lawn mowing robot

Abstract

The present application provides a lawn mowing robot. The lawn mowing robot includes a body, a cutting assembly, a height adjustment assembly, and a controller. The cutting assembly is arranged on one side of the body. The height adjustment assembly includes a drive mechanism and a lifting structure. The drive mechanism is fixed to the body. The lifting structure is connected to the drive mechanism and the cutting assembly, respectively. The drive mechanism is used to drive the lifting structure to move away from or close to the ground, thereby driving the cutting assembly to move away from or close to the ground. The controller is used to determine the cutting height of the lawn area and control the drive mechanism to drive the lifting structure to move away from or close to the ground, thereby driving the cutting assembly to move away from or close to the ground until the distance between the cutting assembly and the ground is equal to the cutting height. The lawn mowing robot provided by the present application can automatically adjust the height of the cutting assembly by controlling the height adjustment assembly through the controller, making the height adjustment process of the cutting assembly more intelligent and improving the mowing efficiency.

Description

Technical Field

[0001] The present application relates to the field of robotics, and in particular to a lawn mowing robot. Background Art

[0002] Lawn mowers are used for pruning decorative gardens, lawns, urban streets, scenic greenery, gardens, and field weeding. They are particularly useful for trimming grass and grasslands in parks, other grassy areas like soccer fields, private villa gardens, and vegetation in agricultural, forestry, and livestock farms. During mowing, the blade height must be adjusted to suit the specific blade height.

[0003] Currently, the height adjustment process for lawn mower blades usually involves stopping mowing and then manually rotating the screw or buckle on the blade to adjust the blade to the appropriate height. However, this height adjustment method is not only inconvenient to operate, but also results in low mowing efficiency. Summary of the Invention

[0004] In order to solve the above technical problems, the present application provides a lawn mowing robot that can automatically adjust the height of the cutting component, making the height adjustment process of the cutting component more intelligent and improving the mowing efficiency.

[0005] The present application provides a lawn mowing robot, which includes a body, a cutting component, a height adjustment component and a controller, wherein the cutting component is arranged on one side of the body, and the height adjustment component includes a driving mechanism and a lifting structure, the driving mechanism is fixed to the body, and the lifting structure is connected to the driving mechanism and the cutting component respectively, the driving mechanism is used to drive the lifting structure to move away from or close to the ground, thereby driving the cutting component to move away from or close to the ground, and the controller is used to determine the cutting height of the lawn area, and control the driving mechanism to drive the lifting structure to move away from or close to the ground, thereby driving the cutting component to move away from or close to the ground until the distance between the cutting component and the ground is equal to the cutting height.

[0006] The lawn mowing robot provided in the present application can automatically adjust the height of the cutting assembly by controlling the height adjustment assembly through the controller, making the height adjustment process of the cutting assembly more intelligent and improving the mowing efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] In order to more clearly illustrate the technical solution of the present application, the following is a brief introduction to the drawings required for use in the implementation. Obviously, the drawings described below are some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0008] Figure 1 This is a schematic diagram of the structure of the lawn mowing robot provided in an embodiment of the present application.

[0009] Figure 2 for Figure 1 A top view of the lawn mowing robot is shown.

[0010] Figure 3 for Figure 1 Side view of the lawn mowing robot shown.

[0011] Figure 4 for Figure 1 Schematic diagram of the structure of the cutting assembly shown.

[0012] Figure 5 for Figure 1 Schematic diagram of the exploded structure of the height adjustment assembly is shown.

[0013] Figure 6 for Figure 4 Schematic diagram of the exploded structure of the cutting assembly is shown.

[0014] Figure 7 for Figure 3 A side view of the robotic lawn mower with the middle cutting assembly raised.

[0015] Description of main component symbols:

[0016] 100-mowing robot; 10-body; 20-cutting assembly; 30-height adjustment assembly; 31-driving mechanism; 32-lifting structure; 21-tool support; 22-hob structure; 23-fixed blade structure; 11-body; 12-bracket; 211-support body; 212-side wall; 321-threaded rod; 322-sleeve; 221-hob blade; 222-rotating shaft; 231-fixed blade; 2211-blade; 2212-connecting part; 40-connecting part; 50-moving assembly; 60-grass pressing structure; 70-protective part. DETAILED DESCRIPTION

[0017] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0018] In the description of this application, the terms "first", "second", "third", etc. are used to distinguish different objects rather than to describe a specific order. In addition, the terms "upper", "lower", "inner", "outer", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they cannot be understood as limitations on this application.

[0019] In the description of this application, unless otherwise specified or limited, the term "connection" should be understood in a broad sense. For example, it can mean a fixed connection, a detachable connection, or an integral connection; it can mean a direct connection, an indirect connection through an intermediate medium, or internal communication between two components; it can mean a communication connection; or it can mean an electrical connection. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances.

[0020] See also Figures 1 to 3 , Figure 1 This is a structural diagram of the lawn mowing robot 100 provided in an embodiment of the present application. Figure 2 for Figure 1 The top view of the lawn mowing robot 100 is shown. Figure 3 for Figure 1 FIG. 1 is a side view of the lawn mowing robot 100. Figures 1 to 3 As shown, the lawn mower robot 100 includes a body 10, a cutting assembly 20, a height adjustment assembly 30 and a controller. The cutting assembly 20 is provided on one side of the body 10. The height adjustment assembly 30 includes a driving mechanism 31 and a lifting structure 32. The driving mechanism 31 is fixed to the body 10. The lifting structure 32 is connected to the driving mechanism 31 and the cutting assembly 20 respectively. The driving mechanism 31 is used to drive the lifting structure 32 to move away from or close to the ground, thereby driving the cutting assembly 20 to move away from or close to the ground. The controller is fixed to the body 10 and is used to determine the cutting height of the lawn area and control the driving mechanism 31 to drive the lifting structure 32 to move away from or close to the ground, thereby driving the cutting assembly 20 to move away from or close to the ground until the distance between the cutting assembly 20 and the ground is equal to the cutting height, that is, adjusting the height of the cutting assembly 20 to be equal to the cutting height.

