CN116472848B - Mowing robot - Google Patents

Abstract

The application provides a mowing robot. The mowing robot comprises a machine body, a cutting assembly, a moving assembly and a controller, wherein the cutting assembly is arranged at one end of the machine body and comprises a hob supporting piece, a hob structure and a fixed cutter structure, the hob supporting piece is connected with the machine body, the hob structure is rotationally connected with the hob supporting piece, and the fixed cutter structure and the hob structure are arranged at intervals to form a shearing gap. The moving assembly is connected with the machine body and is used for driving the machine body to move when moving, so as to drive the mowing robot to move. The controller is used for planning a running path and controlling the moving assembly to move along the running path so that the mowing robot runs along the running path. According to the mowing robot, the hob structure and the fixed cutter structure are arranged, and the mowing is performed by utilizing the shearing gap formed by the hob structure and the fixed cutter structure, so that the mowing efficiency can be improved, the noise is low, a lawn cannot be damaged, and the mowing robot can automatically mow the lawn, so that the mowing work is very simple and convenient.

Description

Mowing robot

Technical Field

The application relates to the technical field of robots, in particular to a mowing robot.

Background

The mowing robot can be applied to garden trimming, grassland greening trimming, urban streets, greening scenic spots, field trimming and field weeding, and particularly can trim grasslands and grasslands in parks, other grasslands such as football stadiums and the like, private villa gardens, vegetation on agriculture and forestry and animal pastures and the like.

At present, a rotary knife type cutting device is generally adopted by a mowing robot to mow grass, when the rotary knife type cutting device mows grass, the grass is sheared by means of high-speed rotation of a blade, if the linear speed of a knife tip is insufficient, the grass shearing effect is poor, and therefore a large accelerator is needed to cut the grass at a high rotating speed, and noise is high. In addition, the blades of the rotary blade type cutting device are liable to damage the lawn during cutting.

Disclosure of Invention

In order to solve the technical problems, the application provides the mowing robot which can improve mowing efficiency, has low noise and is not easy to damage lawns, and the mowing robot can automatically mow according to a planned driving path, so that mowing work is very simple and convenient.

The application provides a mowing robot which comprises a machine body, a cutting assembly, a moving assembly and a controller, wherein the cutting assembly is arranged at one end of the machine body, the cutting assembly comprises a hob supporting piece, a hob structure and a fixed cutter structure, the hob supporting piece is connected with the machine body, the hob structure is rotationally connected with the hob supporting piece, and the fixed cutter structure and the hob structure are arranged at intervals to form a shearing gap. The moving assembly is connected with the machine body and is used for driving the machine body to move when moving, so that the mowing robot is driven to move. The controller is used for planning a running path and controlling the moving assembly to move along the running path so that the mowing robot runs along the running path.

According to the mowing robot, the hob structure and the fixed cutter structure are arranged, and the mowing is performed by utilizing the shearing gap formed by the hob structure and the fixed cutter structure, so that the mowing efficiency can be improved, the noise is low, a lawn cannot be damaged, and the mowing robot can automatically mow according to a planned driving path, so that the mowing work is very simple and convenient.

Drawings

In order to more clearly illustrate the technical solutions of the present application, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic side view of a mowing robot according to an embodiment of the present application.

Fig. 2 is a schematic rear view of the mowing robot shown in fig. 1.

Fig. 3 is a top view of the mowing robot shown in fig. 1.

Fig. 4 is a partially exploded view of the robot lawnmower of fig. 1.

Fig. 5 is a schematic view of an assembled structure of the cutting assembly shown in fig. 1.

Fig. 6 is an exploded view of the cutting assembly of fig. 5.

Description of main reference numerals:

Mowing robot 100

Fuselage 10

Cutting assembly 20

Hob support 21

Hob cutter structure 22

Fixed knife structure 23

Moving assembly 30

Rotating shaft 221

Hob blade 222

Opening 211

Side wall 212

Fixed knife blade 231

First connecting portion 232

Blade 2221

Second connection portion 2222

Second drive mechanism 31

Roller 32

Grass pressing structure 50

Roller 51

Bracket 60

Connector 65

Environment awareness module 70

First context awareness submodule 71

Second context awareness submodule 72

Third context awareness submodule 73

Mounting portion 11

Height adjustment Assembly 80

Guard 90

Casing 95

Detailed Description

The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without any inventive effort, are intended to be within the scope of the application.

In the description of the present application, the terms "first," "second," "third," "fourth," and the like are used for distinguishing between different objects and not for describing a particular sequential order, and furthermore, the terms "upper," "lower," "inner," "outer," and the like refer to an orientation or positional relationship based on that shown in the drawings, merely for convenience of description and to simplify the description, and do not denote or imply that the apparatus or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the application.

In the description of the present application, unless explicitly stated and limited otherwise, the term "coupled" is to be interpreted broadly, as for example, whether fixedly coupled, detachably coupled, or integrally coupled; can be directly connected, can also be indirectly connected through an intermediate medium, and can also be the communication between the two elements; may be a communication connection; may be an electrical connection. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.

