WO2023104212A1 - Tondeuse à gazon intelligente - Google Patents

Tondeuse à gazon intelligente Download PDF

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Publication number
WO2023104212A1
WO2023104212A1 PCT/CN2022/138358 CN2022138358W WO2023104212A1 WO 2023104212 A1 WO2023104212 A1 WO 2023104212A1 CN 2022138358 W CN2022138358 W CN 2022138358W WO 2023104212 A1 WO2023104212 A1 WO 2023104212A1
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WO
WIPO (PCT)
Prior art keywords
distance
fuselage
preset
cutting
intelligent
Prior art date
Application number
PCT/CN2022/138358
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English (en)
Chinese (zh)
Inventor
查霞红
杜江
刘常华
Original Assignee
苏州宝时得电动工具有限公司
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Publication date
Application filed by 苏州宝时得电动工具有限公司 filed Critical 苏州宝时得电动工具有限公司
Priority to CN202280078876.0A priority Critical patent/CN118338776A/zh
Publication of WO2023104212A1 publication Critical patent/WO2023104212A1/fr

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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
    • A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
    • A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
    • A01D34/63—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
    • A01D34/82—Other details
    • 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

Definitions

  • the invention relates to the technical field of self-moving tools, in particular to an intelligent lawnmower.
  • Traditional outdoor commercial lawn mowers mainly include riding lawn mowers and walk lawn mowers. However, these lawn mowers are not smart products and require full human intervention, resulting in increased labor costs for mowing the lawn.
  • an intelligent lawnmower includes: a body; a mobile module, disposed on the body, and configured to drive the body to move along a set path or within a working area ;
  • the cutting mechanism includes a cutting element, and the cutting element is arranged at the bottom of the fuselage to perform the cutting task;
  • the intelligent lawn mower also includes, the protection device has a protection state and a non-protection state, and in the protection state The protection device can protect the cutting element; and the control module is at least connected to the protection device and configured to control the protection device to be in the position according to the distance between the fuselage and a preset object.
  • the guarded state or the non-guarded state is the protection device.
  • the above intelligent lawn mower is integrated with a control module and a protective device, and the control module is configured to control the protective device to actively switch between the protective state and the non-protective state according to the distance between the fuselage and the preset object. For example: when the distance between the fuselage and the preset object is relatively long and there is no need to protect the cutting element, the control module controls the protective device to be in a non-protective state to ensure the normal operation of the cutting mechanism. When the distance between the fuselage and the preset object is short and the cutting element needs to be protected, the control module controls the protective device to take the initiative to protect the cutting element so that the intelligent lawn mower can cut close to the preset object.
  • the intelligent lawn mower uses the control module to actively control the action of the protective device according to the distance between the fuselage and the preset object, so that it can accurately switch between the protective state and the non-protective state, and realizes the cutting of the intelligent lawn mower. Active protection for edges and safe cuts. In this way, for complex working conditions, such as: high-density grass, obstacles, steps, etc., this intelligent lawn mower does not require human participation, and can take into account the needs of cutting to the edge and cutting safety.
  • the cutting mechanism has two opposite sides, the direction of the line between the two sides intersects the traveling direction of the fuselage
  • the protection device includes: a driving mechanism, connected with the control module; and, the protective structure is connected with the driving mechanism and at least partly arranged on at least one side of the cutting mechanism; the control module is configured to When the distance between them is less than or equal to the preset distance, the driving mechanism is controlled to drive the protective structure to move relative to the fuselage to a preset position, so that the protective device is in the protective state.
  • control module when the distance between the fuselage and the preset object is less than or equal to the preset distance, the control module is configured to control the driving mechanism to drive the protective structure along the direction toward the ground Move to the preset position.
  • the driving mechanism includes a lifting mechanism; the protective structure moves relative to the fuselage at least between a first position and a second position, the first position is higher than the second position,
  • the preset position includes the second position; when the distance between the fuselage and the preset object is less than or equal to the preset distance, the lifting mechanism drives the protective structure to move to the second position, to protect the cutting element; when the distance between the fuselage and the preset object is greater than the preset distance, the lifting mechanism drives the protective structure to move to or maintain at the first position.
  • the height h of the bottom of the protection structure from the ground is 38 mm to 55 mm, and the side of the protection structure facing away from the fuselage and the outer contour of the cutting mechanism The distance D between them is greater than or equal to 90mm.
  • the intelligent lawn mower further includes a distance acquisition module connected to the control module, and the distance acquisition module can at least acquire the distance between the fuselage and a preset object.
  • the preset objects include obstacles in the working area, wherein the obstacles with pre-stored position information in the intelligent lawn mower are defined as marked obstacles, and the preset distance includes a first preset distance
  • the distance acquisition module includes a positioning component configured to locate the position coordinates of the fuselage to determine the distance between the fuselage and the marked obstacle; when the fuselage and the marked obstacle When the distance between them is less than or equal to the first preset distance, the driving mechanism drives the protective structure to move to the preset position.
  • the driving mechanism when the distance between the fuselage and the marked obstacle is less than or equal to the first preset distance, the driving mechanism starts to drive the protective structure to move, and makes the protective structure Moving to the preset position before the critical distance from the marked obstacle.
  • the first preset distance ranges from 1.5m to 2.5m; the critical distance ranges from 0.2m to 0.8m.
