WO2021098382A1 - 智能割草机 - Google Patents

智能割草机 Download PDF

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Publication number
WO2021098382A1
WO2021098382A1 PCT/CN2020/118102 CN2020118102W WO2021098382A1 WO 2021098382 A1 WO2021098382 A1 WO 2021098382A1 CN 2020118102 W CN2020118102 W CN 2020118102W WO 2021098382 A1 WO2021098382 A1 WO 2021098382A1
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WO
WIPO (PCT)
Prior art keywords
cutting module
lawn mower
chassis
module
cutting
Prior art date
Application number
PCT/CN2020/118102
Other languages
English (en)
French (fr)
Inventor
杜江
陈鹏
Original Assignee
苏州宝时得电动工具有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN201911142672.5A external-priority patent/CN112823584A/zh
Priority claimed from CN201922018248.1U external-priority patent/CN211531846U/zh
Application filed by 苏州宝时得电动工具有限公司 filed Critical 苏州宝时得电动工具有限公司
Publication of WO2021098382A1 publication Critical patent/WO2021098382A1/zh

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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
    • A01D34/404—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having cutters driven to oscillate in a horizontal plane
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
    • A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
    • A01D34/63—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
    • A01D34/64—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis mounted on a vehicle, e.g. a tractor, or drawn by an animal or a vehicle
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
    • A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
    • A01D34/63—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
    • A01D34/82—Other details

Definitions

  • This application relates to the technical field of household appliances, and in particular to an intelligent lawn mower.
  • the intelligent lawn mower has the function of automatic walking, preventing collisions, preventing the line from going out within the range, automatically returning to charging, with safety detection and battery power detection, with a certain climbing ability, especially suitable for family courtyards, public green spaces and other places to lawn Pruning maintenance. It can complete the work of mowing the lawn autonomously, without direct human control and operation, and has low power, low noise, Vietnamese and beautiful appearance, and greatly reduces manual operation.
  • the smart lawn mower needs to repeatedly pass through the same area to ensure the mowing effect in the area, which wastes a lot of time, resulting in low mowing efficiency of the intelligent lawn mower.
  • the present application provides an intelligent lawn mower, which has high mowing efficiency.
  • An intelligent lawn mower which moves and works in a working area, is characterized by comprising: a chassis; a drive module; a control module; a cutting module, the cutting module is connected to the chassis, the The cutting module is rotatable relative to the chassis, and the control module controls the reciprocating movement of the cutting module relative to the chassis.
  • the cutting module by constructing the cutting module as a structure that can rotate and move relative to the chassis, when the intelligent lawn mower is running, the cutting module that rotates relative to the chassis and moves back and forth can increase the cutting capacity of the intelligent lawn mower. Grass range, which can improve the cutting efficiency of the smart lawn mower.
  • the chassis has a first position and a second position, and the control module controls the cutting module to move back and forth between the first position and the second position.
  • the moving speed of the chassis is V
  • the time for the cutting module to complete a round-trip movement between the first position and the second position is t
  • the diameter of the cutting module is D, wherein, Vt ⁇ D.
  • the lateral distance between the first position and the second position is greater than the width of the chassis.
  • control module controls the cutting module to stop moving or reduce the moving range.
  • the smart lawn mower includes an obstacle detection module for detecting obstacles in the width direction; the control module controls the cutting module to stop moving or reduce the moving range based on the detection signal of the obstacle detection module.
  • the cutting module is adapted to the sliding rail, and the cutting module moves along the sliding rail.
  • the sliding rail extends along a straight line or a circular arc line.
  • the chassis has a sliding groove, and the cutting module is movable along the sliding groove.
  • the sliding groove extends along a straight line or a circular arc line.
  • the sliding groove extends along an arc line
  • the smart lawn mower includes a swing rod, one end of the swing rod is connected to the chassis, and the swing rod can swing around the end of the swing rod , The other end of the pendulum rod is connected with the cutting module.
  • the driving module includes a driving motor, and the driving motor is connected with the pendulum rod to drive the pendulum rod to swing.
  • the smart lawn mower includes a protective cover for protecting the cutting module, and the protective cover and the cutting module are relatively stationary.
  • the cutting module includes a cutter head mounted with a blade, and the cutter head is rotatable relative to the chassis.