[0021] The lawn mowing robot 100 provided in an embodiment of the present application can automatically adjust the height of the cutting assembly 20 by providing the height adjustment component 30 and controlling the height adjustment component 30 to drive the cutting assembly 20 to move away from or close to the ground, making the height adjustment process of the cutting assembly 20 more intelligent and improving the mowing efficiency.

[0022] The controller may be fixed to the body 10 , and may be a processing chip such as a central processing unit, a single chip microcomputer, a microcontroller, or a data signal processor.

[0023] See also Figure 3 and Figure 4 , Figure 4 for Figure 1 The schematic diagram of the structure of the cutting assembly 20 is shown. In some embodiments, as Figure 3 and Figure 4 As shown, the cutting assembly 20 includes a tool support 21, a hob structure 22 and a fixed knife structure 23. The hob structure 22 is rotatably connected to the tool support 21, the fixed knife structure 23 is fixedly connected to the tool support 21 and is spaced apart from the hob structure 22 to form a shear gap, and the tool support 21 is connected to the lifting structure 32.

[0024] The controller controls the driving mechanism 31 to drive the lifting structure 32 to move away from or closer to the ground, thereby driving the cutting assembly 20 to move away from or closer to the ground until the distance between the cutting assembly 20 and the ground is equal to the cutting height, including: the controller controls the driving mechanism 31 to drive the lifting structure 32 to move away from or closer to the ground, thereby driving the tool support 21, the rolling cutter structure 22, and the fixed cutter structure 23 to move away from or closer to the ground until the distance between the fixed cutter structure 23 and the ground is equal to the cutting height. That is, under the control of the controller, the driving mechanism 31 drives the lifting structure 32 to move away from or closer to the ground, thereby driving the tool support 21, the rolling cutter structure 22, and the fixed cutter structure 23 to move away from or closer to the ground until the distance between the fixed cutter structure 23 and the ground is equal to the cutting height.

[0025] When the driving mechanism 31 drives the lifting structure 32 to move away from or closer to the ground, it drives the tool support 21 to move away from or closer to the ground, and the hob structure 22 and the fixed knife structure 23 follow the tool support 21 to move away from or closer to the ground.

[0026] The provision of a roller cutter structure 22 and a fixed cutter structure 23, and the use of the shear gap formed by these structures for mowing, improves mowing efficiency, reduces noise, and prevents lawn damage. Furthermore, the provision of a cutter support 21 connected to the roller cutter structure 22 and the fixed cutter structure 23 allows the height of the roller cutter structure 22 and the fixed cutter structure 23 to be adjusted by adjusting the height of the cutter support 21.

[0027] In some embodiments, the extension direction of the lifting structure 32 forms an angle with the ground, and the controller controls the driving mechanism 31 to drive the lifting structure 32 to move away from or toward the ground in the direction at the angle with the ground. When the lifting structure 32 moves away from or toward the ground in the direction at the angle with the ground, the cutting assembly 20 is driven to move away from or toward the ground in the direction at the angle with the ground. The angle can be acute or obtuse.

[0028] In some other embodiments, the lifting structure 32 may include a vertical part and a horizontal part fixedly connected to the vertical part, the vertical part is connected to the driving mechanism 31 and is perpendicular to the ground, the horizontal part is connected to the cutting assembly 20 and is parallel to the ground, the driving mechanism 31 drives the vertical part to move in a direction perpendicular to the ground, and drives the horizontal part to move in a direction perpendicular to the ground, thereby driving the cutting assembly 20 to move in a direction perpendicular to the ground.

[0029] In some embodiments, as Figures 1 to 3 As shown, the fuselage 10 includes a fuselage main body 11 and a bracket 12 fixed to the fuselage main body 11, the driving mechanism 31 is fixed to the fuselage main body 11, the tool support 21 includes a support main body 211 and two side walls 212 arranged on both sides of the support main body 211, the support main body 211 is rotatably connected to the lifting structure 32, the bracket 12 also extends to the two side walls 212 and is rotatably connected to the two side walls 212, and forms a rotational connection relationship with the lifting structure 32 through the tool support 21.

[0030] When the controller controls the drive mechanism 31 to drive the lifting structure 32 away from or toward the ground, the drive mechanism 31 drives the cutter support 21, the rolling cutter structure 22, and the fixed cutter structure 23 to rotate relative to the bracket 12 and move away from or toward the ground, thereby changing the distance between the fixed cutter structure 23 and the ground. The controller also controls the drive mechanism 31 to stop driving when the distance between the fixed cutter structure 23 and the ground equals the cutting height, thereby stopping the adjustment of the height of the cutting assembly 20. That is, when the drive mechanism 31 drives the lifting structure 32 away from or toward the ground under the control of the controller, the drive mechanism 31 drives the cutter support 21, the rolling cutter structure 22, and the fixed cutter structure 23 to rotate relative to the bracket 12 and move away from or toward the ground, thereby changing the distance between the fixed cutter structure 23 and the ground.

[0031] The controller may be fixed to the main body 11 . The driving mechanism 31 may be rotatably connected to the main body 11 .

[0032] The fixed blade structure 23 is fixedly connected to the support body 211 and can move along with the support body 211 when the support body 211 moves.

[0033] The support member body 211 is rotatably connected to the lifting structure 32 and the bracket 12. When the driving mechanism 31 drives the lifting structure 32 to move away from or closer to the ground, the tool support member 21 is driven to rotate relative to the bracket 12 and move away from or closer to the ground. The rolling cutter structure 22 and the fixed cutter structure 23 follow the tool support member 21 in rotating relative to the bracket 12 and moving away from or closer to the ground.

[0034] The two side walls 212 are respectively provided at opposite ends of the hob structure 22 and are rotatably connected to the two side walls 212. The hob structure 22 can rotate around the central axis of the hob structure 22. A bearing can be provided on each side wall 212. The side wall 212 is fixedly connected to the outer ring of the bearing. The end of the hob structure 22 is inserted into the bearing and connected to the inner ring of the bearing, thereby realizing the rotatable connection between the hob structure 22 and the side wall 212.

