CN210143310U

CN210143310U - Automatic working system

Info

Publication number: CN210143310U
Application number: CN201920489548.5U
Authority: CN
Inventors: 朱典悝; 杨俊华; 叶晓波
Original assignee: Ningbo Daye Garden Equipment Co Ltd
Current assignee: Ningbo Daye Garden Equipment Co Ltd
Priority date: 2019-04-11
Filing date: 2019-04-11
Publication date: 2020-03-17
Anticipated expiration: 2029-04-11

Abstract

The utility model discloses an automatic working system, which comprises an intelligent mower, a charging station for stopping the intelligent mower and supplementing electric energy, wherein the intelligent mower comprises a body, a charging terminal arranged on the body, and a control module for controlling the intelligent mower to walk and work; the terminal sets up in the top of fuselage charges, fills electric pile and includes the support portion that upwards stretches and the support that charges of being connected with the support portion from the support portion, and the support that charges extends and is roughly parallel to the holding surface from the support portion cantilever, and when butt joint position, the support that charges extends to the top of fuselage, and the support portion is located the side of intelligent lawn mower, and the charging station is accessible in the front and back direction of intelligent lawn mower to allow intelligent lawn mower to drive away from the charging station along the direction that gets into the charging station. The system, the grass near its charging station can be accessed, thus facilitating cutting.

Description

Automatic working system

Technical Field

The utility model relates to an automatic operating system, especially an automatic operating system of intelligent lawn mower.

Background

The intelligent lawn mower is widely applied to maintenance of household courtyard lawns and trimming of large lawns.

Generally, a charging terminal of an intelligent mower is arranged at the front part of a housing, so that the intelligent mower automatically returns to a charging station along a sideline, and when the intelligent mower reaches a physical termination point of a boundary line, namely the front part of a main housing of the charging station and finishes the contact and electrical conduction of a charging contact piece on the charging station and the charging terminal on the intelligent mower, the intelligent mower stops walking and automatically enters a charging mode. Since a part of the charging post of the charging station is located in the working area surrounded by the boundary line and protrudes from the ground by a certain height, the charging post actually becomes an obstacle. When the intelligent mower walks in a working area, a lot of opportunities are provided for touching the charging pile, and grass near the charging pile can not be cut by the intelligent mower.

SUMMERY OF THE UTILITY MODEL

In view of the above, the present invention provides a new automatic working system to solve the above problems.

According to an aspect of the present invention, there is provided an automatic working system, comprising an intelligent mower, a charging station for the intelligent mower to stop and supplement electric energy, wherein the intelligent mower comprises a body, a charging terminal arranged on the body, and a control module for controlling the intelligent mower to walk and work, the charging station comprises a charging pile, a charging interface piece arranged on the charging pile, and a supporting surface for the intelligent mower to stop, and when the intelligent mower is in a docking position with the charging station, the charging interface piece is electrically connected with the charging terminal to supplement electric energy for the intelligent mower;

the charging terminal is arranged at the top of the machine body, the charging pile comprises a supporting part protruding upwards from the supporting part and a charging support arranged at an angle with the supporting part, the charging support extends from a cantilever of the supporting part and is approximately parallel to the supporting surface, when in a butt joint position, the charging support extends to the upper part of the machine body, the supporting part is positioned on the side surface of the intelligent mower, and the charging station has no obstacle in the front-back direction of the intelligent mower so as to allow the intelligent mower to drive away from the charging station along the direction entering the charging station.

Preferably, the charging docking piece is rotatably disposed on the charging bracket through a pivoting structure, the pivoting structure includes a reset piece for applying a restoring force to the charging docking piece, and the reset piece biases the charging docking piece to make the charging docking piece have a tendency to return to an initial position.

Preferably, in the initial position, the charging butt joint piece and the included angle of the charging bracket are acute angles or right angles, and the charging butt joint piece can rotate in the direction of reducing the acute angles or the right angles.

Preferably, the intelligent mower returns to the charging station, when the intelligent mower travels to the docking position, the charging terminal contacts with the charging docking piece and biases the charging docking piece to form an electrical connection, and the control module recognizes the electrical connection, determines that the intelligent mower reaches the docking position, and controls the intelligent mower to stop traveling to enter a charging mode.

Preferably, when the charging of the intelligent mower is completed, the intelligent mower is free to select to continue to drive away from the charging station or back away from the charging station in a direction of entering the charging station.

Preferably, if the charging terminal is not successfully docked with the charging docking piece after the intelligent mower stops walking, the control module determines that the intelligent mower exceeds the docking position, controls the intelligent mower to execute backward movement until the electrical connection is detected again, and controls the intelligent mower to stop walking and enter a charging mode.