  • Fig. 1 is a schematic structural diagram of an intelligent lawn mower according to an embodiment of the present application
  • Fig. 2 is a schematic diagram of the movement path of the cutter head relative to the ground when the smart lawn mower is working according to an embodiment of the present application.
  • Chassis 10 first position 11, second position 12, slide rail 13,
  • the cutting module 20 the cutter head 21, the swing rod 30, and the shield 40.
  • the smart lawn mower 100 according to an embodiment of the present application will be described below with reference to FIGS. 1 to 2.
  • the intelligent lawn mower 100 includes: a chassis 10, a driving module, a control module, and a cutting module 20.
  • the cutting module 20 is linked to the chassis 10, the cutting module 20 is rotatable relative to the chassis 10, and the control module controls the cutting module 20 to move back and forth relative to the chassis 10.
  • the drive module can be used to drive the cutting module 20 to rotate relative to the chassis 10, so that the cutting module 20 can implement cutting actions, so that the cutting module 20 can cut grass, and the drive module can also drive smart cutting through the drive module.
  • the lawn mower 100 moves, so as to cut the grass along with the movement of the intelligent lawn mower 100.
  • control module can control the cutting module 20 to move back and forth relative to the chassis 10, so that the cutting module 20 can mowing the area covered by the cutting module 20 along the movement path of the back and forth movement.
  • the mowing area of the smart lawn mower 100 can be increased, and the mowing efficiency of the smart lawn mower 100 can be improved.
  • the area covered by the cutting module 20 can be reasonably increased. Under the condition that the movement path of the smart lawn mower 100 is fixed, since the cutting module 20 can move back and forth, the area covered by the cutting module 20 corresponding to the movement of the smart lawn mower 100 is large, so that the smart lawn mower 100 can be improved. Efficiency of mowing.
  • the movement direction of the cutting module 20 relative to the chassis 10 is not collinear or parallel to the traveling direction of the smart lawn mower 100, that is, both exist. A certain angle.
  • the cutting module 20 by configuring the cutting module 20 as a structure that can rotate and move relative to the chassis 10, when the intelligent lawn mower 100 is running, the cutting module 20 rotates relative to the chassis 10 and moves back and forth.
  • the mowing range of the smart lawn mower 100 can be increased, so that the mowing efficiency of the smart lawn mower 100 can be improved.
  • the chassis 10 has a first position 11 and a second position 12, and the control module controls the cutting module 20 to move back and forth between the first position 11 and the second position 12.
  • the “reciprocal movement” refers to: the cutting module 20 moves from the first position 11 to the second position 12, and then moves from the second position 12 to the first position 11.
  • the initial position of the cutting module 20 is not limited to the first position 11 or the second position 12.
  • the initial position of the cutting module 20 can be any position between the first position 11 and the second position 12, that is, on the reciprocating movement path. Any position of.
  • the cutting module 20 when the smart lawn mower 100 is running, as the smart lawn mower 100 moves, the cutting module 20 also moves back and forth between the first position 11 and the second position 12 relative to the chassis 10, and the cutting module 20 relative to the chassis 10
  • the movement path of 10 intersects the traveling direction of the cutting intelligent lawn mower 100.
  • the mowing range of the smart lawn mower 100 can be increased, and the mowing efficiency of the smart lawn mower 100 can be improved.
  • the moving speed of the chassis 10 is V
  • the time for the cutting module 20 to complete a round-trip movement between the first position 11 and the second position 12 is t
  • the diameter of the cutting module 20 is D, where , Vt ⁇ D.
  • t refers to the time for the cutting module 20 to move for one movement cycle.
  • Vt is the displacement of the movement of the chassis 10 when the cutting module 20 moves for one movement period. The displacement needs to be less than or equal to the diameter D of the cutting module 20, which can prevent the chassis 10 from moving too fast and causing the cutting module 20 to have an unsatisfactory mowing effect. .
  • the “unsatisfactory mowing effect” of the cutting module 20 means that there is a large amount of uncut grass on the route of the smart lawn mower 100.
  • the cutting module 20 can fully contact the grass routed by the smart lawn mower 100, thereby ensuring the mowing effect of the smart lawn mower 100.
  • the lateral distance between the first position 11 and the second position 12 is greater than the width of the chassis 10.
  • the width of the area covered by the cutting module 20 is greater than the width of the chassis 10, so that the cutting module 20 can pass through the cutting module 20 when the intelligent lawn mower 100 is traveling. Fully clean up the area where the smart lawn mower 100 passes.
