WO2023097860A1 - 割草机及用于割草机的超声波探头装置 - Google Patents

割草机及用于割草机的超声波探头装置 Download PDF

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Publication number
WO2023097860A1
WO2023097860A1 PCT/CN2021/143713 CN2021143713W WO2023097860A1 WO 2023097860 A1 WO2023097860 A1 WO 2023097860A1 CN 2021143713 W CN2021143713 W CN 2021143713W WO 2023097860 A1 WO2023097860 A1 WO 2023097860A1
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WIPO (PCT)
Prior art keywords
ultrasonic
lawn mower
ultrasonic probe
opening
baffle
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PCT/CN2021/143713
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English (en)
French (fr)
Inventor
魏娟
刘涛
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苏州科瓴精密机械科技有限公司
天佑电器（苏州）有限公司
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Publication of WO2023097860A1 publication Critical patent/WO2023097860A1/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
    • A01D75/00—Accessories for harvesters or mowers
    • A01D75/18—Safety devices for parts of the machines
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
    • G01S7/521—Constructional features

Definitions

  • the utility model relates to the technical field of mowers, in particular to a mower and an ultrasonic probe device for the mower.
  • a non-contact sensor is provided on the self-moving device.
  • lawnmowers Most of the currently used self-moving mowing devices (hereinafter referred to as lawnmowers) use ultrasonic detection technology to sense obstacles encountered in the mowing process.
  • the higher grass nearer to it will also reflect ultrasonic waves, so that the ultrasonic probe will regard the higher grass in the short distance as an obstacle, and trigger response mechanisms such as obstacle avoidance. Therefore, the existing ultrasonic detection technology used for lawn mowers may misjudge grass as an obstacle.
  • the ultrasonic probe of the existing lawn mower is connected to the body itself through the signal line, and every time the probe is replaced, it needs to be completely disassembled, which is troublesome.
  • the technical problem to be solved by the embodiment of the utility model is to provide an ultrasonic probe device for a lawn mower and a lawn mower.
  • the ultrasonic probe device of the present application makes the maintenance and installation of the probe more convenient, and can also avoid mowing
  • the machine is falsely triggered by close-range and high-height weeds, and it cannot work in a high-grass environment.
  • the utility model provides an ultrasonic probe device for a lawnmower
  • the lawnmower includes a casing and an upper cover, and the upper cover of the casing is closed at the opening of the casing
  • the ultrasonic probe device includes: a mounting mechanism, the mounting mechanism includes a first mounting seat and a second mounting seat, the first mounting seat is arranged at the opening of the shell, and the second mounting seat is arranged on the upper On the cover, an accommodation space is formed between the first mounting seat and the second mounting seat;
  • An ultrasonic assembly the ultrasonic assembly is arranged in the accommodating space, including an ultrasonic probe and a probe casing, the ultrasonic probe is arranged in the probe casing, and the direction of the central axis of the ultrasonic beam emitted by the ultrasonic probe is the same as that of the cut
  • the included angle ⁇ in the horizontal forward direction of the grass machine is 0° ⁇ 45°.
  • a first opening is provided on a side of the first mounting seat facing the forward direction of the lawn mower, and a first opening is provided on a side of the second mounting seat facing the forward direction of the lawn mower.
  • the second opening, the probe housing is disposed between the first mounting seat and the second mounting seat, and the beam emitting part of the ultrasonic probe is exposed from the first opening and the second opening .
  • a first baffle is provided on the other side of the first installation seat opposite to the first opening, and a first baffle is provided on the other side of the second installation seat opposite to the second opening.
  • a second baffle is also provided, and after the housing and the upper cover are closed, the first baffle of the first mounting seat is in contact with the second baffle of the second mounting seat.
  • buckles are provided on both sides of the first mount, and the buckles are located between the first baffle and the first opening; The first protrusion corresponding to the buckle; when the ultrasonic component is installed in the accommodation space, the buckle is engaged with the first protrusion.
