second distance D2.So, when automatic mower 100 is cut to
Border, during as run into wall, at hedge, side plate 204 rotates relative to main casing 42 so that it is reach first
Distance D1.Such automatic mower 100 can cut against wall or hedge, saves user oneself and moves
Retouch the lawn near reason wall or hedge, bring great convenience.And when automatic mower 100 is in work
In region normal when walking, the distance between the outward flange 205 of side plate 204 and cutting element 48 is maintained at the
Two distances D2, now the lower edge of side 204 from working surface farther out, adds cross-country ability.First distance
The setting of D1 and second distance D2 can same first embodiment, be just not described in detail at this.
Certainly, same to first embodiment, is provided with flexible member between right side wall 208 and side plate 204 (in figure not
Illustrate), the elastic force that flexible member provides promotes side plate 204 to have around pivot axis 206 towards away from sidewall
208 trend rotating.That is, elastic force promotes side plate 204 to be maintained at the second place of second distance D2.And
Flexible member can be torsion spring, stage clip etc..
In the present embodiment, limit assembly also can be set between right side wall 208 and side plate 204, be used for
Limit the pivoting angle of side plate 204.
During specific works, as shown in figure 11, automatic mower 200 is under the control of main control module, in work
Make walking and work automatically in region 30.When side plate 204 is positioned at the second place, the outward flange of side plate 204
Distance protection between 205 and the edge of cutting element 48 is at second distance D2, now under side plate 204
Edge is farthest far from working surface, adds cross-country ability, and such automatic mower 200 can be in working region
In 30, walking is freely.And automatic mower 200 is when running to border 34, such as the obstacle such as wall, hedge
During thing, side plate 204 touches barrier and rotates, and turns between side plate 204 and cutting element 48 as relatively
The first near distance D1, automatic mower 200 can cut against wall or hedge, saves user certainly
Oneself starts to repair the lawn near wall or hedge, brings great convenience.
Another embodiment of the present invention, also relates to a kind of automatic mower.Automatic with the first embodiment
The difference of hay mover 100 is that automatic mower also includes the boundary recognition module being connected with main control module
With driving module, boundary recognition module obtains sideband signal, and main control module controls driving mould according to sideband signal
The activity of block driving side board component 44.
Boundary recognition module obtains sideband signal according to different border 34 forms.Such as working region 30 He
Non-active area 32 arranges electron boundary fence.Cooked up the region of closing, electronics by electron boundary fence
There is sideband signal around the fence of border；Boundary recognition module obtains sideband signal.And here, electronic edge
Boundary's fence is not limited to additionally arrange wire, can also include less radio-frequency RFID border, infrared border etc..
As being not provided with electron boundary fence, automatic mower can arrange image collecting device, boundary recognition module
According to the image collecting, color combining identification, texture analysis etc. obtain sideband signal.May be appreciated
It is that boundary recognition module can also is that and identification boundary information is achieved by other means, such as preset boundary letter
Breaths etc., do not repeat them here.
Drive module to include driving motor and transmission mechanism, drive motor to drive bearing pin 67 by transmission mechanism
Rotate, thus drive the first side plate 54 to rotate relative to main casing 42.Certainly, motor is driven also can to pass through
Transmission mechanism drives the second side plate 56 to rotate relative to main casing 42.
During specific works, automatic mower under the control of main control module, automatic row in working region 30
Walk and work.When lateral plate component 44 is positioned at the second place, cross-country ability is preferable, and automatic mower can be in work
In making region 30, walking is more freely.And get sideband signal when boundary recognition module, main control module according to
Sideband signal control drives module drive lateral plate component 44 activity so that automatic mower can be against border
34 cut, and expand cut coverage, save user and do it yourself to repair the lawn near border, bring
Great convenience.
Boundary recognition module in certain the present embodiment and driving module are equally applicable to second reality of the present invention
Execute example.And main control module can control walking module and walk along border, in such a mode, main control module
Side 204 can be controlled and be in primary importance, so can greatly improve cutting efficiency.
By three above detailed description of the invention, it will be understood that the automatic mower of the present invention mainly passes through
Setting can make lateral plate component less with cutting element distance by the relative to the lateral plate component of main casing activity
One position and and cutting element activity between the bigger second place.And here, lateral plate component is relative
In main casing activity can be cause with bar contact or have identified boundary information by main control module and
By driving module drive.In a word, when lateral plate component is in primary importance so that automatic mower can be tight
Cut by wall or hedge, bring great convenience；And lateral plate component is closer to working surface, can
To prevent unexpected generation, play good safe effect.And when lateral plate component is in the second place, automatically cut
Grass machine normally can work in working region, has preferable cross-country ability.
