CN216560997U

CN216560997U - Mower and ultrasonic probe device for mower

Info

Publication number: CN216560997U
Application number: CN202122977915.6U
Authority: CN
Inventors: 魏娟; 刘涛
Original assignee: Suzhou Cleva Precision Machinery and Technology Co Ltd
Current assignee: Suzhou Cleva Electric Appliance Co Ltd; Suzhou Cleva Precision Machinery and Technology Co Ltd
Priority date: 2021-11-30
Filing date: 2021-11-30
Publication date: 2022-05-17
Anticipated expiration: 2031-11-30
Also published as: WO2023097860A1

Abstract

The utility model discloses an ultrasonic probe device for a mower, wherein the mower comprises a shell and an upper cover, the ultrasonic probe device comprises an installation mechanism and an ultrasonic assembly, the installation mechanism comprises a first installation seat and a second installation seat, the first installation seat is arranged at an opening of the shell, the second installation seat is arranged on the upper cover, and an accommodation space is formed between the first installation seat and the second installation seat; the included angle alpha between the central axis direction of the ultrasonic wave beam emitted by the ultrasonic probe and the horizontal advancing direction of the mower is 0-45 degrees. The utility model also discloses a mower. By adopting the utility model, the maintenance and installation of the ultrasonic probe are more convenient, and the problem that the mower cannot work due to false triggering in a high grass environment is avoided.

Description

Mower and ultrasonic probe device for mower

Technical Field

The utility model relates to the technical field of mowing equipment, in particular to a mower and an ultrasonic probe device for the mower.

Background

With the rapid development of automatic control, the automatic operation of the mobile device becomes more and more important. Generally, in order to prevent the self-moving device from colliding with an obstacle during automatic operation, a non-contact sensor is provided on the self-moving device.

Currently used self-moving mowing devices (hereinafter referred to as mowers) mostly adopt an ultrasonic detection technology to sense obstacles encountered in the mowing process. However, when the lawn mower works in the lawn, the grass with higher height closer to the lawn mower can also be reflected by ultrasonic waves, so that the ultrasonic probe can serve as an obstacle to the grass with higher height, and a response mechanism such as obstacle avoidance is triggered. Therefore, the existing ultrasonic detection technology for the mower has the problem that grass can be misjudged as an obstacle. On the other hand, the ultrasonic probe of the existing mower is connected with the mower body through a signal wire, and the mower needs to be completely disassembled every time the probe is replaced, which is troublesome.

SUMMERY OF THE UTILITY MODEL

The technical problem to be solved by the embodiments of the present invention is to provide an ultrasonic probe device for a lawn mower and a lawn mower, where the ultrasonic probe device of the present application facilitates maintenance and installation of a probe, and can also prevent the lawn mower from being erroneously triggered by weeds with a short distance and a high height, and from failing to work in a high grass environment.

In order to solve the above technical problem, the present invention provides an ultrasonic probe apparatus for a lawn mower, the lawn mower including a housing and an upper cover, the housing and the upper cover covering an opening of the housing, the ultrasonic probe apparatus including: the mounting mechanism comprises a first mounting seat and a second mounting seat, the first mounting seat is arranged at the opening of the shell, the second mounting seat is arranged on the upper cover, and an accommodating space is formed between the first mounting seat and the second mounting seat;

the ultrasonic assembly is arranged in the accommodating space and comprises an ultrasonic probe and a probe shell, the ultrasonic probe is arranged in the probe shell, and an included angle alpha between the central axis direction of ultrasonic beams emitted by the ultrasonic probe and the horizontal advancing direction of the mower is 0-45 degrees.

In a possible implementation manner, a first opening is provided on a side of the first mounting seat surface facing the advancing direction of the mower, a second opening is provided on a side of the second mounting seat facing the advancing direction of the mower, the probe housing is disposed between the first mounting seat and the second mounting seat, and a beam emitting portion of the ultrasonic probe is exposed from the first opening and the second opening.

