CN109831949A - Intelligent mobile equipment and intelligence system including the Intelligent mobile equipment - Google Patents
Intelligent mobile equipment and intelligence system including the Intelligent mobile equipment Download PDFInfo
- Publication number
- CN109831949A CN109831949A CN201710817830.7A CN201710817830A CN109831949A CN 109831949 A CN109831949 A CN 109831949A CN 201710817830 A CN201710817830 A CN 201710817830A CN 109831949 A CN109831949 A CN 109831949A
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- mobile equipment
- intelligent mobile
- linking arm
- main body
- work
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Links
- 230000007246 mechanism Effects 0.000 claims abstract description 11
- 210000000078 claw Anatomy 0.000 claims description 8
- 238000007664 blowing Methods 0.000 claims description 6
- 238000010586 diagram Methods 0.000 description 7
- 244000025254 Cannabis sativa Species 0.000 description 6
- 238000005520 cutting process Methods 0.000 description 4
- 238000010009 beating Methods 0.000 description 2
- 238000004140 cleaning Methods 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 241000196324 Embryophyta Species 0.000 description 1
- 244000173297 Medicago polymorpha Species 0.000 description 1
- 235000017823 Medicago polymorpha Nutrition 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000009738 saturating Methods 0.000 description 1
- 238000009333 weeding Methods 0.000 description 1
Abstract
The present invention relates to a kind of Intelligent mobile equipment and including the intelligence system of the Intelligent mobile equipment, the mountable work head of Intelligent mobile equipment, comprising: Intelligent mobile equipment main body；Walking mechanism is installed on the Intelligent mobile equipment main body to drive the Intelligent mobile equipment main body mobile；Linking arm, described linking arm one end are rotatably installed on the Intelligent mobile equipment main body, and the other end extends to the separate Intelligent mobile equipment body side and is equipped with the connection structure for installing the work head；Control module, the control module are electrically connected to control the working condition of the linking arm with the linking arm.Above-mentioned Intelligent mobile equipment can install different work heads according to different conditions by linking arm and work with quickly and easily switch operating state, to have lower use cost and higher working efficiency, and meet the different demands of people.
Description
Technical field
The present invention relates to graden machine fields, more particularly to a kind of Intelligent mobile equipment and including the Intelligent mobile equipment
Intelligence system.
Background technique
With the development of social progress and science and technology, various power tools are stepped into the production and life of people, are
The production and life of people brings great convenience.Especially in afforestation field, people need to use various power tools,
Such as grass trimmer, grass-mowing machine, chain saw, blower etc. carry out the work such as weeding, cleaning road
And currently, the structure of various power tools and have a single function, usually it is only capable of completing a kind of work, to improve work
Make cost, reduces working efficiency.
Summary of the invention
Based on this, it is necessary to the structure of power tool and aiming at the problem that have a single function, provide that a kind of just there are many functions
Intelligent mobile equipment and intelligence system including the Intelligent mobile equipment.
A kind of Intelligent mobile equipment, the mountable work head of Intelligent mobile equipment, comprising:
Intelligent mobile equipment main body；
Walking mechanism is installed on the Intelligent mobile equipment main body to drive the Intelligent mobile equipment main body mobile；
Linking arm, described linking arm one end are rotatably installed on the Intelligent mobile equipment main body, and the other end is to separate
The Intelligent mobile equipment body side extends and is equipped with the connection structure for installing the work head；And
Control module, the control module are electrically connected to control the working condition of the linking arm with the linking arm.
It is fast to facilitate can to install different work head work according to different conditions by linking arm for above-mentioned Intelligent mobile equipment
Fast ground switch operating state, to have lower use cost and higher working efficiency, and meeting the different of people need to
It asks.
Accommodating chamber is equipped in the Intelligent mobile equipment main body in one of the embodiments, the linking arm can be in institute
It states and is protruded under the control of control module in the accommodating chamber.
The accommodating chamber includes multiple sub- accommodating chambers in one of the embodiments, and the linking arm can be in the control
It is alternatively protruded under the control of module in the sub- accommodating chamber.
The Intelligent mobile equipment includes two or more linking arms in one of the embodiments, and two
A or more than two linking arms are respectively arranged in the Intelligent mobile equipment main body.
The connection structure includes two or more claws in one of the embodiments, two or two with
On the claw can be located remotely from each other or gather.
The connection structure is buckle in one of the embodiments,.
