Fixtures and intelligent working systems

Abstract

The present invention discloses a fixture and intelligent working system. The fixture comprises a first base and a second base. The first base has a surface for docking a mobile device, and the second base has an inner cavity for accommodating a charging mechanism and / or a signal generating mechanism. The upper surface of the first base is provided with at least two protrusions extending along a predetermined travel path of the mobile device on the fixture. The present invention optimizes the alignment of the docking between the mobile device and the fixture by providing a guide structure, thereby increasing the strength of the device.

Description

Technical Field

[0001] The present invention relates to the field of artificial intelligence, and in particular to a fixing device and an intelligent working system. Background Art

[0002] After completing their work, mobile devices, such as robotic lawn mowers, often need to dock at a fixed location for purposes such as charging. To ensure quick and efficient docking, a fixed device, such as a charging station, is often required. These devices typically include a horizontally extending portion and a vertically extending portion. However, current devices often lack guide structures, making alignment of the mobile device within the device slow and inefficient. Summary of the Invention

[0003] The purpose of the present invention is to provide a fixing device and an intelligent working system to solve the problems existing in the above-mentioned prior art.

[0004] In order to solve the above problems, according to one aspect of the present invention, a fixing device is provided, which includes a first base body and a second base body, the first base body having a surface for docking a mobile device, the second base body having an inner cavity for accommodating a charging mechanism and / or a signal generating mechanism, and the upper surface of the first base body is provided with at least two protrusions, and the protrusions extend along the direction of a preset travel path of the mobile device on the fixing device.

[0005] According to another aspect of the present invention, an intelligent working system is provided, comprising a mobile device and the aforementioned fixed device. BRIEF DESCRIPTION OF THE DRAWINGS

[0006] Figure 1 It is a three-dimensional schematic diagram of an intelligent working system according to an embodiment of the present invention.

[0007] Figure 2 2 is a perspective view of a fixing device according to an embodiment of the present invention.

[0008] Figure 3 and Figure 4 They are Figure 2 Exploded perspective views of different visual perspectives of the fixture.

[0009] Figure 5 yes Figure 3 Magnified view of part a1 in .

[0010] Figure 6 yes Figure 4 Magnified view of part a2 in FIG.

[0011] Figure 7 yes Figure 2A side view of the first seat body of the fixing device.

[0012] Figure 8A yes Figure 7 A cross-sectional view of the first seat body taken along line X1-X1.

[0013] Figure 8B yes Figure 8A A partial enlarged view of part a3.

[0014] Figure 9A yes Figure 2 A side view of the first seat body in the first state.

[0015] Figure 9B yes Figure 9A A sectional view of the first seat body taken along line X2-X2.

[0016] Figure 9C yes Figure 9B A sectional view of the first seat body taken along line X3-X3.

[0017] Figure 9D yes Figure 9C An enlarged view of part A4 in FIG.

[0018] Figure 10A yes Figure 2 A side view of the first seat body in the second state.

[0019] Figure 10B yes Figure 10A A sectional view of the first seat body taken along line X4-X4.

[0020] Figure 10C yes Figure 10B A sectional view of the first seat body taken along line X5-X5.

[0021] Figure 10D This is an enlarged view of part a5 in FIG10 .

[0022] Figure 11A yes Figure 2 A side view of the first seat body in the third state.

[0023] Figure 11B yes Figure 11A A sectional view of the first seat body taken along line X6-X6.

[0024] Figure 11C yes Figure 11B A sectional view of the first seat body taken along line X7-X7.

[0025] Figure 11D Figure 11C Magnified view of part a6 in FIG.

[0026] Figure 11E yes Figure 11B A sectional view of the first seat body taken along line X8-X8.

[0027] Figure 11F yes Figure 11E Magnified view of part a7 in .

[0028] Figure 12 yes Figure 2 A top view of the fixing device.

[0029] Figure 13 yes Figure 12 Cross-sectional view taken along X10-X10.

[0030] Figure 14 yes Figure 2 Rear lateral view of the fixing device.

[0031] Figure 15 yes Figure 2 Upper side view of the fixing device.

[0032] Figure 16 yes Figure 11B A cross-sectional view of the fixing device taken along X9-X9.

[0033] Figure 17 It is a three-dimensional diagram of a fixing device according to another embodiment of the present invention.

[0034] Figure 18 yes Figure 17 Bottom view of the fixing device.

[0035] Figure 19 yes Figure 17 Exploded perspective view of the fixing device.

[0036] Figure 20 yes Figure 17 A top view of the fixing device.

[0037] Figure 21 yes Figure 19 A sectional view of the fixture taken along line AA.

[0038] Figure 22 yes Figure 19 A sectional view of the fixing device taken along line BB. DETAILED DESCRIPTION

[0039] The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings so that the objects, features and advantages of the present invention can be more clearly understood. It should be understood that the embodiments shown in the accompanying drawings are not intended to limit the scope of the present invention, but are only intended to illustrate the essential spirit of the technical solution of the present invention.

[0040] In the following description, for the purpose of illustrating the various disclosed embodiments, certain specific details are set forth in order to provide a thorough understanding of the various disclosed embodiments. However, those skilled in the relevant art will recognize that the embodiments may be practiced without one or more of these specific details. In other cases, well-known devices, structures, and techniques associated with this application may not be shown or described in detail to avoid unnecessarily obscuring the description of the embodiments.

[0041] Reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment. Thus, the appearances of "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any manner in one or more embodiments.

[0042] In the following description, in order to clearly show the structure and working mode of the present invention, many directional words will be used for description, but words such as "front", "back", "left", "right", "outside", "inside", "outward", "inward", "up", and "down" should be understood as convenient terms and should not be understood as restrictive terms.

[0043] Unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meanings as commonly understood by those skilled in the art to which this disclosure belongs. It is understood that these terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with the background or context of the relevant technology and the present invention, and should not be interpreted in an idealized or overly formal manner unless specifically defined herein.

