CN217037974U - Self-moving device and measuring member - Google Patents

Abstract

An embodiment of the utility model provides a from mobile device, include: the device comprises a machine body, a travelling mechanism and a measuring component. The walking mechanism is rotationally connected with the machine body and is used for driving the machine body to move; the first end of the measuring component is arranged on the machine body, the second end of the measuring component can extend out of the first side of the machine body and is used for measuring the distance between the first side and the edge of the site to be worked in the first direction, and the first direction is the direction perpendicular to the advancing direction of the machine body. Based on the technical scheme, the self-moving equipment can accurately establish a working boundary with a proper distance from the edge of the site to be worked, and under the condition that the self-moving equipment is ensured not to cross the working boundary, the maximization of the operation coverage rate of the self-moving equipment is realized.

Description

Self-moving device and measuring member

Technical Field

The embodiment of the application relates to the technical field of electronic equipment, in particular to self-moving equipment and a measuring component.

Background

With the continuous development of science and technology, various automatic intelligent devices gradually enter the lives of people, and the labor intensity of people is reduced. Taking the robotic lawnmower as an example, the robotic lawnmower needs to manually steer the lawnmower along the edge of the lawn to record the mowing boundary (i.e., the working boundary of the lawnmower) before being deployed to the lawn for automatic mowing. Thereafter, the mower automatically mows within the work area defined by the work boundary.

However, when the working boundary of the lawn mower is determined, if the distance between the lawn mower and the edge of the lawn is too large, an excessive area on the lawn is scratched into a non-working area of the lawn mower, grass in the area cannot be cut by the lawn mower, manual cleaning is needed, the workload of workers is increased, and the user experience is poor. If the distance is too small, the mower may cross the working boundary due to the limitation of the positioning accuracy of the mower, thereby bringing about a potential safety hazard. Therefore, how to accurately locate the working boundary of the mower becomes an urgent problem to be solved.

SUMMERY OF THE UTILITY MODEL

In view of the above, embodiments of the present application provide a self-moving device to at least partially solve the above technical problem.

In a first aspect, an embodiment of the present application provides a self-moving device, which includes:

a body;

the traveling mechanism is rotationally connected with the machine body and is used for driving the machine body to travel;

the first end of the measuring component is arranged on the machine body, the second end of the measuring component can extend out of the first side of the machine body and is used for measuring the distance between the first side and the edge of the site to be worked in a first direction, and the first direction is perpendicular to the advancing direction of the machine body.

In one embodiment of the present application, the measuring member is disposed on the body in the first direction.

In another embodiment of the application, the measuring means is arranged at the position of the centre line of rotation of the self-moving device.

In another embodiment of the present application, the running gear includes a drive wheel, the body includes a fender disposed behind the drive wheel, and the measurement member is disposed on the fender.

In another embodiment of the present application, the body includes a bottom plate and a case covering the bottom plate, and the measuring member is disposed on the case.

In another embodiment of the present application, the measuring member is detachably provided on the body.

In another embodiment of the present application, a first indicator is disposed on the body, and the first indicator is used for indicating the installation position of the measuring member on the body.

In another embodiment of the present application, the first end of the measurement member is provided with a second marker that is aligned with the first marker when the measurement member is mounted to the fuselage.

In another embodiment of the present application, the measuring member is retractable or foldable such that the second end of the measuring member extends from a side of the body when the measuring member is in use, and the second end of the measuring member is retracted or folded into the body when the measuring member is not in use.

In another embodiment of the application, the measuring member comprises a shaft or a bar having a preset length, the preset length being determined based on a desired distance of the self-moving device from an edge of the field to be worked.

In another embodiment of the present application, the measuring means is a measuring ruler.

In another embodiment of the present application, the self-moving device is a lawn mower.

In a second aspect, an embodiment of the present application further provides a self-moving device, which includes:

the device comprises a machine body, a first mark and a second mark, wherein the first mark is arranged on the machine body;

the operation mechanism is arranged on the machine body in a biased mode, the first mark and the operation mechanism are arranged on the same side of the machine body, and the first mark is used for indicating the self-moving device to be arranged on one side of the first mark and stick to the side to walk.

In another embodiment of the present application, the self-moving device further comprises: the measuring component, the first end of measuring component set up in be provided with on the fuselage the position department of first sign, the second end of measuring component can follow be provided with on the fuselage the first side of first sign stretches out for the measurement first side and the distance of waiting to work the place edge on the first direction, the first direction be with the direction of travel vertically of fuselage.

In another embodiment of the present application, the first end of the measurement member is provided with a second marker that is aligned with the first marker when the measurement member is mounted to the fuselage.