In a feasible implementation manner, a first baffle is arranged on the other side of the first mounting seat opposite to the first opening, a second baffle is further arranged on the second mounting seat opposite to the second opening, and after the housing is covered with the upper cover, the first baffle of the first mounting seat is connected with the second baffle of the second mounting seat.

In a feasible implementation manner, two sides of the first mounting seat are provided with buckles, and the buckles are located between the first baffle and the first opening; a first bulge corresponding to the buckle is arranged on the probe shell; when the ultrasonic wave assembly is installed in the accommodating space, the buckle is connected with the first bulge in a clamping mode.

In a feasible implementation manner, a stop block is arranged on the second mounting seat, a second protrusion corresponding to the stop block is further arranged on the probe shell, and when the ultrasonic assembly is installed in the accommodating space, the stop block is used for limiting the probe shell to slide towards the advancing direction of the mower.

In a feasible implementation mode, the buckle comprises a clamping portion and a connecting portion, the connecting portion is connected with the first mounting seat, and the clamping portion can rotate outside the first mounting seat when the probe shell is extruded.

In a feasible implementation manner, a rib outlet plate is further arranged at the second opening of the second mounting seat, and the rib outlet plate is used for limiting the probe shell to slide towards the advancing direction of the mower when the ultrasonic assembly is mounted in the accommodating space.

In one possible implementation, the first baffle and/or the second baffle are provided with notches.

In a feasible implementation manner, an included angle α between the central axis direction of the ultrasonic wave beam emitted by the ultrasonic probe and the horizontal advancing direction of the mower is 0-20 °.

Correspondingly, the utility model also provides a mower comprising the ultrasonic probe device.

The implementation of the utility model has the following beneficial effects:

according to the ultrasonic probe device for the mower, the ultrasonic assembly is accommodated in the accommodating space formed by the first mounting seat arranged on the mower shell and the second mounting seat arranged on the mower upper cover, so that the maintenance and installation of the ultrasonic assembly are more convenient; on the other hand, the included angle alpha between the central axis direction of the ultrasonic wave beam emitted by the ultrasonic probe and the horizontal advancing direction of the mower is 0-45 degrees, the detection height of the mower can be improved, the short distance is effectively avoided, and the situation that the grass with the high short distance height is mistakenly judged as an obstacle to stop working is avoided.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the application and are not to be construed as limiting the application.

FIG. 1 is a schematic structural view of an ultrasonic probe device of a mower of the present invention;

FIG. 2 is a schematic view of the structure of the installation angle of the ultrasonic probe of the mower;

FIG. 3 is a schematic view of the housing of the mower of the present invention;

FIG. 4 is a partially enlarged schematic view of a first mounting base according to the present invention;

FIG. 5 is an enlarged, fragmentary, schematic view of the first mount of the present invention with an ultrasonic assembly mounted thereon;

FIG. 6 is a schematic view of the structure of the upper cover of the mower of the present invention;

fig. 7 is a schematic structural view of the mower with the included angle alpha of 12 degrees.

Reference numerals in the drawings: 1-shell, 2-upper cover, 10-mounting mechanism, 101-first mounting base, 201-second mounting base, 30-ultrasonic component, 301-ultrasonic probe, 302-probe shell, 303-first bulge, 304-second bulge, 1001-first opening, 1002-first baffle, 1003-buckle, 1004-clamping part, 1005-connecting part, 2001-second opening, 2002-second baffle, 2003-stop block and 2004-rib outlet plate.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.

It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the utility model herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the utility model. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

In order to properly drive the mower apparatus to avoid the idle rotation of the drive wheel or motor due to the obstruction of the mower apparatus, the conventional mower apparatus is usually provided with a detection element in the forward direction thereof, for example, a forward ultrasonic assembly at an upper portion of the housing thereof. An ultrasonic probe in the ultrasonic assembly transmits ultrasonic forward at a certain transmitting beam angle alpha, and the ultrasonic is reflected back to a detection unit of the self-moving walking equipment by an obstacle after meeting the obstacle to generate a detection signal. The mower equipment can judge whether obstacles exist or not by analyzing the detection signals, and whether the operations of obstacle avoidance, turning, stopping or retreating and the like need to be executed or not.