  • the volume of the cutting module 20 is reasonably reduced, thereby satisfying the requirement for the small-volume cutting module 20 Design requirements with large cutting width.
  • the cutting module 20 occupies a small space in the smart lawn mower 100, which is convenient for adjusting the volume of the smart lawn mower 100, so that the smart lawn mower 100 can pass through a narrow passage.
  • control module controls the cutting module 20 to stop moving or reduce the moving range, thereby preventing the cutting module 20 from contacting the channel wall or surrounding foreign objects, thereby improving the smart lawn mower 100 Safety and reliability at work.
  • the smart lawn mower 100 includes an obstacle detection module, and the obstacle detection module is used to detect obstacles in the width direction. It is understandable that the cutting module 20 moves back and forth in the width direction of the smart lawn mower 100, so obstacles on its path need to be detected to effectively prevent the cutting module 20 from contacting the obstacles to facilitate cutting The module 20 protects and improves the safety of the smart lawn mower 100 when it is working.
  • the control module controls the cutting module 20 to stop moving or reduce the moving range, so that the working mode of the cutting module 20 can be adjusted in time to prevent the cutting module 20 from contacting the obstacle.
  • the problem of damage due to contact occurs, and the safety of the smart lawn mower 100 when working is improved.
  • the area corresponding to the detection action of the obstacle detection module corresponds to the area that the cutting module 20 has not reached, and it is determined whether the cutting module 20 will contact the obstacle according to the operation mode of the cutting module 20. If contact occurs, the control module The cutting module 20 will be controlled to perform the above actions.
  • the control module controls the cutting module 20 to stop moving or reduce the moving range. In this way, the working mode of the cutting module 20 can be adjusted in time to prevent the problem of damage to the cutting module 20 due to contact with obstacles, and to improve the safety of the smart lawn mower 100 during operation.
  • the cutting module 20 runs at a high speed during operation and performs reciprocating motion in the width direction, thereby leaving a certain distance between the cutting module 20 and the obstacle, which can effectively lift the cutting module 20 when it is working. Security.
  • the obstacle detection module includes a sensor, which can collect position information of the objects around the smart lawn mower 100 relative to the smart lawn mower 100 and feed it back to the control module.
  • the control module can adjust the working mode of the cutting module 20. For example, when the smart lawn mower 100 is located in a narrow channel, in order to prevent the cutting module 20 from contacting the channel wall, the moving range of the cutting module 20 between the first position 11 and the second position 12 can be reasonably reduced. The cutting module 20 is stopped as required, so that the cutting module 20 no longer moves relative to the chassis 10. As a result, the safety of the smart lawn mower 100 during operation can be improved, and at the same time, the cutting module 20 can be well protected.
  • the smart lawn mower 100 can judge its surrounding environment and terrain based on the loaded map information.
  • the detection method of the smart lawn mower 100 is not limited to this, and the surrounding environment can be detected in a variety of ways.
  • the cutting module 20 is adapted to the sliding rail 13, and the cutting module 20 moves along the sliding rail 13.
  • the sliding rail 13 has a good guiding effect on the movement of the cutting module 20.
  • the sliding rail 13 can improve the stability of the cutting module 20 when moving relative to the chassis 10, thereby improving the reliability of the smart lawn mower 100 during operation.
  • the sliding rail 13 extends along a straight line or a circular arc line, so that the cutting module 20 can move relative to the chassis 10 along a straight line or a circular arc line.
  • the straight line where the sliding rail 13 is located has an angle with the traveling direction of the smart lawn mower 100, or the arc line where the sliding rail 13 is located crosses the traveling direction of the smart lawn mower 100.
  • the slide rail 13 extends along the width direction of the chassis 10, so that when the cutting module 20 moves along the slide rail 13, the width of the smart lawn mower 100 can be increased, so that the smart lawn mower 100 can be improved. Efficiency of mowing.
  • the chassis 10 has a sliding groove, and the cutting module 20 is movable along the sliding groove.
  • the sliding groove has a good guiding effect on the movement of the cutting module 20.
  • the cutting module 20 can be lifted relative to the chassis by setting the sliding groove. 10 Stability when moving, thereby improving the reliability of the smart lawn mower 100 when working.
