Self-propelled equipment

Abstract

The present invention relates to a self-propelled device, comprising a main body, a driving wheel and a working component arranged on the main body. The working component is arranged on the bottom surface of the main body, and a protruding member is further provided on the bottom surface of the main body. The clearance height between the protruding member and the horizontal ground is not greater than a safety threshold. The protruding member is configured such that when the self-propelled device is placed on the horizontal ground, the projection of the protruding member on a first projection plane is within the projection of the main body on the first projection plane and is arranged on a side closer to the driving wheel relative to the working component, wherein the first projection plane is a plane parallel to the horizontal ground. The self-propelled device of the present invention has good terrain adaptability and safety.

Description

Technical Field

[0001] The present invention relates to a self - propelled device, and particularly to a lawn mowing robot. Background Art

[0002] A lawn mowing robot has an automatic walking function and can operate within a certain working range. It is suitable for lawn trimming and maintenance in places such as family courtyards and public green spaces. The lawn mowing robot can autonomously complete the work of mowing the lawn without direct human control and operation. It has low power, low noise, no pollution, and a delicate and beautiful appearance, which can greatly reduce the input of human resources.

[0003] A lawn mowing robot usually has a cutting device arranged at the bottom of the fuselage for cutting grass. Since the blade in the cutting device is relatively sharp and is likely to cause harm to humans and livestock, usually a housing is arranged outside the fuselage of the lawn mowing robot, and the distance between the housing and the ground is very small. Such a design can effectively prevent, for example, a human arm, leg, foot or an animal limb from entering the lower part of the fuselage of the lawn mowing robot and touching the cutting device. However, such a design brings other problems, and the most prominent one is the greatly reduced terrain adaptability of the lawn mowing robot. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a self - propelled device with good terrain adaptability and safety.

[0005] To solve the above - mentioned technical problem, a self - propelled device of the present invention includes a main body, a driving wheel and a working component arranged on the main body. The working component is arranged on the bottom surface of the main body. The bottom surface of the main body is further provided with a protruding member, and the clearance height between the protruding member and the horizontal ground is not greater than a safety threshold value; the protruding member is configured such that when the self - propelled device is placed on the horizontal ground, the projection of the protruding member on the first projection plane is located within the projection of the main body on the first projection plane, and is arranged on a side closer to the driving wheel relative to the working component, wherein the first projection plane is a plane parallel to the horizontal ground.

[0006] As a specific embodiment of the present invention, preferably, the clearance height between the protruding member and the horizontal ground is not greater than the clearance height between other parts of the main body on the side closer to the driving wheel relative to the working component and the horizontal ground.

[0007] As a specific embodiment of the present invention, preferably, the distance from any point on the protruding member to the rotation axis of the driving wheel is not greater than the radius of the driving wheel.

[0008] As a specific embodiment of the present invention, preferably, the main body includes a housing and a fuselage. The fuselage is configured to support the driving wheel and the working component, and the housing is configured to cover at least part of the upper side and at least part of the circumferential side of the fuselage.

[0009] As a specific embodiment of the present invention, preferably, the safety threshold is 38 mm.

[0010] As a specific embodiment of the present invention, preferably, the protruding member is configured as a roller assembly, and the roller assembly includes a roller.

[0011] As a specific embodiment of the present invention, preferably, the roller includes a roller body, and the roller body includes a plurality of annular grooves arranged in parallel.

[0012] As a specific embodiment of the present invention, preferably, the roller assembly further includes fixing seats arranged at both ends of the roller. The fixing seats include a roller mounting portion and a fixed mounting portion. The roller mounting portion is connected to the roller so that the roller can rotate freely, and the fixed mounting portion is fixedly connected to the bottom surface of the main body.

[0013] As a specific embodiment of the present invention, preferably, the self-propelled device is a lawn mowing robot, and the working component is configured as a cutter head assembly; the lawn mowing robot further includes a power component, a traveling wheel drive component for driving the driving wheel to rotate, a cutter head drive component for driving the cutter head assembly, a cutter head height adjustment component for adjusting the ground clearance of the cutter head assembly, a sensor component for collecting environmental signals, and a control component for controlling the behavior of the lawn mowing robot.

[0014] The present invention also provides another self-propelled device, including a main body, a driving wheel and a working component arranged on the main body. The working component is arranged on the bottom surface of the main body, and a roller assembly is further arranged on the bottom surface of the main body. The clearance height between the roller assembly and the horizontal ground is not greater than the safety threshold; the roller assembly includes a roller, the diameter of the roller is smaller than the diameter of the driving wheel, and the distance between the rotation axis of the roller and the rotation axis of the driving wheel is not greater than the difference between the radius of the roller and the radius of the driving wheel.

