CN220140196U

CN220140196U - Intelligent mowing equipment

Info

Publication number: CN220140196U
Application number: CN202320534660.2U
Authority: CN
Inventors: 陈鹏; 吴永东
Original assignee: Ecovacs Robotics Suzhou Co Ltd
Current assignee: Ecovacs Robotics Suzhou Co Ltd
Priority date: 2023-03-17
Filing date: 2023-03-17
Publication date: 2023-12-08
Anticipated expiration: 2033-03-17

Abstract

The embodiment of the utility model provides intelligent mowing equipment. The intelligent mowing equipment comprises an equipment body, wherein a mowing mechanism is arranged on the equipment body; the equipment body is provided with a front end and a rear end; the first acquisition module is arranged at the front end of the top of the equipment body and comprises a light transmission area, and the first acquisition module acquires environmental information through the light transmission area; wherein, the first acquisition module is provided with a first point, and the top surface of the equipment body is provided with a second point; the first point is a contour point corresponding to the bottom edge of the light-transmitting area towards the front end; the second point is the highest point of the equipment body, which is positioned on the top surface in front of the first acquisition module; and the included angle between the connecting line of the first point and the second point and the horizontal plane is larger than or equal to a first set acute angle. Therefore, the collecting area is free of shielding, the collected environmental information can meet the working requirement of the equipment body, and the probability that the first collecting module is damaged by collision can be reduced.

Description

Intelligent mowing equipment

Technical Field

The utility model relates to the technical field of intelligent equipment, in particular to intelligent mowing equipment.

Background

Along with the development of technology, more and more kinds of automation equipment are developed to reduce the labor capacity of people and improve the labor efficiency. For example, some devices requiring user operation, such as floor washers, lawnmowers, and the like; there are also devices that do not require any user involvement at all, such as cleaning robots, transfer robots, mowing robots, etc. The intelligent device or the robot can realize autonomous traveling obstacle avoidance, path planning and the like, and the environment information is acquired by utilizing the acquisition module arranged on the intelligent device or the robot so as to perform obstacle recognition, positioning and the like based on the environment information.

If the position of the acquisition module is unreasonable, environmental information may be lost due to shielding or signal interference, so as to influence the accuracy of the follow-up action execution of the equipment.

Disclosure of Invention

The embodiment of the utility model provides intelligent mowing equipment, which provides a reasonable scheme for reducing the influence of shielding or signal interference.

In one embodiment of the present utility model, an intelligent mowing apparatus is provided. This intelligence grass cutting equipment includes:

the device body is provided with a mowing mechanism; the equipment body is provided with a front end and a rear end;

the first acquisition module is arranged at the front end of the top of the equipment body and comprises a light transmission area, and the first acquisition module acquires environmental information through the light transmission area;

wherein, the first acquisition module is provided with a first point, and the top surface of the equipment body is provided with a second point; the first point is a contour point corresponding to the bottom edge of the light-transmitting area towards the front end; the second point is the highest point of the equipment body, which is positioned on the top surface in front of the first acquisition module;

and the included angle between the connecting line of the first point and the second point and the horizontal plane is larger than or equal to a first set acute angle.

Optionally, the first set acute angle is 5-15 degrees.

Optionally, the first acquisition module is further provided with a third point, and the top surface of the equipment body is further provided with a fourth point;

the third point is a contour point corresponding to the position, facing the left side of the equipment body, of the bottom edge of the light-transmitting area, and the fourth point is the highest point of the top surface, located on the left side part of the first acquisition module, of the equipment body; or alternatively

The third point is a contour point corresponding to the position, facing the right side of the equipment body, of the bottom edge of the light-transmitting area, and the fourth point is the highest point of the top surface, located on the right side part of the first acquisition module, of the equipment body;

the included angle between the connecting line of the third point and the fourth point and the horizontal plane is larger than or smaller than a second set acute angle;

wherein the second set acute angle is 5-15 degrees.

Optionally, the horizontal distance between the first point and the second point is smaller than or equal to a first preset distance; wherein the first preset distance is 10-200 mm;

the distance between the first point and the top surface of the equipment body is smaller than or equal to a second preset distance; wherein the second preset distance is 10-50 mm.

Optionally, the intelligent mowing apparatus further comprises a second acquisition module;

The front side wall of the equipment body is an inclined surface which is inclined downwards and backwards from the top edge of the front end of the equipment body;

the second acquisition module is arranged on the side wall of the front end;

the included angle between the front side wall and the vertical surface is smaller than or equal to a second set acute angle; wherein the second set acute angle is 1-40 degrees.

Optionally, the intelligent mowing apparatus further comprises a signal receiving and transmitting antenna;

the signal receiving and transmitting antenna is arranged at the left rear end or the right rear end of the top of the equipment body;

the mowing mechanism comprises a mowing motor and a mowing cutter head, and the mowing motor drives the mowing cutter head to work; the mowing motor is positioned between the first acquisition module and the signal receiving and transmitting antenna; the horizontal distance between the signal receiving and transmitting antenna and the mowing motor is greater than or equal to a third preset distance; wherein the third preset distance is 100-200 mm;

the vertical distance between the top end of the signal receiving and transmitting antenna and the mowing motor is larger than or equal to a fourth preset distance; wherein the fourth preset distance is 100-200 mm.

Optionally, the device body further comprises a travelling mechanism;

the travelling mechanism comprises a driving motor and travelling wheels, and the driving motor drives the travelling wheels to travel;

The driving motor is positioned between the mowing motor and the signal receiving and transmitting antenna along the advancing direction of the equipment body;

the horizontal distance between the signal receiving and transmitting antenna and the driving motor is greater than or equal to a fifth preset distance, wherein the fifth preset distance is 50-70 mm;

in the working state, the vertical distance between the top end of the signal receiving and transmitting antenna and the driving motor is larger than or equal to a sixth preset distance; wherein the sixth preset distance is 150-250 mm.

