WO2021147494A1

WO2021147494A1 - Automatic lawn mower

Info

Publication number: WO2021147494A1
Application number: PCT/CN2020/129750
Authority: WO
Inventors: 李兴红; 杜江; 潘高峰
Original assignee: 苏州宝时得电动工具有限公司
Priority date: 2020-01-21
Filing date: 2020-11-18
Publication date: 2021-07-29
Also published as: DE202021100130U1; FR3106250A3; CN212696652U; FR3106250B3

Abstract

An automatic lawn mower (1), comprising: a housing (10); a moving module used for driving the automatic lawn mower to move; a cutting mechanism (3) configured in the housing and used for executing a cutting task; and a control module used for autonomously controlling the moving module to drive the automatic lawn mower to move and autonomously controlling the cutting mechanism to execute a cutting task. The automatic lawn mower further comprises a protection part (4) located at the outer side of the side of the moving module distant from the center of the automatic lawn mower in a front-rear direction of the automatic lawn mower, and a connection member (5) connecting the connection part to the housing, and the protection part further comprises a main protection region (41) located at the side of the protection part distant from the center of the automatic lawn mower and used for blocking a foreign object.

Description

Automatic lawn mower

This application claims the priority of the Chinese patent application whose application date is January 21, 2020 and the application number is 202020140711.X, the entire content of which is incorporated into this application by reference.

Technical field

This application relates to an automatic lawn mower.

Background technique

With the continuous advancement of computer technology and artificial intelligence technology, automatic lawn mowers similar to intelligent robots have begun to slowly enter people's lives. The automatic lawn mower can automatically mow and charge the user's lawn without user intervention. After this automatic working system is set up once, there is no need to invest in management, freeing users from boring, time-consuming and laborious housework such as cleaning and lawn maintenance.

The automatic lawn mower automatically walks and mows on the grass. It includes one or two driven wheels at the front, two driving wheels at the rear, and a cutting blade between the front wheel and the rear wheel for cutting. When the automatic lawn mower is moving forward or backward, if it encounters a child's feet or shoes, its front or rear wheels may climb on the child's feet or shoes, causing the child's feet to reach into the automatic lawn mower , Causing children's feet to be accidentally injured by the automatic lawn mower.

Therefore, it is necessary to design an automatic lawn mower with a new protective component to solve the above-mentioned problems.

Summary of the invention

In order to overcome the above-mentioned drawbacks, the present application adopts the following technical solutions: an automatic lawn mower comprising: a housing; a moving module arranged under the housing to drive the automatic lawn mower to move; a cutting mechanism, Set in the housing to perform cutting tasks, the cutting mechanism includes a cutting element for cutting; a control module for autonomously controlling the movement module to drive the automatic lawn mower to move, and autonomously controlling the cutting mechanism Perform cutting tasks; the automatic lawn mower also includes a guard located on the outside of the moving module on the side of the moving module away from the center of the automatic lawn mower in the front and rear direction of the automatic lawn mower, and connected to the The connecting piece of the protection part and the housing, the protection part includes a main protection area located on its side far away from the center of the automatic lawn mower and used to block foreign objects; the protection part includes a main protection area for detecting the A detection module for whether the main protection area collides with the foreign object; the main protection area includes anti-skid protrusions for increasing friction; the main protection area and the projection of the moving module in the front-rear direction at least partially overlap; The moving module includes two wheels on the same side located on the rear side of the housing, and the housing includes wheels located in the area between the line connecting the front edges of the two wheels on the same side and the line connecting the rear edges of the two wheels on the same side. The upper part of the two wheels on the same side is at least partially exposed outside the wheel housing, a safety angle α is preset, the radius of the wheel is R, and the main protection area is away from its corresponding wheel The horizontal distance close to the outermost side of the main protection area is X. When R is greater than or equal to 105mm, the distance H from the lowest point of the main protection area to the ground is less than

When R is less than 105mm, the distance H from the lowest point of the main protection area to the ground is less than

The range of X is 20-50mm; the distance H from the lowest point of the main protection area to the ground is greater than or equal to 40mm and less than or equal to 60mm.

This embodiment also provides an automatic lawn mower, which includes: a housing; a moving module arranged below the housing for driving the automatic lawn mower to move; a cutting mechanism arranged on the housing to To perform cutting tasks, the cutting mechanism includes cutting elements for cutting; a control module for autonomously controlling the movement module to drive the automatic lawn mower to move, and autonomously controlling the cutting mechanism to perform cutting tasks; the automatic The lawn mower further includes a protection part located on the outer side of the moving module away from the center of the automatic lawn mower in the front-rear direction of the automatic lawn mower, and connects the protection part and the housing The protective part includes a main protective area located on a side away from the center of the automatic lawn mower and used to block foreign objects.

The beneficial effect of this solution is that by providing a protective part with a main protective area on the outer side of the wheel, the child’s foot is prevented from reaching the bottom of the wheel and the automatic lawn mower climbs on the child’s foot, causing the child’s foot to be accidentally injured by the cutting mechanism. condition.

Description of the drawings

Fig. 1 is a schematic diagram of an automatic lawn mower hitting a child's feet in an embodiment.

Fig. 2 is a schematic diagram of the child's feet shown in Fig. 1 extending into the inside of the automatic lawn mower.

Fig. 3 is a top view of an automatic lawn mower in an embodiment of the present application.