  • the preset objects include obstacles in the working area, wherein obstacles without pre-stored position information in the intelligent lawn mower are defined as random obstacles, and the preset distance includes the second preset distance Distance;
  • the distance acquisition module includes a detection component, the detection component is at least configured to detect the random obstacle, and determine the distance between the fuselage and the random obstacle; when the fuselage and the random obstacle When the distance between them is less than or equal to the second preset distance, the driving mechanism drives the protective structure to move to the preset position.
  • control module has a timing control function, and when the distance between the fuselage and the random obstacle is less than or equal to the second preset distance, the control module controls the detection component to The random obstacle is monitored within the preset time; after the preset time, if the distance between the fuselage and the random obstacle is still less than or equal to the second preset distance, the driving mechanism drives the protective structure Move to the preset position.
  • the preset object includes the boundary of the working area; the preset distance includes a third preset distance; the distance acquisition module includes a positioning component, and the positioning component is configured to position the fuselage Position coordinates to determine the distance between the fuselage and the boundary; when the distance between the fuselage and the boundary is less than or equal to a third preset distance, the driving mechanism drives the protective structure to move to the Default position.
  • the driving mechanism includes a first driver and a transmission member connected to the first driver, the protective structure is arranged on the transmission member, and the first driver drives the transmission member to moving on the fuselage to drive the protective structure to move relative to the fuselage.
  • the protection structure includes a first protection member and a second protection member respectively arranged on two sides of the cutting mechanism, there are at least two transmission members, and the first protection member and the second protection member are respectively arranged on two sides of the cutting mechanism.
  • the second protection elements are respectively connected to the corresponding transmission elements.
  • the protective structure is circumferentially arranged outside the cutting mechanism.
  • an intelligent lawnmower includes: a body; a mobile module, disposed on the body, and configured to drive the body to move along a set path or within a working area a cutting mechanism, including a cutting element, the cutting element is arranged at the bottom of the fuselage to perform cutting tasks; a control module, connected with the moving module and the cutting mechanism, is at least configured to control the intelligent lawn mower Mowing grass along the boundary of the working area; wherein the intelligent lawn mower further includes a protective structure configured to establish a protective barrier on the side of the cutting element, and the intelligent lawn mower along the edge During the cutting process, the sidemost part of the protective structure is the sidemost part of the intelligent lawnmower.
  • the cutting element is better protected by this protective structure.
  • the most edge part of the protective structure is the most edge part of the intelligent lawn mower. It can be seen that at least part of the protective structure is located on the outside of the fuselage during the edge cutting process, which is conducive to passing through the protective structure. Guarantee the safety of people or animals, and at the same time realize cutting to the edge, avoiding that the smart lawn mower stops working far away from the border, people or animals, leaving more uncut areas.
  • such an arrangement can increase the horizontal distance from the outer end of the cutting element to the outer side of the protective structure, so that no bottom protection can be provided, thereby improving the passability of the intelligent lawnmower and reducing the preparation cost of the machine.
  • an intelligent lawn mower includes: a body; a mobile module, disposed on the body, and configured to drive the body to move along a set path or within a working area a cutting mechanism, including a cutting element, the cutting element is arranged at the bottom of the fuselage to perform cutting tasks; wherein, the cutting diameter of the cutting element is greater than or equal to 500mm; a control module, with the mobile module and the cutting a mechanism linkage configured at least to control movement of the intelligent lawnmower to mow grass along the boundary of the work area; wherein the intelligent lawnmower further includes a protective structure configured to at least To build a protective barrier.
  • Fig. 1 is the front view of the intelligent lawn mower structure of side protection described in one embodiment
  • Fig. 2 is a bottom view of the intelligent lawn mower structure with side protection described in one embodiment
  • Fig. 3 is a structural schematic diagram of an intelligent lawn mower for side protection when tall grass is cut in an embodiment
  • Fig. 4 is a structural schematic diagram of an intelligent lawn mower for side protection when cutting low grass described in an embodiment
  • Fig. 5 is the front view of the structure of the fully protected intelligent lawn mower described in one embodiment
  • Fig. 6 is a structural schematic diagram of a fully protected intelligent lawn mower described in an embodiment
  • Fig. 7 is a structural schematic diagram of an intelligent lawn mower for comprehensive protection when cutting tall grass described in an embodiment
  • Fig. 8 is a structural schematic diagram of an intelligent lawn mower for comprehensive protection when cutting low grass described in an embodiment
  • Fig. 9 is a schematic diagram of the front end structure of the protective structure described in one embodiment.
  • Fig. 10 is a structural schematic diagram of an intelligent lawnmower when an obstacle is encountered in one embodiment
  • Fig. 11 is a structural schematic diagram of an intelligent lawnmower when overcoming obstacles described in an embodiment
  • Fig. 12 is an analysis diagram of the peripheral area of the intelligent mower described in one embodiment.
  • an intelligent lawn mower 100 includes: a body 110 , a moving module 120 , a protection device and a control module.
  • the moving module 120 is disposed on the fuselage 110 and is configured to drive the fuselage 110 to move along a set path or within a working area.
  • the cutting mechanism 130 includes a cutting element (such as a multi-layer cutting blade as shown in FIG. 1 ), which is disposed at the bottom of the fuselage 110 to perform cutting tasks.
  • the protection device has a protection state and a non-protection state, and in the protection state, the protection device can protect the cutting element.
  • the control module is at least connected to the protective device, and is configured to control the protective device to be in a protective state or a non-protective state according to the distance between the fuselage 110 and a preset object.