Optionally, the device body further comprises a battery;

the battery is positioned between the driving motor and the signal receiving and transmitting antenna along the advancing direction of the equipment body;

in the working state, the vertical distance between the top end of the signal receiving and transmitting antenna and the battery is larger than or equal to a seventh preset distance; wherein the seventh preset distance is 150-250 mm.

Optionally, the device body further comprises a communication module;

the communication module is positioned above the battery, and a gap is reserved between the communication module and the battery; wherein the gap is larger than or equal to a set gap value, and the set gap value is 5-30 mm;

the vertical distance between the communication module and the driving motor is greater than or equal to an eighth preset distance; wherein the eighth preset distance is 20-60 mm;

The horizontal distance between the communication module and the driving motor is greater than or equal to a ninth preset distance; wherein the ninth preset distance is 20-60 mm;

the horizontal distance between the communication module and the mowing motor is greater than or equal to a tenth preset distance; wherein the tenth preset distance is 100-200 mm.

In another embodiment of the present utility model, another mowing apparatus is provided. The mowing apparatus includes:

the device body is provided with a front end and a rear end;

the first acquisition module is arranged at the front end of the top of the equipment body;

the mowing mechanism comprises a mowing motor and a mowing cutter head, and the mowing motor drives the mowing cutter head to work;

the battery is used for storing energy and providing electric energy;

the communication module is arranged above the battery and is used for providing a function of communication between the equipment body and external equipment;

the signal receiving and transmitting antenna is arranged at the rear end of the top of the equipment body;

the first collection module, the mowing motor, the driving motor, the battery and the signal receiving and transmitting antenna are sequentially arranged from the front end to the rear end of the equipment body.

Optionally, in the working state of the signal receiving and transmitting antenna:

the horizontal distance between the signal receiving and transmitting antenna and the mowing motor is greater than or equal to a third preset distance, and the third preset distance is 100-200 mm;

the vertical distance between the top end of the signal receiving and transmitting antenna and the mowing motor is greater than or equal to a fourth preset distance, and the fourth preset distance is 100-200 mm;

the horizontal distance between the signal receiving and transmitting antenna and the driving motor is greater than or equal to a fifth preset distance, and the fifth preset distance is 50-70 mm;

the vertical distance between the top end of the signal receiving and transmitting antenna and the driving motor is greater than or equal to a sixth preset distance, and the sixth preset distance is 150-250 mm;

the vertical distance between the top end of the signal receiving and transmitting antenna and the battery is greater than or equal to a seventh preset distance, and the seventh preset distance is 150-250 mm.

Optionally, the communication module is located above the battery, and a gap is formed between the communication module and the battery; wherein the gap is 5-30 mm;

when the signal receiving and transmitting antenna is arranged at the left rear end of the equipment body, the distance between the signal receiving and transmitting antenna and the left side edge of the equipment body is 50-150 mm;

when the signal receiving and transmitting antenna is arranged at the right rear end of the equipment body, the distance between the signal receiving and transmitting antenna and the right edge of the equipment body is 50-150 mm;

the distance between the signal receiving and transmitting antenna and the edge of the rear end of the equipment body is 50-100 mm.

In the technical scheme provided by the embodiment of the utility model, the first acquisition module is used for acquiring the environmental information. In particular, the intelligent mowing device provided by the embodiment of the utility model collects the image information on the ground through the first collecting module. Such as information of a grass area and/or a non-grass area on the ground, and boundary information between the grass area and the non-grass area. The intelligent mowing device provided by the embodiment of the utility model has the advantages that the first acquisition module is arranged at the top of the device body, and the situation that the first acquisition module cannot acquire image information on the ground due to shielding is avoided as much as possible, so that the environment information acquired by the first acquisition module is lost is caused. Specifically, in this embodiment, an included angle between a line between a first point on the bottom edge of the light-transmitting area of the first acquisition module and a second point with the highest front end on the top surface of the device body and the horizontal plane is greater than or equal to a first set acute angle; therefore, the first acquisition module can be free of shielding in an acquisition area, image information on the ground can be acquired, and environmental information can be acquired to meet the working requirements of the equipment body. In addition, through limiting the contained angle between the connecting line of the first point on the first acquisition module and the second point on the equipment body and the horizontal plane to be larger than or equal to a first set acute angle, the first acquisition module is not arranged at the top edge of the equipment body, namely, the first acquisition module is a certain distance away from the top edge of the equipment body, and therefore the probability that the first acquisition module is knocked and damaged can be reduced.

In another embodiment of the present utility model, an intelligent mowing apparatus is provided with a first acquisition module and a signal transceiver antenna. The first acquisition module is used for acquiring environmental image information. The signal receiving and transmitting antenna is also known as an acquisition module, and the acquired environmental information is a communication signal emitted by a signal source in the environment. In order to prevent the first acquisition module and the signal receiving and transmitting antenna from being influenced by some interference sources (such as a mowing motor, a battery, a communication module, a driving motor for driving a travelling wheel to travel and the like) of the intelligent mowing equipment, the signal receiving and transmitting antenna is arranged at the rear end of the top of the equipment body; the first acquisition module is arranged at the front end. And, from the front end of the equipment body to the rear end, set up first collection module, motor, driving motor, battery and signal transceiver antenna in order, also make signal transceiver antenna keep away from motor, driving motor and battery that mows, so on the one hand makes the equipment body compact structure, on the other hand can also reduce the interference of interference source to signal transceiver antenna.

Drawings

In order to more clearly illustrate the embodiments of the present utility model or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the present utility model, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1a is a schematic structural diagram of a mowing apparatus according to an embodiment of the present utility model;

FIG. 1b is an enlarged partial schematic view of FIG. 1 a;

fig. 2 is a schematic structural diagram of a mowing apparatus according to an embodiment of the present utility model;

fig. 3 is a schematic structural view of a mowing apparatus according to an embodiment of the present utility model;

fig. 4 is a schematic structural view of a mowing apparatus according to an embodiment of the present utility model;

fig. 5 is a schematic structural diagram of a mowing apparatus according to an embodiment of the present utility model.