[0035] The controller controls the hob structure 22 to rotate relative to the tool support 21 around the central axis of the hob structure 22. When the hob structure 22 rotates, it rolls in the grass blades and gathers the grass blades into the shearing gap formed by the hob structure 22 and the fixed blade structure 23. The hob structure 22 and the fixed blade structure 23 cooperate to cut the grass blades located in the gap.

[0036] In some embodiments, as Figures 1 to 3 As shown, the side wall 212 of the tool support 21 is rotatably connected to the bracket 12 via a connector 40. The connector 40 passes through the side wall 212 and the bracket 12, and is fixedly connected to the tool support 21 and rotatably connected to the bracket 12, so that the tool support 21 can rotate relative to the bracket 12. In some embodiments, the connector 40 can be a bolt, a screw, etc.

[0037] When the driving mechanism 31 drives the lifting structure 32 to move away from or closer to the ground, and drives the tool support 21, the hob structure 22 and the fixed knife structure 23 to rotate relative to the bracket 12, the tool support 21, the hob structure 22 and the fixed knife structure 23 rotate together with the connecting member 40 as the rotation center. During the rotation process, the tool support 21, the hob structure 22 and the fixed knife structure 23 are relatively stationary.

[0038] During the rotation of the roller cutter structure 22 and the fixed blade structure 23 relative to the bracket 12, the distance between the orthographic projection of the fixed blade structure 23 on the ground and the orthographic projection of the central axis of the roller cutter structure 22 on the ground gradually changes, which will cause the amount of grass blades that the roller cutter structure 22 takes into the shearing gap between the roller cutter structure 22 and the fixed blade structure 23 to change, thereby changing the amount of grass eaten by the cutting assembly 20 by changing the distance between the cutting assembly 20 and the ground.

[0039] In some embodiments, when the reel blade structure 22 and the fixed blade structure 23 rotate relative to the bracket 12 and move away from the ground, the distance between the orthographic projection of the fixed blade structure 23 on the ground and the orthographic projection of the central axis of the reel blade structure 22 on the ground gradually increases. This increases the amount of grass blades that the reel blade structure 22 encloses in the cutting gap between the reel blade structure 22 and the fixed blade structure 23 when the mowing robot 100 mows, thereby improving mowing efficiency when the cutting assembly 20 is far from the ground. When the reel blade structure 22 and the fixed blade structure 23 rotate relative to the bracket 12 and move closer to the ground, the distance between the orthographic projection of the fixed blade structure 23 on the ground and the orthographic projection of the central axis of the reel blade structure 22 on the ground gradually decreases. This reduces the amount of grass blades that the reel blade structure 22 encloses in the cutting gap between the reel blade structure 22 and the fixed blade structure 23 when the mowing robot 100 mows, thereby preventing the cutting assembly 20 from being difficult to cut due to a large amount of grass in the cutting gap when the cutting assembly 20 is close to the ground.

[0040] Among them, the orthographic projection of the central axis of the hob structure 22 on the ground is the projection of the central axis of the hob structure 22 on the ground in a direction perpendicular to the ground, and the orthographic projection of the fixed blade structure 23 on the ground is the projection of the fixed blade structure 23 on the ground in a direction perpendicular to the ground.

[0041] Among them, the rotation direction of the tool support 21, the hob structure 22 and the fixed knife structure 23 when they move away from the ground and rotate relative to the bracket 12 is opposite to the rotation direction of the tool support 21, the hob structure 22 and the fixed knife structure 23 when they move close to the ground and rotate relative to the bracket 12.

[0042] See also Figure 5 , Figure 5 for Figure 1 Schematic diagram of the exploded structure of the height adjustment assembly 30 shown in FIG. Figure 5As shown, the lifting structure 32 includes a threaded rod 321 and a sleeve 322. The sleeve 322 is sleeved on the threaded rod 321 and is rotatably connected to the threaded rod 321. The sleeve 322 is also connected to the tool support 21. Specifically, the sleeve 322 is connected to the support body 211. When the driving mechanism 31 drives the threaded rod 321 to rotate, the sleeve 322 moves along the axial direction of the threaded rod 321 and away from or closer to the ground, thereby driving the tool support 21, the hob structure 22 and the fixed knife structure 23 to move away from or closer to the ground.

[0043] When the threaded rod 321 rotates, the sleeve 322 moves linearly along the axial direction of the threaded rod 321 and moves away from or closer to the ground, thereby driving the tool support 21 away from or closer to the ground, and the hob structure 22 and the fixed knife structure 23 follow the tool support 21 away from or closer to the ground.

[0044] In which, the sleeve 322 may include a sleeve body and a rolling body, the threaded rod is provided with an outer spiral groove, the sleeve body is provided with an inner spiral groove matching the outer spiral groove of the threaded rod 321, the outer spiral groove of the threaded rod 321 and the inner spiral groove of the sleeve body are matched to form a circulating spiral raceway, the rolling body is located in the circulating spiral raceway, and the tool support 21 is fixed on the sleeve body, wherein the driving mechanism 31 drives the threaded rod 321 to rotate around the central axis of the threaded rod, and drives the rolling body to roll in the circulating spiral raceway, thereby driving the sleeve body to make a linear motion along the axial direction of the threaded rod, and driving the tool support 21 connected to the sleeve body to move in a direction close to or away from the ground.

[0045] Among them, the driving mechanism 31 may include a motor and a reduction gear set, and the reduction gear set is respectively connected to the output shaft of the motor and the threaded rod 321. The motor drives the reduction gear set to rotate, and drives the threaded rod 321 to rotate, thereby driving the lifting structure 32 to move away from or close to the ground.

[0046] In some embodiments, the two side walls 212 of the tool support 21 are rotatably connected to the bracket 12. When the driving mechanism 31 drives the threaded rod 321 to rotate, the sleeve 322 moves along the axial direction of the threaded rod 321 and away from or closer to the ground. Since the tool support 21 is rotatably connected to the bracket 12 through the connecting member 40, as the sleeve 322 moves relative to the bracket 12 and moves away from or closer to the ground, the hob structure 22 and the fixed knife structure 23 follow the tool support 21 to rotate relative to the bracket 12 and move away from or closer to the ground.