Fig. 4 is another angle view of the automatic lawn mower shown in Fig. 3.

Figure 5 is a schematic diagram of the automatic lawn mower shown in Figure 3 encountering a child's feet.

Fig. 6 is a schematic diagram of the connection structure between the housing and the baffle in an embodiment.

Fig. 7 is a schematic diagram of an automatic lawn mower encountering a child's feet in another embodiment of the present application.

Fig. 8 is an enlarged view of the guard, the child's feet, and the wheel of the automatic lawn mower shown in Fig. 5.

Fig. 9 is a schematic diagram of an automatic lawn mower encountering a child's feet in another embodiment of the present application.

Fig. 10 is a schematic diagram of an automatic lawn mower encountering a child's feet in another embodiment of the present application.

Fig. 11 is a schematic diagram of an automatic lawn mower encountering a child's feet in another embodiment of the present application.

Fig. 12 is a schematic diagram of an automatic lawn mower encountering a child's feet in another embodiment of the present application.

FIG. 13 is a schematic diagram of a horizontal plate extending in the left-right direction in the baffle in another embodiment of the present application.

Fig. 14 is a schematic diagram of an automatic lawn mower encountering a child's feet in another embodiment of the present application.

Fig. 15 is a partial enlarged view of Fig. 5.

Fig. 16 is a schematic diagram of the bottom of the baffle in an embodiment of the present application.

Detailed ways

In order to make the purpose, technical solutions, and advantages of this application clearer and clearer, the following further describes the application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present application, and are not used to limit the present application.

As shown in Figures 1 to 7, the present application provides an automatic lawn mower 1, which includes a housing 10, a mobile module disposed under the housing 10 and used to drive the automatic lawn mower 1 to move, and is used to perform cutting tasks The cutting mechanism 3 is a power module used to provide power, a control module used to automatically control the moving module to drive the automatic lawn mower 1 to move and autonomously control the cutting mechanism to perform cutting tasks, and an energy module used to provide energy. Wherein, the mobile module includes several wheels 20. Specifically, the several wheels 20 include at least one front wheel and at least one rear wheel.

The cutting mechanism 3 is rotatably fixed under the housing 10. The cutting mechanism 3 includes a cutter head 31 rotatably fixed under the housing 10 and several cutting elements 32 fixed on the cutter head. In this embodiment, the cutting element 32 For cutting blades, the cutting blades are evenly fixed on the circumference of the cutter head 31 to rotate together with the cutter head 31. In one embodiment, the cutting mechanism 3 includes three cutting blades. In other embodiments, the number of cutting blades may be determined according to actual conditions. For example, there are two or more cutting elements.

As shown in Fig. 1, an automatic lawn mower 1 includes a front wheel 21 and two rear wheels 22 as an example. The rear wheel of the automatic lawn mower 1 is a driving wheel, and the front wheel is a driven wheel. Of course, in other embodiments, the automatic lawn mower 1 may also include two front wheels and two rear wheels; alternatively, the automatic lawn mower 1 includes two front wheels and one rear wheel, and so on. Of course, in all embodiments, the automatic lawn mower 1 has at least one driving wheel that provides driving force. It may have at least one driven wheel, or there may be no follower theory, but all wheels are driving wheels. Generally, the driving wheel includes a number of anti-slip teeth on its surface to increase the friction between the driving wheel and the ground. After the automatic lawn mower 1 is set once, it usually moves and executes cutting tasks on the grass automatically with low noise. When the automatic lawn mower 1 retreats, if there are children playing with their backs to the machine, it is often difficult to find that there is a machine behind, or they don't know how to avoid it because they are young, or it is too late to avoid it because their backs are facing. As shown in Figure 1, when a child is kneeling on the ground or playing on the ground, the bottom surface 61 of the child's foot 6 (or shoe) is at an angle to the ground. For example, a child aged 3-4 is taken as an example. The foot length is generally about 16cm. When kneeling on the ground to play, the vertical height of the heel from the ground is generally about 105mm. The angle between the sole surface of the foot 61 and the ground is at a certain angle (for example, 35 degrees). In this case, if the child Kneeling and playing, the rear wheel 22 of the automatic lawn mower 1 driving automatically behind is driving towards the bottom surface of the child’s foot, and as shown in Figure 2, it will climb up the child’s leg along the child’s foot surface 61 and cause the child The feet and/or legs of the automatic lawn mower 1 extend into the interior of the automatic lawn mower 1, and the interior of the automatic lawn mower 1 has a sharp cutting blade. When the automatic lawn mower 1 automatically mows the grass, its cutting blade rotates at a high speed with the cutter head. When the lawn mower 1 is working, children's feet accidentally, as shown in Figure 2, enter the vicinity of the cutting mechanism, which will cause serious consequences. In this application, the sole surface of a child's foot refers to it in general, because the child may wear shoes, or barefoot, or put on other protections, etc., for example, when a child wears shoes, the sole surface of the child's foot refers to the sole surface of the child's foot. ; When a child has bare feet, the bottom surface of the foot refers to the bottom surface of the foot; when the child’s foot is covered with other protections, the bottom surface of the foot refers to the bottom surface of the protection.