The ultrasonic probe of the existing lawn mower is usually arranged at the upper part of the housing of the lawn mower, and is exposed outside the housing for a long time, so that the maintenance and installation of the probe become extremely important. On the other hand, the ultrasonic probe of the existing mower is horizontally arranged on the mower shell, so that the grass detected by the mower is short, and the ultrasonic probe is triggered by mistake when the mower cuts high grass, so that the mower cannot work in a high grass environment.

In order to solve the above mentioned problems that the ultrasonic probe of the mower is exposed to the outside for a long time and is easy to cause false triggering in a high grass environment, the utility model provides a mower comprising a specially designed ultrasonic probe device, as shown in fig. 1:

the utility model provides an ultrasonic probe device for a mower, wherein the mower comprises a shell 1 and an upper cover 2, the upper cover 2 is covered at an opening of the shell 1, the ultrasonic probe device comprises an installation mechanism 10 and an ultrasonic assembly 30, the installation mechanism comprises a first installation seat 101 and a second installation seat 201, the first installation seat 101 is arranged at the opening of the shell 1, the second installation seat 201 is arranged on the upper cover 2, and an accommodation space is formed between the first installation seat 101 and the second installation seat 201; the ultrasonic assembly 30 comprises an ultrasonic probe 301 and a probe shell 302, the ultrasonic assembly 30 is arranged in the accommodating space, and as shown in fig. 2, an included angle α between a central axis direction of an ultrasonic beam emitted by the ultrasonic probe 301 and a horizontal advancing direction of the mower is 0-45 °.

As shown in fig. 3 and 4, the ultrasonic assembly 30 includes an ultrasonic probe 301 and a probe housing 302; the outer side of the probe shell 302 is circumferentially provided with a first bulge 303 and a second bulge 304. The first mounting seat 101 is disposed at an opening of the housing 1, a first opening 1001 is disposed on one side of the first mounting seat 101 facing the advancing direction of the lawn mower, a first baffle 1002 is disposed on the other side opposite to the first opening 1001, and a notch is disposed on the first baffle 1002. Buckles 1003 are respectively arranged on two sides between the first opening 1001 and the first baffle 1002, wherein the buckles 1003 comprise buckling parts 1004 and connecting parts 1005, and the connecting parts 1005 are fixed on the first mounting seat 101. As shown in fig. 3 and 5, when the ultrasonic assembly 30 is pushed into the first mounting seat 101, the clamping portion 1004 can rotate to the outside of the first mounting seat 101 when being pressed by the probe housing 302, and then the clamping portion 1004 is tightly clamped with the first protrusion 303 of the probe housing 302, so as to fix two sides of the ultrasonic assembly 30.

As shown in fig. 6, the second mounting base 201 is disposed on the upper cover 2, one side of the second mounting base 201 facing the advancing direction of the mower is provided with a second opening 2001, the other side opposite to the second opening 2001 is provided with a second baffle 2002, and the second baffle 2002 is provided with a notch. A stopper 2003 is further disposed on the second mounting seat 201, and the stopper 2003 is located between the second opening 2001 and the second baffle 2002. In addition, a rib plate 2004 is arranged at the second opening 2001. When the upper cover 2 is closed on the housing 1 to which the ultrasonic wave module 30 is attached, the stopper 2003 interferes with the second projection 304 of the probe housing 302, and the circumferential movement of the ultrasonic wave module 30 in the accommodation space is further restricted. Meanwhile, the rib-out plate 2004 protects the probe housing 302 of the ultrasonic module 30 on the one hand, and prevents the ultrasonic module 30 from being displaced in the advancing direction of the mower on the other hand.

In a possible implementation, the ultrasonic assembly 30 is first pushed into the first mounting seat 101 of the housing 1 in the opposite direction along the advancing direction of the mower, and the first baffle 1002 limits the rear direction of the ultrasonic assembly 30, that is, the first baffle 1002 determines the end point of the pushing direction of the ultrasonic assembly 30. And in the process of propelling the ultrasonic wave component 30 to the inside of the first installation base 101, the clamping part 1004 can rotate to the outside of the first installation base 101 when being extruded by the probe shell 302, and then the clamping part 1004 is tightly clamped with the first protrusion 303 of the probe shell 302 to form the fixation of the two sides of the ultrasonic wave component 30. And the probe of the ultrasonic module 30 is exposed from the first opening 1001 to emit an ultrasonic beam.