[0047] In other embodiments, the two side walls 212 of the tool support 21 are not connected to the bracket 12. When the driving mechanism 31 drives the threaded rod 321 to rotate, the sleeve 322 moves along the axial direction of the threaded rod 321 and away from or closer to the ground. The tool support 21 moves linearly away from or closer to the ground by moving along the movement direction of the sleeve 322. The hob structure 22 and the fixed knife structure 23 follow the tool support 21 and move linearly along the movement direction of the sleeve 322 and away from or closer to the ground. The tool support 21 and the fixed knife structure 23 do not rotate relative to the bracket 12 during the movement away from or close to the ground.

[0048] In some other embodiments, the lifting structure 32 includes a worm wheel and a worm meshing with the worm wheel, and the worm is connected to the tool support 21. Specifically, the worm is connected to the support body 211. When the driving mechanism 31 drives the worm wheel to rotate, the worm moves along the axial direction of the worm and away from or closer to the ground, thereby driving the tool support 21, the hob structure 22 and the fixed knife structure 23 to move away from or closer to the ground.

[0049] In some embodiments, the two side walls 212 of the tool support 21 are rotationally connected to the bracket 12. When the driving mechanism 31 drives the worm wheel to rotate, the worm moves linearly along the axial direction of the worm and away from or close to the ground. Since the tool support 21 is rotationally connected to the bracket 12 through the connecting member 40, as the worm moves relative to the bracket 12 and moves away from or close to the ground, the hob structure 22 and the fixed knife structure 23 follow the tool support 21 to rotate relative to the bracket 12 and move away from or close to the ground.

[0050] In other embodiments, the two side walls 212 of the tool support are not connected to the bracket 12. When the driving mechanism 31 drives the worm gear to rotate, the worm moves linearly along the axial direction of the worm and away from or close to the ground, and the tool support 21 moves linearly away from or close to the ground by translation along the movement direction of the worm. The hob structure 22 and the fixed knife structure 23 follow the tool support 21 and move linearly away from or close to the ground by translation along the movement direction of the worm. The tool support 21 and the fixed knife structure 23 do not rotate relative to the bracket 12 during the movement away from or close to the ground.

[0051] In some embodiments, the controller controls the driving mechanism 31 to drive the lifting structure 32 to move away from or closer to the ground, thereby driving the cutting assembly 20 to move away from or closer to the ground until the distance between the cutting assembly 20 and the ground is equal to the cutting height, including: the controller controls the driving mechanism 31 to drive the lifting structure 32 to move away from or closer to the ground in a direction perpendicular to the ground, thereby driving the tool support 21, the rolling cutter structure 22, and the fixed cutter structure 23 to move away from or closer to the ground in a direction perpendicular to the ground until the distance between the fixed cutter structure 23 and the ground is equal to the cutting height. That is, under the control of the controller, the driving mechanism 31 drives the lifting structure 32 to move away from or closer to the ground in a direction perpendicular to the ground, thereby driving the tool support 21, the rolling cutter structure 22, and the fixed cutter structure 23 to move away from or closer to the ground in a direction perpendicular to the ground until the distance between the fixed cutter structure 23 and the ground is equal to the cutting height.

[0052] Among them, by setting the cutting assembly 20 to rise and fall in a direction perpendicular to the ground, the space required in the direction parallel to the ground during the raising and lowering of the cutting assembly 20 can be reduced, thereby reducing the size of the lawn mower robot 100 in the direction parallel to the ground, which is conducive to reducing the volume of the lawn mower robot 100.

[0053] In some embodiments, the two side walls 212 of the tool support 21 are respectively fixedly connected to the bracket 12, so that the tool support 21 is fixed to the bracket 12, the driving mechanism 31 includes a gear box, the gear box includes a gear set and a motor, the gear set includes a plurality of gears meshing with each other, the lifting structure 32 includes a ball screw structure, which includes a screw and a nut, the gear set is respectively connected to the motor and the screw, the nut is sleeved on the screw and connected to the bracket 12, and the extension direction of the screw is perpendicular to the ground. The motor drives the gear set to rotate, thereby driving the screw to rotate, so that the nut moves along the extension direction of the screw and away from or close to the ground, that is, moves along the direction perpendicular to the ground and away from or close to the ground, thereby driving the bracket 12 to move along the direction perpendicular to the ground and away from or close to the ground, and the tool support 21, the hob structure 22 and the fixed knife structure 23 follow the bracket 12 to move along the direction perpendicular to the ground and away from or close to the ground.

[0054] In some embodiments, the two side walls 212 of the tool support 21 are respectively fixedly connected to the bracket 12, so that the tool support 21 is fixed to the bracket 12, and the driving mechanism 31 may include an air spring, a deflation solenoid valve, a deflation pipeline, an inflation solenoid valve, an inflation pipeline and an air tank. The inflation pipeline is connected between the air spring and the air tank, and the inflation solenoid valve is arranged between the inflation pipeline and the air spring. The air spring is connected to the outside world through the deflation pipeline, and the deflation solenoid valve is arranged at the connection between the deflation pipeline and the air spring. The lifting structure includes a lifting rod, the extension direction of the lifting rod is perpendicular to the ground and the lifting rod is respectively connected to the bracket 12 and the air spring.

[0055] The controller can control the opening of the inflation solenoid valve and the closing of the deflation solenoid valve, so that the gas in the air tank flows to the air spring through the inflation pipeline. As the air pressure in the air spring increases, the air spring pushes the lifting rod to move away from the ground in a direction perpendicular to the ground, thereby driving the bracket 12 to move away from the ground in a direction perpendicular to the ground, and the tool support 21, the hob structure 22 and the fixed knife structure 23 follow the bracket 12 to move away from the ground in a direction perpendicular to the ground; the controller can control the opening of the deflation solenoid valve and the closing of the inflation solenoid valve, so that the gas in the air spring is discharged to the atmosphere through the deflation pipeline. As the air pressure in the air spring decreases, the air spring drives the lifting rod to move closer to the ground in a direction perpendicular to the ground, thereby driving the bracket 12 to move closer to the ground in a direction perpendicular to the ground, and the tool support 21, the hob structure 22 and the fixed knife structure 23 follow the bracket 12 to move closer to the ground in a direction perpendicular to the ground.

