Airbag buoyancy protection device and fall-preventing mowing robot

Abstract

This invention discloses an airbag buoyancy protection device and a water-resistant lawnmower robot. The airbag buoyancy protection device includes an airbag assembly, a high-pressure gas release device, and a sensing device. The airbag assembly includes a shell and an expansion bladder. The shell has a receiving cavity for accommodating the expansion bladder and an outlet communicating with the receiving cavity for the expansion bladder to expand and protrude through. The high-pressure gas release device includes a gas storage component and a control component for controlling the release of high-pressure gas from the gas storage component. The control component is connected to the gas storage component, which has a high-pressure gas release port, and the expansion bladder communicates with the high-pressure gas release port. The sensing device is electrically connected to the control component and is used to sense the liquid and / or the movement acceleration of the lawnmower robot. When the sensing device detects that the lawnmower robot has accidentally entered water, the control component can quickly trigger the gas storage component to release high-pressure gas, causing the expansion bladder to deploy and form effective buoyancy support, reducing the risk of short circuits and hardware corrosion caused by falling into water.

Description

Technical Field

[0001] This application relates to the fields of garden machinery and intelligent lawn mowing robots, and in particular to an airbag buoyancy protection device and a lawn mowing robot that is prevented from falling into water. Background Technology

[0002] With the development of smart homes and garden automation, lawnmowers have been widely used in residential and commercial lawn maintenance. Current lawnmowers typically rely on technologies such as obstacle detection sensors, path planning systems, and virtual fences to avoid obstacles and hazardous areas. However, in complex home environments, especially in yards with swimming pools, ponds, or other water features, existing technologies still have significant limitations.

[0003] Specifically, the ground sensing technology of lawnmowers is mainly based on obstacle detection, making it difficult to effectively identify water surfaces. When the pool surface is covered with debris such as fallen leaves and branches, the robot is prone to misjudging the situation and falling into the water. Once a lawnmower falls into the water, it can easily cause short circuits in the internal circuitry of the lawnmower, even battery explosions, as well as corrosion of internal metal components, high repair or replacement costs, and a serious decline in user experience.

[0004] Although some high-end products have introduced water-sensing sensors or high-precision positioning fences, these solutions have limitations such as insufficient water sensing accuracy, poor reliability of virtual fences, and lack of real-time emergency response mechanisms, and cannot provide effective active protection when the robot falls into the water. Summary of the Invention

[0005] The purpose of this invention is to at least overcome the technical problem of the lack of effective protection measures when lawnmowers fall into water. It provides an airbag buoyancy protection device and a lawnmower robot designed to prevent falling into water.

[0006] This application provides an airbag buoyancy protection device, comprising an airbag assembly, a high-pressure gas release device, and a sensing device. The airbag assembly includes a housing and an inflatable bladder. The housing has a receiving cavity for accommodating the inflatable bladder and an outlet communicating with the receiving cavity for the inflatable bladder to expand and protrude through. The high-pressure gas release device includes a gas storage component and a control component for controlling the release of high-pressure gas from the gas storage component. The control component is connected to the gas storage component, which has a high-pressure gas release port, and the inflatable bladder communicates with the high-pressure gas release port. The sensing device is electrically connected to the control component and is used to sense the acceleration of liquids and / or the movement of a lawnmower robot.

[0007] In some embodiments, the housing is provided with a first connecting portion, a second connecting portion, and an air passage, both the first connecting portion and the second connecting portion being connected to the air passage, the expansion bladder being connected to the first connecting portion, and the air storage component being detachably disposed on the housing and connected to the second connecting portion.

[0008] In some embodiments, the gas storage device has a sheet-like sealing structure disposed at the high-pressure gas release port to seal the high-pressure gas release port; The control element is connected to the housing and includes a puncture needle and a pushing device for pushing the puncture needle. The puncture needle is disposed at the pushing end of the pushing device. The puncture needle is at least partially located inside the airway and is disposed relative to the sheet-like closed structure.