Preferably, the charging butt-joint piece is arranged on one side of the charging support facing the supporting surface, so that the shielding of the charging butt-joint piece is realized in the direction from top to bottom.

Preferably, the work system further includes a boundary line for enclosing a work area, the boundary line returns to the charging station after surrounding the work area from the beginning of the charging station, the intelligent mower returns to the charging station along the boundary line to supplement the electric energy, and the charging pile is disposed outside the work area.

Preferably, the charging terminal is in the shape of a sheet or a column; when the charging terminal is in a sheet shape, the edge of the charging terminal exposed out of the machine body is approximately parallel to the supporting surface; when the charging terminal is cylindrical, the axis of the charging terminal is approximately perpendicular to the supporting surface.

Preferably, the distance between the exposed upper edge of the charging terminal and the supporting surface is substantially equal to the distance between the charging interface member and the supporting surface. .

According to the utility model provides an automatic work system, its charging station protrusion is located the work area in the part on ground outside, near the grass of charging station can be close to convenient cutting, whole work area's coverage improves.

Other features and aspects of the present invention will become apparent from the following detailed description of exemplary embodiments, which proceeds with reference to the accompanying drawings.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate exemplary embodiments, features, and aspects of the present invention and, together with the description, serve to explain the principles of the invention.

Fig. 1 is a schematic view of an intelligent lawn mower parking charging station of an automatic work system according to an embodiment of the present invention;

FIG. 2 is a schematic view of the intelligent mower of the automatic work system of FIG. 1;

FIG. 3 is a schematic view of a charging station configuration of the autonomous operating system shown in FIG. 1;

FIG. 4 is a schematic view of another angle at which the intelligent lawn mower of the autonomous working system shown in FIG. 1 docks to a charging station;

fig. 5 is a schematic structural view of an intelligent lawn mower according to another embodiment of the present invention.

Detailed Description

Various exemplary embodiments, features and aspects of the present invention will be described in detail below with reference to the accompanying drawings. In the drawings, like reference numbers can indicate functionally identical or similar elements. While the various aspects of the embodiments are presented in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.

The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments.

Furthermore, in the following detailed description, numerous specific details are set forth in order to provide a better understanding of the present invention. It will be understood by those skilled in the art that the present invention may be practiced without some of these specific details. In some instances, methods, means, elements and circuits that are well known to those skilled in the art have not been described in detail so as not to obscure the present invention. The automatic working system is also called an automatic working assembly and comprises an intelligent mower and a charging station matched with the intelligent mower.

Example 1

Fig. 1 is an automatic work system 100 according to an embodiment of the present invention. Referring to fig. 1, the automatic working system 100 includes an intelligent lawn mower 20 and a charging station 30 for parking and recharging the intelligent lawn mower 20, as shown in fig. 1, the intelligent lawn mower 20 is parked at the charging station 30 and located at a docking position with the charging station 30, and the charging station 30 supplements the intelligent lawn mower 20 with electric energy.

The automatic operating system 100 further includes a boundary line 10 for enclosing an operating area, and the boundary line 10 returns to the charging station 30 after the charging station 30 starts to surround the operating area. Specifically, the boundary line 10 starts from a positive terminal of the charging station 30, surrounds the working area, and ends at a negative terminal of the charging station 30, and the charging station 30 is provided with a signal generating module for generating a boundary current signal leading to the boundary line 10, so that the boundary line 10 generates an electromagnetic signal around the boundary line, and the intelligent lawn mower 20 can recognize the electromagnetic signal to determine whether the intelligent lawn mower 20 is in the working area according to the electromagnetic signal. Generally, each working cycle of the intelligent mower 20 is ended when the battery is discharged, the battery voltage is lower than the programmed value, and the intelligent mower 20 automatically searches the boundary line 10 according to the programmed value and automatically returns to the charging station 30 along the boundary line for charging or waiting for the next working.

Referring to fig. 2 and 3 together, the intelligent lawn mower 20 includes a main body 22, a charging terminal 26 provided on the main body 22, and a control module (not shown) for controlling the intelligent lawn mower 20 to walk and operate. The charging station 30 includes a charging post 35, a charging interface 36 disposed on the charging post 35, and a support surface on which the intelligent mower 20 rests. In this embodiment, the charging station 30 further includes a support floor 32 for forming a support surface on which the intelligent lawn mower 20 rests. The support base plate 32 is placed on the ground in a substantially flat rectangular parallelepiped shape, and an upper surface of the support base plate 32 is used for parking the smart mower 20. A groove for accommodating the boundary line 10 is provided at an axis parallel to the longitudinal direction of the support base 32 and substantially at the middle position in the width direction thereof. The boundary line 10 is disposed within the above-mentioned groove, substantially on a median line of the support floor 32 in the longitudinal direction, so as to guide the intelligent mower 20 to rest in the docked position.