  • a stopper is provided on the second mount, and a second protrusion corresponding to the stopper is provided on the probe housing, and the ultrasonic component is installed in the accommodation space When it is inside, the stopper is used to limit the sliding of the probe housing to the advancing direction of the lawnmower.
  • the buckle includes a locking part and a connecting part, the connecting part is connected to the first mounting base, and the locking part can move toward the The outer rotation of the first mount is described above.
  • the second opening of the second mounting seat is further provided with a rib plate, and the rib plate is used to restrict the The probe housing slides in the forward direction of the mower.
  • notches are provided on the first baffle and/or the second baffle.
  • the included angle ⁇ between the central axis direction of the ultrasonic beam emitted by the ultrasonic probe and the horizontal advancing direction of the lawnmower is 0° ⁇ 20°.
  • the utility model also provides a lawn mower, including the ultrasonic probe device described in any one of the above.
  • the utility model adopts the design of an ultrasonic probe device for a lawn mower, and utilizes the accommodation space formed by the first mounting seat arranged on the lawn mower casing and the second mounting seat arranged on the lawn mower upper cover to accommodate
  • the ultrasonic assembly makes the maintenance and installation of the ultrasonic assembly more convenient; on the other hand, in the utility model, the included angle ⁇ between the central axis direction of the ultrasonic probe emitting the ultrasonic beam and the horizontal forward direction of the mower is 0°-45° , can increase the detection height of the lawn mower, and then effectively avoid the short distance, and avoid misjudging the grass with a high short distance as an obstacle and stop working.
  • Fig. 1 is the structure diagram of ultrasonic probe device of the utility model mower
  • Fig. 2 is a structural schematic diagram of the installation angle of the ultrasonic probe of the utility model mower
  • Fig. 3 is a structural schematic diagram of the utility model mower shell
  • Fig. 4 is a partially enlarged structural schematic diagram of the first mounting seat of the present invention.
  • Fig. 5 is a partially enlarged structural schematic diagram of the first mounting seat equipped with ultrasonic components of the utility model
  • Fig. 6 is a structural schematic diagram of the upper cover of the utility model mower
  • Fig. 7 is a structural schematic diagram of the mower when the included angle ⁇ of the utility model is 12°.
  • the existing lawn mowers are usually equipped with detection elements in their forward direction, for example, the upper part of the housing is set forward ultrasonic components.
  • the ultrasonic probe in the ultrasonic component emits ultrasonic waves forward with a certain emission beam angle ⁇ , and the ultrasonic waves encounter obstacles and are reflected back by the obstacles to the detection unit of the mobile walking device to generate detection signals.
  • the lawnmower equipment can judge whether there is an obstacle by analyzing the detection signal, and whether it needs to perform operations such as obstacle avoidance, turning, stopping or retreating.
  • the ultrasonic probe of the existing lawn mower is usually arranged on the upper part of the lawn mower casing, and since it works outdoors for a long time and is exposed outside the casing, it is extremely important for the maintenance and installation of the probe.
  • the ultrasonic probe of the existing lawn mower is horizontally arranged on the lawn mower housing, the grass detected by the machine is relatively short, so that the ultrasonic probe is falsely triggered when the machine is cutting tall grass environment does not work.
  • the lawn mower provided by the utility model includes a specially designed ultrasonic probe device, as shown in Figure 1 Show:
  • the utility model provides an ultrasonic probe device for a lawn mower, wherein the lawn mower includes a casing 1 and an upper cover 2, the upper cover 2 is covered at the opening of the outer casing 1, and the ultrasonic probe device includes a mounting mechanism 10 and an ultrasonic assembly 30, wherein the installation mechanism includes a first mounting seat 101 and a second mounting seat 201, the first mounting seat 101 is arranged at the opening of the casing 1, the second mounting seat 201 is arranged on the upper cover 2, the first mounting seat 101 and the second An accommodating space is formed between the two mounts 201; the ultrasonic assembly 30 includes an ultrasonic probe 301 and a probe housing 302, and the ultrasonic assembly 30 is arranged in the accommodating space, as shown in FIG.
  • the included angle ⁇ in the horizontal advancing direction of the mower is 0°-45°.