The connection structure further includes the first electrical connector in one of the embodiments, and first electrical connector is used
In the electrical connection work head.
A kind of intelligence system, including above-mentioned Intelligent mobile equipment.
The intelligence system further includes work head in one of the embodiments, the work head be it is multiple, it is multiple described
Work head selectively cooperates with the connection structure to be installed on the linking arm.
The work head is suction and blowing device, cutter device, shrub and hedge trimmer or moving head in one of the embodiments,.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the Intelligent mobile equipment of an embodiment；
Fig. 2 is the structural schematic diagram of the intelligence system for being equipped with suction and blowing device of an embodiment；
Fig. 3 is the structural schematic diagram of the intelligence system for being equipped with cutter device of an embodiment；
Fig. 4 is the structural schematic diagram of the intelligence system for being equipped with shrub and hedge trimmer of an embodiment；
Fig. 5 is the structural schematic diagram of the intelligence system for being equipped with moving head of an embodiment；
Fig. 6 is the structural schematic diagram of the intelligence system of another embodiment；
Fig. 7 is the structural schematic diagram of the intelligence system of another embodiment.
Specific embodiment
To facilitate the understanding of the present invention, a more comprehensive description of the invention is given in the following sections with reference to the relevant attached drawings.In attached drawing
Give preferred embodiment of the invention.But the invention can be realized in many different forms, however it is not limited to herein
Described embodiment.On the contrary, purpose of providing these embodiments is keeps the understanding to the disclosure more saturating
It is thorough comprehensive.
It should be noted that it can directly on the other element when element is referred to as " being fixed on " another element
Or there may also be elements placed in the middle.When an element is considered as " connection " another element, it, which can be, is directly connected to
To another element or it may be simultaneously present centering elements.Term as used herein " vertical ", " horizontal ", " left side ",
" right side " and similar statement are for illustrative purposes only.
Unless otherwise defined, all technical and scientific terms used herein and belong to technical field of the invention
The normally understood meaning of technical staff is identical.Term as used herein in the specification of the present invention is intended merely to description tool
The purpose of the embodiment of body, it is not intended that in the limitation present invention.Term " and or " used herein includes one or more phases
Any and all combinations of the listed item of pass.
As shown in Figures 1 and 2, a kind of Intelligent mobile equipment 100 of this better embodiment, including Intelligent mobile equipment master
Body 20, walking mechanism 40, linking arm 60 and control module (not shown).The mountable work head 200 of Intelligent mobile equipment 100 with
It is cut, the different operations such as pressure-vaccum.In the present embodiment, Intelligent mobile equipment 100 is grass trimmer, and work head 200 is to cut
Toothed burclover, the work head 200 it is mountable on grass trimmer to carry out cutting operation.
Wherein, walking mechanism 40 is installed on Intelligent mobile equipment main body 20 to drive Intelligent mobile equipment main body 20 mobile,
60 one end of linking arm is rotatably installed on Intelligent mobile equipment main body 20, and the other end is to far from Intelligent mobile equipment main body 20 1
Side extends and is equipped with the connection structure 64 for installment work head 200.Control module is electrically connected with linking arm 60 and is connect with controlling
The working condition of arm.
Above-mentioned Intelligent mobile equipment 100 can install different work heads 200 according to different conditions by linking arm 60 and work
With quickly and easily switch operating state, to have lower use cost and higher working efficiency, and people are met
Different demands.
As shown in fig. 6, being equipped with the appearance for accommodating work head 200 in one embodiment, in Intelligent mobile equipment main body 20
Receive chamber 22, linking arm 60 can protrude into accommodating chamber 22 under the control of control module and obtain work head 200.In this way, the intelligence
Mobile device 100 can accommodate multiple work heads 200 by accommodating chamber 22, to be convenient to replace work at any time during the work time
Make first 200.
Specifically, different types of work head 200 is respectively limited by the corresponding position in accommodating chamber 22.When need dismount or
When replacing work head, linking arm 60 can extend to the corresponding position of target operation head 200 under the control of control module and connect automatically
It connects the work head 200 being located in this position or unclamps mounted work head 200 and work head 200 is placed in accommodating chamber 22
It is interior.
Further, accommodating chamber 22 includes multiple spaced sub- accommodating chambers, and multiple work heads 200 respectively correspond placement
In in sub- accommodating chamber, linking arm 60 can obtain corresponding work head from corresponding sub- accommodating chamber under the control of control module
200 or corresponding work head 200 is placed in corresponding sub- accommodating chamber.