In this embodiment, as shown in FIG. 3, the automatic lawn mower 1 further includes an outer side located on the side of the wheel 20 away from the center of the automatic lawn mower in the forward or backward direction (X coordinate axis direction) of the automatic lawn mower. The protective part 4, and the connecting member 5 for connecting the protective part 4 and the housing 10. The plurality of wheels 20 includes two wheels 221 of the same side located on the front or rear side of the housing 10. In this embodiment, the rear wheel 22 is an example of the wheel 221 of the same side.

The housing 10 includes a wheel housing 11 located in the area between the front edge of the two wheels 221 on the same side and the rear edge of the two wheels 221 on the same side. The two wheels 221 on the same side are left and right (in the direction of the Y coordinate axis). The outermost side of the side extends beyond the outermost sides of the left and right sides of the wheel housing 11, and the upper parts of the two wheels 221 on the same side are at least partially exposed outside the wheel housing 11. In this embodiment, the two wheels 221 on the same side are located on both sides of the two side edges of the wheel housing 11, and the complete upper portions of the two wheels 221 on the same side are completely exposed outside the wheel housing 11.

The protective part 4 includes a main protective area 41 located on the side of the wheel 20 away from the center of the automatic lawn mower 1 and used to prevent the soles of children from extending into the bottom of the wheel 20. In this embodiment, the outer side of the wheel 20 away from the center of the automatic lawn mower 1 is the rear side of the rear wheel 22, and the main protection area 41 is located on the rear side of the two rear wheels 22 (two wheels 221 on the same side), as shown in the figure As shown in FIGS. 3 to 5, the width of the main protection area 41 is not less than the width of the wheels 20, so that when the automatic lawn mower 1 retreats, when it encounters a child's foot, it can prevent the child's foot from contacting the wheel 20.

A safety angle α is preset, and the safety angle α is less than or equal to the minimum included angle (less than 90 degrees) between the plane of the child's feet and the ground when the child is kneeling or lying on his stomach or in other postures. Because the smaller the angle between the plane of the sole of the foot and the ground, the easier it is for the foot to reach the inside of the automatic lawn mower 1. Therefore, the safety angle α is less than or equal to the distance between the plane of the sole of the foot and the ground when the child is kneeling or lying on his stomach or in other postures. When the minimum included angle (less than 90 degrees) is used, it can be ensured that the soles of the children's feet cannot always reach into the self-moving device when they are kneeling or lying on their stomachs or in other postures. In the specific calculation process, you can first assume that the child is kneeling or lying on his stomach or in other postures, and the minimum angle between the plane of his feet and the ground (less than 90 degrees) is equal to the safety angle α to calculate the limit value.

As shown in Figure 8, assuming that the child is kneeling or lying on his stomach or in other postures, the minimum angle between the plane of his feet and the ground (less than 90 degrees) is equal to the safety angle α. At this time, the radius of the wheel 20 is R, The horizontal distance between the main protection area 41 and the vertical surface where the center of the wheel 20 is located is L, and the horizontal distance between the main protection area 41 and the outermost side of the wheel 20 (near the main protection area 41) is X (because the outermost side of the wheel is away from the center of the wheel 20) The horizontal distance is R, so X=LR); the distance between the lowest point of the main protection area 41 and the ground is H, when the child reaches behind the rear wheel of the automatic lawn mower 1 with the minimum angle α between the sole of the foot and the ground , And just touched the bottom of the wheel 20. At this time, it can be calculated by calculation: When R is greater than or equal to 105mm, the distance H from the lowest point of the main protection area 41 to the ground is equal to

When R is less than 105mm, the distance H from the lowest point of the main protection zone 41 to the ground is equal to

Because the smaller the H, the smaller the distance between the main protection area 41 and the ground, and the more difficult it is for children's feet to reach the bottom of the wheel 20 from under the main protection area 41. Therefore, when R is greater than or equal to 105mm, the lowest point of the main protection area 41 is away from the ground. The distance H is greater than

Or, when R is less than 105mm, the distance H from the lowest point of the main protection zone 41 to the ground is greater than

When the child's feet are blocked by the protective part 4, they cannot touch the bottom of the wheel 20.

Under normal circumstances, when a child is kneeling, the angle between the plane of the sole 61 of the foot and the ground (less than 90 degrees) is not less than 35 degrees. Therefore, the safety angle α is less than or equal to 35 degrees to ensure that the child is kneeling or lying down. In other positions, the soles of their feet cannot reach into the automatic lawn mower 1 at all times. As shown in Figure 8, assuming that the child is kneeling or lying on his stomach or in other postures, the minimum angle between the plane of his feet and the ground (less than 90 degrees) is equal to the safety angle α. At this time, when α is equal to 35 degrees, When R is greater than or equal to 105, the distance between the lowest point of the main protection area and the ground when the child reaches behind the rear wheel of the automatic lawn mower 1 with the plane of the foot and the ground at 35 degrees and just touches the bottom of the wheel 20 H is equal to 31.57+(0.26R+X)/1.43; when R is less than 105, the distance H from the lowest point of the main protection area to the ground is equal to 0.52RX/1.43. Because the smaller the distance between the main protection area 41 and the ground, the more difficult it is for the child’s feet to reach the bottom of the wheel 20 from below the main protection area 41. Therefore, when the child’s foot is located at an angle α (less than 90 degrees) between the floor and the ground When not less than 35 degrees, as long as R is greater than or equal to 105, the distance H from the lowest point of the main protection area to the ground is less than 31.57+(0.26R+X)/1.43; or, when R is less than 105, the lowest point of the main protection area The distance H from the ground is less than 0.52RX/1.43; it can ensure that the child's feet cannot reach the bottom of the wheel 20, thereby preventing the automatic lawn mower 1 from accidentally injuring the child's feet.