  • the ultrasonic component 30 includes an ultrasonic probe 301 and a probe housing 302 ; a first protrusion 303 and a second protrusion 304 are provided on the outer circumference of the probe housing 302 .
  • the first mounting seat 101 is arranged at the opening of the housing 1, and the first mounting seat 101 is provided with a first opening 1001 on one side facing the forward direction of the mower, and the other side opposite to the first opening 1001 is provided with a first baffle 1002 , and the first baffle 1002 is provided with a gap.
  • Buckles 1003 are provided on both sides between the first opening 1001 and the first baffle 1002 , wherein the buckles 1003 include a buckling portion 1004 and a connecting portion 1005 , and the connecting portion 1005 is fixed on the first mounting base 101 .
  • the snap-in portion 1004 can be rotated to the outside of the first mounting base 101 when pressed by the probe shell 302, and then The clamping portion 1004 is closely clamped with the first protrusion 303 of the probe housing 302 to form a fixation on both sides of the ultrasonic component 30 .
  • the second mounting base 201 is arranged on the upper cover 2, and the second mounting base 201 is provided with a second opening 2001 on one side facing the advancing direction of the lawnmower, and the other side opposite to the second opening 2001 is provided with a second opening 2001.
  • the second baffle 2002, and the second baffle 2002 is provided with a gap.
  • a blocking block 2003 is further provided on the second mounting base 201 , and the blocking block 2003 is located between the second opening 2001 and the second blocking plate 2002 .
  • a rib plate 2004 is also provided at the second opening 2001 .
  • the stopper 2003 interferes with the second protrusion 304 of the probe housing 302, further restricting the circumferential movement of the ultrasonic component 30 in the accommodation space.
  • the rib plate 2004 protects the probe housing 302 of the ultrasonic assembly 30 on the one hand, and prevents the ultrasonic assembly 30 from being displaced along the advancing direction of the mower on the other hand.
  • the clamping part 1004 can rotate to the outside of the first mounting seat 101 when being squeezed by the probe shell 302, and then the clamping part 1004 and the probe
  • the first protrusions 303 of the shell 302 are closely engaged to form a fixation on both sides of the ultrasonic component 30 .
  • the probe of the ultrasonic component 30 is exposed from the first opening 1001 for emitting ultrasonic beams.
  • an accommodation space is formed between the first installation base 101 and the second installation base 201 for accommodating the ultrasonic component 30, that is, the structure constituting the accommodation space is: the first opening 1001 Combined with the second opening 2001, the front opening of the entire accommodation space is formed, that is, the wave velocity emitting part of the ultrasonic probe is exposed from the front opening formed by the combination of the first opening 1001 and the second opening 2001, and then the ultrasonic beam is emitted forward probing.
  • the combination of the first baffle plate 1002 and the second baffle plate 2002 forms the rear baffle plate of the entire accommodating space, which is used to limit the rear of the ultrasonic component 30 and prevent it from moving backward in this accommodating space; at the same time, due to There are notches on the first baffle 1002 and the second baffle 2002 at the same time, so when the first baffle 1002 and the second baffle 2002 are combined together, the notches on the two baffles are also combined correspondingly to form the entire accommodating
  • a closed gap on the rear baffle of the space is used to place the wiring harness connected between the ultrasonic component 30 and the lawn mower control system, thereby facilitating the tidy placement of the wiring harness and canceling the previous threading method.
  • any one of the first baffle plate 1002 and the second baffle plate 2002 may be provided with a gap, both of which may be used to place the wire harness.
  • the second protrusion 304 on the outer circumference of the probe shell 302 and the second mounting seat 201 of the upper cover 2 cooperate with each other to form a tighter fixation of the ultrasonic assembly 30, which can prevent the ultrasonic assembly 30 from sliding in the accommodating space in the circumferential direction, thereby further ensuring the stability of the ultrasonic assembly 30 in the lawnmower operation. .
  • the rib plate 2004 at the second opening 2001 of the second mounting seat 201 of the upper cover 2 will cover the outer shell of the ultrasonic component 30 accordingly.