Then, after the upper cover 2 and the housing 1 are covered together, an accommodating space is formed between the first mounting seat 101 and the second mounting seat 201 for accommodating the ultrasonic wave assembly 30, that is, the accommodating space is formed by: the first opening 1001 and the second opening 2001 are combined to form a front opening of the entire accommodation space, that is, a wave velocity emission portion of the ultrasonic probe is exposed from the front opening formed by combining the first opening 1001 and the second opening 2001, and an ultrasonic beam is emitted forward for detection.

The first baffle 1002 and the second baffle 2002 are combined to form a rear baffle of the whole accommodating space, and the rear baffle is used for limiting the rear of the ultrasonic assembly 30 and preventing the ultrasonic assembly from moving backwards in the accommodating space; meanwhile, as the first baffle 1002 and the second baffle 2002 are simultaneously provided with the notches, when the first baffle 1002 and the second baffle 2002 are combined together, the notches on the two baffles are correspondingly combined to form a closed notch on the rear baffle of the whole accommodating space, and the closed notch is used for placing a wire harness for connecting the ultrasonic assembly 30 and a mower control system, so that the wire harness is neatly placed and the traditional threading mode is cancelled. In other embodiments, a notch may be provided on either of the first and

second baffles

1002 and 2002, and may be used to position the wiring harness.

Meanwhile, when the ultrasonic assembly 30 is placed in the accommodating space and the upper cover 2 and the housing 1 are covered together, the second protrusion 304 on the outer side of the probe housing 302 in the circumferential direction is matched with the stop 2003 arranged on the second mounting seat 201 of the upper cover 2, so that the ultrasonic assembly 30 is fixed more tightly, the ultrasonic assembly 30 can be prevented from sliding in the circumferential direction in the accommodating space, and the stability of the ultrasonic assembly 30 in the operation of the mower is further ensured.

Meanwhile, after the upper cover 2 is covered on the housing 1 with the ultrasonic assembly 30, the rib-out plate 2004 at the second opening 2001 of the second mounting seat 201 of the upper cover 2 correspondingly covers the housing 302 of the ultrasonic assembly 30, on one hand, the ultrasonic assembly 30 is protected, and on the other hand, the ultrasonic assembly 30 is prevented from being displaced towards the advancing direction of the mower.

Besides the ultrasonic probe device, positioning holes and positioning columns are arranged around the shell 1 and the upper cover 2 of the mower and are used for further tightly combining the shell 1 and the upper cover 2, so that the installation stability of the shell of the mower is ensured.

Through the ultrasonic probe device of the mower, the ultrasonic assembly 30 is accommodated in the accommodating space formed by the first mounting seat 101 arranged on the mower housing 1 and the second mounting seat 201 arranged on the mower upper cover 2, so that the maintenance and installation of the ultrasonic assembly are more convenient.

Secondly, the included angle alpha between the central axis direction of the ultrasonic wave beam emitted by the ultrasonic probe 301 and the horizontal advancing direction of the mower is 0-45 degrees. Because the central axis direction of the ultrasonic wave beam emission and the ultrasonic wave mounting mechanism 10 are parallel, the included angle alpha between the center of the mounting mechanism and the horizontal advancing direction of the mower is also 0-45 degrees. Compared with a mechanism for horizontally placing ultrasonic waves, the beam angle of the ultrasonic waves emitted by the ultrasonic wave component is upwards raised by 0-45 degrees, the range of obstacles which can be sensed by the ultrasonic waves is upwards raised by an angle corresponding to alpha, and the lower line of the ultrasonic wave emission range is raised. Under the condition that the distance is close, lower weeds fall into the 'blind area' of ultrasonic emission and can not be detected, can not cause lawn mower equipment to be triggered by mistake and can not work.