Referring to fig. 1 to 4, fig. 1 is a schematic side view of a mowing robot 100 according to an embodiment of the present disclosure, fig. 2 is a schematic back side view of the mowing robot 100 shown in fig. 1, fig. 3 is a top view of the mowing robot 100 shown in fig. 1, and fig. 4 is a schematic partially exploded structure of the mowing robot 100 shown in fig. 1. As shown in fig. 1 to 4, the mowing robot 100 includes a machine body 10, a cutting assembly 20, a moving assembly 30 and a controller, the cutting assembly 20 is disposed at one end of the machine body 10, the cutting assembly 20 includes a hob supporting member 21, a hob structure 22 and a fixed blade structure 23, the hob supporting member 21 is connected with the machine body 10, the hob structure 22 is rotationally connected with the hob supporting member 21, and the fixed blade structure 23 is disposed at intervals with the hob structure 22 to form a shearing gap. The moving assembly 30 is connected to the machine body 10, and is configured to drive the machine body 10 to move when moving, so as to drive the mowing robot 100 to move. The controller is used for planning a travel path and controlling the moving assembly 30 to move along the travel path so that the robot 100 travels along the travel path. Thus, the mowing robot 100 is provided with an automatic path planning and traveling function of planning a traveling path and traveling along the traveling path.

According to the mowing robot 100 provided by the embodiment of the application, the hob structure 22 and the fixed cutter structure 23 are arranged, and the mowing is performed by utilizing the shearing gap formed by the hob structure 22 and the fixed cutter structure 23, so that the mowing efficiency can be improved, the noise is low, the lawn can not be damaged, and the mowing robot 100 can automatically mow according to the planned running path, so that the mowing work is very simple.

Referring to fig. 5 and 6, fig. 5 is a schematic assembly structure of the cutting assembly 20 shown in fig. 1, and fig. 6 is an exploded structure of the cutting assembly 20 shown in fig. 5. In some embodiments, as shown in fig. 5 and 6, the hob structure 22 includes a rotating shaft 221 and a hob blade 222, the rotating shaft 221 is rotatably connected to the hob supporting member 21, and the hob blade 222 is fixed on the rotating shaft 221 and is spaced from the fixed blade structure 23 to form a shearing gap.

The controller may control the rotation of the rotation shaft 221 along the circumferential direction of the rotation shaft 221, when the rotation shaft 221 rotates, the hob blade 222 is driven to rotate along the circumferential direction of the rotation shaft 221, when the hob blade 222 rotates, the hob blade 222 is wound with the grass blades to gather the grass blades into the gap between the hob blade 222 and the fixed blade structure 23, and the hob blade 222 cooperates with the fixed blade structure 23 to cut the grass blades located in the gap.

The distances from the positions of the outer edges of the hob blade 222 to the central axis of the rotating shaft 221 (the surface of the rotating shaft is larger, the central axis is referred to as a meeting point) are the same, so that the positions of the outer edges of the hob blade 222 are the same as the shearing gaps formed by the fixed blade structure 23, and the hob blade 222 mainly cuts grass blades by matching the outer edges with the fixed blade structure 23, so that the height of the cut grass blades is uniform, and the lawn after trimming is tidy.

In some embodiments, as shown in fig. 2 and 5, the hob support 21 may be a cylindrical structure with an opening 211, the hob structure 22 is disposed in the cavity of the hob support 21, opposite ends of the rotating shaft 221 are respectively connected to two opposite side walls 212 of the hob support 21, and the fixed blade structure 23 is disposed at the opening 211 of the hob support 21 and connected to two opposite side walls 212 of the hob support 21. Wherein, through setting up hob support 21 is tubular structure, and will hob structure 22 locates in the cavity of hob support 21, can prevent the user in the use the in-process of robot 100 is cut by hob blade 222, and through setting up hob support 21 has opening 211, and will fix sword structure 23 locates opening 211 department makes hob structure 22 with the grass bits that stator structure 23 prune the lawn can pass through opening 211 discharge.

The two opposite ends of the rotating shaft 221 are respectively inserted into two opposite side walls 212 of the hob supporting member 21, and the end portion of the rotating shaft 221 may be rotatably connected with the side walls 212 through a bearing, so that the hob supporting member 21 may provide support for the rotating shaft 221, and the rotating shaft 221 may rotate relative to the hob supporting member 21.

In some embodiments, as shown in fig. 5 and 6, the stationary knife structure 23 includes a stationary knife blade 231, the stationary knife blade 231 being coupled to the hob support 21 and spaced apart from the hob blade 222 to form a shear gap. Wherein the stationary blade 231 may be connected to opposite side walls 212 of the hob support 21.

The fixed blade 231 may be rotatably connected to two opposite side walls 212 of the hob supporting member 21, and two opposite ends of the fixed blade 231 may be rotatably connected to the two side walls 212 by bolts, screws, or the like, for example, the bolts may be inserted through the end portions of the fixed blade 231 and the side walls 212 of the hob supporting member 21, and the bolts may be fixedly connected to the end portions of the fixed blade 231 and rotatably connected to the side walls 212 of the hob supporting member 21, so that the fixed blade 231 may be rotatably connected to the hob supporting member 21, and the fixed blade 231 may be adjusted along the circumferential direction of the rotating shaft 221, so that the fixed blade 231 approaches or approaches away from the hob blade 222.

