WO2021139402A1

WO2021139402A1 - Smart grass cutter

Info

Publication number: WO2021139402A1
Application number: PCT/CN2020/129068
Authority: WO
Inventors: 何明明; 王勇
Original assignee: 苏州宝时得电动工具有限公司
Priority date: 2020-01-09
Filing date: 2020-11-16
Publication date: 2021-07-15
Also published as: CN113099820A; CN113099820B; WO2021139809A1

Abstract

A smart grass cutter (100), comprising: a housing (120); a locomotion module (150), used for driving the smart grass cutter (100) to move; a cutting module (170), used for executing a cutting operation; an energy module (140), used for providing the smart grass cutter (100) with energy; a control module (160), electrically connected to the locomotion module (150) and the cutting module (170), and controlling the smart grass cutter (100) to move and operate within an operation area; a sensor mounting compartment (130) arranged on the housing (120), and a sensor assembly (200) detachably mounted in the sensor mounting compartment (130), the sensor assembly (200) being capable of sensing specific operating conditions in the operation area, and controlling, via the control module (160), the smart grass cutter (100) to execute corresponding actions. At least one of the sensor mounting compartment (130) and the sensor assembly (200) comprises a heat dissipation assembly, and heat dissipation treatment is performed on the sensor assembly (200), so as to prevent the temperature thereof from being too high and affecting the operating effect.

Description

An intelligent lawn mower

This application claims the priority of the Chinese patent application whose application date is January 9, 2020, application number is 202010021464.6 and application date is April 24, 2020, application number is 202010331446.8, the entire content of which is incorporated into this application by reference in.

Technical field

The invention relates to the field of electric tools, in particular to an intelligent lawn mower.

Background technique

The maintenance of lawns requires a lot of human labor, including constant watering, fertilizing and mowing the lawn to maintain a healthy grass cover. Although it is sometimes possible to handle watering and fertilization with a minimum of labor through sprinklers or watering systems, the mowing process is a process that requires a lot of physical labor from the gardener.

Designers and manufacturers of lawn mowers have tried for some time to make autonomous lawn mowers to replace traditional push-pull lawn mowers. However, the immature technologies such as work area recognition, map construction, and walking path planning have left the operating performance of smart lawn mowers to be improved.

Therefore, it is necessary to design a new technical solution to solve the above technical problems.

Summary of the invention

The technical problem solved by the present invention is to provide an intelligent lawn mower that dissipates heat from the sensor assembly installed on the intelligent lawn mower.

In order to solve the above problems, the technical solution of the present invention is to provide an intelligent lawn mower that can move and work in a working area enclosed by a boundary, including: a housing; a walking module for driving the intelligent lawn mower to move; The cutting module is used to perform cutting work; the energy module is used to provide energy for the intelligent lawn mower; and, the control module, which is electrically connected to the walking module and the cutting module, controls the movement and work of the intelligent lawn mower in the working area; It is characterized in that, the smart lawn mower further includes a sensor installation compartment arranged on the housing, and a sensor assembly detachably installed in the sensor installation compartment, and the sensor assembly can sense a specific work in the working area. The intelligent lawn mower is controlled by the control module to perform corresponding actions according to the conditions; at least one of the sensor installation bin and the sensor assembly includes a heat dissipation assembly to perform heat dissipation processing on the sensor assembly.

Further, the sensor installation bin includes a sealing device for protecting the sensor assembly from moisture pollution.

Further, the heat dissipation assembly includes a first heat dissipation assembly disposed in the sensor mounting compartment, the first heat dissipation assembly includes a heat conduction unit, and the heat conduction unit includes an air inlet and an air outlet, and air can pass through the air inlet and The passage formed by the air outlet.

Further, the sensor assembly includes a vision sensor assembly.

Further, the sensor assembly includes a camera, a controller, and a second heat dissipation assembly, and the second heat dissipation assembly is at least partially connected to the controller.

Further, the second heat dissipation component includes a heat conduction layer and a metal plate heat sink, and the heat conduction layer is disposed between the controller and the metal plate heat sink.

Further, the thermally conductive layer includes a thermally conductive silicone gasket.

Further, the sensor installation compartment is at least partially constructed by a metal shell.

