A rotating pressure detection device for a mowing robot and a mowing robot

Abstract

The application discloses a rotary pressure detection device for a mowing robot and the mowing robot. The pressure detection device is arranged on the base of the mowing robot. The pressure detection device comprises a contact unit and a pressure detection assembly. The lower part of the contact unit is located outside the base, and the upper part is connected with the pressure detection assembly. The pressure detection assembly comprises a pressure sensor. When the contact unit contacts with an obstacle, the pressure sensor can be triggered to obtain a detection pressure value. The pressure detection assembly is located in the base. A groove is arranged on the base. The upper part of the contact unit is connected with the pressure detection assembly through the groove. When the contact unit contacts with the obstacle, the contact unit can rotate to trigger the pressure sensor in the pressure detection assembly. When contacting with the obstacle, the contact unit contacts with the obstacle and triggers the pressure detection assembly to detect the pressure value. Therefore, the mowing robot can automatically deal with the obstacle through the cooperation of the pressure detection and the height detection.

Description

[0001] This application is a divisional application of a patent with the application date of November 15, 2021, the application number of 202111348045.4, and the invention name of "a pressure detection device and a self-walking device". TECHNICAL FIELD

[0002] The application belongs to the technical field of intelligent device control, and specifically relates to a rotary pressure detection device for a mowing robot and a mowing robot. BACKGROUND

[0003] With the application of new technologies, mowing machine technology is increasingly intelligent, and existing intelligent mowing machines usually generate electronic fences by embedding coils in lawns or construct virtual maps through image recognition, navigation positioning, etc., and the mowing machines mow grass in the delineated area.

[0004] However, the existing intelligent mowing machines have poor processing capacity for obstacles, and when encountering general obstacles, they turn around to bypass them, which is convenient but causes the area near the obstacles to be unable to be mowed, forming a missed mowing area and reducing the mowing efficiency; when encountering low obstacles, they may not be able to detect and identify, and directly mow over, but some obstacles such as stones and stumps have small volume but high hardness, which can easily cause blade wear and tear, and the mowing machine can be trapped, and in severe cases, the equipment can fail or be damaged. SUMMARY

[0005] The application aims to provide a rotary pressure detection device for a mowing robot and a mowing robot, so that the device can detect the hardness of obstacles and comprehensively judge how to avoid obstacles according to the pressure detection result.

[0006] In order to achieve the above-mentioned purpose, the technical scheme adopted by the application is as follows:

[0007] A rotary pressure detection device for a mowing robot, the pressure detection device is arranged on the base of the mowing robot, the pressure detection device comprises a contact unit and a pressure detection assembly, the lower part of the contact unit is located outside the base, and the upper part is connected with the pressure detection assembly, the pressure detection assembly comprises a pressure sensor,

[0008] When the contact unit touches an obstacle, the pressure sensor in the pressure detection assembly can be triggered to obtain a detection pressure value,

[0009] The contact unit is a rotary contact piece, a rotary groove is formed in the base, the pressure detection assembly comprises a cover body, a fixing block and a pressure sensor in the cover body,

[0010] The rotating contact includes a rotating shaft with connecting shafts at both ends. A flywheel and a contact rod are provided on the side of the rotating shaft. The main body of the rotating groove is an arc-shaped groove that fits the rotating shaft. Positioning grooves are provided at both ends of the arc-shaped groove corresponding to the connecting shafts. A through opening is provided in the arc-shaped groove. The contact rod on the rotating contact extends through the opening to the outside of the base. The rotating shaft and the connecting shaft are respectively embedded in the arc-shaped groove and the positioning groove. A limiting groove is also provided on the cover corresponding to the rotating shaft. When the cover is installed on the base, the connecting shaft is rotatably positioned in the space formed by the combination of the limiting groove and the positioning groove. The pressure sensor is provided on the fixed block. A protruding contact platform is provided on the flywheel at the position opposite to the pressure sensor.

[0011] Furthermore, the pressure detection component is located inside the base, and the base has a groove, through which the upper part of the contact unit docks with the pressure detection component.