  • the above intelligent lawn mower 100 is integrated with a control module and a protective device, and the control module is configured to control the protective device to actively switch between the protective state and the non-protective state according to the distance between the fuselage 110 and the preset object. For example: when the distance between the fuselage 110 and the preset object is relatively long and there is no need to protect the cutting element, the control module controls the protection device to be in a non-protection state to ensure the normal operation of the cutting mechanism 130 . When the distance between the fuselage 110 and the preset object is relatively short and cutting elements are required for protection, the control module controls the protective device to take the initiative to protect the cutting elements so that the intelligent lawn mower 100 can cut close to the preset object .
  • the intelligent lawn mower 100 uses the control module to actively control the action of the protective device according to the distance between the fuselage 110 and the preset object, so that it can accurately switch between the protective state and the non-protective state, and realize the intelligent lawn mower 100. Cut-to-edge and active protection for safe cutting. In this way, for complex working conditions, such as: high-density grass, obstacles 200, steps, etc., the intelligent lawn mower 100 does not require human participation, and can take into account the needs of cutting to the edge and cutting safety.
  • the guard state and the non-guard state are two structural states of the guard device relative to the cutting mechanism 130 .
  • the protective device can cover the cutting mechanism 130 to prevent people or animals from reaching into the cutting element from outside the fuselage 110 .
  • the distance between the protective device and the ground can be designed to be less than or equal to the diameter of the human arm to achieve the protective effect.
  • other parts of humans or animals can also be used as an example to define the protective state of the protective device.
  • the protective device switches to the protective state by moving toward the ground; or, the protective device switches to the protective state by rotating or unwinding.
  • the preset objects may include obstacles 200 with pre-built-in position information in the control module, such as: walls, fences, trees in the garden, swimming pools, ponds, etc.; Obstacles 200, for example: stones in the lawn, plastic bottles, animals, people, etc.
  • the preset object can also include the boundary 400 of the working area, such as: when the distance between the fuselage 110 and the boundary 400 of the working area reaches the distance that can trigger the protection, the control module controls the protection device to switch to the protection state to prevent cutting Components are protected.
  • the intelligent lawn mower 100 of this embodiment can be applied to domestic mowing, and can also be applied to outdoor commercial mowing and the like.
  • the control module can be, but not limited to, a single-chip microcomputer, an electronic control unit (ECU for short), a programmable logic controller (PLC for short), and the like.
  • the cutting mechanism 130 has two opposite sides 131 .
  • the direction of the line between the two sides 131 intersects the traveling direction 111 of the fuselage 110 , that is, the two sides 131 should be understood as opposite sides in the traveling direction 111 of the fuselage 110 .
  • “intersection” includes perpendicular and non-perpendicular states.
  • the protection device includes a driving mechanism 160 and a protection structure 150 .
  • the driving mechanism 160 is connected with the control module.
  • the protection structure 150 is connected to the driving mechanism 160 and at least partially disposed on at least one side 131 of the cutting mechanism 130 .
  • the control module is configured to control the driving mechanism 160 to drive the protective structure 150 to a preset position relative to the fuselage 110 when the distance between the fuselage 110 and the preset object is less than or equal to the preset distance, so that the protective device is in the protective position. state.
  • the control module controls the driving mechanism 160 to move to drive the protective structure 150 to the preset position relative to the fuselage 110, so as to prevent the cutting At least one side 131 of the mechanism 130 is shielded.
  • This facilitates the intelligent lawnmower 100 to perform cutting operations close to the preset object, so as to realize cutting to the edge and safe cutting requirements in complex working conditions.
  • cutting to the edge does not refer to cutting all the surrounding grass of the preset object, but refers to cutting close to the edge of the preset object under the premise of protecting the safety of the preset object.
  • a section of grass can be left uncut around the preset object; it can also be completely cut.
  • the preset object is an obstacle 200
  • the preset object is the boundary 400 of the working area and there is no obstruction near the boundary, after cutting to the edge, all the grass on the boundary 400 can be cleared.
  • the protection structure 150 can move in ways such as, but not limited to, rotation, translation, and unwinding.
  • the protection structure 150 can be designed as a roll-up structure.
  • the drive mechanism 160 drives the roll-up structure to roll up to block at least one side of the cutting mechanism 130. 131.
  • the driving mechanism 160 can be a motor, an air cylinder, a hydraulic cylinder, an electric cylinder, etc.; of course, it can also be a combined structure of a motor and a linkage mechanism.
  • the protection of the cutting element by the protection structure 150 may be partial protection or overall protection.
  • the protection structure 150 is disposed around one side 131 or two sides 131 ; or, please refer to FIG. 6 , the protection structure 150 is extended around the periphery of the cutting mechanism 130 .
  • FIG. 9 when the protective structure 150 can protect the front end of the fuselage 110 , several comb grooves 153 can be arranged at intervals on the protective structure 150 . This makes it easier for uncut grass ahead to enter the cutting mechanism 130 using the comb slot 153 .
  • the comb groove 153 is also beneficial to reduce the resistance between the protective structure 150 and the grass, and improve the passability of the intelligent lawnmower 100 .
  • control module when the distance between the fuselage 110 and the preset object is less than or equal to the preset distance, the control module is configured to control the driving mechanism 160 to drive the protective structure 150 along the direction toward the ground Move to preset position. It can be seen from this that the movement mode of the protection structure 150 is towards the ground during protection, so as to lower the position of the protection structure 150 and realize the protection of the cutting element.
  • the value of the preset position may be determined according to the object to be protected and the installation height of the cutting mechanism 130 .
  • the preset position should not be set too low, otherwise, the passability of the intelligent lawn mower 100 will be reduced, and its normal cutting operation will be affected.
  • the driving mechanism 160 includes a lifting mechanism 161 .