In some embodiments, the fixed blade 231 is disposed on one side of the rotating shaft 221, which is close to the ground, and is inclined, the width direction of the fixed blade 231 is disposed at an acute angle to the direction perpendicular to the rotating shaft 221 and perpendicular to the lawn, and the distance between the central axis of the orthographic projection of the rotating shaft 221 in the direction perpendicular to the lawn and the orthographic projection of the fixed blade 231 in the direction perpendicular to the lawn is greater than 0, so that the shearing gap formed by the fixed blade 231 and the hob blade 222 is close to the lawn, so as to facilitate the cutting of the grass blades.

Wherein, the extending direction of the stationary blade 231 is parallel to the axial direction of the rotating shaft 221, and the width direction of the stationary blade 231 is parallel to the extending direction of the stationary blade 231.

As shown in fig. 2, the fixed blade structure 23 may further include a first connection portion 232, where the first connection portion 232 is connected to the top of the hob supporting element 21 and is fixedly connected to the fixed blade 231, so that the fixed blade 231 may be fixed on the hob supporting element 21, and the fixed blade 231 and the hob blade 222 may be relatively fixed, and the shearing gap may be fixed, so that the grass cutting is stable during mowing.

And, through will decide knife blade 231 with hob structure 22 all locates on hob support 21, can make cutting assembly 20 modularization, be convenient for carry out the equipment of grass cutting robot 100, and, decide knife blade 231 with hob blade 222 all with hob support 21 is connected, accessible regulation hob support 21's height realization is adjusted simultaneously decide knife blade 231 with hob blade 222's height to avoid still need adjust after carrying out the height adjustment of deciding knife blade 231 with hob blade 222 the shearing clearance of deciding knife blade 231.

In other embodiments, the stationary blade 231 may be connected to the bracket 60 in fig. 1, opposite ends of the stationary blade 231 may be connected to the bracket 60, or a connecting rod may be provided below the hob structure 22, the connecting rod may be fixedly connected to the body 10, and the stationary blade 231 may be connected to the body 10 by being connected to the connecting rod.

In some embodiments, the fixed blade 231 is disposed parallel to the rotating shaft 221, and the hob blades 222 include a plurality of hob blades 222, as shown in fig. 5 and 6, each hob blade 222 extends along the outer peripheral surface of the rotating shaft 221 in a bending manner, the outermost side of each hob blade 222, that is, the aforementioned outer side edge is a cutting edge 2221, when the rotating shaft 221 rotates, the cutting edge 2221 forms a shearing gap with the fixed blade 231, and each position of the cutting edge 2221 of each hob blade 222 moves to a position corresponding to the fixed blade 231 in sequence to cooperate with the fixed blade 231 to perform shearing.

When mowing, different positions of the blade 2221 of each hob blade 222 are close to the fixed blade 231 and are matched with the fixed blade 231 to cut, and as a certain position of the blade 2221 is close to the fixed blade 231 at the same time, the whole blade 2221 is close to the fixed blade 231 instead, so that a shearing surface formed by the blade 2221 and the fixed blade 231 in unit time is smaller, friction force is smaller, cutting is sharper, grass blades are easier to cut, cutting resistance is smaller, and generated noise is small.

The hob blade 222 may be a spiral, that is, the hob blade 222 is a spiral blade, the tangential direction of the blade 2221 and the central axis of the rotating shaft 221 are acute or obtuse, and the size of the shearing surface of the blade 2221 and the stationary blade 231 is adjusted by controlling the size of the included angle between the tangential direction of the blade 2221 and the central axis of the rotating shaft 221, so that the cutting sharpness of the blade 2221 and the stationary blade 231 when being matched for cutting is improved, and the grass blades are easier to cut.

The fixed blade 231 also includes a cutting edge, and the cutting gap formed by the cutting edge 2221 and the fixed blade 231 may be specifically a cutting gap formed between the cutting edge 2221 of the hob blade 222 and the cutting edge of the fixed blade 231. The foregoing different positions of the edge 2221 of each hob blade 222 are sequentially close to the fixed blade 231 and cooperate with the fixed blade 231 to perform shearing, or the different positions of the edge 2221 of each hob blade 222 are sequentially close to the edge of the fixed blade 231 and cooperate with the edge of the fixed blade 231 to perform shearing.

In other embodiments, the tangential direction of the cutting edge 2221 may be parallel to the central axis of the rotary shaft 221, i.e., the hob blade 222 may be a straight blade.

In some embodiments, as shown in fig. 6, the plurality of hob blades 222 are uniformly spaced along the circumference of the rotating shaft 221, so that the distance between two adjacent hob blades 222 is the same, and therefore, when the rotating shaft 221 rotates, the amount of grass and grass that is caught between the hob blades 222 and the fixed blade 231 is uniform, so that when different hob blades 222 and the fixed blade 231 are matched to cut, the required shearing force is approximately the same, the shearing process is stable when mowing, no jamming phenomenon occurs, and the cutting effect is good.