[0044] For ease of description, herein, the front end or front portion of a fixture refers to the end where the fixture and the movable device interface, and the rear end or rear portion refers to the end away from the interface between the fixture and the movable device. The entry end refers to the end where the movable device enters the fixture, and the termination end refers to the end where the movable device docks. However, those skilled in the art will appreciate that these definitions are not absolute. In other embodiments, the movable device and the fixture may interface in the middle of the movable device. In this case, the front end or front portion refers to the portion near the interface between the movable device and the fixture, and correspondingly, the end away from this portion is referred to as the rear end or rear portion.

[0045] Figure 1 This is a three-dimensional diagram of the intelligent working system of the present invention. Figure 1As shown, the present invention generally relates to an intelligent working system, comprising a mobile device 2 and a fixed device 1. Exemplarily, the intelligent working system may be an intelligent lawn mower system, such as a wired-type intelligent lawn mower. In this case, the mobile device is a lawn mower robot, and the fixed device is a docking station. After the mobile device 2 finishes its work, it can automatically dock to the fixed device 1. For example, after mowing, the lawn mower robot can automatically dock to the docking station, where it can be charged. The following describes various embodiments of the fixed device 1 in detail, primarily using the docking station of an intelligent lawn mower system as an example.

[0046] Figure 2 is a three-dimensional diagram of a fixing device 1 according to an embodiment of the present invention. Figure 3 and Figure 4 is a three-dimensional exploded view of the fixing device 1 from different perspectives, Figure 5 and Figure 6 They are Figure 3 The a1 part and Figure 4 The enlarged view of part a2 in the figure. Figure 2-Figure 6 As shown, the fixing device 100 generally includes a first base body 11 extending mainly in the horizontal direction and a second base body 12 extending mainly in the vertical direction. The first base body 11 and the second base body 12 are detachably connected via a base body connection structure. The base body connection structure includes a first base body connection portion 111 provided on the first base body 11 and a second base body connection portion 121 provided on the second base body 12. The first base body 11 has a first base body front end 1101 and a first base body rear end 1102 relative to each other, and the first base body connection portion 111 is provided near the first base body front end 1101. The second base body 12 includes a second base body main body 120 and a second base body base 122. The second base body main body 120 has an inner cavity for accommodating a charging mechanism and / or a signal generating mechanism. The second base body base 122 is provided at the bottom of the second base body main body 120, and the second base body connection portion 121 is provided at the bottom of the second base body base 122.

[0047] refer to Figure 2-3 The first base body 11 includes a boss 114. The boss 114 extends from the front end 1101 of the first base body 11 to the rear end 1102 of the first base body 11 and generally reaches the middle of the length of the first base body 11. Details of the boss 114 will be described further below. The front upper surface of the boss 114 is recessed to form a sinking portion 112. The first base body connecting portion 111 is primarily located within the sinking portion 112.

[0048] Specifically, if Figure 5-Figure 6As shown, the first base connecting portion 111 includes a first mounting groove 1112, a second mounting groove 1113, an elastic member 1115, and a third mounting groove 1116. The first mounting groove 1112 is provided at the rear of the sinking portion 112, i.e., near the rear side wall of the sinking portion 112, and is configured to be recessed from the bottom surface of the sinking portion 112. The second mounting groove 1113 is provided at the front of the sinking portion 112, i.e., near the front wall of the sinking portion 112, and is generally arranged on both sides in front of the first mounting groove 1112. The second mounting groove 1113 is configured to extend from the upper surface of the first base 11 to the lower surface and pass through to the lower surface. A protrusion 1114 is also provided inside the second mounting groove 1113, which protrudes laterally from the side wall of the second mounting groove 1113. The two elastic members 1115 are arranged in the front-to-back direction between the first mounting slot 1112 and the second mounting slot 1113 and are generally symmetrical about the front-to-back central axis of the first base 11. The width between the two elastic members 1115 is narrower than the width between the two second mounting slots 1113, thereby positioning the two elastic members 1115 in the left-to-right direction between the two second mounting slots 1113. The elastic members 1115 are configured to provide an upward elastic force, thereby engaging with and exerting an upward elastic force on the bottom of the second base 122 of the second base 12. The third mounting slots 1116 are provided at the bottom of the boss 114 and within the first mounting slot 1112. These third mounting slots 1116 are arranged in pairs and are generally symmetrical about the front-to-back central axis of the first base 11.

[0049] The first mounting groove 1112 , the second mounting groove 1113 , the elastic member 1115 and the third mounting groove 1116 are described in detail below.

[0050] Figure 7 is a side view of the first seat body 11, Figure 8A The first seat Figure 7 The sectional view taken from X1-X1 in the figure, Figure 8B yes Figure 8A A partial enlarged view of part a3 of the Figure 7 、 Figure 8A as well as Figure 8B Shown and combined Figure 5 and Figure 6First mounting slot 1112 includes a first portion 1112a at the front and a second portion 1112b at the rear. First portion 1112a is located within sinking portion 112 and is formed as a through hole extending through the bottom of sinking portion 112. This means that both the top and bottom of first portion 1112a are open spaces. Second portion 1112b extends rearward from the rear end of first portion 1112a to below the upper surface of boss 114. This means that the top of second portion 1112b is blocked by boss 114 and located below the upper surface of boss 114. In other words, the top of second portion 1112b is enclosed by the upper surface of first base 11, while the bottom is open space.

[0051] refer to Figure 8B The first mounting groove 1112 generally has a width W1 along the left-right direction and a length L1 along the front-to-back direction, wherein the first part 1112a has a length L11 along the front-to-back direction, and the second part 1112b has a length L12 along the front-to-back direction. The total length L1 is equal to the sum of the length L11 of the first part and the length L12 of the second part. There are no special requirements for the length L11 of the first part and the length L12 of the second part, and they are preferably set to be approximately equal.