Detailed Description

In order to enable those skilled in the art to better understand the present utility model, the following description will make clear and complete descriptions of the technical solutions according to the embodiments of the present utility model with reference to the accompanying drawings. It will be apparent that the described embodiments are only some, but not all, embodiments of the utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model. In the description of the present utility model, the claims and some of the features described in the above drawings, the description of "first", "second", etc. is used for distinguishing between different components, distances, modules, devices, etc. and not for indicating the order of precedence, nor is it limited that "first" and "second" are of different type. In addition, the embodiments described below are only some, but not all, of the embodiments of the present utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

The intelligent mowing apparatus may also be referred to as an intelligent mower, an intelligent lawnmower, an intelligent weeder, an intelligent lawn mower, and the like. The intelligent mower can walk automatically, prevent collision, automatically return to charge in a working range, has the functions of safety monitoring and battery power monitoring, and also has certain climbing, obstacle surmounting and obstacle avoiding capabilities and the like. The intelligent mower has the following characteristics but not limited to: automatic mowing, cleaning grass clippings, automatic rain sheltering, automatic charging, automatic obstacle avoidance, automatic boundary identification, network control, and the like. People use the mower to trim the lawn, so that the workload can be greatly reduced, and the trimming evenness of the lawn can be ensured. The working principle of the mower is mainly to cut lawns through a cutting knife. The cutter may be a disc cutter, or may be any other type of cutter, such as a straight cutter, a scissors cutter, etc., which is not limited in this embodiment. The cutting blade may be driven by a mowing motor to perform a cutting action.

The robot provided in the following embodiments of the present utility model may be the mowing robot, or may be a cleaning robot (e.g., an outdoor cleaning robot), a guiding robot (e.g., a robot for providing guiding services in public places such as hotels or banks), or the like.

Fig. 1a and fig. 2 show schematic structural diagrams of a mowing apparatus according to an embodiment of the present utility model. As shown in fig. 1a and 2, the intelligent mowing apparatus comprises an apparatus body; the device body 1 is provided with a mowing mechanism 4. The first collection module 2 is arranged at the front end of the top of the equipment body 1 and is used for collecting environmental information. The first collection module 2 includes a light-transmitting region 211. The first collecting module 2 collects environmental information through the light-transmitting area 211. Referring to the embodiment shown in fig. 1a, the first collection module 2 has a first point a and the top surface of the device body 1 has a second point b. The top surface of the device body 1 is located below a horizontal plane 100 passing through the first point a. The first point a isThe bottom edge of the light-transmitting area 211 faces the contour point corresponding to the front end of the device body 1. More specifically, the first point a is a contour point corresponding to the bottom edge of the light-transmitting region 211 toward the front end of the apparatus body 1. That is, the first point a is a contour point of the bottom edge of the light-transmitting region 211 toward the front direction. The second point b is the highest point of the device body 1 located on the top surface in front of the first collecting module 2. Further, the second point b may be the highest point of the top surface of the front end of the apparatus body 1. An angle theta between the line connecting the first point a and the second point b and the horizontal plane 100 ₁ Is greater than or equal to the first set acute angle.

In a specific embodiment, the first set acute angle may be one of 5 to 15 degrees (may include a boundary value). For example, the first set acute angle may be 10 degrees. So realize through this first acute angle that sets for that first collection module does not have to shelter from in its collection region, and then can gather subaerial image information, and gather environmental information and can satisfy equipment body work demand.

As in the embodiment shown in fig. 1a, the first acquisition module 2 may be a panoramic camera. As shown in fig. 1b, the panoramic camera includes a light-transmitting area 211 and a module cover 21 located at the top of the light-transmitting area 211, and the panoramic camera collects environmental information through the light-transmitting area 211. The module cover 21 may be a non-transparent region 212.

The panoramic camera does not need any moving parts, can shoot scenes in a horizontal 360-degree annular belt around the panoramic camera, has a large vertical field angle, and can shoot scenes above and below a lens plane. Panoramic images captured by panoramic cameras can be used for positioning and the like. The panoramic camera may be any device with any morphological structure, which is not limited in the embodiments of the present utility model.

See fig. 3 for a front view from the front of the mowing apparatus. As can be seen from fig. 3, the first collecting module 2 further has a third point, and the top surface of the device body 1 further has a fourth point;

the third point is a contour point corresponding to the bottom edge of the light-transmitting region 211 facing the left side of the device body 1. More specifically, the third point is a contour point corresponding to the bottom edge of the light-transmitting region 211 toward the right left side of the apparatus body 1. That is, the third point is a contour point of the bottom edge of the light-transmitting region 211 toward the right-left direction. The fourth point is the highest point of the top surface of the left part of the first acquisition module 2, where the equipment body 1 is located; or alternatively

The third point is a contour point corresponding to the bottom edge of the light-transmitting region 211 facing the right side of the apparatus body 1. More specifically, the third point is a contour point corresponding to the bottom edge of the light-transmitting region 211 toward the right side of the apparatus body 1. That is, the third point is a contour point of the bottom edge of the light-transmitting region 211 toward the right direction. The fourth point is the highest point of the top surface of the right side part of the first collecting module 2, where the equipment body 1 is located.

Wherein the second set acute angle is 5-15 degrees.

Fig. 1a is a right side view of fig. 3. From the right view shown in fig. 1a, it can be seen that the scheme provided by the embodiment of the present utility model satisfies the following conditions:

the included angle between the connecting line of the first point on the first acquisition module 2 and the highest second point on the top surface of the front end of the equipment body 1 and the horizontal plane is larger than or equal to a first set acute angle.

The view shown in fig. 3 also satisfies the above condition. In fig. 3, two fourth points are shown, which are respectively the highest points of the device body 1 in both directions. Similarly, according to the orientation marked in fig. 3, the angle θ between the line between the third point a 'on the first collection module 2 facing the left side of the device body 1 and the highest point b' on the device body 1 located on the top surface of the left side portion of the first collection module 2 and the horizontal plane 100 ₂ Is greater than or equal to a second set acute angle. On the right side, the included angle θ between the horizontal plane and the line between the third point a″ on the first acquisition module 2 facing the right side of the device body 1 and the highest point b″ on the top surface of the right side portion of the panoramic camera on the device body 1 ₃ Is greater than or equal to a second set acute angle. Wherein the second set acute angle can be any one of 5-15 degrees Values (which may include boundary values).