[0056] See also Figure 6 ,for Figure 4 The schematic diagram of the exploded structure of the cutting assembly 20 is shown. In some embodiments, as Figure 6 As shown, the hob structure 22 includes a hob blade 221 and a rotating shaft 222, the hob blade 221 is bent and extended on the outer peripheral surface of the rotating shaft 222, the rotating shaft 222 passes through the two side walls 212 and is rotatably connected to the two side walls 212, the fixed knife structure 23 includes a fixed knife blade 231, the fixed knife blade 231 is fixedly connected to the tool support 21 and is spaced apart from the hob blade 221 to form a shear gap, specifically, the fixed knife blade 231 is fixedly connected to the support 211 and is spaced apart from the hob blade 221 to form a shear gap, and the fixed knife blade 231 is parallel to the rotating shaft 222.

[0057] The distance between the fixed blade structure 23 and the ground is the distance between the fixed blade 231 and the ground. The distance between the cutting assembly 20 and the ground and the distance between the fixed blade structure 23 and the ground in any of the aforementioned embodiments can be the distance between the fixed blade 231 and the ground.

[0058] In some embodiments, the fixed blade 231 may be provided with a distance sensor for detecting the distance between the fixed blade 231 and the ground. The distance sensor transmits the detected distance between the fixed blade 231 and the ground to the controller. When the received distance between the fixed blade 231 and the ground equals the cutting height, the controller controls the drive mechanism 31 to stop driving the lifting structure 32, causing the cutting assembly 20 to stop rising and falling, thereby adjusting the height of the fixed blade 231 to equal the cutting height. In other embodiments, the distance sensor may be located at a predetermined position on the body 10, and the distance between the distance sensor and the fixed blade 231 is a predetermined distance. The controller receives the distance detected by the distance sensor and calculates the distance between the fixed blade 231 and the ground based on the detected distance and the predetermined distance. When the calculated distance between the fixed blade 231 and the ground equals the cutting height, the controller controls the cutting assembly 20 to stop rising and falling. The distance sensor may be a laser radar, an ultrasonic radar, an infrared ranging sensor, or the like. In other embodiments, the fuselage 10 may be provided with a visual sensor, such as a camera, which is used to obtain images of the fixed blade 231 and the lawn below the fixed blade 231, and send the obtained images to the controller. When the controller receives the image obtained by the visual sensor, it performs image analysis on the image to obtain the distance between the fixed blade 231 and the ground, and controls the cutting assembly 20 to stop lifting when the distance between the fixed blade 231 and the ground is equal to the cutting height.

[0059] The two opposite ends of the rotating shaft 222 can be rotatably connected to the two side walls 212 via the bearings, so that the tool support 21 can provide support for the rotating shaft 222, and the rotating shaft 222 can rotate relative to the tool support 21. The opposite ends of the fixed blade 231 are fixedly connected to the two side walls 212 of the tool support 21.

[0060] In which, the controller can control the rotating shaft 222 to rotate around the central axis of the rotating shaft 222. When the rotating shaft 222 rotates, it drives the hob blade 221 to rotate around the central axis of the rotating shaft 222 relative to the support body 211. When the hob blade 221 rotates, it rolls in the grass leaves and gathers the grass leaves into the shearing gap formed by the hob blade 221 and the fixed blade 231. The hob blade 221 and the fixed blade 231 cooperate to cut the grass leaves located in the gap.

[0061] In some embodiments, as Figure 6 As shown, each hob blade 221 includes a blade 2211 and a connecting portion 2212, wherein the connecting portion 2212 is respectively connected to the blade 2211 and the rotating shaft 222, and the blade 2211 is fixed to the rotating shaft 222 through the connecting portion 2212. The blade 2211 and the connecting portion 2212 are detachably connected to facilitate replacement of the blade 2211.

[0062] Among them, each hob blade 221 may include multiple connecting parts 2212, and the multiple connecting parts 2212 are evenly arranged along the axial direction of the rotating shaft 222, so as to provide balanced support force for the blade 2211, so that when any position of the blade 2211 cooperates with the fixed blade 231 for shearing, it can generate approximately the same shear force, which is conducive to shearing.

[0063] The blade 2211 may be spiral-shaped, that is, the hob blade 221 is a spiral blade, and the tangent direction of the blade 2211 forms an acute angle or an obtuse angle with the central axis of the rotating shaft 222 .

[0064] When the rotating shaft 222 rotates, the roller blade 221 is driven to rotate, and the different positions of the blade 2211 of each roller blade 221 move successively to the position corresponding to the fixed blade 231 to form a shearing gap with the fixed blade 231, and cooperate with the fixed blade 231 to shear the grass blades located in the gap.

[0065] Among them, since at the same time it is a certain position of the blade 2211 that approaches the fixed blade 231 instead of the entire blade 2211 approaching the fixed blade 231, the shear surface formed by the blade 2211 and the fixed blade 231 per unit time is smaller, the friction is smaller, the cutting is sharper, it is easier to cut off the grass blades, and the cutting resistance is smaller, and the noise generated is very small.

[0066] Among them, when the hob structure 22 and the fixed blade structure 23 rotate relative to the bracket 12 and move away from the ground, the distance between the orthographic projection of the fixed blade structure 23 on the ground and the orthographic projection of the central axis of the hob structure 22 on the ground gradually increases, that is, the distance between the orthographic projection of the fixed blade 231 on the ground and the orthographic projection of the central axis of the rotating shaft 222 on the ground gradually increases, specifically, the distance between the orthographic projection of the end of the fixed blade 231 used for shearing on the ground and the orthographic projection of the central axis of the rotating shaft 222 on the ground gradually increases.

[0067] When the roller cutter structure 22 and the fixed blade structure 23 rotate relative to the bracket 12 and move close to the ground, the distance between the orthographic projection of the fixed blade structure 23 on the ground and the orthographic projection of the central axis of the roller cutter structure 22 on the ground gradually decreases, that is, the distance between the orthographic projection of the fixed blade 231 on the ground and the orthographic projection of the central axis of the rotating shaft 222 on the ground gradually decreases, specifically, the distance between the orthographic projection of the end of the fixed blade 231 used for shearing on the ground and the orthographic projection of the central axis of the rotating shaft 222 on the ground gradually decreases.