[0009] In some embodiments, the puncture needle has a puncture end and an internal cavity, the puncture end has an airflow hole communicating with the cavity, and the side of the puncture needle has a plurality of side holes communicating with the cavity.

[0010] In some embodiments, the housing has a through hole communicating with the air passage, the pushing device is connected to the housing and seals the through hole, and the pushing end of the pushing device is disposed opposite to the sheet-like closed structure through the through hole.

[0011] In some embodiments, the pushing device includes a connector, an elastic element, and an electromagnetic coil body. The connector is connected to the housing and seals the through hole. The elastic element is connected to the connector and the puncture needle. The electromagnetic coil body is disposed inside the connector. The puncture needle itself is magnetic or the puncture needle is connected to a magnet, which is positioned close to the electromagnetic coil.

[0012] In some embodiments, the inflatable bladder includes a bladder body and a first connecting connector connected to or integrally formed with the bladder body, the first connecting portion being provided with a second connecting connector, the first connecting connector being matched with the second connecting connector.

[0013] In some embodiments, the airbag assembly further includes a closure for closing the penetration port, the closure being movably connected to the housing, the closure having a closed state and an open state, wherein when the airbag inflates, the airbag abuts against the closure, causing it to move from the closed state to the open state.

[0014] This application provides a water-resistant lawnmower robot, comprising a robot body and the aforementioned airbag buoyancy protection device. The airbag assembly of the airbag buoyancy protection device is disposed on the side of the robot body, and the outlet of the housing is disposed near the chassis of the robot body.

[0015] In some embodiments, the airbag assembly is located on the top of the robot body.

[0016] The airbag buoyancy protection device provided by this invention integrates an airbag assembly, a high-pressure gas release device, and a sensing device to construct an emergency response system capable of actively sensing dangerous situations and taking timely protective measures. When the sensing device detects that the lawnmower robot has accidentally entered water or fallen and lost weight, the control unit can quickly trigger the air storage component to release high-pressure gas, causing the expansion bladder to rapidly inflate and deploy from the outlet of the shell. The above structure has an extremely fast response speed, which can form an effective buoyancy support or cushioning air cushion before the lawnmower robot falls into water or impacts the ground, reducing the risk of short circuits and hardware corrosion caused by falling into water, as well as the probability of physical damage to precision modules (such as lenses and RTK antennas) caused by falling from heights. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the overall three-dimensional structure of the airbag buoyancy protection device provided in the embodiment of the present invention; Figure 2 yes Figure 1 A schematic diagram of the three-dimensional structure after being sectioned along the MM section line; Figure 3 yes Figure 2 Enlarged schematic diagram of the structure at point A in the middle; Figure 4 yes Figure 1 A schematic diagram of the cross-sectional structure after being cut along the MM section line; Figure 5 yes Figure 4 Enlarged schematic diagram of the structure at point B; Figure 6 yes Figure 5 Enlarged schematic diagram of the structure at point C; Figure 7 This is a schematic diagram of the overall three-dimensional structure of the airbag buoyancy protection device provided in another embodiment of the present invention; Figure 8 This is a three-dimensional structural diagram of the inflatable bladder of the airbag buoyancy protection device provided in this embodiment of the invention after it has been deployed. Figure 9 This is a schematic diagram of the overall three-dimensional structure of the anti-water-falling lawnmower robot provided in an embodiment of the present invention; Figure 10 This is a three-dimensional structural diagram of the airbag buoyancy protection device of the anti-water-falling lawn mowing robot provided in the embodiment of the present invention in the triggered state; Component descriptions of this application: 104, accommodating cavity; 105, outlet; 106, through hole; 101, first connecting part; 111, second connecting connector; 11, shell; 102, second connecting part; 103, airway; 121, bladder body; 100, airbag assembly; 12, inflatable bladder; 122, first connecting connector; 13, sealing element; 2101, high-pressure gas release port; 21, gas storage element; 211, thin sheet sealing structure; 2211, puncture end; 03, airflow hole; 200, high-pressure gas release device; 221, puncture needle; 01, cavity; 22, control element; 02, side hole; 2221, connector; 300, sensing device; 222, pushing device; 2222, elastic element; 2223, electromagnetic coil; 1000, airbag buoyancy protection device; 2000, robot body. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0020] It should be noted that the terms "setup" and "connection" should be interpreted broadly. For example, they can refer to direct setup or connection, or indirect setup or connection through centered components or centered structures.