  • it protects the ultrasonic component 30, and on the other hand, it can also prevent the ultrasonic component 30 from being displaced in the forward direction of the mower.
  • some positioning holes and positioning columns are also provided around the casing 1 and the upper cover 2 of the lawnmower, which are used to further tightly combine the casing 1 and the upper cover 2, thereby ensuring mowing The installation stability of the casing.
  • the accommodation space composed of the first mounting seat 101 arranged on the lawnmower casing 1 and the second mounting seat 201 arranged on the lawnmower upper cover 2 is used to accommodate the ultrasonic assembly 30, making the maintenance and installation of ultrasonic components more convenient.
  • the included angle ⁇ between the central axis direction of the ultrasonic beam emitted by the ultrasonic probe 301 and the horizontal advancing direction of the mower is 0°-45°. Since the central axis direction of the ultrasonic beam emission should be parallel to the ultrasonic installation mechanism 10, the angle ⁇ between the center of the installation mechanism and the direction in which the lawn mower advances horizontally is also 0°-45°.
  • the beam angle of the ultrasonic waves emitted by the ultrasonic components described in the utility model is raised upwards by 0°-45°, and the range of obstacles that can be sensed by the ultrasonic waves is raised upwards by an angle corresponding to ⁇ .
  • the lower line of the launch range is raised. In the case of a short distance, the lower weeds fall into the "blind zone" of ultrasonic emission and will not be detected, which will not cause the lawn mower equipment to be falsely triggered and unable to work.
  • the included angle ⁇ between the central axis direction of the ultrasonic beam emitted by the ultrasonic probe 301 and the horizontal advancing direction of the lawnmower is 0° ⁇ 20°. As shown in FIG. 7 , in this embodiment, ⁇ is 12°. In this embodiment, the working detection height of the lawnmower can be increased, effectively avoiding close distances, and avoiding misjudgments caused by close-distance weeds.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