In another embodiment of the present application, the measuring member is disposed on the body in the first direction.

In another embodiment of the application, the measuring means is arranged at the position of the centre line of rotation of the self-moving device.

In another embodiment of the present application, the running gear includes a drive wheel, the body includes a fender disposed behind the drive wheel, and the measurement member is disposed on the fender.

In another embodiment of the present application, the measuring member is detachably provided on the body.

In another embodiment of the present application, the body includes a bottom plate and a case covering the bottom plate, and the measuring member is disposed on the case.

In another embodiment of the present application, the measuring member is retractable or foldable such that the second end of the measuring member extends from the first side of the body when the measuring member is in use, and the second end of the measuring member is retracted or folded into the body when the measuring member is not in use.

In another embodiment of the application, the measuring member comprises a shaft or a bar having a preset length, the preset length being determined based on a desired distance of the self-moving device from an edge of the field to be worked.

In another embodiment of the present application, the measuring member is a measuring ruler.

In another embodiment of the present application, the self-moving device is a lawn mower.

In a third aspect, an embodiment of the present application further provides a measuring member, which is applied to a self-moving device, and is provided with a flat and long strip shape, where the measuring member includes a first end and a second end along a length direction of the measuring member, the first end is used to be fixed to the self-moving device, the second end is opposite to the first end, and the length direction of the measuring member is marked with a scale from the first end to the second end;

the first end of the measuring component is provided with a positioning mark used for positioning the measuring component at the installation position of the self-moving equipment, and the positioning mark is located between the starting point of the scale and the edge of the first end.

In one embodiment of the application, the minimum unit of the scale is set larger such that the ratio of the minimum unit to the scale length of the measuring means, which is the distance between the start point of the scale and the end point of the scale, is larger than 1/5.

In another embodiment of the present application, the measuring member has a length of 150mm, and the scale has a minimum unit of 50 mm.

In another embodiment of the present application, the measuring member includes a first surface and a second surface, the first surface being opposite the second surface, the second surface having an adhesive layer disposed thereon in a region proximate to the first end for adhering the first end to the self-moving device.

In another embodiment of the present application, the measurement member includes a first surface and a second surface, the first surface being opposite the second surface, the second surface including a connection region for connecting with the self-moving device, the connection region being proximate to the first end.

According to the self-moving device provided by the embodiment of the application, since the first end of the measuring member arranged on the self-moving device body is arranged on the body, the second end of the measuring member can extend out from the first side of the body, the distance between the first side and the edge of the field to be worked in the first direction is measured, so that the self-moving equipment can more accurately establish a working boundary with a proper distance from the edge of the field to be worked, ensure that the working area of the self-moving equipment covers the area of the field to be worked as much as possible, reduce the area needing manual cleaning in the later period, meanwhile, the self-moving equipment is prevented from crossing the working boundary because the distance between the working boundary and the edge of the site to be worked is too small, so that the self-moving equipment is damaged or the safety problem is caused, that is, the maximization of the job coverage of the self-moving device is realized under the condition that the self-moving device does not cross the working boundary.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the description below are only some embodiments described in the embodiments of the present application, and other drawings can be obtained by those skilled in the art according to these drawings.

Fig. 1 is a schematic structural diagram of a self-moving device according to an embodiment of the present disclosure;

FIG. 2 is a schematic structural diagram of a lawn mower according to an embodiment of the present disclosure;

FIG. 3 is a schematic view of another embodiment of a lawn mower according to the present disclosure; and

fig. 4 is a schematic structural diagram of another lawn mower provided in the embodiment of the present application.

Fig. 5 is a schematic structural diagram of a measurement component according to an embodiment of the present application.

Fig. 6a) and 6b) are a top view and a bottom view, respectively, of the measuring member shown in fig. 5.

Detailed Description

In order to make those skilled in the art better understand the technical solutions in the embodiments of the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, but not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application shall fall within the scope of the protection of the embodiments in the present application.

It should be noted that, in the present application, the terms "first" and "second" are used merely for convenience of describing different components or names, and are not to be construed as indicating or implying a sequential relationship, relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature.

Unless defined otherwise, technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

The following further describes specific implementations of embodiments of the present application with reference to the drawings of the embodiments of the present application.

Fig. 1 is a schematic structural diagram of a self-moving device according to an embodiment of the present disclosure. As shown in fig. 1, the self-moving apparatus includes a body 11 ', a traveling mechanism (not shown), and a measuring member 13'. The walking mechanism is rotatably connected with the machine body 11' and is used for driving the machine body to walk. The first end 131 'of the measuring member 13' is arranged on the fuselage and the second end 132 'of the measuring member 13' can extend from the first side of the fuselage for measuring the distance from the first side of the mobile device 13 'to the edge 20' of the site to be worked in a first direction B, which is a direction perpendicular to the direction of travel a of the fuselage 11.