In other scenes, children may also lie on the ground and play with their backs to the machine, or when the flexibility of the children’s feet is relatively good. At this time, the angle between the bottom surface of their feet 61 and the ground may become smaller, and may even be less than 35. Degrees, but under normal circumstances, the included angle is not less than 30 degrees. Therefore, the safety angle α can be selected to be less than or equal to 30 degrees, which can ensure that the soles of the children's feet cannot always reach into the automatic lawn mower 1 when they are kneeling or lying on their stomachs or other postures. As shown in Figure 8, assuming that the child is kneeling or lying on his stomach or in other postures, the minimum angle between the plane of his feet and the ground (less than 90 degrees) is equal to the safety angle α. At this time, when α is equal to 30 degrees, When R is greater than or equal to 105, the distance between the lowest point of the main protection area and the ground when the child reaches behind the rear wheel of the automatic lawn mower 1 with the plane of the sole of the foot and the ground at 30 degrees and just touches the bottom of the wheel 20 H is equal to 44.3+X/1.73; when R is less than 105, the distance H from the lowest point of the main protection area to the ground is equal to 0.58RX/1.73. Because the smaller the distance between the main protection area 41 and the ground, the more difficult it is for the child’s feet to reach the bottom of the wheel 20 from below the main protection area 41. Therefore, when the child’s foot is located at an angle α (less than 90 degrees) between the floor and the ground When not less than 30 degrees, as long as R is greater than or equal to 105, the distance H from the lowest point of the main protection area to the ground is less than 44.3+X/1.73; or, when R is less than 105, the distance H from the lowest point of the main protection area to the ground Less than 0.58RX/1.73; it can ensure that the child's feet cannot reach the bottom of the wheel 20, thereby avoiding the automatic lawn mower 1 from accidentally injuring the child's feet.

In order to ensure that the automatic lawn mower 1 will not cause injury to children's feet, people will test the safety performance of the automatic lawn mower 1. A better test method is to pass the test, which is roughly the same model as the child’s foot. However, in some test scenarios, there is no such foot model. Usually, people will use children’s shoes for testing, and the sole is on the ground. The included angle is less than 30 degrees, but under normal circumstances, the included angle between the sole and the ground is not less than 20 degrees. Therefore, the safety angle α can be selected to be less than or equal to 20 degrees, which can ensure that the soles of the children's feet cannot reach into the automatic lawn mower when they are kneeling or lying on their stomachs or in other postures. As shown in Figure 8, assuming that the child is kneeling or lying on his stomach or in other postures, the minimum angle between the plane of his feet and the ground (less than 90 degrees) is equal to the safety angle α. At this time, when α is equal to 20 degrees, When R is greater than or equal to 105, the distance between the lowest point of the main protection area and the ground when the child reaches behind the rear wheel of the automatic lawn mower 1 with the plane of the sole of the foot 20 degrees to the ground and just touches the bottom of the wheel 20 H is equal to 66.8-0.34R+X/2.75; when R is less than 105, the distance H from the lowest point of the main protection area to the ground is equal to 0.7RX/2.75. Because the smaller the distance between the main protection area 41 and the ground, the more difficult it is for the child's feet to reach the bottom of the wheel 20 from below the main protection area 41. Therefore, when the angle between the bottom of the child's feet and the ground (less than 90 degrees) is different When R is less than 20 degrees, as long as R is greater than or equal to 105, the distance H from the lowest point of the main protection area to the ground is less than 66.8-0.34R+X/2.75; or, when R is less than 105, the distance H from the lowest point of the main protection area to the ground is less than The distance H is less than 0.7RX/2.75; it can ensure that the child's feet cannot reach the bottom of the wheel 20, thereby preventing the automatic lawn mower 1 from accidentally injuring the child's feet.

Because the automatic lawn mower 1 automatically works on the lawn, sometimes, it will pass through a narrow passage during the working process. If the length of the automatic lawn mower 1 is too long, it is not beautiful on the one hand; on the other hand, the automatic lawn mower 1 moves and During the turning process, the rear of the automatic lawn mower 1 is likely to hit obstacles (for example, both sides of a narrow passage, or people or animals moving in the lawn, etc.). In view of the above reasons, the length of the automatic lawn mower 1 should not be too long, especially the protective part protruding from the rear should not exceed the body too much, otherwise it will easily hit people or things nearby. In order to avoid the above situation, the horizontal distance X between the main protection area 41 and the outermost side of the wheel 20 is less than 150 mm. From the above perspective, the smaller the horizontal distance X between the main protection area 41 and the outermost side of the wheel 20, the better, but in order to prevent children's feet from reaching the bottom of the wheel, the smaller the horizontal distance X between the main protection area 41 and the outermost side of the wheel 20 is , The smaller the distance H from the lowest point of the main protection area 41 to the ground, the smaller the distance H from the lowest point of the main protection area 41 to the ground, the worse the passability of the automatic lawn mower 1 is. In order to achieve the above two factors, it is preferable that the range of the horizontal distance X between the main protection area 41 and the outermost side of the wheel 20 is 20-50mm, so that the protection part protruding behind the automatic lawn mower 1 is not too long, and the main protection area 41 is not too long. The distance H from the lowest point of the protection zone 41 to the ground can also satisfy the passability of the automatic lawn mower 1.