In the specific implementation, the first acquisition module is taken as the center, and all angles of radial radiation along the circle can meet the above conditions. For example, the angles between the line connecting the first point and the second point and the horizontal plane may be equal or unequal. Such as in fig. 1a and 3; θ ₁ 、θ ₂ And theta ₃ May be equal.

As shown in fig. 1a and 2, the device body 1 has a front end and a rear end. The first collection module 2 is arranged on the top surface of the front end of the equipment body 1. As shown in fig. 3, the top surfaces of the device body 1, which are located at the left and right sides of the first collecting module 2, are inclined surfaces. While the top surface of the device body 1 between the two inclined surfaces is a plane. The first collection module 2 is located on a plane between the two inclined planes. That is, the first collecting module 2 is located at a higher position of the top surface of the device body 1 relative to the two inclined surfaces, so as to avoid shielding the first collecting module from collecting the environmental information on the left and right sides.

Referring to fig. 3, the top surface of the device body 1 includes at least three inclined surfaces, namely a first inclined surface 11, a second inclined surface 12 and a third inclined surface 13. The inclined planes may be inclined planes, or may be gradually downward cambered surfaces, etc., which is not limited in this embodiment. Wherein the third inclined surface 13 is located at the rear side of the first inclined surface 11 and the second inclined surface 12, i.e. the first inclined surface 11 and the second inclined surface 12 are located at the left side and the right side of the third inclined surface 13, respectively. The third inclined surface 13 is located at the rear side of the first collecting module 2, extends from the first collecting module 2 to the rear end of the equipment body 1 and inclines downwards, and can avoid shielding the environment information of the rear side collected by the first collecting module 2.

With continued reference to fig. 1a, the device body 1 has a front end and a rear end. More specifically, the first point a is a front end contour point on the first acquisition module 2; the second point b is a front end edge point on the top surface of the equipment body 1; the distance A' between the first point a and the second point b is smaller than or equal to a first preset distance; wherein, the first preset distance can be any value (including a boundary value) of 10-200 mm. For example, the first preset distance may be 100mm. Alternatively, the horizontal distance a from the second point b to the center point of the projection image of the first acquisition module 2 on the horizontal plane 100 or the central axis of the first acquisition module 2 may be less than or equal to D; wherein d=a first preset distance+a horizontal distance of the first point a to the center point or the central axis. As shown in fig. 1a, both distance a' and distance a may be horizontal distances.

Further, as shown in fig. 1a, the distance B between the first point a and the top surface of the device body 1 is smaller than or equal to a second preset distance; wherein, the second preset distance can be any value (including a boundary value) of 10-50 mm. For example, the second preset distance may be 30mm. As described above, the top surface of the rear side of the first collecting module 2 is a third inclined surface, and the top surface of the front side of the first collecting module 2 may be a plane or a downward inclined surface. The distance B may be a vertical distance between the first point a and the top surface of the front side of the first collecting module 2.

As shown in fig. 3, the mowing apparatus according to the embodiment of the present utility model may further include a second collecting module 3. The second acquisition module 3 may comprise at least one sensor. The at least one sensor may include, but is not limited to: RGB monocular cameras, depth sensors, RGB-D sensors, fisheye cameras, RGB binocular cameras, TOF (Time of Flight) modules, structured light modules, and the like.

The RGB monocular camera and the depth sensor work together to collect images and depth information of the images. The RGB-D sensor and the RGB binocular camera can be used independently to collect images with depth information. The TOF module or the structured light module can be used for acquiring depth information, the TOF module or the structured light module can form a second acquisition module with the fisheye camera, the fisheye camera can acquire image information, and the TOF module or the structured light module can be used for acquiring the depth information corresponding to the image.

In one implementation, the second acquisition module 3 shown in fig. 3 may include a fisheye camera, a TOF transmitting end, and a receiving end. Referring to fig. 3, the fisheye camera, the TOF transmitting end, and the receiving end are sequentially arranged from the left side to the right side of the figure.

In another implementation solution, the second acquisition module 3 in fig. 3 may include a fisheye camera (or RGB monocular camera), a laser emitter, and a laser camera. Wherein, the structure optical module includes laser emitter and laser camera. Referring to fig. 3, a fisheye camera (or RGB monocular camera), a laser emitter, and a laser camera are sequentially disposed from the left side to the right side of the drawing.

Referring to fig. 1a and 2, the front side wall of the apparatus body 1 is a slope inclined downward and rearward from the top edge of the front end of the apparatus body 1; the second acquisition module 3 is arranged on the front end side wall. The second acquisition module 3 is arranged on the side wall of the front end of the inclined device body 1, and the second acquisition module 3 can acquire the information of the advancing surface (such as grassland or ground) in front of the device body 1; in addition, the adhesion of dust or rainwater can be reduced.

As shown in fig. 1a and 2, the front side wall forms an angle theta with the vertical plane ₃ Less than or equal to a second set acute angle; the second set acute angle may be any one of 1 to 40 degrees (may include a boundary value). For example, the second set acute angle is 30 degrees.

Further, as shown in fig. 2, the mowing apparatus may further comprise a signal transceiving antenna 5. The signal transmitting and receiving antenna 5 may be disposed at the top of the apparatus body 1. The signal receiving and transmitting antenna 5 and the first acquisition module 2 are respectively positioned at two ends of the top of the equipment body 1. For example, the signal receiving/transmitting antenna 5 may comprise a pole and an antenna of a UWB module; and an antenna of the UWB module is arranged on the vertical rod.

What needs to be explained here is: the signal transmitting/receiving antenna 5 is foldable. For example, the operation state, that is, the state in which the signal transmitting-receiving antenna 5 is disposed on the apparatus body in the vertical direction. In the non-operating state, the signal transmitting/receiving antenna is in a folded state, for example, in the folded state, the signal transmitting/receiving antenna is disposed on the apparatus body in the horizontal direction.