  • the protective structure 150 moves relative to the fuselage 110 at least between a first position and a second position.
  • the first position is higher than the second position.
  • the preset positions include the second position.
  • the lifting mechanism 161 drives the protection structure 150 to move to the second position to protect the cutting element.
  • the lifting mechanism 161 drives the protective structure 150 to move to or maintain at the first position.
  • the control module controls the lifting mechanism 161 to move to drive the protective structure 150 to the second position, so that it Switching to the protection state is convenient for the intelligent lawn mower 100 to meet the requirements of cutting to the edge and cutting safely under complicated working conditions.
  • the control module controls the lifting mechanism 161 to move, and drives the protective structure 150 to move to or remain at the first position, Make the cutting mechanism 130 work normally.
  • the lifting mechanism 161 can have various designs, as long as it can drive the protective structure 150 to move between at least the first position and the second position.
  • the lifting mechanism 161 is designed as a combined structure such as a motor, a gear, and a rack; or it is designed as a combined structure such as a motor, a cam 1631, and a lifting rod; or, it can also be directly designed as a device with telescopic functions such as an air cylinder and a hydraulic cylinder. .
  • the protection structure 150 when the protection structure 150 is in the first position, it is in a non-protection state; when the protection structure 150 is in the second position, it is in a protection state.
  • the first position is controlled to be 100mm to 120mm from the ground, specifically a position near 114mm from the ground; or, the first position is controlled to be The highest position of the protective structure 150 moving away from the ground, etc.
  • the design of the second position can be determined according to the object to be protected and the installation height of the cutting mechanism 130 . In terms of protection effect, the closer the second position is to the ground, the better, but considering the mowing efficiency and passability, the setting of the second position should not be too low.
  • the height h of the bottom of the protective structure 150 from the ground is 38mm ⁇ 55mm.
  • the height of the second position is reasonably designed so that the height of the bottom of the protective structure 150 from the ground is controlled to be 38 mm to 55 mm. While achieving effective protection, it is ensured that the intelligent lawn mower 100 can pass through stably during operation, and the mowing operation can be carried out stably.
  • the height h of the bottom of the protective structure 150 from the ground is 55 mm.
  • the distance D between the side of the protective structure 150 facing away from the fuselage 110 and the outer contour of the cutting mechanism 130 is greater than or equal to 90 mm, that is, the distance between the outer end of the cutting mechanism 130 and the outer side of the protective structure 150 in the horizontal direction is controlled. The distance between them is to meet the protection requirements of the fingers.
  • the outer contour of the cutting mechanism 130 refers to the part at the outermost end of the cutting mechanism 130.
  • the cutting mechanism 130 at least includes a cutter head and blades arranged at intervals on the cutter head.
  • the cutting mechanism 130 The outer contour can be understood as the end of the blade sticking out of the cutter head. If the blade is designed to be foldable and shrinkable in the cutter head, the blade will be re-deployed under the centrifugal force of the cutter head rotation. At this time, the distance D between the outer end of the blade and the side of the protective structure 150 facing away from the fuselage 110 Greater than or equal to 90mm.
  • the three cutting mechanisms 130 are disposed at the bottom of the fuselage 110 at intervals in a triangular shape.
  • the smart lawnmower 100 further includes a distance acquisition module 140 connected to the control module.
  • the distance acquisition module 140 can at least acquire the distance between the fuselage 110 and the preset object. In this way, through the distance acquisition module 140, the distance between the fuselage 110 and the preset object can be accurately acquired, so that the control module can control the action of the protective device in time In order to enable the intelligent mower 100 to achieve the purpose of stable cutting to the edge and safe cutting under complicated working conditions.
  • the distance acquisition module 140 can be a positioning module, which determines the distance between itself and a known preset object according to its own positioning; it can also be a detection module, which detects the preset distance in front of the intelligent lawn mower 100 in real time. distance from itself, etc.
  • the preset objects include obstacles 200 in the working area, wherein the obstacles 200 with pre-stored location information in the smart mower 100 are defined as marked obstacles.
  • the preset distance includes a first preset distance; the distance acquisition module 140 includes a positioning component 142 configured to locate the position coordinates of the fuselage 110 to determine the distance between the fuselage 110 and the marked obstacle.
  • the driving mechanism 160 drives the protective structure 150 to move to a preset position.
  • the positioning component 142 locates the position coordinates of the fuselage 110 in the working area. Since the location information of the marked obstacle has been built in the intelligent mower 100, the distance between the fuselage 110 and the marked obstacle can be determined according to the position coordinates located by the positioning component 142. If the distance between the fuselage 110 and the marked obstacle is less than or equal to the first preset distance, it means that the intelligent mower 100 is relatively close to the marked obstacle. At this time, the driving mechanism 160 drives the protective structure 150 to actively protect the cutting element. , so that the intelligent mower 100 can work close to the marked obstacles, so as to meet the requirements of cutting to the edge and safe cutting operations.
  • the marked obstacles can be determined according to different types of work areas, for example: the marked obstacles can be but not limited to walls, fences, trees in the garden, swimming pools, ponds, etc.
  • the positioning component 142 is a position coordinate device capable of positioning the fuselage 110, such as: the positioning component 142 can be an RTK (Real Time Kinematic translated as real-time differential positioning) module, a GPS (Global Positioning System translated as global positioning) system), etc.
  • the positioning component 142 can only receive satellite signals, or only receive base station signals broadcast by the base station, for example: the base station signals include at least differential messages; or receive satellite signals at the same time signal and base station signal.