[0068] See also Figure 3 and Figure 7 , Figure 7 for Figure 3 A side view of the mowing robot 100 after the cutting assembly 20 is lifted. In some embodiments, when the controller controls the driving mechanism 31 to drive the lifting structure 32 to move away from the ground, the fixed blade 231 moves along the Figure 3 The X direction shown is rotated relative to the bracket 12 and moves away from the ground, and Figure 3 Move to the position shown Figure 7 The position shown in FIG. 2 indicates that the cutting assembly 20 is raised. The distance between the orthographic projection of the cutting end of the fixed blade 231 on the ground and the orthographic projection of the central axis of the rotating shaft 222 on the ground gradually increases, that is, the distance from the cutting end of the fixed blade 231 to the plane passing through the central axis of the rotating shaft 222 and perpendicular to the ground gradually increases. Figure 3 and Figure 7 As shown, A is a plane passing through the central axis of the rotating shaft 222 and perpendicular to the ground. Figure 3 When the fixed blade 231 is in the position shown, the distance from the shearing end to A is S1. Figure 7 In the position shown, the distance from the shearing end of the fixed blade 231 to A is S2, and S2 is greater than S1.

[0069] The increase in the distance from the cutting end of the fixed blade 231 to A will increase the amount of grass blades that the roller blade 221 takes into the cutting gap, thereby increasing the amount of grass cut when the single roller blade 221 and the fixed blade 231 cooperate to cut, thereby increasing the amount of grass cut by the cutting assembly 20. Figure 3 Move to the position shown Figure 7 In the position shown, the amount of grass eaten by the cutting assembly 20 is increased.

[0070] When the fixed blade 231 rotates relative to the bracket 12 in a direction opposite to the X direction and moves closer to the ground, the distance between the orthographic projection of the cutting end of the fixed blade 231 on the ground and the orthographic projection of the central axis of the rotating shaft 222 on the ground gradually decreases, that is, the distance from the cutting end of the fixed blade 231 to A gradually decreases. The reduction in the distance from the cutting end of the fixed blade 231 to A will reduce the amount of grass blades that the roller blade 221 takes into the shearing gap, thereby reducing the amount of grass cut when a single roller blade 221 and the fixed blade 231 cooperate to cut. When the cutting assembly 20 is changed from Figure 7 Move to the position shown Figure 3 In the position shown, the cutting assembly 20 has a reduced grass feed rate.

[0071] Among them, by setting the tool support 21 and the bracket 12 to be rotatably connected, while adjusting the height of the cutting component 20, the distance from the shearing end of the fixed blade 231 to A can also be adjusted, thereby achieving simultaneous adjustment of the height and grass eating amount of the cutting component 20. Therefore, the grass eating amount of the cutting component 20 can be adjusted by adjusting the height of the cutting component 20, so that the user can adjust the height of the cutting component 20 according to the actual grass eating amount required to improve mowing efficiency.

[0072] In some embodiments, the lawn mowing robot 100 further includes a height sensor, which is at least provided on the body 10, and the height sensor is at least used to obtain the height of grass blades in the lawn area, and the controller is used to determine the cutting height of the lawn area according to the grass blade height obtained by the height sensor.

[0073] The height sensor may be provided at least on the fuselage body 11 and / or the bracket 12. The height sensor may be at least one of a laser radar, a camera, and an ultrasonic radar.

[0074] The controller may determine the cutting height of the lawn area based on a preset mapping relationship between the grass blade height and the cutting height and the grass blade height obtained by the height sensor. The grass blade height obtained by the height sensor is the initial height of the grass blade, i.e., the height of the grass blade before cutting. The height of the grass blade after cutting is equal to the cutting height.

[0075] Exemplarily, the preset mapping relationship between the grass blade height and the cutting height defines that the cutting height is half the grass blade height. The grass blade height obtained by the height sensor is 10 cm. The controller determines that the cutting height is 5 cm based on the preset mapping relationship, and controls the adjustment of the distance between the fixed blade 231 and the ground to be equal to 5 cm.

[0076] The preset mapping relationship can be set according to actual needs of the user. The lawn mowing robot 100 can include a memory, and the preset mapping relationship can be stored in the memory. The memory can be a non-volatile memory.

[0077] Among them, by obtaining the height of the grass blades in the lawn area and adjusting the cutting height according to the obtained initial height of the grass blades, it is possible to avoid the grass blades being too high after cutting and failing to meet the requirements due to the cutting component 20 being too far away from the ground, and it is also possible to avoid the cutting component 20 being unable to mow the grass due to the distance between the cutting component 20 and the ground being greater than the initial height of the grass blades, and it is possible to avoid the grass blades being over-cut due to the small distance between the cutting component 20 and the ground, making the lawn area unsightly.

[0078] The height sensor may also be used to obtain information about the lawn area and obstacles in the environment where the lawn mowing robot 100 is located.

[0079] In some embodiments, the lawn area includes a flat area and a recessed area and / or a protruding area, and the cutting height of the lawn area includes a first cutting height of the flat area, a second cutting height of the recessed area and / or a third cutting height of the protruding area.

[0080] The controller determines the cutting height of the lawn area, including: determining a preset height as a first cutting height of the flat area, obtaining a recessed depth of the recessed area relative to the flat area and / or a protruding height of the protruding area relative to the flat area, adding the recessed depth to the preset height to obtain a second cutting height of the recessed area, and / or subtracting the protruding height from the preset height to obtain a third cutting height of the protruding area. That is, the first cutting height is equal to the preset height, the second cutting height is equal to the first cutting height plus the recessed depth of the recessed area, and the third cutting height is equal to the first cutting height minus the protruding height of the protruding area.

[0081] The preset height can be set according to the grass height required after cutting during actual mowing.

[0082] The recessed depth is the dimension of the portion of the recessed area that is recessed in the flat area in a direction perpendicular to the flat area, and the protruding height is the dimension of the portion of the protruding area that is protruding from the protruding area in a direction perpendicular to the flat area.