[0052] A central hole 1115a is provided directly in front of the first mounting groove 1112. Central hole 1115a is positioned approximately on the central axis of the first base body 11 in the front-to-back direction and extends within the sunken portion 112 in the front-to-back direction of the first base body 11. Central hole 1115a is dimensioned so that its length is greater than its width. Elastic member holes 1115b are provided on either side of central hole 1115a, each of which houses an elastic member 1115. Specifically, elastic member 1115 is integrally formed and extends from the rear of elastic member hole 1115b. Elastic member 1115 has a shape that matches elastic member hole 1115b and is smaller than elastic member hole 1115b. This allows elastic member 1115 to elastically deform and provide a spring force, thereby strengthening the engagement between protrusion 1114 and hook 1213 during assembly and preventing disengagement due to impact with a mobile device, such as a lawn mower robot.

[0053] Return to reference Figure 4 and Figure 5 , a column 113 is provided on each side of the elastic member 1115, and the column 113 is configured to extend upward from the bottom surface of the sinking portion 112, and the two columns 113 are preferably arranged symmetrically about the elastic member 1115. The second seat body 120 includes a column receiving cavity 123 corresponding in position and number to the column 113. The column receiving cavity 123 has a lower opening. Preferably, the column 113 extends toward the upper rear and further has an arc. The column receiving cavity 123 has a rear side wall 1231 (refer to FIG. 1 ) with an arc corresponding to the extension direction of the column 113. Figure 11F), when the first base body 11 and the second base body 12 are assembled, the column 113 fits against the rear side wall 1231 .

[0054] The above design enables the mobile device 2 to move along Figure 11F When the second base 12 of the fixture 1 is struck in the direction indicated by the arrow, the impact force is primarily transmitted to the column 113 via the rear sidewall 1231. This, in conjunction with other engaging structures, ensures that the first and second bases 11, 12 of the fixture 1 remain relatively stable even when impacted. Furthermore, the coordination between the curved column 113 and the rear sidewall 1231 also guides the assembly of the fixture 1, facilitating the assembly of the second base 12 of the fixture 1 onto the first base 11.

[0055] Continue to refer to Figure 8A-8B The second mounting groove 1113 is provided at the front of the sinking portion 112, close to the front side wall of the sinking portion 112, and in front of the column 113. Similar to the elastic member 1115, the two second mounting grooves 1113 are substantially symmetrical about the central axis of the first base 11 in the front-to-back direction and are arranged on the outside of a pair of elastic members 1115 in the left-right direction, and are adjacent to the side walls of the sinking portion 112 on both sides. Return to reference Figure 6 A protrusion 1114 is provided inside the second mounting groove 1113 to cooperate with the hook 1213 of the second base body 12 to clamp and fix the second base body 12 to the first base body 11, which will be further described below.

[0056] Continue to refer to Figure 8A-8B The third mounting grooves 1116 are arranged in pairs. The paired third mounting grooves 1116 extend along the front-to-back direction of the first base 11 and have a spacing W2 along the left-to-right direction. The spacing W2 is smaller than the width W1 of the first mounting groove 1112. Specifically, two baffles 1116c are formed in the first mounting groove 1112, extending along the front-to-back direction and approximately perpendicular to the bottom. The distance between the two baffles 1116c is the spacing W2 between the pair of third mounting grooves 1116. The third mounting grooves 1116 are formed on the baffles 1116c. The third mounting slot 1116 includes a guide portion 1116a at the front and a coupling portion 1116b at the rear. The guide portion 1116a is at least partially open at the top and front and rear, but closed at the bottom. The length of the guide portion 1116a is greater than the length L11 of the first portion 1112a of the first mounting slot 1112 and less than the total length L1 of the first mounting slot 1112. The coupling portion 1116b is closed at the top, bottom, and front, but open at the rear. The length of the coupling portion 1116b is less than the length L12 of the second portion 1112b of the first mounting slot 1112. The guide portion 1116a extends horizontally and has a generally linear guide structure. The coupling portion 1116b has an arcuate structure to better mate with the rotating shaft 1212 of the second base 12, as will be described in further detail below.

[0057] The second base body 12 according to an embodiment of the present invention will be described in detail below with reference to the accompanying drawings.

[0058] Return Reference Figure 3 and Figure 4 The second base 12 includes a second base body 120 and a second base base 122. The second base body 120 has an inner cavity for accommodating a charging mechanism and / or a signal generating mechanism (not shown). The second base base 122 is disposed at the bottom of the second base body 120. The bottom surface of the second base base 122 is provided with an entrance to a column-receiving cavity 123, through which the column 113 on the first base 11 is inserted. The second base base 122 has a plate-like structure and is wider in the front-to-back direction than the second base body 120. The second base base 122 is shaped to correspond to and mate with the sunken portion 112 on the first base 11.

[0059] The width of the second base body 120 gradually decreases from the bottom to the top, and the upper end bends rearward to form a curved portion 1201. The upper surface of the curved portion 1201 is provided with a recessed portion 1202, located in the middle of the upper surface of the curved portion 1201 and occupying approximately half of the upper surface area of ​​the curved portion 1201 in the left-right direction. The thickness of the curved portion 1201 gradually decreases from the bottom to the top, forming a flat structure. A charging port 1203 and an indicator light hole 1204 are provided in the middle of the second base body 120. The charging port 1203 is used to install a charging device to charge the mobile device 2, and the indicator light hole 1204 is used to install an indicator light.

[0060] The second base connecting portion 121 is located at the bottom of the second base 122 and primarily comprises an extension 1211, a rotating shaft 1212, and a hook 1213. The extension 1211 extends rearward a certain distance from the middle of the rear edge of the second base 122. The width of the extension 1211 is smaller than the width of the second base 122. The rotating shaft 1212 is located at the rear end of the extension 1211 and extends left and right, extending beyond the sides of the extension 1211 at both ends. The width of the rotating shaft 1212 is smaller than the width W1 of the first mounting slot and larger than the width W2 of the third mounting slot. The extension 1211 and the rotating shaft 1212 respectively mate with the first mounting slot 1112 and the third mounting slot 1116 on the first base 11. The hook 1213 extends downward from the bottom of the second base 122 and mates with the second mounting slot 1113 on the first base 11.