In some embodiments, as shown in fig. 6, each hob blade 222 includes a blade 2221 and a second connection portion 2222, where the second connection portion 2222 is connected to the blade 2221 and the rotating shaft 221, respectively, and the blade 2221 is fixed on the rotating shaft 221 by the second connection portion 2222, and the blade 2221 is detachably connected to the second connection portion 2222, so as to facilitate replacement of the blade 2221.

The second connection portion 2222 of each hob blade 222 may include a plurality of second connection portions 2222 that are uniformly arranged along the axial direction of the rotating shaft 221, so as to provide a balanced supporting force for the cutting edge 2221, so that when any position of the cutting edge 2221 is matched with the fixed blade 231 for shearing, a shearing force that is approximately the same can be generated, and shearing is facilitated.

The number of the second connection portions 2222 of the two adjacent hob blades 222 is the same, and the second connection portions 2222 of the two adjacent hob blades 222 are in one-to-one correspondence in the direction perpendicular to the rotation axis 221, that is, the orthographic projections of the second connection portions 2222 of the two adjacent hob blades 222 in the direction perpendicular to the rotation axis 221 are coincident, so as to facilitate assembly of the hob blades 222.

In some embodiments, the cutting assembly 20 further comprises a first driving mechanism coupled to the rotating shaft 221 for driving the rotating shaft 221 to rotate along the circumferential direction of the rotating shaft 221.

In some embodiments, the controller is configured to control the first driving mechanism to drive the rotation shaft 221 to rotate along a circumferential direction of the rotation shaft 221.

In some embodiments, the first drive mechanism may be fixed to a side of the sidewall 212 of the hob support 21 that is remote from the hob structure 22.

The first driving mechanism may include a motor, a rotary cylinder, etc., for example, the first driving mechanism includes a motor, an output shaft of the motor is fixedly connected with the rotating shaft 221, and the rotating shaft 221 is driven to rotate by driving the output shaft to rotate, so as to provide driving force for the rotating shaft 221.

In other embodiments, the first driving mechanism may be disposed inside the rotating shaft 221, specifically, the first driving mechanism may include a motor, an outer periphery of an output shaft of the motor is fixedly connected with an inner wall of the rotating shaft 221, and the controller controls the output shaft of the motor to rotate, so as to drive the rotating shaft 221 to rotate, thereby realizing the rotation of the hob structure 22.

In the traveling direction in which the mowing robot 100 travels normally, the moving assembly 30 is located in front of the cutting assembly 20, that is, the moving assembly 30 is located at the front end of the mowing robot 100, the cutting assembly 20 is located at the tail of the mowing robot 100, and the grass clippings generated by cutting the hob structure 22 and the fixed blade structure 23 are discharged from the tail of the mowing robot 100, so that the grass clippings generated by cutting do not enter the machine body 10 and the moving assembly 30, damage to the internal structure of the moving assembly 30 can be avoided, and movement of the moving assembly 30 is not hindered.

In some embodiments, as shown in fig. 1 to 4, the moving assembly 30 includes at least one second driving mechanism 31 and at least one roller 32, and each second driving mechanism 31 is connected to the body 10 and the roller 32, respectively.

Wherein the controller is configured to control the at least one second driving mechanism 31 to drive the at least one roller 32 to rotate and move along the driving path, so that the mowing robot 100 drives along the driving path.

In some embodiments, as shown in fig. 4, the mowing robot 100 includes a plurality of rollers 32 and a plurality of second driving mechanisms 31, wherein the plurality of rollers 32 are respectively disposed on two opposite sides of the body 10, each second driving mechanism 31 is respectively connected with the body 10 and a roller 32, and each second driving mechanism 31 is used for driving the connected roller 32 to rotate.

In some embodiments, the robot 100 may include two second driving mechanisms 31 and two rollers 32, the two second driving mechanisms 31 are respectively disposed on opposite sides of the body 10, the opposite sides may refer to left and right sides of the forward direction of the robot 100 when driving, and each roller 32 is disposed on a side of one second driving mechanism 31 away from the body 10 and connected to the second driving mechanism 31, i.e., each of the opposite sides of the body 10 is disposed with one second driving mechanism 31 and one roller 32 connected to the second driving mechanism 31. The controller controls the two second driving mechanisms 31 to respectively drive the rollers 32 connected with the two second driving mechanisms to rotate, so that the mowing robot 100 runs.

The number of the rollers 32 may be four, and two rollers 32 may be disposed on two opposite sides of the body 10.

In some embodiments, the mowing robot 100 may include a second driving mechanism 31 and two rollers 32, the two rollers 32 may be disposed on opposite sides of the body 10, the second driving mechanism 31 may be disposed between the body 10 and one roller 32 and connected to the roller 32, and the controller controls the second driving mechanism 31 to drive and connect the roller 32 to rotate, so as to drive the other roller 32 to roll, so that the mowing robot 100 travels.