[0012] Furthermore, the pressure detection assembly also includes a reset plate, which is an elastic plate with one end fixed to the fixing block and the other end abutting against the flywheel to push the flywheel away from the pressure sensor.

[0013] Furthermore, the contact platform and the pressure sensor have a second redundant stroke, the size of which is set such that when the lower end of the contact rod swings upward to the lowest ground height of the lawnmower's blade, the contact platform just contacts the pressure sensor.

[0014] A lawnmower robot, the lawnmower robot including the aforementioned rotary pressure detection device for lawnmower robots.

[0015] Compared with the prior art, the significant advantages of this invention are:

[0016] (1) In view of the problem that the equipment cannot know the hardness of the obstacle, the present invention provides a pressure detection device. The device can be set at the bottom of the equipment. When it comes into contact with the obstacle, it contacts the obstacle through the contact unit and triggers the pressure detection component to detect the pressure value. Thus, the lawn mowing robot can automatically handle obstacles by combining pressure detection and height detection, which improves the lawn mowing robot's ability to handle obstacles and its mowing efficiency, reduces equipment wear and increases the service life of the equipment.

[0017] (2) This invention provides two specific implementation structures for pressure detection devices. Pressure detection is achieved through specially designed sliding and rotating structures. The hardness of the obstacle is judged based on the detection value. The related structures of the spring and reset plate can provide redundant stroke for the device, avoiding the pressure sensor from being activated too frequently. At the same time, a certain buffer is provided before the contacting part contacts the pressure sensor to avoid the pressure sensor measurement value from jumping under the impact force, resulting in excessive error value and affecting the machine's judgment. The overall structure design is reasonable, ingenious, and highly practical. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the internal structure of embodiment 1 of the pressure detection device.

[0019] Figure 2 This is a first-view exploded view of Embodiment 1 of the pressure detection device.

[0020] Figure 3 This is a second-view exploded view of Embodiment 1 of the pressure detection device.

[0021] Figure 4 This is a cross-sectional view of embodiment 1 of the pressure detection device.

[0022] Figure 5 This is a schematic diagram of the internal structure of embodiment 2 of the pressure detection device.

[0023] Figure 6 This is a schematic diagram of the external structure of the pressure detection device in Embodiment 2.

[0024] Figure 7 This is an exploded view of embodiment 2 of the pressure detection device.

[0025] Figure 8 This is a schematic diagram of the cover structure of embodiment 2 of the pressure detection device.

[0026] Figure 9 This is a schematic diagram of the component structure of embodiment 2 of the pressure detection device.

[0027] Figure 10 This is a cross-sectional view of embodiment 2 of the pressure detection device.

[0028] Figure 11 This is a flowchart of the intelligent lawnmower obstacle control method of the present invention.

[0029] Figure 12 This is a schematic diagram showing the ground height of each module of the intelligent lawnmower of the present invention.

[0030] Figure 13 This is a flowchart of the obstacle-crossing process of the intelligent lawnmower of the present invention. Detailed Implementation

[0031] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0032] like Figures 1-10 As shown, a pressure detection device is mounted on the base 2 of a self-propelled device. The pressure detection device includes a contact unit and a pressure detection component. The lower part of the contact unit is located outside the base 2, and the upper part is connected to the pressure detection component. The pressure detection component includes a pressure sensor. When the contact unit touches an obstacle, it can trigger the pressure sensor in the pressure detection component to obtain a detected pressure value. When the contact unit touches an obstacle, it can slide or rotate to trigger the pressure sensor in the pressure detection component. Specific embodiments for sliding and rotating methods are given below.