In other embodiments, operator can also select required work head 200 to install manually from accommodating chamber 22 at any time
On linking arm 60.
As shown in fig. 7, in one embodiment, Intelligent mobile equipment 100 includes two or more linking arms 60, two
A or more than two linking arms 60 are respectively arranged in Intelligent mobile equipment main body 20.In this way, can on different linking arms 60
Different work heads 200 is installed.When the Intelligent mobile equipment 100 works, it more convenient can rapidly switch different linking arms 60
It works with work head 200, so that working efficiency with higher, brings great convenience for user.
Please continue to refer to Fig. 1, in one embodiment, connection structure 64 include two or more claws 642, two
Or more than two claws 642 can be located remotely from each other or gather to clamp or unclamp work head 200.Specifically, when installment work head
When 200, each claw 642 is gradually gathered to center from the state being located remotely from each other and clamps work head 200；When dismantlement work head
When 200, each claw 642 is moved in the direction away from each other by the state gathered, to unclamp the work head clamped
200.In this way, the linking arm 60 can quickly and easily complete the dismounting of work head 200 by connection structure 64.It is appreciated that connecting
The specific structure of binding structure 64 is unlimited.In another embodiment, connection structure 64 is buckle, and work head 200 is equipped with matches with buckle
The holding section of conjunction.In this way, work head 200 can be fastened in connection structure 64 by holding section, to be installed on linking arm 60.
It is appreciated that buckle is unlimited with the specific structure of holding section, can be set as needed.
Further, connection structure 64 further includes the first electrical connector (not shown), and work head 200 includes being electrically connected with first
Second electrical connector (not shown) of fitting cooperation with Intelligent mobile equipment main body 20 to be electrically connected.In this way, Intelligent mobile equipment
100 ontologies can control the working condition of work head 200 by the first electrical connector and the second electrical connector, be convenient for the intelligent mobile
The use of equipment 100.It is appreciated that the control mode for the work head 200 being installed in Intelligent mobile equipment main body 20 is not limited to
This, can also be manually operated by operator or other connection types are electrically connected with Intelligent mobile equipment main body 20.
Further, linking arm 60 further includes connection bar assembly 62, and connection 62 both ends of bar assembly are rotatably coupled intelligence
It can mobile device main body 20 and connection structure 64.In the present embodiment, connection bar assembly 62 includes two companies being rotatably connected
Extension bar, thus can realize the change of the position of multiple directions, flexibility ratio with higher.It is appreciated that in connection bar assembly 62
Connecting rod quantity it is without being limited thereto, in other embodiments, connection bar assembly 62 may include different number connecting rod.
Intelligent mobile equipment 100 further includes cutter device (not shown), and cutter device is installed on Intelligent mobile equipment main body
20 far from 60 side of linking arm, so as to cut to vegetation.In the present embodiment, Intelligent mobile equipment main body 20 be for
The grass trimmer of vegetation is cut, cutter device includes rotatable blade.In this way, the Intelligent mobile equipment 100 can be used as mowing
Different work heads 80 can be installed while machine use by linking arm 60 and carry out different types of work, improved work efficiency
While reduce use cost.
Walking mechanism 40 includes driving mechanism and the multiple traveling wheels 42 for being installed on driving mechanism, and multiple traveling wheels 42 are installed
In Intelligent mobile equipment main body 20 far from 60 side of linking arm, for driving Intelligent mobile equipment main body 20 mobile.Specifically, should
Walking mechanism 40 includes two walking rear-wheels and a walking front-wheel, and two walking rear-wheels are symmetrically disposed on Intelligent mobile equipment master
The two sides of 20 one end of body, walking front-wheel are set to the middle part of 20 other end of Intelligent mobile equipment main body.In this way, walking rear-wheel and walking
Preceding road cooperates and Intelligent mobile equipment main body 20 is driven to stablize movement.It is appreciated that the structure of walking mechanism 40 is not limited to
This, walking mechanism 40 may also comprise caterpillar belt structure to drive Intelligent mobile equipment main body 20 mobile.
It is different types of to carry out can to install different work heads 200 on linking arm 60 for above-mentioned Intelligent mobile equipment 100
Work brings great convenience to meet varying environment and needs for people, since multiple work heads 200 can be used in conjunction with
One Intelligent mobile equipment 100, therefore use cost is reduced while improving work efficiency.