  • the sliding groove extends in a straight line direction or a circular arc line direction, so that the cutting module 20 can move relative to the chassis 10 in a straight line direction or a circular arc line direction.
  • the straight line where the chute is located has an angle with the traveling direction of the smart lawn mower 100, or the arc line where the chute is located crosses the traveling direction of the smart lawn mower 100.
  • the smart lawn mower 100 also includes a swing rod 30.
  • One end of the swing rod 30 is connected to the chassis 10, and the swing rod 30 is swingably arranged around its end connected to the chassis 10 , The other end of the pendulum rod 30 is connected to the cutting module 20.
  • the cutting module 20 connected to the pendulum bar 30 can move relative to the chassis 10 along with the swing of the pendulum bar 30.
  • the cutting module 20 can rotate around its end connected to the swing bar 30, so that the cutting module 20 can complete the mowing action. While the cutting module 20 swings with the swing bar 30, the cutting module 20 can rotate, that is, the cutting module 20 can complete mowing while swinging.
  • the driving module further includes a driving motor, and the driving motor is connected with the swing rod 30 to drive the swing rod 30 to swing.
  • the movement process of the driving motor driving the pendulum rod 30 is highly reliable, and the stability of the cutting module 20 when the pendulum rod 30 is moved can be guaranteed.
  • the smart lawn mower 100 further includes a shield 40 for protecting the cutting module 20, and the shield 40 and the cutting module 20 are relatively stationary, so that the shield 40 can be connected to the cutting module 20.
  • the synchronous movement relative to the chassis 10 prevents the cutting module 20 from contacting with hard objects on the ground and damaging the cutting module 20.
  • the two shields 40 are arranged on both sides of the first position 11 and the second position 12 at intervals along the width direction of the chassis 10.
  • the shield 40 can provide a good effect on the cutting module 20. Protective effects.
  • the cutting module 20 includes a cutter head 21 on which a blade is installed.