[0021] Furthermore, in embodiments of this invention, terms such as "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer" are used to indicate orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, or in a conventional placement or usage state. These terms are merely for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the structures, features, devices, or elements referred to must have a specific orientation or positional relationship, nor that they must be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0022] The various specific technical features and embodiments described in the detailed embodiments can be combined in any suitable manner without contradiction. For example, different implementation methods can be formed by combining different specific technical features / embodiments. In order to avoid unnecessary repetition, the various possible combinations of the various specific technical features / embodiments in this invention will not be described separately.

[0023] like Figure 1 , Figure 9 As shown, an embodiment of the present invention provides an airbag buoyancy protection device 1000, which is used to be installed on a lawnmower robot or other mobile equipment that can easily enter water areas, to provide buoyancy and cushioning protection when the equipment falls or falls into the water (for ease of description, a lawnmower robot is used as an example below). The airbag buoyancy protection device 1000 includes an airbag assembly 100, a high-pressure gas release device 200, and a sensing device 300.

[0024] In this embodiment, as Figure 1 , Figure 2 and Figure 7 , Figure 8 As shown, the airbag assembly 100 includes a housing 11 and an inflatable bladder 12. The housing 11 is provided with a receiving cavity 104 for accommodating the inflatable bladder 12, and the housing 11 is also provided with an outlet 105 communicating with the receiving cavity 104 for the inflatable bladder 12 to inflate and protrude through. The inflatable bladder 12 has an inflated state and an uninflated state. When the inflatable bladder 12 is in the uninflated state, the inflatable bladder 12 is folded or rolled up and stored in the receiving cavity 104. When the inflatable bladder 12 is in the inflated state, the inflatable bladder 12 inflates and protrudes through the outlet 105 and unfolds.

[0025] In this embodiment, as Figure 1 , Figure 2 , Figure 3 and Figure 4 , Figure 5As shown, the high-pressure gas release device 200 includes a gas storage component 21 and a control component 22 for controlling the release of high-pressure gas from the gas storage component 21. The gas storage component 21 is specifically a replaceable high-pressure gas cylinder, which contains high-pressure gas, preferably liquid carbon dioxide or compressed helium. The control component 22 is connected to the gas storage component 21, which has a high-pressure gas release port 2101. The expansion bladder 12 is connected to the high-pressure gas release port 2101. The high-pressure gas release port 2101 can be connected to the inner cavity of the expansion bladder 12 through a gas passage structure provided within the housing 11. In a non-triggered state (when the lawnmower is in normal operation and no fall has occurred, the control component 22 is in a non-triggered state), the control component 22 closes the high-pressure gas release port 2101. In a triggered state (when the lawnmower has fallen, the control component 22 is in a triggered state), the high-pressure gas release port 2101 is actively opened, allowing the high-pressure gas in the gas storage component 21 to quickly fill the expansion bladder 12.

[0026] In this embodiment, please refer to Figure 9 , Figure 10 As shown, the sensing device 300 is electrically connected to the control unit 22. The sensing device is used to sense liquids and / or the acceleration of the lawnmower robot. In practical applications, the sensing device 300 is used to monitor the operating status of the lawnmower robot in real time. Specifically, it includes two types of sensors or a combination thereof: one is a sensor for sensing liquids (e.g., a rain detection module or a leak detection module), which is activated or triggered by the water when the lawnmower robot falls into water; the other is a sensor for sensing the acceleration of the lawnmower robot (e.g., a MEMS accelerometer or a six-axis gyroscope), which detects a free-fall signal when the lawnmower robot falls and is in a weightless state. After detecting an abnormal state, the sensing device 300 sends a trigger signal to the control unit 22, causing the control unit 22 to be in a triggered state, thereby actively opening the high-pressure gas release port 2101.