In some embodiments, the moving assembly 30 may include a connecting shaft (not shown), a second driving mechanism 31, and two rollers 32, where the two rollers 32 are disposed on two opposite sides of the body 10, the connecting shaft is disposed at the bottom of the body 10 and connected between the two rollers 32, the connecting shaft is connected with the second driving mechanism 31, and the controller controls the second driving mechanism 31 to drive the connecting shaft to rotate, so as to drive the two rollers 32 to rotate, so that the mowing robot 100 travels.

In some embodiments, as shown in fig. 1 to 4, the mowing robot 100 further includes a grass compacting structure 50 coupled to the body 10 for compacting the lawn cut by the cutting assembly 20 to represent grass marks.

In some embodiments, the controller may be used to control the grass pressing structure 50 to press out the target grass mark, and the controller may control the roller 32 to rotate forward or reverse, so that the grass cutting robot 100 may travel forward or reverse, so that the grass pressing structure 50 may press the lawn from different directions, the inclined directions of the pressed grass blades are different, the visually presented grass mark is different, and the movement direction of the moving assembly 30 may be controlled according to the requirement to form the target grass mark.

In some embodiments, the stationary knife structure 23 is disposed on a side of the hob structure 22 away from the machine body 10, the grass pressing structure 50 is disposed on a side of the cutting assembly 20 away from the moving assembly 30, the cutting assembly 20 is disposed behind the moving assembly 30 in a traveling direction of the grass cutting robot 100 during normal traveling, the grass pressing structure 50 is disposed behind the cutting assembly 20, that is, the moving assembly 30 is disposed at a front end of the grass cutting robot 100, the grass pressing structure 50 is disposed at a rear end of the grass cutting robot 100, and the cutting assembly 20 is disposed between the moving assembly 30 and the grass pressing structure 50, so that the grass pressing structure 50 can press a lawn trimmed by the cutting assembly 20 to form grass marks.

In other embodiments, the stationary knife structure 23 is disposed on a side of the hob structure 22 near the machine body 10, the grass pressing structure 50 is disposed on a side of the moving assembly 30 far away from the cutting assembly 20, the cutting assembly 20 is disposed in front of the moving assembly 30, the grass pressing structure 50 is disposed behind the cutting assembly 20, that is, the cutting assembly 20 is disposed at the front end of the mowing robot 100, the grass pressing structure 50 is disposed at the tail of the mowing robot 100, and the moving assembly 30 is disposed between the cutting assembly 20 and the grass pressing structure 50, so that the grass pressing structure 50 can press the lawn trimmed by the cutting assembly 20 to form grass marks.

In some embodiments, as shown in fig. 1-4, the mowing robot 100 may further include a bracket 60, the bracket 60 being fixed to an end of the body 10 near the cutting assembly 20 and connected to the hob support 21 to support the hob support 21. And, the end of the bracket 60 remote from the body 10 is connected to the grass pressing structure 50 such that the grass pressing structure 50 is connected to the body 10.

Wherein in some embodiments, the hob support 21 is rotatably connected to the bracket 60 such that the bracket 60 provides support for the hob support 21 and the hob support 21 is rotatable relative to the bracket 60 such that the height of the hob structure 22 and the fixed blade structure 23 can be adjusted by adjusting the height of the hob support 21. As shown in fig. 1 and 2, the side wall 212 of the hob supporting member 21 is rotatably connected with the bracket 60 through the connecting member 65, and the connecting member 65 is respectively inserted through the side wall 212 and the bracket 60 and fixedly connected with the hob supporting member 21 and rotatably connected with the bracket 60, so that the hob supporting member 21 can rotate relative to the bracket 60. In some embodiments, the connection 65 may be a bolt, a screw, or the like.

In some embodiments, as shown in fig. 1 to 4, the grass pressing structure 50 includes a drum 51, and the drum 51 is rotatably connected to the body 10. The roller 51 is rotatably connected with the end of the bracket 60 away from the machine body 10, when the mowing robot 100 travels, the moving assembly 30 moves to drive the roller 51 to roll, the roller 51 rolls the lawn cut by the cutting assembly 20 while rolling, and the roller 51 is arranged to reduce the movement resistance of the mowing robot 100 during traveling and improve the mowing efficiency.

The grass pressing structure 50 may include a pressing plate, two opposite ends of the pressing plate are respectively and fixedly connected with the end portion of the bracket 60, which is far away from the machine body 10, and the moving assembly 30 drives the pressing plate to translate when moving, so as to press the cut lawn.

In some embodiments, as shown in fig. 1 to 4, the mowing robot 100 further includes an environment sensing module 70 and a mounting portion 11, the mounting portion 11 is disposed on a side of the body 10 away from the cutting assembly 20 and is fixedly connected to the body 10, and the environment sensing module 70 is at least disposed on the mounting portion 11, and is configured to obtain environment information of an environment in which the mowing robot 100 is located. The controller is further configured to receive the environmental information acquired by the environmental awareness module 70, and plan a driving path according to the received environmental information. By setting the environment sensing module 70 to acquire environment information and performing path planning according to the acquired environment information through the controller, the mowing robot 100 can automatically mow, so that mowing work is simplified, and labor cost is reduced.