The ultra wideband technology is a wireless carrier communication technology, and is generally divided into a UWB base station (or called UWB fixed station) and a UWB module (or called UWB mobile station or UWB tag), wherein the UWB base station and the UWB module form a UWB ranging and positioning system. The device body in the embodiment of the utility model can be provided with the UWB module, and the antenna of the UWB module can be arranged on the upright post. The vertical rod is vertically arranged on the top surface of the equipment body as much as possible. The inclination angle of the vertical rod is controlled within 10 degrees or 20 degrees. The UWB (Ultra Wide Band) ranging and positioning system has high ranging precision and can be used for realizing high-precision positioning (the positioning error can reach about 10 cm). The UWB ranging and positioning system positioning can not be influenced by the texture features of surrounding scenes, is not influenced by illumination intensity, and has higher robustness in UWB positioning and fusion visual positioning. For example, a plurality of UWB base stations are arranged at intervals at the boundaries of the grass to be worked. When the UWB module performs space positioning, the antenna of the UWB module receives signals of a plurality of UWB base stations at the same time. The UWB module arranged on the mowing equipment can identify boundaries based on signals of the UWB base station received by the antenna of the UWB module, and can also position the position of the mowing equipment in the working grassland.

What is needed here is that: referring to fig. 2, the UWB module may be provided with a second acquisition module. The collection end of the second collection module faces the front end side wall of the equipment body 1, and correspondingly, the corresponding position of the front end side wall is hollowed out or provided with a transparent cover.

As shown in fig. 4, the horizontal distance L1 between the signal transceiver antenna 5 and the mowing mechanism 4 is greater than or equal to a third preset distance; wherein, the third preset distance can be any value (including a boundary value) of 100-200 mm. For example, the third preset distance may be 150mm. In the working state, the vertical distance L3 between the top end of the signal receiving and transmitting antenna 5 and the mowing mechanism 4 is larger than or equal to a fourth preset distance; wherein, the fourth preset distance can be any value (including a boundary value) of 100-200 mm. For example, the fourth preset distance may be 150mm. This minimizes the interference source mowing mechanism 4 from reducing the interference to the signal receiving and transmitting antenna without increasing the length of the mower itself.

Specifically, the mowing mechanism 4 may include a mowing motor 41 and a mowing cutter 42; the mowing motor 41 outputs power to drive the mowing cutterhead 42 to operate. The mower motor 41 is located above the mower deck 42. The horizontal distance L1 may be a distance from a center of the horizontal plane projection to a center of the horizontal plane projection of the mowing motor 41 in the operating state of the signal transmitting/receiving antenna 5. The vertical distance L3 may be a distance from the top end of the signal receiving and transmitting antenna 5 to the top of the mowing motor 41, more specifically, a distance from the top end of the signal receiving and transmitting antenna 5 to an intersection point of the output axis of the mowing motor 41 and the top of the mowing motor 41.

The vertical distance L3 between the top end of the signal transceiver antenna 5 and the mowing mechanism 4 is defined to be greater than or equal to a fourth preset distance, and the horizontal distance L1 between the signal transceiver antenna 5 and the mowing mechanism 4 is defined to be greater than or equal to a third preset distance, so that signal interference of a mowing motor on the signal transceiver antenna 5 can be effectively reduced, and signal receiving and transmitting accuracy of the signal transceiver antenna 5 is improved.

As shown in fig. 4 and 5, the device body 1 of the mowing device further comprises a travelling mechanism 6. In the working state, the horizontal distance L2 between the signal receiving and transmitting antenna 5 and the travelling mechanism 6 is larger than or equal to a fifth preset distance; wherein, the fifth preset distance can be any value (including a boundary value) of 50-70 mm. For example, the fifth preset distance may be 60mm. In the working state, the vertical distance L4 between the top end of the signal receiving and transmitting antenna 5 and the travelling mechanism is larger than or equal to a sixth preset distance; wherein, the sixth preset distance can be any value (including a boundary value) of 150-250 mm.

Specifically, the traveling mechanism 6 may include: a drive motor 61 and a travel wheel 62. The driving motor 61 outputs traveling power to drive the traveling wheel 62 to move. Referring to the embodiment shown in fig. 5, the travelling mechanism 6 of the apparatus body may further include a driven wheel, which has no power source, and which may be provided at the bottom front end of the apparatus body 1; the travel wheel 62 may be provided at the bottom rear end of the apparatus body 1. The apparatus body 1 may be provided with two traveling wheels 62, and each traveling wheel 62 is correspondingly connected with a power source, i.e., a driving motor 61. As shown in fig. 4, two drive motors 61 are provided along the traveling wheel axle and between the two traveling wheels 62. The horizontal distance L2 may be a distance from a center of the horizontal plane projection to a power output shaft axis of the driving motor 61 in an operating state of the signal transmitting/receiving antenna 5. The vertical distance L4 may be a vertical distance from the tip of the signal transmitting/receiving antenna 5 to the power output shaft of the driving motor 61.

Similarly, the horizontal distance L2 between the signal transceiver antenna 5 and the travelling mechanism 6 is defined to be greater than or equal to a fifth preset distance, and the vertical distance L4 between the top end of the signal transceiver antenna 5 and the travelling mechanism is defined to be greater than or equal to a sixth preset distance, so that signal interference of the driving motor on the signal transceiver antenna 5 can be effectively reduced, and further signal transceiver accuracy of the signal transceiver antenna 5 is improved.

Still further, as shown in fig. 2 and 5, the apparatus body 1 further includes a battery 7. The battery 7 is positioned between the travelling mechanism 6 of the equipment body 1 and the signal receiving and transmitting antenna 5 along the travelling direction of the equipment body; in the working state, the vertical distance L5 between the top end of the signal receiving and transmitting antenna 5 and the battery 7 is greater than or equal to a seventh preset distance. Wherein, the seventh preset distance can be any value (including a boundary value) of 150-250 mm. Specifically, referring to fig. 5, the vertical distance L5 may be a vertical distance from the top end of the signal receiving and transmitting antenna 5 to the top surface of the battery 7 in the operating state. The battery 7 may be a battery pack with an energy storage (i.e. charging) function, the device body is provided with a charging interface and a charging circuit, the mowing device can move to the base station and be in butt joint with the charging interface of the base station, so that the battery 7 can be charged.