[0061] The bottom of the extension 1211 is provided with a plurality of reinforcing ribs 1217. A sliding groove 1214 is provided on the surface of the hook 1213, away from the extension 1211. Sliding groove 1214 is flanked by sliding groove baffles 1215, and the ends of baffles 1215 form a hook body 1216. When the second base 12 is mounted on the first base 11, the hook 1213 engages with the second mounting groove 1113 of the first base 11. After the hook 1213 moves downward a certain distance, the hook body 1216 engages and snaps onto the protrusion 1114, thereby securing the first and second bases 11 and 12 relative to each other.

[0062] Figures 9A-11F is a process state diagram of assembling the first base body 11 and the second base body 12, wherein Figures 9A-9D The state shown is the first state. Figures 10A-10D The state shown is the second state. Figures 11A-11F The state shown is the third state, that is, the final assembly state. Figures 9A-11F The process of assembling the first base body 11 and the second base body 12 will be described.

[0063] Figure 9A is a side view of the first seat body 11 in the first state, Figure 9B yes Figure 9A A sectional view of the first seat body taken along line X2-X2, Figure 9C yes Figure 9B A sectional view of the first seat body taken along line X3-X3, Figure 9D yes Figure 9C The enlarged view of part A4 in the figure is as follows: Figures 9A-9D As shown, when assembling the first base body 11 and the second base body 12 , the rotating shaft 1212 of the second base body 12 is firstly inserted into the first installation groove 1112 of the first base body 11 and then obliquely inserted into the guide portion 1116 a of the third installation groove 1116 .

[0064] Figure 10A is a side view of the first seat body 11 in the second state, Figure 10B yes Figure 10A A cross-sectional view of the first seat body 11 taken along line X4-X4, Figure 10C yes Figure 10B A sectional view of the first seat body taken along line X5-X5, Figure 10D The enlarged view of part a5 in Figure 10 is as follows: Figures 10A-10D As shown, the second base body 12 is pushed backward and downward so that the rotating shaft 1212 abuts against the rear end of the engaging portion 1116b.

[0065] Figure 11A is a side view of the first seat body 11 in the third state, Figure 11B yes Figure 11A A cross-sectional view of the first seat body 11 taken along line X6-X6, Figure 11Cyes Figure 11B A sectional view of the first seat body taken along line X7-X7, Figure 11D Figure 11C The enlarged view of part a6 in Figure 11E yes Figure 11B A cross-sectional view of the first seat body 11 taken along line X8-X8, Figure 11F yes Figure 11E The enlarged view of part a7 in Figures 11A-11F As shown, the second base 12 is then pressed downward, rotating the second base 12 counterclockwise around the axis of the rotating shaft 1212, with the direction shown in the figure as a reference, until the hook 1213 is inserted into the second mounting groove 1113 and moves downward over the protrusion 1114, completing the assembly. When the assembly is complete, the second base 12 compresses the elastic member 1115, which gives the second base 12 a clockwise rotational motion.

[0066] When disassembly is required, just use your hand along Figure 11D Apply force to the hook 1213 in the direction of the middle arrow to release the engagement between the hook 1213 and the protrusion 1114 , and then rotate the second base 12 clockwise to complete the disassembly.

[0067] In other embodiments, the paired third mounting slots 1116 may be respectively located in two independent first mounting slots 1112 , and the extension portion 1211 and the rotating shaft 1212 may be constructed as an independent and symmetrical pair.

[0068] In other embodiments, the number of the first mounting slot 1112 , the second mounting slot 1113 , the protrusion 1114 , the elastic member 1115 , the third mounting slot 1116 , the extension 1211 , the rotating shaft 1212 , and the hook 1213 can be adjusted according to actual conditions.

[0069] In summary, in this embodiment, the horizontal extension part and the vertical extension part of the fixing device 1 are designed to be detachably connected, which is conducive to reducing the packaging size and optimizing the connection structure to make the connection structure more stable and easier to install and disassemble.

[0070] The following combination Figure 2 as well as Figure 12-14 The guide structure of the fixing device according to one embodiment of the present invention is described. Figure 12 is a top view of the fixing device 1, Figure 13 yes Figure 12 The cross-sectional view along X10-X10, Figure 14 is a rear lateral view of the fixture.

[0071] refer to Figure 2 and Figure 12The aforementioned sunken portion 112 is provided at the front of the boss 114 of the first base 11, and a second guide groove 1141 for guiding the mobile device 2 is provided at the rear of the boss 114. The second guide groove 1141 extends in the front-to-back direction behind the boss 114 and has an opening at the rear and an end at the front. From the opening to the end, the second guide groove first section 1141a and the second guide groove second section 1141b are sequentially included. The mobile device 2 is guided from the rear of the fixed device 1 through the second guide groove first section 1141a and the second guide groove second section 1141b and then docks on the fixed device 1. The second guide groove 1141 primarily cooperates with at least one running wheel of the mobile device 2, particularly a driven wheel, which is typically configured as a universal wheel.

[0072] refer to Figure 12 The width of the second guide groove first section 1141a gradually decreases from a larger width W3 to a smaller width W4 from the back to the front, thereby forming a trapezoidal structure as a whole. Its width gradually tightens from the rear end to the front end and connects with the second guide groove second section 1141b at the front end. The width of the second guide groove second section 1141b is W4 and maintains this approximately constant width W4, extending from the rear end to the front end of the fixing device 1 and terminating at a certain distance from the rear side wall of the sinking portion 112 at the front end. The width W4 of the second guide groove second section 1141b is slightly larger than the width of the driven wheel of the moving device 2 to achieve a good guiding effect. The two sides of the second guide groove first section 1141a form the second guide groove first side portion, and the two sides of the second guide groove second section 1141b form the second guide groove second side portion. The height of the second guide groove first side portion preferably gradually increases from the back to the front and increases to a maximum height H1 when adjacent to the second guide groove second section 1141b. The second guide groove second side portion of the second guide groove second section 1141b maintains a substantially constant height H1.