In a possible embodiment, the angle α between the central axis of the ultrasonic beam emitted by the ultrasonic probe 301 and the horizontal direction of the mower is 0 ° to 20 °. As shown in fig. 7, α is 12 ° in the present embodiment, and the detection height of the mower can be increased in the present embodiment, thereby effectively avoiding the short distance and avoiding erroneous determination due to the short distance weeds.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the utility model. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. An ultrasonic probe device for a lawn mower, characterized in that the lawn mower comprises a housing (1) and an upper cover (2), the upper cover (2) covers an opening of the housing (1), the ultrasonic probe device comprises:

the mounting mechanism (10) comprises a first mounting seat (101) and a second mounting seat (201), the first mounting seat (101) is arranged at the opening of the shell (1), the second mounting seat (201) is arranged on the upper cover (2), and an accommodating space is formed between the first mounting seat (101) and the second mounting seat (201);

the ultrasonic assembly (30) is arranged in the accommodating space and comprises an ultrasonic probe (301) and a probe shell (302), the ultrasonic probe is arranged in the probe shell (302), and an included angle alpha between the central axis direction of an ultrasonic wave beam emitted by the ultrasonic probe (301) and the horizontal advancing direction of the mower is 0-45 degrees.

2. The ultrasonic probe device for a lawn mower according to claim 1,

the side of the first mounting seat (101) facing the advancing direction of the mower is provided with a first opening (1001), the side of the second mounting seat (201) facing the advancing direction of the mower is provided with a second opening (2001), the probe shell (302) is arranged between the first mounting seat (101) and the second mounting seat (201), and the beam emission part of the ultrasonic probe is exposed from the first opening (1001) and the second opening (2001).

3. The ultrasonic probe device for a lawn mower according to claim 2,

a first baffle (1002) is arranged on the other side, opposite to the first opening (1001), of the first mounting seat (101), a second baffle (2002) is further arranged on one side, opposite to the second opening (2001), of the second mounting seat (201), and after the shell (1) is covered with the upper cover (2), the first baffle (1002) of the first mounting seat (101) is connected with the second baffle (2002) of the second mounting seat (201).

4. The ultrasonic probe device for a lawn mower according to claim 3,

buckles (1003) are arranged on two sides of the first mounting seat (101), and the buckles (1003) are located between the first baffle (1002) and the first opening (1001);

a first bulge (303) corresponding to the buckle (1003) is arranged on the probe shell (302);

when the ultrasonic assembly is installed in the accommodating space, the buckle (1003) is clamped with the first bulge (303).

5. The ultrasonic probe device for a lawn mower according to claim 1,

a stop block (2003) is arranged on the second mounting seat (201), a second protrusion (304) corresponding to the stop block (2003) is further arranged on the probe shell, and when the ultrasonic assembly is mounted in the accommodating space, the stop block (2003) is used for limiting the probe shell (302) to slide towards the advancing direction of the mower.

6. The ultrasonic probe device for the mower according to claim 4, wherein the catch (1003) comprises a catching portion (1004) and a connecting portion (1005), the connecting portion (1005) is connected to the first mounting seat (101), and the catching portion (1004) is rotatable to an outside of the first mounting seat (101) when pressed by the probe housing.

7. The ultrasonic probe device for a lawn mower according to claim 1,

a rib outlet plate (2004) is further arranged at the second opening (2001) of the second mounting seat (201), and the rib outlet plate (2004) is used for limiting the probe shell (302) to slide towards the advancing direction of the mower when the ultrasonic assembly is mounted in the accommodating space.

8. The ultrasonic probe device for a lawn mower according to claim 3,

the first baffle (1002) and/or the second baffle (2002) are/is provided with notches.

9. The ultrasonic probe device for the lawn mower according to claim 1, wherein an angle α between a central axis direction of the ultrasonic beam emitted from the ultrasonic probe and a horizontal advancing direction of the lawn mower is 0 ° to 20 °.

10. A lawnmower comprising an ultrasonic probe apparatus according to any one of claims 1 to 9.