[0027] In summary, the airbag buoyancy protection device 1000 provided in this application integrates the airbag assembly 100, the high-pressure gas release device 200, and the sensing device 300 to construct an emergency response system capable of actively sensing dangerous situations and taking timely protective measures. When the sensing device 300 detects that the lawnmower robot has accidentally entered water or fallen and lost weight, the control unit 22 can quickly trigger the air storage unit 21 to release high-pressure gas, causing the expansion bladder 12 to quickly inflate and deploy from the outlet 105 of the shell 11. The above structure has an extremely fast response speed and can form an effective buoyancy support or buffer air cushion before the lawnmower robot falls into water or impacts the ground, reducing the risk of short circuits and hardware corrosion caused by falling into water, as well as the probability of physical damage to precision modules (such as lenses and RTK antennas) caused by falling from heights. Meanwhile, since the gas storage component 21 and the control component 22 adopt a detachable or resettable connection method, the function can be restored by simply replacing the gas storage medium after a single trigger protection, which takes into account both the economy of use and the convenience of maintenance, and effectively improves the survivability of the lawnmower robot in complex garden environments and the user experience.

[0028] like Figure 1 , Figure 2 and Figure 4 , Figure 5 As shown, in a more specific embodiment, the housing 11 is provided with a first connecting portion 101, a second connecting portion 102, and an air passage 103, both of which are connected to the air passage 103. The air passage 103 is a sealed gas channel formed within the housing 11, with both ends extending to the locations of the first connecting portion 101 and the second connecting portion 102, respectively.

[0029] like Figure 1 , Figure 2 and Figure 4 , Figure 5 As shown, the expansion bladder 12 is connected to the first connecting part 101, and the gas storage component 21 is detachably mounted on the housing 11 and connected to the second connecting part 102. The first connecting part 101 is located on one side of the housing 11 where the receiving cavity 104 is located, and the air inlet port of the expansion bladder 12 is sealed and connected to the first connecting part 101. The second connecting part 102 is located at the other end of the housing 11, and the gas storage component 21 (high-pressure gas cylinder) is detachably mounted on the housing 11 by means of threaded connection or snap-fit ​​connection, and its high-pressure gas release port 2101 is sealed and connected to the second connecting part 102. With this configuration, when the gas storage component 21 releases high-pressure gas, the airflow sequentially enters the interior of the expansion bladder 12 through the second connecting part 102, the air passage 103, and the first connecting part 101. Since the gas storage component 21 is detachably connected, after one protection action is completed, the user only needs to replace the high-pressure gas cylinder and fold the expansion bladder 12 back into storage to restore the device to the standby state and achieve reuse.

[0030] Furthermore, such as Figure 2 , Figure 3 and Figure 4 , Figure 5 As shown, in some embodiments, the gas storage component 21 has a thin-film sealing structure 211, which is fixedly disposed at the high-pressure gas release port 2101 to seal the high-pressure gas release port 2101 in a non-triggered state, so that the high pressure inside the high-pressure gas cylinder does not leak. The aforementioned thin-film sealing structure 211 is preferably a soft sealing sheet made of silicone or a metal sheet.

[0031] like Figure 4 , Figure 5 As shown, correspondingly, the control element 22 is fixedly connected to the housing 11, and includes a puncture needle 221 and a pushing device 222 for moving the puncture needle 221. At least the tip of the puncture needle 221 is located inside the airway 103 of the housing 11, and its tip is positioned directly opposite the sheet-like sealing structure 211. The pushing device 222 has a pushing end connected to the tail end of the puncture needle 221. When the sensing device 300 is triggered, the pushing device 222 pushes the puncture needle 221 to move along the axial direction of the airway 103 toward the sheet-like sealing structure 211. After the tip of the puncture needle 221 punctures the sheet-like sealing structure 211, high-pressure gas is released from the rupture point into the airway 103, and then the airway 103 inflates the expansion bladder 12.