[0083] When the lawn mower robot 100 is in a flat area, the controller controls and adjusts the distance between the cutting assembly 20 and the ground to be equal to the preset height, that is, controls and adjusts the distance between the fixed blade 231 and the ground to be equal to the preset height; when the lawn mower robot 100 is in a recessed area, the controller controls and adjusts the distance between the cutting assembly 20 and the ground to be equal to the second cutting height, that is, adjusts the distance between the fixed blade 231 and the ground to be equal to the second cutting height; and when the lawn mower robot 100 is in a protruding area, the controller controls and adjusts the distance between the cutting assembly 20 and the ground to be equal to the third cutting height, that is, adjusts the distance between the fixed blade 231 and the ground to be equal to the third cutting height.

[0084] Among them, when the lawn mower robot 100 is in the recessed area, by adjusting the distance between the cutting component 20 and the ground to be equal to the sum of the preset height and the recessed depth, the grass blades in the recessed area can be roughly flush with the grass blades in the flat area after being cut; when the lawn mower robot 100 is in the protruding area, by adjusting the distance between the cutting component 20 and the ground to be equal to the sum of the preset height and the protruding height, the grass blades in the protruding area can be roughly flush with the grass blades in the flat area after being cut, thereby making the grass blades in the lawn area relatively flat after being cut.

[0085] The robotic lawn mower 100 may include an environmental perception module configured to obtain environmental information about the environment in which the robotic lawn mower 100 is located. The controller is further configured to receive the environmental information obtained by the environmental perception module, construct a three-dimensional map based on the received environmental information, and locate the robotic lawn mower 100 to determine its current location. The three-dimensional map may include information about the lawn area and obstacles within the lawn area. The controller may use this information to plan a mowing path and avoid obstacles.

[0086] Among them, the environmental perception module may include at least one of a laser radar, a camera, an ultrasonic radar, and a millimeter wave radar.

[0087] The controller may obtain, according to the three-dimensional map, a depth of the sunken area compared to the flat area, and a height of the protruding area compared to the flat area.

[0088] The controller may determine the locations of the flat area, the recessed area, and the protruding area of the lawn area based on the three-dimensional map, and locate the mowing robot 100 during its travel to determine its position in the lawn area. When the mowing robot 100 is determined to have traveled to the flat area, the controller controls the adjustment of the distance between the fixed blade 231 and the ground to be equal to the first cutting height, and controls the cutting assembly 20 to cut the grass blades in the flat area. When the mowing robot 100 is determined to have traveled to the recessed area, the controller controls the adjustment of the distance between the fixed blade 231 and the ground to be equal to the second cutting height, and controls the cutting assembly 20 to cut the grass blades in the recessed area. When the mowing robot 100 is determined to have traveled to the protruding area, the controller controls the adjustment of the distance between the fixed blade 231 and the ground to be equal to the third cutting height, and controls the cutting assembly 20 to cut the grass blades in the protruding area.

[0089] In some embodiments, the lawn area includes multiple sub-lawn areas, each of which corresponds to a cutting height. When the mowing robot 100 is in any sub-lawn area, the controller determines a target cutting height corresponding to the sub-lawn area and controls the cutting assembly 20 to adjust the distance from the ground to be equal to the target cutting height.

[0090] The preset correspondence between the sub-lawn areas and the cutting heights may be stored in the memory, wherein the preset correspondence defines that each sub-lawn area corresponds to a cutting height, and the cutting height corresponding to each sub-lawn area may be different.

[0091] The controller can determine the locations of the multiple sub-lawn areas using the constructed three-dimensional map and locate the mowing robot 100 during its travel to determine the sub-lawn area in which the mowing robot 100 is located. When the mowing robot 100 determines that it has traveled to any sub-lawn area, the controller determines a target cutting height corresponding to the sub-lawn area based on the preset correspondence relationship and controls the fixed blade 231 to adjust its distance from the ground to be equal to the target cutting height.

[0092] Among them, when the lawn mowing robot 100 is located in different sub-lawn areas, by adjusting the height of the fixed blade 231 to correspond to the cutting height of the sub-lawn area, the grass blades in the multiple sub-lawn areas can be cut to different heights, so that the grass blades in the lawn area can present an undulating appearance. Therefore, the user can set the cutting heights corresponding to different sub-lawn areas so that the lawn area presents a designed appearance after mowing. For example, the multiple sub-lawn areas are arranged along a preset direction, and the sizes of the cutting heights corresponding to the multiple sub-lawn areas change in a wave shape along the preset direction, so that the side of the lawn area presents a wavy shape after mowing. Obviously, the cutting heights corresponding to the multiple sub-lawn areas can also be specifically set according to actual needs.

[0093] In some embodiments, the environmental perception module may include the altitude sensor.

[0094] In some embodiments, the cutting assembly 20 also includes a first driving device, which can be fixed to the side of the side wall 212 of the tool support 21 away from the hob structure 22, and the first driving device is connected to the rotating shaft 222 for driving the rotating shaft 222 to rotate along the circumference of the rotating shaft 222.

[0095] In some embodiments, the controller is used to control the first driving device to drive the rotating shaft 222 to rotate along the circumference of the rotating shaft 222. The first driving device may include a motor, a rotary cylinder, etc.

[0096] In some embodiments, as Figures 1 to 2 As shown, the lawn mower robot 100 further includes a moving assembly 50, which includes at least one second driving device and at least one roller, each second driving device being connected to the body 11 and the roller respectively. The second driving device may include a motor.

[0097] The controller controls the at least one second driving device to drive the at least one roller to rotate and move along the driving path planned by the controller, so that the lawn mowing robot 100 travels along the driving path.

[0098] In some embodiments, as Figures 1 to 2 As shown, the lawn mowing robot 100 further includes a grass pressing structure 60 connected to the main body 11 and configured to press the lawn cut by the cutting assembly 20 to produce grass marks.

[0099] In some embodiments, as Figures 1 to 2As shown, the lawn mower robot 100 further includes a protective member 70 , which is disposed on a side of the body 10 away from the cutting assembly 20 and is used to absorb and mitigate external impact force when the lawn mower robot 100 collides with the outside world, thereby protecting the lawn mower robot 100 .