The environmental information may include ground information and obstacle information of the environment where the mowing robot 100 is located, the environmental awareness module 70 may acquire the ground information and the obstacle information of the environment where the mowing robot 100 is located when the mowing robot 100 travels, and send the information to the controller, and the controller, when receiving the information, performs positioning and map construction according to the information, performs path planning according to the constructed map, and controls the mowing robot 100 to travel along the planned path.

The fixed cutter structure 23 is disposed on a side of the hob structure 22 away from the machine body 10, so that when the mowing robot 100 travels normally and mows grass, grass scraps generated by cutting grass blades by the cutting assembly 20 are discharged from the tail of the mowing robot 100, that is, the grass scraps are discharged along a direction away from the machine body 10, and the environment sensing module 70 is disposed on the machine body 10, so that the generated grass scraps can be prevented from shielding the environment sensing module 70, and environmental information is affected.

Wherein the controller may be provided at a side of the mounting part 11 near the body 10. The controller may be electrically connected to the first, second and third context awareness submodules 71, 72 and 73.

In some embodiments, the environmental sensing module 70 is disposed at least on the top of the mounting portion 11 and/or on a side of the mounting portion 11 away from the body 10, the mounting portion 11 is located in front of the body 10, and the front of the body 10 is the front in the traveling direction of the mowing robot 100 when it is traveling normally.

In some embodiments, as shown in fig. 1 to 4, the environment sensing module 70 may include at least one first environment sensing sub-module 71 for acquiring environment information in front of the robot 100 when driving.

The first environment sensing sub-module 71 may acquire the environment information in front of the travel direction when the robot mower 100 travels normally, and may also acquire the environment information in front of the travel direction when the robot mower 100 is tilted.

The first environmental sensing sub-module 71 may be disposed at the top of the mounting portion 11, so as to ensure that the first environmental sensing sub-module 71 is not shielded, and expand the detection range of the first environmental sensing sub-module 71, so as to obtain more accurate environmental information.

In some embodiments, the first environment sensing sub-module 71 may be rotatable, and the controller may be configured to determine a traveling direction of the robot lawnmower 100, and control the first environment sensing sub-module 71 to detect the environmental information in front of the traveling direction of the robot lawnmower 100. For example, when the lawnmower robot 100 travels normally, the controller controls the first environment sensing sub-module 71 to detect the environmental information in front, and when the lawnmower robot 100 travels backward, i.e., travels in reverse, the controller controls the first environment sensing sub-module 71 to rotate 180 ° backward, so that the first environment sensing sub-module 71 detects the environmental information in the opposite direction.

The first environment sensing sub-module 71 may be a laser radar, such as a single-line laser radar, a double-line laser radar, etc., and by disposing the laser radar on the top of the body 10, the environment information in front of the mowing robot can be obtained very accurately and comprehensively.

In some embodiments, as shown in fig. 1 to 4, the environment sensing module 70 may further include at least one second environment sensing sub-module 72, where the second environment sensing sub-module 72 is disposed on a side of the mounting portion 11 away from the body 10, and is configured to obtain environment information in front of the robot mower 100 when the robot mower 100 is traveling normally.

Wherein the second context awareness submodule 72 may be a visual sensor such as a monocular camera, a binocular camera, or the like. Clear environmental image information can be obtained through the visual sensor, so that a map constructed by the controller can present a specific environmental image.

In some embodiments, as shown in fig. 1 to 4, the environment sensing module 70 may further include at least one third environment sensing sub-module 73, where the third environment sensing sub-module 73 is fixed on the stand 60 and located at two opposite sides of the cutting assembly 20, for acquiring environment information of two sides of the mowing robot 100.

The third environment sensing submodule 73 may be an infrared sensor, a laser radar, an ultrasonic radar, a millimeter wave radar and the like.

The third environment sensing submodules 73 are arranged on two opposite sides of the mowing robot 100, so that obstacle information of two sides of the mowing robot 100 can be obtained, and the controller can construct a more accurate map to avoid collision between two opposite sides of the mowing robot 100 and obstacles.

In some embodiments, the environment sensing module 70 may further include a fourth environment sensing sub-module, which may be disposed at a tail end of the mowing robot 100, for example, may be disposed at an end of the stand 60 remote from the cutting assembly 20, for acquiring environment information of the tail end of the mowing robot 100, for example, acquiring a distance between the tail end of the mowing robot 100 and an obstacle, and the controller may plan a driving path to avoid the obstacle and avoid collision of the tail end of the mowing robot 100 with the obstacle when the distance between the tail end of the mowing robot 100 and the obstacle detected by the fourth environment sensing sub-module is greater than a preset distance.

The controller may be configured to receive the environmental information obtained by the first environmental awareness submodule 71, the second environmental awareness submodule 72, the third environmental awareness submodule 73 and the fourth environmental awareness submodule, perform positioning and map construction in combination with the environmental information obtained by the environmental awareness submodule, perform path planning according to the constructed map, and control the mowing robot 100 to travel along the planned path and mow.