  • Harvester Elements (AREA)

Abstract

一种用于割草机的超声波探头装置，其中，割草机包括外壳和上盖，超声波探头装置包括安装机构和超声波组件，安装机构包括第一安装座和第二安装座，第一安装座设置在外壳的开口处，第二安装座设置在上盖上，第一安装座与第二安装座之间形成容纳空间；超声波探头发射超声波波束的中轴线方向与所述割草机水平前进方向的夹角α为0°～45°。用于割草机的超声波探头装置能够使超声波探头的维护和安装更加方便，且避免了割草机在高草环境下导致误触发而无法工作的问题。

Description

割草机及用于割草机的超声波探头装置 技术领域
本实用新型涉及割草设备的技术领域，特别是涉及一种割草机及用于割草机的超声波探头装置。
背景技术
随着自动控制的飞速发展，自移动设备的自动化运行愈发重要。一般地，为了防止自移动设备在自动运行过程中与障碍物碰撞，通过在自移动设备上设置非接触式传感器。
目前使用的自移动割草装置(以下简称割草机)，大都采用超声波探测技术对割草过程中遇到的障碍物进行感应。然而，割草机在草地中工作时，距离其比较近的高度较高的草也会被反射超声波，使得超声波探头将近距离高度较高的草当成是障碍物，而触发避障等响应机制。故现有的用于割草机的超声波探测技术，存在有可能会把草误判成是障碍物的问题。另一方面，现有的割草机的超声波探头通过信号线与机体本身连接，且每次进行探头更换时需要全部拆机，较为麻烦。
实用新型内容
本实用新型实施例所要解决的技术问题在于，提供一种用于割草机的超声波探头装置及割草机，本申请的超声波探头装置使得探头的维护和安装更方便，同时也可以避免割草机被近距离高度较高的杂草误触发,而在高草的环境无法工作的问题。
为了解决上述技术问题，本实用新型提供了一种用于割草机的超声波 探头装置，所述割草机包括外壳和上盖，所述外壳上盖盖合在所述外壳的开口处，所述超声波探头装置包括：安装机构，所述安装机构包括第一安装座和第二安装座，所述第一安装座设置在所述外壳的开口处，所述第二安装座设置在所述上盖上，所述第一安装座与第二安装座之间形成容纳空间；
超声波组件，所述超声波组件设置在所述容纳空间中，包括超声波探头和探头外壳，所述超声波探头设置在所述探头外壳内，并且所述超声波探头发射超声波波束的中轴线方向与所述割草机水平前进方向的夹角α为0°～45°。
在一个可行的实现方式中，所述第一安装座面向所述割草机前进方向的一侧设有第一开口，所述第二安装座面向所述割草机前进方向的一侧设有第二开口，所述探头外壳设置在所述第一安装座与所述第二安装座之间，并且，所述超声波探头的波束发射部位从所述第一开口和所述第二开口暴露出来。
在一个可行的实现方式中，所述第一安装座上与所述第一开口相对的另一侧设有第一挡板，所述第二安装座上与所述第二开口相对的一侧还设有第二挡板，所述外壳与所述上盖盖合后，所述第一安装座的所述第一挡板与所述第二安装座的所述第二挡板相接。
在一个可行的实现方式中，所述第一安装座的两侧设有卡扣，所述卡扣位于所述第一挡板与所述第一开口之间；所述探头外壳上设有与所述卡扣对应的第一凸起；所述超声波组件安装在所述容纳空间内时，所述卡扣与所述第一凸起卡接。
在一个可行的实现方式中，所述第二安装座上设有挡块，所述探头外壳上还设有与所述挡块对应的第二凸起，所述超声波组件安装在所述容纳空间内时，所述挡块用于限制所述探头外壳向所述割草机的前进方向滑动。
在一个可行的实现方式中，所述卡扣包括卡接部和连接部，所述连接 部与所述第一安装座相连，所述卡接部能够在受到所述探头外壳挤压时向所述第一安装座的外侧转动。
在一个可行的实现方式中，所述第二安装座的第二开口处还设有出筋板，所述出筋板用于在所述超声波组件安装在所述容纳空间内时，限制所述探头外壳向所述割草机的前进方向滑动。
在一个可行的实现方式中，所述第一挡板和/或所述第二挡板上设有缺口。
在一个可行的实现方式中，所述超声波探头发射超声波波束的中轴线方向与所述割草机水平前进方向的夹角α为0°～20°。
相应地，本实用新型还提供了一种割草机，包括所述中任意一项所述的超声波探头装置。