Compared with the prior art, the beneficial effect of the solution of the present invention is that by setting the sensor installation bin on the smart lawn mower, the user can install the sensor assembly for the smart lawn mower as needed. By providing a heat dissipation component for at least one of the sensor installation bin and the sensor component, the sensor component installed in the smart lawn mower can be radiated to prevent its temperature from being too high and affecting the working effect of the sensor component.

Description of the drawings

The objectives, technical solutions, and beneficial effects of the present invention described above can be achieved through the following drawings:

Figure 1 is a perspective view of an intelligent lawn mower according to an embodiment of the present invention

Figure 2 is a schematic diagram of a sensor assembly according to an embodiment of the present invention

Figure 3 is a schematic diagram of a sensor installation bin according to an embodiment of the present invention

Detailed ways

The detailed description and technical content of the present invention are described below in conjunction with the accompanying drawings. However, the accompanying drawings are only provided for reference and description, and are not used to limit the present invention.

Fig. 1 shows a perspective view of a smart lawn mower 100 according to an embodiment of the present invention. The intelligent lawn mower 100 can move and work in the working area enclosed by the boundary, and it includes: a housing 120; a walking module 150 to drive the intelligent lawn mower 100 to move; a cutting module 170 to perform the cutting of the intelligent lawn mower 100 Work; the energy module 140 provides energy for the smart lawn mower 100 for the smart lawn mower 100 to move and work. Specifically, the energy module 140 includes a battery pack. When the energy stored by the energy module 140 is low, the smart lawn mower 100 can return to the docking station to replenish energy, and leave the charging station after the charging is completed; and, the control module 160, which is electrically connected to the walking module 150 and the cutting module 170, can control the movement and work of the intelligent lawn mower 100, specifically, control The module 160 can control the intelligent lawn mower 100 to perform different movement and work strategies according to different scenarios; the intelligent lawn mower 100 also includes: a sensor installation bin 130 arranged on the housing 120, and detachably installed in the installation The sensor assembly 200 of the warehouse 130 and the intelligent lawn mower 100 can be adapted to a variety of different sensor assemblies 200 to achieve different recognition functions to affect the movement and working strategies of the intelligent lawn mower 100. Specifically, the sensor assembly 200 may include a visual sensor, which visually recognizes the grass quality, shadow area, and obstacles in the working area; may include an ultrasonic sensor, which transmits ultrasonic signals and receives echo signals to determine whether the smart lawn mower 100 encounters To the obstacle and perform the avoidance function when it is judged to encounter the obstacle; and also include other similar sensors that recognize the working area. These sensors can recognize the specific working conditions in the working area, and according to the intelligent lawn mower 100 prediction Set the processing logic and execute the corresponding actions.

Generally speaking, the sensor assembly 200 can detect specific conditions in the work area, such as obstacles ahead. For example, the sensor assembly 200 can detect the presence of objects in front of the visual sensor. The sensor assembly 200 also includes a controller 220 to identify the sensor. The received information is processed to determine what kind of situation is currently encountered. The controller 220 usually has a relatively large amount of processing. For example, the visual sensor continuously extracts pictures in the working environment. The controller 220 needs to process these pictures to determine whether a specific situation has occurred, and when a specific situation occurs, the The information is transmitted to the control module 160 of the intelligent lawn mower 100 to control the intelligent lawn mower 100 to perform corresponding actions. Specifically, the controller 220 usually includes a processing chip. When the controller 220 is working, it will continuously generate heat. This heat needs to be processed to prevent the sensor assembly 200 from not working properly due to excessive temperature, thereby affecting the smart lawn mower. 100 work stability and accuracy. Specifically, the smart lawn mower 100 includes a housing 120 and a sensor installation compartment 130 arranged on the housing 120. The sensor assembly 200 can be detachably arranged in the sensor installation compartment 130, and the sensor installation compartment 130 At least one of the sensor assembly 200 and the sensor assembly 200 includes a heat dissipation assembly to perform heat dissipation processing on the sensor assembly 200 to ensure its working stability.