Specifically, the number of the charging terminals 26 is 2, and correspondingly, the number of the charging docking pieces 36 is 2, and the charging docking pieces are configured to be docked with the charging terminals 26 to form an electrical connection. When the intelligent mower 20 detects that the battery voltage is lower than the programmed value, the intelligent mower 20 will automatically return to the charging station 30 according to the programmed value, and the charging terminal 26 will be docked with the charging dock 36 for charging. Specifically, when the intelligent mower 20 is in the docked position with the charging station 30, the charging dock 36 is electrically connected to the charging terminals 26 to enable recharging of the intelligent mower 20.

In this embodiment, the charging terminal 26 is specifically shaped like a sheet, the upper edge of the charging terminal 26 exposed out of the main body 22 is approximately parallel to the supporting surface, the two charging terminals 26 are parallel to each other, and the extension plane of the sheet-shaped charging terminal 26 is parallel to the advancing direction of the intelligent lawn mower 20. In another preferred embodiment, as shown in fig. 5, in the intelligent mower 40, the charging terminal 46 is in a column shape, the axis of the charging terminal 46 is approximately perpendicular to the supporting surface, and the two column-shaped charging terminals 46 are spaced apart from and parallel to each other.

In this embodiment, the exposed upper edge of the charging terminal 26 is spaced from the support surface by a distance substantially equal to the distance between the charging interface 36 and the support surface. I.e., the height of the charging terminal 26 and the charging dock 36 relative to the support surface is approximately the same. When guaranteeing so that intelligent lawn mower 20 stops on the holding surface, charging terminal 26 just in time is at the same height with butt-joint piece 36 charges, can guarantee charging terminal 26 and the contact of butt-joint piece 36 that charges, ensures the accuracy of butt joint. And because of the same height, the rotatable setting of the charging docking piece 36 can rotate to the position that does not hinder the intelligent mower 20 from advancing, so as not to influence the normal traffic of the intelligent mower 20.

Referring to fig. 3, the charging pile 35 includes a supporting portion 351 protruding upward from the supporting portion and a charging bracket 352 disposed at an angle to the supporting portion 351, wherein the charging bracket 352 is cantilevered from the supporting portion 351 and is substantially parallel to the supporting surface. When the intelligent mower 20 is in the docked position, the charging cradle 352 extends above the fuselage 22, the support 351 is located to the side of the intelligent mower 20, and the charging station 30 is clear of obstructions in the front-to-rear direction of the intelligent mower 20 to allow the intelligent mower 20 to be driven off of the charging station 30 in a direction into the charging station 30.

Specifically, the support 351 is substantially in the shape of a flat rectangular parallelepiped, has a width direction substantially parallel to the axis of the support base 32 in the longitudinal direction, and has a longitudinal direction substantially perpendicular to the ground. On top of the support 351, a charging holder 352 is extended to mount a charging contact, and the charging holder 352 is substantially parallel to the support base 32 (support surface). The charging docking piece 36 is installed on one side of the charging bracket 352 facing the support base plate 32 to form a shielding of the charging bracket 352 from the top to the bottom direction to the charging docking piece 36, so that the charging docking piece 36 can be shielded by the charging bracket 352 to prevent the charging docking piece from being corroded by sunlight and rain.

In this embodiment, the charging pile 35 is disposed outside the work area. Specifically, the supporting portion 351 is disposed at one side of the supporting base plate 32 in the longitudinal direction and is located outside the working area. Like this, the part that charging station 30 protrusion set up on ground is located the work area outside, can not influence intelligent lawn mower 20 and cut near the grass of charging station 30, and when intelligent lawn mower 20 walked in the work area, it can not touch this and fill electric pile 35, can not influence normal cutting work.

Referring to fig. 3, the charging interface 36 is rotatably disposed on the charging bracket 352 through a pivot structure. Specifically, the pivoting structure includes a reset member 38 for applying a restoring force to the charging dock 36, the reset member 38 biasing the charging dock 36 with a force tending to restore the charging dock 36 to an initial position. In the initial position, the charging dock 36 is at an acute or right angle to the charging cradle 352, and the charging dock is able to rotate in a direction that reduces the acute or right angle. That is, the rotation angle range of the charging docking member 36 relative to the charging cradle 352 is 0-90 degrees, the charging docking member 36 returns to the initial position under the action of the reset member 38, the included angle between the charging docking member 36 and the charging cradle 352 is the maximum value of the angle range in the initial position, and the charging docking member 36 can rotate in the direction of reducing the angle range under the action of external force. When the intelligent mower 20 enters the charging station 30 along the return path, the charging terminal 26 contacts the charging interface 36 and biases the charging interface 36 in a direction to decrease the angle, and the reset element 38 provides sufficient pressure for the contact of the charging terminal 26, so as to ensure the stability of the electrical connection. Specifically, the return member 38 is a torsion spring.