实施本实用新型，具有如下有益效果：
本实用新型通过设计一种用于割草机的超声波探头装置，利用设置于割草机外壳上的第一安装座和和设置于割草机上盖上的第二安装座组成的容纳空间来容纳超声波组件，使得超声波组件的维护和安装更为方便；另一方面，本实用新型中超声波探头发射超声波波束的中轴线方向与所述割草机水平前进方向的夹角α为0°～45°，能够提高割草机的探测高度，进而有效规避近距离，避免将近距离高度较高的草误判成障碍物而停止工作。
应当理解的是，以上的一般描述和后文的细节描述仅是示例性和解释性的，并不能限制本申请。
附图说明
此处的附图被并入说明书中并构成本说明书的一部分，示出了符合本申请的实施例，并与说明书一起用于解释本申请的原理，并不构成对本申请的不当限定。
图1是本实用新型割草机超声波探头装置结构示意图；
图2是本实用新型割草机超声波探头安装角度结构示意图；
图3是本实用新型割草机外壳结构示意图；
图4是本实用新型第一安装座的局部放大结构示意图；
图5是本实用新型安装有超声波组件的第一安装座的局部放大结构示意图；
图6是本实用新型割草机上盖结构示意图；
图7是本实用新型夹角α为12°时割草机的结构示意图。
图中的附图标记：1-外壳，2-上盖，10-安装机构，101-第一安装座，201-第二安装座，30-超声波组件，301-超声波探头，302-探头外壳，303-第一凸起，304-第二凸起，1001-第一开口，1002-第一挡板，1003-卡扣，1004-卡接部，1005-连接部，2001-第二开口，2002-第二挡板，2003-挡块，2004-出筋板。
具体实施方式
为使本实用新型的上述目的、特征和优点能够更加明显易懂，下面结合附图对本实用新型的具体实施方式做详细的说明。在下面的描述中阐述了很多具体细节以便于充分理解本实用新型。但是本实用新型能够以很多不同于在此描述的其它方式来实施，本领域技术人员可以在不违背本实用新型内涵的情况下做类似改进，因此本实用新型不受下面公开的具体实施例的限制。
需要说明的是，当元件被称为“固定于”另一个元件，它可以直接在另一个元件上或者也可以存在居中的元件。当一个元件被认为是“连接”另一个元件，它可以是直接连接到另一个元件或者可能同时存在居中元件。本文所使用的术语“垂直的”、“水平的”、“左”、“右”以及类似的表述只是为了说明的目的。
除非另有定义，本文所使用的所有的技术和科学术语与属于本实用新 型的技术领域的技术人员通常理解的含义相同。本文中在本实用新型的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本实用新型。本文所使用的术语“及/或”包括一个或多个相关的所列项目的任意的和所有的组合。
为正确的驱动割草机设备，避免其被障碍物阻挡而出现驱动轮或电机空转，现有的割草机通常在其前进方向上会设置检测元件，例如，在其外壳的上部设置向前的超声波组件。超声波组件中的超声波探头以一定的发射波束角α向前发射超声波，超声波遇障碍物后被障碍物反射回自移动行走设备的检测单元中，产生检测信号。割草机设备通过对检测信号的分析即可判断是否存在障碍物，是否需要执行避障、转弯、停止或后退等操作。
现有的割草机的超声波探头通常设置在割草机壳体的上部，由于长期处于室外工作且暴露在壳体外部，因此对于探头的维护和安装也变得极为重要。另一方面，现有割草机的超声波探头由于水平布置在割草机壳体上，导致机器探测的草偏矮，使得机器在切割较高的草时导致超声波探头误触发而无法在高草的环境无法工作。
为解决上述提到的割草机超声波探头长期暴露于外部且在高草环境下容易导致误触发的问题，本实用新型所提供的割草机包括有特别设计的超声波探头装置，如图1所示：
本实用新型提供一种用于割草机的超声波探头装置，其中割草机包括外壳1和上盖2，上盖2盖合在外壳1的开口处，超声波探头装置包括安装机构10和超声波组件30，其中安装机构包括第一安装座101和第二安装座201，第一安装座101设置在外壳1的开口处，第二安装座201设置在上盖2上，第一安装座101与第二安装座201之间形成容纳空间；超声波组件30包括超声波探头301和探头外壳302，超声波组件30设置在所述容纳空间中，如图2所示，超声波探头301发射超声波波束的中轴线方向与所述 割草机水平前进方向的夹角α为0°～45°。