As shown in Figure 2-5, a kind of intelligence system 300 of this better embodiment, including above-mentioned Intelligent mobile equipment 100
And work head 200.
Wherein, work head 200 is multiple, multiple work heads 200 selectively connection structure with Intelligent mobile equipment 100
64 cooperations are to be installed on linking arm 60.When intelligence system 300 for a long time without using when, work head 200 can be contained in other receipts
Capacitance device or in the accommodating chamber 22 of Intelligent mobile equipment 100, and the work head 200 in accommodating chamber 22 can replace as needed
To meet different demands.
In the present embodiment, work head 100 be grass-cutting head, in other embodiments, work head 100 can for suction and blowing device,
Cutter device, shrub and hedge trimmer or moving head.It is mounted on linking arm 60 in this way, different work heads 80 may be selected in user, to make
The intelligence system 300 carries out different types of work.It is appreciated that the type of work head 80 is without being limited thereto, can set as needed
It sets.
Specifically, as shown in Fig. 2, when the work head 80 installed on linking arm 60 is suction and blowing device, the intelligence system 300
It can be used as blower use.The air-flow blown out from suction and blowing device, which can have the leaf or rubbish for being scattered in ground, gathers work
With facilitating operator to be collected, while also can be used as the tool of dust suction, sucking dust, branches and leaves etc. are to complete cleaning work.Such as
Shown in Fig. 3, when the work head 80 installed on linking arm 60 is cutter device, which can be used as cutting machine use.
In the present embodiment, cutter device is chain saw, can be used for cutting the materials such as timber.As shown in figure 4, install on the linking arm 60
When work head 80 is shrub and hedge trimmer, which can trim the limb of plant.As shown in figure 5, when on linking arm 60
When the work head 80 of installation is moving head, which can be used as grass-mowing machine use, the line rotation of beating the grass being equipped in moving head
Turn to carry out work of beating the grass.
Above-mentioned intelligence system 300, Intelligent mobile equipment 100 carry out different types of equipped with different work heads 200
Work brings great convenience to meet varying environment and needs for people, since multiple work heads 200 can be used in conjunction with
One Intelligent mobile equipment 100 Intelligent mobile equipment 100 different without replacement, therefore while improving work efficiency
Reduce use cost.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all should be considered as described in this specification.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention
Range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (10)
1. a kind of Intelligent mobile equipment, the mountable work head of Intelligent mobile equipment characterized by comprising
Intelligent mobile equipment main body；
Walking mechanism is installed on the Intelligent mobile equipment main body to drive the Intelligent mobile equipment main body mobile；
Linking arm, described linking arm one end are rotatably installed on the Intelligent mobile equipment main body, and the other end is to far from described
Intelligent mobile equipment body side extends and is equipped with the connection structure for installing the work head；And
Control module, the control module are electrically connected to control the working condition of the linking arm with the linking arm.
2. Intelligent mobile equipment according to claim 1, which is characterized in that be equipped with and hold in the Intelligent mobile equipment main body
Receive chamber, the linking arm can protrude into the accommodating chamber under the control of the control module.
3. Intelligent mobile equipment according to claim 1, which is characterized in that the accommodating chamber includes multiple sub- accommodating chambers,
The linking arm can alternatively protrude into the sub- accommodating chamber under the control of the control module.
4. Intelligent mobile equipment according to claim 1, which is characterized in that the Intelligent mobile equipment includes two or two
A above linking arm, two or more linking arms are respectively arranged in the Intelligent mobile equipment main body
On.
5. Intelligent mobile equipment according to claim 1, which is characterized in that the connection structure include two or two with
On claw, two or more claws can be located remotely from each other or gather.
6. Intelligent mobile equipment according to claim 1, which is characterized in that the connection structure is buckle.
7. Intelligent mobile equipment according to claim 1, which is characterized in that the connection structure further includes the first electrical connection
Part, first electrical connector is for being electrically connected the work head.
8. a kind of intelligence system, which is characterized in that including the Intelligent mobile equipment as described in claim 1~7 any one.
9. intelligence system according to claim 8, which is characterized in that the intelligence system further includes work head, the work
Make head be it is multiple, multiple work heads selectively with the connection structure cooperate to be installed on the linking arm.