It may be noted that the automatic mower of the present invention is not limited to above-mentioned embodiment, but as long as what it used
Technical spirit and the present invention are same or like seemingly, or any all exist based on the variations and alternatives that the present invention makes
Within protection scope of the present invention.
Claims (12)
1. an automatic mower, for walking and work automatically on the work surface, comprising:
Housing；
Walking module, including the wheels being arranged on housing and the running motor driving described wheels；
Operational module, including the cutting motor of cutting element and drive cutting element work；
Main control module, is arranged in described housing, connects described walking module and described operational module, controls institute
State automatic mower work and walking；
It is characterized in that: described housing includes housing main casing and the lateral plate component of described main control module, described side
Board component is movably connected on described main casing the outward flange regulating described lateral plate component and described cutting unit
The spacing of part.
2. automatic mower according to claim 1, it is characterised in that: described lateral plate component includes side plate,
Described side plate is pivotably coupled to described main casing around pivot axis, and described pivot axis level sets
Put.
3. automatic mower according to claim 2, it is characterised in that: in described main casing and described side
Be provided with flexible member between plate, the elastic force that described flexible member provides promote described side plate have around
Described pivotal axis is towards the trend rotating away from described main casing.
4. automatic mower according to claim 2, it is characterised in that: described pivot axis with described from
The direct of travel of motor mower be arranged in parallel.
5. automatic mower according to claim 1, it is characterised in that: described lateral plate component includes quantity
The first side plate and the second side plate that quantity is N, wherein said first side plate and the second side plate phase for M
Interlock mutually, and described first, second side plate is pivotably coupled to around respective pivot axis described
Main casing, and described pivot axis is horizontally disposed with.
6. according to according to the automatic mower described in claim 5, it is characterised in that: described main casing includes circular arc
Front side wall, described first, second side plate is pivotably coupled on described front side wall.
7. according to according to the automatic mower described in claim 5, it is characterised in that: described second side plate is provided with collecting
Groove, described first plate portion is contained in described accepting groove.
8. according to according to the automatic mower described in claim 5, it is characterised in that: at described first side plate and described
Being provided with flexible member between second side plate at least one and described main casing, described flexible member carries
The elastic force of confession promotes described lateral plate component to have around described pivotal axis towards away from the rotation of described main casing
The trend turning.
9. according to according to the automatic mower described in claim 1, it is characterised in that: described lateral plate component can be along vertical side
To being movably attached in described main casing.
10. according to according to the automatic mower described in claim 1, it is characterised in that: described automatic mower also includes
The boundary recognition module being connected with main control module and driving module, described boundary recognition module obtains border
Signal, main control module lateral plate component according to described sideband signal controls described driving module drive is lived
Dynamic.
11. according to according to the automatic mower described in claim 10, it is characterised in that: described automatic mower includes electricity
, around described electron boundary fence, there is described sideband signal in sub-border fence；Described Boundary Recognition mould
Block obtains described sideband signal.
12. according to according to the automatic mower described in claim 10, it is characterised in that: described automatic mower include with
The image collecting device that boundary recognition module connects, described boundary recognition module is according to described IMAQ
Sideband signal described in the Image Acquisition that device collects.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201510081659.9A CN105988470A (en) | 2015-02-15 | 2015-02-15 | Automatic mower |
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| CN201510081659.9A CN105988470A (en) | 2015-02-15 | 2015-02-15 | Automatic mower |
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| CN105988470A true CN105988470A (en) | 2016-10-05 |
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Cited By (3)
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| CN106647765A (en) * | 2017-01-13 | 2017-05-10 | 深圳拓邦股份有限公司 | Planning platform based on mowing robot |
| CN110072382A (en) * | 2016-12-28 | 2019-07-30 | 本田技研工业株式会社 | Information processing unit, water system, information processing system and program |
| CN112558596A (en) * | 2019-09-06 | 2021-03-26 | 苏州科瓴精密机械科技有限公司 | Automatic work system, automatic walking device, control method thereof, and computer-readable storage medium |
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| CN112558596A (en) * | 2019-09-06 | 2021-03-26 | 苏州科瓴精密机械科技有限公司 | Automatic work system, automatic walking device, control method thereof, and computer-readable storage medium |
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