Smart lawnmower

Abstract

This invention relates to an intelligent lawnmower, comprising a lidar and a radar mount for mounting the lidar, the radar mount being movably mounted on a housing. The intelligent lawnmower also includes a protective component partially covering the lidar and a sealing component disposed between the protective component and the housing. When the protective component moves between a first position and a second position under external force, it contacts the radar mount and drives the radar mount to move together. The sealing component is always connected to both the protective component and the housing. When the intelligent lawnmower of this invention tipes over during operation, the protective component will preferentially contact the ground and, under the supporting reaction force of the ground, contact the radar mount, driving the radar mount to move together into the housing of the intelligent lawnmower, thereby preventing the lidar from colliding with the ground and being damaged. At the same time, during the movement of the radar mount, the sealing component is always connected to both the protective component and the housing, thereby preventing moisture from flowing into the housing and affecting the service life of the intelligent lawnmower.

Description

Technical Field

[0001] This invention relates to the field of garden tool technology, and more particularly to an intelligent lawnmower with a distance measuring device. Background Technology

[0002] Intelligent lawnmowers are a common gardening tool used for mowing various types of lawns. To cope with the complex working environment of garden lawns, existing intelligent lawnmowers are equipped with ranging devices such as lidar, ultrasonic radar, or infrared sensors to detect the surrounding environment. If obstacles are detected, the intelligent lawnmower will perform obstacle avoidance maneuvers.

[0003] The ranging device is usually fixedly installed on the housing of the smart lawnmower and protrudes from the outer surface of the housing. When the smart lawnmower is moving and working in the garden lawn, if it encounters a pothole and tipes over, the ranging device will collide with the ground and be damaged.

[0004] Therefore, it is indeed necessary to provide an improved intelligent lawnmower to overcome the shortcomings of existing technology. Summary of the Invention

[0005] In view of the shortcomings of the existing technology, the purpose of this invention is to provide a smart lawnmower with a long service life.

[0006] The present invention addresses the problems of existing technologies by employing the following technical solution: A smart lawnmower includes: a housing with a first opening; a radar mount movably connected to the housing and capable of vertical movement relative to the housing; a lidar mounted on the lidar mount and moving together with it, the lidar at least partially passing through the first opening and extending outside the housing; a protective member at least partially covering the lidar and movably connected to the housing or the lidar mount, wherein during the movement of the protective member relative to the housing from a first position to a second position, the protective member contacts the lidar mount and drives the lidar mount to move together; the smart lawnmower further includes a sealing member disposed between the protective member and the housing, wherein during the movement of the protective member relative to the housing from the first position to the second position, the sealing member is always connected to both the protective member and the housing.

[0007] Furthermore, the sealing element includes a first connecting portion connected to the housing, a second connecting portion connected to the protective element, and a sealing portion connected between the first connecting portion and the second connecting portion. The sealing portion folds or extends during the movement of the protective element between the first position and the second position.

[0008] Furthermore, the sealing part is constructed as a wave-shaped folded structure.

[0009] Furthermore, the first hole is constructed as a circular hole, the first connecting part is constructed as an annular shape, and the first connecting part is attached to the inner surface of the first hole.

[0010] Furthermore, the protective component includes a protective cover covering the lidar and a sleeve connected to the protective cover. The sleeve is disposed below the protective cover and sleeved on the outer periphery of the lidar base. The sleeve contacts the lidar base to drive the lidar base to move vertically.

[0011] Furthermore, the sleeve is cylindrical, the second connecting part is annular, and the second connecting part is attached to the outer surface of the sleeve.

[0012] Furthermore, the intelligent lawnmower also includes a base that is fixedly connected to or integrally formed with the housing, and a locking mechanism that is movably connected between the base and the radar mount. When the protective member is in the first position, the locking mechanism is simultaneously connected to both the base and the radar mount; when the protective member is in the second position, the locking mechanism is at least partially separated from the base.

[0013] Furthermore, the base includes a second hole, and the radar mount also includes a third hole whose extension direction is parallel to the extension direction of the second hole. The locking mechanism includes a pin movably disposed in the second hole and the third hole. When the protective member is in the second position, the pin is separated from the second hole and received in the third hole.

[0014] Furthermore, the locking mechanism also includes a ball installed between the pin and the sleeve, and a second spring disposed between the pin and the third hole to provide elastic support for the pin and the ball. During the movement of the protective member from the first position to the second position, the sleeve pushes the ball and the pin together to move along the second hole until the pin separates from the base.

[0015] Furthermore, the base also includes a vertically extending columnar body portion, the radar mount portion passing through the interior of the columnar body portion and moving along the inner surface of the columnar body portion, the second hole portion being disposed in the columnar body portion, and the extending direction of the second hole portion being non-parallel to the extending direction of the columnar body portion.

[0016] Compared with the prior art, the present invention has the following beneficial effects: The intelligent lawnmower includes a lidar and a radar mount for mounting the lidar. The radar mount is movably mounted on the housing and moves vertically relative to the housing. The intelligent lawnmower also includes a protective component that at least partially covers the lidar and a sealing component disposed between the protective component and the housing. When the protective component moves between a first position and a second position under external force, it will contact the radar mount and drive the radar mount to move together. The sealing component is always connected to both the protective component and the housing. Thus, on the one hand, when the intelligent lawnmower tipes over during operation, the protective component will preferentially contact the ground and, under the supporting reaction force of the ground, contact the radar mount and drive the radar mount to move together into the housing of the intelligent lawnmower, thereby preventing the lidar from being damaged by impact with the ground. On the other hand, during the movement of the radar mount, the sealing component is always connected to both the protective component and the housing, thereby preventing moisture from flowing into the housing and affecting the service life of the intelligent lawnmower. Attached Figure Description

[0017] The specific embodiments of the present invention will be further described in detail below with reference to the accompanying drawings:

[0018] Figure 1 This is a schematic diagram of the overall structure of the intelligent lawnmower in a preferred embodiment of the present invention;

[0019] Figure 2 yes Figure 1 A cross-sectional view of the intelligent lawnmower shown;

[0020] Figure 3 yes Figure 1 The diagram shows the LiDAR component of the smart lawnmower in an unpressed state.

[0021] Figure 4 yes Figure 3 An exploded view of the lidar component shown.

[0022] Figure 5 yes Figure 3 The diagram shown is a cross-sectional view of the lidar component in an unpressed state.

[0023] Figure 6 yes Figure 1 The diagram shows the LiDAR component of the smart lawnmower in a pressed state.

[0024] Figure 7 yes Figure 6 The diagram shows a cross-sectional view of the lidar component in a pressed state.

[0025] Meaning of the reference numerals in the diagram:

[0026] Smart lawnmower 100;

[0027] Housing 1, first outer shell 11, second outer shell 12, first hole 13;

[0028] Walking module 2;

[0029] Cutting module 3, cutting part 31, cutting motor 32, motor cylinder 33;

[0030] Control module 4;

[0031] Energy Module 5;

[0032] LiDAR 6;

[0033] Radar mount 7, second support surface 71, third hole 72;

[0034] Protective component 8, protective cover 81, sleeve 82, stop part 83;

[0035] Seal 9, first connecting part 91, second connecting part 92, sealing part 93;

[0036] Base 10, columnar body 101, second hole 102, first support surface 103;

[0037] Locking mechanism 20, pin 201, ball 202, first spring 203, second spring 204. Detailed Implementation

[0038] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention. In the description of this specification, the specific features, structures, materials, or characteristics described can be combined in any suitable manner in one or more embodiments or examples.

[0039] The terminology used in this invention is for the purpose of describing particular embodiments only and is not intended to limit the invention. For example, terms such as "upper," "lower," "front," and "rear" that indicate orientation or positional relationship are based solely on the orientation or positional relationship shown in the accompanying drawings and are used only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device / element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention.

[0040] Furthermore, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0041] Please see Figures 1 to 7The image shows an intelligent lawnmower 100 according to an embodiment of the present invention, including a housing 1, a walking module 2 for supporting the movement of the housing 1, a cutting module 3 disposed at the bottom of the housing 1, a control module 4 disposed inside the housing 1 for controlling the automatic operation of the walking module 2 and controlling the automatic operation of the cutting module 3, and an energy module 5 for supplying power to the intelligent lawnmower 100.

[0042] The housing 1 includes a first outer shell 11 and a second outer shell 12 connected to the first outer shell 11. The first outer shell 11 is used to install functional mechanisms and modules such as the walking module 2, the cutting module 3, the control module 4, and the energy module 5. The second outer shell 12 is constructed to at least partially cover the first outer shell 11, mainly to enhance the aesthetics and recognizability of the intelligent lawnmower 100. It should be noted that the first outer shell 11 serving as a base for installing various functional mechanisms and modules, and the second outer shell 12 serving as a top cover, is only one optional embodiment of the present invention. In other embodiments, the second outer shell 12 may also serve as a base, and the first outer shell 11 as a top cover.

[0043] The walking module 2 is used to drive the intelligent lawnmower 100 to move within the working area, and includes a drive wheel assembly and a caster wheel assembly mounted on the housing 1. Specifically, there are two drive wheel assemblies, each connected to a corresponding walking motor (not shown). The walking motors drive the drive wheel assemblies to rotate, enabling the intelligent lawnmower 100 to move automatically. The caster wheel assembly mainly serves as an auxiliary support. There are one or two caster wheel assemblies, located at the front of the intelligent lawnmower 100. The caster wheel assemblies are not connected to the walking motors, but they are driven to roll while supporting the intelligent lawnmower 100's movement. With the above structural arrangement, the intelligent lawnmower 100 can be controlled by the control module 4, flexibly moving and turning on the working surface. During normal movement, the two walking motors output the same speed, directly driving or indirectly driving the intelligent lawnmower 100 through a transmission structure such as gears or belts, and the caster wheel assembly also rolls accordingly. When turning, the two walking motors output different speeds, and the intelligent lawnmower 100 turns towards the side of the drive wheel with the lower speed or towards the side of the drive wheel that is moving backward.

[0044] The cutting module 3 includes at least a cutting element 31 for cutting turf and a cutting motor 32 for driving the cutting element 31. Specifically, the cutting motor 32 is mounted on the first outer shell 11 of the housing 1. The cutting motor 32 is electrically connected to the control module 4, which can control the start and stop of the cutting motor 32 and adjust its speed. The cutting motor 32 is housed in a motor cylinder 33. A four-bar linkage is provided between the motor cylinder 33 and the first outer shell 11, and the four-bar linkage rotatably connects the motor cylinder 33 and the first outer shell 11. Thus, when the intelligent lawnmower 100 encounters obstacles such as stones or low shrubs during its movement, the cutting element 31 will not collide directly with the obstacles, but will be pushed by the obstacles and drive the motor cylinder 33 to move in the vertical direction. This avoids damage to the cutting element 31 from direct collision with obstacles and also improves the obstacle-crossing ability of the intelligent lawnmower 100. It should be noted that the cutting component 31 can be a cutting disc and multiple cutting blades mounted on the cutting disc, or it can be a single cutting blade; there is no limitation here.

[0045] The control module 4 is used to control the automatic walking and operation of the intelligent lawnmower 100. Its functions include controlling the cutting module 3 to start or stop, generating a walking path and controlling the walking module 2 to follow it, receiving environmental signals detected by the intelligent lawnmower 100, judging the power of the energy module 5 and controlling the intelligent lawnmower 100 to return to the charging station for automatic charging, etc.

[0046] The energy module 5, used to power the intelligent lawnmower 100, is installed in the housing 1. Specifically, the energy module 5 is constructed as a battery pack, and the first housing 11 has a battery pack compartment (not shown), in which the battery pack is detachably installed. The battery pack is electrically connected to the battery pack compartment, and wires (not shown) extend from the battery pack compartment for electrical connection with the walking module 2, the cutting module 3, and the control module 4, thereby enabling the battery pack to power the aforementioned functional modules.

[0047] For ease of understanding, in this invention, the horizontal working surface that the intelligent lawnmower 100 travels through when performing cutting operations is used as a reference, the plane parallel to the horizontal working surface is used as the horizontal plane, and the direction perpendicular to the horizontal working surface is used as the height direction of the intelligent lawnmower 100.

[0048] The intelligent lawnmower 100 also includes a lidar assembly for detecting obstacles and the external environment, including a lidar 6, a lidar mount 7 for mounting the lidar 6, a protective element 8 that at least partially covers the lidar 6, and a seal 9 disposed between the protective element 8 and the housing 1.

[0049] The housing 1 of the intelligent lawnmower 100 has a first opening 13, through which a lidar 6 is at least partially inserted and extends to the outside of the housing 1. Specifically, the first opening 13 is located in the middle region of the first outer shell 11, and the lidar 6 is inserted within the first opening 13 and extends at least partially to the outside of the first outer shell 11 to detect the surrounding environment of the intelligent lawnmower 100. In this embodiment, the first opening 13 is a conventional and readily available circular hole; in other embodiments, the first opening 13 may also be square or other irregular shapes depending on the specific circumstances.

[0050] The lidar 6 is fixedly mounted on the lidar base 7 and moves together with the lidar base 7. The lidar base 7 is movably mounted on the housing 1 and moves vertically relative to the housing 1. Specifically, the lidar base 7 is constructed as a columnar body with an internal receiving space. The lidar 6 is partially received in the receiving space and fixedly inserted into the lidar base 7. The first hole 13 extends vertically, and the lidar 7 is disposed in the first hole 13. When the lidar base 7 moves vertically relative to the first housing 11, the lidar 6 and the lidar base 7 move vertically together.

[0051] The intelligent lawnmower 100 also includes a base 10 that is fixedly connected to or integrally formed with the housing 1, and a radar mount 7 that is movably connected to the base 10. Specifically, the base 10 includes a vertically extending columnar body portion 101, which is fixedly connected to or integrally formed with the housing 1. The radar mount 7 is partially inserted into the interior of the columnar body portion 101 and moves along the inner surface of the columnar body portion 101, thereby allowing the radar mount 7 to move vertically relative to the first housing 11.

[0052] The protective component 8 is at least partially covered by the lidar 6 and is movably connected to the housing 1 or the radar mount 7. During the process of the protective component 8 moving from the first position to the second position relative to the housing 1, the protective component 8 contacts the radar mount 7 and drives the radar mount 7 to move together. Specifically, the protective component 8 includes a cover 81 covering the aforementioned lidar 6 and a sleeve 82 connected to the cover 81. The cover 81 covers the lidar 6 from the top and around its periphery to isolate the lidar 6 from the external environment. The cover 81 is made of a light-transmitting material, allowing the beam emitted by the lidar 6 to pass through the cover 81 normally. The sleeve 82 is located below the cover 81 and is fitted around the outer periphery of the lidar base 7. The sleeve is cylindrical. When the intelligent lawnmower 100 tilts, the cover 81 contacts the lawn surface and moves relative to the housing 1 from the first position to the second position under the supporting reaction force of the lawn surface. The sleeve 82 moves together with the cover 81. During the movement of the protective component 8 from the first position to the second position, the sleeve 82 contacts the lidar base 7 and drives the lidar base 7 to move vertically. Thus, the lidar 6 also moves vertically until the protective component 8 moves to the second position, thereby preventing the lidar 6 from colliding with the ground and being damaged.

[0053] The base 10 has a first support surface 103 on its upper surface and a second support surface 71 on its lower surface. When the smart lawnmower 100 is in normal operating condition, the protective member 8 is in the first position. At this time, the upper surface of the sleeve 82 contacts the first support surface 103 above it to prevent the protective member 8 from coming out of the first hole 13 on the upper surface of the housing 1. When the smart lawnmower 100 is in a tilted state, as the protective member 8 moves from the first position to the second position, the lower surface of the sleeve 82 contacts the second support surface 71 below it and pushes the second support surface 71 downward so that the radar base 7 and the lidar 6 move vertically downward together.

[0054] The intelligent lawnmower 100 also includes a locking mechanism 20 movably connected between the base 10 and the radar mount 7. When the protective member 8 is in the first position, the locking mechanism 20 is simultaneously connected to both the base 10 and the radar mount 7; when the protective member 8 is in the second position, the locking mechanism 20 is at least partially separated from the base 10. Specifically, the base 10 also includes a second hole 102 disposed in the columnar body portion 101. The extension direction of the second hole 102 is not parallel to the extension direction of the columnar body portion 101. In this embodiment, the second hole 102 extends horizontally, while the columnar body portion 101 extends vertically. The radar mount 7 also includes a third hole 72 whose extension direction is parallel to the extension direction of the second hole 102. The locking mechanism 20 includes a pin 201 movably disposed between the second hole 102 and the third hole 72 and a ball bearing 202 installed between the pin 201 and the sleeve 82. During the movement of the protective member 8 from the first position to the second position, the sleeve 82 pushes the ball 202 and the pin 201 together to move along the second hole 102 until the pin 201 separates from the base 10; when the protective member 8 is in the second position, the pin 201 separates from the second hole 102 and is housed in the third hole 72.

[0055] Please refer to the following for details. Figure 3 and Figure 5 As shown, when the intelligent lawnmower 100 is in normal working condition, the protective member 8 is in the first position. At this time, on the one hand, the first spring 203 set between the protective member 8 and the base 10 provides elastic support for the protective member 8 to prevent the protective member 8 from moving downward in the vertical direction and falling into the housing 1; on the other hand, the upper surface of the sleeve 82 is connected to the first support surface 103 of the base 10 above it to prevent the protective member 8 from moving upward in the vertical direction and coming out of the first hole 13 on the upper surface of the housing 1; at the same time, the second spring 204 set between the pin 201 and the second hole 102 of the base 10 provides elastic support for the pin 201 and the ball 202 so that the pin 201 is connected to both the second hole 102 and the third hole 72 at the same time, thereby further limiting the vertical movement of the radar seat 7 to prevent the radar seat 7 from shaking.

[0056] Please refer to the following for details. Figure 6 and Figure 7As shown, when the intelligent lawnmower 100 is in the tilted state, the protective part 8 moves from the first position to the second position. First, the protective cover 81 contacts the lawn surface and moves vertically downward under the supporting reaction force of the lawn surface, compressing the first spring 203. The inner surface of the sleeve 82 has a stop 83. When the sleeve 82 moves vertically downward simultaneously, the stop 83 first contacts the ball 202, pushing the ball 202 and the pin 201 together to move along the second hole 102 until the pin 201 separates from the second hole 102 and is received in the third hole 72. At this time, the radar seat 7 and the base 10 are no longer in a relatively fixed state. Then the sleeve 8 2. Continue to move vertically downwards, and its lower surface contacts the second support surface 71 of the radar base 7 located below it, pushing the second support surface 71 downwards so that the radar base 7 moves vertically downwards. The lidar 6 and the lidar base 7 move vertically downwards together to avoid the lidar from colliding with the ground and being damaged. Finally, when the protective part 8 moves to the second position, the lidar base 7 will cooperate with the sensing device located below it to trigger a signal to control the intelligent lawnmower 100 to stop working. The sensing device can be a contact triggering mechanism such as a micro switch, or a non-contact triggering mechanism such as a Hall sensor and a magnet can be set on the lidar base 7 and the base 10 respectively.

[0057] A sealing element 9 is disposed between the protective element 8 and the housing 1, and the sealing element 9 is always connected to both the protective element 8 and the housing 1 when the protective element 8 moves between the first position and the second position. Specifically, the sealing element 9 includes a first connecting portion 91 connected to the housing 1, a second connecting portion 92 connected to the protective element 8, and a sealing portion 93 connected between the first connecting portion 91 and the second connecting portion 92. The sealing portion 93 folds or extends during the movement of the protective element 8 between the first position and the second position.

[0058] The sealing part 93 is constructed with a wave-shaped folding structure. Specifically, when the intelligent lawnmower 100 encounters unexpected conditions such as bumps or tipping over during operation, the protective part 8, together with the radar mount 7, moves to prevent damage to the lidar 6. The movement of the protective part 8 naturally creates a gap between the protective part 8 and the housing 1. In this embodiment, by providing a wave-shaped folding sealing part 93 that can be folded and extended during the movement of the protective part 8, on the one hand, dew or rainwater in the garden environment cannot flow into the housing 1 of the intelligent lawnmower 100 through the gap between the protective part 8 and the housing 1, thus improving the waterproof effect of the intelligent lawnmower 100; on the other hand, the wave-shaped folding sealing structure maintains stable sealing even after long-term use, ensuring structural reliability and extending the service life of the intelligent lawnmower 100.

[0059] The first connecting portion 91 of the seal 9 is adapted to the first hole portion 13 in an annular structure, and the first connecting portion 91 is attached to the inner surface of the first hole portion 13; the second connecting portion 92 is adapted to the sleeve 82 of the protective member 8 in an annular structure, and the second connecting portion 92 is attached to the outer surface of the sleeve 82.

[0060] Furthermore, the first connecting part 91 of the seal 9 is bonded to the first hole 13 with waterproof adhesive or with high temperature, and the second connecting part 92 of the seal 9 is also bonded to the sleeve 82 with waterproof adhesive or with high temperature. In this way, a sealed fixed connection is formed between the seal 9, the sleeve 82 and the first hole 13, thereby improving the waterproof effect.

[0061] This invention is not limited to the specific embodiments described above. Those skilled in the art will readily understand that many alternative solutions for the intelligent lawnmower of this invention can be found without departing from the principles and scope of the invention. The scope of protection of this invention is defined by the claims.

Claims

1. A smart lawnmower, comprising: The casing has a first hole. The radar mount is movably mounted on the housing and can move vertically relative to the housing. A lidar is mounted on the radar mount and moves together with the radar mount. The lidar is at least partially inserted through the first hole and extends outside the housing. A protective component, at least partially covering the lidar and movably connected to the housing or the lidar mount; The base is fixedly connected to or integrally formed with the shell; A locking mechanism is movably connected between the base and the radar mount. When the protective member is in the first position, the locking mechanism is simultaneously connected to both the base and the radar mount; when the protective member is in the second position, the locking mechanism is at least partially separated from the base. The intelligent lawnmower is characterized in that: it further includes a sealing member disposed between the protective member and the housing; the protective member includes a cover covering the lidar and a sleeve disposed below the cover; when the protective member moves between the first position and the second position, the sleeve moves relative to the lidar seat until the sleeve contacts the lidar seat and drives the lidar seat to move together; the sealing member is always connected to the protective member and the housing respectively.

2. The intelligent lawnmower according to claim 1, characterized in that: The sealing element includes a first connecting portion connected to the housing, a second connecting portion connected to the protective element, and a sealing portion connected between the first connecting portion and the second connecting portion. The sealing portion folds or extends during the movement of the protective element between the first position and the second position.

3. The intelligent lawnmower according to claim 2, characterized in that: The sealing part is constructed with a wave-like folded structure.

4. The intelligent lawnmower according to claim 2, characterized in that: The first hole is a circular hole, the first connecting part is an annular shape, and the first connecting part is attached to the inner surface of the first hole.

5. The intelligent lawnmower according to claim 2, characterized in that: The sleeve is cylindrical, and the second connecting part is annular, with the second connecting part attached to the outer surface of the sleeve.

6. The intelligent lawnmower according to claim 1, characterized in that: The sleeve is connected to the protective cover and is fitted around the outer periphery of the radar base.

7. The intelligent lawnmower according to claim 1, characterized in that: The base includes a second hole, and the radar mount also includes a third hole whose extension direction is parallel to the extension direction of the second hole. The locking mechanism includes a pin that is movably disposed in the second hole and the third hole. When the protective member is in the second position, the pin is separated from the second hole and received in the third hole.

8. The intelligent lawnmower according to claim 7, characterized in that: The locking mechanism further includes a ball installed between the pin and the sleeve, and a second spring disposed between the pin and the third hole to provide elastic support for the pin and the ball. During the movement of the protective member from the first position to the second position, the sleeve pushes the ball and the pin together to move along the second hole until the pin separates from the base.

9. The intelligent lawnmower according to claim 7, characterized in that: The base also includes a vertically extending columnar body portion, the radar mount portion passing through the interior of the columnar body portion and moving along the inner surface of the columnar body portion, the second hole portion being disposed on the columnar body portion, and the extending direction of the second hole portion being non-parallel to the extending direction of the columnar body portion.

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