  • the cutter head 21 is rotatable relative to the chassis 10 so that the cutter head 21 can drive the blade to rotate relative to the chassis 10 to realize the cutting action of the cutting module 20.
  • the cutting module 20 can move back and forth between the first position 11 and the second position 12 relative to the chassis 10, so as to meet the cutting requirements of the small-volume cutting module 20 and the large cutting width, and
  • the intelligent lawn mower 100 has a large cutting coverage area, and can fully cut grass on the ground, thereby improving the working efficiency of the intelligent lawn mower 100.

Abstract

一种智能割草机（100），智能割草机（100）在工作区域内移动和工作，包括：底盘（10）、驱动模块、控制模块和切割模块（20）。切割模块（20）与底盘（10）连接，切割模块（20）相对于底盘（10）可转动，控制模块控制切割模块（20）相对底盘（10）往返移动。

Description

智能割草机
本申请要求了申请日为2019年11月20日，申请号为201911142672.5和201922018248.1的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及生活电器技术领域，尤其是涉及一种智能割草机。
背景技术
智能割草机具有自动行走功能，防止碰撞，范围之内防止出线，自动返回充电，具备安全检测和电池电量检测，具备一定爬坡能力，尤其是一种适合家庭庭院、公共绿地等场所进行草坪修剪维护。能自主的完成修剪草坪的工作，无须人为直接控制和操作，且功率低、噪音小、外形精巧美观，大幅度降低人工操作。
相关技术中，智能割草机需要重复途径相同的区域以保证对该区域的割草效果，浪费大量时间，导致智能割草机的割草效率低。
发明内容
本申请提供一种智能割草机，所述智能割草机的割草效率高。
根据本申请实施例的一种智能割草机，在工作区域内移动和工作，其特征在于，包括：底盘；驱动模块；控制模块；切割模块，所述切割模块与所述底盘连接，所述切割模块相对于所述底盘可转动，控制模块控制切割模块相对于底盘往返移动。
根据本申请的智能割草机，通过将切割模块构造为可以相对底盘转动以及移动的结构，在智能割草机运行时，相对底盘转动并做往返移动的切割模块可以增加智能割草机的割草范围，从而可以提高智能割草机的割草效率。
进一步地，所述底盘具有第一位置和第二位置，控制模块控制所述切割模块在所述第一位置和第二位置之间往返移动。
进一步地，所述底盘的移动速度为V，所述切割模块在所述第一位置和所述第二位置之间完成一个来回的移动时间为t，所述切割模块的直径为D，其中，Vt≤D。
进一步地，所述第一位置和所述第二位置的横向距离大于所述底盘宽度。
进一步地，若所述智能割草机位于狭窄通道时，所述控制模块控制所述切割模块停止移动或减小移动范围。
进一步地，所述智能割草机包括障碍检测模块，用于检测宽度方向上的障碍；所述控制模块基于所述障碍检测模块的检测信号控制切割模块停止移动或减小移动范围。
进一步地，所述第一位置和所述第二位置之间具有滑轨，所述切割模块与所述滑轨相适配，且所述切割模块沿所述滑轨移动。
进一步地，所述滑轨沿直线方向或圆弧线延伸。
进一步地，所述底盘具有滑槽，所述切割模块沿所述滑槽可移动。
进一步地，所述滑槽沿直线方向或圆弧线延伸。
进一步地，所述滑槽沿圆弧线延伸，所述智能割草机包括摆杆，所述摆杆的一端与所述底盘连接，所述摆杆围绕所述摆杆的所述一端可摆动，所述摆杆的另一端与所述切割模块连接。
进一步地，所述驱动模块包括：驱动电机，所述驱动电机与所述摆杆连接以驱动所述摆杆摆动。
进一步地，所述智能割草机包括护罩，用于防护所述切割模块，所述护罩与所述切割模块相对静止。
进一步地，所述切割模块包括安装刀片的刀盘，所述刀盘相对于所述底盘可转动。
本申请的附加方面和优点将在下面的描述中部分给出，部分将从下面的描述中变得明显，或通过本申请的实践了解到。
附图说明
本申请的上述和/或附加的方面和优点从结合下面附图对实施例的描述中将变得明显和容易理解，其中：
图1是根据本申请实施例的智能割草机的结构示意图；
图2是根据本申请实施例的智能割草机工作时的刀盘相对地面的运动路径示意图。
附图标记：
智能割草机100、
底盘10、第一位置11、第二位置12、滑轨13、
切割模块20、刀盘21、摆杆30、护罩40。
具体实施方式
下面详细描述本申请的实施例，所述实施例的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施例是示例性的，仅用于解释本申请，而不能理解为对本申请的限制。