  • base stations can be deployed in the set path or work area. The base station receives satellite signals through an internal antenna and broadcasts differential messages to the outside.
  • the positioning component 142 simultaneously receives satellite signals and base station signals, and feeds back positioning data to the control module to determine the position coordinates of the fuselage 110 .
  • the positioning component 142 when receiving satellite signals and base station signals, has at least a built-in satellite antenna and a communication unit, and the positioning component 142 uses the satellite antenna to receive satellite signals; uses the communication unit to receive base station signals from the base station to obtain accurate positioning data.
  • the control module receives the positioning data of the positioning component 142, the control module processes according to a preset algorithm to obtain the position data.
  • the driving mechanism 160 starts to drive the protective structure 150 to move, and makes the protective structure 150 move within a critical distance from the marked obstacle. previously moved to the preset position. It can be seen that when the intelligent lawn mower 100 locates itself close to the marked obstacle, it starts to drive the protective structure 150 to move, and ensures that the protective structure 150 is protected in place before the fuselage 110 is at a critical distance from the marked obstacle, so that the protective structure 150 for more stable and secure protection.
  • the first preset distance ranges from 1.5m to 2.5m.
  • the critical distance ranges from 0.2m to 0.8m, that is, when the distance between the fuselage 110 and the marked obstacle is less than or equal to 1.5m to 2.5m, the protective structure 150 is controlled to move in advance (such as falling in advance, etc.), so that the protection The structure 150 is protected in advance at a distance of 0.2m-0.8m from the fuselage 110 to the marked obstacle, ensuring that the intelligent lawnmower 100 can achieve stable cutting to the side.
  • the first preset distance is 2m; the critical distance is 0.5m.
  • the preset objects include obstacles 200 in the working area, wherein the obstacles 200 with no pre-stored location information in the smart lawnmower 100 are defined as random obstacles.
  • the preset distance includes a second preset distance.
  • the distance acquisition module 140 includes a detection component 141 configured at least to detect random obstacles and determine the distance between the fuselage 110 and the random obstacles. When the distance between the fuselage 110 and the random obstacle is less than or equal to the second preset distance, the driving mechanism 160 drives the protective structure 150 to move to the preset position.
  • the driving mechanism 160 drives the protective structure 150 to actively protect the cutting element, so that The intelligent lawn mower 100 can work close to random obstacles or work around, so that it can recognize its edge cutting, so as to meet the requirements of cutting to the edge and safe cutting operations.
  • the speed of the smart lawn mower 100 decreases (below the normal working speed), for example, the normal working speed is 1 m /s ⁇ 3m/s, the speed can be reduced to about 0.5m/s when working close to the body, and if safety is further considered, it can also be reduced to 0.3m/s, 0.2m/s, etc.
  • random obstacles are objects that do not often exist or appear in the work area, and have great uncertainty, such as: stones in the lawn, plastic bottles, animals, people, etc.
  • the built-in location information cannot be used to locate it.
  • the present application sets the detection component 141 to detect such obstacles 200 in real time, so as to determine the distance between random obstacles and the fuselage 110 .
  • the detection component 141 can also detect the marked obstacle, which can cooperate with the positioning component 142, so that the distance information between the fuselage 110 and the marked obstacle can be acquired with higher accuracy.
  • the second preset distance can be comprehensively determined according to the overall traveling speed of the smart lawn mower 100 and the moving speed of the protective structure 150 , for example, the second preset distance is set to about 2m. Meanwhile, the second preset distance and the first preset distance can be set to be consistent or inconsistent. When the second preset distance is inconsistent with the first preset distance, the first preset distance can be set larger than the second preset distance, which can expand the protection range of the marked obstacle, so that the protective structure 150 can be used for the marked obstacle. Move ahead.
  • the protective structure 150 can be lifted, for example, to First or highest position.
  • the detection component 141 may be, but not limited to, a vision module, a ranging sensor 1412, a radar device, and the like.
  • the detection component 141 includes a camera 1411 and a sensor 1412 disposed on the body 110 .
  • the camera 1411 can identify the obstacle 200 .
  • the sensor 1412 can obtain the distance between the fuselage 110 and the obstacle 200 .
  • the control module has a timing control function.
  • the control module controls the detection component 141 to monitor the random obstacle within the preset time; after the preset time, if the fuselage 110 and If the distance between random obstacles is still less than or equal to the second preset distance, the driving mechanism 160 drives the protection structure 150 to move to the preset position. Due to the large uncertainty of random obstacles, for example: random obstacles can be fixed objects or objects that change at any time. The effective action of the protection structure 150 is controlled to prevent the cutting efficiency and cutting effect from being affected by driving the protection structure 150 when no protection is required.
  • the detection component 141 detects the animal and obtains the distance between it and the machine body 110 .
  • the control module controls the detection component 141 to continuously monitor the animal within a preset time. If the animal is disturbed by the cutting action of the intelligent lawnmower 100 and jumps away or moves away by itself within a preset time, and the distance between it and the fuselage 110 is greater than the second preset distance, after the preset time, the control module will The driving mechanism 160 is controlled not to act, so that the intelligent lawnmower 100 works normally.
  • control module controls the driving mechanism 160 to move, driving the protective structure 150 to move to the preset position to provide effective protection for cutting elements.
  • control module has a sequence control function, which can select whether the executive control mechanism acts or the executive control mechanism does not act after a preset time.
  • control module is integrated with a control circuit, a conversion circuit, etc. Since the specific circuit structure in the control module is not the object of improvement in this embodiment, its specific structure can directly refer to existing documents or existing products.