The specific structure of the protection part 4 can be diversified, as long as the protection part 4 includes the main protection area 41 with the above-mentioned size limitation. For example, the shielding portion 4 can be formed by directly extending from the housing 10, and the connecting piece 5, the shielding portion 4 and the housing 10 are in an integrated structure. For example, as shown in FIG. 7, the protective portion 4 is a part of the casing 10 formed by the casing 10 directly and smoothly extending along its end. The connecting piece 5 and the protective portion 4 are both smoothly extending parts of the casing 10. The connecting piece 5 , The protection part 4 and other parts on the housing 10 are a smooth whole. Or as shown in FIG. 3, the protective part 4 is not formed by directly extending smoothly from the end of the housing 10, but formed partially protruding from the housing 10. The protective part 4 and other parts of the housing 10 are not a smooth whole. . Of course, as shown in FIG. 6, the protective part 4 can be a separate component and assembled on the housing 10. In this embodiment, the protection part 4 is assembled behind the housing 10, and the connecting member 5 includes a protection part connection part 51, a housing connection part 52, and a connection part respectively provided on the housing 10 and the protection part 4 for connecting to each other. In the fixing device that fixes the housing 10, the shield connecting portion 51, and the housing connecting portion 52 to each other, the shield connecting portion 51 and the housing connecting portion 52 may be collectively referred to as connecting portions.

Specifically, the protective portion 4 may be an integrated structure extending horizontally, vertically, or obliquely, or bent or bent, or may be a combined structure composed of multiple separate structures, and so on.

As shown in FIG. 5, in an embodiment, the protection portion 4 includes a baffle 40 extending in the left and right direction, so that the baffle 40 can extend in the width direction of the wheel 20, so that the width of the main protection area is not less than that of the wheel 20. Width, and block children's feet from reaching in all directions. The extending direction of the baffle 40 refers to the extending direction of the surface with a larger area, and the left-to-right direction refers to the y direction, that is, the wheel width direction. Of course, it can also be a direction close to the y direction or the wheel width direction.

As shown in FIG. 5, in an embodiment, the baffle 40 is a vertical plate extending in the left and right directions, and the baffle 40 is a vertical plate, which can be reduced in the length direction (X direction) of the automatic lawn mower 1 The length of the upper part, thereby shortening the length of the automatic lawn mower 1. Of course, the baffle 40 may be an inclined plate extending in the left-right direction. The connecting piece 5 is used to connect the baffle 40 and the housing 10. The extending direction of the connecting piece 5 and the extending direction of the baffle 40 do not overlap each other. The connecting piece 5 extends in the front-rear direction (X direction) of the automatic lawn mower 1. Of course, the connecting piece 5 is in the front-rear direction close to the automatic lawn mower 1. It extends in the direction (X direction), or extends in an oblique direction with a horizontal component, so as to ensure the distance between the main protection area 41 of the baffle 40 and the outermost side of the wheel 20. As shown in Figure 3, the connecting piece 5 is a vertical plate extending in the front and rear direction. On the one hand, the connecting piece 5 is shortened to extend in the left-right direction to avoid interference with the wheel 20; on the other hand, the connecting piece 5 and the baffle All 40 extend in the vertical direction, which can realize the structure without sudden change at the connection of the two, the mold forming is simple, and the structure strength is high.

As shown in FIGS. 9 to 12 and 14, the baffle 40 may also be an inclined plate extending in the left-right direction. As shown in FIG. 9, in one embodiment, the baffle 40 is an inclined plate extending in the left and right direction, and is an inclined surface with an angle of α to the ground on the side far from the center of the automatic lawn mower (the sole surface of the foot in FIG. 9 When the angle β between the plane 61) and the inclination direction of the baffle 40 is smaller than the aforementioned safety angle α, and the distance between the upper end 401 of the baffle 40 and the ground is not greater than the height of the child’s foot from the ground, the The upper end 401 is the place where the child's feet first touches when the child is kneeling or lying on the ground, that is, the main protection area 41 that can block the child's feet from reaching the bottom of the wheel 20. Under normal circumstances, when children kneel or lie on the ground, the height of their feet from the ground is about 105mm. Therefore, when a child is on a slope with an angle of α to the ground on the side far from the center of the automatic lawn mower (foot bottom surface 61 When the angle β between the plane) and the inclination direction of the baffle 40 is smaller than the safety angle α, and the distance between the upper end 401 of the baffle 40 and the ground is not more than 105mm, the upper end 401 of the baffle 40 is the main protection zone 41. The height H of the lowest point of the main protection zone 41 from the ground and the distance from the outermost (rearmost side) of the wheel 20 need to comply with the above formula, that is, when R is greater than or equal to 105mm, the lowest point of the upper end 401 of the baffle 40 is away from the ground The height H is greater than

Or, when R is less than 105mm, the height H from the lowest point of the upper end 401 of the baffle plate 40 to the ground is greater than

In this way, the baffle 40 can block the feet of children, and prevent the children from kneeling or lying on the ground with their backs to the automatic lawn mower 1 and their feet extend into the bottom of the wheels 20, which may cause accidental injury. As shown in Figure 10, the angle β between the inclined plane (the plane where the sole 61 of the foot is located) and the inclination direction of the baffle 40 is smaller than the above-mentioned When the safety angle is α, and the distance between the upper end 401 of the baffle 40 and the ground is greater than 105 mm, the main protection area 41 is a position on the baffle 40 that is 105 mm from the ground.