[0032] To improve the release rate of high-pressure gas and ensure that the expansion bladder 12 can complete inflation and deployment in a very short time, the structure of the puncture needle 221 has been optimized. For example... Figure 4 , Figure 5 , Figure 6 As shown, in some embodiments, the puncture needle 221 has a sharp puncture tip 2211, and a cavity 01 extending axially is provided inside the puncture needle 221. Furthermore, an airflow hole 03 communicating with the cavity 01 is provided at the puncture tip 2211; simultaneously, multiple side holes 02 communicating with the cavity 01 are also provided on the side wall of the puncture needle 221. With the above design, when the puncture needle 221 punctures the thin-film sealing structure 211, the high-pressure gas in the gas storage component 21 can flow out from the gap between the outer wall of the puncture needle 221 and the opening in the thin-film sealing structure 211, and can also enter the cavity 01 inside the puncture needle 221 through the airflow hole 03 at the needle tip, and then be quickly discharged into the air passage 103 of the housing 11 through each side hole 02. The aforementioned structure effectively increases the effective flow area of ​​high-pressure gas, reduces throttling losses, and significantly shortens the inflation time of the expansion bladder 12, which is beneficial to improving the protective performance of the airbag buoyancy protection device 1000 for the lawnmower robot.

[0033] In some implementations, such as Figure 1 , Figure 2 , Figure 3 As shown, the housing 11 has a through hole 106 communicating with the airway 103. The pushing device 222 is connected to the housing 11 and seals the through hole 106. The pushing end of the pushing device 222 is positioned opposite to the sheet sealing structure 211 through the through hole 106. The position of the through hole 106 is opposite to the sheet sealing structure 211, that is, the axis of the through hole 106 roughly points to the sheet sealing structure 211. The pushing device 222 is installed on the outer wall of the housing 11 or embedded in the wall of the housing 11 and is fixedly connected to the housing 11. The through hole 106 is sealed by a sealing ring or sealant to prevent high-pressure gas in the airway 103 from leaking from the through hole 106. The pushing end of the pushing device 222 passes through the through hole 106 and is positioned directly or indirectly opposite to the sheet sealing structure 211, so that the puncture needle 221 can be accurately pushed towards the sheet sealing structure 211 when triggered.

[0034] Preferably, such as Figure 2 , Figure 3 and Figure 4 , Figure 5 As shown, the sidewall of the through hole 106 is threaded. The pushing device 222 is detachably threaded to the housing 11 through the through hole 106. A sealing ring is provided between the pushing device 222 and the housing 11 so that the through hole 106 is sealed after the pushing device 222 is fully threaded into the opening of the through hole 106. It is understood that after the puncture needle 221 pierces the thin-film closed structure 211, the sharpness of its puncture end 2211 will decrease, which will seriously affect the next puncture action. Through the above design, the puncture needle 221 can be replaced after performing one puncture operation, thereby ensuring that when the lawnmower robot falls, the sharpness of the puncture needle 221 is sufficient to pierce the thin-film closed structure 211 in one go. This helps to improve the stability of the airbag buoyancy protection device 1000 in performing its protective function.

[0035] like Figure 3 and Figure 5 As shown, in a preferred embodiment, the driving device 222 employs the principle of electromagnetic coil drive, specifically including a connector 2221, an elastic element 2222, and an electromagnetic coil body 2223. The connector 2221 is connected to the housing 11 and seals the through hole 106. The elastic element 2222 is connected to the connector 2221 and the puncture needle 221. The connector 2221 can be a sleeve-shaped component with an inner cavity, fixed to the through hole 106 of the housing 11 by threads or snaps, achieving an airtight seal. The electromagnetic coil body 2223 is fixed inside the connector 2221, with wires leading out from both ends of its enameled wire winding for connection to a control circuit (which can be the power circuit built into the airbag buoyancy protection device 1000 or the power circuit inside the lawnmower robot). This control circuit is controlled by the aforementioned sensing device 300.