  • the preset object includes the boundary 400 of the working area.
  • the preset distance includes a third preset distance.
  • the distance acquisition module 140 includes a positioning component 142 configured to locate the position coordinates of the fuselage 110 to determine the distance between the fuselage 110 and the boundary 400 .
  • the driving mechanism 160 drives the protective structure 150 to move to the preset position.
  • the positioning component 142 locates the position coordinates of the fuselage 110 to obtain the distance between the fuselage 110 and the boundary 400 . If the distance between the fuselage 110 and the boundary 400 is less than or equal to the third preset distance, the driving mechanism 160 drives the protective structure 150 to move to a preset position (such as descending to a preset position) to protect the cutting element , so that when the intelligent lawn mower 100 walks along the boundary 400, the protective structure 150 is released throughout the process.
  • a third preset distance judgment protection condition is set, so as to realize the safe operation of cutting the boundary 400 .
  • the value of the third preset distance can also be determined according to the surrounding environment of the work area. For example, if there are fewer obstacles 200 outside the work area or it is relatively open (such as adjacent to the road), the third preset distance can be set to Set the distance definition to a smaller value, or even set it to 0, that is, there is no need to release the protective structure 150 in the whole process; if there are more obstacles 200 outside the working area, the third preset distance can be appropriately increased to ensure that the boundary 400 Cutting safety.
  • marked obstacles may or may not exist on the boundary 400 (such as the open boundary 400 ).
  • the control protection structure 150 remains in the non-protection state. If after continuing to walk, when the distance between the fuselage 110 and the marked obstacle is located less than or equal to the first preset distance, the driving mechanism 160 is controlled to move to the preset position in advance, so that it is in a protective state ; If it is detected that the distance between the fuselage 110 and the random obstacle is less than or equal to the second preset distance, control the driving mechanism 160 to move the protective structure 150 to the preset position.
  • the protective structure 150 when the intelligent lawn mower 100 walks along the boundary 400 with marked obstacles, and the distance between the fuselage 110 and the marked obstacles is less than the first preset distance, the protective structure 150 is in a protective position all the way. state.
  • the driving mechanism 160 includes a first driver 162 and a transmission member 164 connected to the first driver 162 .
  • the protective structure 150 is disposed on the transmission member 164 .
  • the first driver 162 drives the transmission member 164 to move relative to the body 110 to drive the protection structure 150 to move relative to the body 110 , so that the protection structure 150 can stably move to a preset position to achieve effective cutting protection.
  • the first driver 162 can be an air cylinder, a hydraulic cylinder, an electric cylinder and other equipment with telescopic shafts, so that the transmission member 164 can reciprocate relative to the fuselage 110 .
  • the first driver 162 can also be a motor.
  • the transmission member 164 is directly connected to the first driver 162, the transmission member 164 is driven to rotate relative to the fuselage 110, so that the protective structure 150 is rotated to a preset position;
  • the force transmission of the transmission structure 163 can be used to convert the rotation of the first driver 162 into the driving of the transmission member 164, and drive the protection structure 150 to move to the preset position.
  • the driving mechanism 160 further includes a transmission structure 163, and the first driver 162 is a motor.
  • the first driver 162 is connected to the transmission member 164 through the transmission structure 163 , so that the protection structure 150 can move stably through the transmission structure 163 .
  • the transmission member 164 can realize motion modes such as swinging back and forth and moving up and down.
  • the transmission structure 163 can be designed as a rotating shaft.
  • the first driver 162 is connected to the rotating shaft through belts, gears and other components. At this time, the first driver 162 can drive the rotating shaft to rotate around its own axis, and drive the transmission member 164 to swing around the axis of the rotating shaft, so as to realize the swinging of the protective structure 150 up and down.
  • the transmission structure 163 can be designed as a combined structure of the height adjustment rod 1632 and the cam 1631 or a combined structure of the gear and the rack. If the transmission structure 163 is a combined structure of the height adjustment rod 1632 and the cam 1631 , the protruding portion of the cam 1631 is in contact with the bottom of the height adjustment rod 1632 . At this time, as the first driver 162 rotates, the protruding portion of the cam 1631 can raise or lower the position of the height-adjusting rod 1632 to drive the transmission member 164 to move up and down.
  • the transmission structure 163 can also have other designs, which are not listed one by one, as long as they can drive the protection structure 150 to move relative to the fuselage 110 .
  • the protection structure 150 includes a first protection part 151 and a second protection part 152 respectively disposed on two sides 131 of the cutting mechanism 130 .
  • the first guard 151 and the second guard 152 are respectively connected to the corresponding transmission members 164, that is, the guard in this embodiment adopts side guards, which realize effective and safe cutting under the premise of reducing the load of the intelligent lawn mower 100 .
  • the protective structure 150 is circumferentially disposed outside the cutting mechanism 130 , that is, the protective structure 150 is completely protected outside the cutting mechanism 130 to improve the protective performance.
  • the protective structure 150 floats up and down relative to the transmission member 164.
  • the protective structure 150 encounters an obstacle 200, it is lifted by the obstacle 200 by using its floating performance, so that the smart mower The grass machine 100 realizes the function of overcoming obstacles at a high level, and improves its passability when encountering obstacles.
  • the way to realize the floating of the protective structure 150 relative to the transmission member 164 can be provided with waist-shaped holes or other spaces for moving up and down on the transmission member 164; Structures such as chains 174 are connected to the transmission member 164 .
  • the smart lawn mower 100 further includes a height adjustment mechanism 170 .