如图3和图4所示，超声波组件30包括超声波探头301和探头外壳302；探头外壳302外侧周向设置有第一凸起303和第二凸起304。第一安装座101设置在外壳1的开口处，第一安装座101面向割草机前进方向一侧设有第一开口1001，与第一开口1001相对的另一侧设有第一挡板1002，且第一挡板1002上设有缺口。在第一开口1001和第一挡板1002之间两侧分别设有卡扣1003，其中卡扣1003包括卡接部1004和连接部1005，连接部1005固定在第一安装座101上。如图3和图5所示，当将超声波组件30向第一安装座101内部推进时，卡接部1004能够在受到探头外壳302挤压时向所述第一安装座101的外侧转动，进而卡接部1004和探头外壳302的第一凸起303紧密卡接，形成对超声波组件30的两侧的固定。
如图6所示，第二安装座201设置在上盖2上，第二安装座201面向割草机前进方向一侧设有第二开口2001，与第二开口2001相对的另一侧设有第二挡板2002，且第二挡板2002上设有缺口。第二安装座201上还设有挡块2003，且挡块2003位于第二开口2001和第二挡板2002之间。另外，第二开口2001处还设有出筋板2004。当上盖2盖合在安装有超声波组件30的外壳1上时，挡块2003与探头外壳302的第二凸起304抵触，进一步限制了超声波组件30在容纳空间内的周向运动。与此同时，出筋板2004一方面保护了超声波组件30的探头外壳302，另一方面防止超声波组件30沿割草机前进方向发生位移。
在一种可能的实现方式下，首先将超声波组件30沿割草机前进方向反向推入外壳1的第一安装座101内，此时第一挡板1002对超声波组件30形成后方限位，即第一挡板1002决定了超声波组件30推入方向的终点。而在将超声波组件30向第一安装座101内部推进的过程中，卡接部1004能够在受到探头外壳302挤压时向所述第一安装座101的外侧转动，进而卡接部1004和探头外壳302的第一凸起303紧密卡接，形成对超声波组件 30的两侧的固定。而此时超声波组件30的探头从第一开口1001处暴露出来，用来发射超声波波束。
然后将上盖2和外壳1盖合在一起之后，第一安装座101与第二安装座201之间形成容纳空间，用来容纳超声波组件30，即构成容纳空间的结构为：第一开口1001和第二开口2001组合，形成整个容纳空间的前置开口，即超声波探头的波速发射部位从第一开口1001和第二开口2001组合形成的前置开口中暴露出来，进而向前方发射超声波波束进行探测。
第一挡板1002和第二挡板2002组合，形成整个容纳空间的后置挡板，用来对超声波组件30进行后方限位，防止其在此容纳空间中发生后移；与此同时，由于第一挡板1002和第二挡板2002上同时设置有缺口，故当第一挡板1002和第二挡板2002组合在一起时，两个挡板上的缺口也进行相应组合，形成整个容纳空间后置挡板上的一个闭合缺口，此闭合缺口用来放置连接超声波组件30与割草机控制系统之间的线束，从而便于线束的整洁归置，取消了以往的穿线方式。在其他可实施方式中，第一挡板1002和第二挡板2002中任一一个挡板上可设置有缺口，均可以用来放置线束。
与此同时，当超声波组件30置于容纳空间内时且上盖2和外壳1盖合在一起之后，探头外壳302外侧周向的第二凸起304，与上盖2的第二安装座201上设置的挡块2003相互配合，进而形成对超声波组件30更紧密的固定，可以防止超声波组件30在容纳空间内形成周向滑动，从而进一步保证了超声波组件30在割草机工作中的稳定性。
同时，当上盖2盖合在装有超声波组件30的外壳1之后，上盖2的第二安装座201的第二开口2001处的出筋板2004也就相应的遮盖了超声波组件30的外壳302处，一方面对超声波组件30起到了保护的作用，另一方面也可以防止超声波组件30向割草机前进方向发生位移。
除了所述超声波探头装置，在割草机的外壳1和上盖2的四周还设有一些定位孔和定位柱，用来将外壳1和上盖2进行更进一步的紧密结合， 进而保证割草机壳体的安装稳定性。
通过所述的割草机的超声波探头装置，利用设置于割草机外壳1上的第一安装座101和设置于割草机上盖2上的第二安装座201组成的容纳空间来容纳超声波组件30，使得超声波组件的维护和安装更为方便。
其次，本实用新型中超声波探头301发射超声波波束的中轴线方向与所述割草机水平前进方向的夹角α为0°～45°。由于超声波波束发射的中轴线方向与超声波安装机构10应该是平行的，故安装机构的中心与割草机水平前进的方向的夹角α同样为0°～45°。与水平放置超声波的机构相比，本实用新型所述的超声波组件所发射的超声波的波束角度被向上抬升0°～45°，超声波所能够感知的障碍物范围被向上抬升对应α的角度，超声波发射范围的下线被抬高。距离较近的情况下，较低的杂草落入超声波发射的“盲区”而不会被检测到，不会造成割草机设备被误触发而无法工作。
在一种可能的实施方式下，超声波探头301发射超声波波束的中轴线方向与所述割草机水平前进方向的夹角α为0°～20°。如图7所示，在本实施例中α为12°，本实施方式中能够提高割草机工作的探测高度，有效规避近距离，避免近距离杂草所造成的误判。