下面参考图1-图2描述根据本申请实施例的智能割草机100。
根据本申请实施例的智能割草机100包括：底盘10、驱动模块、控制模块和切割模块20。
其中，切割模块20与底盘10链接，切割模块20相对于底盘10可转动，控制模块控制切割模块20相对于底盘10往返移动。
需要说明的是，驱动模块可以用于驱动切割模块20相对底盘10转动，从而切割模块20可以实现切割动作，以通过切割模块20可以对草进行切割，同时驱动模块还可以通过驱动模块驱动智能割草机100移动，从而随着智能割草机100的移动对草进行切割。
进一步地，控制模块可以控制切割模块20相对底盘10往返移动，从而切割模块20可以沿着其往返移动时的运动路径对其所覆盖区域进行割草动作。由此，可以增加智能割草机100的割草面积，提高智能割草机100的割草效率。
当智能割草机100相对地面运动且切割模块20相对底盘10进行往返移动时，可以合理地增加切割模块20覆盖的区域面积。在智能割草机100运动的路径一定的情况下，由于切割模块20可以进行往返移动，切割模块20随着智能割草机100运动所对应覆盖的区域面积大，从而可以提高智能割草机100的割草效率。
需要说明的是，为了保证切割模块20可以提高智能割草机100的割草效率，切割模块20相对底盘10的运动方向与智能割草机100的行进方向不共线或平行，即二者存在一定的夹角。
根据本申请实施例的智能割草机100，通过将切割模块20构造为可以相对底盘10转动以及移动的结构，在智能割草机100运行时，相对底盘10转动并做往返移动的切割模块20可以增加智能割草机100的割草范围，从而可以提高智能割草机100的割草效率。
在本申请的一些实施例中，底盘10具有第一位置11和第二位置12，控制模块控制切割模块20在第一位置11和第二位置12之间往返移动。
可以理解的是，“往返移动”指的是：切割模块20由第一位置11运动至第二位置12，再由第二位置12运动至第一位置11。但并不限定切割模块20的初始位置位于第一位置11或第二位置12，切割模块20的初始位置可以是第一位置11和第二位置12之间的任一位置，即往返移动路径上的任一位置。
进一步地，当智能割草机100运行，随着智能割草机100的行进，切割模块20也相对于底盘10在第一位置11和第二位置12之间往返移动，切割模块20相对于底盘10的运动路径与切割智能割草机100的行进方向交叉。由此，可以增加智能割草机100的割草范围，提高智能割草机100的割草效率。
在本申请的一些实施例中，底盘10的移动速度为V，切割模块20在第一位置11和第二位置12之间完成一个来回的移动时间为t，切割模块20的直径为D，其中，Vt≤D。
其中，当切割模块20由第一位置11运动至第二位置12并再次运动至第一位置11为一个运动周期，也可以理解为，切割模块20在第一位置11和第二位置12内的任一位置运动至第一位置11后再运动至第二位置12并回位至初始位置的运动过程为一个运动周期。t指的是切割模块20运动一个运动周期的时间。Vt为切割模块20运动一个运动周期时的底盘10运动的位移，该位移需要小于等于切割模块20的直径D，由此可以防止由于底盘10行进过快而导致切割模块20的割草效果不理想。
需要说明的是，切割模块20的“割草效果不理想”指的是，在智能割草机100行进的路线上存在大量未被切割的草。当满足关系式Vt≤D时，切割模块20可以与智能割草机100途径的草充分接触，从而保证智能割草机100的割草效果。
在本申请的一些实施例中，第一位置11和第二位置12的横向距离大于底盘10的宽度。当切割模块20在第一位置11和第二位置12之间做往复运动时，切割模块20覆盖区域的宽度大于底盘10的宽度，从而在智能割草机100行进过程中，可以通过切割模块20对智能割草机100途径的区域进行充分地清理。
由此，在满足切割模块20具有大切割宽度(即第一位置11和第二位置12之间的横向距离)的前提下，合理地减小切割模块20的体积，从而满足小体积切割模块20具有大切割宽度的设计需求。同时，切割模块20在智能割草机100中占用空间小，便于对智能割草机100的体积进行调节，使得智能割草机100可以通过狭窄的通道。
进一步地，若智能割草机100位于狭窄通道时，控制模块控制切割模块20停止移动或减小移动范围，由此可以防止切割模块20与通道壁或周边异物接触，从而提升智能割草机100工作时的安全性、可靠性。
在本申请的一些实施例中，智能割草机100包括障碍检测模块，障碍检测模块用于检测宽度方向上的障碍。可以理解的是，切割模块20在智能割草机100的宽度方向做往返运动，由此需要对其路径上的障碍物进行检测，以有效地防止切割模块20与障碍物接触，以便于对切割模块20保护，提升智能割草机100工作时的安全性。
进一步地，若障碍检测模块检测到切割模块20接触障碍，控制模块控制切割模块20停止移动或减小移动范围，从而可以及时地对切割模块20的工作方式进行调节，以防止切割模块20与障碍接触而损坏的问题发生，提升智能割草机100工作时的安全性。
需要说明的是，障碍检测模块的检测动作对应的区域是与切割模块20未到达区域对应的，并根据切割模块20运行的方式判断切割模块20是否会与障碍接触，如果会发生接触，控制模块将控制切割模块20执行上述动作。