In this embodiment, the sensor assembly 200 is disposed in the sensor installation warehouse 130. The sensor assembly 200 usually includes more electronic components, and the smart lawn mower 100 is an outdoor work tool. If no protective measures are taken for the sensor assembly 200, It will affect the working life of the sensor assembly 200 and may cause a short circuit. Specifically, the sensor installation bin 130 includes a sealing device to protect the sensor assembly 200 from moisture contamination by the user. Specifically, the sensor installation compartment 130 includes a recess, the sensor assembly 200 can be installed in the recess, the sealing device includes an upper cover, the upper cover can cover the recess, specifically, the sealing device further includes a waterproof sealing strip arranged on the edge of the upper cover Etc., to prevent moisture from entering the sensor installation bin 130 and affecting the stable operation of the sensor assembly 200.

In this embodiment, at least one of the sensor installation compartment 130 and the sensor assembly 200 includes a heat dissipation assembly. Fig. 3 is a schematic diagram of a sensor installation bin according to an embodiment of the present invention. Specifically, the heat dissipation assembly includes a first heat dissipation assembly disposed in the sensor mounting compartment 130, the first heat dissipation assembly includes a heat conduction unit, and the heat conduction unit includes an air inlet 131 and an air outlet 132 through which air can pass. 131 is connected to the air outlet 132 to form a channel. Specifically, the heat conduction unit includes at least one heat conduction channel. The heat conduction channel has an air inlet 131 and an air outlet 132. Air enters the heat conduction channel through the air inlet 131 and flows out of the channel through the air outlet 132. The sensor assembly 200 releases its heat to the sensor. In the installation bin 130, the sensor installation bin 130 releases heat through the heat conduction unit to ensure the stable operation of the sensor assembly 200.

2 is a schematic diagram of a sensor assembly according to an embodiment of the present invention. The sensor assembly 200 includes a sensor. The sensors can be of various types. Specifically, in this embodiment, the sensor is a vision sensor, and the sensor assembly 200 is a vision sensor assembly 200. Specifically, the vision sensor assembly 200 includes a camera 210 for collecting image information of the working area, and extracting characteristic information by analyzing the image, judging and processing the characteristic information to determine the current working condition, and judging whether a preset operation needs to be performed . For example, when the smart lawn mower 100 is working, it continuously collects the environment of the working area through the visual sensor, analyzes the image collected by the visual sensor, and when a preset image appears, it is judged as an obstacle, and the judgment is The information is transmitted to the control module 160 of the smart lawn mower 100, and the control module 160 controls the smart lawn mower 100 to perform preset actions. For example, the control module 160 controls the smart lawn mower 100 to turn to perform obstacle avoidance actions. After the smart lawn mower 100 performs the preset action, the sensor assembly 200 continues to detect the environment information of the working area, and when the preset situation is detected again, it controls the smart lawn mower 100 to perform the preset action again. Specifically, the sensor assembly 200 can work alone to determine whether a preset condition occurs. Preferably, the sensor assembly 200 can work together with other components of the smart lawn mower 100, for example, the sensor assembly 200 and the positioning module work together to determine the Preset the location where the work situation occurs.

The sensor assembly 200 includes a second heat dissipation assembly, and the second heat dissipation assembly is at least partially connected to the controller 220. The controller 220 is used to process the identification information of the sensor assembly 200. Therefore, the controller 220 is a part where the sensor assembly 200 generates a lot of heat. The focus of the heat dissipation of the sensor assembly 200 is the heat dissipation of the controller 220. The controller 220 usually includes a chip, and processes the information detected by the sensor to determine whether a preset condition occurs. Specifically, the second heat dissipation component includes a thermally conductive layer 240 and a metal plate heat sink 230, and the thermally conductive layer 240 is disposed between the controller 220 and the metal plate heat sink 230. Specifically, the thermally conductive layer 240 includes at least one of a thermally conductive silicone gasket or a thermally conductive gel, and the metal plate heat sink 230 includes a copper plate heat sink. Specifically, the heat conductive layer 240 transfers the heat generated by the controller 220 to the metal plate heat sink 230, which generally has a larger surface area and good heat dissipation capability. In other embodiments, the second heat dissipation component may also include a graphene heat radiation patch, which is an ultra-thin heat dissipation material, which can effectively reduce the heat density of the heat source to achieve rapid heat transfer in a large area and heat dissipation in a large area. , Graphene heat radiation patch can choose different thickness, can also use different shapes to meet the structural requirements of sensor components, by using graphene heat radiation patch, its volume is small, soft and easy to process, almost no Increase the weight of the sensor component, while the heat dissipation effect is better, and the position setting is highly random. In other embodiments, the second heat dissipating component includes a heat pipe to dissipate heat. Specifically, a liquid-filled thermally conductive copper pipe is covered on the sensor component. When the controller calculates to generate heat, the liquid in the heat pipe absorbs the heat and vaporizes. The gas passes through the heat pipe to reach the heat dissipation area, cools down and condenses, and then returns to the controller part again to effectively dissipate heat. By adopting this technology, the efficiency of heat dissipation can be effectively improved.