以上所述实施例的各技术特征可以进行任意的组合，为使描述简洁，未对所述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。
以上所述实施例仅表达了本实用新型的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对实用新型专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本实用新型构思的前提下，还可以做出若干变形和改进，这些都属于本实用新型的保护范围。因此，本实用新型专利的保护范围应以所附权利要求为准。

Claims (10)

  1. 一种用于割草机的超声波探头装置，其特征在于，所述割草机包括外壳(1)和上盖(2)，所述上盖(2)盖合在所述外壳(1)的开口处，所述超声波探头装置包括：
    安装机构(10)，所述安装机构包括第一安装座(101)和第二安装座(201)，所述第一安装座(101)设置在所述外壳(1)的开口处，所述第二安装座(201)设置在所述上盖(2)上，所述第一安装座(101)与第二安装座(201)之间形成容纳空间；
    超声波组件(30)，所述超声波组件设置在所述容纳空间中，包括超声波探头(301)和探头外壳(302)，所述超声波探头设置在所述探头外壳(302)内，并且所述超声波探头(301)发射超声波波束的中轴线方向与所述割草机水平前进方向的夹角α为0°～45°。
  2. 根据权利要求1所述的用于割草机的超声波探头装置，其特征在于，
    所述第一安装座(101)面向所述割草机前进方向的一侧设有第一开口(1001)，所述第二安装座(201)面向所述割草机前进方向的一侧设有第二开口(2001)，所述探头外壳(302)设置在所述第一安装座(101)与所述第二安装座(201)之间，并且，所述超声波探头的波束发射部位从所述第一开口(1001)和所述第二开口(2001)暴露出来。
  3. 根据权利要求2所述的用于割草机的超声波探头装置，其特征在于，
    所述第一安装座(101)上与所述第一开口(1001)相对的另一侧设有第一挡板(1002)，所述第二安装座(201)上与所述第二开口(2001)相对的一侧还设有第二挡板(2002)，所述外壳(1)与所述上盖(2)盖合后，所述第一安装座(101)的所述第一挡板(1002)与所述第二安装座(201)的所述第二挡板(2002)相接。
  4. 根据权利要求1所述的用于割草机的超声波探头装置，其特征在于，
    所述第一安装座(101)的两侧设有卡扣(1003)，所述卡扣(1003)位于所述第一挡板(1002)与所述第一开口(1001)之间；
    所述探头外壳(302)上设有与所述卡扣(1003)对应的第一凸起(303)；
    所述超声波组件安装在所述容纳空间内时，所述卡扣(1003)与所述第一凸起(303)卡接。
  5. 根据权利要求1所述的用于割草机的超声波探头装置，其特征在于，
    所述第二安装座(201)上设有挡块(2003)，所述探头外壳上还设有与所述挡块(2003)对应的第二凸起(304)，所述超声波组件安装在所述容纳空间内时，所述挡块(2003)用于限制所述探头外壳(302)向所述割草机的前进方向滑动。
  6. 根据权利要求4所述的用于割草机的超声波探头装置，其特征在于，所述卡扣(1003)包括卡接部(1004)和连接部(1005)，所述连接部(1005)与所述第一安装座(101)相连，所述卡接部(1004)能够在受到所述探头外壳挤压时向所述第一安装座(101)的外侧转动。
  7. 根据权利要求1所述的用于割草机的超声波探头装置，其特征在于，
    所述第二安装座(201)的第二开口(2001)处还设有出筋板(2004)，所述出筋板(2004)用于在所述超声波组件安装在所述容纳空间内时，限制所述探头外壳(302)向所述割草机的前进方向滑动。
  8. 根据权利要求3所述的用于割草机的超声波探头装置，其特征在于，
    所述第一挡板(1002)和/或所述第二挡板(2002)上设有缺口。
  9. 根据权利要求1所述的用于割草机的超声波探头装置，其特征在于，所述超声波探头发射超声波波束的中轴线方向与所述割草机水平前进方向的夹角α为0°～20°。
  10. 一种割草机，其特征在于，包括如权利要求1～9中任意一项所述的超声波探头装置。
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