[0015] The self-propelled device of the present invention has good terrain adaptability and safety. Description of the Drawings

[0016] Figure 1 is a schematic diagram of the lawn mowing robot in the first embodiment.

[0017] Figure 2 is a schematic diagram of the lawn mowing robot in the uphill state in the first embodiment.

[0018] Figure 3It is a schematic diagram of the lawn mowing robot in a downhill state in the first embodiment.

[0019] Figure 4 It is a schematic diagram of the lawn mowing robot in the second embodiment.

[0020] Figure 5 It is a schematic diagram of the lawn mowing robot in an uphill state in the second embodiment.

[0021] Figure 6 It is a schematic diagram of the lawn mowing robot in a downhill state in the second embodiment.

[0022] Figure 7 It is a schematic diagram of the bottom surface of the lawn mowing robot in a specific embodiment of the present invention.

[0023] Figure 8 It is a schematic diagram of the tail surface of the lawn mowing robot in a specific embodiment of the present invention.

[0024] Figure 9 It is a schematic diagram of the side surface of the lawn mowing robot in a specific embodiment of the present invention, and a partial cross-sectional view along A-A at the drive wheel. Figure 8 in

[0025] Figure 10 It is a schematic diagram of a roller in a specific embodiment of the present invention.

[0026] Figure 11 It is along Figure 10 a cross-sectional view taken along B-B in Specific Embodiments

[0027] The present invention will be described in detail below in conjunction with the specific embodiments shown in the accompanying drawings. However, these embodiments do not limit the present invention, and any structural, method, or functional transformation made by those of ordinary skill in the art based on these embodiments is included within the protection scope of the present invention.

[0028] [[ID=4**]]It should be understood that in the description of the specific embodiments of the present invention, terms such as "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of such features. [[ID=*5]]

[0029] In the specific embodiments of the present invention, unless otherwise clearly specified or limited, terms such as "connected" and "coupled" shall be understood in a broad sense. For example, it may be a fixed connection, a movable connection, a detachable connection, or integrated; it may be directly connected or indirectly connected through an intermediate medium; it may be the internal communication of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0030] In the specific embodiments of the present invention, unless otherwise clearly specified or limited, the first feature being "above" or "below" the second feature may include direct contact between the first and second features, or may include the situation where the first and second features are not in direct contact but in contact through additional features therebetween.

[0031] In the specific embodiments of the present invention, unless otherwise clearly specified or limited, the term "plurality" means two or more.

[0032] To facilitate the understanding of the technical solutions of the present invention, in different embodiments of the specific embodiments, the same reference numerals are used for the same parts / components.

[0033] Figures 1 to 3Shows a self - propelled device in the first embodiment. Taking the mowing robot 201 as an example, it includes a main body 20. At least one walking wheel 26 and at least one working component are provided on the main body 20. The walking wheel 26 is used to support the main body 20 on the working surface. The working component is configured as a cutter head assembly 28. The cutter head assembly 28 is arranged on the bottom surface of the main body 20 and is used to perform mowing work. Specifically, the main body 20 includes a housing 22 and a fuselage 24. The fuselage 24 is configured to support the main functional components of the mowing robot 201. Typically, the walking wheel 26 and the cutter head assembly 28 are both arranged on the fuselage 24. Among them, the walking wheel 26 includes at least one passive wheel 262 driven without power and at least two active wheels 264 driven with power. Specifically, the passive wheel 262 is arranged on the front side of the cutter head assembly 28, and the active wheels 264 are arranged on the rear side of the cutter head assembly 28. The cutter head assembly 28 includes a cutter head 282 and a cutter head guard 284 covering the cutter head 282. The front side and the lower side of the cutter head guard 284 are open to facilitate mowing. In addition, a power supply component, a walking wheel drive component for driving the active wheels to rotate, a cutter head drive component for driving the cutter head to rotate, a cutter head height adjustment component for adjusting the height of the cutter head, a controller component for controlling the behavior of the mowing robot, a sensor component for collecting environmental signals, etc. are also provided on the fuselage 24. The housing 22 entirely covers at least part of the upper side and at least part of the circumferential side of the fuselage 24 to form protection for the fuselage 24. Typically, the housing 22 forms a housing front edge 222 in front of the fuselage 24, and the housing 22 forms a housing rear edge 224 behind the fuselage 24. When the mowing robot 201 is placed on the horizontal ground 10, the clearance height between the housing front edge 222 and the horizontal ground 10 is h 11 , and the clearance height between the housing rear edge 224 and the horizontal ground 10 is h 12 . To meet the safety requirements, both h 11 and h 12 are not greater than the safety threshold x. In the usual safety specification requirements, the safety threshold x = 38mm. In the first embodiment, to meet the safety specification requirements, h 12 = 38mm. In some other more stringent safety specification requirements, the value of the safety threshold x will be smaller, for example, x = 30mm.