[0036] Please continue reading. Figure 3 , Figure 5 The puncture needle 221 is movably inserted into the inner cavity of the connecting body 2221. The two ends of the elastic element 2222 (such as a coil spring) are connected to the inner walls of the puncture needle 221 and the connecting body 2221 respectively, providing the puncture needle 221 with a spring force away from the thin-film closed structure 211. The puncture needle 221 itself is magnetic or connected to a magnet, which is positioned close to the electromagnetic coil. Specifically, the puncture needle 221 itself is made of a ferromagnetic metal material and is magnetic; or a magnet (such as a permanent magnet) is fixedly connected to the tail end of the puncture needle 221, which is positioned close to the electromagnetic coil body 2223. When the electromagnetic coil body 2223 is energized, the electromagnetic field it generates exerts an attractive or repulsive force on the puncture needle 221 or the magnet to overcome the spring force of the elastic element 2222, driving the puncture needle 221 to move towards the thin-film closed structure 211, completing the puncture action. After power is cut off, the puncture needle 221 is reset under the action of the elastic element 2222.

[0037] In addition to using an electromagnetic coil to drive the puncture needle 221, a miniature electric actuator or a shape memory alloy (SMA) wire can also be used as the actuating device 222. When the SMA wire is energized and heated, it contracts, pulling or pushing the puncture needle 221 to puncture the thin sheet. This solution has no electromagnetic interference and consumes less power.

[0038] like Figure 1 , Figure 2 and Figure 4 As shown, in some embodiments, to facilitate the sealed connection between the expansion bladder 12 and the air passage 103 of the housing 11, the expansion bladder 12 includes a bladder body 121 and a first connecting connector 122 connected to or integrally formed with the bladder body 121. The first connecting connector 122 can be a plastic or metal component, with an internal airflow channel. One end of the first connecting connector 122 communicates with the interior of the bladder body 121, and the other end is a connecting end. Correspondingly, the first connecting portion 101 within the housing 11 accommodating cavity 104 is provided with a second connecting connector 111. The shape, size, and function of the first connecting connector 122 and the second connecting connector 111 are matched, and they can be quickly inserted and sealed through interference fit, threaded connection, or snap-fit ​​connection to ensure that high-pressure gas does not leak during transmission.

[0039] In addition to the above-mentioned effects, when the expansion bladder 12 leaks, it can be easily replaced by quickly connecting and disconnecting the first connecting connector 122 and the second connecting connector 111, without having to replace the entire device. This saves users' operating costs and improves their user experience.

[0040] To prevent dust, grass clippings, or moisture from entering the housing 11 during daily use, in some embodiments, the airbag assembly 100 further includes a closure 13 for sealing the penetration opening 105, the closure 13 being movably connected to the housing 11. For example... Figure 1 and Figure 7 , Figure 8 As shown, in practical applications, the aforementioned closure 13 is a movable cover or baffle, one side of which is hinged to the housing 11 via a pivot, or magnetically attached to the edge of the outlet 105. The closure 13 has a closed state and an open state. When the expansion bladder 12 inflates, the expansion bladder 12 abuts against the closure 13, moving it from the closed state to the open state. Normally (if the lawnmower robot does not fall), the closure 13 is in the closed state, covering the outlet 105; when the expansion bladder 12 inflates (if the lawnmower robot falls), the thrust generated by the outward expansion of the bladder 121 acts on the inside of the closure 13, overcoming the magnetic attraction or clamping force between the closure 13 and the housing 11, moving the closure 13 from the closed state to the open state, allowing the expansion bladder 12 to pop out smoothly from the outlet 105.

[0041] like Figure 9 , Figure 10 As shown, based on the airbag buoyancy protection device 1000 described in any of the above embodiments, this application also provides a lawn mowing robot that is protected from falling into water. The lawn mowing robot includes a robot body 2000 and the airbag buoyancy protection device 1000 installed on the robot body 2000.