In some embodiments, the second environmental awareness submodule 72 may be disposed at an end of the bracket 60 near the body 10, such that the second environmental awareness submodule 72 is away from the opening 211 of the hob support 21, so as to avoid grass clippings generated during mowing from blocking the second environmental awareness submodule 72 to affect detection.

In some embodiments, as shown in fig. 1 to 4, the mowing robot 100 further includes a height adjusting assembly 80, wherein the height adjusting assembly 80 is connected to the body 10 and the cutting assembly 20, respectively, for lifting and lowering the cutting assembly 20 to adjust a distance between the cutting assembly 20 and a lawn.

The height adjusting component 80 may be connected to the top of the hob supporting component 21, and the hob supporting component 21 is lifted to drive the hob structure 22 and the fixed cutter structure 23 to lift, so as to adjust the distance between the hob structure 22 and the fixed cutter structure 23 and the lawn, and further cut according to the height of the grass blades, when the grass blades are higher, the controller may control the height adjusting component 80 to reduce the height of the cutting component 20, and when the grass blades are lower, the controller may control the height adjusting component 80 to lift the height of the cutting component 20, so that the lawn after trimming is flatter.

In some embodiments, the height adjusting assembly 80 may include a lifting driver and a lifting rod, the lifting driver is fixed on the machine body 10, the lifting rod is fixedly connected with the lifting driver and the hob supporting member 21, the lifting driver is used for driving the lifting rod to move along a direction away from or close to a lawn, and further driving the hob supporting member 21 to move along a direction away from or close to the lawn, so as to adjust the height of the cutting assembly 20. Wherein, the lifting driver can be an air cylinder, a motor and the like.

In some embodiments, the side wall 212 of the hob support 21 is rotatably connected to the bracket 60, and the height adjusting assembly 80 not only moves in a direction perpendicular to the lawn, but also moves in a direction parallel to the lawn when the hob support 21 is adjusted to lift, specifically, when the hob support 21 is lifted upwards, the hob support 21 moves in a direction away from the bracket 60 and moves in a direction approaching the machine body 10, so that the hob support 21 rotates in a circumferential direction of the rotation shaft 221, and drives the hob blade 222 and the setting blade 231 to rotate in a circumferential direction of the rotation shaft 221, so that the setting blade 231 moves in a direction away from a bottom of the rotation shaft 221, the bottom of the rotation shaft 221 is a portion of the rotation shaft 221 approaching the lawn, while the amount of grass that the stationary blade 231 catches into the shearing gap with the stationary blade 231 increases when the cutting assembly 20 mows is moved away from the bottom of the rotary shaft 221, it is understood that the stationary blade 231 moves toward the bottom of the rotary shaft 221 when the stationary blade support 21 is lowered downward, the shearing point that the stationary blade 231 catches with the stationary blade 222 moves toward the bottom of the rotary shaft 221 when the cutting assembly 20 mows is moved away from the bottom of the rotary shaft 221, the amount of grass that the stationary blade 222 catches into the shearing gap with the stationary blade 231 decreases, so that the heights of the stationary blade 231 and the stationary blade 222 can be adjusted by lifting the stationary blade support 21, and the amount of grass sheared when a single hob blade 222 cooperates with the stationary blade 231.

When the height of the hob structure 22 is adjusted, since the hob structure 22 is disposed at the tail end of the mowing robot 100, the detection range of the environment sensing module 70 is the front of the mowing robot 100, so that the detection of the environment sensing module 70 is not affected even if the hob structure 22 is lifted, the height of the machine body 10 is not changed and stable relative to the ground, the pitch angle of the mowing robot 100 is not changed, and the environment sensing module 70 does not affect the gesture due to the height adjustment of the cutting assembly 20, so that the detection of the environment sensing module 70 is not affected.

In some embodiments, the mowing robot 100 further includes a shearing gap adjusting assembly connected to the hob supporting member 21 and the hob blade 231, respectively, for driving the hob blade 231 to approach or separate from the hob blade 222, so as to reduce or increase the distance between the hob blade 231 and the hob blade 222, and further adjust the shearing gap between the hob blade 231 and the hob blade 222, so as to facilitate cutting of grass blades.

The shearing clearance adjusting assembly may include a clearance adjusting driver disposed on the side wall 212 of the hob supporting member 21 and connected to the fixed blade 231, where the fixed blade 231 is disposed parallel to the rotating shaft 221, that is, the central axis of the fixed blade is parallel to the rotating shaft 221, and the clearance adjusting driver is configured to drive the fixed blade 231 to rotate around the central axis of the fixed blade 231, so that the fixed blade 231 may move along a direction approaching or separating from the hob blade 222, thereby adjusting a distance between the fixed blade 231 and the hob blade 222. Wherein the lash adjustment drive may be a motor.

Wherein the controller is operable to control the shear gap adjustment assembly to drive the stationary blade 231 toward or away from the hob blade 222 according to the separation distance of the stationary blade 231 from the hob blade 222, thereby adjusting the shear gap between the stationary blade 231 and the hob blade 222. Wherein, a distance sensor may be disposed on the fixed blade 231 for detecting the distance between the fixed blade 231 and the hob blade 222.