Referring to fig. 4, when the intelligent lawn mower 20 travels back to the charging station 30 along the side line and travels to the docking position, 2 charging terminals 26 contact 2 charging docking pieces 36 on the charging rack 352, the charging terminals 26 contact the charging docking pieces 36 and bias the charging docking pieces 36 to form an electrical connection, the control module recognizes the electrical connection, determines that the intelligent lawn mower 20 reaches the docking position, and at this time, the control module detects that the 2 charging terminals 26 of the intelligent lawn mower 20 receive a voltage signal, controls the intelligent lawn mower 20 to stop traveling, and enters the charging mode.

When the charging of the intelligent mower 20 is completed, the intelligent mower can freely select to continue to drive away from the charging station 30 in the direction of entering the charging station 30 or back away from the charging station 30. If the intelligent mower 20 is going forward directly, the 2 charging terminals 26 on the top of the main body 22 push away the 2 charging docking pieces 36 on the charging bracket 352 rotating around the rotating shaft thereof, so that the space is made for the intelligent mower 20 to pass through; if the intelligent mower 20 is withdrawn from the charging station 30, the 2 charging terminals 26 on the top of the fuselage 22 are withdrawn with the intelligent mower 20, disengaging the 2 charging abutments 36 on the charging cradle 352.

The intelligent lawn mower 20 is docked for charging in the docking direction, and when the docking success electrical signal is detected, which may be lost when the intelligent lawn mower 20 is stopped due to the intelligent lawn mower 20 continuing to walk for a distance due to inertia, that is, the intelligent lawn mower 20 passes the docking position without the docking success.

In this embodiment, the charging dock 36 is configured to allow the smart lawn mower 20 to dock in and against an entry direction. Specifically, the front end and the rear end of the charging docking piece 36 in the docking direction are inclined, so that the pressure applied to the charging docking piece 36 by the charging terminal 26 can enable the charging docking piece 36 to move in the direction of reducing the included angle with the charging bracket 352, thereby leaving a space and enabling the intelligent mower 20 to freely pass through. If charging terminal 26 is not successfully docked with charging dock 36 after smart mower 20 stops walking, the control module determines that smart mower 20 has exceeded the docked position and controls smart mower 20 to perform a rewind operation until an electrical connection is again detected.

The above embodiments are only for illustrating the technical concept and features of the present invention, and the purpose of the embodiments is to enable those skilled in the art to understand the contents of the present invention and to implement the present invention accordingly, which cannot limit the protection scope of the present invention. All modifications made according to the spirit of the main technical scheme of the present invention shall be covered within the protection scope of the present invention.

Claims

1. An automatic working system comprises an intelligent mower and a charging station for stopping the intelligent mower and supplementing electric energy, and is characterized in that,

the intelligent mower comprises a body, a charging terminal arranged on the body and a control module used for controlling the intelligent mower to walk and work, the charging station comprises a charging pile, a charging butt joint piece arranged on the charging pile and a supporting surface for the intelligent mower to stop on,

when the intelligent mower is in a butt joint position with the charging station, the charging butt joint piece is electrically connected with the charging terminal to supplement electric energy for the intelligent mower;

2. The automated work system according to claim 1, wherein the charging dock is rotatably disposed on the charging cradle by a pivot structure, the pivot structure including a reset member for applying a restoring force to the charging dock, the reset member biasing the charging dock with a force tending to return the charging dock to an initial position.

3. The automatic work system according to claim 2, wherein, in the initial position, the angle between the charging dock and the charging rack is an acute angle or a right angle, and the charging dock is capable of rotating in a direction that reduces the acute angle or the right angle.

4. The automatic work system according to claim 1, wherein the charging docking member is disposed on a side of the charging cradle facing the support surface so as to form a shield of the charging cradle against the charging docking member in a top-down direction.

5. The automatic work system according to claim 1, further comprising a boundary line for enclosing a work area, the boundary line returning to the charging station after the charging station initially surrounds the work area, the intelligent lawnmower returning to the charging station along the boundary line to supplement the electric power, the charging pile being disposed outside the work area.

6. The automatic working system according to claim 1, wherein the charging terminal is in a sheet or column shape; when the charging terminal is in a sheet shape, the edge of the charging terminal exposed out of the machine body is approximately parallel to the supporting surface; when the charging terminal is cylindrical, the axis of the charging terminal is approximately perpendicular to the supporting surface.

7. The automated work system according to claim 1, wherein the exposed upper edge of the charging terminal is located at a distance from the support surface that is substantially equal to the distance from the charging dock to the support surface.