[0034] When the mowing robot 201 in the first embodiment goes uphill, since the distance from the horizontal ground 10 is small, during the process of the mowing robot 201 traveling from the horizontal ground 10 to the inclined ground 12, the front edge 222 and the rear edge 224 of the housing will successively interfere with the ground. Specifically, the front edge 222 of the housing first interferes with the inclined ground 12, and the front part of the mowing robot 201 will be subjected to a force exerted by the inclined ground 12 that is approximately perpendicular to the inclined ground 12 and upward, reducing the pressure between the passive wheel 262 and the ground, decreasing the friction between the passive wheel 262 and the ground, and even completely lifting the passive wheel 262 off the ground. In this case, since there is good contact between the driving wheel 264 at the rear of the mowing robot 201 and the ground, it will not seriously affect the progress of the mowing robot 201. Then the rear edge 224 of the housing interferes with the inclined ground 12, and the rear part of the mowing robot 201 will be subjected to a force exerted by the horizontal ground 10 that is approximately perpendicular to the horizontal ground 10 and upward, reducing the pressure between the driving wheel 264 and the ground, decreasing the friction between the driving wheel 264 and the ground, and even completely lifting the driving wheel 262 off the ground under the action of inertia. In this case, since the good contact state between the driving wheel 264 and the ground is broken, the progress of the mowing robot 201 will be seriously affected, and it may even be stuck and unable to move. As Figure 2 shown, the maximum inclination angle of the uphill inclined ground that the mowing robot 201 in the first embodiment can adapt to is α 11 . Similarly, when going downhill, during the process of the mowing robot 201 in the first embodiment traveling from the inclined ground 12 to the horizontal ground 10, the front edge 222 and the rear edge 224 of the housing will successively interfere with the ground. Specifically, the front edge 222 of the housing first interferes with the horizontal ground 10, and then the rear edge 224 of the housing interferes with the inclined ground 12. As Figure 3 shown, the maximum inclination angle of the downhill inclined ground that the mowing robot 201 in the first embodiment can adapt to is α 12 . Usually, α 11 =α 12 . In the first embodiment shown in this embodiment, α 11 =α 12 =13±3°.

[0035] Figures 4 to 6 Figure shows the mowing robot 202 in the second embodiment, which is different from the mowing robot 201 in the first embodiment above. When the mowing robot 201 is placed on the horizontal ground 10, the clearance height between the rear edge 224 of the housing and the horizontal ground 10 is h 22 , and h 22 >x. Specifically, in the second embodiment, h22 = 80 ± 5 mm. This design can effectively improve the adaptability of the lawn mowing robot to the terrain. Refer to Figure 5 and Figure 6 , the maximum inclination angle of the uphill inclined ground that the lawn mower 202 in the second embodiment can adapt to is α 21 , the maximum inclination angle of the downhill inclined ground that the lawn mower 202 in the second embodiment can adapt to is α 22 , and α 21 > α 11 , and α 22 > α 12 . In the first embodiment shown in this embodiment, α 21 = α 22 = 28 ± 3°. Although the lawn mowing robot 202 in the second embodiment has better terrain adaptability, the gap between the rear edge 224 of the housing and the ground is too large, and there is a risk that the limbs of people or animals extend from the rear of the lawn mowing robot into the lower part of the fuselage 24 and contact the cutter head 282.

[0036] Figures 7 to 11 Shows the lawn mowing robot 203 in the third embodiment, which is different from the lawn mowing robot 202 in the above second embodiment in that the main body 20 is further provided with a protruding member, and the protruding member is configured such that when the lawn mowing robot 203 is placed on the horizontal ground 10, the projection of the protruding member on the first projection plane X1 is located within the projection of the housing on the first projection plane X1 and is disposed on one side of the cutter head assembly 28 close to the driving wheel 264, wherein the first projection plane X1 is a plane parallel to the horizontal ground 10. When the lawn mowing robot 203 is placed on the horizontal ground 10, the gap height between the rear edge 224 of the housing and the horizontal ground 10 is h 32 , the gap height between the protruding member and the horizontal ground 10 is h 33 , there is h 32 > x ≥ h 33 , and h 33 is not greater than the gap height between other parts of the main body 20 on the side of the cutter head assembly 28 close to the driving wheel 264 and the horizontal ground 10. In this embodiment, the protruding member is disposed on the bottom surface of the main body 20, specifically, the protruding member is disposed on the bottom surface of the fuselage 24. Preferably, the distance from any point on the protruding member to the rotation axis of the driving wheel 264 is not greater than the radius of the driving wheel 264. To ensure the protection effect, the protruding member is configured such that when the lawn mowing robot 203 is placed on the horizontal ground 10, the projection of the cutter head 282 on the second projection plane X2 falls within the projection width of the protruding member on the second projection plane X2, wherein the second projection plane X2 is a plane perpendicular to the horizontal ground 10 and perpendicular to the advancing direction of the lawn mowing robot 203.