In some embodiments, as shown in fig. 1, 3 and 4, the robot 100 further includes a protection member 90, where the protection member 90 is disposed on a side of the body 10 away from the cutting assembly 20, and is used for absorbing and relieving external impact force when the robot 100 collides with the external environment, and protecting the robot 100.

In some embodiments, as shown in fig. 1,3 and 4, the mowing robot 100 further includes a housing 95, and the housing 95 is covered on the body 10 for protecting the body 10 and the second driving mechanism 31.

In the foregoing embodiments, the descriptions of the embodiments are emphasized, and for parts of one embodiment that are not described in detail, reference may be made to related descriptions of other embodiments.

The foregoing is a description of embodiments of the present application, and it should be noted that, for those skilled in the art, modifications and variations can be made without departing from the principles of the embodiments of the present application, and such modifications and variations are also considered to be within the scope of the present application.

Claims (12)

1. A mowing robot, characterized in that the mowing robot comprises:

A body;

The cutting assembly is arranged at one end of the machine body and comprises a hob supporting piece, a hob structure and a fixed cutter structure, the hob supporting piece is connected with the machine body, the hob structure is rotationally connected with the hob supporting piece, the fixed cutter structure and the hob structure are arranged at intervals to form a shearing gap, the hob structure comprises a rotating shaft and a hob blade, the rotating shaft is rotationally connected with the hob supporting piece, the hob blade is fixed on the rotating shaft and is arranged at intervals to form the shearing gap with the fixed cutter structure, the fixed cutter structure comprises a fixed cutter blade, and the fixed cutter blade is connected with the hob supporting piece and is arranged at intervals to form the shearing gap with the hob blade;

The bracket is fixed at one end of the machine body, which is close to the cutting assembly, and is rotationally connected with the side wall of the hob supporting piece so as to support the hob supporting piece;

the height adjusting assembly is respectively connected with the machine body and the cutting assembly, wherein the height adjusting assembly is connected with the top of the hob supporting piece and used for lifting the cutting assembly so as to adjust the distance between the cutting assembly and a lawn, and the hob supporting piece and the fixed blade also rotate along the circumferential direction of the rotating shaft when the cutting assembly is lifted;

The moving assembly is connected with the machine body and is used for driving the machine body to move when moving so as to drive the mowing robot to move; and

And the controller is used for planning a running path and controlling the moving assembly to move along the running path so that the mowing robot runs along the running path.

2. The robot lawnmower of claim 1, wherein the stationary blade is disposed parallel to the rotating shaft, the hob blades include a plurality of hob blades, each hob blade extends along a curved outer peripheral surface of the rotating shaft, an outermost side of each hob blade is a cutting edge, the rotating shaft rotates to drive the hob blade to rotate, and different positions of each hob blade sequentially move to positions corresponding to the stationary blade and are matched with the stationary blade to perform shearing.

3. The robot lawnmower of claim 1, wherein the stationary blade structure is provided on a side of the hob structure remote from the moving assembly.

4. The robot of claim 1, further comprising a grass compacting structure coupled to the body for compacting the lawn cut by the cutting assembly.

5. The robot lawnmower of claim 4, wherein the grass pressing structure is provided on a side of the cutting assembly remote from the moving assembly.

6. The robot of claim 4 or 5, wherein the grass pressing structure comprises a drum rotatably connected to the body.

7. The robot lawnmower of claim 1, wherein the cutting assembly further comprises a first drive mechanism coupled to the spindle; the controller is also used for controlling the first driving mechanism to drive the rotating shaft to rotate along the circumferential direction of the rotating shaft.

8. The robot lawnmower of claim 1, wherein the movement assembly comprises at least one second drive mechanism and at least one roller, each second drive mechanism being coupled to the body and the roller, respectively; the controller is used for controlling the at least one second driving mechanism to drive the at least one roller to rotate and move along the running path, so that the mowing robot runs along the running path.

9. The robot of claim 8, wherein the robot comprises a plurality of rollers and a plurality of second driving mechanisms, the plurality of rollers are respectively disposed on opposite sides of the body, each second driving mechanism is respectively connected with the body and a roller, and each second driving mechanism is used for driving the connected roller to rotate.

10. The robot lawnmower of claim 1, further comprising an environmental awareness module and a mounting portion, the mounting portion being disposed on a side of the body away from the cutting assembly, the environmental awareness module being disposed at least on the mounting portion for obtaining environmental information of an environment in which the robot lawnmower is located; the controller is also used for receiving the environment information acquired by the environment sensing module and planning a driving path according to the received environment information.

11. The robot lawnmower of claim 1, wherein the cutting assembly is located behind the moving assembly, the rear of the moving assembly being rearward in a direction of travel of the robot when the robot is traveling normally.

12. The robot lawnmower of claim 10, wherein the environmental awareness module is provided at least on a top of the mounting portion and/or on a side of the mounting portion away from the body, the mounting portion being located in front of the body, the front of the body being forward in a direction of travel of the robot when the robot is traveling normally.