The battery also interferes with the signal receiving and transmitting antenna when discharging, therefore, in this embodiment, the vertical distance L5 between the top end of the signal receiving and transmitting antenna 5 and the battery 7 is limited to be greater than or equal to the seventh preset distance, so that the electromagnetic interference of the battery to the signal receiving and transmitting antenna can be reduced on the premise of making the device body compact as much as possible.

Furthermore, the mowing device provided by the embodiment of the utility model can also be optionally matched with a communication module, such as a 3G communication module, a 4G communication module or a 5G communication module, a WIFI module, a Bluetooth module and the like, which is not limited in this embodiment. For example, as shown in fig. 2, the device body 1 is provided with a mounting groove, and a communication module 8 is detachably mounted in the mounting groove. The communication module 8 is positioned above the battery 7, and a gap L9 is formed between the communication module 8 and the battery 7; wherein the gap L9 is greater than or equal to a set gap value. The set gap value may be any value (including a boundary value) of 5 to 30 mm. For example, the set gap value may be 15mm.

The gap is reserved between the communication module 8 and the battery 7, because heat is generated when the battery is charged and discharged, the gap is favorable for ventilation and cooling, and the adverse effect of high temperature on the communication module is reduced.

As shown in fig. 2, a vertical distance L7 between the communication module 8 and the traveling mechanism 6 of the device body 1 is greater than or equal to an eighth preset distance; wherein, the eighth preset distance can be any value (including a boundary value) of 20-60 mm. For example, the eighth preset distance may be 40mm. Specifically, the vertical distance L7 may be a vertical distance from the lower bottom surface of the communication module 8 to the axis of the output shaft of the driving motor 61 in the traveling mechanism 6.

As shown in fig. 2, a horizontal distance L8 between the communication module 8 and the traveling mechanism 6 of the apparatus body 1 is greater than or equal to a ninth preset distance; wherein, the ninth preset distance can be any value (which can include a boundary value) of 20-60 mm. For example, the ninth preset distance may be 40mm. Specifically, referring to fig. 2, the horizontal distance L8 is a horizontal distance between a side surface of the communication module 8 near the traveling mechanism 6 (i.e., a left side surface of the communication module 8 in fig. 2) and an axis of an output shaft of the driving motor 61 in the traveling mechanism 6.

As shown in fig. 2, a horizontal distance L6 between the communication module 8 and the mowing motor 41 of the mowing mechanism 4 is greater than or equal to a tenth preset distance; wherein, the tenth preset distance can be any value (which can include a boundary value) of 100-200 mm. For example, the tenth preset distance may be 150mm.

In this embodiment, under the condition of not increasing the volume of the whole intelligent mower, that is, ensuring the compact structure of the device body, the communication module 8 is arranged above the battery 7, so that the communication module 8 is far away from the driving motor 61 and the mowing motor 41, the vertical distance L7 between the communication module and the driving motor 61 of the travelling mechanism 6 of the device body 1 is defined to be greater than or equal to an eighth preset distance, the horizontal distance L8 between the communication module 8 and the driving motor 61 of the travelling mechanism 6 of the device body 1 is defined to be greater than or equal to a ninth preset distance, and the horizontal distance L6 between the communication module and the mowing motor 41 is defined to be greater than or equal to a tenth preset distance, so that the interference among the battery, the mowing motor 41, the driving motor 61, the signal receiving-transmitting antenna 5 and the communication module can be effectively reduced.

In the embodiment of the utility model, the first acquisition module is arranged according to the mode shown in fig. 1a, that is, the arrangement scheme that the included angle between the connecting line of the first point on the first acquisition module and the second point on the equipment body and the horizontal plane is larger than or equal to the first set acute angle is adopted, so that the situation that the acquired environmental information is lost due to shielding of the first acquisition module is avoided as much as possible, and the environmental information acquired by the first acquisition module can meet the working requirement of the equipment body. In addition, through limiting the contained angle between the connecting line of the first point on the first acquisition module and the second point on the equipment body and the horizontal plane to be larger than or equal to a first set acute angle, the first acquisition module is not arranged at the top edge of the equipment body, namely, the first acquisition module is a certain distance away from the top edge of the equipment body, and therefore the probability that the first acquisition module is knocked and damaged can be reduced.

Furthermore, in the embodiment of the utility model, the second acquisition module is arranged on the inclined front end side wall, so that the second acquisition module can acquire the information of the ground in front of the equipment body, and meanwhile, the adhesion of dust and rainwater can be reduced, and the information acquisition accuracy of the second acquisition module is improved. In addition, the inclination angle of the front end side wall is limited, namely, the included angle between the front end side wall and the vertical surface is smaller than or equal to a second set acute angle, wherein the second set acute angle is 1-40 degrees (for example, the second set acute angle is 30 degrees), and the collection area of the second collection module is limited to a better collection area when the function of reducing dust and rainwater adhesion can be achieved. If the included angle between the front side wall and the vertical surface is too large, the acquisition area of the second acquisition module is too close to the front end of the equipment body, and collision can occur due to the fact that the speed of the equipment body is too fast when an obstacle is detected. Therefore, in the embodiment of the utility model, the included angle between the front side wall and the vertical surface is limited to be smaller than or equal to a second set acute angle (such as 20 degrees, 30 degrees and the like), the acquisition area of the second acquisition module can be limited to a better acquisition area, the area with a certain distance from the front to the equipment body can be detected, and the braking distance, the obstacle avoidance planning time and the like are reserved for the equipment body.

Still further, the embodiment of the present utility model further defines a positional relationship between the signal transceiver antenna and the mowing mechanism, the travelling mechanism, the battery, and the communication module, so that the signal transceiver antenna is not affected by the above-mentioned interference sources.