As shown in Figures 11 and 14, in one embodiment, the slope (the plane where the sole surface 61 is located) with an angle of α to the ground on the side far from the center of the automatic lawn mower is between the slope direction of the baffle 40 When the angle β of the included angle β is greater than the above-mentioned safety angle α, the lower end 402 of the baffle 40 is the first part of the child’s foot contacted when kneeling or lying on the ground, that is, it can block the child’s foot from reaching in The main protection area 41 at the bottom of the wheel 20. Therefore, when the angle β between the inclined plane (the plane where the sole surface 61 is located) and the inclination direction of the baffle 40 is greater than the above safety angle α with the ground on the side far from the center of the automatic lawn mower The lower end 401 of the baffle 40 is the main protection zone 41. The height H of the lowest point of the main protection zone 41 from the ground and the distance from the outermost (rearmost side) of the wheel 20 needs to conform to the above formula, that is, when R is greater than or equal to 105mm , The height H of the lowest point of the lower end 402 of the baffle 40 from the ground is greater than

Or, when R is less than 105mm, the height H of the lowest point of the lower end 402 of the baffle 40 from the ground is greater than R-

In this way, the baffle 40 can block the feet of children, and prevent the children from kneeling or lying on the ground with their backs to the automatic lawn mower 1 and their feet extend into the bottom of the wheels 20, which may cause accidental injury. In this embodiment, as shown in FIG. 11, the baffle 40 can be inclined inward to reduce the length of the automatic lawn mower 1 in the front and rear direction; of course, in another embodiment, it can also be shown in FIG. The plate 40 is inclined outward.

As shown in FIG. 12, in one embodiment, the angle between the inclined surface (the plane where the sole surface 61 of the foot is located) and the inclination direction of the baffle 40 with an angle of α to the ground on the side far from the center of the automatic lawn mower When the angle β is zero, that is, when the inclination direction of the baffle 40 is parallel to the inclined plane (that is, the plane where the sole surface 61 is located) with the ground (the side far from the center of the automatic lawn mower), the child When kneeling or lying on the ground, the plane of the sole of the foot is parallel to the side of the baffle 40 far away from the center of the automatic lawn mower 1 (in this embodiment, this side is the rear side of the baffle 40). The side of the board 40 away from the center of the automatic lawn mower 1 is the part that the child first touches when the child is kneeling or lying on the ground, that is, the main part that can block the child's foot from reaching the bottom of the wheel 20. Protection area 41. Therefore, when the angle β between the inclined plane (the plane where the sole 61 of the foot is located) and the inclination direction of the baffle 40 is zero with the ground on the side far from the center of the automatic lawn mower, the baffle 40. The side away from the center of the automatic lawn mower 1 is the main protection zone 41. In some embodiments, all areas on the side of the baffle 40 away from the center of the automatic lawn mower 1 conform to the above formula, so that the entire Areas can play a role in blocking children's feet. However, because the bottom surface of the child's feet may not be a very flat surface, or the side of the baffle 40 away from the center of the automatic lawn mower 1 is not a very flat surface, at this time, as long as the main protection area 41 has a whole surface The height H of a small area from the ground and the distance from the outermost (rearmost side) of the wheel 20 need to comply with the above formula, so as to prevent the child's feet from reaching in. That is, when R is greater than or equal to 105 mm, at least a small area on the side of the baffle 40 away from the center of the automatic lawn mower 1 has a height H greater than

Or, when R is less than 105mm, at least a small area on the side of the baffle 40 away from the center of the automatic lawn mower 1 has a height H greater than

In this way, the baffle 40 can block the feet of children, and prevent the children from kneeling or lying on the ground with their backs to the automatic lawn mower 1 and their feet extend into the bottom of the wheels 20, which may cause accidental injury.

In other embodiments, as shown in FIG. 13, the baffle 40 is a horizontal plate extending in the left-right direction or a horizontal plate extending in an approximately horizontal direction, and the connecting member 5 is used to connect the baffle 40 and the housing 10. The connecting piece 5 extends in the front-rear direction. Of course, in order to achieve a better transition between the connecting piece 5 and the baffle 40, the connecting piece 5 is also synchronously designed as a horizontal plate extending in the front-rear direction.

In other embodiments, the baffle 40 may also be a vertical plate, a horizontal plate, or an inclined plate that extends in an oblique direction having a left-right direction component. The connecting member 5 may also be a vertical plate, a horizontal plate, or an inclined plate extending in a front-to-rear direction. Of course, in other embodiments, the protective portion 4 may not have a plate-shaped structure, such as a column-shaped structure, a rod-shaped structure, or other shapes.

In the above-mentioned embodiment, only the obvious boundary between the connecting member 5 and the protective portion 4 is taken as an example, and it does not mean that the connecting member 5 and the protective portion 4 must be two distinct individuals. The connecting piece 5 and the protecting portion 4 may also be an integral structure, or the connecting piece 5 is an end of the protecting portion 4 connected to the housing 10 and/or an end of the housing 10 connected to the protecting portion 4, and so on.