  • the height adjustment mechanism 170 is used to drive the cutting mechanism 130 to perform cutting tasks at least at two predetermined cutting heights of different heights. In this way, the cutting mechanism 130 can cut grass of different heights, which is beneficial to expand the working range of the intelligent lawn mower 100 .
  • the cutting mechanism 130 can be driven up through the height adjustment mechanism 170; and for low grass cutting, please refer to Figure 4 and Figure 8, the cutting mechanism can be driven through the height adjustment mechanism 170 130 down for low grass cutting etc.
  • the height adjustment mechanism 170 includes a second driver 171 and at least one height adjustment member 172 rotatably connected to the body 110 .
  • One end of the height-adjusting member 172 is matched with the output shaft of the second driver 171, and the other end is connected with the cutting mechanism 130.
  • the second driver 171 drives the height-adjusting member 172 to swing
  • one end of the transmission member 164 can raise or lower the cutting mechanism 130, that is, use
  • the seesaw principle enables the cutting mechanism 130 to move up and down relative to the fuselage 110 .
  • the second driver 171 may be, but not limited to, an air cylinder, a hydraulic cylinder, an electric cylinder, and the like.
  • the height adjustment member 172 can be designed as or approximately an "L"-shaped structure.
  • the height-adjusting member 172 may be a swing arm.
  • At least two height-adjusting members 172 there are at least two height-adjusting members 172 . At least two height adjustment components 172 are arranged side by side and spaced apart on the fuselage 110 . A linkage rod 173 is rotatably connected between two adjacent height-adjusting members 172 , so that the second driver 171 can simultaneously drive the two height-adjusting members 172 to swing.
  • the cutting mechanism 130 is connected to the height adjustment mechanism 170, and can float up and down relative to the height adjustment mechanism 170 in the height direction of the fuselage 110, so that when the cutting mechanism 130 encounters The obstacle 200 will be pushed up by the obstacle 200, so that it is easy to cross the obstacle 200, which is beneficial to improve the passability of the intelligent lawn mower 100.
  • the "floating" implementation may be to connect the cutting mechanism 130 to the height adjustment mechanism 170 through springs, elastic rubber, chains 174 and other structures.
  • a stop structure 180 is provided on the fuselage 110 to prevent the cutting mechanism from 130 Shaking is too large and affects safety and stability.
  • the limiting structure 180 can be designed as a limiting plate and a limiting groove structure; it can also be designed as a connecting rod structure and the like.
  • the limiting structure 180 includes a first connecting rod 181 and a second connecting rod 182 .
  • the first connecting rod 181 is connected with the body 110
  • the second connecting rod 182 is connected with the cutting mechanism 130 .
  • the first link 181 is rotatably connected to the second link 182, and the rotation axis of the second link 182 on the first link 181 is parallel to the direction of the line between the two sides 131, that is, the second link 182
  • the rotation plane is parallel to the left and right side surfaces of the fuselage 110 , which can not only allow the cutting mechanism 130 to float up and down, but also limit the cutting mechanism 130 to move left and right.
  • the circumferential area of the fuselage 110 includes a first area 300 and a second area 310 respectively facing two sides 131 .
  • a preset object such as: a marked obstacle or a random obstacle, etc.
  • the driving mechanism 160 is controlled to drive the protection structure 150 to a preset position, so as to protect the two sides of the cutting mechanism 130 .
  • the circumferential area of the fuselage 110 further includes a third area 320 located at the front end of the fuselage 110 in the traveling direction 111 .
  • the moving module 120 drives the fuselage 110 to turn and/or reverse to achieve avoidance.
  • the guard structure 150 can be released, and the way of turning or backing up can be used to avoid.
  • the intelligent lawn mower 100 when it recognizes a human body, it can start turning or reversing after detecting the human body, and at the same time release the protective structure 150. When there is no human body in any area, the protective structure 150 can be restored to the non-protective state again.
  • the protective device of the intelligent lawnmower 100 may always be in a protective state.
  • the protective device can be fixedly arranged on the side of the cutting element in the form of mechanical protection, so that a protective barrier can always be established on the side of the cutting mechanism 130, and, during the mowing process of the intelligent lawnmower 100 along the edge, the The most side part of the protective structure is the most side part of the intelligent lawn mower 100 .
  • Stones in the lawn, plastic bottles, or animals, human hands, and human feet that accidentally enter the bottom of the intelligent lawn mower 100 can be blocked from the outside of the cutting mechanism 130 through the protective structure, thereby forming better protection.
  • the most side part of the protective structure is the most side part of the intelligent lawn mower 100, it can be seen that at least part of the protective structure is located outside the fuselage during the edge cutting process, which is conducive to passing through the protective structure.
  • the structure guarantees the safety of people or animals, and at the same time realizes cutting to the edge, preventing the intelligent lawn mower 100 from stopping working at a distance from the border, people or animals, leaving more uncut areas.
  • such an arrangement can increase the horizontal distance from the outer end of the cutting element to the outer side of the protective structure, and furthermore, no bottom protection can be provided, thereby improving the passability of the intelligent lawnmower 100 and reducing the manufacturing cost of the machine.
  • the distance between the protective structure and the ground can be designed to be smaller than or equal to the diameter of a human arm, wherein, generally speaking, the diameter of a human arm can be 38 mm to 80 mm.
  • the distance between the protective structure and the ground can be designed to be 25mm to 60mm to take into account the protection of stones, plastic bottles, and human hands in the lawn.
  • the protective structure is configured to move relative to the fuselage when the external force received is greater than a predetermined value.