[0037] As a further preference of the third embodiment of the present invention, the protruding member is configured as a roller assembly 30, including a roller 32 and fixing seats 34 provided at both ends of the roller 32. The roller 32 includes a roller body substantially in a cylindrical shape and shafts 324 provided at both ends of the roller body. The roller body preferably includes a plurality of annular grooves 322 arranged in parallel. The fixing seat 34 includes a roller mounting portion 342 and a fixed mounting portion 344. The roller mounting portion 342 is configured to mate with the shaft 324 so that the roller 32 can rotate freely. The fixed mounting portion 344 is configured to be fixedly connected to the bottom surface of the fuselage 24. In this embodiment, the fixing seat 34 is fixedly connected to the fuselage 24 by screws. In this embodiment, the diameter of the roller 32 is smaller than the diameter of the driving wheel 264, preferably the diameter of the roller 32 is smaller than the radius of the driving wheel 264, and the distance between the rotation axis of the roller 32 and the rotation axis of the driving wheel 264 is not greater than the difference between the radii of the roller 32 and the driving wheel 264. In this embodiment, the roller body is configured as a hollow structure made of hard wear-resistant plastic. In some other embodiments, the projection of the rotation axis of the roller 32 on the first projection plane X1 coincides with the projection of the rotation axis of the driving wheel 264 on the first projection plane X1.

[0038] It should be understood that although this specification is described according to embodiments, not every embodiment only includes an independent technical solution. This narrative way of the specification is only for clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

[0039] The series of detailed descriptions listed above are only specific descriptions of the feasible embodiments of the present invention, and they are not intended to limit the protection scope of the present invention. Any equivalent embodiments or modifications made without departing from the technical spirit of the present invention should be included in the protection scope of the present invention.

Claims

1. A self-propelled device, comprising a main body, a driving wheel and a working component provided on the main body. The main body includes a housing, and the housing forms a rear edge of the housing at the rear of the main body. The working component is provided on the bottom surface of the main body. It is characterized in that, a protruding member is further provided on the bottom surface of the main body, and the clearance height between the protruding member and the horizontal ground is not greater than a safety threshold; the protruding member is configured such that when the self-propelled device is placed on the horizontal ground, the projection of the protruding member on a first projection plane is located within the projection of the main body on the first projection plane, and is provided on a side closer to the driving wheel relative to the working component, wherein the first projection plane is a plane parallel to the horizontal ground; the clearance height between the protruding member and the horizontal ground is not greater than the clearance height between other parts of the main body on a side closer to the driving wheel relative to the working component and the horizontal ground; the clearance height between the rear edge of the housing and the horizontal ground is greater than the safety threshold and greater than the clearance height between the protruding member and the horizontal ground; the distance from any point on the protruding member to the rotation axis of the driving wheel is not greater than the radius of the driving wheel; in the forward direction of the self-propelled device, the protruding member is located in front of the rear edge of the housing; the protruding member is configured as a roller assembly, and the roller assembly includes a roller.

2. The self-propelled device according to claim 1, characterized in that, the main body includes a fuselage configured to support the driving wheel and the working component, and the housing is configured to cover at least part of the upper and at least part of the circumferential sides of the fuselage.

3. The self-propelled device according to claim 1, characterized in that, the safety threshold is 38 mm.

4. The self-propelled device according to claim 1, characterized in that, the roller includes a roller body, and the roller body includes a plurality of annular grooves arranged in parallel.

5. The self-propelled device according to claim 1, characterized in that, the roller assembly further includes fixing seats provided at both ends of the roller. The fixing seats include a roller mounting portion and a fixed mounting portion. The roller mounting portion is connected to the roller so that the roller can rotate freely, and the fixed mounting portion is fixedly connected to the bottom surface of the main body.

6. The self-propelled device according to any one of claims 1 to 5, characterized in that, the self-propelled device is a lawn mowing robot, and the working component is configured as a cutter head assembly; the lawn mowing robot further includes a power supply component, a traveling wheel driving component for driving the driving wheel to rotate, a cutter head driving component for driving the cutter head assembly, a cutter head height adjusting component for adjusting the ground clearance of the cutter head assembly, a sensor component for collecting environmental signals, and a control component for controlling the behavior of the lawn mowing robot.

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