[0033] Example 1

[0034] The self-propelled device is an intelligent lawnmower, combined with... Figures 1-4 The contact unit is a sliding contact block 3. The pressure detection assembly includes a cover 4 and a sliding seat 5, a fixed seat 6, a spring 8, a sensor mounting seat 10, and a pressure sensor located inside the cover 4. The base 2 is provided with the cover 4, and the sliding seat 5 and the fixed seat 6 are provided inside the cover 4. The base 2 is provided with a sliding groove 7. The upper part of the sliding contact block 3 is connected to the sliding seat 5 through a connecting seat 9. The whole assembly of the sliding contact block 3 and the sliding seat 5 can slide along the sliding groove 7. A protruding contact head 501 is provided on the side of the sliding seat 5 facing the fixed seat 6. A mounting seat 502 is provided at the root of the contact head 501. A countersunk hole 601 is provided on the fixed seat 6 corresponding to the contact head 501. A protruding pressure sensor mounting seat 10 is provided at the bottom of the countersunk hole 601. A pressure sensor is provided at the end of the pressure sensor mounting seat 10. A spring 8 is sleeved on the outside of the contact head 501. The two ends of the spring 8 are limited in the mounting seat 502 and the countersunk hole 601, respectively. The end of the contact head 501 has a first redundant stroke with the pressure sensor. The size of the first redundant stroke can be set as the product of the lawnmower's walking speed and the delay time of the electronic control system. This prevents the pressure sensor from being triggered when the machine is stopped, turned, or displaced due to electronic control delay. During use, after the sliding contact block 3 touches an obstacle on the ground, it will slide towards the rear of the machine. The contact head 501 will contact the pressure sensor after passing through the first redundant stroke. The first redundant stroke is set to prevent the pressure sensor from being activated too frequently. At the same time, it provides a certain buffer before the contact head 501 contacts the pressure sensor to prevent the pressure sensor's measurement value from jumping under the impact force, resulting in an excessively large error value that would affect the machine's judgment.

[0035] Example 2

[0036] Combination Figures 5-10 The contact unit is a rotary contact 12, and the base 2 has a rotary groove 14. The pressure detection assembly includes a cover 11 and a fixing block 15, a reset piece 13, and a pressure sensor located inside the cover 11. The base 2 has a cover 11, and the rotary contact 12 and the fixing block 15 are arranged inside the cover 11. The base 2 has a rotary groove 14. The rotary contact 12 includes a rotating shaft 1201, and connecting shafts 1204 are arranged at both ends of the rotating shaft 1201. A flywheel 1202 and a contact rod 1203 are arranged on the side of the rotating shaft 1201. The main body of the rotary groove 14 is an arc-shaped concave shape that fits the rotating shaft 1201. The groove 1401 and the arc-shaped groove 1401 are provided with positioning grooves 1403 at both ends corresponding to the connecting shaft 1204. The arc-shaped groove 1401 is provided with a through opening 1402. The contact rod 1203 on the rotating contact member 12 passes through the opening 1402 and extends to the bottom of the machine. The rotating shaft 1201 and the connecting shaft 1204 are respectively embedded in the arc-shaped groove 1401 and the positioning groove 1403. The cover 11 is also provided with a limiting groove 1101 corresponding to the rotating shaft 1201. When the cover 11 is installed on the base 2, the connecting shaft 1204 is rotatably fixed in the space formed by the combination of the limiting groove 1101 and the positioning groove 1403. The fixed block 15 is equipped with a reset plate 13 and a pressure sensor 16. The flywheel 1202 is equipped with a protruding contact platform 1205. The reset plate 13 is an elastic plate, part of which is fixed to the fixed block 15 and the end of which abuts against the flywheel 1202, pushing the flywheel 1202 away from the pressure sensor 16. The contact platform 1205 and the pressure sensor have a second redundant stroke. The size of the second redundant stroke can be set so that when the lower end of the contact rod 1203 swings upward to the lowest ground height of the lawnmower's blade, the contact platform 1205 just contacts the pressure sensor, thus avoiding unnecessary impact on the machine operation from obstacles with a height lower than the minimum cutting height. During use, after the contact rod 1203 touches the obstacle on the bottom surface, it will rotate towards the tail end of the machine. The flywheel 1202 moves towards the fixed block 15 over the reset plate 13. After the second redundant stroke, the contact table 1205 contacts the pressure sensor 16. The second redundant stroke is set to avoid the pressure sensor being activated too frequently. At the same time, it provides a certain buffer before the contact table 1205 contacts the pressure sensor to prevent the pressure sensor measurement value from jumping under the impact force and causing an excessively large error value, which would affect the machine's judgment.