[0073] refer to Figure 2 and Figure 12-14 , a first guide groove 1142 is provided at the rear of the first section 1141a of the second guide groove, and the first guide groove 1142 extends from the back to the front and preferably extends into the first section 1141a of the second guide groove. When the mobile device 2 enters the fixed device 1, it is first guided by the first guide groove 1142 and then enters the second guide groove 1141, which facilitates the alignment of the mobile device 2 and the fixed device 1, so as to save docking time and improve work efficiency. Protrusions are formed on both sides of the first guide groove 1142. Preferably, the height of the protrusion gradually increases from the starting end to the ending end of the first guide groove 1142, and forms a maximum height H2 at the ending end. Preferably, the maximum height H2 of the protrusion and the maximum height H1 of the first side portion of the second guide groove of the first section 1141a of the second guide groove satisfy the following relationship: 2≤H1 / H2≤4.

[0074] In another embodiment, the height of the protrusion is a constant height H2, and satisfies the relationship H1 / H2=2-4 with the height H1 of the bosses on both sides of the second guide groove.

[0075] Reference Figure 12-13 , defining the direction close to the central axis OO of the guide groove as the inner side and the direction away from the central axis OO of the guide groove as the outer side, the inner side wall 1142a of the first guide groove 1142 is not perpendicular to the bottom, but has a certain slope, and the slope is relatively gentle. The outer side wall 1142b of the first guide groove 1142 also has a certain slope, which is steeper than the inner side wall. In other words, the inclination of the inner side wall 1142a of the first guide groove is smaller than the inclination of the outer side wall 1142b of the first guide groove. The place where the inner side wall 1142a of the first guide groove is connected to the outer side wall 1142b has a maximum height H2 of the first guide groove side portion of the first guide groove 1142, and this maximum height H2 and the maximum height H1 of the second guide groove first side portion of the second guide groove first section 1141a satisfy the following relationship: 2≤H1 / H2≤4.

[0076] refer to Figure 12 The width of first guide groove 1142 gradually decreases from a larger width W5 to a smaller width W6 from back to front. The smaller width W6 of first guide groove 1142 is equal to or slightly larger than the width W4 of second guide groove second section 1141b, and the larger width W5 of first guide groove 1142 is smaller than the larger width W3 of second guide groove first section 1141a. Preferably, the highest point of first guide groove 1142, near the contact surface between first guide groove 1142 and second guide groove 1141, is located within second guide groove first section 1141a.

[0077] From the above description, it can be understood that this embodiment optimizes the alignment method of the docking between the mobile device 2 and the fixing device 1 by setting the second guide groove and the first guide groove, reduces the time required for alignment, and improves work efficiency. In addition, the protrusions on both sides of the first guide groove of the present invention also play a role in strengthening the horizontal extension part of the fixing device. However, those skilled in the art will understand that it is also possible to set only the second guide groove or the first guide groove, and the present invention can also be implemented to a certain extent. For details, please refer to the other embodiments to be described below. Figure 15 and Figure 16 The walking surface of one embodiment of the present invention is described. Figure 15 is an upper side view of the fixing device 1, Figure 16 yes Figure 11B A cross-sectional view of the fixing device taken along X9-X9. Figure 15 The shaded portion in FIG. 1 shows the walking surface 115 sandwiched between the first guide groove 1142 and the second guide groove 1141. Figure 16 The height change of the walking surface 115 is shown.

[0078] like Figure 15-16 As shown, the bottom of the second guide groove 1141 and the first guide groove 1142 form a walking surface 115 ( Figure 15 The walking surface 115 extends from the rear to the front of the first base 11 and is mostly located within the second guide groove 1141 and the first guide groove 1142. The starting point of the walking surface 115 is adjacent to the rear edge of the first base 11, and the end point of the walking surface 115 is located at the front end of the second guide groove 1141. From the back to the front, the walking surface 115 includes a first walking surface section 1151, a second walking surface section 1152, a third walking surface section 1153, and a fourth walking surface section 1154.

[0079] The first section 1151 of the walking surface is an ascending slope, rising from 0 to a height H3, and is completely located behind the first guide groove 1142. The second section 1152 of the walking surface is a horizontal surface, at a height H3, with the rear end of the second section 1152 located behind the first guide groove 1142 and the front end located within the first section 1141a of the second guide groove. The third section 1153 of the walking surface is a descending slope, descending from a height H3 to a height H4, and is completely located within the first section 1141a of the second guide groove. The fourth section 1154 of the walking surface is a horizontal surface, at a height H4, and is also completely located within the first section 1141a of the second guide groove. The heights H1, H2, H3, and H4 satisfy the following relationship: H1>H2>H3>H4>0. The width of the walking surface 115 corresponds to the shape of the second guide groove 1141 and the first guide groove 1142, decreasing from back to front and maintaining a roughly constant width in front of the first guide groove 1142 and within the second guide groove 1141, thereby forming an overall tower-like shape. When the mobile device 2 travels onto the fixed device 1, its driven wheels sequentially pass through the first walking surface section 1151, the second walking surface section 1152, the third walking surface section 1153, and the fourth walking surface section 1154, ultimately stopping at the fourth walking surface section 1154. It should be noted that the "height" described in this section refers to the distance from the upper surface of the walking surface to the horizontal ground when the fixed device is placed on the ground.

[0080] Although the walking surface includes four segments in this embodiment, those skilled in the art will appreciate that in other embodiments, the walking surface may also include another number of segments, such as two, three, or five segments.

[0081] For example, in another embodiment, the walking surface may include only the first walking surface section 1151 and the third walking surface section 1153 in sequence along the traveling direction of the mobile device, the first walking surface section is an ascending slope, the third walking surface section is a descending slope, the height of the first walking surface section 1151 rises from 0 to a height H3, and the height of the third walking surface section 1153 drops from a height H3 to a height H4, wherein the heights H3 and H4 satisfy the following relationship: H3>H4>0.

[0082] In another embodiment, the walking surface includes only a second walking surface segment 1152 and a fourth walking surface segment 1154, sequentially along the direction of travel of the mobile device. The second and fourth walking surface segments are horizontal, wherein the height of the second walking surface segment 1152 is equal to height H3, and the height of the fourth walking surface segment 1154 is equal to height H4. Heights H3 and H4 satisfy the following relationship: H3>H4>0. In this case, the first and third walking surface segments are not provided, and thus there is no smooth transition between the second walking surface segment and the ground, and between the second and fourth walking surface segments, but rather right-angle steps connecting them.