In the above embodiment, the main protection area 41 also includes relatively protruding parts to increase friction and prevent foreign objects (such as the soles of children's feet) from resisting the main protection area and continue to slide forward due to insufficient friction. Reach into the automatic lawn mower 1. For example, as shown in Figure 15, the main protection zone 41 where the foreign object is in contact with the protection part has no rounded chamfer, or even if there is a chamfer, the chamfer radius is less than 3mm to avoid that the contact part is too round and cause the child's foot to extend . Or as shown in FIG. 16, the main protection area 41 also includes non-slip protrusions 411 for increasing friction to increase the friction between foreign objects and the main protection area to prevent foreign objects (such as the soles of children's feet) from resisting the main protection. In the zone, due to insufficient friction, it continues to slide forward, causing it to extend into the automatic lawn mower 1.

In this embodiment, because the driving wheel provides driving force and is provided with anti-skid teeth, when the driving wheel contacts with foreign objects such as the soles of children's feet, the friction force between the driving wheel and the foreign objects is very large, and the driving wheel can easily follow the outside. The surface of the object continues to move, so at least the guard 4 is provided on the outer side of the side where the driving wheel is located. For example, in this embodiment, the rear wheel 22 is a driving wheel, and the guard 4 is arranged on the rear side of the rear wheel 22. In other embodiments, the guard 4 may also be provided on the outside of the side where the driven wheel is located, for example, the guard 4 is provided on the rear side of the rear wheel 22, and the guard 4 is also provided on the front side of the front wheel 21; or In other embodiments, the protective part is provided only on the outer side of the side where the driven wheel is located, for example, the protective part 4 is provided only on the front side of the front wheel 21, and the protective part is not provided on the rear side of the rear wheel 22. In this embodiment, only rear-wheel drive is taken as an example. In other embodiments, the automatic lawn mower may also be front-wheel drive (the front wheels are driving wheels) or all-wheel-drive (all wheels are driving wheels).

In one embodiment, the automatic lawn mower 1 further includes a detection module for detecting whether the main protection area collides with a child's sole or other foreign objects. When the detection module detects that the main protection area collides with a foreign object, the control module controls the automatic mowing. The machine 1 stops moving in the current direction of movement, for example, when it moves backward, it stops moving backward, when it moves forward, it stops moving forward, when it turns, it stops turning, and can further move in other moving directions. Exercise to avoid further crushing foreign objects. Generally, the detection module is set in the main protection area to detect the occurrence of a collision at the first time. Of course, in other embodiments, the detection module can also be set in a position outside the main protection area on the protection part, or it can be set For other parts of the automatic lawn mower 1, as long as it can detect whether the main protection area collides with foreign objects. The detection module can be a pressure sensor, a micro switch, etc. for detecting pressure. For example, taking a pressure sensor as an example, the pressure sensor can be set in or near the main protection area. When the pressure sensor detects pressure, it indicates the main protection When the zone collides with an external object, the control module controls the automatic lawn mower to stop and continue moving in the current direction of movement.

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

Claims

An automatic lawn mower comprising: a housing; a moving module arranged under the housing for driving the automatic lawn mower to move; a cutting mechanism arranged on the housing to perform cutting tasks, so The cutting mechanism includes cutting elements for cutting; a control module for autonomously controlling the movement module to drive the automatic lawn mower to move, and autonomously controlling the cutting mechanism to perform cutting tasks; characterized in that:

The automatic lawn mower further includes a protection part located on the outer side of the moving module away from the center of the automatic lawn mower in the front and rear direction of the automatic lawn mower, and connects the protection part and the center of the automatic lawn mower. The connecting piece of the housing, the protection part includes a main protection area located on its side far away from the center of the automatic lawn mower and used to block foreign objects; the protection part includes a main protection area for detecting whether the main protection area is A detection module that collides with the foreign object; the main protection area includes anti-skid protrusions for increasing friction;

The projection of the main protection area and the moving module in the front-to-rear direction at least partially overlap;

The moving module includes two wheels on the same side located on the rear side of the housing, and the housing includes wheels located in the area between the line connecting the front edges of the two wheels on the same side and the line connecting the rear edges of the two wheels on the same side. The upper part of the two wheels on the same side is at least partially exposed outside the wheel housing, a safety angle α is preset, the radius of the wheel is R, and the main protection area is away from its corresponding wheel The horizontal distance close to the outermost side of the main protection area is X. When R is greater than or equal to 105mm, the distance H from the lowest point of the main protection area to the ground is less than
When R is less than 105mm, the distance H from the lowest point of the main protection area to the ground is less than
The range of X is 20-50mm; the distance H from the lowest point of the main protection area to the ground is greater than or equal to 40mm and less than or equal to 60mm.
An automatic lawn mower, which includes:

case;

The moving module is arranged under the housing and used to drive the automatic lawn mower to move;

A cutting mechanism arranged in the housing to perform cutting tasks, and the cutting mechanism includes a cutting element for cutting;

The control module is used to autonomously control the movement module to drive the automatic lawn mower to move, and autonomously control the cutting mechanism to perform cutting tasks; characterized in that:

The automatic lawn mower further includes a protection part located on the outer side of the moving module away from the center of the automatic lawn mower in the front and rear direction of the automatic lawn mower, and connects the protection part and the center of the automatic lawn mower. In the connecting piece of the housing, the protection portion includes a main protection area located on a side away from the center of the automatic lawn mower and used to block foreign objects.
The automatic lawn mower according to claim 2, wherein the projections of the main protection area and the moving module in the front and rear directions at least partially overlap.
The automatic lawn mower according to claim 3, wherein the moving module includes a plurality of wheels, a safety angle α is preset, the radius of the wheels is R, and the main protection area is away from its corresponding The horizontal distance between the wheel approaching the outermost side of the main protection area is X. When R is greater than or equal to 105mm, the distance H from the lowest point of the main protection area to the ground is less than
When R is less than 105mm, the distance H from the lowest point of the main protection area to the ground is less than
The automatic lawn mower of claim 4, wherein the safety angle α is less than or equal to 35°.
The automatic lawn mower according to claim 4, wherein the safety angle α is less than or equal to 30°.
The automatic lawn mower according to claim 4, wherein the safety angle α is less than or equal to 20°.
The automatic lawn mower according to claim 4, characterized in that: X is less than 150 mm.
The automatic lawn mower of claim 4, wherein the range of X is 20-50 mm.
The automatic lawn mower according to any one of claims 1 to 9, wherein the distance H from the lowest point of the main protection area to the ground is greater than or equal to 30 mm and less than or equal to 90 mm.
The automatic lawn mower according to any one of claims 1 to 9, wherein the distance H from the lowest point of the main protection area to the ground is greater than or equal to 40 mm and less than or equal to 60 mm.
The automatic lawn mower according to any one of claims 2-4, wherein the width of the projection of the main protection area in the front and rear direction is not less than that of the corresponding mobile module in the front and rear direction. The width of the projection on the screen.
The automatic lawn mower according to claim 2 or 3, wherein the protective part includes a baffle extending in the left-right direction.
The automatic lawn mower according to claim 13, wherein the baffle is a vertical plate extending in the left and right direction, and the main protection area is the lower end of the baffle.
The automatic lawn mower according to claim 13, wherein the connecting member is used to connect the baffle plate and the housing, and the connecting member extends in the front-rear direction.
The automatic lawn mower according to claim 15, wherein the connecting member is a vertical plate extending in the front-rear direction.
The automatic lawn mower according to claim 13, characterized in that: a safety angle α is preset, the baffle is an inclined plate extending in the left and right directions, and the ground on the side far from the center of the automatic lawn mower When the angle between the inclined plane at an angle of α and the inclination direction of the baffle is less than α, and the distance between the upper end of the main protection area and the ground is not more than 105mm, the main protection area is the baffle The upper end of the ground; and the angle between the inclined surface of the ground at an angle of α and the inclination direction of the baffle is smaller than α, and the upper end of the main protection zone is separated from When the distance from the ground is greater than 105 mm, the main protection area is a position on the baffle with a height of 105 mm from the ground.
The automatic lawn mower according to claim 13, wherein a safety angle α is preset, the baffle is an inclined plate extending in the left and right directions, and the ground on the side far from the center of the automatic lawn mower When the angle between the inclined plane at an angle of α and the inclination direction of the baffle is greater than α, the main protection area is the lower end of the baffle.
The automatic lawn mower according to claim 13, characterized in that: a safety angle α is preset, the baffle is an inclined plate extending in the left and right directions, and the ground on the side far from the center of the automatic lawn mower When the angle of the included angle between the inclined plane at an angle of α and the inclination direction of the baffle is zero, the main protection zone is the side of the baffle far away from the center of the automatic lawnmower.
The automatic lawn mower according to any one of claims 2-4, wherein the moving module includes two wheels on the same side located on the front side or the rear side of the housing, and the housing includes two wheels on the same side. The wheel housing in the area between the front edge line of the wheel on the same side and the back edge line of the two wheels on the same side. The outermost sides of the two wheels on the same side exceed those on both sides of the wheel housing. The outermost.
The automatic lawn mower according to any one of claims 2-4, wherein the moving module includes two wheels on the same side located on the front side or the rear side of the housing, and the housing includes two wheels on the same side. The upper part of the two wheels on the same side is at least partially exposed outside the wheel housing in the region between the front edge line of the same side wheel and the back side edge line of the two same side wheels.
The automatic lawn mower according to any one of claims 2-4, wherein the moving module includes two wheels on the same side located on the front side or the rear side of the housing, and the housing includes two wheels on the same side. The wheel housing in the area between the front edge line of the wheel on the same side and the back edge line of the two wheels on the same side, where the two wheels on the same side are located on both sides of the two side edges of the wheel housing.
The automatic lawn mower according to any one of claims 2-4, wherein the protective part is formed by extending from the rear of the casing, and the connecting piece, the protective part and the casing are integrated式结构。 Type structure.
The automatic lawn mower according to any one of claims 2 to 4, wherein the protection part is assembled behind the housing, and the connecting member includes the housing and the protection part respectively. The connecting part used to connect to each other.
The automatic lawn mower according to claim 3 or 4, wherein the connecting member further comprises a fixing device for fixing the housing and the connecting part to each other.
The automatic lawn mower according to any one of claims 2-4, wherein the moving module includes at least one drive wheel, and the guard is located at a distance from the center of the drive wheel to the automatic lawn mower. The outside of the side.
The automatic lawn mower of claim 26, wherein the driving wheel includes a plurality of anti-slip teeth on the surface of the driving wheel.
3. The automatic lawn mower according to claim 2, wherein the protection part includes a detection module for detecting whether the main protection area collides with the foreign object.
The automatic lawn mower according to claim 2, wherein the main protection area includes anti-skid protrusions for increasing friction.