[0037] The following describes the specific usage of the pressure detection device of the present invention in the obstacle-crossing function of a smart lawnmower:

[0038] Combination Figure 11The method of using this pressure detection device in obstacle crossing of the intelligent lawnmower is as follows: The lawnmower robot performs normal lawn mowing work in the designated work area at a preset walking speed. The collision sensor in front of the lawnmower robot emits a detection signal forward at predetermined intervals. The detection signal can be ultrasonic, laser, infrared, etc. When the detection signal encounters an obstacle, it returns a reflected signal to confirm the distance and approximate volume of the obstacle and determine whether the lawnmower robot can pass the obstacle normally. If the obstacle is detected to be insurmountable, an obstacle avoidance action is performed. The lawnmower robot makes a slow turn and, in conjunction with the detection of external sensors, changes its walking route to bypass the obstacle and continues to perform straight lawn mowing work.

[0039] If the obstacle is determined to be traversable, an obstacle-crossing maneuver is initiated, controlling the lawnmower robot to gradually decelerate and continue moving forward. The robot contacts the obstacle via a contact unit located beneath it, allowing the pressure sensor to detect the pressure value: Sliding contact block 3, upon contacting the ground obstacle, slides towards the rear of the machine, and contact head 501, after a first redundant stroke, contacts the pressure sensor, obtaining the pressure value; alternatively, contact rod 1203, upon contacting the bottom obstacle, rotates towards the rear of the machine, causing flywheel 1202 to overcome reset plate 13 and move towards fixed base 15. After a second redundant stroke, contact platform 1205 contacts pressure sensor 16, obtaining the pressure value. The pressure detection device is located directly below the lawnmower robot in its forward direction, at the same horizontal level as the left and right sides of the cutter head, allowing for contact detection of the applied force.

[0040] If the detected pressure value is lower than the preset pressure threshold, it is considered that the obstacle is relatively hard and will not damage the blades when the blade disc cuts. Then, the lawnmower robot is controlled to pass through the obstacle at the current low speed, and resumes normal speed after passing through.

[0041] If the detected pressure value is higher than a preset pressure threshold, it is considered that the obstacle's hardness is sufficient to wear down the equipment, and the mowing robot continues to slow down and stops mowing. The height of the obstacle is detected by ground sensors. These ground sensors can be ultrasonic sensors, laser sensors, or other components used for distance judgment, emitting light to the ground. There are two ground sensors: one is placed behind the pressure detection device, in the middle of the front of the cutter head, and the other is placed behind the cutter head. When the front ground sensor detects that the height of the obstacle is greater than a first preset height threshold and less than or equal to a second preset height threshold, the mowing robot is controlled to adjust the height of the cutter head upwards so that the cutter head is slightly higher than the obstacle height. After the ground sensor on the rear of the cutter head detects that the obstacle has passed, the cutter head is lowered again and the straight mowing operation continues.

[0042] refer to Figure 12The lawnmower robot has ground-level height settings for each module. A first preset threshold is less than a second preset threshold, and the first preset threshold equals the minimum ground-level height of the blade head. The second preset threshold equals the maximum ground-level height of the blade head. The pressure sensor is at the same horizontal level as the minimum ground-level height of the blade head. When the obstacle height is less than the first preset threshold, the lawnmower robot can pass through the obstacle at a low speed. When the obstacle height is greater than or equal to the first preset threshold but less than the second preset threshold, the lawnmower robot needs to stop mowing and adjust the blade head height upwards.

[0043] The following explanation uses a specific height as an example.

[0044] For example, in one embodiment, the blade of the lawnmower is 4cm at its lowest point and 10cm at its highest point. When the blade is currently mowing, it is 6cm at its lowest point. In this case, the pressure sensor on the lawnmower is 4cm at its lowest point. The first preset threshold is set to 4cm and the second preset threshold is set to 10cm.

[0045] When an obstacle is detected to be taller than 10cm or too large to pass through, the lawnmower robot will perform obstacle avoidance maneuvers and turn around to go around it.