[0083] In another embodiment, the walking surface includes only the first walking surface section 1151, the second walking surface section 1152 and the fourth walking surface section 1154 in sequence along the traveling direction of the mobile device. The first walking surface section is an ascending slope, the second walking surface section and the fourth walking surface section are horizontal surfaces, the height of the first walking surface section 1151 rises from 0 to a height H3, the height of the second walking surface section 1152 is equal to the height H3, the height of the fourth walking surface section 1154 is equal to the height H4, and the heights H3 and H4 satisfy the following relationship: H3>H4>0.

[0084] In another embodiment, the walking surface includes only the second section 1152, the third section 1153 and the fourth section 1154 of the walking surface in sequence along the traveling direction of the mobile device, wherein the second section of the walking surface is a horizontal surface, the third section of the walking surface is a downhill surface, and the fourth section of the walking surface is a horizontal surface, the height of the second section 1152 of the walking surface is equal to the height H3, the height of the fourth section 1154 of the walking surface is equal to the height H4, the height of the third section 1153 of the walking surface decreases from the height H3 to the height H4, and the heights H3 and H4 satisfy the following relationship: H3>H4>0.

[0085] In this embodiment, by setting different heights of the walking surface 115, the overall thickness of the first base body 11 is reduced, especially the height of the boss 114 on the first base body 11 is reduced, thereby improving the bending strength, reducing costs and optimizing guidance alignment.

[0086] The following is combined with Figures 17-22 A fixing device 1A according to another embodiment of the present invention is described. Figure 17is a three-dimensional diagram of the fixing device of this embodiment, Figure 18 yes Figure 17 Bottom view of the fixing device, Figure 19 yes Figure 17 Exploded perspective view of the fixing device, Figure 20 Yes Figure 17 A top view of the fixing device, Figure 21 Yes Figure 19 A cross-sectional view of the fixture taken along line AA, Figure 22 yes Figure 19 A cross-sectional view of the fixing device taken along line BB. Figure 17-22 As shown, the overall structure of the fixing device of this embodiment is similar to the structure of the fixing device 1 of the previous embodiment. The parts not described in this section refer to the relevant description of the previous embodiment. This section focuses on describing the parts that are different from the fixing device of the previous embodiment. It should be understood by those skilled in the art that the features described in this section and the features described in the previous section can be cross-set, that is, the features described in this section can be combined with one or more features described in the previous section, and the features described in the previous section can also be combined with one or more features described in this section. As long as the parts do not conflict with each other technically, they can be combined into the same or multiple fixing devices.

[0087] The fixing device 100 of this embodiment also generally includes a first base 11A extending primarily horizontally and a second base 12A extending primarily vertically. The first base 11A and the second base 12A are detachably connected via a base connection structure. The base connection structure includes a first base connection portion 111A provided on the first base 11A and a second base connection portion 121A provided on the second base 12A. The first base 11A has a first base front end 1101A and a first base rear end 1102A opposing each other, with the first base connection portion 111A being located near the first base front end 1101A. The second base 12A includes a second base body 120A and a second base base 122A. The second base body 120A has an inner cavity for accommodating a charging mechanism and / or a signal generating mechanism. The second base base 122A is arranged at the bottom of the second base body 120A, and the second base connecting portion 121A is arranged on the second base base 122A.

[0088] The first base 11A has an upper surface 110A for docking a mobile device. The direction in which the first base 11A connects to the second base 12A is defined as the front, and the direction away from one end of the second base 12A is defined as the rear. A boss 114A is provided at the front of the surface 110A. A recessed portion 112A is provided on the upper surface of the boss 114A. The second base 12A is mounted and connected within the recessed portion 112A. Two protrusions 113B are provided at the rear of the upper surface of the first base 11A (behind the boss 114A). These two protrusions 113B extend along a predetermined path on the upper surface of the first base 11A. The predetermined path here refers to the path along which the mobile device enters the fixed device. The word "preset" is added to specify the direction. In this embodiment, it refers to extending from the rear of the fixed device to the front. A guide groove 113A is defined between the two protruding portions 113B. The moving device enters the fixing device 1A from the rear (starting end) of the guide groove 113A and moves forward (ending end) to stop at a position.

[0089] When the mobile device is a walking robot, such as a lawn mower robot, and is equipped with a cutterhead, the height H2 of the protrusion 113B is less than the minimum clearance of the cutterhead from the ground. Furthermore, mobile devices typically have a driving wheel and a driven wheel. When the driven wheel is located within the first guide groove, the height H2 of the protrusion is less than the minimum distance between the cutterhead and the plane containing the driving wheel, and the minimum distance between the cutterhead and the plane containing the driven wheel.

[0090] Reference Figure 17 From the opening to the end, protrusion 113B includes a first protrusion 1134A and a second protrusion 1133A. From the opening to the end, guide groove 113A includes a first guide groove 1131A and a second guide groove 1132A. The first protrusions 1134A define a first guide groove 1131A, and the second protrusions 1133A define a second guide groove 1132A. The width of first guide groove 1131A gradually decreases from a larger width to a smaller width from back to front, and connects with second guide groove 1132A at a position approximately in the middle of the entire guide groove 113A. Wider first protrusions 1134A are formed on both sides of first guide groove 1131A, and narrower second protrusions 1133A are formed on both sides of second guide groove 1132A. The height of the first protrusion 1134A is approximately equal to the height of the second protrusion 1133A. The angle formed by the inner wall of the first protrusion 1134A and the walking surface at the bottom of the groove is larger, and the slope of the inner wall is steeper. The angle formed by the second protrusion 1133A and the walking surface at the bottom of the groove is smaller, and the slope of the inner wall is gentler.