[0042] Specifically, such as Figure 9 , Figure 10 As shown, the airbag assembly 100 of the airbag buoyancy protection device 1000 is fixed to the side of the robot body 2000 by a bracket or bolts, and the outlet 105 of the housing 11 is located close to the chassis of the robot body 2000. The outlet 105 is oriented downwards or diagonally downwards relative to the chassis of the lawnmower robot. In the triggered state, the expansion bladder 12 pops out from the side outlet 105 downwards or diagonally downwards, forming buoyancy bodies on both sides or the bottom of the robot body 2000. When the lawnmower robot falls into water, the buoyancy provided by the expansion bladder 12 can lift the entire robot body 2000 to float on the water surface, preventing water from entering the internal circuitry; when the lawnmower robot falls from a height, the expansion bladder 12 can deploy before the robot body 2000 hits the ground, acting as an air cushion.

[0043] In some embodiments, another set of airbag assemblies 100 (not shown in the figure) is provided on the top of the robot body 2000. The outlet 105 of the top airbag assembly 100 is oriented upward or diagonally upward. When the sensor 300 is triggered, the top airbag assembly 100 can deploy simultaneously with or in a preset sequence with the side airbag assemblies 100. After the top airbags inflate, they cover the key components on the top of the robot body 2000 (such as the RTK positioning module, camera module, etc.), forming a protective layer. This layer can prevent the modules from being damaged by water immersion when falling into water, and can also prevent the top components from directly impacting the ground when falling and rolling, thus providing all-round, multi-angle, three-dimensional protection for the lawnmower robot.

[0044] In addition to the aforementioned beneficial effects, the above design also possesses the following technical advantages: By adding an airbag assembly 100 to the top of the robot body 2000, forming a three-dimensional buoyancy layout with the side airbag assembly 100 near the chassis, the robot's water attitude can be effectively adjusted after it falls into water. The details are as follows: When the robot accidentally falls into water, the side expansion bladders 12 deploy first to provide buoyancy to the main body, while the top expansion bladder 12 deploys synchronously or with a delay, forming an additional buoyancy body above the robot. The upward buoyancy provided by the top expansion bladder 12 is located above the robot's center of gravity, thus significantly suppressing the tendency for the robot to tip over due to its low center of gravity on the water surface. Even if the robot rolls over the moment it enters the water, the top expansion bladder 12, after expansion, can also act as a limiting structure to prevent the robot from completely flipping into a top-down position, ensuring that the precision modules installed on the top (such as the RTK positioning antenna, camera assembly, etc.) remain above the horizontal plane, avoiding water damage to critical components. Meanwhile, the top expansion bladder 12, after deploying on the water surface, increases the contact area between the robot and the water, further improving floating stability and reducing swaying caused by waves or water currents. This provides favorable conditions for users to retrieve the equipment or for the robot to autonomously extricate itself from trouble. The coordinated configuration of the top expansion bladder 12 and the side expansion bladder 12 structurally solves the problem that uneven buoyancy distribution of a single bottom expansion bladder 12 can easily cause the lawnmower robot to capsize after falling into the water. This significantly enhances the attitude control capability and protective reliability of the anti-fall-in lawnmower robot in actual water-fall scenarios.

[0045] Furthermore, for ease of description, the airbag assembly 100 located on the side of the robot body 2000 of the lawnmower robot is designated as the first airbag assembly, and the airbag assembly 100 located on the top of the lawnmower robot is designated as the second airbag assembly. The shape and structure of the inflatable bladder 12 of the second airbag assembly after inflation matches the shape and structure of the top of the lawnmower. When the second airbag assembly is in the triggered state, the inflatable bladder 12 of the second airbag assembly adheres to and covers the top surface of the lawnmower. Through the above design, when the lawnmower robot falls, the inflatable bladder 12 located on the top of the lawnmower robot can quickly and effectively protect the top of the lawnmower robot, thereby avoiding damage to key components on the top of the lawnmower robot (such as cameras, lidar, etc.), which can greatly reduce the damage and maintenance costs of the lawnmower robot after a fall accident.