[0046] When an obstacle with a height of less than 4cm is detected, it is determined that the obstacle can be passed directly. The lawnmower robot passes through the obstacle at a low speed without stopping mowing, thus completing the obstacle-crossing action.

[0047] When an obstacle is detected to be 4cm or higher but less than 10cm high, the lawnmower stops mowing, adjusts the blade height to be higher than the obstacle height, passes over the obstacle at low speed, and then lowers the blade height back to the previously set height to continue mowing.

[0048] refer to Figure 13 When the lawnmower robot performs an obstacle-crossing maneuver, it should move directly towards the obstacle. If the direction of movement changes, or if the obstacle has a certain width and height, the lawnmower robot may get stuck or blocked and fail to pass through the obstacle. In this case, the lawnmower robot should be controlled to move backward until it is a predetermined distance away from the obstacle, while adjusting its direction of movement and trying to cross the obstacle again until it successfully aligns with the obstacle and passes through it smoothly.

[0049] If the obstacle-crossing operation fails after three attempts, it means that the lawnmower cannot overcome the obstacle. Control the lawnmower to disengage from the obstacle-crossing action and perform obstacle avoidance action to bypass the obstacle and continue mowing. At the same time, when planning the work route later, identify the obstacle as an insurmountable type and avoid it to ensure the normal operation of the lawnmower.

[0050] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of this invention is defined by the appended claims and their equivalents.

Claims

1. A rotating pressure detection device for a lawnmower robot, the pressure detection device being mounted on the base (2) of the lawnmower robot, characterized in that, The pressure detection device includes a contact unit and a pressure detection assembly. The lower part of the contact unit is located outside the base (2), and the upper part is connected to the pressure detection assembly. The pressure detection assembly includes a pressure sensor. When the contact unit touches an obstacle, it can trigger the pressure sensor in the pressure detection component to obtain a detected pressure value. The contact unit is a rotating contact (12), and the base (2) has a rotating groove (14). The pressure detection assembly includes a cover, a fixing block (15) located inside the cover, and a pressure sensor. The rotating contact (12) includes a rotating shaft (1201), with connecting shafts (1204) at both ends of the rotating shaft (1201). A flywheel (1202) and a contact rod (1203) are provided on the side of the rotating shaft (1201). The main body of the rotating groove (14) is an arc-shaped groove (1401) that fits the rotating shaft (1201). Positioning grooves (1403) are provided at both ends of the arc-shaped groove (1401) corresponding to the connecting shafts (1204). A through opening (1402) is provided in the arc-shaped groove (1401). The contact rod (1203) on the rotating contact (12) passes through the opening (1402). 402) Extends to the outside of the base (2), the rotating shaft (1201) and the connecting shaft (1204) are respectively embedded in the arc-shaped groove (1401) and the positioning groove (1403). The cover is also provided with a limiting groove (1101) corresponding to the rotating shaft (1201). When the cover is installed on the base (2), the connecting shaft (1204) is rotatably set in the space formed by the combination of the limiting groove (1101) and the positioning groove (1403). The pressure sensor is provided on the fixing block (15), and a protruding contact platform (1205) is provided on the flywheel (1202) at the position opposite to the pressure sensor. The pressure detection assembly also includes a reset piece (13), which is an elastic piece with one end fixed to the fixing block (15) and the other end abutting against the flywheel (1202) to push the flywheel (1202) away from the pressure sensor; The contact platform (1205) has a second redundant stroke with the pressure sensor. The size of the second redundant stroke is set such that when the lower end of the contact rod (1203) swings upward to the lowest ground height of the lawnmower's blade, the contact platform (1205) just contacts the pressure sensor.

2. The rotary pressure detection device for a lawnmower robot according to claim 1, characterized in that, The pressure detection component is located inside the base (2), and the base (2) has a groove. The upper part of the contact unit is connected to the pressure detection component through the groove.

3. A lawnmower robot, characterized in that, The lawnmower robot includes the rotary pressure detection device for a lawnmower robot as described in any one of claims 1-2.

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