[0091] Reference Figure 17 、 Figure 20 as well as Figure 21The opening of the guide groove 113A (i.e., the opening of the first guide groove 1131A) is located adjacent to the rear edge of the first base 11A, and the end of the guide groove 113A (i.e., the end of the second guide groove 1132A) is located adjacent to the boss 114A. The front wheel of the mobile device 2 is adjusted in direction by the first guide groove 1131A and guided by the second guide groove 1132A to dock on the docking surface of the first base 11A. Rear wheel docking portions 116A are also provided on both sides of the opening of the first guide groove 1131A. The rear wheel docking portions 116A are provided with multiple small protrusions to increase the friction between the wheel and the surface and prevent slipping. The front wheel here is usually a driven wheel, typically configured as a universal wheel; the rear wheel here is usually a driving wheel.

[0092] Reference Figure 21 and Figure 17 The bottom of guide groove 113A forms a running surface 115A for the mobile device. The portion of running surface 115A located at the bottom of second guide groove 1132A is lower, while the portion of running surface 115A located at the bottom of first guide groove 1131A is higher. In other words, the portion of the running surface located at the bottom of second guide groove 1132A is sunken a certain distance relative to the portion of the running surface located at the bottom of first guide groove 1131A. When the mobile device enters second guide groove 1132A via the guidance of first guide groove 1131A and docks in place, the front wheels of the mobile device engage with the running surface at the bottom of second guide groove 1132A, and the rear wheels of the mobile device engage with rear wheel docking portion 116A. The height of rear wheel docking portion 116A is roughly on the same level as the running surface at the bottom of second guide groove 1132A. The features of running surface 115A are similar to those of running surface 115 in the previous embodiment and will not be repeated here.

[0093] The following combination Figure 17-Figure 19 The second base 12A of this embodiment is introduced.

[0094] The second body 12A includes a second body main body 120A and a second body base 122A. The second body main body 120A has an internal cavity for accommodating a charging mechanism and / or a signal generating mechanism (not shown). The second body base 122A is located at the bottom of the second body main body 120A. The second body base 122A has a plate-like structure and is wider in the front-to-back direction than the second body main body 120A. The second body base 122A is shaped to mate with the sunken portion 112A on the first body 11A. The width of the second body main body 120A gradually decreases from the bottom to the top, and the second body base 122A bends rearward at the top to form a curved portion 1201A. The upper surface of the curved portion 1201A is provided with a recessed portion 1202A located in the middle of the upper surface of the curved portion 1201A and occupies approximately half of the upper surface of the curved portion 1201A in the left-right direction. The thickness of the curved portion 1021A gradually decreases from the bottom to the top, forming a flat structure. A charging port is provided in the middle of the second base body 120A. A charging device 1203A is located within the port. Above the charging device 1203A is an indicator light port 1204A. When the mobile device docks on the fixed device, it is charged by the charging device 1203A. The indicator light port 1204A is used to mount an indicator light.

[0095] The second base connecting portion 121A is disposed on the second base base 122A and primarily comprises an extension 1211A, a pivot 1212A, and a hook 1213A. The extension 1211A extends rearward a certain distance from the middle portion of the rear edge of the second base base 122A. In this embodiment, two extensions 1211A extend integrally from the rear edge of the second base base 122A, spaced a certain distance apart. The pivot 1212A is disposed at the bottom of the extension 1211A and extends leftward and rightward. The extension 1211A and the pivot 1212A respectively mate with the first mounting slot 1112A and the third mounting slot 1116A on the first base 11. The hook 1213A extends downward from the bottom of the second base base 122A and mates with the second mounting slot 1113A on the first base 11A.

[0096] To assemble the first and second base bodies 11A and 12A, first insert the second base body 12A's pivot shaft 1212A through the first mounting slot 1112A of the first base body 11A and angledly insert it into the guide portion of the third mounting slot 1116A. Then, push the second base body 12A forward and downward, causing the pivot shaft 1212A to rest against the rear end of the engagement portion 1116b. Then, press down on the second base body 12A, rotating it counterclockwise around the axis of the pivot shaft 1212A until the hook 1213A enters the second mounting slot 1113A and moves downward over the protrusion, completing assembly. To disassemble, simply manually apply force to the hook 1213A to release the engagement with the protrusion, then rotate the second base body 12A clockwise to complete disassembly.

[0097] In other embodiments, the number of the first mounting slot, the second mounting slot, the third mounting slot, the extension portion, the rotating shaft, and the hook may be adjusted according to actual conditions.

[0098] According to the description of the above specific embodiments, it can be understood that:

[0099] According to a first aspect of the present invention, a fixing device is provided, which includes a first base body extending horizontally and a second base body extending vertically. The first base body extending horizontally and the second base body extending vertically are detachably connected, which is conducive to reducing the packaging size, and the connection structure is optimized to make the connection structure more stable and easier to install and disassemble.

[0100] According to a second aspect of the present invention, a fixing device is provided, which includes a horizontally extending first base body and a vertically extending second base body. The horizontally extending first base body and the vertically extending second base body are detachably connected, and a stabilizing structure is provided between the horizontally extending first base body and the vertically extending second base body, so that the detachable connection is more stable, especially when the mobile device collides with the second base body of the fixing device, the second base body is prevented from shaking.

[0101] According to a third aspect of the present invention, a fixing device is provided. The fixing device is provided with a guide groove. By providing the guide groove, the alignment of the docking between the moving device and the fixing device is optimized.

[0102] According to a fourth aspect of the present invention, a fixing device is provided. This fixing device reduces the overall thickness of the first base body by providing different heights of the walking surface. Specifically, it reduces the height of the boss of the first base body, thereby improving bending strength, reducing costs, and optimizing guidance alignment. While the preferred embodiments of the present invention have been described in detail above, it should be understood that after reading the above teachings of the present invention, those skilled in the art will be able to make various changes or modifications to the present invention. Such equivalents are also within the scope of the appended claims.