进一步地，若障碍检测模块检测到障碍的距离小于预设距离，控制模块控制切割模块20停止移动或减小移动范围。由此，可以及时地对切割模块20的工作方式进行调节，以防止切割模块20与障碍接触而损坏的问题发生，提升智能割草机100工作时的安全性。
具体地，切割模块20在运行过程中是处于高速运转并在宽度方向做往返运动的，由此将切割模块20与障碍之间预留出一定的距离，可以有效地提升切割模块20在工作时的安全性。
具体地，障碍检测模块包括：传感器，传感器可以对智能割草机100周围的物体相对智能割草机100的位置信息进行采集，并反馈至控制模块。相应地，控制模块可以调节切割模块20的工作方式。如：当智能割草机100位于狭窄通道内时，为防止切割模块20与通道壁接触，可以合理地减小切割模块20在第一位置11和第二位置12之间的移动范围，也可以根据需求停止切割模块20，使得切割模块20不再相对底盘10运动。由此，可以提升智能割草机100工作时的安全性，同时还可以对切割模块20起到良好的保护作用。
可选地，智能割草机100可以通过加载的地图信息对其周边的环境以及地形判断。当然，智能割草机100的检测方式并不局限于此，可以通过多种方式对周围环境进行检测。
在本申请的一些实施例中，第一位置11和第二位置12之间具有滑轨13，切割模块20与滑轨13相适配，而且切割模块20沿滑轨13移动。滑轨13对切割模块20的运动具有良好的导向作用，通过设置滑轨13可以提升切割模块20相对底盘10移动时的稳定性，从而提升智能割草机100工作时的可靠性。
进一步地，滑轨13沿直线方向或圆弧线延伸，从而切割模块20可以沿直线方向或圆弧线方向相对底盘10移动。其中滑轨13所在直线与智能割草机100的行进方向具有夹角，或者滑轨13所在的圆弧线与智能割草机100的行进方向交叉。
可以理解的是，滑轨13沿底盘10的宽度方向延伸，由此当切割模块20沿着滑轨 13移动时，可以增加智能割草机100割草的宽度，从而可以提高智能割草机100的割草效率。
在本申请的另一些实施例中，底盘10具有滑槽，切割模块20沿滑槽可移动，滑槽对切割模块20的运动具有良好的导向作用，通过设置滑槽可以提升切割模块20相对底盘10移动时的稳定性，从而提升智能割草机100工作时的可靠性。
进一步地，滑槽沿直线方向或圆弧线方向延伸，从而切割模块20可以沿直线方向或圆弧线方向相对底盘10移动。其中滑槽所在直线与智能割草机100的行进方向具有夹角，或者滑槽所在的圆弧线与智能割草机100的行进方向交叉。由此可以增加智能割草机100割草的切割宽度，提高智能割草机100的割草效率。
如图1所示，滑槽沿圆弧线延伸，智能割草机100还包括摆杆30，摆杆30的一端与底盘10连接，摆杆30围绕其与底盘10相连的一端可摆动的布置，摆杆30的另一端与切割模块20相连。当摆杆30相对底盘10摆动时，与摆杆30相连的切割模块20可以随着摆杆30的摆动相对底盘10移动。
进一步地，切割模块20可以绕其与摆杆30相连的一端转动，从而切割模块20可以完成割草动作，在切割模块20随着摆杆30摆动的同时，切割模块20可以转动，即切割模块20在摆动的同时可以完成割草动作。
在本申请进一步的实施例中，驱动模块还包括驱动电机，驱动电机与摆杆30连接以驱动摆杆30摆动。驱动电机驱动摆杆30的运动过程可靠性高，可以保证切割模块20随摆杆30运动时的稳定性。
在本申请的一些实施例中，智能割草机100还包括护罩40，护罩40用于防护切割模块20，护罩40与切割模块20相对静止，由此护罩40可以与切割模块20同步相对底盘10运动，防止切割模块20与地面的坚硬物体接触而损坏切割模块20。
可选地，护罩40为两个，两个护罩40沿底盘10的宽度方向间隔布置在第一位置11和第二位置12的两侧，护罩40可以对切割模块20起到良好的保护作用。
可以理解的是，当第一位置11和第二位置12之间的宽度大于底盘10的宽度时，切割模块20将伸出底盘10，护罩40可以对切割模块20进行保护，
如图1所示，切割模块20包括安装刀片的刀盘21，刀盘21相对底盘10可转动，从而刀盘21可以带动刀片相对底盘10转动，实现切割模块20的切割动作。
根据本申请实施例的智能割草机100，切割模块20可以相对底盘10在第一位置11和第二位置12之间往返移动，从而满足小体积切割模块20、大切割宽度的切割需求，而且智能割草机100的切割覆盖面积大，可以对地面的草充分地切割，提升智能割草机 100的工作效率。
在本申请的描述中，需要理解的是，术语“中心”、“纵向”、“横向”、“长度”、“宽度”、“厚度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”、“顺时针”、“逆时针”、“轴向”、“径向”、“周向”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。
在本申请的描述中，“多个”的含义是两个或两个以上。
在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示意性实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本申请的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不一定指的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任何的一个或多个实施例或示例中以合适的方式结合。