10. intelligence system according to claim 9, which is characterized in that the work head be suction and blowing device, cutter device,
Shrub and hedge trimmer or moving head.
Priority Applications (6)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710817830.7A CN109831949A (en) | 2017-09-12 | 2017-09-12 | Intelligent mobile equipment and intelligence system including the Intelligent mobile equipment |
| PCT/CN2018/105246 WO2019052473A1 (en) | 2017-09-12 | 2018-09-12 | Self-moving device and automatic working system thereof |
| CN201880005872.3A CN110366368A (en) | 2017-09-12 | 2018-09-12 | From mobile device and its automatic working system |
| EP18857187.1A EP3682721A1 (en) | 2017-09-12 | 2018-09-12 | Self-moving device and automatic working system thereof |
| US16/816,767 US11780078B2 (en) | 2017-09-12 | 2020-03-12 | Self-moving device and automatic working system thereof |
| US18/377,986 US20240149432A1 (en) | 2017-09-12 | 2023-10-09 | Self-moving device and automatic working system thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710817830.7A CN109831949A (en) | 2017-09-12 | 2017-09-12 | Intelligent mobile equipment and intelligence system including the Intelligent mobile equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109831949A true CN109831949A (en) | 2019-06-04 |
Family
ID=66876209
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710817830.7A Pending CN109831949A (en) | 2017-09-12 | 2017-09-12 | Intelligent mobile equipment and intelligence system including the Intelligent mobile equipment |
| CN201880005872.3A Pending CN110366368A (en) | 2017-09-12 | 2018-09-12 | From mobile device and its automatic working system |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201880005872.3A Pending CN110366368A (en) | 2017-09-12 | 2018-09-12 | From mobile device and its automatic working system |
Country Status (1)
| Country | Link |
|---|---|
| CN (2) | CN109831949A (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114291083B (en) * | 2022-01-12 | 2023-07-25 | 未岚大陆(北京)科技有限公司 | Self-moving device control method, device, system, medium and self-moving device |
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| CN103858584A (en) * | 2012-12-13 | 2014-06-18 | 苏州宝时得电动工具有限公司 | Intelligent mower |
| CN105103982A (en) * | 2015-09-22 | 2015-12-02 | 天津奥克森重型机床有限公司 | Greening and pruning multifunctional robot |
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| CN101091428A (en) * | 2006-10-20 | 2007-12-26 | 大连理工大学 | Automatic mowing robot |
| US20120029752A1 (en) * | 2010-07-28 | 2012-02-02 | Johnson David A | Robotic Mower Stuck Detection System |
| CN103650753B (en) * | 2012-08-31 | 2016-08-17 | 苏州宝时得电动工具有限公司 | Intelligent grass-removing and control method thereof |
| US9510505B2 (en) * | 2014-10-10 | 2016-12-06 | Irobot Corporation | Autonomous robot localization |
| CN105501321A (en) * | 2014-10-11 | 2016-04-20 | 苏州宝时得电动工具有限公司 | Self-motion robot |
| CN106406301B (en) * | 2015-07-29 | 2020-09-18 | 苏州宝时得电动工具有限公司 | Automatic mowing equipment and safety self-starting system and method thereof |
| CN105875219A (en) * | 2016-04-15 | 2016-08-24 | 杨淑祥 | Vehicle-carried flower plant trimming universal arm |
| CN107135685A (en) * | 2017-06-01 | 2017-09-08 | 梁柏初 | A kind of inexpensive weed-eradicating robot |
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2017
- 2017-09-12 CN CN201710817830.7A patent/CN109831949A/en active Pending
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2018
- 2018-09-12 CN CN201880005872.3A patent/CN110366368A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103858584A (en) * | 2012-12-13 | 2014-06-18 | 苏州宝时得电动工具有限公司 | Intelligent mower |
| CN105103982A (en) * | 2015-09-22 | 2015-12-02 | 天津奥克森重型机床有限公司 | Greening and pruning multifunctional robot |
| CN106472474A (en) * | 2016-11-25 | 2017-03-08 | 南陵县襄荷产业协会 | A kind of agricultural telescopic folding mechanical arm of spraying insecticide |
| CN207639110U (en) * | 2017-09-12 | 2018-07-24 | 宝时得科技（中国）有限公司 | Intelligent mobile equipment and intelligence system including the Intelligent mobile equipment |
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| CN110366368A (en) | 2019-10-22 |
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