  • the external force has a component force away from the surface of the working area.
  • the predetermined value can be determined according to the lifting force of grass under general working conditions. For example, the lifting force of grass under general working conditions is about 5N, then the predetermined value can be set to 5N.
  • the predetermined The value can float within a value range around 5N, for example, it can be 3N, 4N, 6N, 7N.
  • the height of the cutting element of the cutting mechanism 130 on the fuselage is adjustable, and the protective structure can be set to be relatively fixed with the cutting mechanism 130. Real-time protection of cutting elements.
  • the protective structure is circumferentially disposed on the outer side of the fuselage.
  • the protective structure By arranging the protective structure on the outer side of the fuselage as a whole, it is beneficial to protect the cutting elements in all directions, thereby further ensuring safety.
  • the edge-cutting direction of the smart lawn mower 100 is not limited. In other words, no matter which direction the smart lawn mower 100 cuts along the edge, it can meet the requirements of cutting edge and safety.
  • the cutting diameter of the cutting element of the intelligent lawn mower 100 is greater than or equal to 500mm, to improve the cutting efficiency of the intelligent lawn mower 100, at the same time, the protective structure of the intelligent lawn mower 100 can always be in a protective state
  • the protective structure can be fixedly arranged in the form of mechanical protection, so that a protective barrier is always established at least on the side of the cutting element. In this way, it is not only beneficial to improve the cutting efficiency, but also realize cutting to the edge, and meet the safety requirements.
  • the protective structure when the cutting element is arranged closer to the fuselage, can also be configured to establish a protective barrier under the cutting element, thereby preventing human hands or animals from touching the cutting element from below; at the same time, the protective structure
  • the structure can also be configured to move relative to the body when the external force is greater than a predetermined value, so as to be lifted when encountering obstacles or dense grass, thereby improving the passability of the smart lawnmower 100 .
  • the external force has a component force away from the surface of the working area.
  • the predetermined value may float within a value range around 5N, for example, may be 3N, 4N, 6N, 7N.
  • the protective barrier at the base can be established by the protective structure comprising a first protective element and a second protective element articulated with the first protective element, wherein the first protective element is located on the side of the cutting element
  • the second guard can move relative to the first guard to a guard position to establish a guard barrier below the cutting element.
  • first and second are used for descriptive purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features.
  • the features defined as “first” and “second” may explicitly or implicitly include at least one of these features.
  • “plurality” means at least two, such as two, three, etc., unless otherwise specifically defined.
  • the first feature may be in direct contact with the first feature or the first and second feature may be in direct contact with the second feature through an intermediary. touch.
  • “above”, “above” and “above” the first feature on the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature.
  • “Below”, “beneath” and “beneath” the first feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is less horizontally than the second feature.

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  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
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Abstract

L'invention concerne une tondeuse à gazon intelligente (100) équipée d'un module de commande et d'un dispositif de protection. Le module de commande est conçu pour commander, en fonction d'une distance entre un corps de machine (110) et un objet prédéfini, le dispositif de protection pour qu'il commute activement entre un état de protection et un état de non protection ; lorsque la distance entre le corps de machine (110) et l'objet prédéfini est relativement longue et qu'un mécanisme de coupe (130) n'a pas besoin d'être protégé, le module de commande commande le dispositif de protection pour qu'il soit dans l'état état de non protection pour assurer le fonctionnement normal du mécanisme de coupe (130) ; et lorsque la distance entre le corps de machine (110) et l'objet prédéfini est relativement courte et que le mécanisme de coupe (130) doit être protégé, le module de commande commande le dispositif de protection pour qu'il agisse activement pour protéger le mécanisme de coupe (130), de telle sorte que la tondeuse à gazon intelligente (100) puisse se rapprocher de l'objet prédéfini pour la coupe.
PCT/CN2022/138358 2021-12-10 2022-12-12 Tondeuse à gazon intelligente WO2023104212A1 (fr)

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CN202111508984 2021-12-10

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WO2023104212A1 true WO2023104212A1 (fr) 2023-06-15

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4216643A (en) * 1977-08-26 1980-08-12 Malone James P Guard means for rotary mowers
CN106134620A (zh) * 2015-04-02 2016-11-23 苏州宝时得电动工具有限公司 智能割草机及其控制方法
CN106561148A (zh) * 2015-10-13 2017-04-19 苏州宝时得电动工具有限公司 割草机
CN107548663A (zh) * 2017-09-11 2018-01-09 河北农业大学 一种山地果园割草机割刀的避障装置及其避障方法
US20190274252A1 (en) * 2016-11-30 2019-09-12 Agro Intelligence Aps Safety system for mowers and mower therewith
CN113366964A (zh) * 2020-03-10 2021-09-10 苏州宝时得电动工具有限公司 切割装置及智能割草机

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4216643A (en) * 1977-08-26 1980-08-12 Malone James P Guard means for rotary mowers
CN106134620A (zh) * 2015-04-02 2016-11-23 苏州宝时得电动工具有限公司 智能割草机及其控制方法
CN106561148A (zh) * 2015-10-13 2017-04-19 苏州宝时得电动工具有限公司 割草机
US20190274252A1 (en) * 2016-11-30 2019-09-12 Agro Intelligence Aps Safety system for mowers and mower therewith
CN107548663A (zh) * 2017-09-11 2018-01-09 河北农业大学 一种山地果园割草机割刀的避障装置及其避障方法
CN113366964A (zh) * 2020-03-10 2021-09-10 苏州宝时得电动工具有限公司 切割装置及智能割草机

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