尽管已经示出和描述了本申请的实施例，本领域的普通技术人员可以理解：在不脱离本申请的原理和宗旨的情况下可以对这些实施例进行多种变化、修改、替换和变型，本申请的范围由权利要求及其等同物限定。

Claims (10)

  1. 一种智能割草机(100)，在工作区域内移动和工作，其特征在于，包括：
    底盘(10)；
    驱动模块，安装于所述底盘，用于驱动所述底盘(10)移动；
    控制模块，与所述底盘(10)连接，用于控制所述驱动模块；
    切割模块(20)，所述切割模块(20)与所述底盘(10)连接，所述切割模块(20)相对于所述底盘(10)可转动，所述控制模块控制切割模块相对于底盘往返移动，所述切割模块(20)相对所述底盘(10)的运动方向与所述智能割草机(100)的行进方向不共线或平行；
    所述底盘(10)具有第一位置(11)和第二位置(12)，所述控制模块控制所述切割模块(20)在所述第一位置(11)和第二位置(12)之间往返移动；
    所述底盘(10)的移动速度为V，所述切割模块(20)在所述第一位置(11)和所述第二位置(12)之间完成一个来回的移动时间为t，所述切割模块(20)的直径为D，其中，Vt≤D；
    所述第一位置和所述第二位置的横向距离大于所述底盘宽度；
    若所述智能割草机位于狭窄通道时，所述控制模块控制所述切割模块停止移动或减小移动范围。
  2. 根据权利要求1所述的智能割草机(100)，其特征在于，所述智能割草机包括障碍检测模块，用于检测宽度方向上的障碍；所述控制模块基于所述障碍检测模块的检测信号控制切割模块停止移动或减小移动范围。
  3. 根据权利要求1所述的智能割草机(100)，其特征在于，所述第一位置(11)和所述第二位置(12)之间具有滑轨(13)，所述切割模块(20)与所述滑轨(13)相适配，且所述切割模块(20)沿所述滑轨(13)移动。
  4. 根据权利要求3所述的智能割草机(100)，其特征在于，所述滑轨(13)沿直线方向或圆弧线延伸。
  5. 根据权利要求3所述的智能割草机(100)，其特征在于，所述底盘(10)具有滑槽，所述切割模块(20)沿所述滑槽可移动。
  6. 根据权利要求5所述的智能割草机(100)，其特征在于，所述滑槽沿直线方向或圆弧线延伸。
  7. 根据权利要求6述的智能割草机(100)，其特征在于，所述滑槽沿圆弧线延伸，
    所述智能割草机(100)包括摆杆(30)，所述摆杆(30)的一端与所述底盘(10)连接，所述摆杆(30)围绕所述摆杆(30)的所述一端可摆动，所述摆杆(30)的另一端与所述切割模块(20)连接。
  8. 根据权利要求7所述的智能割草机(100)，其特征在于，所述驱动模块包括：驱动电机，所述驱动电机与所述摆杆(30)连接以驱动所述摆杆(30)摆动。
  9. 根据权利要求1所述的智能割草机，其特征在于，所述智能割草机包括护罩，用于防护所述切割模块，所述护罩与所述切割模块相对静止。
  10. 根据权利要求1所述的智能割草机(100)，其特征在于，所述切割模块包括安装刀片的刀盘，所述刀盘相对于所述底盘(10)可转动。
PCT/CN2020/118102 2019-11-20 2020-09-27 智能割草机 WO2021098382A1 (zh)

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Publication number Priority date Publication date Assignee Title
JPH0523002A (ja) * 1991-07-18 1993-02-02 Kawasaki Heavy Ind Ltd 自走式芝刈機
CN104584768A (zh) * 2013-10-30 2015-05-06 苏州宝时得电动工具有限公司 切割腔体可移动的割草机
US20190059227A1 (en) * 2014-12-31 2019-02-28 Mean Green Products, LLC Electric mower apparatus and method of use
CN211531846U (zh) * 2019-11-20 2020-09-22 苏州宝时得电动工具有限公司 智能割草机

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0523002A (ja) * 1991-07-18 1993-02-02 Kawasaki Heavy Ind Ltd 自走式芝刈機
CN104584768A (zh) * 2013-10-30 2015-05-06 苏州宝时得电动工具有限公司 切割腔体可移动的割草机
US20190059227A1 (en) * 2014-12-31 2019-02-28 Mean Green Products, LLC Electric mower apparatus and method of use
CN211531846U (zh) * 2019-11-20 2020-09-22 苏州宝时得电动工具有限公司 智能割草机

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