[0046] In summary, the airbag buoyancy protection device 1000 and the anti-fall-into-water lawnmower robot provided by this invention monitor the fall or water entry status in real time through the sensing device 300, triggering the high-pressure gas release device 200 to puncture the air storage component 21, causing the expansion bladder 12 to quickly inflate and expand, forming buoyancy and cushioning protection around the lawnmower robot. By reasonably arranging the airbag components 100 on the sides and top of the lawnmower robot, it can not only prevent the lawnmower robot from sinking, but also effectively suppress the lawnmower robot from tipping over, protecting the key modules on the top of the lawnmower robot from water immersion or impact damage. The entire device has a compact structure, rapid response, and is reusable, significantly improving the safety and reliability of the lawnmower robot in complex garden environments.

[0047] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions or improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An airbag buoyancy protection device, characterized in that, include: An airbag assembly includes a housing and an inflatable bladder. The housing has a receiving cavity for accommodating the inflatable bladder, and the housing also has an outlet communicating with the receiving cavity for the inflatable bladder to inflate and protrude through. A high-pressure gas release device includes a gas storage component and a control component for controlling the gas storage component to release high-pressure gas. The control component is connected to the gas storage component, the gas storage component has a high-pressure gas release port, and the expansion bladder is connected to the high-pressure gas release port. A sensing device, electrically connected to the control unit, is used to sense the movement acceleration of liquids and / or the lawnmower robot.

2. The airbag buoyancy protection device as described in claim 1, characterized in that, The housing is provided with a first connecting part, a second connecting part and an air passage. The first connecting part and the second connecting part are both connected to the air passage. The expansion bladder is connected to the first connecting part. The air storage component is detachably disposed on the housing and is connected to the second connecting part.

3. The airbag buoyancy protection device as described in claim 2, characterized in that, The gas storage device has a thin-sheet sealing structure, which is disposed at the high-pressure gas release port to seal the high-pressure gas release port; The control element is connected to the housing and includes a puncture needle and a pushing device for pushing the puncture needle. The puncture needle is disposed at the pushing end of the pushing device. The puncture needle is at least partially located inside the airway and is disposed relative to the sheet-like closed structure.

4. The airbag buoyancy protection device as described in claim 3, characterized in that, The puncture needle has a puncture end and an internal cavity. The puncture end is provided with an airflow hole communicating with the cavity. The side of the puncture needle is provided with a plurality of side holes communicating with the cavity.

5. The airbag buoyancy protection device as described in claim 3, characterized in that, The housing has a through hole communicating with the air passage. The pushing device is connected to the housing and seals the through hole. The pushing end of the pushing device is disposed opposite to the thin sheet closed structure through the through hole.

6. The airbag buoyancy protection device as described in claim 5, characterized in that, The pushing device includes a connecting body, an elastic element, and an electromagnetic coil body. The connecting body is connected to the housing and seals the through hole. The elastic element is connected to the connecting body and the puncture needle. The electromagnetic coil body is disposed inside the connecting body. The puncture needle itself is magnetic or the puncture needle is connected to a magnet, which is positioned close to the electromagnetic coil.

7. The airbag buoyancy protection device as described in claim 2, characterized in that, The inflatable bladder includes a bladder body and a first connecting connector connected to or integrally formed with the bladder body. The first connecting portion is provided with a second connecting connector, and the first connecting connector matches the second connecting connector.

8. The airbag buoyancy protection device as described in claim 1, characterized in that, The airbag assembly also includes a closure for closing the inlet, the closure being movably connected to the housing, the closure having a closed state and an open state, when the airbag inflates, the airbag abuts against the closure, causing it to move from the closed state to the open state.

9. A water-resistant lawnmower robot, characterized in that, include: Robot body; The airbag buoyancy protection device according to any one of claims 1 to 8, wherein the airbag assembly of the airbag buoyancy protection device is disposed on the side of the robot body, and the through-hole of the shell is disposed near the chassis of the robot body.

10. The anti-drowning lawnmower robot as described in claim 9, characterized in that, The airbag assembly is located on the top of the robot body.

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