Still further, as shown in fig. 4, there may be trees, fences, walls, etc. at the working environment boundary of the mowing apparatus. The signal transmitting/receiving antenna 5 is provided at the rear end of the device body 1 and is biased to one side in order to protect the signal transmitting/receiving antenna from a boundary object such as a tree, fence, cavity, etc. In specific implementation, the signal receiving and transmitting antenna 5 is arranged at the left side or the right side of the rear end of the device body, and the position of the mowing device in boundary operation is required to be determined. For example, if the mowing apparatus is right-side bordering, the signal receiving and transmitting antenna 5 is provided at the left rear end of the top of the apparatus body. If the mowing apparatus is left-side bordering, the signal receiving and transmitting antenna 5 is provided on the right rear side of the top of the apparatus body.

Referring to the embodiment shown in fig. 4, the signal receiving/transmitting antenna 5 is disposed at the left rear end of the top of the apparatus body 1. More specifically, in the working state, the distance C between the signal receiving and transmitting antenna 5 and the left side edge of the device body may be a value (which may include a boundary value) between 50 and 150 mm. For example, C may be 100mm, 102mm, 110mm, etc. In the working state, the distance D between the signal receiving and transmitting antenna 5 and the rear end edge of the device body 1 may be a value (may include a boundary value) between 50mm and 100 mm. For example, D may be 75mm, 80mm, etc.

The first collecting module 2, the second collecting module 3 and the UWB module in this embodiment can cooperate to realize autonomous positioning, obstacle recognition, path planning, boundary recognition and the like of the mowing device. Besides the first acquisition module 2, the second acquisition module 3 and the UWB module, the device body of the mowing device can be provided with sensors such as an IMU (Inertial Measurement Unit, an inertial measurement unit), a wheel speed monitoring unit and the like, and the sensors can also participate in the mowing device, so that the intelligent degree of the mowing device is improved.

In addition, it is to be mentioned that: according to the mowing equipment, the UWB technology is used, so that a boundary line with an identification function is not required to be arranged on the boundary of a work scene of the mowing equipment, the mowing equipment provided by the embodiment of the utility model is borderless mowing equipment, the first acquisition module 2, the second acquisition module 3, the UWB module and the like cooperate together, and the mowing equipment can operate in a preset boundary without installing the boundary line.

The above embodiment is a solution proposed from the perspective of the first acquisition module. The mowing equipment is also provided with a signal receiving and transmitting antenna. The signal transceiver antenna is also known as an acquisition module for receiving signals transmitted from a signal source in a workplace, and/or transmitting signals to a communication object in the workplace, etc., to determine a working boundary, position in the workplace, etc. by receiving the transmitted signals. Therefore, the signal stability of the signal transmitting and receiving antenna and the avoidance of interference are critical. The present utility model provides the following embodiments, which are proposed from the viewpoint of reducing interference to a signal transmitting/receiving antenna. As shown in fig. 2, 4 and 5, another embodiment of the present utility model provides a schematic structural diagram of a mowing apparatus, as shown in fig. 2, 4 and 5:

The mowing apparatus comprises an apparatus body 1; the device body 1 is provided with a mowing mechanism 4, a traveling mechanism 6 and a battery 7. The signal transmitting/receiving antenna 5 is provided on the top of the apparatus body 1. The front end and the rear end of the apparatus body 1 can be determined according to the traveling direction of the apparatus body 1. That is, when the device body 1 advances forward, the forward end portion, that is, the front end of the device body 1; the other end is the rear end of the apparatus body 1. The mowing mechanism 4, the travelling mechanism 5, the battery 7, and the signal transmitting/receiving antenna 5 are provided in this order from the front end to the rear end of the apparatus body 1.

In order to reduce signal interference of the mowing mechanism 4 to the signal receiving and transmitting antenna, as shown in fig. 4, in the working state, a horizontal distance L1 between the signal receiving and transmitting antenna 5 and the mowing motor 41 of the mowing mechanism 4 is greater than or equal to a third preset distance, and the third preset distance is 100-200 mm. In the working state, the vertical distance L3 between the top end of the signal receiving and transmitting antenna 5 and the mowing motor 41 of the mowing mechanism 4 is greater than or equal to a fourth preset distance, and the fourth preset distance is 100-200 mm.

In specific implementation, the signal receiving and transmitting antenna comprises an upright rod and an antenna of the UWB module. The antenna of the UWB module is arranged on the upright post. In practical application, the antenna of the UWB module can be arranged at the top of the upright post.

As shown in fig. 4 and 5, in the working state, the horizontal distance L2 between the signal receiving and transmitting antenna 5 and the driving motor 61 of the travelling mechanism 6 is greater than or equal to a fifth preset distance, and the fifth preset distance is 50-70 mm; in the working state, the vertical distance L4 between the top end of the signal receiving and transmitting antenna 5 and the driving motor 61 of the travelling mechanism 6 is greater than or equal to a sixth preset distance, and the sixth preset distance is 150-250 mm.

In the working state, the vertical distance L5 between the top end of the signal receiving and transmitting antenna 5 and the battery 7 is larger than or equal to a seventh preset distance; wherein the seventh preset distance is 150-250 mm.

Further, the mowing device may further be optionally provided with a communication module 8, such as a 3G communication module, a 4G communication module, a 5G communication module, a WIFI module, a bluetooth module, etc., which is not limited in this embodiment. As shown in fig. 2 and 5, the apparatus body 1 is provided with a mounting groove. And the communication module 8 is detachably arranged in the mounting groove.

The communication module 8 is positioned above the battery 7, and a gap is reserved between the communication module 8 and the battery 7; wherein the gap is greater than or equal to a set gap value; the set gap value is 5-30 mm.

As shown in fig. 5, the vertical distance L4 between the communication module 8 and the driving motor 61 of the traveling mechanism 6 of the apparatus body 1 is greater than or equal to an eighth preset distance; wherein the eighth preset distance is 20-60 mm.

As shown in fig. 2, the horizontal distance L8 between the communication module 8 and the driving motor 61 of the traveling mechanism 6 of the apparatus body 1 is greater than or equal to a ninth preset distance; wherein the ninth preset distance is 20-60 mm.