Claims

1. A fixing device, characterized in that: The fixing device includes a first base and a second base, the first base having a surface for docking the mobile device, the second base having an inner cavity for accommodating a charging mechanism and / or a signal generating mechanism, and the upper surface of the first base is provided with at least two protrusions, the protrusions extending along a predetermined travel path of the mobile device on the fixing device; A first guide groove and a second guide groove are defined between two adjacent protrusions; the bottoms of the first guide groove and the second guide groove form a walking surface; the second guide groove extends along the travel path of the mobile device on the fixed device, and the mobile device passes through the first guide groove and enters the second guide groove; The walking surface includes a second walking surface section and a fourth walking surface section, wherein the rear end of the second walking surface section is located behind the first guide groove and the front end thereof is located in front of the first guide groove; the fourth walking surface section is located in the second guide groove; The mobile device is provided with a cutter disc, and the height H2 of the protrusion is less than the minimum distance of the cutter disc of the mobile device from the ground; The heights H1, H2, H3 and H4 satisfy the following relationship: H1>H2>H3>H4>0; wherein H1 is the height of the bosses on both sides of the second guide groove, H3 is the height of the second section of the walking surface, and H4 is the height of the fourth section of the walking surface.

2. The fixing device according to claim 1, characterized in that The first guide groove includes a starting end and a terminating end, the moving device enters the first guide groove from the starting end, and the width of at least one section of the first guide groove gradually decreases from the starting end to the terminating end.

3. The fixing device according to claim 1, characterized in that The moving device is also provided with a driving wheel and a driven wheel. When the driven wheel is located in the first guide groove, the height H2 of the protrusion is smaller than the minimum distance between the cutter disc and the plane where the driving wheel is located and the minimum distance between the cutter disc and the plane where the driven wheel is located.

4. The fixing device according to claim 1, characterized in that The inner side wall and the outer side wall of the protruding portion have a certain inclination, and the inclination of the inner side wall of the protruding portion is smaller than the inclination of the outer side wall of the protruding portion.

5. The fixing device according to claim 2, characterized in that The height of the second guide groove is substantially equal to the height of the first guide groove.

6. The fixing device according to claim 5, characterized in that The bottom of the second guide groove forms a sunken walking surface, and both sides of the opening of the first guide groove are also provided with docking parts for the rear wheels of the mobile device to dock, and the height of the docking parts is roughly equal to the height of the walking surface at the bottom of the second guide groove.

7. The fixing device according to claim 5, characterized in that Two sides of the first guide groove form first protrusions, two sides of the second guide groove form second protrusions, and the width of the first protrusion is greater than the width of the second protrusion.

8. The fixing device according to claim 2, characterized in that The first seat body is further provided with a boss, the second guide groove is provided on the boss, the second guide groove extends on the boss along the preset travel path direction of the moving device on the fixing device, and the second guide groove has an opening at the rear and an end at the front.

9. The fixing device according to claim 8, characterized in that The second guide groove includes a second guide groove first section and a second guide groove second section from the opening to the end, the width of the second guide groove first section gradually decreases from back to front to a smaller width, and the second guide groove second section maintains the smaller width and extends a certain distance on the boss.

10. The fixing device according to claim 8, characterized in that The two sides of the first section of the second guide groove form the first side portion of the second guide groove, and the two sides of the second section of the second guide groove form the second side portion of the second guide groove. The height of the first side portion of the second guide groove gradually increases from the back to the front, and increases to a maximum height H1 when adjacent to the second side portion of the second guide groove; the height of the protrusion gradually increases from the starting end to the ending end of the first guide groove, and forms a maximum height H2 at the ending end; the maximum height H2 of the protrusion and the maximum height H1 of the first side portion of the second guide groove satisfy the following relationship: H1 / H2=2~4.

11. The fixing device according to claim 8, characterized in that The height H1 of the bosses on both sides of the second guide groove and the height H2 of the protruding portion satisfy the following relationship: H1 / H2=2-4.

12. The fixing device according to claim 9, characterized in that The width of the first guide groove gradually decreases from a larger width to a smaller width from back to front, and the smaller width of the first guide groove is equal to or slightly larger than the width of the second section of the second guide groove, and the larger width of the first guide groove is smaller than the larger width of the first section of the second guide groove.

13. The fixing device according to claim 1, characterized in that The first base and the second base are detachably connected via a base connection structure, wherein the base connection structure comprises a first base connection portion arranged on the first base and a second base connection portion arranged on the second base, the first base connection portion is provided with a rotating shaft, the second base connection portion is provided with a rotating shaft matching structure cooperating with the rotating shaft, or the second base connection portion is provided with a rotating shaft, the first base connection portion is provided with a rotating shaft matching structure cooperating with the rotating shaft, and the first base connection portion and the second base connection portion are also provided with a clamping structure, after the first base and the second base are connected via the rotating shaft and the rotating shaft matching structure, they are clamped and fixed by the clamping structure.

14. The fixing device according to claim 13, characterized in that The first seat body connecting part includes a first mounting groove, a second mounting groove and a third mounting groove, and the second seat body connecting part includes an extension part, a hook and a rotating shaft. The hook is tightly engaged with the second mounting groove, the extension part is engaged with the first mounting groove, and the rotating shaft is rotatably connected to the third mounting groove.

15. The fixing device according to claim 14, characterized in that Two baffles extending in the front-to-back direction are formed in the first installation slot, and one of the third installation slots is provided on each baffle, wherein the interval between the two baffles is smaller than the width of the first installation slot.

16. The fixing device according to claim 14, characterized in that The third mounting groove has a guide portion at the front and a coupling portion at the rear. The guide portion is configured to be at least partially open at the top and front and rear and closed at the bottom, and the coupling portion is configured to be closed at the top and bottom and front and open at the rear.

17. The fixing device according to claim 10, characterized in that A column is further provided in the sinking portion of the first seat body, and a column receiving cavity cooperating with the column is provided inside the main body of the second seat body.

18. The fixing device according to claim 1, wherein The fixed device is a charging station, and the mobile device is an intelligent lawn mower robot, an intelligent sweeper, an intelligent snow remover, or an intelligent swimming pool cleaner.

19. An intelligent working system, characterized in that: The intelligent working system comprises a mobile device and the fixing device according to any one of claims 1 to 18.

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