[0100] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0101] The above is an implementation method of the embodiment of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the embodiment of the present application. These improvements and modifications are also considered to be within the scope of protection of the present application.

Claims

1. A lawn mowing robot, characterized in that: The lawn mowing robot comprises: body; A cutting assembly is provided on one side of the fuselage; a height adjustment assembly, comprising a drive mechanism and a lifting structure, wherein the drive mechanism is fixed to the body, and the lifting structure is connected to the drive mechanism and the cutting assembly, respectively, and the drive mechanism is used to drive the lifting structure to move away from or closer to the ground, thereby driving the cutting assembly to move away from or closer to the ground; and a controller for determining a cutting height of the lawn area and controlling the drive mechanism to drive the lifting structure to move away from or closer to the ground, thereby driving the cutting assembly to move away from or closer to the ground until the distance between the cutting assembly and the ground is equal to the cutting height; Wherein, the cutting assembly includes a tool support, a roller cutter structure and a fixed blade structure, the roller cutter structure is rotatably connected to the tool support, the fixed blade structure is fixedly connected to the tool support and is spaced apart from the roller cutter structure to form a shearing gap, and the tool support is connected to the lifting structure; the controller controls the driving mechanism to drive the lifting structure to move away from or close to the ground, thereby driving the cutting assembly to move away from or close to the ground until the distance between the cutting assembly and the ground is equal to the cutting height, including: the controller controls the driving mechanism to drive the lifting structure to move away from or close to the ground, thereby driving the tool support, the roller cutter structure and the fixed blade structure to move away from or close to the ground until the distance between the fixed blade structure and the ground is equal to the cutting height; The tool support comprises a support body and two side walls provided on both sides of the support body; the hob structure comprises a hob blade and a rotating shaft; the hob blade is bent and extended on the outer peripheral surface of the rotating shaft; the rotating shaft passes through the two side walls and is rotatably connected to the two side walls; the fixed knife structure comprises a fixed knife blade, the fixed knife blade is fixedly connected to the tool support and is spaced apart from the hob blade to form a shear gap; the distance between the fixed knife structure and the ground is the distance between the fixed knife blade and the ground; Wherein, the lawn area includes a flat area and a recessed area and / or a protruding area, and the controller determines the cutting height of the lawn area, including: determining a preset height as a first cutting height of the flat area, obtaining a recessed depth of the recessed area compared to the flat area and / or a protruding height of the protruding area compared to the flat area, and adding the recessed depth to the preset height to obtain a second cutting height of the recessed area, and / or subtracting the protruding height from the preset height to obtain a third cutting height of the protruding area; when the lawn mowing robot is in the flat area, the controller controls the adjustment of the distance between the cutting component and the ground to be equal to the first cutting height, when the lawn mowing robot is in the recessed area, the controller controls the adjustment of the distance between the cutting component and the ground to be equal to the second cutting height, and when the lawn mowing robot is in the protruding area, the controller controls the adjustment of the distance between the cutting component and the ground to be equal to the third cutting height.

2. The lawn mowing robot according to claim 1, characterized in that: The fuselage includes a fuselage main body and a bracket fixed to the fuselage main body, the driving mechanism is fixed to the fuselage main body, the support member main body is rotatably connected to the lifting structure, the bracket also extends to the two side walls and is rotatably connected to the two side walls, and forms a rotational connection relationship with the lifting structure through the tool support member; when the controller controls the driving mechanism to drive the lifting structure away from or close to the ground, the tool support member, the rolling cutter structure and the fixed cutter structure are driven to rotate relative to the bracket and move away from or close to the ground to change the distance between the fixed cutter structure and the ground.

3. The lawn mowing robot according to claim 2, characterized in that: When the roller cutter structure and the fixed blade structure rotate relative to the bracket and move away from the ground, the distance between the orthographic projection of the fixed blade structure on the ground and the orthographic projection of the central axis of the roller cutter structure on the ground gradually increases; when the roller cutter structure and the fixed blade structure rotate relative to the bracket and move close to the ground, the distance between the orthographic projection of the fixed blade structure on the ground and the orthographic projection of the central axis of the roller cutter structure on the ground gradually decreases.

4. The lawn mowing robot according to claim 1, characterized in that: The lifting structure includes a worm wheel and a worm meshing with the worm wheel, the worm is connected to the tool support, and when the driving mechanism drives the worm wheel to rotate, the worm moves along the axial direction of the worm and away from or close to the ground, thereby driving the tool support, the hob structure and the fixed knife structure to move away from or close to the ground; or, the lifting structure includes a threaded rod and a sleeve, the sleeve is sleeved on the threaded rod and rotatably connected to the threaded rod, and the sleeve is connected to the tool support, and when the driving mechanism drives the threaded rod to rotate, the sleeve moves along the axial direction of the threaded rod and away from or close to the ground, thereby driving the tool support, the hob structure and the fixed knife structure to move away from or close to the ground.

5. The lawn mowing robot according to claim 1, characterized in that: The controller controls the driving mechanism to drive the lifting structure to move away from or closer to the ground, thereby driving the cutting assembly to move away from or closer to the ground until the distance between the cutting assembly and the ground is equal to the cutting height, including: the controller controls the driving mechanism to drive the lifting structure to move away from or closer to the ground in a direction perpendicular to the ground, thereby driving the tool support, the roller structure and the fixed knife structure to move away from or closer to the ground in a direction perpendicular to the ground until the distance between the fixed knife structure and the ground is equal to the cutting height.

6. The lawn mowing robot according to claim 1, characterized in that: The lawn area includes multiple sub-lawn areas, each sub-lawn area corresponds to a cutting height; when the lawn mowing robot is in any sub-lawn area, the controller determines the target cutting height corresponding to the sub-lawn area, and controls and adjusts the distance between the cutting component and the ground to be equal to the target cutting height.

7. The lawn mowing robot according to claim 1, characterized in that: The lawn mowing robot further includes a height sensor, which is used at least to obtain the height of grass blades in the lawn area. The controller is used to determine the cutting height of the lawn area according to the grass blade height obtained by the height sensor.

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