As shown in fig. 2, a horizontal distance L6 between the communication module 8 and the mowing motor 41 of the mowing mechanism 4 is greater than or equal to a tenth preset distance; wherein the tenth preset distance is 100-200 mm.

Still further, as shown in fig. 4, the signal receiving-transmitting antenna is disposed at the left rear portion of the top of the apparatus body.

What needs to be explained here is: the relative positional relationships of the signal transceiver antenna, the mowing mechanism, the travelling mechanism, the battery and the communication module, and the specific implementation structure can be referred to the corresponding descriptions above, and the detailed descriptions are omitted here.

The mowing device is additionally provided with a communication module, so that the mowing device can be in communication connection with external devices, such as a base station, a user terminal (such as a computer, a mobile phone, intelligent wearing equipment and the like), a cloud end, a server and the like. And the external equipment is in communication connection with the mowing equipment, can acquire working parameters (such as electric quantity, working mode and the like) of the mowing equipment, and can also send an instruction to the mowing equipment to control the mowing equipment to execute corresponding tasks and the like.

In addition, the embodiment scheme can be further extended to other robots besides mowing equipment. Namely, the utility model also provides a corresponding embodiment of the robot. The robot may comprise an equipment body provided with an actuator. The first collection module is arranged at the top of the equipment body and used for collecting environmental information. Wherein, the first acquisition module is provided with a first point, and the top surface of the equipment body is provided with a second point; the top surface of the equipment body is positioned below a horizontal plane passing through the first point, and an included angle between a connecting line of the first point and the second point and the horizontal plane is larger than or equal to a first set acute angle.

The utility model also provides a robot, which comprises the equipment body. The device body is provided with an executing mechanism, a travelling mechanism and a battery. And the signal receiving and transmitting antenna is arranged at the top of the equipment body. The actuating mechanism, the travelling mechanism, the battery and the signal receiving and transmitting antenna are sequentially arranged from the front end to the rear end of the equipment body.

What is needed here is that: the contents of the first acquisition module, the signal transceiver antenna, the travelling mechanism, the battery, etc. in the above-mentioned robot embodiment can be referred to above, and the description thereof is omitted herein. In addition, the robot embodiments may also include a second collection module, a communication module, and the like, and the content of the second collection module and the communication module, and the relative positional relationship between the modules and the mechanism on the device body can be referred to as above.

The type of robot may vary, and the specific implementation of the actuator may vary. For example, the robot is a cleaning robot, and the actuator may include, but is not limited to: rolling brushes, rags, etc. The robot is a mowing robot, and the execution structure can be a mowing mechanism. The robot may be an industrial robot or a service robot, and the actuator may be a mechanical arm or the like.

The technical scheme provided by the embodiment of the utility model is explained below in connection with a specific application scene.

The mowing robot comprises a first collecting module, a second collecting module, a UWB module, a communication module, a mowing mechanism and a travelling mechanism. The antenna of UWB module sets up in the pole setting of mowing robot equipment body left rear end. The first acquisition module comprises a panoramic camera. The second acquisition module comprises a fisheye camera and a TOF module (a transmitting end and a receiving end).

UWB module on the robot that mows is through the UWB basic station communication of working area boundary department location and discernment boundary. The pole of the UWB module antenna is disposed at a position shown in fig. 4, so that the pole is prevented from being affected by an interfering object (such as a tree, fence, etc.).

The panoramic camera is used for collecting images around the robot, and the images collected by the panoramic camera can be used for positioning the mowing robot and the like. The panoramic camera sets up in the position department as shown in fig. 1a, can not be sheltered from, can also avoid simultaneously colliding with.

The second acquisition module is used for acquiring images of the ground in front of the robot. The image acquired by the second acquisition module can be used for obstacle recognition and the like. The second collection module is arranged at the position shown in fig. 2, so that the attachment of dust, rainwater and the like can be reduced, a more proper ground area can be collected, obstacle avoidance and braking time is reserved for the robot, and the running safety of the robot is ensured.

The relative positional relationship among the antenna of the UWB module, the communication module, the mowing mechanism and the advancing mechanism, as shown in fig. 4 and 5, can reduce interference between the electrical elements while ensuring that the overall structure of the robot is small and compact.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present utility model, and are not limiting; although the utility model has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present utility model.

Claims

1. An intelligent mowing apparatus, comprising:

2. The intelligent mowing apparatus of claim 1, wherein the first set acute angle is between 5 and 15 degrees.

3. The intelligent mowing apparatus of claim 1, wherein the first collection module further comprises a third point and the top surface of the apparatus body further comprises a fourth point;

wherein the second set acute angle is 5-15 degrees.

4. A smart grass cutting apparatus as claimed in any one of claims 1 to 3, wherein the horizontal distance between the first point and the second point is less than or equal to a first preset distance; wherein the first preset distance is 10-200 mm;

5. The intelligent mowing apparatus of any one of claims 1 to 3, further comprising a second acquisition module;

the second acquisition module is arranged on the side wall of the front end;

6. A smart grass cutting apparatus as claimed in any one of claims 1 to 3, further comprising a signal transceiving antenna;

7. The intelligent mowing apparatus of claim 6, wherein the apparatus body further comprises a travel mechanism;

8. The intelligent mowing apparatus of claim 7, wherein the apparatus body further comprises a battery;

9. The intelligent mowing apparatus of claim 8, wherein the apparatus body further comprises a communication module;

10. An intelligent mowing apparatus, comprising:

the device body is provided with a front end and a rear end;

the battery is used for storing energy and providing electric energy;

11. The intelligent mowing apparatus of claim 10, wherein in the signal transceiving antenna operational state:

12. The intelligent mowing apparatus according to claim 10 or 11, wherein,

the communication module is positioned above the battery, and a gap is reserved between the communication module and the battery; wherein the gap is 5-30 mm;

13. The intelligent mowing apparatus according to claim 10 or 11, wherein in the signal transceiving antenna operating state: