Smart mower

Abstract

The application discloses an intelligent mower, and relates to the technical field of intelligent mowers, wherein the intelligent mower comprises a machine body, an obstacle avoidance device and a positioning device arranged on the machine body, the obstacle avoidance device can detect at least obstacles in front of the machine body, so that the intelligent mower avoids the obstacles, and the positioning device can detect the position of the machine body; the first walking wheel and the second walking wheel are arranged along the advancing direction of the machine body, and the first walking wheel is configured as a driving wheel; a supporting structure is arranged at the bottom of the machine body and located between the first walking wheel and the second walking wheel; the supporting structure has a first position in a mowing state and a second position in a trouble-escaping state; in the first position, the supporting structure is separated from the ground, and in the second position, the supporting structure abuts against the ground and provides upward supporting force for at least the machine body. The technical scheme provided by the application can assist the intelligent mower in escaping from trouble.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of lawn mowers, and particularly relates to an intelligent lawn mower. BACKGROUND

[0002] The intelligent lawn mower is also called a weeding machine, a grass cutting machine, a lawn trimming machine and the like, and is a mechanical tool for trimming lawns, vegetation and the like. When the intelligent lawn mower works outdoors, it may face various road conditions. When a relatively uneven road condition is encountered, such as a locally protruding or recessed ground, and when the height of the recess or protrusion is relatively high and / or relatively steep (the locally ground is in a stepped shape), or a relatively high obstacle is encountered, the intelligent lawn mower may not be able to directly cross over, so that the intelligent lawn mower is trapped. SUMMARY

[0003] The main purpose of the present application is to provide an intelligent lawn mower, which aims to assist the intelligent lawn mower in escaping from a trap.

[0004] To achieve the above-mentioned purpose, the intelligent lawn mower provided by the present application comprises:

[0005] A machine body, wherein an obstacle avoidance device and a positioning device are arranged on the machine body, the obstacle avoidance device is capable of detecting at least an obstacle in front of the machine body, so as to make the intelligent lawn mower avoid the obstacle, and the positioning device is capable of detecting the position of the machine body;

[0006] A first walking wheel and a second walking wheel, wherein the first walking wheel and the second walking wheel are arranged along the advancing direction of the machine body, and the first walking wheel is configured as a driving wheel; and

[0007] A support structure, which is installed at the bottom of the machine body and located between the first walking wheel and the second walking wheel;

[0008] The support structure has a first position in a lawn mowing state and a second position in an escaping state, the support structure is separated from the ground in the first position, the support structure abuts against the ground in the second position, and at least provides an upward supporting force for the machine body.

[0009] In an embodiment, in the escaping state, the support structure is arranged to be inclined, and the lower end of the support structure is arranged to be closer to the second walking wheel than the upper end of the support structure.

[0010] In an embodiment, the support structure comprises a first support rod telescopically installed on the machine body, a second support rod rotationally connected to the lower end of the first support rod, and a limiting support sleeve sleeved on the first support rod and the second support rod.

[0011] Before the side of the machine body close to the second walking wheel is lifted, the second support rod is bent relative to the first support rod towards the direction close to the second walking wheel, and the second support rod partially extends out of the limiting support sleeve and abuts against the lower edge of the side of the limiting support sleeve close to the bending direction of the second support rod.

[0012] In an embodiment, in the stuck state, before the side of the machine body close to the second walking wheel is lifted, the connection between the first support rod and the second support rod abuts against the inner wall of the side of the limiting support sleeve towards the first walking wheel.

[0013] In an embodiment, in the stuck state, when the second support rod completely extends out of the limiting support sleeve, under the action of the gravity of the machine body, the second support rod deflects towards the ground to push the machine body to move forward to get unstuck.

[0014] In an embodiment, the upper end of the limiting support sleeve is swingably installed on the machine body, and the machine body is further provided with a locking structure.

[0015] In the stuck state, when the driving distance of the machine body forward is less than a preset distance, the locking structure is locked to limit the swing of the limiting support sleeve; when the driving distance of the machine body forward is greater than or equal to the preset distance, the intelligent mower is completely unstuck, and the locking structure is unlocked to enable the limiting support sleeve to swing with the first support rod, so as to facilitate the second support rod to retract into the limiting support sleeve.

[0016] In an embodiment, the intelligent mower further comprises a cutter head assembly which is liftable and liftable on the bottom of the machine body.

[0017] Along the rotation axis of the cutter head assembly, the cutter head assembly is configured with a mounting cavity, and at least part of the support structure is arranged in the mounting cavity.

[0018] In an embodiment, the cutter head assembly can drive the support structure to lift.

[0019] In an embodiment, the first support rod can drive the second support rod to lift relative to the cutter head assembly.

[0020] In an embodiment, in the stuck state, along the front-rear direction of the machine body, the support points of the support structure to the machine body and the support points of the first walking wheel to the machine body are respectively arranged on the opposite sides of the gravity center of the machine body.

[0021] The technical scheme of the present application is characterized in that a fuselage is arranged, the fuselage has opposite front and rear sides along the advancing direction of the intelligent mower; a first walking wheel and a second walking wheel are arranged along the advancing direction of the fuselage, the first walking wheel is configured as a driving wheel; and an obstacle avoidance device is arranged on the fuselage, which can detect at least the obstacle in front of the fuselage, so that the intelligent mower can determine whether to directly cross the obstacle or bypass the obstacle according to the obstacle information, thereby avoiding the obstacle. However, in some working scenarios, the intelligent mower may not be able to bypass the obstacle, or there may be a situation where the intelligent mower encounters an obstacle by accident. For example, when the ground has a recessed area or a raised area with a size much larger than that of the intelligent mower, and the recessed area or the raised area needs to be mowed. The fuselage is also often provided with a positioning device, which can detect the position of the fuselage, thereby facilitating the intelligent mower to monitor its own position and running state.

[0022] When the intelligent mower is trapped, if the first walking wheel directly drives the fuselage to move, the second walking wheel may not be able to provide sufficient grip due to the terrain, which limits the force exerted by the first walking wheel, making it difficult for the intelligent mower to escape. Therefore, the bottom of the fuselage is provided with a support structure. In the escape state, the support structure moves to a second position abutting against the ground to support the fuselage, thereby providing an additional support point for the intelligent mower, improving the ground adhesion of the fuselage, facilitating the force exerted by the first walking wheel, and enabling the first walking wheel to drive the fuselage to move, thereby assisting the second walking wheel to move out of the recessed ground or over the obstacle, achieving the purpose of escaping or overcoming the obstacle. The support structure is located between the first walking wheel and the second walking wheel, so that when the support structure supports the fuselage, it is mainly used to provide support on the side of the second walking wheel, thereby avoiding the support structure supporting the side of the first walking wheel, thereby reducing the possibility of the support structure accidentally reducing the grip of the first walking wheel. In the mowing state, in order to reduce the possibility of the support structure affecting the normal running of the intelligent mower due to friction with the ground, the support structure moves to a first position away from the ground. BRIEF DESCRIPTION OF DRAWINGS

[0023] In order to more clearly illustrate the technical scheme in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings described below are only some embodiments of the present application, and those skilled in the art can obtain other drawings according to the structures shown in these drawings without creative labor.

[0024] Figure 1 The structure diagram of the intelligent mower in an embodiment provided by the present application is shown in the figure.

[0025] Figure 2 For Figure 1Structure schematic diagram of intelligent mower in escape state according to another embodiment of the present application;

[0026] Figure 3 Structure schematic diagram of intelligent mower in escape state according to another embodiment of the present application;

[0027] Figure 4 Structure schematic diagram of intelligent mower in escape state according to another embodiment of the present application; Figure 3 Structure schematic diagram of intelligent mower in mowing state according to another embodiment of the present application;

[0028] Figure 5 Structure schematic diagram of intelligent mower in escape state according to another embodiment of the present application;

[0029] Figure 6 Structure schematic diagram of intelligent mower in escape state according to another embodiment of the present application; Figure 5 Structure schematic diagram of intelligent mower in escape state according to another embodiment of the present application;

[0030] Figure 7 Structure schematic diagram of intelligent mower in escape state according to another embodiment of the present application; Figure 5 Structure schematic diagram of intelligent mower in escape state according to another embodiment of the present application;

[0031] Figure 8 Structure schematic diagram of intelligent mower in escape state according to another embodiment of the present application;

[0032] Figure 9 Structure schematic diagram of intelligent mower in escape state according to another embodiment of the present application; Figure 8 Structure schematic diagram of intelligent mower in mowing state according to another embodiment of the present application.

[0033] Explanation of reference numerals:

[0034] 100, intelligent mower; 1, body; 101, first walking wheel; 102, second walking wheel;

[0035] 11, support structure; 111, lifting support rod; 112, support wheel; 113, first support rod; 114, second support rod; 115, limiting support sleeve;

[0036] 12, cutter head assembly; 121, cutter head; 122, cutter blade; 123, mounting cavity;

[0037] 2, ground; 21, recessed area.

[0038] The implementation, functional features and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

[0039] With reference to the drawings of the embodiments of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of the present application.

[0040] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative positional relationship, movement condition, etc. between components in a certain posture, and if the certain posture changes, the directional indications also change accordingly.

[0041] In addition, if the embodiments of the present application involve descriptions such as "first", "second", etc., the descriptions of "first", "second", etc. are only for description purposes, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" can explicitly or implicitly include at least one of the features. In addition, "and / or" or "and / or" appearing throughout the text means that the three parallel schemes are included, for example, "A and / or B" includes A scheme, or B scheme, or A and B are satisfied at the same time. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the fact that a person of ordinary skill in the art can realize it, and when the combination of technical solutions contradicts each other or cannot be realized, it should be considered that the combination of technical solutions does not exist and is not within the scope of protection claimed by the present application.

[0042] The present application provides an intelligent mower 100, which can assist the intelligent mower 100 to escape from trouble.

[0043] Please refer to Figures 1 to 9 In an embodiment of the present application, the intelligent mower 100 has a body 1, the body 1 has opposite front and rear sides along the advancing direction of the intelligent mower 100; and a first walking wheel 101 and a second walking wheel 102 are arranged along the advancing direction of the body 1, the first walking wheel 101 is configured as a driving wheel; that is, the first walking wheel 101 and the second walking wheel 102 are arranged along the front-rear direction of the body 1, the first walking wheel 101 is configured as a driving wheel, that is, the intelligent mower 100 is configured as a double-wheel drive (the first walking wheel 101 is a driving wheel, and the second walking wheel 102 is a driven wheel), thereby driving the intelligent mower 100 to travel. In other embodiments, the intelligent mower 100 can also be configured as a four-wheel drive (the first walking wheel 101 and the second walking wheel 102 are both driving wheels).

[0044] It is worth noting that the first and second walking wheels 101 and 102 arranged along the travel direction of the machine body 1 can be the first walking wheels 101 arranged on the front side of the machine body, or the second walking wheels 102 arranged on the front side of the machine body. When the intelligent mower 100 is a dual-wheel drive, if the intelligent mower is a rear-wheel drive, that is, the first walking wheels 101 are arranged on the rear side of the machine body 1, and the second walking wheels 102 are arranged on the front side of the machine body 1, when it is necessary to overcome obstacles or escape, in order to facilitate escape, the intelligent mower 100 usually adopts the form of reversing to overcome obstacles; if the intelligent mower 100 is a front-wheel drive, that is, the first walking wheels 101 are arranged on the front side of the machine body 1, and the second walking wheels 102 are arranged on the rear side of the machine body 1, when it is necessary to overcome obstacles or escape, the intelligent mower 100 can directly travel forward to escape. However, when actually escaping, whether the intelligent mower 100 is a rear-wheel drive or a front-wheel drive, the first walking wheels 101 will first overcome the higher ground 2 or obstacles. When the intelligent mower 100 is a dual-wheel drive, the second walking wheels 102 are often configured as universal wheels.

[0045] As some embodiments of the present application, the intelligent mower 100 is generally equipped with an obstacle avoidance device, which can at least detect obstacles in front of the machine body 1 and transmit obstacle information to the control module of the intelligent mower 100, so that the intelligent mower 100 can determine whether to directly overcome the obstacle or bypass the obstacle according to the obstacle information, so that the intelligent mower 100 can avoid obstacles.

[0046] However, in some working scenarios, the intelligent mower 100 can not bypass the obstacle, or there can be a situation where the intelligent mower 100 encounters obstacles accidentally. For example, when the ground 2 has a concave area 21 or a convex area (much larger than the size of the intelligent mower 100 itself) that needs to be mowed. At this time, in order to escape or overcome obstacles, the driving wheels are usually in front, so that the intelligent mower 100 can rush out of the concave area 21 or climb to the convex area, but if the height of the concave area 21 or the convex area is high and / or the concave area 21 or the convex area is steep, the rear wheels can not pass smoothly, causing the intelligent mower 100 to be trapped; or if a higher obstacle is encountered accidentally, the rear wheels can also not pass, and often only rely on manual escape, which is time-consuming and laborious.

[0047] When the intelligent mower 100 is trapped, the first walking wheel 101 is located in front of the second walking wheel 102, that is, the first walking wheel 101 first crosses the higher ground 2 or the obstacle. However, the second walking wheel 102 can be stuck in the recessed ground 2 or the second walking wheel 102 cannot cross the obstacle. At this time, if the first walking wheel 101 directly drives the body 1 to move, the second walking wheel 102 can not be able to provide sufficient grip due to the limitation of the terrain, so that the force of the first walking wheel 101 is limited, which makes it difficult for the intelligent mower 100 to escape. Therefore, in order to assist the intelligent mower 100 to escape, the bottom of the body 1 is provided with a support structure 11, which moves to the second position abutting against the ground 2 in the escape state to support the body 1, so that the first walking wheel 101 can drive the body 1 to move, thereby assisting the second walking wheel 102 to get out of the recessed ground 2 or cross the obstacle.

[0048] Generally, the intelligent mower 100 has an escape state and a mowing state, and the support structure 11 has a support state corresponding to the escape state and a storage state other than the support state. In the escape state, the support structure 11 moves to the second position, so that the lower end of the support structure 11 abuts against the ground 2 to support the body 1, thereby providing an additional support point for the intelligent mower 100, improving the ground force of the body 1, and facilitating the force of the first walking wheel 101, so that the first walking wheel 101 can drive the body 1 to move, thereby assisting the second walking wheel 102 to get out of the recessed ground 2 or cross the obstacle, achieving the purpose of escaping or crossing the obstacle.

[0049] In the mowing state, in order to reduce the possibility that the support structure 11 and the ground 2 affect the normal work of the intelligent mower 100, the support structure 11 moves to the first position away from the ground 2, that is, switches to the storage state, and at this time the support structure 11 is at least partially stored in the body 1. The support structure 11 can be lifted as a whole, so that at least the support structure 11 is stored in the body 1, or the support structure 11 can be retracted by itself, so that the lower end of the support structure 11 is lifted to a certain distance from the ground 2; or first retracted by itself and then lifted as a whole and stored in the body 1. When the support structure 11 is partially stored in the body 1, optionally, in the storage state, the distance from the support structure 11 to the ground 2 is less than the distance from the cutter head 121 to the ground 2, that is, the height of the support structure 11 is higher than the height of the cutter head 121, thereby further reducing the possibility that the support structure 11 affects the movement of the intelligent mower 100.

[0050] Again refer to Figures 1 to 7The support structure 11 is located between the first walking wheel 101 and the second walking wheel 102, that is, the support structure 11 is arranged on the side of the first walking wheel 101 facing the second walking wheel 102, and is usually arranged spaced apart from the first walking wheel 101, so that when the support structure 11 supports the machine body 1, it is mainly used to provide support for the machine body 1 on the side of the second walking wheel 102, thereby avoiding the support structure 11 supporting the side of the first walking wheel 101, thereby reducing the possibility of the support structure 11 accidentally reducing the grip of the first walking wheel 101. Generally, the support structure 11 and the second walking wheel 102 are also usually a certain distance apart, so that in the supporting state, the support structure 11 can be stably supported on the higher ground 2 (the ground 2 where the first walking wheel 101 is located), thereby reducing the possibility of the support structure 11 failing.

[0051] It can be imagined that the support structure 11 is usually driven by a drive motor or the like to work, thereby helping to realize the automatic escape of the intelligent mower 100, thereby eliminating the need for manual assistance. The driving structure can utilize some driving structures of the intelligent mower 100 itself, or additional special driving structures can be provided.

[0052] Referring to Figure 2 , Figure 3 and Figure 5 , in the embodiment of the present application, in the escape state, the support structure 11 can also provide a forward thrust for the machine body 1; such as the support structure 11 is inclined to be arranged, and the lower end of the support structure 11 is closer to the second walking wheel 102 than the upper end of the support structure 11, that is, the lower end of the support structure 11 is offset to the direction close to the second walking wheel 102, that is, the support structure 11 is inclined to be arranged as a whole. So that in the supporting state, the gravity of the machine body 1 gives the support structure 11 a vertical downward pressure, when the pressure acts on the support structure 11, it has a component opposite to the direction of travel of the intelligent mower 100, correspondingly, the support structure 11 gives the machine body 1 an oblique upward thrust, and the thrust correspondingly has the same component as the direction of travel of the intelligent mower 100, so that the ground 2 can push the machine body 1 forward by the support structure 11, further assisting the intelligent mower 100 to escape. Of course, in other embodiments, the support structure 11 can also be arranged vertically.

[0053] It should be noted that the support structure 11 is inclined, that is, the angle between the support structure 11 and the bottom of the machine body 1 is less than 90°, but in the escape state, the machine body 1 is also inclined to be arranged, so the support structure 11 can be perpendicular to the ground 2.

[0054] In the embodiment, the body 1 is also usually provided with a positioning device capable of detecting the position of the body 1, so as to facilitate the intelligent mower 100 to monitor the position and running state of itself. The control module is in signal connection with the positioning device, so as to determine whether the intelligent mower 100 is trapped according to the detection information of the positioning device and the working state of the intelligent mower 100. For example, if the positioning device detects that the intelligent mower 100 does not move within a certain period of time, but the control module monitors that the first walking wheel 101 is always working, the control module can determine that the intelligent mower 100 is in a trapped state.

[0055] For example, in an embodiment, referring to Figure 2 , the support structure 11 is configured as a lifting support rod 111 having a retracted position in the mowing state and an expanded position in the trapped state. Specifically, the lifting support rod 111 is movably mounted on the body 1 and can be lifted relative to the body 1. In the mowing state, the lifting support rod 111 is retracted, so that the lifting support rod 111 is separated from the ground, so as to ensure the normal working of the intelligent mower 100. At this time, the lifting support rod 111 is at least partially accommodated in the body 1; in the trapped state, the lifting support rod 111 is expanded, so that the lifting support rod 111 is lowered to the ground 2 at the lower end thereof to support the body 1, thereby assisting the intelligent mower 100 to escape from the trap. Such a rod structure is simple in structure and small in floor space, which is helpful to save the internal space of the body 1 and facilitate maintenance and replacement.

[0056] In the present scheme, the lifting support rod 111 switches between the first position and the second position by retraction or expansion of itself, so as to reduce the internal space of the body 1. Of course, in other embodiments, the lifting support rod 111 can also be lifted by rotating, so that the driving motor drives the lifting support rod 111 to rotate, thereby realizing the lifting movement of the lifting support rod 111; the lifting support rod 111 can also be slidably mounted on the body 1, so that the support structure 11 directly realizes lifting by sliding up and down.

[0057] When the support structure 11 is configured as the lifting support rod 111, and when the body 1 drives the lifting support rod 111 to move forward a certain distance to ensure that the body is completely trapped, the lifting support rod 111 and the ground 2 are in sliding friction, and the friction is large. In order to reduce the friction, in another embodiment of the present application, referring to Figure 3 and Figure 4, the support structure 11 comprises a lifting support rod 111 and a support wheel 112 rotatably mounted at an end of the lifting support rod 111 away from the body 1, the lifting support rod 111 is slidingly mounted on the body 1; in the escape state, the lifting support rod 111 drives the support wheel 112 to descend to jointly support the body 1, that is, a support wheel 112 is added at the lower end of the lifting support rod 111, so that when the body 1 drives the lifting support rod 111 to move, the lifting support rod 111 and the ground 2 become rolling friction at this time, thereby further reducing the friction, facilitating the intelligent mower 100 to escape.

[0058] Among them, in order to facilitate the support structure 11 to be accommodated and reduce the occupied space of the support structure 11, the size of the support wheel 112 is often small, at least smaller than the size of the first walking wheel 101 and the second walking wheel 102.

[0059] Further, the support structure 11 further comprises a driving motor capable of driving the support wheel 112 to rotate. That is, the support wheel 112 is also configured as a driving wheel, thereby providing forward thrust for the body 1, so that the support structure 11 can not only support the body 1 to increase the ground force of the body 1, but also jointly drive the body 1 to move with the first walking wheel 101, thereby further facilitating the intelligent mower 100 to escape.

[0060] In an embodiment, the support structure 11 is configured as a support swing rod, the support swing rod comprises a first end rotatably connected to the body 1 and a second end opposite to the first end, in the escape state, the second end swings out relative to the body 1 and abuts against the ground to support the body 1. Specifically, the first section of the support swing rod is rotatably mounted on the body 1, and in the mowing state, the lifting support rod 111 is at least partially accommodated in the body 1; in the escape state, the lifting support rod 111 swings downward, the second end swings out relative to the body 1 and abuts against the ground to support the body 1, thereby assisting the intelligent mower 100 to escape, that is, the support structure 11 swings to make the lifting of the support structure 11. Of course, in other embodiments, the second end of the support swing rod can also be connected to the support wheel 112.

[0061] Please refer to Figures 5 to 9 In the embodiment of the application, the support structure 11 comprises a first support rod 113 slidingly mounted on the body 1, a second support rod 114 rotatably connected to the lower end of the first support rod 113, and a limiting support sleeve 115 sleeved on the first support rod 113 and the second support rod 114.

[0062] In the escape state, before the side of the body 1 close to the second walking wheel 102 is lifted, the second support rod 114 is bent relative to the first support rod 113 in the direction close to the second walking wheel 102, and the second support rod 114 partially protrudes from the limiting support sleeve 115 and abuts against the lower edge of the limiting support sleeve 115 close to the bending direction of the second support rod 114.

[0063] Specifically, the first support rod 113 is telescopically mounted on the machine body 1, the second support rod 114 is arranged at the lower end of the first support rod 113, and the second support rod 114 and the first support rod 113 are rotationally connected, the first support rod 113 can drive the second support rod 114 to rise and fall, that is, when the support structure 11 needs to support the machine body 1, the first support rod 113 first drives the second support rod 114 to descend to a position where the second support rod 114 contacts the ground 2, and as the support structure 11 further descends, the second support rod 114 will be bent relative to the first support rod 113, and because the support structure 11 is arranged obliquely, the bending direction of the second support rod 114 relative to the first support rod 113 is unique, that is, the second support rod 114 is bent backward relative to the first support rod 113 (that is, the opening of the smaller included angle between the second support rod 114 and the first support rod 113 faces the side of the second walking wheel 102). And as the first support rod 113 continues to descend, the second support rod 114 abuts against the lower edge of the limiting support sleeve 115 close to the bending direction of the second support rod 114, and the second support rod 114 partially protrudes out of the limiting support sleeve 115, that is, the connection between the first support rod 113 and the second support rod 114 is located in the limiting support sleeve 115, so that the limiting support sleeve 115 can limit the rotation of the first support rod 113 and the second support rod 114, so that the support structure 11 stably supports the machine body, thereby providing a support force to the side of the machine body 1 close to the second walking wheel 102 to lift the height of the second walking wheel 102, facilitating the intelligent mower to escape.

[0064] And because in the escape state, the second support rod 114 is bent backward relative to the first support rod 113 (that is, the opening of the smaller included angle between the second support rod 114 and the first support rod 113 faces the side of the second walking wheel 102), so that when supporting, the second support rod 114 can generate an oblique upward thrust on the first support rod 113, and the thrust has the same component as the escape direction of the intelligent mower 100, so that the ground 2 can be pushed forward by the support structure 11 to move the machine body 1, further assisting the intelligent mower 100 to escape. Optionally, the first support rod 113 and the second support rod 114 are hinged.

[0065] In the present scheme, the first support rod 113 switches between the first position and the second position by contraction or expansion of itself, so as to reduce the internal space of the machine body 1. Of course, in other embodiments, the first support rod 113 can also be raised and lowered by rotation, so that the first support rod 113 is driven to rotate by a driving motor, thereby realizing the lifting movement of the first support rod 113; the first support rod 113 can also be slidingly mounted on the machine body 1, so that the support structure 11 directly realizes lifting by sliding up and down.

[0066] Referring toFigure 5 and Figure 8 , in the escape state, and before the side of the machine body 1 close to the second walking wheel 102 is lifted, the connection of the first support rod 113 and the second support rod 114 abuts against the inner wall of the side of the limiting support sleeve 115 facing the first walking wheel 101, that is, in the support state, the second support rod 114 and the limiting support sleeve 115 have the same inclination direction, and the inclination degree of the second support rod 114 is greater than that of the limiting support sleeve 115, so that the connection of the first support rod 113 and the second support rod 114 abuts against the side of the limiting support sleeve 115 facing the first walking wheel 101. At this time, the support structure 11 is inclined and supported on the machine body as a whole. And because the connection of the first support rod 113 and the second support rod 114 abuts against the inner wall of the side of the limiting support sleeve 115 facing the first walking wheel 101, the second support rod 114 can generate an upwardly inclined thrust on the limiting support sleeve 115, and the thrust has a component in the same direction as the driving direction of the intelligent mower 100, so that the ground 2 can be pushed by the support structure 111 to move the machine body 1 forward, further assisting the intelligent mower 100 to escape, and making the support state of the support structure 11 more stable.

[0067] Further, in the escape state, when the second support rod 114 is completely stretched out of the limiting support sleeve 115, under the action of the gravity of the machine body 1, the second support rod 114 deflects towards the ground 2 to push the machine body 1 to move forward to escape. Specifically, when the second support rod 114 is completely stretched out of the limiting support sleeve 115, that is, the connection of the first support rod 113 and the second support rod 114 is stretched out of the limiting support sleeve 115, at this time (see Figure 7 ), the machine body 1 gives the second support rod 114 a vertical downward gravity G, which can be decomposed into a force F1 along the extension direction of the second support rod 114 and a horizontal force F2, so that the second support rod 114 can give the machine body 1 a reverse force to support the machine body 1, that is, although the limiting of the limiting support sleeve 115 on the second support rod 114 is released, the second support rod 114 can still provide a certain support force to the machine body 1.

[0068] At this time, because the lower end of the second support rod 114 abuts against the ground 2, the position of the second support rod 114 on the ground 2 remains basically unchanged, so under the action of the gravity G, the second support rod 114 deflects towards the ground 2, that is, the included angle between the second support rod 114 and the ground 2 becomes smaller, and the horizontal component of the second support rod 114 becomes larger (from L to L1), so as to push the machine body 1 to move forward by a distance (L1-L), that is, in the process of deflection of the second support rod 114 under the action of the gravity G, the machine body 1 can be further pushed forward to escape.

[0069] Therefore, the process of the supporting mower getting out of the trouble is as follows: in the getting-out-of-trouble state, when the second supporting rod 114 just contacts the ground 2 to provide support, the connection between the first supporting rod 113 and the second supporting rod 114 abuts against the inner wall of the side of the limiting supporting sleeve 115 facing the first walking wheel 101, and the second supporting rod 114 partially extends out of the limiting supporting sleeve 115 and abuts against the lower edge of the limiting supporting sleeve 115 close to the bending direction of the second supporting rod 114. Then, the first supporting rod 113 continues to descend to further exert the supporting force, so that the side of the machine body 1 close to the second walking wheel 102 is slowly lifted, and the connection between the first supporting rod 113 and the second supporting rod 114 continuously descends, corresponding to the continuously decreasing angle between the first supporting rod 113 and the second supporting rod 114, until the connection between the first supporting rod 113 and the second supporting rod 114 is about to extend out of the limiting supporting sleeve 115, at which time the side of the machine body 1 close to the second walking wheel 102 has been lifted to a higher height (may be flush with the higher ground or slightly higher or slightly lower than the higher ground 2).

[0070] The first supporting rod 113 continues to extend out of the limiting supporting sleeve 115, and since the limiting of the second supporting rod 114 by the limiting supporting sleeve 115 is released, the position of the second supporting rod 114 on the ground 2 basically remains unchanged, so under the action of the gravity G, the second supporting rod 114 deflects towards the ground 2, thereby further pushing the machine body 1 to move forward to push the machine body 1 to get out of the trouble.

[0071] And since the second supporting rod 114 and the limiting supporting sleeve 115 have different degrees of inclination, when it is needed to store the limiting structure, the second supporting rod 114 and the limiting supporting sleeve 115 can be stuck, so in an embodiment, the upper end of the limiting supporting sleeve 115 is swingably installed on the machine body 1, and the machine body 1 is further provided with a locking structure; in the getting-out-of-trouble state, when the forward travel distance of the machine body 1 is less than a preset distance, the locking structure is locked to limit the swing of the limiting supporting sleeve 115; when the forward travel distance of the machine body 1 is greater than or equal to the preset distance, the intelligent mower 100 completely gets out of the trouble, and the locking structure is unlocked to enable the limiting supporting sleeve 115 to swing with the first supporting rod 113, so as to facilitate the second supporting rod 114 to retract into the limiting supporting sleeve 115. Specifically, in the supporting state, the locking structure is locked to fix the limiting supporting sleeve 115, so that the supporting structure 11 can stably support the machine body 1; when it is needed to switch to the storage state, the locking structure is unlocked to enable the limiting supporting sleeve 115 to swing with the swing of the first supporting rod 113, so that the degree of inclination of the limiting supporting sleeve 115 can be adjusted to adapt to the inclination angle of the second supporting rod 114, facilitating the second supporting rod 114 to retract into the limiting supporting sleeve 115 to facilitate the storage of the supporting structure 11.

[0072] Therefore, the preset distance is the position of the machine body 1 when moving from the trapped position to the position where the intelligent mower 100 is completely out of trouble, which can be set in advance, such as setting the preset distance equal to half the length of the machine body 1, so as to ensure the timely recovery of the support structure 11 and avoid the possibility of long-time friction with the ground.

[0073] Wherein, the movement distance of the intelligent mower 100 can be detected in the following manner: the positioning module records the position of the intelligent mower 100 in the trapped state as the first position, and the positioning module constantly records the position of the intelligent mower 100 as the second position, and the control module constantly processes the positional relationship between the first position and the second position, so as to obtain the movement distance of the intelligent mower 100; when the distance between the first position and the second position is greater than the preset distance, it can be determined that the second walking wheel 102 completely crosses the obstacle or escapes from the trouble, and then the support structure 11 is controlled to be recovered.

[0074] In order to reduce the occupied space of the support structure 11, in the embodiment of the present application, referring to Figure 8 and Figure 9 , the intelligent mower 100 further comprises a cutter assembly 12 which is liftable and arranged at the bottom of the machine body 1.

[0075] Along the rotation axis of the cutter assembly 12, the cutter assembly 12 is configured with a mounting cavity 123, and at least part of the support structure 11 is arranged in the mounting cavity 123.

[0076] Specifically, the support structure 11 is integrated in the cutter assembly 12, so that the bottom of the machine body 1 does not need to reserve additional installation and movement space for the support structure 11, thereby helping to save the occupied space of the support structure 11. In order to facilitate the work of the cutter assembly 12, improve the mowing area, and be suitable for different working environments, the cutter assembly 12 can usually move up and down, therefore, the cutter assembly 12 can drive the support structure 11 to move up and down, that is, the support structure 11 can move up and down with the cutter assembly 12, that is, the cutter assembly 12 can move up and down at the fixed position of the machine body 1, so that part of the support structure 11 moves downward by the cutter assembly 12, thereby helping to reduce the length of the support structure 11 and save the space of the machine body 1.

[0077] Specifically, the cutterhead assembly 12 comprises a cutterhead 121, the edge of the cutterhead 121 is provided with a blade 122, the cutterhead 121 is rotationally installed on the machine body 1, and a motor can drive the cutterhead 121 to rotate, thereby driving the blade 122 to rotate, so as to cut and clean weeds. The cutterhead 121 is provided with a mounting cavity 123, the mounting cavity 123 penetrates the cutterhead 121, and the axis of the mounting cavity 123 often overlaps the rotation axis of the cutterhead assembly 12. The support structure 11 is installed in the mounting cavity 123, so as to realize the installation of the lifting support rod 111, reduce the influence of the work of the cutterhead assembly 12 on the support structure 11, and facilitate the installation of the support structure 11. When the support structure 11 comprises a first support rod 113 and a second support rod 114, the first support rod 113 is installed in the mounting cavity 123, and the second support rod 114 partially protrudes from the mounting cavity 123 and abuts against the lower edge of the mounting cavity 123, that is, the cutterhead assembly 12 can be used as a limiting support sleeve 115.

[0078] Further, the support structure 11 can be retracted or expanded relative to the cutterhead assembly 12, that is, the support structure 11 can be lifted along with the lifting of the cutterhead assembly 12, and can be lifted relative to the cutterhead assembly 12, thereby improving the use flexibility of the support structure 11. Preferably, the first support rod 113 is movably installed on the cutterhead assembly 12 and can drive the second support rod 114 to lift relative to the cutterhead assembly 12, that is, the support structure 11 can be lifted along with the lifting of the cutterhead assembly 12, and can be lifted relative to the cutterhead assembly 12, thereby improving the use flexibility of the support structure 11.

[0079] In the embodiment of the application, along the front-rear direction of the machine body 1, the support points of the support structure 11 on the machine body 1 and the support points of the first walking wheel 101 on the machine body 1 are respectively arranged on opposite sides of the gravity center of the machine body 1, that is, the support points of the support structure 11 on the machine body 1 and the second walking wheel 102 are located on the same side of the gravity center of the machine body 1, so that the support structure 11 provides support on the side of the machine body 1 where the second walking wheel 102 is located, thereby avoiding the support structure 11 from being supported on the side where the first walking wheel 101 is located.

[0080] It should be noted that the weight of the machine body 1 of the intelligent mower 100 is often unevenly arranged, so the center of gravity of the machine body 1 is not equal to the center position of the machine body 1. Generally, the first walking wheel 101 of the intelligent mower 100 is a driving wheel, so the weight of the intelligent mower 100 is often concentrated on the side where the first walking wheel 101 is located, so the support point of the support structure 11 can be arranged on the side of the center of the machine body 1 close to the second walking wheel 102, or on the center of the machine body 1, or even on the side of the center of the machine body 1 close to the first walking wheel 101. The support point of the support structure 11 is not necessarily equal to the mounting position of the support structure 11. When the support structure 11 is a vertical structure, the support point of the support structure 11 is equal to the mounting position of the support structure 11. When the support structure 11 is arranged obliquely, the support point of the support structure 11 is not equal to the mounting position of the support structure 11.

[0081] The above is only an exemplary embodiment of the present application, and does not limit the patent scope of the present application. Any equivalent structural transformation made by using the content of the present application specification and drawings, or direct / indirect application in other related technical fields is included in the patent protection scope of the present application.

Claims

1. A smart lawnmower, characterized in that, The intelligent mower comprises: a machine body, which is provided with an obstacle avoidance device and a positioning device, the obstacle avoidance device being capable of detecting at least obstacles in front of the machine body to enable the intelligent mower to avoid the obstacles, and the positioning device being capable of detecting the position of the machine body; first and second walking wheels, which are arranged along the direction of travel of the machine body, and the first walking wheel being configured as a driving wheel; and a support structure, which is installed at the bottom of the machine body and located between the first and second walking wheels, and comprises a first support rod telescopically installed on the machine body, a second support rod rotatably connected to the lower end of the first support rod, and a limiting support sleeve sleeved on the first and second support rods. The support structure has a first position in a mowing state and a second position in a trouble-escaping state. In the first position, the support structure is separated from the ground, and in the second position, the support structure abuts against the ground and provides upward support force for the machine body. In the trouble-escaping state, the support structure is arranged in an inclined manner, and the lower end of the support structure is arranged closer to the second walking wheel than the upper end of the support structure. Before the side of the machine body close to the second walking wheel is lifted, the second support rod is bent relative to the first support rod towards the direction close to the second walking wheel, and the second support rod partially extends out of the limiting support sleeve and abuts against the lower edge of the side of the limiting support sleeve close to the bending direction of the second support rod. In the trouble-escaping state, when the second support rod completely extends out of the limiting support sleeve, the second support rod is deflected towards the ground under the action of the gravity of the machine body to push the machine body to move forward to escape from the trouble. In the trouble-escaping state, before the side of the machine body close to the second walking wheel is lifted, the connection between the first and second support rods abuts against the inner wall of the side of the limiting support sleeve towards the first walking wheel.

2. The intelligent lawnmower as claimed in claim 1, wherein, The upper end of the limiting support sleeve is swingably installed on the machine body, and the machine body is further provided with a locking structure.

3. The intelligent lawnmower as claimed in claim 2, wherein, In the trouble-escaping state, when the forward travel distance of the machine body is less than a preset distance, the locking structure is locked to limit the swing of the limiting support sleeve. When the forward travel distance of the machine body is greater than or equal to the preset distance, the intelligent mower completely escapes from the trouble, and the locking structure is unlocked to enable the limiting support sleeve to swing with the swing of the first support rod, so as to facilitate the retraction of the second support rod into the limiting support sleeve. The intelligent mower further comprises a cutter assembly which is liftably arranged at the bottom of the machine body.

4. The intelligent lawnmower as claimed in claim 1, wherein, Along the rotation axis of the cutter assembly, the cutter assembly is configured with a mounting cavity, and at least part of the support structure is arranged in the mounting cavity. The cutter assembly is capable of lifting the support structure.

5. The intelligent lawnmower as claimed in claim 4, wherein, The first support rod is capable of lifting the second support rod relative to the cutter assembly.

6. The intelligent lawnmower as claimed in claim 4 or 5, characterized in that, In the trouble-escaping state, along the front-rear direction of the machine body, the support point of the support structure to the machine body and the support point of the first walking wheel to the machine body are respectively arranged on opposite sides of the center of gravity of the machine body.

7. The intelligent lawnmower as claimed in claim 1, wherein, ​

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