The first side of the machine body is the side, close to the edge of the site to be worked, of the machine body when the mobile equipment works in the site to be worked. Since the second end 132 'of the measuring member 13' may extend from the first side of the body for measuring the distance of the first side from the edge 20 'of the work site in the first direction B, the self-moving apparatus may more accurately establish a work boundary at a suitable distance from the edge 20' of the work site, ensuring that the work coverage of the self-moving apparatus is maximized without the self-moving apparatus crossing the work boundary.

In this embodiment, the self-moving device may include a lawn mower, a sweeper, or other machine. Accordingly, depending on the type of the self-moving device, the edge of the field to be worked may be the edge of a field suitable for lawn mowers such as park lawns, green belts, golf courses, or the edge of a field suitable for sweeper work such as public parks, factories, or other suitable fields. For the sake of understanding, the following description will be made in detail with reference to fig. 2 to 4 by taking the automatic moving apparatus as a mower, however, it should be understood that the embodiments described below are also applicable to other automatic moving apparatuses such as a sweeper.

Fig. 2 is a schematic structural diagram of a mower according to an embodiment of the present application. As shown in fig. 2, in the present embodiment, the lawnmower includes a body 11, a traveling mechanism 12, and a measuring member 13.

The traveling mechanism 12 is rotatably connected to the body 11 and is used for driving the body 11 to travel. Illustratively, the direction of travel of the mower is shown by arrow a in fig. 2.

The first end 131 of the measuring member 13 is disposed on the body 11. In particular, the first end 131 of the measuring member 13 may be disposed on a first side of the fuselage 11 adjacent to the edge 20 of the site to be worked. A second end 132 of the measuring member 13 may extend from a first side of the body 11 for measuring the distance of the mower from the edge 20 of the field to be worked in a first direction. The first direction is a direction perpendicular to a traveling direction of the body. Illustratively, the first direction is shown by arrow B in FIG. 2. The second end 132 of the measuring member 13 may project from the side of the fuselage 11, pointing towards the edge 20 of the site to be worked.

In the present embodiment, the arrangement position of the measurement member 13 on the body 11 and the arrangement direction of the measurement member 13 on the body 11 are not limited as long as it is determined that the second end 132 of the measurement member 13 can protrude from the body 11 on the side close to the edge 20 of the work site. The length of the second end 132 protruding from the first side of the body 11 may depend on the accuracy of the positioning of the mower itself, for example less than or equal to 10 cm. Specifically, the length of the second end 132 protruding from the first side of the machine body 11 may be set according to the arrangement direction of the measuring member 13 on the machine body 11 and the desired distance of the mower from the edge 20 of the site to be worked.

To facilitate and intuitively determine the length of the second end 132 protruding from the body 11, in one implementation of the present application, the measuring member 13 is disposed on the body 11 in a first direction, i.e., the measuring member 13 is disposed on the body 11 in a direction perpendicular to the direction of travel of the body 11.

For example, a lawnmower is operated on a lawn, with the desired distance of the working boundary of the lawnmower from the edge of the lawn being 10cm, depending on the accuracy with which the lawnmower itself is positioned. At this time, if the measuring member 13 is disposed on the body 11 in a direction perpendicular to the traveling direction of the body 11, the length of the second end 132 of the measuring member 13 protruding from the body 11 may be set to 10cm directly, or slightly longer than 10cm, that is, the edge of the second end 132 may be aligned with the lawn edge.

However, if the measuring member 13 is disposed on the body 11 in other directions, for example, in a direction forming a predetermined angle with the first direction, the length of the second end 132 of the measuring member 13 extending out of the body 11 needs to be calculated according to the predetermined angle and the expected distance from the lawn edge to the working boundary of the lawn mower, which is complicated.

In the embodiment of the application, the second end of the measuring component can extend out of the first side of the body of the mower and is used for limiting the distance between the first side of the mower and the edge of a field to be worked in the first direction, the mower is controlled to advance by controlling the edge of the first end to be aligned with the edge of a lawn all the time, a working boundary which is proper in distance with the edge of the field to be worked can be accurately established, the working area of the mower can be ensured to cover the field to be worked as much as possible, the area needing manual cleaning in the later period is reduced, and meanwhile, the situation that the mower exceeds the working boundary due to the fact that the distance between the working boundary of the mower and the edge of the field to be worked is too small, the mower is damaged or safety problems are caused is avoided, and meanwhile, the mower is ensured not to exceed the boundary due to the limitation of positioning accuracy while the maximization of the area is achieved.

In one embodiment of the application, the measuring member 13 is arranged at the position of the rotation centre line of the lawn mower.

Because the traveling mechanism 12 drives the mower to travel, the rotation center of the mower is related to the number of the driving wheels in the traveling mechanism 12. Taking the number of drive wheels as an example, the traveling mechanism 12 has four traveling wheels, for example. Wherein, two rear road wheels are driving wheels, and two front road wheels are driven wheels. In this case, the center of rotation of the mower is approximately the center of rotation of the two rear drive wheels. At this time, the measuring member 13 may be disposed on the body 11 at a position adjacent to the rotation center lines of the two rear driving wheels. Specifically, the first end 131 of the measurement member 13 is disposed at or near the position of the rotation center line of the two rear road wheels.

For another example, a lawn mower has four road wheels and all four road wheels are drive wheels. In this case, the center formed by the four drive wheels (for example, the focal position of the diagonal lines of the four drive wheels) can be used as the rotation center of the lawnmower.

It should be understood that the description is only given by way of example, and in practical applications, the rotation center of the mower is also related to the position of the driving wheel, the wheel speed, the control mode and the like. In practical applications, the rotation center of the lawn mower may be determined by comprehensively considering the number, the position, the wheel speed, the control mode, and the like of the driving wheels, which is not limited in this embodiment.

In the embodiment of the present application, by disposing the measuring member 13 near the position of the rotation center line of the mower, the distance from the mower to the edge 20 of the site to be worked when turning is the same as the distance from the vehicle body to the edge 20 of the site to be worked when traveling straight, thereby ensuring that the working boundary at the turn can be accurately established at a suitable distance from the edge 20 of the site to be worked.

For example, as shown in FIG. 2, in one implementation, the mower chassis 12 includes two rear drive wheels, the center line of rotation of which is shown as CC' in FIG. 2. The measuring member 13 is arranged near the centre line of rotation CC' which makes the distance of the mower from the edge 20 of the site to be worked the same when turning as when driving straight, ensuring that a working boundary at a suitable distance from the edge 20 of the site to be worked can be accurately established also at a turn.

Further, the body 11 includes a fender 111 disposed behind the driving wheel, and the measuring member 13 is disposed on the fender 111. More specifically, on the side of the fender 111 near the edge 20 of the work site. At least a portion of the fender 111 is generally spaced apart from the drive wheel 12a and is adapted to retain debris such as dirt or grass clippings that may be lifted by the rear drive wheel during movement. Since the mudguard 111 is close to the driving wheel, by arranging the measuring member 13 on the mudguard 111, it is possible in a relatively simple manner to arrange the measuring member 13 in a position adjacent to the centre line of rotation of the driving wheel, whereby it is also possible to establish accurately a working boundary at a turn, which working boundary is situated at a suitable distance from the edge 20 of the site to be worked.

In one embodiment of the present application, the measuring member 13 comprises a rod or bar having a predetermined length. The preset length depends on the precision with which the mower itself is positioned, and more specifically, is determined based on the desired distance of the mower from the edge 20 to be worked. In this embodiment, the shaft or bar may or may not have a scale thereon, so long as it is ensured that when establishing the working boundary of the lawnmower, a suitable working boundary from the lawn edge 20 can be established by controlling the mower travel in such a way that the edge of the second end 132 of the shaft or bar is always aligned with the edge 20 of the field to be worked.

In one implementation of the present application, the measuring member 13 is marked with a scale 133 and/or a numerical designation 134 along its length. For example, as shown in fig. 5, 6a and 6b, the measuring member 13 has a flat elongated strip shape, and a scale 133 and a numerical indication 134 are marked on a first surface 136 of the measuring member 13 along the length direction of the measuring member 13. The first surface 136 is opposite a second surface 137 of the measurement member 13 for mounting to the fuselage. By providing the scale 133 and the numerical indication 134 on the first surface 136 of the measuring member 13, the operator can visually observe the mower distance in real time when the measuring member 13 is mounted on the body 11, thereby more accurately establishing a working boundary at a suitable distance from the lawn edge 20.

The minimum unit of the scale 133 is set to be large so that the ratio of the minimum unit to the scale length of the measuring member 13 is larger than 1/5, wherein the scale length is the distance between the starting point of the scale 133 and the ending point of the scale 133. Since the worker operating the lawn mower has a certain distance from the measuring member 13 when the measuring member 13 is mounted to the lawn mower, it is advantageous for the worker to remotely view the scale 133 of the measuring member 13 by setting the minimum unit scale of the measuring member 13 to be large.

Specifically, in one particular implementation, the length of the measuring member 13 is 150mm, and the scale minimum unit is 50 mm.

It should be understood that fig. 5, 6a and 6b are only one example, and in other implementations, only the scale 133 or the number mark 134 may be provided on the measuring member 13, the scale 133 and/or the number mark 134 may be provided on both the first surface 136 and the second surface 137 of the measuring member 13, or the measuring member 13 may also take other shapes, which is not limited by the embodiment. Furthermore, as shown in fig. 5 and fig. 6a, the scale 133 and the number mark 134 are disposed at two long edges of the measuring member 13, and it should be understood that, in other implementations, the scale mark 133 and/or the number mark 134 may be disposed at only one of the two long edges of the measuring member 13, or at a center line along the length direction or at other positions, which is not limited in this embodiment.

In a particular implementation, the measuring member 13 is a measuring ruler.

In addition to the embodiment shown in fig. 2, as shown in fig. 3, the measuring member 13 is detachably provided on the body 11. Thus, the first end 131 of the measuring member 13 can be attached to the body 11 when the mower establishes the working boundary, and when the mower works in the working area defined by the working boundary after the working boundary of the mower is established, the measuring member 13 can be attached to the body 11 of the mower continuously, or the measuring member 13 can be detached from the body 11 of the mower, so that the second end 131 of the measuring member 13 can be prevented from extending beyond the body 11 to affect the operation of the mower.

In one embodiment of the present application, as shown in fig. 6b, the second surface 137 of the measurement member 13, in particular, the first end of the second surface 137 is provided with an adhesive layer 138, and the measurement member 13 is adhered to the body through the adhesive layer 138.

In one embodiment of the present application, the second surface 137 of the measuring member includes an attachment area for attachment to a lawn mower, the attachment area being proximate the first end. The attachment region may be attached to the mower in any suitable manner to secure the measuring member 13 to the mower. For example, the attachment region may be attached to the mower by any suitable means, such as adhesive, snap fit, etc. In the example shown in fig. 6b, the attachment area is coated with an adhesive layer 138 (i.e. the area where the adhesive layer is located is the attachment area), and is attached to the lawn mower via the adhesive layer 138.

In a specific implementation manner, the measuring member 13 is a paper measuring ruler, and one end of the paper measuring ruler is adhered to the machine body 11.

In one implementation of the present application, the body 11 includes a bottom plate and a cover covering the bottom plate, and the measuring member 13 is disposed on the cover. The housing includes a fender of the lawn mower. By providing the measurement member 12 on the cover 112, the mounting and dismounting of the measurement member 13 can be facilitated.

Further, in order to facilitate determining the installation position of the measurement member 13, as shown in fig. 3, in an embodiment of the present application, a first mark 14 is provided on the body 11, and the first mark 14 is used for indicating the installation position of the measurement member 13 on the body 11. The measuring member 13 is detachably mounted at a mounting position indicated by the first mark 14. Thus, when the working boundary of the mower is established, the operator only needs to install the first end 131 of the measuring member 13 at the installation position indicated by the first mark 14, and the mower can accurately establish the working boundary with a proper distance from the edge 20 of the field to be worked. That is, by the first mark, the installation position of the measurement member 13 can be quickly and accurately located.

Further, as shown in fig. 3 and 4, the first mark 14 may be disposed on a housing of the body 11 to facilitate an operator to quickly find the first mark 14 when installing the measuring member 13.

The first mark 14 may be a graphic, an image, or a structural member. The first identifier 14 may also be a character, symbol, etc.

In one embodiment of the present application, in order to facilitate more accurate measurement of the distance of the first side of the fuselage from the edge of the site to be worked, the first end 131 of the measuring member 13 is provided with a second marking 135, correspondingly, as shown in fig. 5, 6a and 6b, the second marking 135 being aligned with the first marking 14 when the measuring member 13 is mounted to the fuselage 11. Thereby, the measuring member 13 can be mounted to the mounting position of the body 11 more accurately, so that a work boundary at a suitable distance from the edge 20 of the site to be worked can be established more accurately with the measuring member 12.

In one embodiment of the application, the second marking is located between the starting point of the scale 133 and the edge of the first end 131 so that when the measuring member 13 is mounted to the mower body according to the second marking 135 of the measuring member 13 and the first marking 14 on the mower, the starting point of the scale is substantially aligned with the first side of the mower body, whereby the scale reading on the measuring member 13 visually and accurately represents the distance between the first side of the mower body and the edge 20 of the field to be worked.

In one embodiment of the present application, the second indicator 135 may be an opening structure or the like disposed on the measuring member 13 and matched with the shape and outer contour of the first indicator 14, so as to align the first indicator and the second indicator when the measuring member 13 is installed on the body 11, thereby enabling a working boundary with a proper distance from the edge 20 of the work site to be worked to be established more accurately by using the measuring member 12.

In another specific implementation manner of the present application, the second mark 135 is similar to the first mark 14, and may also be a pattern, an image, a structural member, a character, a symbol, or the like, and the region of the measuring member 13 where the second mark 135 is disposed is formed by a transparent material, so that when the measuring member 13 is mounted on the mower body 11, the first mark 14 and the second mark can be accurately aligned, and a working boundary with a proper distance from the edge 20 of the field to be worked can be more accurately established by using the measuring member 13.

In one embodiment of the present application, the first indicator 14 may be provided at a position of a center line of rotation of the lawn mower. As shown in fig. 4, in case of a mower with two rear driving wheels, the first identification 14 is provided at or near the position of the centre line of rotation CC 'of the rear driving wheels, thereby allowing the measuring means 13 to be mounted at or near the position of the centre line of rotation CC' of the rear driving wheels of the mower, i.e. near the centre line of rotation, which ensures that the mower can accurately establish a working boundary at a suitable distance from the edge 20 of the field to be worked also at a turn.

Further, as shown in fig. 3 and 4, the first mark 14 is provided on the fender 111. Likewise, since the mudguard 111 is close to the driving wheel, the measuring member 13 is located near the position of the centre line of rotation of the driving wheel when the measuring member 13 is mounted in the mounting position indicated by the first indication 14, ensuring that the lawn mower can accurately establish a working boundary at a right distance from the lawn edge 20 also at a turn.

Based on the embodiments shown in fig. 1 to 4, in one embodiment of the present application, the measuring member 13 is retractable or foldable such that the second end 132 of the measuring member 13 extends from one side of the fuselage 11 when the measuring member 13 is in use, and the second end 132 of the measuring member is retracted or folded into the fuselage 11 when the measuring member 13 is not in use.

For example, in one implementation, a cavity is provided in the body of the lawnmower to receive the measuring member 13, the cavity having a first opening through which the second end 132 of the measuring member 13 can telescope outward. Thus, when the measuring member 13 is used to establish a working boundary of the mower, the second end 132 of the measuring member 13 protrudes out of the main body 11 through the first opening to define a distance of the mower from the edge 20 of the site to be worked, ensuring that a working boundary at a proper distance from the edge 20 to be worked is accurately established. However, when the measuring member 13 is not required to be used, i.e. when the lawnmower is operating within the working area defined by the working boundary after the working boundary of the lawnmower is established, the second end 132 of the measuring member 13 is retracted within the cavity through the first opening to prevent the lawnmower from being affected by the second end 132 of the measuring member 13 extending out of the main body 11.

For another example, in another embodiment of the present application, the measuring member 13 includes a fixed portion and a movable portion, the fixed portion is disposed on the main body 11 of the lawn mower, the movable portion is connected to the fixed portion through a pivot shaft, and the movable portion can perform a pivotal movement relative to the fixed portion. The first end of the measuring component is positioned at the fixed part, and the second end is positioned at the movable part. Thus, when the measuring member 13 is used to establish a working boundary of the mower, the second end 132 of the measuring member 13 is pivoted by the pivot shaft and extends out of the main body 11 to define a distance of the mower from the edge 20 of the site to be worked, ensuring that a working boundary at a proper distance from the edge 20 to be worked is accurately established. However, when the measuring member 13 is not required to be used, the second end 132 of the measuring member 13 is pivoted by the pivot shaft and folded back to the main body 11 to prevent the mower from being affected by the second end 132 of the measuring member 13 extending out of the main body 11.

In an embodiment of the present application, the lawn mower further comprises a controller and a communication module, which are located in a receiving space formed by the base plate and the cover 111 covering the base plate. The lawn mower may receive operating instructions from the terminal device via the communication module. The controller of the mower can control the operation of the mower according to the received operation instruction. For example, in establishing a working boundary of the lawn mower, the lawn mower may control the lawn mower to travel in such a manner that an edge of the second end 132 of the measuring member 13 of the lawn mower is aligned with the lawn edge 20 according to the received operating instructions, thereby accurately establishing a working boundary at a suitable distance from the lawn edge 20.

For another example, when the measuring member 13 is configured to be retractable or foldable, the controller may control the second end 132 of the measuring member 13 to extend when the lawn mower establishes the working boundary and control the second end 132 of the measuring member 13 to fold or retract to the main body 11 after the lawn mower completes the establishment of the working boundary according to the received operation instruction.

The embodiment of the application also provides another self-moving device which comprises a body and a working mechanism. The body is provided with a first mark. The operating mechanism is arranged on the machine body in an offset mode, the first mark and the operating mechanism are arranged on the same side of the machine body, and the first mark is used for indicating that the self-moving equipment walks along the side close to the side where the first mark is arranged.

Similar to the previous embodiments, in the present embodiment, the self-moving device may also include a lawn mower, a sweeper, or other machines. The welt walking is pressed close to work place edge walking promptly, and the side that the lawn mower set up first sign is more pressed close to work place edge for the one side that does not set up first sign promptly. The working mechanism is a mechanism for realizing basic operation of the self-moving equipment. Taking a mower as an example, the working mechanism may be a cutting mechanism of the mower for realizing a mowing function, and may include, for example, a cutter head and a mowing motor for driving the cutter head to work.

In this embodiment, the operating mechanism is disposed on the machine body in an offset manner, the first identifier and the operating mechanism are disposed on the same side of the machine body, and the side of the mobile device on which the first identifier is disposed is attached to the side to walk, that is, the operating mechanism of the mobile device is attached to the edge of the work site, so that the coverage of the machine body can be maximized under the condition that the machine body does not exceed the work boundary.

In one embodiment of the present application, the self-moving apparatus further includes a measuring member, a first end of the measuring member is disposed at a position on the body where the first identifier is disposed, and a second end of the measuring member may extend out from a first side of the body where the first identifier is disposed, for measuring a distance between the first side and an edge of the site to be worked in a first direction, which is a direction perpendicular to a traveling direction of the body. Since the second end of the measuring member provided on the body of the self-moving apparatus may protrude from the first side of the body for measuring the distance between the first side and the edge of the work site in the first direction, the self-moving apparatus may more accurately establish a work boundary at an appropriate distance from the edge of the work site, ensuring that the work coverage of the self-moving apparatus is maximized without the self-moving apparatus crossing the work boundary.

In this embodiment, the self-moving apparatus further has other components in the self-moving apparatus described above with reference to fig. 1 to 6b, and in this embodiment, the structure, the arrangement position, and the like of the first identification and measurement member are the same as or similar to those in the embodiment described above with reference to fig. 1 to 6b, and have substantially the same effects. For the avoidance of redundancy, it will not be described in detail here.

The embodiment of the application further provides a measuring component 13, which is applied to a self-moving device. The self-moving device may be the self-moving device mentioned in any of the embodiments above.

As shown in fig. 5, 6a and 6b, the measuring member 13 is in the form of a flat, elongated strip. The measuring member 13 comprises a first end 131 and a second end 132 along its length, the first end 131 being adapted to be fixed to a self-moving device and the second end 132 being opposite the first end 131. The measuring member 13 is marked with a scale 133 along its length from the first end 131 to the second end 132.

The first end 131 of the measuring member 13 is provided with a positioning mark for positioning the measuring member 13 at the mounting position of the self-moving device, the positioning mark being located between the starting point of the scale 133 and the edge of the first end 131.

Wherein the location identity of the measuring means 13 corresponds to the second identity of the measuring means 13 in the self-moving device described above. By providing the first end 131 of the measuring member 13 with a positioning mark, a worker can align the positioning mark with the first mark on the self-moving apparatus when mounting the measuring member 13 on the self-moving apparatus, whereby the measuring member 13 can be quickly and accurately mounted in a proper position on the self-moving apparatus.

In one embodiment of the present application, the minimum unit of the scale 133 is set to be larger such that the ratio of the minimum unit to the scale length of the measuring member 13 is larger than 1/5, the scale length being the distance between the starting point of the scale 133 and the ending point of the scale 133. Since the worker who operates the self-moving apparatus has a certain distance from the measuring member 13 when the measuring member 13 is mounted to the self-moving apparatus, it is advantageous for the worker to remotely view the scale 133 of the measuring member 13 by setting the minimum unit scale of the measuring member 13 to be large.

In particular, in a particular implementation, the length of the measuring member 13 is 150mm, with a scale minimum unit of 50 mm.

To facilitate viewing of a particular measurement, a numerical marker 134 is correspondingly provided at each scale 133.

In another embodiment of the present application, the measuring member 13 includes a first surface 136 and a second surface 137, the first surface 136 is opposite to the second surface 137, and an adhesive layer 138 is disposed on the second surface 137 in a region near the first end 131 for adhering the first end 131 to the self-moving device. Thereby, the measuring member 13 can be fixed to the self-moving apparatus in a simple manner.

In another embodiment of the present application, the measurement member includes a first surface and a second surface, the first surface opposite the second surface, the second surface including a connection region for connecting with the self-moving device, the connection region being proximate to the first end. The connection region may be connected to the self-moving device in any suitable manner, thereby securing the measurement member to the self-moving device. For example, the connection area may be connected to the self-moving device by means of gluing, snapping or the like. In the example shown in fig. 6b, the attachment area is coated with an adhesive layer 138, by means of which adhesive layer 138 the attachment to the self-moving device is made.

The above embodiments are only used for illustrating the embodiments of the present application, and not for limiting the embodiments of the present application, and those skilled in the relevant art can make various changes and modifications without departing from the spirit and scope of the embodiments of the present application, so that all equivalent technical solutions also belong to the scope of the embodiments of the present application, and the scope of patent protection of the embodiments of the present application should be defined by the claims.

Claims (19)

1. An autonomous mobile device, comprising:

a body;

the travelling mechanism is rotationally connected with the machine body and is used for driving the machine body to travel;

the first end of the measuring component is arranged on the machine body, the second end of the measuring component can extend out of the first side of the machine body and is used for measuring the distance between the first side and the edge of the site to be worked in a first direction, and the first direction is a direction perpendicular to the advancing direction of the machine body.

2. The self-moving apparatus according to claim 1, wherein a first mark is provided on the body, the first mark indicating a mounting position of the measuring member on the body.

3. The self-moving apparatus according to claim 1, wherein the traveling mechanism includes a driving wheel, the body includes a fender disposed behind the driving wheel, and the measuring member is disposed on the fender.

4. An autonomous mobile device, comprising:

the device comprises a machine body, a first mark and a second mark, wherein the first mark is arranged on the machine body;

the operation mechanism is arranged on the machine body in a biased mode, the first mark and the operation mechanism are arranged on the same side of the machine body, and the first mark is used for indicating the self-moving equipment to move along the welt on one side of the first mark.

5. The self-moving device of claim 4, further comprising:

the measuring component, the first end of measuring component set up in be provided with on the fuselage the position department of first sign, the second end of measuring component can follow be provided with on the fuselage the first side of first sign stretches out for the measurement first side and the distance of waiting to work the place edge on the first direction, the first direction be with the direction of travel vertically of fuselage.

6. The self-moving apparatus according to claim 1 or 5, wherein the measuring member is provided on the body in the first direction.

7. The self-moving apparatus according to claim 1 or 5, wherein the measuring member is provided at a position of a rotation center line of the self-moving apparatus.

8. The self-moving apparatus according to any one of claims 1, 2 or 5, wherein the measuring member is detachably provided on the body.

9. The self-propelled device of claim 8, wherein the body comprises a base plate and a cover housing the base plate, the measurement member being disposed on the cover housing.

10. The self-moving apparatus according to any one of claims 1, 2 or 5, wherein the measuring member is retractable or foldable such that when the measuring member is in use, the second end of the measuring member extends from the first side of the body, and when the measuring member is not in use, the second end of the measuring member is retracted or folded into the body.

11. The self-propelled device of any of claims 1, 2 or 5, wherein the measuring member comprises a shaft or bar having a preset length, the preset length being determined based on a desired distance of the self-propelled device from an edge of the site to be worked.

12. The self-moving apparatus as claimed in claim 9, wherein the measuring member is a measuring ruler.

13. The self-moving apparatus according to any one of claims 1, 2 or 5, wherein the self-moving apparatus is a lawn mower.

14. The self-moving apparatus according to claim 2 or 5, wherein the first end of the measuring member is provided with a second marker which is aligned with the first marker when the measuring member is mounted to the body.

15. A measuring member applied to a self-moving device is characterized in that the measuring member is in a flat and long strip shape, the measuring member comprises a first end and a second end along the length direction of the measuring member, the first end is used for being fixed to the self-moving device, the second end is opposite to the first end, and the length direction of the measuring member is marked with scales from the first end to the second end;

the first end of the measuring component is provided with a positioning mark used for positioning the measuring component at the installation position of the self-moving equipment, and the positioning mark is positioned between the starting point of the scale and the edge of the first end.

16. The measuring member according to claim 15, characterized in that the smallest unit of the scale is arranged such that the ratio of the smallest unit to the scale length of the measuring member is larger than 1/5, the scale length being the distance between the start point of the scale and the end point of the scale.

17. A measuring member according to claim 16, characterized in that the length of the measuring member is 150mm and the scale has a minimum unit of 50 mm.

18. The measurement member of claim 15, comprising a first surface and a second surface, the first surface being opposite the second surface, the second surface having an adhesive layer disposed on a region proximate the first end for adhering the first end to the self-moving device.

19. The measurement member of claim 15, comprising a first surface and a second surface, the first surface opposite the second surface, the second surface comprising a connection region for connecting with the self-moving device, the connection region being proximate to the first end.

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