The sensor assembly 200 can be detachably installed in the sensor installation compartment 130, the heat of the sensor assembly 200 can be released to the sensor installation compartment 130, and the sensor installation compartment 130 is at least partially constructed by a metal shell. Specifically, metal has a good heat dissipation function, and the sensor mounting bin 130 is at least partially placed outside in the air, and the heat is transferred to the air through the metal shell, so as to dissipate the sensor assembly 200. Specifically, the sensor installation warehouse 130 may include a heat conduction unit and a metal casing at the same time, so that the sensor installation warehouse 130 can dissipate heat through both air circulation and heat exchange between the metal casing and the air, and the heat dissipation efficiency is high.

Specifically, the sensor assembly 200 can be a standard part or a non-standard part. When the sensor assembly 200 is a standard part, the entire sensor assembly 200 can be directly installed in the sensor installation compartment 130, and the sensor assembly 200 can be dissipated through the sensor installation compartment 130. deal with. When the sensor assembly 200 is a non-standard part, the sensor and the controller 220 can be respectively selected and installed in a predetermined position in the sensor installation compartment 130. Specifically, the sensor installation compartment 130 includes a plug-in interface through which the sensor assembly 200 can be inserted. The interface is installed in the sensor installation compartment 130. The user can also add heat dissipation components to the sensor assembly 200 according to needs, for example, adding a metal plate heat sink 230, adding thermally conductive glue, thermally conductive silicone gaskets, etc., so that the sensor assembly 200 can pass its own structure and the sensor The installation bin 130 dissipates heat in common, has a better heat dissipation effect and a higher efficiency, so as to ensure the stable operation of the sensor assembly 200.

Preferably, the sensor assembly 200 further includes an encapsulated housing 260, which is packaged into a whole by the housing, and the sensor assembly can be installed as a whole in the sensor installation compartment.

The technical features of the above embodiments can be combined arbitrarily. In order to make the description concise, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, they should be It is considered as the range described in this specification.

The above-mentioned embodiments only express several implementation modes of the present invention, and their description is relatively specific and detailed, but they should not be understood as a limitation on the scope of the invention patent. It should be pointed out that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can be made, and these all fall within the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention should be subject to the appended claims.

Claims

The intelligent lawn mower can move and work within the working area enclosed by the boundary, including:

case;

Walking module, used to drive the smart lawn mower to move;

Cutting module, used to perform cutting work;

Energy module, used to provide energy for smart lawn mower;

And, the control module is electrically connected to the walking module and the cutting module to control the movement and work of the intelligent lawn mower in the working area;

It is characterized in that, the smart lawn mower further includes a sensor installation compartment arranged on the housing, and a sensor assembly detachably installed in the sensor installation compartment, and the sensor assembly can sense a specific location in the working area. Work status and control the intelligent lawn mower to perform corresponding actions through the control module;

At least one of the sensor installation compartment and the sensor component includes a heat dissipation component to perform heat dissipation treatment on the sensor component;

The heat dissipation assembly includes a first heat dissipation assembly disposed in the sensor mounting compartment, the first heat dissipation assembly includes a heat conduction unit, and the heat conduction unit includes an air inlet and an air outlet through which air can pass through the air inlet and the outlet. The passage formed by the tuyere;

The sensor component includes a camera, a controller, and a second heat dissipation component, and the second heat dissipation component is at least partially connected to the controller;

The second heat dissipation component includes a heat conduction layer and a metal plate heat sink, and the heat conduction layer is disposed between the controller and the metal plate heat sink.
The smart lawn mower according to claim 1, wherein the sensor installation bin includes a sealing device for protecting the sensor assembly from moisture pollution.
The smart lawn mower of claim 1, wherein the thermally conductive layer comprises a thermally conductive silicone gasket.
The smart lawn mower according to claim 1, wherein the sensor installation bin is at least partially constructed by a metal shell.